2025-08-22T21:18:08.041Z,1755897488.041 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-08-22T21:18:08.041Z,1755897488.041 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-08-22T21:18:08.041Z,1755897488.041 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-08-22T21:18:08.095Z,1755897488.095 [CommandExec](IMPORTANT): got command restart logs
2025-08-22T21:18:08.455Z,1755897488.455 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-22T21:18:08.455Z,1755897488.455 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-22T21:18:15.098Z,1755897495.098 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:18:28.514Z,1755897508.514 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:18:38.918Z,1755897518.918 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:18:39.450Z,1755897519.450 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T21:18:42.705Z,1755897522.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:18:42.735Z,1755897522.735 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:18:42.735Z,1755897522.735 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:18:42.987Z,1755897522.987 [DAT](INFO): DAT read:
2025-08-22T21:18:42.988Z,1755897522.988 [DAT](INFO): DAT read: Tx time:21:18:43.9925
2025-08-22T21:18:42.988Z,1755897522.988 [DAT](INFO): Ping request sent.
2025-08-22T21:18:42.988Z,1755897522.988 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:18:42.988Z,1755897522.988 [DAT](INFO): publishing transmit ping time
2025-08-22T21:18:42.989Z,1755897522.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-08-22T21:18:43.239Z,1755897523.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250256
2025-08-22T21:18:43.564Z,1755897523.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.575057
2025-08-22T21:18:43.751Z,1755897523.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762197
2025-08-22T21:18:44.003Z,1755897524.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014233
2025-08-22T21:18:44.255Z,1755897524.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266430
2025-08-22T21:18:44.360Z,1755897524.360 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 18.81 mm (2 active estimators).
2025-08-22T21:18:44.507Z,1755897524.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518290
2025-08-22T21:18:44.759Z,1755897524.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771096
2025-08-22T21:18:45.010Z,1755897525.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022176
2025-08-22T21:18:45.267Z,1755897525.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277712
2025-08-22T21:18:45.515Z,1755897525.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526786
2025-08-22T21:18:45.767Z,1755897525.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778874
2025-08-22T21:18:46.019Z,1755897526.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031029
2025-08-22T21:18:46.271Z,1755897526.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282227
2025-08-22T21:18:46.523Z,1755897526.523 [DAT](INFO): DAT read: Rx Time:21:18:46.9779
2025-08-22T21:18:46.523Z,1755897526.523 [DAT](INFO): Rx dataTimestamp_ set to:1755897526.522717
2025-08-22T21:18:46.524Z,1755897526.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535225
2025-08-22T21:18:46.775Z,1755897526.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786223
2025-08-22T21:18:47.032Z,1755897527.032 [DAT](INFO): DAT read: 21:18:46.9779 LVL= 32752, 32753, 25218, 32755, AGC= 75, IDX= 60,-0.11, 1.342, 0.850, 2.667, 1.389, PHS= 0.054,-0.494, 1.234, RAW= 191.9, -10.4, CAL= 192.1, -12.6, ROT= 317.9, 12.6
2025-08-22T21:18:47.033Z,1755897527.033 [DAT](INFO): got valid direction response:
21:18:46.9779 LVL= 32752, 32753, 25218, 32755, AGC= 75, IDX= 60,-0.11, 1.342, 0.850, 2.667, 1.389, PHS= 0.054,-0.494, 1.234, RAW= 191.9, -10.4, CAL= 192.1, -12.6, ROT= 317.9, 12.6
2025-08-22T21:18:47.034Z,1755897527.034 [DAT](INFO): DAT read: Bearing 57.9, -10.9 (Local)
2025-08-22T21:18:47.034Z,1755897527.034 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.9, -10.9 (Local)
2025-08-22T21:18:47.035Z,1755897527.035 [DAT](INFO): DAT read: Range 11 to 50 : 435.9 m (Round-trip 581.2 ms) speed 0.2 m/s
2025-08-22T21:18:47.036Z,1755897527.036 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:18:47.037Z,1755897527.037 [DAT](INFO): direction in FSK: [0.724106,-0.654281,-0.218143]
2025-08-22T21:18:47.037Z,1755897527.037 [DAT](INFO): publishing direction and range info
2025-08-22T21:19:10.043Z,1755897550.043 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:19:38.159Z,1755897578.159 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.244087
2025-08-22T21:19:38.505Z,1755897578.505 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T21:19:38.505Z,1755897578.505 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T21:19:38.505Z,1755897578.505 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T21:19:38.505Z,1755897578.505 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T21:19:38.506Z,1755897578.506 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T21:19:39.162Z,1755897579.162 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:19:42.968Z,1755897582.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:19:43.006Z,1755897583.006 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:19:43.007Z,1755897583.007 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:19:43.259Z,1755897583.259 [DAT](INFO): DAT read: user:2148>
2025-08-22T21:19:43.259Z,1755897583.259 [DAT](INFO): DAT read: Tx time:21:19:44.2425
2025-08-22T21:19:43.260Z,1755897583.260 [DAT](INFO): Ping request sent.
2025-08-22T21:19:43.260Z,1755897583.260 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:19:43.260Z,1755897583.260 [DAT](INFO): publishing transmit ping time
2025-08-22T21:19:43.261Z,1755897583.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724
2025-08-22T21:19:43.511Z,1755897583.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251329
2025-08-22T21:19:43.763Z,1755897583.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502728
2025-08-22T21:19:44.014Z,1755897584.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754669
2025-08-22T21:19:44.267Z,1755897584.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006763
2025-08-22T21:19:44.518Z,1755897584.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258654
2025-08-22T21:19:44.771Z,1755897584.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510949
2025-08-22T21:19:44.810Z,1755897584.810 [Radio_Surface](INFO): Powering down
2025-08-22T21:19:45.023Z,1755897585.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762762
2025-08-22T21:19:45.274Z,1755897585.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014652
2025-08-22T21:19:45.528Z,1755897585.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267602
2025-08-22T21:19:45.779Z,1755897585.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518814
2025-08-22T21:19:46.030Z,1755897586.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770598
2025-08-22T21:19:46.284Z,1755897586.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023952
2025-08-22T21:19:46.535Z,1755897586.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275149
2025-08-22T21:19:46.787Z,1755897586.787 [DAT](INFO): DAT read: Rx Time:21:19:47.2160
2025-08-22T21:19:46.787Z,1755897586.787 [DAT](INFO): Rx dataTimestamp_ set to:1755897586.786688
2025-08-22T21:19:46.787Z,1755897586.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527707
2025-08-22T21:19:47.038Z,1755897587.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778667
2025-08-22T21:19:47.296Z,1755897587.296 [DAT](INFO): DAT read: 21:19:47.2160 LVL= 29872, 32753, 15378, 32755, AGC= 68, IDX= 322,-0.11, 0.789, 0.732, 2.555, 1.276, PHS=-0.384,-0.499, 1.235, RAW= 206.6, -4.2, CAL= 206.0, -6.8, ROT= 304.0, 6.8
2025-08-22T21:19:47.297Z,1755897587.297 [DAT](INFO): got valid direction response:
21:19:47.2160 LVL= 29872, 32753, 15378, 32755, AGC= 68, IDX= 322,-0.11, 0.789, 0.732, 2.555, 1.276, PHS=-0.384,-0.499, 1.235, RAW= 206.6, -4.2, CAL= 206.0, -6.8, ROT= 304.0, 6.8
2025-08-22T21:19:47.298Z,1755897587.298 [DAT](INFO): DAT read: Bearing 95.1, -23.7 (Local)
2025-08-22T21:19:47.298Z,1755897587.298 [DAT](INFO): Local bearing/azimuth received:
Bearing 95.1, -23.7 (Local)
2025-08-22T21:19:47.299Z,1755897587.299 [DAT](INFO): DAT read: Range 11 to 50 : 426.9 m (Round-trip 569.3 ms) speed 0.4 m/s
2025-08-22T21:19:47.300Z,1755897587.300 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:19:47.301Z,1755897587.301 [DAT](INFO): direction in FSK: [0.555259,-0.823206,-0.118404]
2025-08-22T21:19:47.301Z,1755897587.301 [DAT](INFO): publishing direction and range info
2025-08-22T21:20:09.282Z,1755897609.282 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:20:10.011Z,1755897610.011 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T21:20:10.286Z,1755897610.286 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-22T21:20:10.286Z,1755897610.286 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:20:40.406Z,1755897640.406 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:20:41.410Z,1755897641.410 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:20:43.145Z,1755897643.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:20:43.275Z,1755897643.275 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:20:43.276Z,1755897643.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:20:43.526Z,1755897643.526 [DAT](INFO): DAT read: user:2149>
2025-08-22T21:20:43.527Z,1755897643.527 [DAT](INFO): DAT read: Tx time:21:20:44.5425
2025-08-22T21:20:43.528Z,1755897643.528 [DAT](INFO): Ping request sent.
2025-08-22T21:20:43.528Z,1755897643.528 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:20:43.528Z,1755897643.528 [DAT](INFO): publishing transmit ping time
2025-08-22T21:20:43.528Z,1755897643.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-08-22T21:20:43.779Z,1755897643.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250942
2025-08-22T21:20:44.031Z,1755897644.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502859
2025-08-22T21:20:44.282Z,1755897644.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754821
2025-08-22T21:20:44.535Z,1755897644.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006862
2025-08-22T21:20:44.787Z,1755897644.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259249
2025-08-22T21:20:45.038Z,1755897645.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510818
2025-08-22T21:20:45.293Z,1755897645.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765106
2025-08-22T21:20:45.546Z,1755897645.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018229
2025-08-22T21:20:45.799Z,1755897645.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271711
2025-08-22T21:20:46.051Z,1755897646.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522935
2025-08-22T21:20:46.303Z,1755897646.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774868
2025-08-22T21:20:46.554Z,1755897646.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026791
2025-08-22T21:20:46.807Z,1755897646.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279651
2025-08-22T21:20:47.059Z,1755897647.059 [DAT](INFO): DAT read: Rx Time:21:20:47.4994
2025-08-22T21:20:47.059Z,1755897647.059 [DAT](INFO): Rx dataTimestamp_ set to:1755897647.058734
2025-08-22T21:20:47.060Z,1755897647.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531906
2025-08-22T21:20:47.314Z,1755897647.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786469
2025-08-22T21:20:47.580Z,1755897647.580 [DAT](INFO): DAT read: 21:20:47.4994 LVL= 25072, 18737, 14482, 26099, AGC= 68, IDX= 346, 0.20, 0.786, 2.051, 2.656, 1.981, PHS=-1.093, 0.115, 0.631, RAW= 253.1, 4.6, CAL= 249.9, 3.6, ROT= 260.1, -3.6
2025-08-22T21:20:47.588Z,1755897647.588 [DAT](INFO): got valid direction response:
21:20:47.4994 LVL= 25072, 18737, 14482, 26099, AGC= 68, IDX= 346, 0.20, 0.786, 2.051, 2.656, 1.981, PHS=-1.093, 0.115, 0.631, RAW= 253.1, 4.6, CAL= 249.9, 3.6, ROT= 260.1, -3.6
2025-08-22T21:20:47.590Z,1755897647.590 [DAT](INFO): DAT read: Bearing 152.5, -68.7 (Local)
2025-08-22T21:20:47.591Z,1755897647.591 [DAT](INFO): Local bearing/azimuth received:
Bearing 152.5, -68.7 (Local)
2025-08-22T21:20:47.626Z,1755897647.626 [DAT](INFO): DAT read: Range 11 to 50 : 414.5 m (Round-trip 552.7 ms) speed 0.0 m/s
2025-08-22T21:20:47.627Z,1755897647.627 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:20:47.628Z,1755897647.628 [DAT](INFO): direction in FSK: [-0.171590,-0.983165,0.062791]
2025-08-22T21:20:47.628Z,1755897647.628 [DAT](INFO): publishing direction and range info
2025-08-22T21:21:11.532Z,1755897671.532 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:21:12.534Z,1755897672.534 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:21:16.990Z,1755897676.990 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-08-22T21:21:16.991Z,1755897676.991 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-08-22T21:21:16.991Z,1755897676.991 [lineCaptureHoming:InitialDive] Stopped
2025-08-22T21:21:16.991Z,1755897676.991 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-08-22T21:21:16.991Z,1755897676.991 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-08-22T21:21:16.991Z,1755897676.991 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-08-22T21:21:16.991Z,1755897676.991 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-08-22T21:21:16.992Z,1755897676.992 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-08-22T21:21:16.992Z,1755897676.992 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-08-22T21:21:16.992Z,1755897676.992 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-08-22T21:21:16.992Z,1755897676.992 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-08-22T21:21:17.364Z,1755897677.364 [lineCaptureHoming:RepeatHack] Stopped
2025-08-22T21:21:17.365Z,1755897677.365 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-08-22T21:21:17.365Z,1755897677.365 [lineCaptureHoming:RepeatHack:A] Stopped
2025-08-22T21:21:17.365Z,1755897677.365 [lineCaptureHoming:Lap] Running Loop=1
2025-08-22T21:21:17.365Z,1755897677.365 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-08-22T21:21:17.365Z,1755897677.365 [lineCaptureHoming:Lap:A] Running Loop=1
2025-08-22T21:21:17.827Z,1755897677.827 [lineCaptureHoming:Lap:A] Stopped
2025-08-22T21:21:17.827Z,1755897677.827 [lineCaptureHoming:Lap:B] Running Loop=1
2025-08-22T21:21:17.827Z,1755897677.827 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-08-22T21:21:18.158Z,1755897678.158 [lineCaptureHoming:LineCapture] Running Loop=1
2025-08-22T21:21:18.158Z,1755897678.158 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-08-22T21:21:18.158Z,1755897678.158 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-22T21:21:18.159Z,1755897678.159 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-22T21:21:18.159Z,1755897678.159 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T21:21:18.159Z,1755897678.159 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-22T21:21:18.159Z,1755897678.159 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T21:21:18.159Z,1755897678.159 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-22T21:21:18.159Z,1755897678.159 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T21:21:18.159Z,1755897678.159 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-22T21:21:18.160Z,1755897678.160 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-22T21:21:18.160Z,1755897678.160 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-22T21:21:18.160Z,1755897678.160 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-22T21:21:18.160Z,1755897678.160 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-08-22T21:21:18.160Z,1755897678.160 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-22T21:21:18.160Z,1755897678.160 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-22T21:21:18.160Z,1755897678.160 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-08-22T21:21:18.160Z,1755897678.160 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-22T21:21:18.160Z,1755897678.160 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T21:21:18.161Z,1755897678.161 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-22T21:21:18.161Z,1755897678.161 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-22T21:21:18.161Z,1755897678.161 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-08-22T21:21:18.162Z,1755897678.162 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-22T21:21:18.162Z,1755897678.162 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-22T21:21:18.162Z,1755897678.162 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-22T21:21:18.162Z,1755897678.162 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-22T21:21:18.163Z,1755897678.163 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-22T21:21:18.163Z,1755897678.163 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-22T21:21:18.163Z,1755897678.163 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-22T21:21:18.164Z,1755897678.164 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-22T21:21:18.164Z,1755897678.164 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T21:21:18.164Z,1755897678.164 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T21:21:18.165Z,1755897678.165 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T21:21:18.166Z,1755897678.166 [lineCaptureHoming:LineCapture:A] Stopped
2025-08-22T21:21:18.166Z,1755897678.166 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-08-22T21:21:18.564Z,1755897678.564 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-22T21:21:18.564Z,1755897678.564 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T21:21:18.564Z,1755897678.564 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-22T21:21:18.566Z,1755897678.566 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 414.500000 m (mode 0.000000 count ).
2025-08-22T21:21:18.566Z,1755897678.566 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-22T21:21:18.566Z,1755897678.566 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-22T21:21:18.569Z,1755897678.569 [lineCaptureHoming:LineCapture:B] Stopped
2025-08-22T21:21:18.569Z,1755897678.569 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-08-22T21:21:18.989Z,1755897678.989 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-22T21:21:18.989Z,1755897678.989 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-22T21:21:18.990Z,1755897678.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:18.992Z,1755897678.992 [lineCaptureHoming:LineCapture:D] Stopped
2025-08-22T21:21:18.992Z,1755897678.992 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-08-22T21:21:19.090Z,1755897679.090 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:21:19.091Z,1755897679.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:21:19.343Z,1755897679.343 [DAT](INFO): DAT read: user:2150>
2025-08-22T21:21:19.344Z,1755897679.344 [DAT](INFO): DAT read: Tx time:21:21:20.3425
2025-08-22T21:21:19.345Z,1755897679.345 [DAT](INFO): Ping request sent.
2025-08-22T21:21:19.345Z,1755897679.345 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:21:19.345Z,1755897679.345 [DAT](INFO): publishing transmit ping time
2025-08-22T21:21:19.346Z,1755897679.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001104
2025-08-22T21:21:19.428Z,1755897679.428 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-22T21:21:19.428Z,1755897679.428 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-22T21:21:19.436Z,1755897679.436 [lineCaptureHoming:LineCapture:E] Stopped
2025-08-22T21:21:19.436Z,1755897679.436 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-08-22T21:21:19.595Z,1755897679.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249604
2025-08-22T21:21:19.846Z,1755897679.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501441
2025-08-22T21:21:19.868Z,1755897679.868 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-22T21:21:19.868Z,1755897679.868 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T21:21:19.868Z,1755897679.868 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-22T21:21:19.868Z,1755897679.868 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T21:21:19.871Z,1755897679.871 [lineCaptureHoming:LineCapture:F] Stopped
2025-08-22T21:21:19.871Z,1755897679.871 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-08-22T21:21:19.871Z,1755897679.871 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-22T21:21:19.871Z,1755897679.871 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-22T21:21:19.871Z,1755897679.871 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-22T21:21:19.872Z,1755897679.872 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-08-22T21:21:19.872Z,1755897679.872 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-22T21:21:19.872Z,1755897679.872 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-08-22T21:21:19.872Z,1755897679.872 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-22T21:21:19.872Z,1755897679.872 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T21:21:19.872Z,1755897679.872 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-22T21:21:19.872Z,1755897679.872 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T21:21:19.873Z,1755897679.873 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-22T21:21:19.873Z,1755897679.873 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T21:21:19.873Z,1755897679.873 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-22T21:21:19.873Z,1755897679.873 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-22T21:21:19.873Z,1755897679.873 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-22T21:21:19.873Z,1755897679.873 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-22T21:21:19.874Z,1755897679.874 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-22T21:21:19.874Z,1755897679.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-22T21:21:19.874Z,1755897679.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T21:21:19.874Z,1755897679.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-22T21:21:19.874Z,1755897679.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T21:21:19.874Z,1755897679.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-22T21:21:19.875Z,1755897679.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T21:21:19.875Z,1755897679.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-22T21:21:19.875Z,1755897679.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-22T21:21:19.875Z,1755897679.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-22T21:21:19.875Z,1755897679.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T21:21:19.875Z,1755897679.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-22T21:21:19.875Z,1755897679.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-22T21:21:19.875Z,1755897679.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-22T21:21:19.875Z,1755897679.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-22T21:21:19.876Z,1755897679.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-22T21:21:20.098Z,1755897680.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753509
2025-08-22T21:21:20.193Z,1755897680.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-22T21:21:20.193Z,1755897680.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T21:21:20.193Z,1755897680.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-22T21:21:20.193Z,1755897680.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T21:21:20.193Z,1755897680.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-22T21:21:20.193Z,1755897680.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-22T21:21:20.194Z,1755897680.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T21:21:20.194Z,1755897680.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-22T21:21:20.194Z,1755897680.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-22T21:21:20.194Z,1755897680.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-22T21:21:20.194Z,1755897680.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T21:21:20.194Z,1755897680.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-22T21:21:20.194Z,1755897680.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-22T21:21:20.194Z,1755897680.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-22T21:21:20.194Z,1755897680.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-22T21:21:20.194Z,1755897680.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T21:21:20.194Z,1755897680.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-22T21:21:20.194Z,1755897680.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T21:21:20.195Z,1755897680.195 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-22T21:21:20.195Z,1755897680.195 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-22T21:21:20.195Z,1755897680.195 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-22T21:21:20.195Z,1755897680.195 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-22T21:21:20.195Z,1755897680.195 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-22T21:21:20.195Z,1755897680.195 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-22T21:21:20.195Z,1755897680.195 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T21:21:20.196Z,1755897680.196 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.604034 m.
2025-08-22T21:21:20.351Z,1755897680.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005621
2025-08-22T21:21:20.603Z,1755897680.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257656
2025-08-22T21:21:20.660Z,1755897680.660 [DockingStepper](INFO): Changing to mode: 3
2025-08-22T21:21:20.854Z,1755897680.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509561
2025-08-22T21:21:21.016Z,1755897681.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:21.107Z,1755897681.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761956
2025-08-22T21:21:21.358Z,1755897681.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013506
2025-08-22T21:21:21.611Z,1755897681.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266082
2025-08-22T21:21:21.863Z,1755897681.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517751
2025-08-22T21:21:22.115Z,1755897682.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770001
2025-08-22T21:21:22.367Z,1755897682.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021586
2025-08-22T21:21:22.619Z,1755897682.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273736
2025-08-22T21:21:22.870Z,1755897682.870 [DAT](INFO): DAT read: Rx Time:21:21:23.3046
2025-08-22T21:21:22.871Z,1755897682.871 [DAT](INFO): Rx dataTimestamp_ set to:1755897682.870685
2025-08-22T21:21:22.871Z,1755897682.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526574
2025-08-22T21:21:23.047Z,1755897683.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:23.124Z,1755897683.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779342
2025-08-22T21:21:23.391Z,1755897683.391 [DAT](INFO): DAT read: 21:21:23.3046 LVL= 21232, 22193, 21714, 26147, AGC= 66, IDX= 494, 0.00,-2.872,-1.246,-0.900,-1.245, PHS=-1.524, 0.045, 0.301, RAW= 262.5, 13.7, CAL= 263.7, 18.1, ROT= 246.3, -18.1
2025-08-22T21:21:23.392Z,1755897683.392 [DAT](INFO): got valid direction response:
21:21:23.3046 LVL= 21232, 22193, 21714, 26147, AGC= 66, IDX= 494, 0.00,-2.872,-1.246,-0.900,-1.245, PHS=-1.524, 0.045, 0.301, RAW= 262.5, 13.7, CAL= 263.7, 18.1, ROT= 246.3, -18.1
2025-08-22T21:21:23.414Z,1755897683.414 [DAT](INFO): DAT read: Bearing 280.6, -59.1 (Local)
2025-08-22T21:21:23.415Z,1755897683.415 [DAT](INFO): Local bearing/azimuth received:
Bearing 280.6, -59.1 (Local)
2025-08-22T21:21:23.416Z,1755897683.416 [DAT](INFO): DAT read: Range 11 to 50 : 418.5 m (Round-trip 558.0 ms) speed -0.4 m/s
2025-08-22T21:21:23.416Z,1755897683.416 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:21:23.426Z,1755897683.426 [DAT](INFO): direction in FSK: [-0.382058,-0.870352,0.310676]
2025-08-22T21:21:23.426Z,1755897683.426 [DAT](INFO): publishing direction and range info
2025-08-22T21:21:23.429Z,1755897683.429 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:21:23.454Z,1755897683.454 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:21:23.454Z,1755897683.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:21:23.626Z,1755897683.626 [DAT](INFO): DAT read: user:2151>
2025-08-22T21:21:23.627Z,1755897683.627 [DAT](INFO): DAT read: Tx time:21:21:24.6925
2025-08-22T21:21:23.627Z,1755897683.627 [DAT](INFO): Ping request sent.
2025-08-22T21:21:23.628Z,1755897683.628 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:21:23.628Z,1755897683.628 [DAT](INFO): publishing transmit ping time
2025-08-22T21:21:23.628Z,1755897683.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-22T21:21:23.879Z,1755897683.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250979
2025-08-22T21:21:24.131Z,1755897684.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502946
2025-08-22T21:21:24.383Z,1755897684.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755196
2025-08-22T21:21:24.635Z,1755897684.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006993
2025-08-22T21:21:24.887Z,1755897684.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258973
2025-08-22T21:21:25.053Z,1755897685.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:25.139Z,1755897685.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511369
2025-08-22T21:21:25.390Z,1755897685.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762838
2025-08-22T21:21:25.643Z,1755897685.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014968
2025-08-22T21:21:25.895Z,1755897685.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267050
2025-08-22T21:21:26.147Z,1755897686.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518944
2025-08-22T21:21:26.283Z,1755897686.283 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-22T21:21:26.399Z,1755897686.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771044
2025-08-22T21:21:26.651Z,1755897686.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022968
2025-08-22T21:21:26.903Z,1755897686.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274893
2025-08-22T21:21:27.082Z,1755897687.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:27.155Z,1755897687.155 [DAT](INFO): DAT read: Rx Time:21:21:27.6559
2025-08-22T21:21:27.156Z,1755897687.156 [DAT](INFO): Rx dataTimestamp_ set to:1755897687.155611
2025-08-22T21:21:27.157Z,1755897687.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529129
2025-08-22T21:21:27.407Z,1755897687.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778903
2025-08-22T21:21:27.664Z,1755897687.664 [DAT](INFO): DAT read: 21:21:27.6559 LVL= 23840, 17169, 20018, 23795, AGC= 66, IDX= 460,-0.49,-2.198,-0.412,-0.374,-0.588, PHS=-1.508, 0.221, 0.170, RAW= 271.5, 13.0, CAL= 271.4, 18.6, ROT= 238.6, -18.6
2025-08-22T21:21:27.665Z,1755897687.665 [DAT](INFO): got valid direction response:
21:21:27.6559 LVL= 23840, 17169, 20018, 23795, AGC= 66, IDX= 460,-0.49,-2.198,-0.412,-0.374,-0.588, PHS=-1.508, 0.221, 0.170, RAW= 271.5, 13.0, CAL= 271.4, 18.6, ROT= 238.6, -18.6
2025-08-22T21:21:27.666Z,1755897687.666 [DAT](INFO): DAT read: Bearing 295.9, -50.2 (Local)
2025-08-22T21:21:27.666Z,1755897687.666 [DAT](INFO): Local bearing/azimuth received:
Bearing 295.9, -50.2 (Local)
2025-08-22T21:21:27.667Z,1755897687.667 [DAT](INFO): DAT read: Range 11 to 50 : 419.4 m (Round-trip 559.2 ms) speed -0.3 m/s
2025-08-22T21:21:27.668Z,1755897687.668 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:21:27.669Z,1755897687.669 [DAT](INFO): direction in FSK: [-0.493796,-0.808969,0.318959]
2025-08-22T21:21:27.669Z,1755897687.669 [DAT](INFO): publishing direction and range info
2025-08-22T21:21:27.672Z,1755897687.672 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:21:27.673Z,1755897687.673 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:21:27.673Z,1755897687.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:21:27.913Z,1755897687.913 [DAT](INFO): DAT read: user:2152>
2025-08-22T21:21:27.915Z,1755897687.915 [DAT](INFO): DAT read: Tx time:21:21:28.9425
2025-08-22T21:21:27.916Z,1755897687.916 [DAT](INFO): Ping request sent.
2025-08-22T21:21:27.916Z,1755897687.916 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:21:27.917Z,1755897687.917 [DAT](INFO): publishing transmit ping time
2025-08-22T21:21:27.919Z,1755897687.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002667
2025-08-22T21:21:28.163Z,1755897688.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246821
2025-08-22T21:21:28.415Z,1755897688.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498383
2025-08-22T21:21:28.667Z,1755897688.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750527
2025-08-22T21:21:28.921Z,1755897688.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004276
2025-08-22T21:21:29.093Z,1755897689.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:29.171Z,1755897689.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254839
2025-08-22T21:21:29.423Z,1755897689.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506406
2025-08-22T21:21:29.674Z,1755897689.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758325
2025-08-22T21:21:29.932Z,1755897689.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015071
2025-08-22T21:21:30.183Z,1755897690.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266882
2025-08-22T21:21:30.298Z,1755897690.298 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +149.39, +3517.75, , 31.72, 0.00
2025-08-22T21:21:30.436Z,1755897690.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519468
2025-08-22T21:21:30.687Z,1755897690.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770707
2025-08-22T21:21:30.941Z,1755897690.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024629
2025-08-22T21:21:31.124Z,1755897691.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:31.191Z,1755897691.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275024
2025-08-22T21:21:31.443Z,1755897691.443 [DAT](INFO): DAT read: Rx Time:21:21:31.9073
2025-08-22T21:21:31.445Z,1755897691.445 [DAT](INFO): Rx dataTimestamp_ set to:1755897691.444003
2025-08-22T21:21:31.448Z,1755897691.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531051
2025-08-22T21:21:31.695Z,1755897691.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778396
2025-08-22T21:21:31.982Z,1755897691.982 [DAT](INFO): DAT read: 21:21:31.9073 LVL= 27728, 17937, 21682, 28131, AGC= 67, IDX= 441,-0.03,-0.033, 1.890, 1.809, 1.521, PHS=-1.451, 0.414, 0.244, RAW= 274.7, 8.9, CAL= 273.4, 8.6, ROT= 236.6, -8.6
2025-08-22T21:21:31.983Z,1755897691.983 [DAT](INFO): got valid direction response:
21:21:31.9073 LVL= 27728, 17937, 21682, 28131, AGC= 67, IDX= 441,-0.03,-0.033, 1.890, 1.809, 1.521, PHS=-1.451, 0.414, 0.244, RAW= 274.7, 8.9, CAL= 273.4, 8.6, ROT= 236.6, -8.6
2025-08-22T21:21:31.984Z,1755897691.984 [DAT](INFO): DAT read: Bearing 316.2, -50.3 (Local)
2025-08-22T21:21:31.984Z,1755897691.984 [DAT](INFO): Local bearing/azimuth received:
Bearing 316.2, -50.3 (Local)
2025-08-22T21:21:31.990Z,1755897691.990 [DAT](INFO): DAT read: Range 11 to 50 : 420.4 m (Round-trip 560.6 ms) speed -0.4 m/s
2025-08-22T21:21:31.991Z,1755897691.991 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:21:31.992Z,1755897691.992 [DAT](INFO): direction in FSK: [-0.544291,-0.825461,0.149535]
2025-08-22T21:21:31.992Z,1755897691.992 [DAT](INFO): publishing direction and range info
2025-08-22T21:21:32.013Z,1755897692.013 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:21:32.013Z,1755897692.013 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:21:32.028Z,1755897692.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:21:32.199Z,1755897692.199 [DAT](INFO): DAT read: user:2153>
2025-08-22T21:21:32.199Z,1755897692.199 [DAT](INFO): DAT read: Tx time:21:21:33.2925
2025-08-22T21:21:32.200Z,1755897692.200 [DAT](INFO): Ping request sent.
2025-08-22T21:21:32.200Z,1755897692.200 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:21:32.200Z,1755897692.200 [DAT](INFO): publishing transmit ping time
2025-08-22T21:21:32.200Z,1755897692.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-08-22T21:21:32.451Z,1755897692.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250824
2025-08-22T21:21:32.703Z,1755897692.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502886
2025-08-22T21:21:32.957Z,1755897692.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756995
2025-08-22T21:21:33.132Z,1755897693.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:33.207Z,1755897693.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007490
2025-08-22T21:21:33.458Z,1755897693.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258716
2025-08-22T21:21:33.711Z,1755897693.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510782
2025-08-22T21:21:33.966Z,1755897693.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765211
2025-08-22T21:21:34.214Z,1755897694.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014769
2025-08-22T21:21:34.468Z,1755897694.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267899
2025-08-22T21:21:34.719Z,1755897694.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518938
2025-08-22T21:21:34.977Z,1755897694.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776848
2025-08-22T21:21:35.155Z,1755897695.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:35.228Z,1755897695.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028155
2025-08-22T21:21:35.479Z,1755897695.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278797
2025-08-22T21:21:35.731Z,1755897695.731 [DAT](INFO): DAT read: Rx Time:21:21:36.2688
2025-08-22T21:21:35.731Z,1755897695.731 [DAT](INFO): Rx dataTimestamp_ set to:1755897695.730723
2025-08-22T21:21:35.732Z,1755897695.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531849
2025-08-22T21:21:35.985Z,1755897695.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784867
2025-08-22T21:21:36.240Z,1755897696.240 [DAT](INFO): DAT read: 21:21:36.2688 LVL= 22768, 16849, 19650, 24467, AGC= 68, IDX= 32,-0.45, 0.165, 2.040, 1.711, 1.550, PHS=-1.283, 0.535, 0.117, RAW= 282.7, 7.7, CAL= 280.9, 6.3, ROT= 229.1, -6.3
2025-08-22T21:21:36.241Z,1755897696.241 [DAT](INFO): got valid direction response:
21:21:36.2688 LVL= 22768, 16849, 19650, 24467, AGC= 68, IDX= 32,-0.45, 0.165, 2.040, 1.711, 1.550, PHS=-1.283, 0.535, 0.117, RAW= 282.7, 7.7, CAL= 280.9, 6.3, ROT= 229.1, -6.3
2025-08-22T21:21:36.243Z,1755897696.243 [DAT](INFO): DAT read: Bearing 326.1, -40.9 (Local)
2025-08-22T21:21:36.244Z,1755897696.244 [DAT](INFO): Local bearing/azimuth received:
Bearing 326.1, -40.9 (Local)
2025-08-22T21:21:36.245Z,1755897696.245 [DAT](INFO): DAT read: Range 11 to 50 : 429.0 m (Round-trip 572.1 ms) speed -0.2 m/s
2025-08-22T21:21:36.247Z,1755897696.247 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:21:36.248Z,1755897696.248 [DAT](INFO): direction in FSK: [-0.650787,-0.751289,0.109734]
2025-08-22T21:21:36.249Z,1755897696.249 [DAT](INFO): publishing direction and range info
2025-08-22T21:21:36.256Z,1755897696.256 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:21:36.256Z,1755897696.256 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:21:36.256Z,1755897696.256 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:21:36.487Z,1755897696.487 [DAT](INFO): DAT read: user:2154>
2025-08-22T21:21:36.488Z,1755897696.488 [DAT](INFO): DAT read: Tx time:21:21:37.4925
2025-08-22T21:21:36.489Z,1755897696.489 [DAT](INFO): Ping request sent.
2025-08-22T21:21:36.489Z,1755897696.489 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:21:36.489Z,1755897696.489 [DAT](INFO): publishing transmit ping time
2025-08-22T21:21:36.490Z,1755897696.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001356
2025-08-22T21:21:36.731Z,1755897696.731 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-08-22T21:21:36.743Z,1755897696.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253541
2025-08-22T21:21:36.994Z,1755897696.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504503
2025-08-22T21:21:37.180Z,1755897697.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:37.248Z,1755897697.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759518
2025-08-22T21:21:37.499Z,1755897697.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010046
2025-08-22T21:21:37.751Z,1755897697.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262052
2025-08-22T21:21:38.003Z,1755897698.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514068
2025-08-22T21:21:38.256Z,1755897698.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767886
2025-08-22T21:21:38.507Z,1755897698.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018110
2025-08-22T21:21:38.760Z,1755897698.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271119
2025-08-22T21:21:39.013Z,1755897699.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524053
2025-08-22T21:21:39.204Z,1755897699.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:39.264Z,1755897699.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775287
2025-08-22T21:21:39.514Z,1755897699.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025990
2025-08-22T21:21:39.767Z,1755897699.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278427
2025-08-22T21:21:40.022Z,1755897700.022 [DAT](INFO): DAT read: Rx Time:21:21:40.4593
2025-08-22T21:21:40.023Z,1755897700.023 [DAT](INFO): Rx dataTimestamp_ set to:1755897700.022343
2025-08-22T21:21:40.024Z,1755897700.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535128
2025-08-22T21:21:40.271Z,1755897700.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782809
2025-08-22T21:21:40.528Z,1755897700.528 [DAT](INFO): DAT read: 21:21:40.4593 LVL= 30192, 21137, 23970, 30339, AGC= 65, IDX= 334, 0.19, 3.086,-1.210,-1.781,-1.840, PHS=-1.256, 0.675, 0.015, RAW= 289.7, 6.7, CAL= 287.6, 4.6, ROT= 222.4, -4.6
2025-08-22T21:21:40.529Z,1755897700.529 [DAT](INFO): got valid direction response:
21:21:40.4593 LVL= 30192, 21137, 23970, 30339, AGC= 65, IDX= 334, 0.19, 3.086,-1.210,-1.781,-1.840, PHS=-1.256, 0.675, 0.015, RAW= 289.7, 6.7, CAL= 287.6, 4.6, ROT= 222.4, -4.6
2025-08-22T21:21:40.530Z,1755897700.530 [DAT](INFO): DAT read: Bearing 333.5, -33.0 (Local)
2025-08-22T21:21:40.530Z,1755897700.530 [DAT](INFO): Local bearing/azimuth received:
Bearing 333.5, -33.0 (Local)
2025-08-22T21:21:40.532Z,1755897700.532 [DAT](INFO): DAT read: Range 11 to 50 : 421.9 m (Round-trip 562.6 ms) speed 0.0 m/s
2025-08-22T21:21:40.532Z,1755897700.532 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:21:40.533Z,1755897700.533 [DAT](INFO): direction in FSK: [-0.736077,-0.672130,0.080199]
2025-08-22T21:21:40.538Z,1755897700.538 [DAT](INFO): publishing direction and range info
2025-08-22T21:21:40.541Z,1755897700.541 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:21:40.541Z,1755897700.541 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:21:40.541Z,1755897700.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:21:40.775Z,1755897700.775 [DAT](INFO): DAT read: user:2155>
2025-08-22T21:21:40.776Z,1755897700.776 [DAT](INFO): DAT read: Tx time:21:21:41.7925
2025-08-22T21:21:40.777Z,1755897700.777 [DAT](INFO): Ping request sent.
2025-08-22T21:21:40.777Z,1755897700.777 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:21:40.778Z,1755897700.778 [DAT](INFO): publishing transmit ping time
2025-08-22T21:21:40.779Z,1755897700.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002020
2025-08-22T21:21:41.027Z,1755897701.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249477
2025-08-22T21:21:41.239Z,1755897701.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:41.279Z,1755897701.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502118
2025-08-22T21:21:41.531Z,1755897701.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753489
2025-08-22T21:21:41.783Z,1755897701.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005486
2025-08-22T21:21:42.034Z,1755897702.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257434
2025-08-22T21:21:42.286Z,1755897702.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509428
2025-08-22T21:21:42.539Z,1755897702.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761475
2025-08-22T21:21:42.654Z,1755897702.654 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:21:42.791Z,1755897702.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013738
2025-08-22T21:21:43.042Z,1755897703.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265415
2025-08-22T21:21:43.296Z,1755897703.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519383
2025-08-22T21:21:43.547Z,1755897703.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769588
2025-08-22T21:21:43.608Z,1755897703.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:43.658Z,1755897703.658 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:21:43.799Z,1755897703.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021470
2025-08-22T21:21:44.051Z,1755897704.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273577
2025-08-22T21:21:44.303Z,1755897704.303 [DAT](INFO): DAT read: Rx Time:21:21:44.7603
2025-08-22T21:21:44.303Z,1755897704.303 [DAT](INFO): Rx dataTimestamp_ set to:1755897704.302703
2025-08-22T21:21:44.303Z,1755897704.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526464
2025-08-22T21:21:44.556Z,1755897704.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779431
2025-08-22T21:21:44.812Z,1755897704.812 [DAT](INFO): DAT read: 21:21:44.7603 LVL= 28976, 19825, 21954, 30707, AGC= 69, IDX= 457, 0.08,-1.886, 0.168,-0.505,-0.563, PHS=-1.221, 0.776, 0.014, RAW= 292.2, 5.0, CAL= 290.2, 0.7, ROT= 219.8, -0.7
2025-08-22T21:21:44.813Z,1755897704.813 [DAT](INFO): got valid direction response:
21:21:44.7603 LVL= 28976, 19825, 21954, 30707, AGC= 69, IDX= 457, 0.08,-1.886, 0.168,-0.505,-0.563, PHS=-1.221, 0.776, 0.014, RAW= 292.2, 5.0, CAL= 290.2, 0.7, ROT= 219.8, -0.7
2025-08-22T21:21:44.818Z,1755897704.818 [DAT](INFO): DAT read: Bearing 341.3, -30.6 (Local)
2025-08-22T21:21:44.818Z,1755897704.818 [DAT](INFO): Local bearing/azimuth received:
Bearing 341.3, -30.6 (Local)
2025-08-22T21:21:44.819Z,1755897704.819 [DAT](INFO): DAT read: Range 11 to 50 : 422.7 m (Round-trip 563.7 ms) speed -0.2 m/s
2025-08-22T21:21:44.820Z,1755897704.820 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:21:44.821Z,1755897704.821 [DAT](INFO): direction in FSK: [-0.768226,-0.640062,0.012217]
2025-08-22T21:21:44.821Z,1755897704.821 [DAT](INFO): publishing direction and range info
2025-08-22T21:21:44.825Z,1755897704.825 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:21:44.825Z,1755897704.825 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:21:44.825Z,1755897704.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:21:45.062Z,1755897705.062 [DAT](INFO): DAT read: user:2156>
2025-08-22T21:21:45.064Z,1755897705.064 [DAT](INFO): DAT read: Tx time:21:21:46.0924
2025-08-22T21:21:45.064Z,1755897705.064 [DAT](INFO): Ping request sent.
2025-08-22T21:21:45.064Z,1755897705.064 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:21:45.064Z,1755897705.064 [DAT](INFO): publishing transmit ping time
2025-08-22T21:21:45.065Z,1755897705.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-22T21:21:45.311Z,1755897705.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246456
2025-08-22T21:21:45.563Z,1755897705.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498408
2025-08-22T21:21:45.641Z,1755897705.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:45.815Z,1755897705.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750656
2025-08-22T21:21:46.067Z,1755897706.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002597
2025-08-22T21:21:46.318Z,1755897706.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254247
2025-08-22T21:21:46.465Z,1755897706.465 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 422.70 m. Transitioning docking module to standby.
2025-08-22T21:21:46.570Z,1755897706.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506246
2025-08-22T21:21:46.823Z,1755897706.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758810
2025-08-22T21:21:46.915Z,1755897706.915 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T21:21:47.074Z,1755897707.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010281
2025-08-22T21:21:47.331Z,1755897707.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266625
2025-08-22T21:21:47.583Z,1755897707.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518346
2025-08-22T21:21:47.656Z,1755897707.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:47.834Z,1755897707.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770250
2025-08-22T21:21:48.087Z,1755897708.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022446
2025-08-22T21:21:48.339Z,1755897708.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274295
2025-08-22T21:21:48.591Z,1755897708.591 [DAT](INFO): DAT read: Rx Time:21:21:49.0611
2025-08-22T21:21:48.592Z,1755897708.592 [DAT](INFO): Rx dataTimestamp_ set to:1755897708.591352
2025-08-22T21:21:48.593Z,1755897708.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528113
2025-08-22T21:21:48.843Z,1755897708.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778664
2025-08-22T21:21:49.100Z,1755897709.100 [DAT](INFO): DAT read: 21:21:49.0611 LVL= 27328, 20017, 26802, 25395, AGC= 65, IDX= 433, 0.35,-2.273,-0.183,-0.868,-0.926, PHS=-1.245, 0.788, 0.014, RAW= 292.2, 5.0, CAL= 290.2, 0.8, ROT= 219.8, -0.8
2025-08-22T21:21:49.101Z,1755897709.101 [DAT](INFO): got valid direction response:
21:21:49.0611 LVL= 27328, 20017, 26802, 25395, AGC= 65, IDX= 433, 0.35,-2.273,-0.183,-0.868,-0.926, PHS=-1.245, 0.788, 0.014, RAW= 292.2, 5.0, CAL= 290.2, 0.8, ROT= 219.8, -0.8
2025-08-22T21:21:49.102Z,1755897709.102 [DAT](INFO): DAT read: Bearing 343.3, -31.0 (Local)
2025-08-22T21:21:49.102Z,1755897709.102 [DAT](INFO): Local bearing/azimuth received:
Bearing 343.3, -31.0 (Local)
2025-08-22T21:21:49.103Z,1755897709.103 [DAT](INFO): DAT read: Range 11 to 50 : 423.3 m (Round-trip 564.5 ms) speed -0.4 m/s
2025-08-22T21:21:49.104Z,1755897709.104 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:21:49.105Z,1755897709.105 [DAT](INFO): direction in FSK: [-0.768209,-0.640047,0.013962]
2025-08-22T21:21:49.105Z,1755897709.105 [DAT](INFO): publishing direction and range info
2025-08-22T21:21:49.108Z,1755897709.108 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:21:49.109Z,1755897709.109 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:21:49.109Z,1755897709.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:21:49.346Z,1755897709.346 [DAT](INFO): DAT read: user:2157>
2025-08-22T21:21:49.347Z,1755897709.347 [DAT](INFO): DAT read: Tx time:21:21:50.3924
2025-08-22T21:21:49.347Z,1755897709.347 [DAT](INFO): Ping request sent.
2025-08-22T21:21:49.348Z,1755897709.348 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:21:49.348Z,1755897709.348 [DAT](INFO): publishing transmit ping time
2025-08-22T21:21:49.348Z,1755897709.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-22T21:21:49.598Z,1755897709.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250875
2025-08-22T21:21:49.669Z,1755897709.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:49.851Z,1755897709.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502939
2025-08-22T21:21:50.103Z,1755897710.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754957
2025-08-22T21:21:50.355Z,1755897710.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006999
2025-08-22T21:21:50.608Z,1755897710.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260028
2025-08-22T21:21:50.858Z,1755897710.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510884
2025-08-22T21:21:51.111Z,1755897711.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763080
2025-08-22T21:21:51.363Z,1755897711.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014999
2025-08-22T21:21:51.615Z,1755897711.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266912
2025-08-22T21:21:51.696Z,1755897711.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:51.871Z,1755897711.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522559
2025-08-22T21:21:52.119Z,1755897712.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771050
2025-08-22T21:21:52.370Z,1755897712.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022906
2025-08-22T21:21:52.624Z,1755897712.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275712
2025-08-22T21:21:52.878Z,1755897712.878 [DAT](INFO): DAT read: Rx Time:21:21:53.3620
2025-08-22T21:21:52.879Z,1755897712.879 [DAT](INFO): Rx dataTimestamp_ set to:1755897712.878649
2025-08-22T21:21:52.879Z,1755897712.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531894
2025-08-22T21:21:52.934Z,1755897712.934 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-08-22T21:21:53.130Z,1755897713.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782880
2025-08-22T21:21:53.338Z,1755897713.338 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-08-22T21:21:53.338Z,1755897713.338 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-08-22T21:21:53.339Z,1755897713.339 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-08-22T21:21:53.389Z,1755897713.389 [DAT](INFO): DAT read: 21:21:53.3620 LVL= 28736, 17697, 22882, 26611, AGC= 68, IDX= 458,-0.42,-1.417, 0.693,-0.210,-0.086, PHS=-1.229, 0.824,-0.168, RAW= 298.9, 6.5, CAL= 296.5, 5.1, ROT= 213.5, -5.1
2025-08-22T21:21:53.391Z,1755897713.391 [DAT](INFO): got valid direction response:
21:21:53.3620 LVL= 28736, 17697, 22882, 26611, AGC= 68, IDX= 458,-0.42,-1.417, 0.693,-0.210,-0.086, PHS=-1.229, 0.824,-0.168, RAW= 298.9, 6.5, CAL= 296.5, 5.1, ROT= 213.5, -5.1
2025-08-22T21:21:53.392Z,1755897713.392 [DAT](INFO): DAT read: Bearing 340.9, -25.0 (Local)
2025-08-22T21:21:53.392Z,1755897713.392 [DAT](INFO): Local bearing/azimuth received:
Bearing 340.9, -25.0 (Local)
2025-08-22T21:21:53.394Z,1755897713.394 [DAT](INFO): DAT read: Range 11 to 50 : 424.0 m (Round-trip 565.4 ms) speed 0.0 m/s
2025-08-22T21:21:53.395Z,1755897713.395 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:21:53.396Z,1755897713.396 [DAT](INFO): direction in FSK: [-0.830584,-0.549752,0.088894]
2025-08-22T21:21:53.397Z,1755897713.397 [DAT](INFO): publishing direction and range info
2025-08-22T21:21:53.400Z,1755897713.400 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:21:53.400Z,1755897713.400 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:21:53.400Z,1755897713.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:21:53.634Z,1755897713.634 [DAT](INFO): DAT read: user:2158>
2025-08-22T21:21:53.635Z,1755897713.635 [DAT](INFO): DAT read: Tx time:21:21:54.6424
2025-08-22T21:21:53.635Z,1755897713.635 [DAT](INFO): Ping request sent.
2025-08-22T21:21:53.636Z,1755897713.636 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:21:53.636Z,1755897713.636 [DAT](INFO): publishing transmit ping time
2025-08-22T21:21:53.636Z,1755897713.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-22T21:21:53.769Z,1755897713.769 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-08-22T21:21:53.770Z,1755897713.770 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-08-22T21:21:53.770Z,1755897713.770 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-08-22T21:21:53.886Z,1755897713.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250851
2025-08-22T21:21:54.113Z,1755897714.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:54.114Z,1755897714.114 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-08-22T21:21:54.114Z,1755897714.114 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-22T21:21:54.114Z,1755897714.114 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-08-22T21:21:54.115Z,1755897714.115 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-22T21:21:54.115Z,1755897714.115 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-22T21:21:54.139Z,1755897714.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503277
2025-08-22T21:21:54.391Z,1755897714.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754870
2025-08-22T21:21:54.543Z,1755897714.543 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-22T21:21:54.543Z,1755897714.543 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T21:21:54.543Z,1755897714.543 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-22T21:21:54.543Z,1755897714.543 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T21:21:54.543Z,1755897714.543 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-22T21:21:54.543Z,1755897714.543 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-22T21:21:54.543Z,1755897714.543 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-22T21:21:54.543Z,1755897714.543 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-22T21:21:54.543Z,1755897714.543 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-22T21:21:54.544Z,1755897714.544 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-22T21:21:54.544Z,1755897714.544 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-22T21:21:54.544Z,1755897714.544 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-22T21:21:54.545Z,1755897714.545 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-08-22T21:21:54.545Z,1755897714.545 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-22T21:21:54.545Z,1755897714.545 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-08-22T21:21:54.562Z,1755897714.562 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 424.000000 m
2025-08-22T21:21:54.562Z,1755897714.562 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-08-22T21:21:54.562Z,1755897714.562 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-08-22T21:21:54.563Z,1755897714.563 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -122.859630 arcdeg )
2025-08-22T21:21:54.563Z,1755897714.563 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-22T21:21:54.563Z,1755897714.563 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-08-22T21:21:54.563Z,1755897714.563 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-08-22T21:21:54.564Z,1755897714.564 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-122.859630
2025-08-22T21:21:54.644Z,1755897714.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007816
2025-08-22T21:21:54.894Z,1755897714.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258845
2025-08-22T21:21:54.980Z,1755897714.980 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-122.859630
2025-08-22T21:21:54.982Z,1755897714.982 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-08-22T21:21:54.982Z,1755897714.982 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-22T21:21:54.982Z,1755897714.982 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-08-22T21:21:54.983Z,1755897714.983 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-22T21:21:54.994Z,1755897714.994 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-08-22T21:21:55.147Z,1755897715.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510925
2025-08-22T21:21:55.363Z,1755897715.363 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-22T21:21:55.363Z,1755897715.363 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T21:21:55.363Z,1755897715.363 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-22T21:21:55.364Z,1755897715.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-22T21:21:55.365Z,1755897715.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T21:21:55.365Z,1755897715.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-22T21:21:55.365Z,1755897715.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T21:21:55.365Z,1755897715.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-22T21:21:55.365Z,1755897715.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T21:21:55.365Z,1755897715.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-22T21:21:55.365Z,1755897715.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-22T21:21:55.366Z,1755897715.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-22T21:21:55.366Z,1755897715.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T21:21:55.366Z,1755897715.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-22T21:21:55.366Z,1755897715.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-22T21:21:55.366Z,1755897715.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-22T21:21:55.366Z,1755897715.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-22T21:21:55.366Z,1755897715.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-22T21:21:55.366Z,1755897715.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-22T21:21:55.367Z,1755897715.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-22T21:21:55.367Z,1755897715.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-22T21:21:55.367Z,1755897715.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-22T21:21:55.367Z,1755897715.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T21:21:55.367Z,1755897715.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-22T21:21:55.367Z,1755897715.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-22T21:21:55.368Z,1755897715.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-22T21:21:55.368Z,1755897715.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-08-22T21:21:55.368Z,1755897715.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-22T21:21:55.368Z,1755897715.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-08-22T21:21:55.369Z,1755897715.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-08-22T21:21:55.369Z,1755897715.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-22T21:21:55.369Z,1755897715.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-22T21:21:55.374Z,1755897715.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-08-22T21:21:55.374Z,1755897715.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-08-22T21:21:55.374Z,1755897715.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-22T21:21:55.375Z,1755897715.375 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-22T21:21:55.375Z,1755897715.375 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T21:21:55.375Z,1755897715.375 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-22T21:21:55.375Z,1755897715.375 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T21:21:55.375Z,1755897715.375 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-22T21:21:55.375Z,1755897715.375 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-22T21:21:55.375Z,1755897715.375 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-22T21:21:55.375Z,1755897715.375 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-08-22T21:21:55.375Z,1755897715.375 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-22T21:21:55.398Z,1755897715.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762825
2025-08-22T21:21:55.651Z,1755897715.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014870
2025-08-22T21:21:55.768Z,1755897715.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 424.000000 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-08-22T21:21:55.775Z,1755897715.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 421.601929 m,
bearing: 220.652169 deg,
lat: 36.779106 deg,
lon: -121.859145 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-08-22T21:21:55.775Z,1755897715.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.60 m.
2025-08-22T21:21:55.782Z,1755897715.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 421.601929 m,
nav range: 419.887360 m,
bearing: 222.479732 deg,
approach rate: nan m/s,
LOS rate: nan deg/s,
cmd heading: 7.104954 deg,
new cmd heading: 222.479732 deg.
2025-08-22T21:21:55.783Z,1755897715.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883004 target range: 421.601929 and range: 424.00 m.
2025-08-22T21:21:55.811Z,1755897715.811 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-22T21:21:55.812Z,1755897715.812 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-22T21:21:55.903Z,1755897715.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267001
2025-08-22T21:21:56.136Z,1755897716.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:56.138Z,1755897716.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.60 m.
2025-08-22T21:21:56.140Z,1755897716.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 421.601929 m,
nav range: 419.948669 m,
bearing: 222.472964 deg,
approach rate: 0.165475 m/s,
LOS rate: nan deg/s,
cmd heading: 222.479738 deg,
new cmd heading: 222.472964 deg.
2025-08-22T21:21:56.141Z,1755897716.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882886 target range: 421.601929 and range: 424.00 m.
2025-08-22T21:21:56.155Z,1755897716.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519166
2025-08-22T21:21:56.407Z,1755897716.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771016
2025-08-22T21:21:56.596Z,1755897716.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.60 m.
2025-08-22T21:21:56.599Z,1755897716.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 421.601929 m,
nav range: 420.016357 m,
bearing: 222.465599 deg,
approach rate: 0.147704 m/s,
LOS rate: nan deg/s,
cmd heading: 222.472963 deg,
new cmd heading: 222.465599 deg.
2025-08-22T21:21:56.600Z,1755897716.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882757 target range: 421.601929 and range: 424.00 m.
2025-08-22T21:21:56.661Z,1755897716.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025520
2025-08-22T21:21:56.915Z,1755897716.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278897
2025-08-22T21:21:56.962Z,1755897716.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.60 m.
2025-08-22T21:21:56.964Z,1755897716.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 421.601929 m,
nav range: 420.076263 m,
bearing: 222.459162 deg,
approach rate: 0.163893 m/s,
LOS rate: nan deg/s,
cmd heading: 222.465600 deg,
new cmd heading: 222.459162 deg.
2025-08-22T21:21:56.965Z,1755897716.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882645 target range: 421.601929 and range: 424.00 m.
2025-08-22T21:21:57.168Z,1755897717.168 [DAT](INFO): DAT read: Rx Time:21:21:57.6127
2025-08-22T21:21:57.168Z,1755897717.168 [DAT](INFO): Rx dataTimestamp_ set to:1755897717.168175
2025-08-22T21:21:57.169Z,1755897717.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533750
2025-08-22T21:21:57.396Z,1755897717.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.60 m.
2025-08-22T21:21:57.399Z,1755897717.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 421.601929 m,
nav range: 420.142273 m,
bearing: 222.451824 deg,
approach rate: 0.151789 m/s,
LOS rate: nan deg/s,
cmd heading: 222.459166 deg,
new cmd heading: 222.451824 deg.
2025-08-22T21:21:57.400Z,1755897717.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882517 target range: 421.601929 and range: 424.00 m.
2025-08-22T21:21:57.419Z,1755897717.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782971
2025-08-22T21:21:57.676Z,1755897717.676 [DAT](INFO): DAT read: 21:21:57.6127 LVL= 32752, 20209, 27842, 32755, AGC= 68, IDX= 450, 0.03, 2.612,-1.527,-2.507,-2.369, PHS=-1.200, 0.887,-0.181, RAW= 300.8, 5.5, CAL= 298.4, 3.3, ROT= 211.6, -3.3
2025-08-22T21:21:57.677Z,1755897717.677 [DAT](INFO): got valid direction response:
21:21:57.6127 LVL= 32752, 20209, 27842, 32755, AGC= 68, IDX= 450, 0.03, 2.612,-1.527,-2.507,-2.369, PHS=-1.200, 0.887,-0.181, RAW= 300.8, 5.5, CAL= 298.4, 3.3, ROT= 211.6, -3.3
2025-08-22T21:21:57.678Z,1755897717.678 [DAT](INFO): DAT read: Bearing 344.0, -24.6 (Local)
2025-08-22T21:21:57.678Z,1755897717.678 [DAT](INFO): Local bearing/azimuth received:
Bearing 344.0, -24.6 (Local)
2025-08-22T21:21:57.679Z,1755897717.679 [DAT](INFO): DAT read: Range 11 to 50 : 424.6 m (Round-trip 566.2 ms) speed -0.2 m/s
2025-08-22T21:21:57.680Z,1755897717.680 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:21:57.681Z,1755897717.681 [DAT](INFO): direction in FSK: [-0.850315,-0.523117,0.057564]
2025-08-22T21:21:57.681Z,1755897717.681 [DAT](INFO): publishing direction and range info
2025-08-22T21:21:57.685Z,1755897717.685 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:21:57.685Z,1755897717.685 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:21:57.685Z,1755897717.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:21:57.836Z,1755897717.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 424.600006 m,
deltaT: 4.287794 s,
deltaX: 0.600006 m,
approachRate: 0.139934 m/s,
rangeRepo size: 2
2025-08-22T21:21:57.843Z,1755897717.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 422.198853 m,
bearing: 219.774994 deg,
lat: 36.779051 deg,
lon: -121.859096 deg,
deltaT: 4.287794 s,
deltaX: 0.596924 m,
approachRate: 0.139215 m/s,
posRepo size: 2
2025-08-22T21:21:57.843Z,1755897717.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.20 m.
2025-08-22T21:21:57.844Z,1755897717.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 219.774994 deg.
2025-08-22T21:21:57.845Z,1755897717.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.835797 target range: 422.198853 and range: 424.60 m.
2025-08-22T21:21:57.924Z,1755897717.924 [DAT](INFO): DAT read: user:2159>
2025-08-22T21:21:57.925Z,1755897717.925 [DAT](INFO): DAT read: Tx time:21:21:58.9424
2025-08-22T21:21:57.926Z,1755897717.926 [DAT](INFO): Ping request sent.
2025-08-22T21:21:57.926Z,1755897717.926 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:21:57.927Z,1755897717.927 [DAT](INFO): publishing transmit ping time
2025-08-22T21:21:57.927Z,1755897717.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001137
2025-08-22T21:21:58.175Z,1755897718.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249197
2025-08-22T21:21:58.183Z,1755897718.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:21:58.187Z,1755897718.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.20 m.
2025-08-22T21:21:58.191Z,1755897718.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.198853 m,
nav range: 421.956024 m,
bearing: 221.439872 deg,
approach rate: 0.158973 m/s,
LOS rate: -0.016809 deg/s,
cmd heading: 219.774997 deg,
new cmd heading: 219.763226 deg.
2025-08-22T21:21:58.193Z,1755897718.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.835592 target range: 422.198853 and range: 424.60 m.
2025-08-22T21:21:58.427Z,1755897718.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500864
2025-08-22T21:21:58.594Z,1755897718.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.20 m.
2025-08-22T21:21:58.597Z,1755897718.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.198853 m,
nav range: 422.019226 m,
bearing: 221.433066 deg,
approach rate: 0.154653 m/s,
LOS rate: -0.016651 deg/s,
cmd heading: 219.763222 deg,
new cmd heading: 219.749612 deg.
2025-08-22T21:21:58.598Z,1755897718.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.835354 target range: 422.198853 and range: 424.60 m.
2025-08-22T21:21:58.680Z,1755897718.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753411
2025-08-22T21:21:58.931Z,1755897718.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004398
2025-08-22T21:21:58.000Z,1755897719.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.20 m.
2025-08-22T21:21:59.009Z,1755897719.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.198853 m,
nav range: 422.079498 m,
bearing: 221.426590 deg,
approach rate: 0.148636 m/s,
LOS rate: -0.015969 deg/s,
cmd heading: 219.749616 deg,
new cmd heading: 219.736665 deg.
2025-08-22T21:21:59.022Z,1755897719.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.835128 target range: 422.198853 and range: 424.60 m.
2025-08-22T21:21:59.183Z,1755897719.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256772
2025-08-22T21:21:59.435Z,1755897719.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508467
2025-08-22T21:21:59.436Z,1755897719.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.20 m.
2025-08-22T21:21:59.439Z,1755897719.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.198853 m,
nav range: 422.141113 m,
bearing: 221.419427 deg,
approach rate: 0.141355 m/s,
LOS rate: -0.016431 deg/s,
cmd heading: 219.736666 deg,
new cmd heading: 219.722341 deg.
2025-08-22T21:21:59.440Z,1755897719.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.834878 target range: 422.198853 and range: 424.60 m.
2025-08-22T21:21:59.687Z,1755897719.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760508
2025-08-22T21:21:59.803Z,1755897719.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.20 m.
2025-08-22T21:21:59.805Z,1755897719.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.198853 m,
nav range: 422.190094 m,
bearing: 221.413698 deg,
approach rate: 0.133532 m/s,
LOS rate: -0.015615 deg/s,
cmd heading: 219.722336 deg,
new cmd heading: 219.710881 deg.
2025-08-22T21:21:59.807Z,1755897719.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.834678 target range: 422.198853 and range: 424.60 m.
2025-08-22T21:21:59.939Z,1755897719.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013227
2025-08-22T21:22:00.191Z,1755897720.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265083
2025-08-22T21:22:00.227Z,1755897720.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:00.229Z,1755897720.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.20 m.
2025-08-22T21:22:00.240Z,1755897720.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.198853 m,
nav range: 422.247589 m,
bearing: 221.406907 deg,
approach rate: 0.134831 m/s,
LOS rate: -0.015923 deg/s,
cmd heading: 219.710875 deg,
new cmd heading: 219.697295 deg.
2025-08-22T21:22:00.241Z,1755897720.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.834441 target range: 422.198853 and range: 424.60 m.
2025-08-22T21:22:00.443Z,1755897720.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516386
2025-08-22T21:22:00.644Z,1755897720.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.20 m.
2025-08-22T21:22:00.647Z,1755897720.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.198853 m,
nav range: 422.316437 m,
bearing: 221.398567 deg,
approach rate: 0.165780 m/s,
LOS rate: -0.020081 deg/s,
cmd heading: 219.697297 deg,
new cmd heading: 219.680618 deg.
2025-08-22T21:22:00.648Z,1755897720.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.834150 target range: 422.198853 and range: 424.60 m.
2025-08-22T21:22:00.696Z,1755897720.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769776
2025-08-22T21:22:00.946Z,1755897720.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020282
2025-08-22T21:22:01.022Z,1755897721.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.20 m.
2025-08-22T21:22:01.024Z,1755897721.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.198853 m,
nav range: 422.375183 m,
bearing: 221.391421 deg,
approach rate: 0.155775 m/s,
LOS rate: -0.018944 deg/s,
cmd heading: 219.680617 deg,
new cmd heading: 219.666329 deg.
2025-08-22T21:22:01.025Z,1755897721.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833901 target range: 422.198853 and range: 424.60 m.
2025-08-22T21:22:01.200Z,1755897721.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273901
2025-08-22T21:22:01.451Z,1755897721.451 [DAT](INFO): DAT read: Rx Time:21:22:01.9134
2025-08-22T21:22:01.451Z,1755897721.451 [DAT](INFO): Rx dataTimestamp_ set to:1755897721.450764
2025-08-22T21:22:01.452Z,1755897721.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525443
2025-08-22T21:22:01.495Z,1755897721.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.20 m.
2025-08-22T21:22:01.502Z,1755897721.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.198853 m,
nav range: 422.455475 m,
bearing: 221.380995 deg,
approach rate: 0.169538 m/s,
LOS rate: -0.022011 deg/s,
cmd heading: 219.666329 deg,
new cmd heading: 219.645480 deg.
2025-08-22T21:22:01.503Z,1755897721.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833537 target range: 422.198853 and range: 424.60 m.
2025-08-22T21:22:01.703Z,1755897721.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776747
2025-08-22T21:22:01.885Z,1755897721.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.20 m.
2025-08-22T21:22:01.892Z,1755897721.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.198853 m,
nav range: 422.521362 m,
bearing: 221.372413 deg,
approach rate: 0.168979 m/s,
LOS rate: -0.022007 deg/s,
cmd heading: 219.645483 deg,
new cmd heading: 219.628321 deg.
2025-08-22T21:22:01.893Z,1755897721.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833237 target range: 422.198853 and range: 424.60 m.
2025-08-22T21:22:01.960Z,1755897721.960 [DAT](INFO): DAT read: 21:22:01.9134 LVL= 32304, 18577, 27218, 32755, AGC= 69, IDX= 425,-0.07,-2.964,-0.880,-1.835,-1.651, PHS=-1.210, 0.817,-0.228, RAW= 301.0, 7.1, CAL= 298.6, 6.6, ROT= 211.4, -6.6
2025-08-22T21:22:01.961Z,1755897721.961 [DAT](INFO): got valid direction response:
21:22:01.9134 LVL= 32304, 18577, 27218, 32755, AGC= 69, IDX= 425,-0.07,-2.964,-0.880,-1.835,-1.651, PHS=-1.210, 0.817,-0.228, RAW= 301.0, 7.1, CAL= 298.6, 6.6, ROT= 211.4, -6.6
2025-08-22T21:22:01.962Z,1755897721.962 [DAT](INFO): DAT read: Bearing 340.6, -25.4 (Local)
2025-08-22T21:22:01.962Z,1755897721.962 [DAT](INFO): Local bearing/azimuth received:
Bearing 340.6, -25.4 (Local)
2025-08-22T21:22:01.964Z,1755897721.964 [DAT](INFO): DAT read: Range 11 to 50 : 425.1 m (Round-trip 566.8 ms) speed 0.0 m/s
2025-08-22T21:22:01.964Z,1755897721.964 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:01.965Z,1755897721.965 [DAT](INFO): direction in FSK: [-0.847894,-0.517557,0.114937]
2025-08-22T21:22:01.966Z,1755897721.966 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:01.969Z,1755897721.969 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:01.969Z,1755897721.969 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:01.969Z,1755897721.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:02.208Z,1755897722.208 [DAT](INFO): DAT read: user:2160>
2025-08-22T21:22:02.209Z,1755897722.209 [DAT](INFO): DAT read: Tx time:21:22:03.2424
2025-08-22T21:22:02.210Z,1755897722.210 [DAT](INFO): Ping request sent.
2025-08-22T21:22:02.210Z,1755897722.210 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:02.211Z,1755897722.211 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:02.211Z,1755897722.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001185
2025-08-22T21:22:02.307Z,1755897722.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 425.100006 m,
deltaT: 4.284286 s,
deltaX: 0.500000 m,
approachRate: 0.116706 m/s,
rangeRepo size: 3
2025-08-22T21:22:02.309Z,1755897722.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 422.696472 m,
bearing: 219.961990 deg,
lat: 36.779033 deg,
lon: -121.859021 deg,
deltaT: 4.284286 s,
deltaX: 0.497620 m,
approachRate: 0.116150 m/s,
posRepo size: 3
2025-08-22T21:22:02.313Z,1755897722.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.70 m.
2025-08-22T21:22:02.316Z,1755897722.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.696472 m,
nav range: 419.725677 m,
bearing: 220.504080 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.022007 deg/s,
cmd heading: 219.628325 deg,
new cmd heading: 219.609984 deg.
2025-08-22T21:22:02.322Z,1755897722.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.832917 target range: 422.696472 and range: 425.10 m.
2025-08-22T21:22:02.460Z,1755897722.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249859
2025-08-22T21:22:02.712Z,1755897722.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501592
2025-08-22T21:22:02.746Z,1755897722.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:02.748Z,1755897722.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.70 m.
2025-08-22T21:22:02.755Z,1755897722.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.696472 m,
nav range: 419.812622 m,
bearing: 220.493000 deg,
approach rate: 0.194616 m/s,
LOS rate: -0.024797 deg/s,
cmd heading: 219.609980 deg,
new cmd heading: 219.587823 deg.
2025-08-22T21:22:02.756Z,1755897722.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.832530 target range: 422.696472 and range: 425.10 m.
2025-08-22T21:22:02.962Z,1755897722.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752471
2025-08-22T21:22:03.152Z,1755897723.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.70 m.
2025-08-22T21:22:03.155Z,1755897723.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.696472 m,
nav range: 419.889923 m,
bearing: 220.483155 deg,
approach rate: 0.191570 m/s,
LOS rate: -0.024394 deg/s,
cmd heading: 219.587822 deg,
new cmd heading: 219.568136 deg.
2025-08-22T21:22:03.157Z,1755897723.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.832187 target range: 422.696472 and range: 425.10 m.
2025-08-22T21:22:03.216Z,1755897723.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005339
2025-08-22T21:22:03.467Z,1755897723.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256556
2025-08-22T21:22:03.544Z,1755897723.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.70 m.
2025-08-22T21:22:03.547Z,1755897723.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.696472 m,
nav range: 419.975677 m,
bearing: 220.472178 deg,
approach rate: 0.218778 m/s,
LOS rate: -0.027999 deg/s,
cmd heading: 219.568138 deg,
new cmd heading: 219.546188 deg.
2025-08-22T21:22:03.548Z,1755897723.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.831804 target range: 422.696472 and range: 425.10 m.
2025-08-22T21:22:03.719Z,1755897723.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508642
2025-08-22T21:22:03.922Z,1755897723.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.70 m.
2025-08-22T21:22:03.925Z,1755897723.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.696472 m,
nav range: 420.055176 m,
bearing: 220.461899 deg,
approach rate: 0.210384 m/s,
LOS rate: -0.027196 deg/s,
cmd heading: 219.546186 deg,
new cmd heading: 219.525632 deg.
2025-08-22T21:22:03.926Z,1755897723.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.831445 target range: 422.696472 and range: 425.10 m.
2025-08-22T21:22:03.971Z,1755897723.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760748
2025-08-22T21:22:04.223Z,1755897724.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012684
2025-08-22T21:22:04.330Z,1755897724.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.70 m.
2025-08-22T21:22:04.333Z,1755897724.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.696472 m,
nav range: 420.140594 m,
bearing: 220.450740 deg,
approach rate: 0.209121 m/s,
LOS rate: -0.027314 deg/s,
cmd heading: 219.525627 deg,
new cmd heading: 219.503313 deg.
2025-08-22T21:22:04.334Z,1755897724.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.831056 target range: 422.696472 and range: 425.10 m.
2025-08-22T21:22:04.475Z,1755897724.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264592
2025-08-22T21:22:04.727Z,1755897724.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516586
2025-08-22T21:22:04.766Z,1755897724.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:04.769Z,1755897724.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.70 m.
2025-08-22T21:22:04.771Z,1755897724.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.696472 m,
nav range: 420.244476 m,
bearing: 220.437712 deg,
approach rate: 0.237021 m/s,
LOS rate: -0.029719 deg/s,
cmd heading: 219.503319 deg,
new cmd heading: 219.477269 deg.
2025-08-22T21:22:04.772Z,1755897724.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.830601 target range: 422.696472 and range: 425.10 m.
2025-08-22T21:22:04.979Z,1755897724.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768671
2025-08-22T21:22:05.140Z,1755897725.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.70 m.
2025-08-22T21:22:05.143Z,1755897725.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.696472 m,
nav range: 420.332275 m,
bearing: 220.426565 deg,
approach rate: 0.236223 m/s,
LOS rate: -0.029983 deg/s,
cmd heading: 219.477269 deg,
new cmd heading: 219.454981 deg.
2025-08-22T21:22:05.144Z,1755897725.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.830212 target range: 422.696472 and range: 425.10 m.
2025-08-22T21:22:05.232Z,1755897725.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021849
2025-08-22T21:22:05.486Z,1755897725.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275759
2025-08-22T21:22:05.579Z,1755897725.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.70 m.
2025-08-22T21:22:05.586Z,1755897725.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.696472 m,
nav range: 420.443298 m,
bearing: 220.413021 deg,
approach rate: 0.253102 m/s,
LOS rate: -0.030870 deg/s,
cmd heading: 219.454975 deg,
new cmd heading: 219.427893 deg.
2025-08-22T21:22:05.587Z,1755897725.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829739 target range: 422.696472 and range: 425.10 m.
2025-08-22T21:22:05.735Z,1755897725.735 [DAT](INFO): DAT read: Rx Time:21:22:06.2144
2025-08-22T21:22:05.736Z,1755897725.736 [DAT](INFO): Rx dataTimestamp_ set to:1755897725.735506
2025-08-22T21:22:05.737Z,1755897725.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526653
2025-08-22T21:22:05.969Z,1755897725.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.70 m.
2025-08-22T21:22:05.972Z,1755897725.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.696472 m,
nav range: 420.549316 m,
bearing: 220.399899 deg,
approach rate: 0.271913 m/s,
LOS rate: -0.033645 deg/s,
cmd heading: 219.427887 deg,
new cmd heading: 219.401650 deg.
2025-08-22T21:22:05.973Z,1755897725.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829281 target range: 422.696472 and range: 425.10 m.
2025-08-22T21:22:05.987Z,1755897725.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776541
2025-08-22T21:22:06.247Z,1755897726.247 [DAT](INFO): DAT read: 21:22:06.2144 LVL= 29616, 19761, 23362, 28819, AGC= 66, IDX= 451, 0.20, 1.035,-3.132, 2.291, 2.362, PHS=-1.225, 0.834,-0.115, RAW= 297.4, 5.7, CAL= 295.1, 3.3, ROT= 214.9, -3.3
2025-08-22T21:22:06.248Z,1755897726.248 [DAT](INFO): got valid direction response:
21:22:06.2144 LVL= 29616, 19761, 23362, 28819, AGC= 66, IDX= 451, 0.20, 1.035,-3.132, 2.291, 2.362, PHS=-1.225, 0.834,-0.115, RAW= 297.4, 5.7, CAL= 295.1, 3.3, ROT= 214.9, -3.3
2025-08-22T21:22:06.250Z,1755897726.250 [DAT](INFO): DAT read: Bearing 341.1, -31.0 (Local)
2025-08-22T21:22:06.251Z,1755897726.251 [DAT](INFO): Local bearing/azimuth received:
Bearing 341.1, -31.0 (Local)
2025-08-22T21:22:06.252Z,1755897726.252 [DAT](INFO): DAT read: Range 11 to 50 : 425.8 m (Round-trip 567.8 ms) speed -0.4 m/s
2025-08-22T21:22:06.253Z,1755897726.253 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:06.254Z,1755897726.254 [DAT](INFO): direction in FSK: [-0.818792,-0.571197,0.057564]
2025-08-22T21:22:06.254Z,1755897726.254 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:06.258Z,1755897726.258 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:06.258Z,1755897726.258 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:06.258Z,1755897726.258 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:06.400Z,1755897726.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 425.799988 m,
deltaT: 4.284334 s,
deltaX: 0.699982 m,
approachRate: 0.163382 m/s,
rangeRepo size: 4
2025-08-22T21:22:06.407Z,1755897726.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 423.393372 m,
bearing: 219.352147 deg,
lat: 36.779020 deg,
lon: -121.858982 deg,
deltaT: 4.284334 s,
deltaX: 0.696899 m,
approachRate: 0.162662 m/s,
posRepo size: 4
2025-08-22T21:22:06.408Z,1755897726.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.39 m.
2025-08-22T21:22:06.421Z,1755897726.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.393372 m,
nav range: 419.479980 m,
bearing: 219.899588 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.033645 deg/s,
cmd heading: 219.401645 deg,
new cmd heading: 219.372652 deg.
2025-08-22T21:22:06.427Z,1755897726.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.828775 target range: 423.393372 and range: 425.80 m.
2025-08-22T21:22:06.491Z,1755897726.491 [DAT](INFO): DAT read: user:2161>
2025-08-22T21:22:06.492Z,1755897726.492 [DAT](INFO): DAT read: Tx time:21:22:07.5424
2025-08-22T21:22:06.492Z,1755897726.492 [DAT](INFO): Ping request sent.
2025-08-22T21:22:06.492Z,1755897726.492 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:06.492Z,1755897726.492 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:06.493Z,1755897726.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-08-22T21:22:06.743Z,1755897726.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251006
2025-08-22T21:22:06.852Z,1755897726.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:06.854Z,1755897726.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.39 m.
2025-08-22T21:22:06.857Z,1755897726.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.393372 m,
nav range: 419.612427 m,
bearing: 219.883211 deg,
approach rate: 0.291232 m/s,
LOS rate: -0.036000 deg/s,
cmd heading: 219.372658 deg,
new cmd heading: 219.339914 deg.
2025-08-22T21:22:06.858Z,1755897726.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.828204 target range: 423.393372 and range: 425.80 m.
2025-08-22T21:22:06.995Z,1755897726.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502814
2025-08-22T21:22:07.234Z,1755897727.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.39 m.
2025-08-22T21:22:07.237Z,1755897727.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.393372 m,
nav range: 419.718994 m,
bearing: 219.869817 deg,
approach rate: 0.280374 m/s,
LOS rate: -0.035229 deg/s,
cmd heading: 219.339914 deg,
new cmd heading: 219.313133 deg.
2025-08-22T21:22:07.238Z,1755897727.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.827736 target range: 423.393372 and range: 425.80 m.
2025-08-22T21:22:07.247Z,1755897727.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754370
2025-08-22T21:22:07.499Z,1755897727.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006225
2025-08-22T21:22:07.654Z,1755897727.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.39 m.
2025-08-22T21:22:07.657Z,1755897727.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.393372 m,
nav range: 419.843933 m,
bearing: 219.854120 deg,
approach rate: 0.298065 m/s,
LOS rate: -0.037437 deg/s,
cmd heading: 219.313140 deg,
new cmd heading: 219.281755 deg.
2025-08-22T21:22:07.658Z,1755897727.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.827189 target range: 423.393372 and range: 425.80 m.
2025-08-22T21:22:07.751Z,1755897727.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258713
2025-08-22T21:22:08.003Z,1755897728.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510251
2025-08-22T21:22:08.038Z,1755897728.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.39 m.
2025-08-22T21:22:08.041Z,1755897728.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.393372 m,
nav range: 419.957397 m,
bearing: 219.839596 deg,
approach rate: 0.295734 m/s,
LOS rate: -0.037845 deg/s,
cmd heading: 219.281762 deg,
new cmd heading: 219.252722 deg.
2025-08-22T21:22:08.058Z,1755897728.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.826682 target range: 423.393372 and range: 425.80 m.
2025-08-22T21:22:08.254Z,1755897728.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762172
2025-08-22T21:22:08.462Z,1755897728.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.39 m.
2025-08-22T21:22:08.471Z,1755897728.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.393372 m,
nav range: 420.079712 m,
bearing: 219.823630 deg,
approach rate: 0.289265 m/s,
LOS rate: -0.037749 deg/s,
cmd heading: 219.252720 deg,
new cmd heading: 219.220796 deg.
2025-08-22T21:22:08.475Z,1755897728.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.826125 target range: 423.393372 and range: 425.80 m.
2025-08-22T21:22:08.509Z,1755897728.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016279
2025-08-22T21:22:08.759Z,1755897728.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266816
2025-08-22T21:22:08.884Z,1755897728.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:08.887Z,1755897728.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.39 m.
2025-08-22T21:22:08.890Z,1755897728.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.393372 m,
nav range: 420.212708 m,
bearing: 219.806178 deg,
approach rate: 0.311723 m/s,
LOS rate: -0.040891 deg/s,
cmd heading: 219.220795 deg,
new cmd heading: 219.185903 deg.
2025-08-22T21:22:08.891Z,1755897728.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.825516 target range: 423.393372 and range: 425.80 m.
2025-08-22T21:22:09.011Z,1755897729.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518659
2025-08-22T21:22:09.253Z,1755897729.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.39 m.
2025-08-22T21:22:09.256Z,1755897729.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.393372 m,
nav range: 420.324707 m,
bearing: 219.791167 deg,
approach rate: 0.305652 m/s,
LOS rate: -0.040955 deg/s,
cmd heading: 219.185907 deg,
new cmd heading: 219.155893 deg.
2025-08-22T21:22:09.257Z,1755897729.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.824992 target range: 423.393372 and range: 425.80 m.
2025-08-22T21:22:09.263Z,1755897729.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770200
2025-08-22T21:22:09.518Z,1755897729.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024643
2025-08-22T21:22:09.657Z,1755897729.657 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +84.93, -49.41+10.54, 20.00, 71.02
2025-08-22T21:22:09.682Z,1755897729.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.39 m.
2025-08-22T21:22:09.711Z,1755897729.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.393372 m,
nav range: 420.451447 m,
bearing: 219.773846 deg,
approach rate: 0.295735 m/s,
LOS rate: -0.040404 deg/s,
cmd heading: 219.155895 deg,
new cmd heading: 219.121264 deg.
2025-08-22T21:22:09.712Z,1755897729.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.824388 target range: 423.393372 and range: 425.80 m.
2025-08-22T21:22:09.767Z,1755897729.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274482
2025-08-22T21:22:10.019Z,1755897730.019 [DAT](INFO): DAT read: Rx Time:21:22:10.5261
2025-08-22T21:22:10.019Z,1755897730.019 [DAT](INFO): Rx dataTimestamp_ set to:1755897730.018707
2025-08-22T21:22:10.020Z,1755897730.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527226
2025-08-22T21:22:10.107Z,1755897730.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.39 m.
2025-08-22T21:22:10.110Z,1755897730.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.393372 m,
nav range: 420.579193 m,
bearing: 219.756405 deg,
approach rate: 0.300090 m/s,
LOS rate: -0.040959 deg/s,
cmd heading: 219.121266 deg,
new cmd heading: 219.086393 deg.
2025-08-22T21:22:10.111Z,1755897730.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.823779 target range: 423.393372 and range: 425.80 m.
2025-08-22T21:22:10.271Z,1755897730.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778248
2025-08-22T21:22:10.545Z,1755897730.545 [DAT](INFO): DAT read: 21:22:10.5261 LVL= 18528, 11665, 15186, 15155, AGC= 71, IDX= 43,-0.04,-0.316, 1.556, 1.337, 0.811, PHS=-1.025, 0.791, 0.483, RAW= 279.1, -3.0, CAL= 278.3, -8.5, ROT= 231.7, 8.5
2025-08-22T21:22:10.549Z,1755897730.549 [DAT](INFO): got valid direction response:
21:22:10.5261 LVL= 18528, 11665, 15186, 15155, AGC= 71, IDX= 43,-0.04,-0.316, 1.556, 1.337, 0.811, PHS=-1.025, 0.791, 0.483, RAW= 279.1, -3.0, CAL= 278.3, -8.5, ROT= 231.7, 8.5
2025-08-22T21:22:10.558Z,1755897730.558 [DAT](INFO): DAT read: Bearing 353.0, -49.2 (Local)
2025-08-22T21:22:10.559Z,1755897730.559 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.0, -49.2 (Local)
2025-08-22T21:22:10.560Z,1755897730.560 [DAT](INFO): DAT read: Range 11 to 50 : 434.6 m (Round-trip 579.5 ms) speed -0.1 m/s
2025-08-22T21:22:10.560Z,1755897730.560 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:10.562Z,1755897730.562 [DAT](INFO): direction in FSK: [-0.612971,-0.776156,-0.147809]
2025-08-22T21:22:10.562Z,1755897730.562 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:10.565Z,1755897730.565 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:10.565Z,1755897730.565 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:10.606Z,1755897730.606 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:10.734Z,1755897730.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 434.600006 m,
deltaT: 4.285212 s,
deltaX: 8.800018 m,
approachRate: 2.053578 m/s,
rangeRepo size: 4
2025-08-22T21:22:10.737Z,1755897730.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 432.144836 m,
bearing: 230.172750 deg,
lat: 36.779020 deg,
lon: -121.858982 deg,
deltaT: 4.285212 s,
deltaX: 8.751465 m,
approachRate: 2.042248 m/s,
posRepo size: 4
2025-08-22T21:22:10.738Z,1755897730.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.14 m.
2025-08-22T21:22:10.740Z,1755897730.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 432.144836 m,
nav range: 420.782410 m,
bearing: 219.728605 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.040959 deg/s,
cmd heading: 219.086391 deg,
new cmd heading: 219.035442 deg.
2025-08-22T21:22:10.754Z,1755897730.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.822890 target range: 432.144836 and range: 434.60 m.
2025-08-22T21:22:10.775Z,1755897730.775 [DAT](INFO): DAT read: user:2162>
2025-08-22T21:22:10.775Z,1755897730.775 [DAT](INFO): DAT read: Tx time:21:22:11.8924
2025-08-22T21:22:10.776Z,1755897730.776 [DAT](INFO): Ping request sent.
2025-08-22T21:22:10.776Z,1755897730.776 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:10.776Z,1755897730.776 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:10.777Z,1755897730.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724
2025-08-22T21:22:11.027Z,1755897731.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251276
2025-08-22T21:22:11.250Z,1755897731.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:11.252Z,1755897731.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.14 m.
2025-08-22T21:22:11.255Z,1755897731.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 432.144836 m,
nav range: 420.955444 m,
bearing: 219.703825 deg,
approach rate: 0.330922 m/s,
LOS rate: -0.047371 deg/s,
cmd heading: 219.035438 deg,
new cmd heading: 218.985899 deg.
2025-08-22T21:22:11.256Z,1755897731.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.822025 target range: 432.144836 and range: 434.60 m.
2025-08-22T21:22:11.279Z,1755897731.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502923
2025-08-22T21:22:11.534Z,1755897731.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757437
2025-08-22T21:22:11.783Z,1755897731.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006831
2025-08-22T21:22:11.787Z,1755897731.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.14 m.
2025-08-22T21:22:11.790Z,1755897731.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 432.144836 m,
nav range: 421.132507 m,
bearing: 219.678054 deg,
approach rate: 0.331141 m/s,
LOS rate: -0.048177 deg/s,
cmd heading: 218.985905 deg,
new cmd heading: 218.934384 deg.
2025-08-22T21:22:11.791Z,1755897731.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.821126 target range: 432.144836 and range: 434.60 m.
2025-08-22T21:22:12.036Z,1755897732.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260279
2025-08-22T21:22:12.172Z,1755897732.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.14 m.
2025-08-22T21:22:12.177Z,1755897732.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 432.144836 m,
nav range: 421.250153 m,
bearing: 219.660526 deg,
approach rate: 0.306287 m/s,
LOS rate: -0.045620 deg/s,
cmd heading: 218.934378 deg,
new cmd heading: 218.899333 deg.
2025-08-22T21:22:12.179Z,1755897732.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.820514 target range: 432.144836 and range: 434.60 m.
2025-08-22T21:22:12.287Z,1755897732.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511045
2025-08-22T21:22:12.542Z,1755897732.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765149
2025-08-22T21:22:12.633Z,1755897732.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.14 m.
2025-08-22T21:22:12.637Z,1755897732.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 432.144836 m,
nav range: 421.409332 m,
bearing: 219.636162 deg,
approach rate: 0.344923 m/s,
LOS rate: -0.052775 deg/s,
cmd heading: 218.899339 deg,
new cmd heading: 218.850629 deg.
2025-08-22T21:22:12.638Z,1755897732.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.819664 target range: 432.144836 and range: 434.60 m.
2025-08-22T21:22:12.790Z,1755897732.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014676
2025-08-22T21:22:12.978Z,1755897732.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.14 m.
2025-08-22T21:22:12.981Z,1755897732.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 432.144836 m,
nav range: 421.520508 m,
bearing: 219.618719 deg,
approach rate: 0.321432 m/s,
LOS rate: -0.050418 deg/s,
cmd heading: 218.850626 deg,
new cmd heading: 218.815749 deg.
2025-08-22T21:22:12.982Z,1755897732.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.819055 target range: 432.144836 and range: 434.60 m.
2025-08-22T21:22:13.043Z,1755897733.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267234
2025-08-22T21:22:13.295Z,1755897733.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518746
2025-08-22T21:22:13.377Z,1755897733.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:13.379Z,1755897733.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.14 m.
2025-08-22T21:22:13.386Z,1755897733.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 432.144836 m,
nav range: 421.647156 m,
bearing: 219.598335 deg,
approach rate: 0.315840 m/s,
LOS rate: -0.050819 deg/s,
cmd heading: 218.815751 deg,
new cmd heading: 218.774996 deg.
2025-08-22T21:22:13.387Z,1755897733.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.818344 target range: 432.144836 and range: 434.60 m.
2025-08-22T21:22:13.549Z,1755897733.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772880
2025-08-22T21:22:13.778Z,1755897733.778 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:22:13.799Z,1755897733.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022853
2025-08-22T21:22:13.831Z,1755897733.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.14 m.
2025-08-22T21:22:13.838Z,1755897733.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 432.144836 m,
nav range: 421.786896 m,
bearing: 219.574685 deg,
approach rate: 0.309302 m/s,
LOS rate: -0.052329 deg/s,
cmd heading: 218.775003 deg,
new cmd heading: 218.727719 deg.
2025-08-22T21:22:13.839Z,1755897733.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.817519 target range: 432.144836 and range: 434.60 m.
2025-08-22T21:22:14.051Z,1755897734.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274739
2025-08-22T21:22:14.210Z,1755897734.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.14 m.
2025-08-22T21:22:14.212Z,1755897734.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 432.144836 m,
nav range: 421.910095 m,
bearing: 219.553285 deg,
approach rate: 0.325578 m/s,
LOS rate: -0.056537 deg/s,
cmd heading: 218.727724 deg,
new cmd heading: 218.684936 deg.
2025-08-22T21:22:14.234Z,1755897734.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.816772 target range: 432.144836 and range: 434.60 m.
2025-08-22T21:22:14.303Z,1755897734.303 [DAT](INFO): DAT read: Rx Time:21:22:14.8774
2025-08-22T21:22:14.303Z,1755897734.303 [DAT](INFO): Rx dataTimestamp_ set to:1755897734.302797
2025-08-22T21:22:14.304Z,1755897734.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527816
2025-08-22T21:22:14.566Z,1755897734.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780922
2025-08-22T21:22:14.681Z,1755897734.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.14 m.
2025-08-22T21:22:14.685Z,1755897734.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 432.144836 m,
nav range: 422.053772 m,
bearing: 219.527379 deg,
approach rate: 0.304910 m/s,
LOS rate: -0.054958 deg/s,
cmd heading: 218.684940 deg,
new cmd heading: 218.633146 deg.
2025-08-22T21:22:14.686Z,1755897734.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.815868 target range: 432.144836 and range: 434.60 m.
2025-08-22T21:22:14.783Z,1755897734.783 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:22:14.812Z,1755897734.812 [DAT](INFO): DAT read: 21:22:14.8774 LVL= 30080, 22929, 25442, 31155, AGC= 69, IDX= 440,-0.20, 2.775,-1.657,-1.751,-2.082, PHS=-1.324, 0.470, 0.288, RAW= 275.3, 6.7, CAL= 273.4, 2.9, ROT= 236.6, -2.9
2025-08-22T21:22:14.815Z,1755897734.815 [DAT](INFO): got valid direction response:
21:22:14.8774 LVL= 30080, 22929, 25442, 31155, AGC= 69, IDX= 440,-0.20, 2.775,-1.657,-1.751,-2.082, PHS=-1.324, 0.470, 0.288, RAW= 275.3, 6.7, CAL= 273.4, 2.9, ROT= 236.6, -2.9
2025-08-22T21:22:14.816Z,1755897734.816 [DAT](INFO): DAT read: Bearing 329.1, -55.9 (Local)
2025-08-22T21:22:14.816Z,1755897734.816 [DAT](INFO): Local bearing/azimuth received:
Bearing 329.1, -55.9 (Local)
2025-08-22T21:22:14.819Z,1755897734.819 [DAT](INFO): DAT read: Range 11 to 50 : 435.6 m (Round-trip 580.8 ms) speed -0.3 m/s
2025-08-22T21:22:14.820Z,1755897734.820 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:14.822Z,1755897734.822 [DAT](INFO): direction in FSK: [-0.549776,-0.833779,0.050593]
2025-08-22T21:22:14.822Z,1755897734.822 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:14.831Z,1755897734.831 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:14.831Z,1755897734.831 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:14.832Z,1755897734.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:15.062Z,1755897735.062 [DAT](INFO): DAT read: user:2163>
2025-08-22T21:22:15.063Z,1755897735.063 [DAT](INFO): DAT read: Tx time:21:22:16.0924
2025-08-22T21:22:15.064Z,1755897735.064 [DAT](INFO): Ping request sent.
2025-08-22T21:22:15.064Z,1755897735.064 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:15.064Z,1755897735.064 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:15.065Z,1755897735.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001073
2025-08-22T21:22:15.197Z,1755897735.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 435.600006 m,
deltaT: 4.282313 s,
deltaX: 1.000000 m,
approachRate: 0.233519 m/s,
rangeRepo size: 4
2025-08-22T21:22:15.211Z,1755897735.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 433.137482 m,
bearing: 226.571874 deg,
lat: 36.779020 deg,
lon: -121.858982 deg,
deltaT: 4.282313 s,
deltaX: 0.992645 m,
approachRate: 0.231801 m/s,
posRepo size: 4
2025-08-22T21:22:15.212Z,1755897735.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.14 m.
2025-08-22T21:22:15.219Z,1755897735.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 433.137482 m,
nav range: 422.200928 m,
bearing: 219.499308 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.054958 deg/s,
cmd heading: 218.633153 deg,
new cmd heading: 218.576503 deg.
2025-08-22T21:22:15.220Z,1755897735.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.814880 target range: 433.137482 and range: 435.60 m.
2025-08-22T21:22:15.312Z,1755897735.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248093
2025-08-22T21:22:15.563Z,1755897735.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498838
2025-08-22T21:22:15.576Z,1755897735.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:15.578Z,1755897735.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.14 m.
2025-08-22T21:22:15.581Z,1755897735.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 433.137482 m,
nav range: 422.322388 m,
bearing: 219.475415 deg,
approach rate: 0.318082 m/s,
LOS rate: -0.062553 deg/s,
cmd heading: 218.576504 deg,
new cmd heading: 218.528732 deg.
2025-08-22T21:22:15.582Z,1755897735.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.814046 target range: 433.137482 and range: 435.60 m.
2025-08-22T21:22:15.818Z,1755897735.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754150
2025-08-22T21:22:16.006Z,1755897736.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.14 m.
2025-08-22T21:22:16.009Z,1755897736.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 433.137482 m,
nav range: 422.447815 m,
bearing: 219.449287 deg,
approach rate: 0.293425 m/s,
LOS rate: -0.061106 deg/s,
cmd heading: 218.528733 deg,
new cmd heading: 218.476493 deg.
2025-08-22T21:22:16.010Z,1755897736.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.813134 target range: 433.137482 and range: 435.60 m.
2025-08-22T21:22:16.067Z,1755897736.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003280
2025-08-22T21:22:16.319Z,1755897736.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254848
2025-08-22T21:22:16.386Z,1755897736.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.14 m.
2025-08-22T21:22:16.388Z,1755897736.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 433.137482 m,
nav range: 422.556305 m,
bearing: 219.425891 deg,
approach rate: 0.285523 m/s,
LOS rate: -0.061559 deg/s,
cmd heading: 218.476496 deg,
new cmd heading: 218.429715 deg.
2025-08-22T21:22:16.390Z,1755897736.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.812318 target range: 433.137482 and range: 435.60 m.
2025-08-22T21:22:16.570Z,1755897736.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506719
2025-08-22T21:22:16.791Z,1755897736.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.14 m.
2025-08-22T21:22:16.794Z,1755897736.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 433.137482 m,
nav range: 422.669312 m,
bearing: 219.400620 deg,
approach rate: 0.279562 m/s,
LOS rate: -0.062498 deg/s,
cmd heading: 218.429709 deg,
new cmd heading: 218.379182 deg.
2025-08-22T21:22:16.795Z,1755897736.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.811436 target range: 433.137482 and range: 435.60 m.
2025-08-22T21:22:16.835Z,1755897736.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770980
2025-08-22T21:22:17.087Z,1755897737.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023480
2025-08-22T21:22:17.209Z,1755897737.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.14 m.
2025-08-22T21:22:17.213Z,1755897737.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 433.137482 m,
nav range: 422.782990 m,
bearing: 219.374233 deg,
approach rate: 0.271105 m/s,
LOS rate: -0.062912 deg/s,
cmd heading: 218.379179 deg,
new cmd heading: 218.326420 deg.
2025-08-22T21:22:17.214Z,1755897737.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810515 target range: 433.137482 and range: 435.60 m.
2025-08-22T21:22:17.339Z,1755897737.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274761
2025-08-22T21:22:17.591Z,1755897737.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526856
2025-08-22T21:22:17.593Z,1755897737.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:17.595Z,1755897737.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.14 m.
2025-08-22T21:22:17.598Z,1755897737.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 433.137482 m,
nav range: 422.884125 m,
bearing: 219.349826 deg,
approach rate: 0.261746 m/s,
LOS rate: -0.063153 deg/s,
cmd heading: 218.326423 deg,
new cmd heading: 218.277620 deg.
2025-08-22T21:22:17.599Z,1755897737.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.809663 target range: 433.137482 and range: 435.60 m.
2025-08-22T21:22:17.843Z,1755897737.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778940
2025-08-22T21:22:18.016Z,1755897738.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.14 m.
2025-08-22T21:22:18.034Z,1755897738.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 433.137482 m,
nav range: 422.990417 m,
bearing: 219.322014 deg,
approach rate: 0.253070 m/s,
LOS rate: -0.066201 deg/s,
cmd heading: 218.277615 deg,
new cmd heading: 218.222004 deg.
2025-08-22T21:22:18.035Z,1755897738.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.808692 target range: 433.137482 and range: 435.60 m.
2025-08-22T21:22:18.095Z,1755897738.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031356
2025-08-22T21:22:18.346Z,1755897738.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282652
2025-08-22T21:22:18.442Z,1755897738.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.14 m.
2025-08-22T21:22:18.444Z,1755897738.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 433.137482 m,
nav range: 423.093994 m,
bearing: 219.293696 deg,
approach rate: 0.243190 m/s,
LOS rate: -0.066471 deg/s,
cmd heading: 218.222003 deg,
new cmd heading: 218.165382 deg.
2025-08-22T21:22:18.445Z,1755897738.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.807704 target range: 433.137482 and range: 435.60 m.
2025-08-22T21:22:18.599Z,1755897738.599 [DAT](INFO): DAT read: Rx Time:21:22:19.0689
2025-08-22T21:22:18.599Z,1755897738.599 [DAT](INFO): Rx dataTimestamp_ set to:1755897738.599188
2025-08-22T21:22:18.600Z,1755897738.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536283
2025-08-22T21:22:18.834Z,1755897738.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.14 m.
2025-08-22T21:22:18.836Z,1755897738.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 433.137482 m,
nav range: 423.185974 m,
bearing: 219.267436 deg,
approach rate: 0.234624 m/s,
LOS rate: -0.066972 deg/s,
cmd heading: 218.165381 deg,
new cmd heading: 218.112871 deg.
2025-08-22T21:22:18.851Z,1755897738.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786815
2025-08-22T21:22:18.837Z,1755897738.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.806788 target range: 433.137482 and range: 435.60 m.
2025-08-22T21:22:19.108Z,1755897739.108 [DAT](INFO): DAT read: 21:22:19.0689 LVL= 32752, 25105, 22242, 32755, AGC= 68, IDX= 337,-0.12, 1.180, 2.655,-3.079, 2.550, PHS=-1.268, 0.150, 0.610, RAW= 256.4, 6.1, CAL= 253.8, 4.9, ROT= 256.2, -4.9
2025-08-22T21:22:19.109Z,1755897739.109 [DAT](INFO): got valid direction response:
21:22:19.0689 LVL= 32752, 25105, 22242, 32755, AGC= 68, IDX= 337,-0.12, 1.180, 2.655,-3.079, 2.550, PHS=-1.268, 0.150, 0.610, RAW= 256.4, 6.1, CAL= 253.8, 4.9, ROT= 256.2, -4.9
2025-08-22T21:22:19.110Z,1755897739.110 [DAT](INFO): DAT read: Bearing 307.0, -75.9 (Local)
2025-08-22T21:22:19.111Z,1755897739.111 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.0, -75.9 (Local)
2025-08-22T21:22:19.112Z,1755897739.112 [DAT](INFO): DAT read: Range 11 to 50 : 429.2 m (Round-trip 572.3 ms) speed 0.0 m/s
2025-08-22T21:22:19.112Z,1755897739.112 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:19.113Z,1755897739.113 [DAT](INFO): direction in FSK: [-0.237661,-0.967585,0.085417]
2025-08-22T21:22:19.114Z,1755897739.114 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:19.117Z,1755897739.117 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:19.117Z,1755897739.117 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:19.117Z,1755897739.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:19.304Z,1755897739.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 429.200012 m,
deltaT: 4.296226 s,
deltaX: -6.399994 m,
approachRate: -1.489678 m/s,
rangeRepo size: 4
2025-08-22T21:22:19.306Z,1755897739.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 426.773224 m,
bearing: 236.441234 deg,
lat: 36.779277 deg,
lon: -121.859493 deg,
deltaT: 4.296226 s,
deltaX: -6.364258 m,
approachRate: -1.481360 m/s,
posRepo size: 4
2025-08-22T21:22:19.307Z,1755897739.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.77 m.
2025-08-22T21:22:19.309Z,1755897739.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 426.773224 m,
nav range: 433.264618 m,
bearing: 226.300425 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.066972 deg/s,
cmd heading: 218.112870 deg,
new cmd heading: 218.049953 deg.
2025-08-22T21:22:19.310Z,1755897739.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.805690 target range: 426.773224 and range: 429.20 m.
2025-08-22T21:22:19.355Z,1755897739.355 [DAT](INFO): DAT read: user:2164>
2025-08-22T21:22:19.355Z,1755897739.355 [DAT](INFO): DAT read: Tx time:21:22:20.3924
2025-08-22T21:22:19.356Z,1755897739.356 [DAT](INFO): Ping request sent.
2025-08-22T21:22:19.356Z,1755897739.356 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:19.356Z,1755897739.356 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:19.356Z,1755897739.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-22T21:22:19.607Z,1755897739.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251206
2025-08-22T21:22:19.716Z,1755897739.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:19.741Z,1755897739.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.77 m.
2025-08-22T21:22:19.753Z,1755897739.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 426.773224 m,
nav range: 433.325989 m,
bearing: 226.272783 deg,
approach rate: 0.140552 m/s,
LOS rate: -0.063298 deg/s,
cmd heading: 218.049951 deg,
new cmd heading: 217.994674 deg.
2025-08-22T21:22:19.754Z,1755897739.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.804725 target range: 426.773224 and range: 429.20 m.
2025-08-22T21:22:19.859Z,1755897739.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502842
2025-08-22T21:22:20.111Z,1755897740.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754881
2025-08-22T21:22:20.134Z,1755897740.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.77 m.
2025-08-22T21:22:20.140Z,1755897740.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 426.773224 m,
nav range: 433.393555 m,
bearing: 226.242182 deg,
approach rate: 0.171323 m/s,
LOS rate: -0.077581 deg/s,
cmd heading: 217.994667 deg,
new cmd heading: 217.933475 deg.
2025-08-22T21:22:20.163Z,1755897740.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803657 target range: 426.773224 and range: 429.20 m.
2025-08-22T21:22:20.362Z,1755897740.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006748
2025-08-22T21:22:20.538Z,1755897740.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.77 m.
2025-08-22T21:22:20.541Z,1755897740.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 426.773224 m,
nav range: 433.456085 m,
bearing: 226.213928 deg,
approach rate: 0.155053 m/s,
LOS rate: -0.070049 deg/s,
cmd heading: 217.933469 deg,
new cmd heading: 217.876969 deg.
2025-08-22T21:22:20.542Z,1755897740.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.802670 target range: 426.773224 and range: 429.20 m.
2025-08-22T21:22:20.616Z,1755897740.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259622
2025-08-22T21:22:20.867Z,1755897740.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510817
2025-08-22T21:22:20.921Z,1755897740.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.77 m.
2025-08-22T21:22:20.924Z,1755897740.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 426.773224 m,
nav range: 433.508423 m,
bearing: 226.186810 deg,
approach rate: 0.136392 m/s,
LOS rate: -0.070661 deg/s,
cmd heading: 217.876969 deg,
new cmd heading: 217.822740 deg.
2025-08-22T21:22:20.925Z,1755897740.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.801724 target range: 426.773224 and range: 429.20 m.
2025-08-22T21:22:21.119Z,1755897741.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762824
2025-08-22T21:22:21.329Z,1755897741.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.77 m.
2025-08-22T21:22:21.332Z,1755897741.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 426.773224 m,
nav range: 433.560333 m,
bearing: 226.157868 deg,
approach rate: 0.127268 m/s,
LOS rate: -0.070948 deg/s,
cmd heading: 217.822738 deg,
new cmd heading: 217.764861 deg.
2025-08-22T21:22:21.333Z,1755897741.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.800714 target range: 426.773224 and range: 429.20 m.
2025-08-22T21:22:21.371Z,1755897741.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015016
2025-08-22T21:22:21.624Z,1755897741.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268087
2025-08-22T21:22:21.800Z,1755897741.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:21.803Z,1755897741.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.77 m.
2025-08-22T21:22:21.805Z,1755897741.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 426.773224 m,
nav range: 433.621613 m,
bearing: 226.125267 deg,
approach rate: 0.129404 m/s,
LOS rate: -0.068834 deg/s,
cmd heading: 217.764859 deg,
new cmd heading: 217.699666 deg.
2025-08-22T21:22:21.806Z,1755897741.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.799576 target range: 426.773224 and range: 429.20 m.
2025-08-22T21:22:21.875Z,1755897741.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519318
2025-08-22T21:22:22.127Z,1755897742.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770858
2025-08-22T21:22:22.196Z,1755897742.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.77 m.
2025-08-22T21:22:22.208Z,1755897742.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 426.773224 m,
nav range: 433.672516 m,
bearing: 226.096042 deg,
approach rate: 0.129254 m/s,
LOS rate: -0.074200 deg/s,
cmd heading: 217.699671 deg,
new cmd heading: 217.641228 deg.
2025-08-22T21:22:22.209Z,1755897742.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798556 target range: 426.773224 and range: 429.20 m.
2025-08-22T21:22:22.379Z,1755897742.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023309
2025-08-22T21:22:22.632Z,1755897742.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276280
2025-08-22T21:22:22.790Z,1755897742.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.77 m.
2025-08-22T21:22:22.792Z,1755897742.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 426.773224 m,
nav range: 433.744110 m,
bearing: 226.055079 deg,
approach rate: 0.124073 m/s,
LOS rate: -0.070978 deg/s,
cmd heading: 217.641232 deg,
new cmd heading: 217.559319 deg.
2025-08-22T21:22:22.797Z,1755897742.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797127 target range: 426.773224 and range: 429.20 m.
2025-08-22T21:22:22.884Z,1755897742.884 [DAT](INFO): DAT read: Rx Time:21:22:23.3699
2025-08-22T21:22:22.884Z,1755897742.884 [DAT](INFO): Rx dataTimestamp_ set to:1755897742.883857
2025-08-22T21:22:22.885Z,1755897742.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528960
2025-08-22T21:22:23.136Z,1755897743.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780482
2025-08-22T21:22:23.213Z,1755897743.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.77 m.
2025-08-22T21:22:23.216Z,1755897743.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 426.773224 m,
nav range: 433.787323 m,
bearing: 226.022714 deg,
approach rate: 0.098380 m/s,
LOS rate: -0.073675 deg/s,
cmd heading: 217.559325 deg,
new cmd heading: 217.494601 deg.
2025-08-22T21:22:23.217Z,1755897743.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795997 target range: 426.773224 and range: 429.20 m.
2025-08-22T21:22:23.392Z,1755897743.392 [DAT](INFO): DAT read: 21:22:23.3699 LVL= 32624, 25073, 19602, 32755, AGC= 68, IDX= 459,-0.18,-1.881,-0.521, 0.554,-0.534, PHS=-1.245, 0.058, 1.044, RAW= 244.6, 1.5, CAL= 240.9, 1.5, ROT= 269.1, -1.5
2025-08-22T21:22:23.393Z,1755897743.393 [DAT](INFO): got valid direction response:
21:22:23.3699 LVL= 32624, 25073, 19602, 32755, AGC= 68, IDX= 459,-0.18,-1.881,-0.521, 0.554,-0.534, PHS=-1.245, 0.058, 1.044, RAW= 244.6, 1.5, CAL= 240.9, 1.5, ROT= 269.1, -1.5
2025-08-22T21:22:23.394Z,1755897743.394 [DAT](INFO): DAT read: Bearing 40.3, -89.7 (Local)
2025-08-22T21:22:23.394Z,1755897743.394 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.3, -89.7 (Local)
2025-08-22T21:22:23.395Z,1755897743.395 [DAT](INFO): DAT read: Range 11 to 50 : 429.9 m (Round-trip 573.3 ms) speed -0.3 m/s
2025-08-22T21:22:23.396Z,1755897743.396 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:23.397Z,1755897743.397 [DAT](INFO): direction in FSK: [-0.015702,-0.999534,0.026177]
2025-08-22T21:22:23.406Z,1755897743.406 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:23.409Z,1755897743.409 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:23.409Z,1755897743.409 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:23.409Z,1755897743.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:23.639Z,1755897743.639 [DAT](INFO): DAT read: user:2165>
2025-08-22T21:22:23.641Z,1755897743.641 [DAT](INFO): DAT read: Tx time:21:22:24.6924
2025-08-22T21:22:23.641Z,1755897743.641 [DAT](INFO): Ping request sent.
2025-08-22T21:22:23.642Z,1755897743.642 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:23.642Z,1755897743.642 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:23.643Z,1755897743.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001116
2025-08-22T21:22:23.808Z,1755897743.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 429.899994 m,
deltaT: 4.283684 s,
deltaX: 0.699982 m,
approachRate: 0.163406 m/s,
rangeRepo size: 4
2025-08-22T21:22:23.826Z,1755897743.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 427.462402 m,
bearing: 238.243597 deg,
lat: 36.779464 deg,
lon: -121.859655 deg,
deltaT: 4.283684 s,
deltaX: 0.689178 m,
approachRate: 0.160885 m/s,
posRepo size: 4
2025-08-22T21:22:23.827Z,1755897743.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.46 m.
2025-08-22T21:22:23.834Z,1755897743.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.462402 m,
nav range: 430.507660 m,
bearing: 229.308813 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.073675 deg/s,
cmd heading: 217.494602 deg,
new cmd heading: 217.407008 deg.
2025-08-22T21:22:23.835Z,1755897743.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794468 target range: 427.462402 and range: 429.90 m.
2025-08-22T21:22:23.891Z,1755897743.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249159
2025-08-22T21:22:24.144Z,1755897744.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502481
2025-08-22T21:22:24.211Z,1755897744.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:24.213Z,1755897744.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.46 m.
2025-08-22T21:22:24.215Z,1755897744.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.462402 m,
nav range: 430.529602 m,
bearing: 229.277566 deg,
approach rate: 0.054120 m/s,
LOS rate: -0.077067 deg/s,
cmd heading: 217.407011 deg,
new cmd heading: 217.344520 deg.
2025-08-22T21:22:24.216Z,1755897744.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793377 target range: 427.462402 and range: 429.90 m.
2025-08-22T21:22:24.394Z,1755897744.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752920
2025-08-22T21:22:24.595Z,1755897744.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.46 m.
2025-08-22T21:22:24.598Z,1755897744.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.462402 m,
nav range: 430.546387 m,
bearing: 229.248320 deg,
approach rate: 0.043931 m/s,
LOS rate: -0.076541 deg/s,
cmd heading: 217.344515 deg,
new cmd heading: 217.286027 deg.
2025-08-22T21:22:24.599Z,1755897744.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792356 target range: 427.462402 and range: 429.90 m.
2025-08-22T21:22:24.648Z,1755897744.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006428
2025-08-22T21:22:24.899Z,1755897744.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257029
2025-08-22T21:22:25.022Z,1755897745.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.46 m.
2025-08-22T21:22:25.025Z,1755897745.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.462402 m,
nav range: 430.560913 m,
bearing: 229.215555 deg,
approach rate: 0.033967 m/s,
LOS rate: -0.076612 deg/s,
cmd heading: 217.286021 deg,
new cmd heading: 217.220493 deg.
2025-08-22T21:22:25.026Z,1755897745.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791213 target range: 427.462402 and range: 429.90 m.
2025-08-22T21:22:25.152Z,1755897745.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510067
2025-08-22T21:22:25.402Z,1755897745.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760861
2025-08-22T21:22:25.419Z,1755897745.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.46 m.
2025-08-22T21:22:25.422Z,1755897745.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.462402 m,
nav range: 430.570435 m,
bearing: 229.185134 deg,
approach rate: 0.023989 m/s,
LOS rate: -0.076644 deg/s,
cmd heading: 217.220493 deg,
new cmd heading: 217.159652 deg.
2025-08-22T21:22:25.423Z,1755897745.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790151 target range: 427.462402 and range: 429.90 m.
2025-08-22T21:22:25.654Z,1755897745.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012884
2025-08-22T21:22:25.846Z,1755897745.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.46 m.
2025-08-22T21:22:25.848Z,1755897745.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.462402 m,
nav range: 430.575073 m,
bearing: 229.151877 deg,
approach rate: 0.010885 m/s,
LOS rate: -0.078036 deg/s,
cmd heading: 217.159649 deg,
new cmd heading: 217.093137 deg.
2025-08-22T21:22:25.849Z,1755897745.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788990 target range: 427.462402 and range: 429.90 m.
2025-08-22T21:22:25.909Z,1755897745.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266972
2025-08-22T21:22:26.159Z,1755897746.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517602
2025-08-22T21:22:26.232Z,1755897746.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:26.234Z,1755897746.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.46 m.
2025-08-22T21:22:26.236Z,1755897746.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.462402 m,
nav range: 430.575287 m,
bearing: 229.121589 deg,
approach rate: 0.000550 m/s,
LOS rate: -0.078013 deg/s,
cmd heading: 217.093137 deg,
new cmd heading: 217.032560 deg.
2025-08-22T21:22:26.238Z,1755897746.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.787933 target range: 427.462402 and range: 429.90 m.
2025-08-22T21:22:26.410Z,1755897746.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768879
2025-08-22T21:22:26.658Z,1755897746.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.46 m.
2025-08-22T21:22:26.660Z,1755897746.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.462402 m,
nav range: 430.571533 m,
bearing: 229.090827 deg,
approach rate: -0.008910 m/s,
LOS rate: -0.073022 deg/s,
cmd heading: 217.032567 deg,
new cmd heading: 216.971042 deg.
2025-08-22T21:22:26.663Z,1755897746.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021375
2025-08-22T21:22:26.663Z,1755897746.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786859 target range: 427.462402 and range: 429.90 m.
2025-08-22T21:22:26.918Z,1755897746.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276346
2025-08-22T21:22:27.054Z,1755897747.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.46 m.
2025-08-22T21:22:27.056Z,1755897747.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.462402 m,
nav range: 430.563232 m,
bearing: 229.057566 deg,
approach rate: -0.020821 m/s,
LOS rate: -0.083432 deg/s,
cmd heading: 216.971040 deg,
new cmd heading: 216.904517 deg.
2025-08-22T21:22:27.058Z,1755897747.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.785698 target range: 427.462402 and range: 429.90 m.
2025-08-22T21:22:27.167Z,1755897747.167 [DAT](INFO): DAT read: Rx Time:21:22:27.6703
2025-08-22T21:22:27.168Z,1755897747.168 [DAT](INFO): Rx dataTimestamp_ set to:1755897747.167401
2025-08-22T21:22:27.169Z,1755897747.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527150
2025-08-22T21:22:27.419Z,1755897747.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777026
2025-08-22T21:22:27.463Z,1755897747.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.46 m.
2025-08-22T21:22:27.466Z,1755897747.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.462402 m,
nav range: 430.551208 m,
bearing: 229.025620 deg,
approach rate: -0.029350 m/s,
LOS rate: -0.077980 deg/s,
cmd heading: 216.904514 deg,
new cmd heading: 216.840621 deg.
2025-08-22T21:22:27.467Z,1755897747.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.784583 target range: 427.462402 and range: 429.90 m.
2025-08-22T21:22:27.678Z,1755897747.678 [DAT](INFO): DAT read: 21:22:27.6703 LVL= 29680, 25521, 19186, 27587, AGC= 68, IDX= 431, 0.23,-1.205, 0.019, 1.071, 0.067, PHS=-1.170,-0.003, 0.960, RAW= 243.2, 2.3, CAL= 240.0, 2.6, ROT= 270.0, -2.6
2025-08-22T21:22:27.679Z,1755897747.679 [DAT](INFO): got valid direction response:
21:22:27.6703 LVL= 29680, 25521, 19186, 27587, AGC= 68, IDX= 431, 0.23,-1.205, 0.019, 1.071, 0.067, PHS=-1.170,-0.003, 0.960, RAW= 243.2, 2.3, CAL= 240.0, 2.6, ROT= 270.0, -2.6
2025-08-22T21:22:27.680Z,1755897747.680 [DAT](INFO): DAT read: Bearing 149.1, -88.9 (Local)
2025-08-22T21:22:27.681Z,1755897747.681 [DAT](INFO): Local bearing/azimuth received:
Bearing 149.1, -88.9 (Local)
2025-08-22T21:22:27.682Z,1755897747.682 [DAT](INFO): DAT read: Range 11 to 50 : 430.2 m (Round-trip 573.7 ms) speed -0.1 m/s
2025-08-22T21:22:27.683Z,1755897747.683 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:27.686Z,1755897747.686 [DAT](INFO): direction in FSK: [0.000000,-0.998971,0.045363]
2025-08-22T21:22:27.687Z,1755897747.687 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:27.750Z,1755897747.750 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:27.751Z,1755897747.751 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:27.751Z,1755897747.751 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:27.920Z,1755897747.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 430.200012 m,
deltaT: 4.285503 s,
deltaX: 0.300018 m,
approachRate: 0.070008 m/s,
rangeRepo size: 4
2025-08-22T21:22:27.923Z,1755897747.923 [DAT](INFO): DAT read: user:2166>
2025-08-22T21:22:27.923Z,1755897747.923 [DAT](INFO): DAT read: Tx time:21:22:28.9924
2025-08-22T21:22:27.924Z,1755897747.924 [DAT](INFO): Ping request sent.
2025-08-22T21:22:27.924Z,1755897747.924 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:27.924Z,1755897747.924 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:27.924Z,1755897747.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-08-22T21:22:27.927Z,1755897747.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 427.746307 m,
bearing: 229.037410 deg,
lat: 36.779488 deg,
lon: -121.859655 deg,
deltaT: 4.285503 s,
deltaX: 0.283905 m,
approachRate: 0.066248 m/s,
posRepo size: 4
2025-08-22T21:22:27.927Z,1755897747.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.75 m.
2025-08-22T21:22:27.934Z,1755897747.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.746307 m,
nav range: 428.745087 m,
bearing: 229.266673 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.077980 deg/s,
cmd heading: 216.840625 deg,
new cmd heading: 216.769469 deg.
2025-08-22T21:22:27.938Z,1755897747.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.783341 target range: 427.746307 and range: 430.20 m.
2025-08-22T21:22:28.179Z,1755897748.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255803
2025-08-22T21:22:28.285Z,1755897748.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:28.287Z,1755897748.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.75 m.
2025-08-22T21:22:28.290Z,1755897748.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.746307 m,
nav range: 428.722626 m,
bearing: 229.235940 deg,
approach rate: -0.061107 m/s,
LOS rate: -0.083616 deg/s,
cmd heading: 216.769468 deg,
new cmd heading: 216.707999 deg.
2025-08-22T21:22:28.291Z,1755897748.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782268 target range: 427.746307 and range: 430.20 m.
2025-08-22T21:22:28.427Z,1755897748.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502841
2025-08-22T21:22:28.679Z,1755897748.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754901
2025-08-22T21:22:28.690Z,1755897748.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.75 m.
2025-08-22T21:22:28.692Z,1755897748.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.746307 m,
nav range: 428.695343 m,
bearing: 229.204173 deg,
approach rate: -0.067807 m/s,
LOS rate: -0.078956 deg/s,
cmd heading: 216.707996 deg,
new cmd heading: 216.644459 deg.
2025-08-22T21:22:28.693Z,1755897748.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781159 target range: 427.746307 and range: 430.20 m.
2025-08-22T21:22:28.932Z,1755897748.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008036
2025-08-22T21:22:29.090Z,1755897749.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.75 m.
2025-08-22T21:22:29.093Z,1755897749.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.746307 m,
nav range: 428.664429 m,
bearing: 229.172701 deg,
approach rate: -0.077314 m/s,
LOS rate: -0.078714 deg/s,
cmd heading: 216.644462 deg,
new cmd heading: 216.581513 deg.
2025-08-22T21:22:29.094Z,1755897749.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.780061 target range: 427.746307 and range: 430.20 m.
2025-08-22T21:22:29.183Z,1755897749.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259272
2025-08-22T21:22:29.434Z,1755897749.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510740
2025-08-22T21:22:29.501Z,1755897749.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.75 m.
2025-08-22T21:22:29.504Z,1755897749.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.746307 m,
nav range: 428.628571 m,
bearing: 229.140376 deg,
approach rate: -0.087109 m/s,
LOS rate: -0.078533 deg/s,
cmd heading: 216.581515 deg,
new cmd heading: 216.516858 deg.
2025-08-22T21:22:29.505Z,1755897749.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778932 target range: 427.746307 and range: 430.20 m.
2025-08-22T21:22:29.690Z,1755897749.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765227
2025-08-22T21:22:29.939Z,1755897749.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015088
2025-08-22T21:22:29.949Z,1755897749.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.75 m.
2025-08-22T21:22:29.979Z,1755897749.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.746307 m,
nav range: 428.593903 m,
bearing: 229.106558 deg,
approach rate: -0.077382 m/s,
LOS rate: -0.075490 deg/s,
cmd heading: 216.516860 deg,
new cmd heading: 216.449219 deg.
2025-08-22T21:22:29.980Z,1755897749.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777751 target range: 427.746307 and range: 430.20 m.
2025-08-22T21:22:30.191Z,1755897750.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267217
2025-08-22T21:22:30.332Z,1755897750.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:30.334Z,1755897750.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.75 m.
2025-08-22T21:22:30.337Z,1755897750.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.746307 m,
nav range: 428.552063 m,
bearing: 229.073852 deg,
approach rate: -0.108740 m/s,
LOS rate: -0.085010 deg/s,
cmd heading: 216.449214 deg,
new cmd heading: 216.383796 deg.
2025-08-22T21:22:30.338Z,1755897750.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776610 target range: 427.746307 and range: 430.20 m.
2025-08-22T21:22:30.444Z,1755897750.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519970
2025-08-22T21:22:30.695Z,1755897750.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770851
2025-08-22T21:22:30.745Z,1755897750.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.75 m.
2025-08-22T21:22:30.748Z,1755897750.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.746307 m,
nav range: 428.506073 m,
bearing: 229.041175 deg,
approach rate: -0.111927 m/s,
LOS rate: -0.079538 deg/s,
cmd heading: 216.383794 deg,
new cmd heading: 216.318432 deg.
2025-08-22T21:22:30.748Z,1755897750.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775469 target range: 427.746307 and range: 430.20 m.
2025-08-22T21:22:30.947Z,1755897750.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022976
2025-08-22T21:22:31.164Z,1755897751.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.75 m.
2025-08-22T21:22:31.168Z,1755897751.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.746307 m,
nav range: 428.455383 m,
bearing: 229.008187 deg,
approach rate: -0.120897 m/s,
LOS rate: -0.078686 deg/s,
cmd heading: 216.318429 deg,
new cmd heading: 216.252447 deg.
2025-08-22T21:22:31.170Z,1755897751.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.774317 target range: 427.746307 and range: 430.20 m.
2025-08-22T21:22:31.199Z,1755897751.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275212
2025-08-22T21:22:31.451Z,1755897751.451 [DAT](INFO): DAT read: Rx Time:21:22:31.9702
2025-08-22T21:22:31.451Z,1755897751.451 [DAT](INFO): Rx dataTimestamp_ set to:1755897751.450736
2025-08-22T21:22:31.452Z,1755897751.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527886
2025-08-22T21:22:31.559Z,1755897751.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.75 m.
2025-08-22T21:22:31.562Z,1755897751.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.746307 m,
nav range: 428.402954 m,
bearing: 228.976742 deg,
approach rate: -0.132655 m/s,
LOS rate: -0.079570 deg/s,
cmd heading: 216.252450 deg,
new cmd heading: 216.189553 deg.
2025-08-22T21:22:31.563Z,1755897751.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773220 target range: 427.746307 and range: 430.20 m.
2025-08-22T21:22:31.706Z,1755897751.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781603
2025-08-22T21:22:31.960Z,1755897751.960 [DAT](INFO): DAT read: 21:22:31.9702 LVL= 29984, 26321, 17122, 32179, AGC= 68, IDX= 430,-0.32,-1.171,-0.221, 1.312,-0.005, PHS=-1.064,-0.171, 1.272, RAW= 232.3, -0.4, CAL= 228.8, 0.1, ROT= 281.2, -0.1
2025-08-22T21:22:31.961Z,1755897751.961 [DAT](INFO): got valid direction response:
21:22:31.9702 LVL= 29984, 26321, 17122, 32179, AGC= 68, IDX= 430,-0.32,-1.171,-0.221, 1.312,-0.005, PHS=-1.064,-0.171, 1.272, RAW= 232.3, -0.4, CAL= 228.8, 0.1, ROT= 281.2, -0.1
2025-08-22T21:22:31.962Z,1755897751.962 [DAT](INFO): DAT read: Bearing 102.1, -77.4 (Local)
2025-08-22T21:22:31.962Z,1755897751.962 [DAT](INFO): Local bearing/azimuth received:
Bearing 102.1, -77.4 (Local)
2025-08-22T21:22:31.964Z,1755897751.964 [DAT](INFO): DAT read: Range 11 to 50 : 430.2 m (Round-trip 573.6 ms) speed 0.7 m/s
2025-08-22T21:22:31.964Z,1755897751.964 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:31.965Z,1755897751.965 [DAT](INFO): direction in FSK: [0.194234,-0.980954,0.001745]
2025-08-22T21:22:31.966Z,1755897751.966 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:31.969Z,1755897751.969 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:31.969Z,1755897751.969 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:31.969Z,1755897751.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:32.046Z,1755897752.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 430.200012 m,
deltaT: 4.282572 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:22:32.055Z,1755897752.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 427.743683 m,
bearing: 229.529412 deg,
lat: 36.779523 deg,
lon: -121.859681 deg,
deltaT: 4.282572 s,
deltaX: -0.002625 m,
approachRate: -0.000613 m/s,
posRepo size: 4
2025-08-22T21:22:32.055Z,1755897752.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.74 m.
2025-08-22T21:22:32.063Z,1755897752.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.743683 m,
nav range: 427.566589 m,
bearing: 229.530969 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.079570 deg/s,
cmd heading: 216.189557 deg,
new cmd heading: 216.112912 deg.
2025-08-22T21:22:32.064Z,1755897752.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.771882 target range: 427.743683 and range: 430.20 m.
2025-08-22T21:22:32.207Z,1755897752.207 [DAT](INFO): DAT read: user:2167>
2025-08-22T21:22:32.207Z,1755897752.207 [DAT](INFO): DAT read: Tx time:21:22:33.2424
2025-08-22T21:22:32.208Z,1755897752.208 [DAT](INFO): Ping request sent.
2025-08-22T21:22:32.208Z,1755897752.208 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:32.208Z,1755897752.208 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:32.208Z,1755897752.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-08-22T21:22:32.363Z,1755897752.363 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:32.370Z,1755897752.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.74 m.
2025-08-22T21:22:32.372Z,1755897752.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.743683 m,
nav range: 427.507507 m,
bearing: 229.503495 deg,
approach rate: -0.182051 m/s,
LOS rate: -0.084668 deg/s,
cmd heading: 216.112909 deg,
new cmd heading: 216.057954 deg.
2025-08-22T21:22:32.373Z,1755897752.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770923 target range: 427.743683 and range: 430.20 m.
2025-08-22T21:22:32.459Z,1755897752.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251130
2025-08-22T21:22:32.715Z,1755897752.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506387
2025-08-22T21:22:32.757Z,1755897752.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.74 m.
2025-08-22T21:22:32.760Z,1755897752.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.743683 m,
nav range: 427.435303 m,
bearing: 229.472047 deg,
approach rate: -0.184239 m/s,
LOS rate: -0.080257 deg/s,
cmd heading: 216.057953 deg,
new cmd heading: 215.995047 deg.
2025-08-22T21:22:32.761Z,1755897752.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769825 target range: 427.743683 and range: 430.20 m.
2025-08-22T21:22:32.964Z,1755897752.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756628
2025-08-22T21:22:33.160Z,1755897753.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.74 m.
2025-08-22T21:22:33.164Z,1755897753.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.743683 m,
nav range: 427.359772 m,
bearing: 229.441119 deg,
approach rate: -0.187617 m/s,
LOS rate: -0.076838 deg/s,
cmd heading: 215.995047 deg,
new cmd heading: 215.933180 deg.
2025-08-22T21:22:33.182Z,1755897753.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768745 target range: 427.743683 and range: 430.20 m.
2025-08-22T21:22:33.215Z,1755897753.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006865
2025-08-22T21:22:33.466Z,1755897753.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258697
2025-08-22T21:22:33.575Z,1755897753.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.74 m.
2025-08-22T21:22:33.578Z,1755897753.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.743683 m,
nav range: 427.277710 m,
bearing: 229.409430 deg,
approach rate: -0.197692 m/s,
LOS rate: -0.076357 deg/s,
cmd heading: 215.933179 deg,
new cmd heading: 215.869788 deg.
2025-08-22T21:22:33.579Z,1755897753.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767638 target range: 427.743683 and range: 430.20 m.
2025-08-22T21:22:33.723Z,1755897753.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514478
2025-08-22T21:22:33.971Z,1755897753.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762772
2025-08-22T21:22:33.988Z,1755897753.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.74 m.
2025-08-22T21:22:33.991Z,1755897753.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.743683 m,
nav range: 427.188721 m,
bearing: 229.376752 deg,
approach rate: -0.215172 m/s,
LOS rate: -0.079030 deg/s,
cmd heading: 215.869782 deg,
new cmd heading: 215.804412 deg.
2025-08-22T21:22:33.992Z,1755897753.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766498 target range: 427.743683 and range: 430.20 m.
2025-08-22T21:22:34.223Z,1755897754.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015123
2025-08-22T21:22:34.366Z,1755897754.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:34.368Z,1755897754.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.74 m.
2025-08-22T21:22:34.371Z,1755897754.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.743683 m,
nav range: 427.103821 m,
bearing: 229.347227 deg,
approach rate: -0.223674 m/s,
LOS rate: -0.077799 deg/s,
cmd heading: 215.804417 deg,
new cmd heading: 215.745356 deg.
2025-08-22T21:22:34.372Z,1755897754.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765467 target range: 427.743683 and range: 430.20 m.
2025-08-22T21:22:34.475Z,1755897754.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267287
2025-08-22T21:22:34.726Z,1755897754.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518701
2025-08-22T21:22:34.778Z,1755897754.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.74 m.
2025-08-22T21:22:34.781Z,1755897754.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.743683 m,
nav range: 427.010010 m,
bearing: 229.316215 deg,
approach rate: -0.233651 m/s,
LOS rate: -0.077257 deg/s,
cmd heading: 215.745363 deg,
new cmd heading: 215.683325 deg.
2025-08-22T21:22:34.786Z,1755897754.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.764384 target range: 427.743683 and range: 430.20 m.
2025-08-22T21:22:34.979Z,1755897754.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770807
2025-08-22T21:22:35.196Z,1755897755.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.74 m.
2025-08-22T21:22:35.203Z,1755897755.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.743683 m,
nav range: 426.908478 m,
bearing: 229.284196 deg,
approach rate: -0.238260 m/s,
LOS rate: -0.075156 deg/s,
cmd heading: 215.683331 deg,
new cmd heading: 215.619277 deg.
2025-08-22T21:22:35.204Z,1755897755.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763266 target range: 427.743683 and range: 430.20 m.
2025-08-22T21:22:35.231Z,1755897755.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022894
2025-08-22T21:22:35.483Z,1755897755.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275106
2025-08-22T21:22:35.620Z,1755897755.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.74 m.
2025-08-22T21:22:35.630Z,1755897755.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.743683 m,
nav range: 426.808777 m,
bearing: 229.254240 deg,
approach rate: -0.235376 m/s,
LOS rate: -0.070737 deg/s,
cmd heading: 215.619278 deg,
new cmd heading: 215.559352 deg.
2025-08-22T21:22:35.631Z,1755897755.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.762220 target range: 427.743683 and range: 430.20 m.
2025-08-22T21:22:35.737Z,1755897755.737 [DAT](INFO): DAT read: Rx Time:21:22:36.2194
2025-08-22T21:22:35.739Z,1755897755.739 [DAT](INFO): Rx dataTimestamp_ set to:1755897755.738075
2025-08-22T21:22:35.741Z,1755897755.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532817
2025-08-22T21:22:35.987Z,1755897755.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778840
2025-08-22T21:22:36.015Z,1755897756.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.74 m.
2025-08-22T21:22:36.034Z,1755897756.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.743683 m,
nav range: 426.696503 m,
bearing: 229.221180 deg,
approach rate: -0.283797 m/s,
LOS rate: -0.083589 deg/s,
cmd heading: 215.559350 deg,
new cmd heading: 215.493212 deg.
2025-08-22T21:22:36.035Z,1755897756.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.761066 target range: 427.743683 and range: 430.20 m.
2025-08-22T21:22:36.244Z,1755897756.244 [DAT](INFO): DAT read: 21:22:36.2194 LVL= 30496, 29521, 21106, 32755, AGC= 68, IDX= 438, 0.07,-2.958,-2.647,-0.649,-2.033, PHS=-0.823,-0.569, 1.340, RAW= 216.2, 0.5, CAL= 214.6, -0.4, ROT= 295.4, 0.4
2025-08-22T21:22:36.245Z,1755897756.245 [DAT](INFO): got valid direction response:
21:22:36.2194 LVL= 30496, 29521, 21106, 32755, AGC= 68, IDX= 438, 0.07,-2.958,-2.647,-0.649,-2.033, PHS=-0.823,-0.569, 1.340, RAW= 216.2, 0.5, CAL= 214.6, -0.4, ROT= 295.4, 0.4
2025-08-22T21:22:36.246Z,1755897756.246 [DAT](INFO): DAT read: Bearing 94.7, -62.8 (Local)
2025-08-22T21:22:36.246Z,1755897756.246 [DAT](INFO): Local bearing/azimuth received:
Bearing 94.7, -62.8 (Local)
2025-08-22T21:22:36.247Z,1755897756.247 [DAT](INFO): DAT read: Range 11 to 50 : 429.6 m (Round-trip 572.8 ms) speed 0.2 m/s
2025-08-22T21:22:36.248Z,1755897756.248 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:36.249Z,1755897756.249 [DAT](INFO): direction in FSK: [0.428925,-0.903313,-0.006981]
2025-08-22T21:22:36.249Z,1755897756.249 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:36.260Z,1755897756.260 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:36.260Z,1755897756.260 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:36.260Z,1755897756.260 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:36.424Z,1755897756.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 429.600006 m,
deltaT: 4.283842 s,
deltaX: -0.600006 m,
approachRate: -0.140063 m/s,
rangeRepo size: 4
2025-08-22T21:22:36.431Z,1755897756.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 427.147461 m,
bearing: 232.291872 deg,
lat: 36.779682 deg,
lon: -121.859849 deg,
deltaT: 4.283842 s,
deltaX: -0.596222 m,
approachRate: -0.139179 m/s,
posRepo size: 4
2025-08-22T21:22:36.431Z,1755897756.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.15 m.
2025-08-22T21:22:36.438Z,1755897756.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.147461 m,
nav range: 426.997437 m,
bearing: 232.293432 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.083589 deg/s,
cmd heading: 215.493206 deg,
new cmd heading: 215.424844 deg.
2025-08-22T21:22:36.439Z,1755897756.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.759873 target range: 427.147461 and range: 429.60 m.
2025-08-22T21:22:36.491Z,1755897756.491 [DAT](INFO): DAT read: user:2168>
2025-08-22T21:22:36.491Z,1755897756.491 [DAT](INFO): DAT read: Tx time:21:22:37.5424
2025-08-22T21:22:36.492Z,1755897756.492 [DAT](INFO): Ping request sent.
2025-08-22T21:22:36.492Z,1755897756.492 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:36.492Z,1755897756.492 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:36.493Z,1755897756.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-22T21:22:36.744Z,1755897756.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251882
2025-08-22T21:22:36.808Z,1755897756.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:36.811Z,1755897756.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.15 m.
2025-08-22T21:22:36.814Z,1755897756.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.147461 m,
nav range: 426.872986 m,
bearing: 232.264106 deg,
approach rate: -0.321439 m/s,
LOS rate: -0.075766 deg/s,
cmd heading: 215.424849 deg,
new cmd heading: 215.366181 deg.
2025-08-22T21:22:36.815Z,1755897756.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.758849 target range: 427.147461 and range: 429.60 m.
2025-08-22T21:22:36.994Z,1755897756.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502689
2025-08-22T21:22:37.229Z,1755897757.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.15 m.
2025-08-22T21:22:37.236Z,1755897757.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.147461 m,
nav range: 426.743652 m,
bearing: 232.234829 deg,
approach rate: -0.309435 m/s,
LOS rate: -0.070069 deg/s,
cmd heading: 215.366178 deg,
new cmd heading: 215.307605 deg.
2025-08-22T21:22:37.237Z,1755897757.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.757827 target range: 427.147461 and range: 429.60 m.
2025-08-22T21:22:37.247Z,1755897757.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755142
2025-08-22T21:22:37.499Z,1755897757.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006813
2025-08-22T21:22:37.657Z,1755897757.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.15 m.
2025-08-22T21:22:37.660Z,1755897757.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.147461 m,
nav range: 426.604645 m,
bearing: 232.204577 deg,
approach rate: -0.324869 m/s,
LOS rate: -0.070722 deg/s,
cmd heading: 215.307602 deg,
new cmd heading: 215.247080 deg.
2025-08-22T21:22:37.661Z,1755897757.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.756770 target range: 427.147461 and range: 429.60 m.
2025-08-22T21:22:37.753Z,1755897757.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261581
2025-08-22T21:22:38.003Z,1755897758.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510873
2025-08-22T21:22:38.058Z,1755897758.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.15 m.
2025-08-22T21:22:38.060Z,1755897758.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.147461 m,
nav range: 426.468445 m,
bearing: 232.175352 deg,
approach rate: -0.340016 m/s,
LOS rate: -0.072982 deg/s,
cmd heading: 215.247087 deg,
new cmd heading: 215.188618 deg.
2025-08-22T21:22:38.061Z,1755897758.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.755750 target range: 427.147461 and range: 429.60 m.
2025-08-22T21:22:38.255Z,1755897758.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762721
2025-08-22T21:22:38.426Z,1755897758.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.15 m.
2025-08-22T21:22:38.428Z,1755897758.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.147461 m,
nav range: 426.344666 m,
bearing: 232.149770 deg,
approach rate: -0.336066 m/s,
LOS rate: -0.069477 deg/s,
cmd heading: 215.188621 deg,
new cmd heading: 215.137441 deg.
2025-08-22T21:22:38.430Z,1755897758.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.754857 target range: 427.147461 and range: 429.60 m.
2025-08-22T21:22:38.507Z,1755897758.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014946
2025-08-22T21:22:38.759Z,1755897758.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266742
2025-08-22T21:22:38.842Z,1755897758.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:38.844Z,1755897758.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.15 m.
2025-08-22T21:22:38.847Z,1755897758.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.147461 m,
nav range: 426.203888 m,
bearing: 232.121735 deg,
approach rate: -0.336335 m/s,
LOS rate: -0.067001 deg/s,
cmd heading: 215.137435 deg,
new cmd heading: 215.081347 deg.
2025-08-22T21:22:38.848Z,1755897758.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753878 target range: 427.147461 and range: 429.60 m.
2025-08-22T21:22:39.011Z,1755897759.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518833
2025-08-22T21:22:39.235Z,1755897759.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.15 m.
2025-08-22T21:22:39.238Z,1755897759.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.147461 m,
nav range: 426.061951 m,
bearing: 232.094497 deg,
approach rate: -0.363248 m/s,
LOS rate: -0.069732 deg/s,
cmd heading: 215.081346 deg,
new cmd heading: 215.026851 deg.
2025-08-22T21:22:39.239Z,1755897759.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.752927 target range: 427.147461 and range: 429.60 m.
2025-08-22T21:22:39.263Z,1755897759.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770726
2025-08-22T21:22:39.514Z,1755897759.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022704
2025-08-22T21:22:39.662Z,1755897759.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.15 m.
2025-08-22T21:22:39.665Z,1755897759.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.147461 m,
nav range: 425.907196 m,
bearing: 232.065867 deg,
approach rate: -0.362682 m/s,
LOS rate: -0.067121 deg/s,
cmd heading: 215.026854 deg,
new cmd heading: 214.969574 deg.
2025-08-22T21:22:39.666Z,1755897759.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.751927 target range: 427.147461 and range: 429.60 m.
2025-08-22T21:22:39.768Z,1755897759.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275636
2025-08-22T21:22:40.018Z,1755897760.018 [DAT](INFO): DAT read: Rx Time:21:22:40.5179
2025-08-22T21:22:40.019Z,1755897760.019 [DAT](INFO): Rx dataTimestamp_ set to:1755897760.018673
2025-08-22T21:22:40.019Z,1755897760.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527708
2025-08-22T21:22:40.101Z,1755897760.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.15 m.
2025-08-22T21:22:40.106Z,1755897760.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.147461 m,
nav range: 425.749084 m,
bearing: 232.038114 deg,
approach rate: -0.360346 m/s,
LOS rate: -0.063274 deg/s,
cmd heading: 214.969576 deg,
new cmd heading: 214.914050 deg.
2025-08-22T21:22:40.108Z,1755897760.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.750958 target range: 427.147461 and range: 429.60 m.
2025-08-22T21:22:40.271Z,1755897760.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778709
2025-08-22T21:22:40.474Z,1755897760.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.15 m.
2025-08-22T21:22:40.477Z,1755897760.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.147461 m,
nav range: 425.610474 m,
bearing: 232.014628 deg,
approach rate: -0.370694 m/s,
LOS rate: -0.062831 deg/s,
cmd heading: 214.914047 deg,
new cmd heading: 214.867059 deg.
2025-08-22T21:22:40.478Z,1755897760.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.750138 target range: 427.147461 and range: 429.60 m.
2025-08-22T21:22:40.531Z,1755897760.531 [DAT](INFO): DAT read: 21:22:40.5179 LVL= 32752, 32753, 22002, 32755, AGC= 67, IDX= 423, 0.45, 0.490, 0.340, 2.575, 1.292, PHS=-0.700,-0.907, 1.239, RAW= 205.0, 3.6, CAL= 204.9, 2.4, ROT= 305.1, -2.4
2025-08-22T21:22:40.532Z,1755897760.532 [DAT](INFO): got valid direction response:
21:22:40.5179 LVL= 32752, 32753, 22002, 32755, AGC= 67, IDX= 423, 0.45, 0.490, 0.340, 2.575, 1.292, PHS=-0.700,-0.907, 1.239, RAW= 205.0, 3.6, CAL= 204.9, 2.4, ROT= 305.1, -2.4
2025-08-22T21:22:40.534Z,1755897760.534 [DAT](INFO): DAT read: Bearing 89.4, -52.7 (Local)
2025-08-22T21:22:40.535Z,1755897760.535 [DAT](INFO): Local bearing/azimuth received:
Bearing 89.4, -52.7 (Local)
2025-08-22T21:22:40.537Z,1755897760.537 [DAT](INFO): DAT read: Range 11 to 50 : 428.4 m (Round-trip 571.3 ms) speed 0.3 m/s
2025-08-22T21:22:40.555Z,1755897760.555 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:40.556Z,1755897760.556 [DAT](INFO): direction in FSK: [0.574501,-0.817432,0.041876]
2025-08-22T21:22:40.556Z,1755897760.556 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:40.579Z,1755897760.579 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:40.579Z,1755897760.579 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:40.580Z,1755897760.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:40.774Z,1755897760.774 [DAT](INFO): DAT read: user:2169>
2025-08-22T21:22:40.775Z,1755897760.775 [DAT](INFO): DAT read: Tx time:21:22:41.8424
2025-08-22T21:22:40.775Z,1755897760.775 [DAT](INFO): Ping request sent.
2025-08-22T21:22:40.775Z,1755897760.775 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:40.776Z,1755897760.776 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:40.776Z,1755897760.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-08-22T21:22:40.867Z,1755897760.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 428.399994 m,
deltaT: 4.284789 s,
deltaX: -1.200012 m,
approachRate: -0.280063 m/s,
rangeRepo size: 4
2025-08-22T21:22:40.869Z,1755897760.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 425.954071 m,
bearing: 230.668451 deg,
lat: 36.779618 deg,
lon: -121.859772 deg,
deltaT: 4.284789 s,
deltaX: -1.193390 m,
approachRate: -0.278518 m/s,
posRepo size: 4
2025-08-22T21:22:40.869Z,1755897760.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.95 m.
2025-08-22T21:22:40.872Z,1755897760.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.954071 m,
nav range: 424.509186 m,
bearing: 230.669999 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.062831 deg/s,
cmd heading: 214.867055 deg,
new cmd heading: 214.817890 deg.
2025-08-22T21:22:40.873Z,1755897760.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.749279 target range: 425.954071 and range: 428.40 m.
2025-08-22T21:22:41.027Z,1755897761.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251115
2025-08-22T21:22:41.252Z,1755897761.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:41.254Z,1755897761.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.95 m.
2025-08-22T21:22:41.257Z,1755897761.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.954071 m,
nav range: 424.359253 m,
bearing: 230.645125 deg,
approach rate: -0.385754 m/s,
LOS rate: -0.064020 deg/s,
cmd heading: 214.817892 deg,
new cmd heading: 214.768125 deg.
2025-08-22T21:22:41.258Z,1755897761.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748411 target range: 425.954071 and range: 428.40 m.
2025-08-22T21:22:41.279Z,1755897761.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503124
2025-08-22T21:22:41.530Z,1755897761.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754943
2025-08-22T21:22:41.684Z,1755897761.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.95 m.
2025-08-22T21:22:41.696Z,1755897761.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.954071 m,
nav range: 424.191711 m,
bearing: 230.618310 deg,
approach rate: -0.391020 m/s,
LOS rate: -0.062607 deg/s,
cmd heading: 214.768127 deg,
new cmd heading: 214.714476 deg.
2025-08-22T21:22:41.699Z,1755897761.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.747475 target range: 425.954071 and range: 428.40 m.
2025-08-22T21:22:41.783Z,1755897761.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007627
2025-08-22T21:22:42.035Z,1755897762.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259098
2025-08-22T21:22:42.117Z,1755897762.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.95 m.
2025-08-22T21:22:42.120Z,1755897762.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.954071 m,
nav range: 424.014557 m,
bearing: 230.590572 deg,
approach rate: -0.407815 m/s,
LOS rate: -0.063880 deg/s,
cmd heading: 214.714482 deg,
new cmd heading: 214.658984 deg.
2025-08-22T21:22:42.121Z,1755897762.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.746506 target range: 425.954071 and range: 428.40 m.
2025-08-22T21:22:42.286Z,1755897762.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510936
2025-08-22T21:22:42.488Z,1755897762.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.95 m.
2025-08-22T21:22:42.491Z,1755897762.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.954071 m,
nav range: 423.865295 m,
bearing: 230.568021 deg,
approach rate: -0.405071 m/s,
LOS rate: -0.061221 deg/s,
cmd heading: 214.658980 deg,
new cmd heading: 214.613862 deg.
2025-08-22T21:22:42.492Z,1755897762.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745718 target range: 425.954071 and range: 428.40 m.
2025-08-22T21:22:42.540Z,1755897762.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763758
2025-08-22T21:22:42.791Z,1755897762.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015051
2025-08-22T21:22:42.875Z,1755897762.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.95 m.
2025-08-22T21:22:42.878Z,1755897762.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.954071 m,
nav range: 423.691833 m,
bearing: 230.542721 deg,
approach rate: -0.445362 m/s,
LOS rate: -0.064986 deg/s,
cmd heading: 214.613860 deg,
new cmd heading: 214.563238 deg.
2025-08-22T21:22:42.879Z,1755897762.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.744835 target range: 425.954071 and range: 428.40 m.
2025-08-22T21:22:43.042Z,1755897763.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266893
2025-08-22T21:22:43.283Z,1755897763.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:43.285Z,1755897763.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.95 m.
2025-08-22T21:22:43.288Z,1755897763.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.954071 m,
nav range: 423.513458 m,
bearing: 230.517582 deg,
approach rate: -0.435231 m/s,
LOS rate: -0.061363 deg/s,
cmd heading: 214.563235 deg,
new cmd heading: 214.512937 deg.
2025-08-22T21:22:43.289Z,1755897763.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.743957 target range: 425.954071 and range: 428.40 m.
2025-08-22T21:22:43.295Z,1755897763.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519102
2025-08-22T21:22:43.548Z,1755897763.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772213
2025-08-22T21:22:43.758Z,1755897763.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.95 m.
2025-08-22T21:22:43.761Z,1755897763.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.954071 m,
nav range: 423.333740 m,
bearing: 230.493138 deg,
approach rate: -0.383142 m/s,
LOS rate: -0.052135 deg/s,
cmd heading: 214.512937 deg,
new cmd heading: 214.464028 deg.
2025-08-22T21:22:43.762Z,1755897763.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.743104 target range: 425.954071 and range: 428.40 m.
2025-08-22T21:22:43.799Z,1755897763.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023089
2025-08-22T21:22:44.052Z,1755897764.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275752
2025-08-22T21:22:44.188Z,1755897764.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.95 m.
2025-08-22T21:22:44.196Z,1755897764.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.954071 m,
nav range: 423.114594 m,
bearing: 230.463761 deg,
approach rate: -0.505140 m/s,
LOS rate: -0.067750 deg/s,
cmd heading: 214.464033 deg,
new cmd heading: 214.405248 deg.
2025-08-22T21:22:44.196Z,1755897764.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.742078 target range: 425.954071 and range: 428.40 m.
2025-08-22T21:22:44.303Z,1755897764.303 [DAT](INFO): DAT read: Rx Time:21:22:44.8161
2025-08-22T21:22:44.303Z,1755897764.303 [DAT](INFO): Rx dataTimestamp_ set to:1755897764.302701
2025-08-22T21:22:44.303Z,1755897764.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527996
2025-08-22T21:22:44.542Z,1755897764.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.95 m.
2025-08-22T21:22:44.545Z,1755897764.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.954071 m,
nav range: 422.943176 m,
bearing: 230.441568 deg,
approach rate: -0.483526 m/s,
LOS rate: -0.062626 deg/s,
cmd heading: 214.405252 deg,
new cmd heading: 214.360849 deg.
2025-08-22T21:22:44.548Z,1755897764.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.741302 target range: 425.954071 and range: 428.40 m.
2025-08-22T21:22:44.555Z,1755897764.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779062
2025-08-22T21:22:44.812Z,1755897764.812 [DAT](INFO): DAT read: 21:22:44.8161 LVL= 32752, 31665, 28482, 32755, AGC= 69, IDX= 420, 0.36, 2.767, 2.221,-1.793,-2.919, PHS=-0.496,-1.099, 1.081, RAW= 194.5, 5.3, CAL= 194.6, 4.1, ROT= 315.4, -4.1
2025-08-22T21:22:44.814Z,1755897764.814 [DAT](INFO): got valid direction response:
21:22:44.8161 LVL= 32752, 31665, 28482, 32755, AGC= 69, IDX= 420, 0.36, 2.767, 2.221,-1.793,-2.919, PHS=-0.496,-1.099, 1.081, RAW= 194.5, 5.3, CAL= 194.6, 4.1, ROT= 315.4, -4.1
2025-08-22T21:22:44.814Z,1755897764.814 [DAT](INFO): DAT read: Bearing 80.7, -42.4 (Local)
2025-08-22T21:22:44.815Z,1755897764.815 [DAT](INFO): Local bearing/azimuth received:
Bearing 80.7, -42.4 (Local)
2025-08-22T21:22:44.816Z,1755897764.816 [DAT](INFO): DAT read: Range 11 to 50 : 427.1 m (Round-trip 569.5 ms) speed 0.4 m/s
2025-08-22T21:22:44.817Z,1755897764.817 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:44.818Z,1755897764.818 [DAT](INFO): direction in FSK: [0.710204,-0.700356,0.071497]
2025-08-22T21:22:44.818Z,1755897764.818 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:44.822Z,1755897764.822 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:44.822Z,1755897764.822 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:44.822Z,1755897764.822 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:44.906Z,1755897764.906 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:22:44.995Z,1755897764.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 427.100006 m,
deltaT: 4.283319 s,
deltaX: -1.299988 m,
approachRate: -0.303500 m/s,
rangeRepo size: 4
2025-08-22T21:22:44.997Z,1755897764.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 424.662415 m,
bearing: 230.557851 deg,
lat: 36.779618 deg,
lon: -121.859771 deg,
deltaT: 4.283319 s,
deltaX: -1.291656 m,
approachRate: -0.301555 m/s,
posRepo size: 4
2025-08-22T21:22:45.002Z,1755897765.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.66 m.
2025-08-22T21:22:45.004Z,1755897765.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 424.662415 m,
nav range: 422.696259 m,
bearing: 230.411424 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.062626 deg/s,
cmd heading: 214.360843 deg,
new cmd heading: 214.304232 deg.
2025-08-22T21:22:45.010Z,1755897765.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740314 target range: 424.662415 and range: 427.10 m.
2025-08-22T21:22:45.060Z,1755897765.060 [DAT](INFO): DAT read: user:2170>
2025-08-22T21:22:45.061Z,1755897765.061 [DAT](INFO): DAT read: Tx time:21:22:46.0924
2025-08-22T21:22:45.061Z,1755897765.061 [DAT](INFO): Ping request sent.
2025-08-22T21:22:45.062Z,1755897765.062 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:45.062Z,1755897765.062 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:45.063Z,1755897765.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001562
2025-08-22T21:22:45.311Z,1755897765.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249272
2025-08-22T21:22:45.344Z,1755897765.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:45.346Z,1755897765.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.66 m.
2025-08-22T21:22:45.349Z,1755897765.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 424.662415 m,
nav range: 422.507477 m,
bearing: 230.388652 deg,
approach rate: -0.536265 m/s,
LOS rate: -0.064717 deg/s,
cmd heading: 214.304234 deg,
new cmd heading: 214.258669 deg.
2025-08-22T21:22:45.350Z,1755897765.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.739519 target range: 424.662415 and range: 427.10 m.
2025-08-22T21:22:45.566Z,1755897765.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504902
2025-08-22T21:22:45.815Z,1755897765.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753350
2025-08-22T21:22:45.816Z,1755897765.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.66 m.
2025-08-22T21:22:45.823Z,1755897765.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 424.662415 m,
nav range: 422.290649 m,
bearing: 230.362672 deg,
approach rate: -0.462108 m/s,
LOS rate: -0.055398 deg/s,
cmd heading: 214.258663 deg,
new cmd heading: 214.206676 deg.
2025-08-22T21:22:45.824Z,1755897765.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.738612 target range: 424.662415 and range: 427.10 m.
2025-08-22T21:22:45.910Z,1755897765.910 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:22:46.068Z,1755897766.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006386
2025-08-22T21:22:46.210Z,1755897766.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.66 m.
2025-08-22T21:22:46.212Z,1755897766.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 424.662415 m,
nav range: 422.090149 m,
bearing: 230.339473 deg,
approach rate: -0.508837 m/s,
LOS rate: -0.058903 deg/s,
cmd heading: 214.206672 deg,
new cmd heading: 214.160251 deg.
2025-08-22T21:22:46.214Z,1755897766.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.737802 target range: 424.662415 and range: 427.10 m.
2025-08-22T21:22:46.319Z,1755897766.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257616
2025-08-22T21:22:46.572Z,1755897766.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510327
2025-08-22T21:22:46.627Z,1755897766.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.66 m.
2025-08-22T21:22:46.631Z,1755897766.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 424.662415 m,
nav range: 421.883453 m,
bearing: 230.316417 deg,
approach rate: -0.494719 m/s,
LOS rate: -0.055209 deg/s,
cmd heading: 214.160254 deg,
new cmd heading: 214.114121 deg.
2025-08-22T21:22:46.632Z,1755897766.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.736996 target range: 424.662415 and range: 427.10 m.
2025-08-22T21:22:46.822Z,1755897766.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761203
2025-08-22T21:22:46.990Z,1755897766.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.66 m.
2025-08-22T21:22:46.993Z,1755897766.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 424.662415 m,
nav range: 421.701813 m,
bearing: 230.296850 deg,
approach rate: -0.501417 m/s,
LOS rate: -0.054038 deg/s,
cmd heading: 214.114122 deg,
new cmd heading: 214.074971 deg.
2025-08-22T21:22:46.994Z,1755897766.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.736313 target range: 424.662415 and range: 427.10 m.
2025-08-22T21:22:47.076Z,1755897767.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014814
2025-08-22T21:22:47.327Z,1755897767.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265265
2025-08-22T21:22:47.395Z,1755897767.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:47.397Z,1755897767.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.66 m.
2025-08-22T21:22:47.412Z,1755897767.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 424.662415 m,
nav range: 421.495117 m,
bearing: 230.275383 deg,
approach rate: -0.507928 m/s,
LOS rate: -0.052780 deg/s,
cmd heading: 214.074972 deg,
new cmd heading: 214.032016 deg.
2025-08-22T21:22:47.412Z,1755897767.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.735563 target range: 424.662415 and range: 427.10 m.
2025-08-22T21:22:47.579Z,1755897767.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517529
2025-08-22T21:22:47.831Z,1755897767.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769247
2025-08-22T21:22:47.875Z,1755897767.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.66 m.
2025-08-22T21:22:47.878Z,1755897767.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 424.662415 m,
nav range: 421.248993 m,
bearing: 230.250712 deg,
approach rate: -0.514109 m/s,
LOS rate: -0.051561 deg/s,
cmd heading: 214.032010 deg,
new cmd heading: 213.982641 deg.
2025-08-22T21:22:47.879Z,1755897767.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734702 target range: 424.662415 and range: 427.10 m.
2025-08-22T21:22:48.084Z,1755897768.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022278
2025-08-22T21:22:48.240Z,1755897768.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.66 m.
2025-08-22T21:22:48.243Z,1755897768.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 424.662415 m,
nav range: 421.058807 m,
bearing: 230.232330 deg,
approach rate: -0.521545 m/s,
LOS rate: -0.050433 deg/s,
cmd heading: 213.982641 deg,
new cmd heading: 213.945860 deg.
2025-08-22T21:22:48.244Z,1755897768.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734060 target range: 424.662415 and range: 427.10 m.
2025-08-22T21:22:48.335Z,1755897768.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273670
2025-08-22T21:22:48.583Z,1755897768.583 [CTD_Seabird](ERROR): Failed to parse device response: 53.18,10.6003,3.753122
2025-08-22T21:22:48.590Z,1755897768.590 [DAT](INFO): DAT read: Rx Time:21:22:49.0635
2025-08-22T21:22:48.591Z,1755897768.591 [DAT](INFO): Rx dataTimestamp_ set to:1755897768.590452
2025-08-22T21:22:48.591Z,1755897768.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530026
2025-08-22T21:22:48.654Z,1755897768.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.66 m.
2025-08-22T21:22:48.656Z,1755897768.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 424.662415 m,
nav range: 420.847290 m,
bearing: 230.212586 deg,
approach rate: -0.516503 m/s,
LOS rate: -0.048237 deg/s,
cmd heading: 213.945854 deg,
new cmd heading: 213.906346 deg.
2025-08-22T21:22:48.662Z,1755897768.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.733370 target range: 424.662415 and range: 427.10 m.
2025-08-22T21:22:48.843Z,1755897768.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781354
2025-08-22T21:22:49.100Z,1755897769.100 [DAT](INFO): DAT read: 21:22:49.0635 LVL= 32752, 32753, 25586, 32755, AGC= 68, IDX= 518, 0.08,-1.399,-2.124,-0.387,-1.429, PHS= 0.132,-0.650, 0.998, RAW= 181.7, -6.8, CAL= 182.1, -8.8, ROT= 327.9, 8.8
2025-08-22T21:22:49.101Z,1755897769.101 [DAT](INFO): got valid direction response:
21:22:49.0635 LVL= 32752, 32753, 25586, 32755, AGC= 68, IDX= 518, 0.08,-1.399,-2.124,-0.387,-1.429, PHS= 0.132,-0.650, 0.998, RAW= 181.7, -6.8, CAL= 182.1, -8.8, ROT= 327.9, 8.8
2025-08-22T21:22:49.102Z,1755897769.102 [DAT](INFO): DAT read: Bearing 54.6, -29.1 (Local)
2025-08-22T21:22:49.102Z,1755897769.102 [DAT](INFO): Local bearing/azimuth received:
Bearing 54.6, -29.1 (Local)
2025-08-22T21:22:49.103Z,1755897769.103 [DAT](INFO): DAT read: Range 11 to 50 : 425.1 m (Round-trip 566.9 ms) speed 0.4 m/s
2025-08-22T21:22:49.104Z,1755897769.104 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:49.105Z,1755897769.105 [DAT](INFO): direction in FSK: [0.837150,-0.525143,-0.152986]
2025-08-22T21:22:49.105Z,1755897769.105 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:49.109Z,1755897769.109 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:49.109Z,1755897769.109 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:49.109Z,1755897769.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:49.202Z,1755897769.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 425.100006 m,
deltaT: 4.287835 s,
deltaX: -2.000000 m,
approachRate: -0.466436 m/s,
rangeRepo size: 4
2025-08-22T21:22:49.204Z,1755897769.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 422.673523 m,
bearing: 232.740557 deg,
lat: 36.779631 deg,
lon: -121.859772 deg,
deltaT: 4.287835 s,
deltaX: -1.988892 m,
approachRate: -0.463845 m/s,
posRepo size: 4
2025-08-22T21:22:49.205Z,1755897769.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.67 m.
2025-08-22T21:22:49.212Z,1755897769.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.673523 m,
nav range: 419.735291 m,
bearing: 230.343362 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.048237 deg/s,
cmd heading: 213.906348 deg,
new cmd heading: 213.853878 deg.
2025-08-22T21:22:49.213Z,1755897769.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732454 target range: 422.673523 and range: 425.10 m.
2025-08-22T21:22:49.347Z,1755897769.347 [DAT](INFO): DAT read: user:2171>
2025-08-22T21:22:49.348Z,1755897769.348 [DAT](INFO): DAT read: Tx time:21:22:50.3424
2025-08-22T21:22:49.348Z,1755897769.348 [DAT](INFO): Ping request sent.
2025-08-22T21:22:49.348Z,1755897769.348 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:49.348Z,1755897769.348 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:49.349Z,1755897769.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000718
2025-08-22T21:22:49.547Z,1755897769.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:49.550Z,1755897769.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.67 m.
2025-08-22T21:22:49.557Z,1755897769.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.673523 m,
nav range: 419.511902 m,
bearing: 230.324088 deg,
approach rate: -0.627711 m/s,
LOS rate: -0.054188 deg/s,
cmd heading: 213.853879 deg,
new cmd heading: 213.815310 deg.
2025-08-22T21:22:49.559Z,1755897769.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.731781 target range: 422.673523 and range: 425.10 m.
2025-08-22T21:22:49.601Z,1755897769.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252883
2025-08-22T21:22:49.850Z,1755897769.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502405
2025-08-22T21:22:49.965Z,1755897769.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.67 m.
2025-08-22T21:22:50.011Z,1755897770.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.673523 m,
nav range: 419.287415 m,
bearing: 230.305311 deg,
approach rate: -0.540191 m/s,
LOS rate: -0.045208 deg/s,
cmd heading: 213.815315 deg,
new cmd heading: 213.777741 deg.
2025-08-22T21:22:50.012Z,1755897770.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.731125 target range: 422.673523 and range: 425.10 m.
2025-08-22T21:22:50.103Z,1755897770.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755203
2025-08-22T21:22:50.355Z,1755897770.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006580
2025-08-22T21:22:50.370Z,1755897770.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.67 m.
2025-08-22T21:22:50.373Z,1755897770.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.673523 m,
nav range: 419.064240 m,
bearing: 230.288083 deg,
approach rate: -0.551349 m/s,
LOS rate: -0.042582 deg/s,
cmd heading: 213.777736 deg,
new cmd heading: 213.743263 deg.
2025-08-22T21:22:50.374Z,1755897770.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.730524 target range: 422.673523 and range: 425.10 m.
2025-08-22T21:22:50.607Z,1755897770.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258789
2025-08-22T21:22:50.767Z,1755897770.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.67 m.
2025-08-22T21:22:50.770Z,1755897770.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.673523 m,
nav range: 418.843201 m,
bearing: 230.271729 deg,
approach rate: -0.556614 m/s,
LOS rate: -0.041206 deg/s,
cmd heading: 213.743257 deg,
new cmd heading: 213.710530 deg.
2025-08-22T21:22:50.771Z,1755897770.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.729952 target range: 422.673523 and range: 425.10 m.
2025-08-22T21:22:50.860Z,1755897770.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511404
2025-08-22T21:22:51.111Z,1755897771.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762450
2025-08-22T21:22:51.186Z,1755897771.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.67 m.
2025-08-22T21:22:51.190Z,1755897771.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.673523 m,
nav range: 418.610504 m,
bearing: 230.255203 deg,
approach rate: -0.555737 m/s,
LOS rate: -0.039490 deg/s,
cmd heading: 213.710527 deg,
new cmd heading: 213.677456 deg.
2025-08-22T21:22:51.192Z,1755897771.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.729375 target range: 422.673523 and range: 425.10 m.
2025-08-22T21:22:51.362Z,1755897771.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014392
2025-08-22T21:22:51.603Z,1755897771.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:51.606Z,1755897771.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.67 m.
2025-08-22T21:22:51.608Z,1755897771.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.673523 m,
nav range: 418.381500 m,
bearing: 230.239625 deg,
approach rate: -0.545233 m/s,
LOS rate: -0.037110 deg/s,
cmd heading: 213.677455 deg,
new cmd heading: 213.646282 deg.
2025-08-22T21:22:51.615Z,1755897771.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266520
2025-08-22T21:22:51.615Z,1755897771.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728831 target range: 422.673523 and range: 425.10 m.
2025-08-22T21:22:51.867Z,1755897771.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518681
2025-08-22T21:22:51.993Z,1755897771.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.67 m.
2025-08-22T21:22:51.996Z,1755897771.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.673523 m,
nav range: 418.148285 m,
bearing: 230.224241 deg,
approach rate: -0.602480 m/s,
LOS rate: -0.039763 deg/s,
cmd heading: 213.646282 deg,
new cmd heading: 213.615498 deg.
2025-08-22T21:22:51.996Z,1755897771.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728294 target range: 422.673523 and range: 425.10 m.
2025-08-22T21:22:52.119Z,1755897772.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770437
2025-08-22T21:22:52.371Z,1755897772.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022540
2025-08-22T21:22:52.381Z,1755897772.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.67 m.
2025-08-22T21:22:52.383Z,1755897772.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.673523 m,
nav range: 417.924652 m,
bearing: 230.210117 deg,
approach rate: -0.576413 m/s,
LOS rate: -0.036424 deg/s,
cmd heading: 213.615491 deg,
new cmd heading: 213.587228 deg.
2025-08-22T21:22:52.384Z,1755897772.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.727800 target range: 422.673523 and range: 425.10 m.
2025-08-22T21:22:52.623Z,1755897772.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275107
2025-08-22T21:22:52.789Z,1755897772.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.67 m.
2025-08-22T21:22:52.792Z,1755897772.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.673523 m,
nav range: 417.687042 m,
bearing: 230.195781 deg,
approach rate: -0.582115 m/s,
LOS rate: -0.035143 deg/s,
cmd heading: 213.587228 deg,
new cmd heading: 213.558539 deg.
2025-08-22T21:22:52.793Z,1755897772.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.727300 target range: 422.673523 and range: 425.10 m.
2025-08-22T21:22:52.875Z,1755897772.875 [DAT](INFO): DAT read: Rx Time:21:22:53.3107
2025-08-22T21:22:52.875Z,1755897772.875 [DAT](INFO): Rx dataTimestamp_ set to:1755897772.874922
2025-08-22T21:22:52.876Z,1755897772.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527676
2025-08-22T21:22:53.126Z,1755897773.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778412
2025-08-22T21:22:53.253Z,1755897773.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.67 m.
2025-08-22T21:22:53.264Z,1755897773.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 422.673523 m,
nav range: 417.417328 m,
bearing: 230.180278 deg,
approach rate: -0.580883 m/s,
LOS rate: -0.033410 deg/s,
cmd heading: 213.558541 deg,
new cmd heading: 213.527515 deg.
2025-08-22T21:22:53.264Z,1755897773.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.726758 target range: 422.673523 and range: 425.10 m.
2025-08-22T21:22:53.385Z,1755897773.385 [DAT](INFO): DAT read: 21:22:53.3107 LVL= 30608, 32753, 28578, 32755, AGC= 69, IDX= 413,-0.05, 1.588, 0.482, 2.910, 1.836, PHS=-0.145,-1.309, 1.030, RAW= 180.2, 4.2, CAL= 179.8, 2.2, ROT= 330.2, -2.2
2025-08-22T21:22:53.386Z,1755897773.386 [DAT](INFO): got valid direction response:
21:22:53.3107 LVL= 30608, 32753, 28578, 32755, AGC= 69, IDX= 413,-0.05, 1.588, 0.482, 2.910, 1.836, PHS=-0.145,-1.309, 1.030, RAW= 180.2, 4.2, CAL= 179.8, 2.2, ROT= 330.2, -2.2
2025-08-22T21:22:53.387Z,1755897773.387 [DAT](INFO): DAT read: Bearing 56.3, -27.5 (Local)
2025-08-22T21:22:53.387Z,1755897773.387 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.3, -27.5 (Local)
2025-08-22T21:22:53.389Z,1755897773.389 [DAT](INFO): DAT read: Range 11 to 50 : 423.0 m (Round-trip 564.1 ms) speed 0.4 m/s
2025-08-22T21:22:53.389Z,1755897773.389 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:53.390Z,1755897773.390 [DAT](INFO): direction in FSK: [0.867126,-0.496608,0.038388]
2025-08-22T21:22:53.391Z,1755897773.391 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:53.394Z,1755897773.394 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:53.395Z,1755897773.395 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:53.395Z,1755897773.395 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:53.630Z,1755897773.630 [DAT](INFO): DAT read: user:2172>
2025-08-22T21:22:53.631Z,1755897773.631 [DAT](INFO): DAT read: Tx time:21:22:54.6424
2025-08-22T21:22:53.631Z,1755897773.631 [DAT](INFO): Ping request sent.
2025-08-22T21:22:53.631Z,1755897773.631 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:53.632Z,1755897773.632 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:53.632Z,1755897773.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-08-22T21:22:53.669Z,1755897773.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 423.000000 m,
deltaT: 4.285365 s,
deltaX: -2.100006 m,
approachRate: -0.490041 m/s,
rangeRepo size: 4
2025-08-22T21:22:53.679Z,1755897773.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 420.587921 m,
bearing: 223.852056 deg,
lat: 36.779631 deg,
lon: -121.859772 deg,
deltaT: 4.285365 s,
deltaX: -2.085602 m,
approachRate: -0.486680 m/s,
posRepo size: 4
2025-08-22T21:22:53.680Z,1755897773.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.59 m.
2025-08-22T21:22:53.700Z,1755897773.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 420.587921 m,
nav range: 417.194427 m,
bearing: 230.167449 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.033410 deg/s,
cmd heading: 213.527519 deg,
new cmd heading: 213.499878 deg.
2025-08-22T21:22:53.720Z,1755897773.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.726276 target range: 420.587921 and range: 423.00 m.
2025-08-22T21:22:53.883Z,1755897773.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251079
2025-08-22T21:22:54.112Z,1755897774.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:54.114Z,1755897774.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.59 m.
2025-08-22T21:22:54.117Z,1755897774.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 420.587921 m,
nav range: 416.908020 m,
bearing: 230.151917 deg,
approach rate: -0.639827 m/s,
LOS rate: -0.034721 deg/s,
cmd heading: 213.499884 deg,
new cmd heading: 213.468799 deg.
2025-08-22T21:22:54.118Z,1755897774.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.725733 target range: 420.587921 and range: 423.00 m.
2025-08-22T21:22:54.134Z,1755897774.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502906
2025-08-22T21:22:54.387Z,1755897774.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755026
2025-08-22T21:22:54.486Z,1755897774.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.59 m.
2025-08-22T21:22:54.488Z,1755897774.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 420.587921 m,
nav range: 416.686340 m,
bearing: 230.140524 deg,
approach rate: -0.597086 m/s,
LOS rate: -0.030703 deg/s,
cmd heading: 213.468793 deg,
new cmd heading: 213.445995 deg.
2025-08-22T21:22:54.490Z,1755897774.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.725335 target range: 420.587921 and range: 423.00 m.
2025-08-22T21:22:54.638Z,1755897774.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006941
2025-08-22T21:22:54.891Z,1755897774.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259126
2025-08-22T21:22:54.891Z,1755897774.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.59 m.
2025-08-22T21:22:54.894Z,1755897774.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 420.587921 m,
nav range: 416.444031 m,
bearing: 230.128766 deg,
approach rate: -0.599803 m/s,
LOS rate: -0.029123 deg/s,
cmd heading: 213.445993 deg,
new cmd heading: 213.422463 deg.
2025-08-22T21:22:54.895Z,1755897774.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.724925 target range: 420.587921 and range: 423.00 m.
2025-08-22T21:22:55.143Z,1755897775.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511256
2025-08-22T21:22:55.307Z,1755897775.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.59 m.
2025-08-22T21:22:55.310Z,1755897775.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 420.587921 m,
nav range: 416.192383 m,
bearing: 230.117247 deg,
approach rate: -0.602891 m/s,
LOS rate: -0.027612 deg/s,
cmd heading: 213.422457 deg,
new cmd heading: 213.399406 deg.
2025-08-22T21:22:55.311Z,1755897775.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.724522 target range: 420.587921 and range: 423.00 m.
2025-08-22T21:22:55.395Z,1755897775.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763859
2025-08-22T21:22:55.647Z,1755897775.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015008
2025-08-22T21:22:55.772Z,1755897775.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.59 m.
2025-08-22T21:22:55.779Z,1755897775.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 420.587921 m,
nav range: 415.914764 m,
bearing: 230.105287 deg,
approach rate: -0.596970 m/s,
LOS rate: -0.025736 deg/s,
cmd heading: 213.399411 deg,
new cmd heading: 213.375475 deg.
2025-08-22T21:22:55.780Z,1755897775.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.724105 target range: 420.587921 and range: 423.00 m.
2025-08-22T21:22:55.899Z,1755897775.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267627
2025-08-22T21:22:56.134Z,1755897776.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:56.136Z,1755897776.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.59 m.
2025-08-22T21:22:56.151Z,1755897776.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519010
2025-08-22T21:22:56.160Z,1755897776.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 420.587921 m,
nav range: 415.691498 m,
bearing: 230.094948 deg,
approach rate: -0.612754 m/s,
LOS rate: -0.028390 deg/s,
cmd heading: 213.375479 deg,
new cmd heading: 213.354790 deg.
2025-08-22T21:22:56.166Z,1755897776.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723743 target range: 420.587921 and range: 423.00 m.
2025-08-22T21:22:56.403Z,1755897776.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771664
2025-08-22T21:22:56.541Z,1755897776.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.59 m.
2025-08-22T21:22:56.546Z,1755897776.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 420.587921 m,
nav range: 415.453094 m,
bearing: 230.083896 deg,
approach rate: -0.590903 m/s,
LOS rate: -0.027409 deg/s,
cmd heading: 213.354783 deg,
new cmd heading: 213.332666 deg.
2025-08-22T21:22:56.548Z,1755897776.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723357 target range: 420.587921 and range: 423.00 m.
2025-08-22T21:22:56.655Z,1755897776.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023052
2025-08-22T21:22:56.907Z,1755897776.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275069
2025-08-22T21:22:56.923Z,1755897776.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.59 m.
2025-08-22T21:22:56.926Z,1755897776.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 420.587921 m,
nav range: 415.215424 m,
bearing: 230.074798 deg,
approach rate: -0.620538 m/s,
LOS rate: -0.023769 deg/s,
cmd heading: 213.332667 deg,
new cmd heading: 213.314460 deg.
2025-08-22T21:22:56.927Z,1755897776.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723040 target range: 420.587921 and range: 423.00 m.
2025-08-22T21:22:57.160Z,1755897777.160 [DAT](INFO): DAT read: Rx Time:21:22:57.6077
2025-08-22T21:22:57.161Z,1755897777.161 [DAT](INFO): Rx dataTimestamp_ set to:1755897777.160418
2025-08-22T21:22:57.162Z,1755897777.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530348
2025-08-22T21:22:57.326Z,1755897777.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.59 m.
2025-08-22T21:22:57.329Z,1755897777.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 420.587921 m,
nav range: 414.968140 m,
bearing: 230.065986 deg,
approach rate: -0.612911 m/s,
LOS rate: -0.021854 deg/s,
cmd heading: 213.314458 deg,
new cmd heading: 213.296823 deg.
2025-08-22T21:22:57.347Z,1755897777.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722732 target range: 420.587921 and range: 423.00 m.
2025-08-22T21:22:57.411Z,1755897777.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779646
2025-08-22T21:22:57.670Z,1755897777.670 [DAT](INFO): DAT read: 21:22:57.6077 LVL= 24400, 27617, 19378, 32755, AGC= 66, IDX= 414,-0.31, 0.666,-0.741, 1.423, 0.695, PHS= 0.073,-1.391, 0.684, RAW= 166.6, 6.9, CAL= 166.1, 6.7, ROT= 343.9, -6.7
2025-08-22T21:22:57.673Z,1755897777.673 [DAT](INFO): got valid direction response:
21:22:57.6077 LVL= 24400, 27617, 19378, 32755, AGC= 66, IDX= 414,-0.31, 0.666,-0.741, 1.423, 0.695, PHS= 0.073,-1.391, 0.684, RAW= 166.6, 6.9, CAL= 166.1, 6.7, ROT= 343.9, -6.7
2025-08-22T21:22:57.674Z,1755897777.674 [DAT](INFO): DAT read: Bearing 49.8, -13.9 (Local)
2025-08-22T21:22:57.674Z,1755897777.674 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.8, -13.9 (Local)
2025-08-22T21:22:57.676Z,1755897777.676 [DAT](INFO): DAT read: Range 11 to 50 : 420.8 m (Round-trip 561.1 ms) speed 0.7 m/s
2025-08-22T21:22:57.676Z,1755897777.676 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:22:57.677Z,1755897777.677 [DAT](INFO): direction in FSK: [0.954218,-0.275421,0.116671]
2025-08-22T21:22:57.677Z,1755897777.677 [DAT](INFO): publishing direction and range info
2025-08-22T21:22:57.681Z,1755897777.681 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:22:57.681Z,1755897777.681 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:22:57.681Z,1755897777.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:22:57.868Z,1755897777.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 420.799988 m,
deltaT: 4.282777 s,
deltaX: -2.200012 m,
approachRate: -0.513688 m/s,
rangeRepo size: 4
2025-08-22T21:22:57.874Z,1755897777.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 418.402771 m,
bearing: 226.174299 deg,
lat: 36.779618 deg,
lon: -121.859771 deg,
deltaT: 4.282777 s,
deltaX: -2.185150 m,
approachRate: -0.510218 m/s,
posRepo size: 4
2025-08-22T21:22:57.875Z,1755897777.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.40 m.
2025-08-22T21:22:57.877Z,1755897777.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.402771 m,
nav range: 415.497742 m,
bearing: 229.899903 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.021854 deg/s,
cmd heading: 213.296822 deg,
new cmd heading: 213.273194 deg.
2025-08-22T21:22:57.882Z,1755897777.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722319 target range: 418.402771 and range: 420.80 m.
2025-08-22T21:22:57.914Z,1755897777.914 [DAT](INFO): DAT read: user:2173>
2025-08-22T21:22:57.915Z,1755897777.915 [DAT](INFO): DAT read: Tx time:21:22:58.9424
2025-08-22T21:22:57.916Z,1755897777.916 [DAT](INFO): Ping request sent.
2025-08-22T21:22:57.916Z,1755897777.916 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:22:57.916Z,1755897777.916 [DAT](INFO): publishing transmit ping time
2025-08-22T21:22:57.916Z,1755897777.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-22T21:22:58.167Z,1755897778.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251644
2025-08-22T21:22:58.212Z,1755897778.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:22:58.214Z,1755897778.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.40 m.
2025-08-22T21:22:58.217Z,1755897778.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.402771 m,
nav range: 415.272095 m,
bearing: 229.893215 deg,
approach rate: -0.649823 m/s,
LOS rate: -0.019272 deg/s,
cmd heading: 213.273190 deg,
new cmd heading: 213.259805 deg.
2025-08-22T21:22:58.218Z,1755897778.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722086 target range: 418.402771 and range: 420.80 m.
2025-08-22T21:22:58.419Z,1755897778.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503493
2025-08-22T21:22:58.635Z,1755897778.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.40 m.
2025-08-22T21:22:58.638Z,1755897778.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.402771 m,
nav range: 415.023438 m,
bearing: 229.885835 deg,
approach rate: -0.590601 m/s,
LOS rate: -0.017539 deg/s,
cmd heading: 213.259802 deg,
new cmd heading: 213.245034 deg.
2025-08-22T21:22:58.639Z,1755897778.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721828 target range: 418.402771 and range: 420.80 m.
2025-08-22T21:22:58.671Z,1755897778.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755803
2025-08-22T21:22:58.922Z,1755897778.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006789
2025-08-22T21:22:59.006Z,1755897779.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.40 m.
2025-08-22T21:22:59.008Z,1755897779.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.402771 m,
nav range: 414.778076 m,
bearing: 229.879797 deg,
approach rate: -0.662995 m/s,
LOS rate: -0.016325 deg/s,
cmd heading: 213.245036 deg,
new cmd heading: 213.232952 deg.
2025-08-22T21:22:59.009Z,1755897779.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721617 target range: 418.402771 and range: 420.80 m.
2025-08-22T21:22:59.175Z,1755897779.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259246
2025-08-22T21:22:59.427Z,1755897779.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860
2025-08-22T21:22:59.438Z,1755897779.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.40 m.
2025-08-22T21:22:59.440Z,1755897779.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.402771 m,
nav range: 414.517334 m,
bearing: 229.873373 deg,
approach rate: -0.603078 m/s,
LOS rate: -0.014868 deg/s,
cmd heading: 213.232946 deg,
new cmd heading: 213.220090 deg.
2025-08-22T21:22:59.446Z,1755897779.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721393 target range: 418.402771 and range: 420.80 m.
2025-08-22T21:22:59.680Z,1755897779.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763829
2025-08-22T21:22:59.931Z,1755897779.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014879
2025-08-22T21:23:00.032Z,1755897780.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.40 m.
2025-08-22T21:23:00.041Z,1755897780.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.402771 m,
nav range: 414.159119 m,
bearing: 229.865280 deg,
approach rate: -0.603368 m/s,
LOS rate: -0.013643 deg/s,
cmd heading: 213.220092 deg,
new cmd heading: 213.203892 deg.
2025-08-22T21:23:00.048Z,1755897780.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721110 target range: 418.402771 and range: 420.80 m.
2025-08-22T21:23:00.183Z,1755897780.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267372
2025-08-22T21:23:00.435Z,1755897780.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518884
2025-08-22T21:23:00.535Z,1755897780.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:00.540Z,1755897780.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.40 m.
2025-08-22T21:23:00.549Z,1755897780.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.402771 m,
nav range: 413.824615 m,
bearing: 229.859427 deg,
approach rate: -0.658236 m/s,
LOS rate: -0.011527 deg/s,
cmd heading: 213.203890 deg,
new cmd heading: 213.192175 deg.
2025-08-22T21:23:00.554Z,1755897780.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720905 target range: 418.402771 and range: 420.80 m.
2025-08-22T21:23:00.686Z,1755897780.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770824
2025-08-22T21:23:00.939Z,1755897780.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022934
2025-08-22T21:23:00.980Z,1755897780.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.40 m.
2025-08-22T21:23:00.983Z,1755897780.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.402771 m,
nav range: 413.532928 m,
bearing: 229.855035 deg,
approach rate: -0.661840 m/s,
LOS rate: -0.009973 deg/s,
cmd heading: 213.192170 deg,
new cmd heading: 213.183379 deg.
2025-08-22T21:23:00.984Z,1755897780.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720752 target range: 418.402771 and range: 420.80 m.
2025-08-22T21:23:01.191Z,1755897781.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275496
2025-08-22T21:23:01.374Z,1755897781.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.40 m.
2025-08-22T21:23:01.377Z,1755897781.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.402771 m,
nav range: 413.283325 m,
bearing: 229.851909 deg,
approach rate: -0.635026 m/s,
LOS rate: -0.007957 deg/s,
cmd heading: 213.183373 deg,
new cmd heading: 213.177117 deg.
2025-08-22T21:23:01.379Z,1755897781.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720643 target range: 418.402771 and range: 420.80 m.
2025-08-22T21:23:01.444Z,1755897781.444 [DAT](INFO): DAT read: Rx Time:21:23:01.9149
2025-08-22T21:23:01.444Z,1755897781.444 [DAT](INFO): Rx dataTimestamp_ set to:1755897781.443758
2025-08-22T21:23:01.445Z,1755897781.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529220
2025-08-22T21:23:01.698Z,1755897781.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781233
2025-08-22T21:23:01.873Z,1755897781.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.40 m.
2025-08-22T21:23:01.876Z,1755897781.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.402771 m,
nav range: 412.967438 m,
bearing: 229.848151 deg,
approach rate: -0.642161 m/s,
LOS rate: -0.007645 deg/s,
cmd heading: 213.177116 deg,
new cmd heading: 213.169594 deg.
2025-08-22T21:23:01.877Z,1755897781.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720511 target range: 418.402771 and range: 420.80 m.
2025-08-22T21:23:01.956Z,1755897781.956 [DAT](INFO): DAT read: 21:23:01.9148 LVL= 19536, 22129, 17298, 22355, AGC= 71, IDX= 8,-0.47,-2.335, 2.401,-1.988,-2.845, PHS= 0.611,-0.992, 0.812, RAW= 155.8, -5.1, CAL= 155.7, -6.6, ROT= 354.3, 6.6
2025-08-22T21:23:01.957Z,1755897781.957 [DAT](INFO): got valid direction response:
21:23:01.9148 LVL= 19536, 22129, 17298, 22355, AGC= 71, IDX= 8,-0.47,-2.335, 2.401,-1.988,-2.845, PHS= 0.611,-0.992, 0.812, RAW= 155.8, -5.1, CAL= 155.7, -6.6, ROT= 354.3, 6.6
2025-08-22T21:23:01.958Z,1755897781.958 [DAT](INFO): DAT read: Bearing 25.5, -3.0 (Local)
2025-08-22T21:23:01.958Z,1755897781.958 [DAT](INFO): Local bearing/azimuth received:
Bearing 25.5, -3.0 (Local)
2025-08-22T21:23:01.959Z,1755897781.959 [DAT](INFO): DAT read: Range 11 to 50 : 426.2 m (Round-trip 568.3 ms) speed 0.4 m/s
2025-08-22T21:23:01.960Z,1755897781.960 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:23:01.961Z,1755897781.961 [DAT](INFO): direction in FSK: [0.988461,-0.098662,-0.114937]
2025-08-22T21:23:01.961Z,1755897781.961 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:01.965Z,1755897781.965 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:01.965Z,1755897781.965 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:01.965Z,1755897781.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:02.202Z,1755897782.202 [DAT](INFO): DAT read: user:2174>
2025-08-22T21:23:02.203Z,1755897782.203 [DAT](INFO): DAT read: Tx time:21:23:03.2423
2025-08-22T21:23:02.204Z,1755897782.204 [DAT](INFO): Ping request sent.
2025-08-22T21:23:02.204Z,1755897782.204 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:23:02.204Z,1755897782.204 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:02.204Z,1755897782.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721
2025-08-22T21:23:02.218Z,1755897782.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 426.200012 m,
deltaT: 4.286452 s,
deltaX: 5.400024 m,
approachRate: 1.259789 m/s,
rangeRepo size: 4
2025-08-22T21:23:02.220Z,1755897782.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 423.774231 m,
bearing: 225.051761 deg,
lat: 36.779455 deg,
lon: -121.859588 deg,
deltaT: 4.286452 s,
deltaX: 5.371460 m,
approachRate: 1.253125 m/s,
posRepo size: 4
2025-08-22T21:23:02.220Z,1755897782.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:02.223Z,1755897782.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 412.718323 m,
bearing: 226.466550 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007645 deg/s,
cmd heading: 213.169589 deg,
new cmd heading: 213.164214 deg.
2025-08-22T21:23:02.224Z,1755897782.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720417 target range: 423.774231 and range: 426.20 m.
2025-08-22T21:23:02.455Z,1755897782.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250926
2025-08-22T21:23:02.599Z,1755897782.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:02.601Z,1755897782.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:02.604Z,1755897782.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 412.460205 m,
bearing: 226.462640 deg,
approach rate: -0.672036 m/s,
LOS rate: -0.010185 deg/s,
cmd heading: 213.164207 deg,
new cmd heading: 213.156383 deg.
2025-08-22T21:23:02.605Z,1755897782.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720281 target range: 423.774231 and range: 426.20 m.
2025-08-22T21:23:02.707Z,1755897782.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502937
2025-08-22T21:23:02.959Z,1755897782.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755026
2025-08-22T21:23:02.998Z,1755897782.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:03.001Z,1755897783.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 412.204559 m,
bearing: 226.459432 deg,
approach rate: -0.642998 m/s,
LOS rate: -0.008075 deg/s,
cmd heading: 213.156380 deg,
new cmd heading: 213.149958 deg.
2025-08-22T21:23:03.002Z,1755897783.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720169 target range: 423.774231 and range: 426.20 m.
2025-08-22T21:23:03.214Z,1755897783.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010595
2025-08-22T21:23:03.394Z,1755897783.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:03.397Z,1755897783.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 411.950043 m,
bearing: 226.456878 deg,
approach rate: -0.643100 m/s,
LOS rate: -0.006456 deg/s,
cmd heading: 213.149959 deg,
new cmd heading: 213.144849 deg.
2025-08-22T21:23:03.398Z,1755897783.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720079 target range: 423.774231 and range: 426.20 m.
2025-08-22T21:23:03.463Z,1755897783.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258911
2025-08-22T21:23:03.717Z,1755897783.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512940
2025-08-22T21:23:03.823Z,1755897783.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:03.825Z,1755897783.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 411.673187 m,
bearing: 226.453784 deg,
approach rate: -0.646395 m/s,
LOS rate: -0.007229 deg/s,
cmd heading: 213.144850 deg,
new cmd heading: 213.138658 deg.
2025-08-22T21:23:03.842Z,1755897783.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.719971 target range: 423.774231 and range: 426.20 m.
2025-08-22T21:23:03.968Z,1755897783.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763898
2025-08-22T21:23:04.213Z,1755897784.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:04.216Z,1755897784.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 411.420685 m,
bearing: 226.451608 deg,
approach rate: -0.647130 m/s,
LOS rate: -0.005582 deg/s,
cmd heading: 213.138662 deg,
new cmd heading: 213.134306 deg.
2025-08-22T21:23:04.217Z,1755897784.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.719895 target range: 423.774231 and range: 426.20 m.
2025-08-22T21:23:04.219Z,1755897784.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014921
2025-08-22T21:23:04.470Z,1755897784.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827
2025-08-22T21:23:04.608Z,1755897784.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:04.611Z,1755897784.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:04.614Z,1755897784.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 411.162933 m,
bearing: 226.450062 deg,
approach rate: -0.647596 m/s,
LOS rate: -0.003887 deg/s,
cmd heading: 213.134305 deg,
new cmd heading: 213.131210 deg.
2025-08-22T21:23:04.615Z,1755897784.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.719841 target range: 423.774231 and range: 426.20 m.
2025-08-22T21:23:04.723Z,1755897784.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519488
2025-08-22T21:23:04.974Z,1755897784.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770790
2025-08-22T21:23:05.064Z,1755897785.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:05.067Z,1755897785.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 410.868927 m,
bearing: 226.449016 deg,
approach rate: -0.648920 m/s,
LOS rate: -0.002310 deg/s,
cmd heading: 213.131204 deg,
new cmd heading: 213.129111 deg.
2025-08-22T21:23:05.068Z,1755897785.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.719805 target range: 423.774231 and range: 426.20 m.
2025-08-22T21:23:05.227Z,1755897785.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022977
2025-08-22T21:23:05.416Z,1755897785.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:05.419Z,1755897785.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 410.640503 m,
bearing: 226.448765 deg,
approach rate: -0.648449 m/s,
LOS rate: -0.000713 deg/s,
cmd heading: 213.129114 deg,
new cmd heading: 213.128612 deg.
2025-08-22T21:23:05.420Z,1755897785.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.719796 target range: 423.774231 and range: 426.20 m.
2025-08-22T21:23:05.480Z,1755897785.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276043
2025-08-22T21:23:05.733Z,1755897785.733 [DAT](INFO): DAT read: Rx Time:21:23:06.2110
2025-08-22T21:23:05.735Z,1755897785.735 [DAT](INFO): Rx dataTimestamp_ set to:1755897785.733967
2025-08-22T21:23:05.737Z,1755897785.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532564
2025-08-22T21:23:05.848Z,1755897785.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:05.867Z,1755897785.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 410.365417 m,
bearing: 226.449679 deg,
approach rate: -0.636617 m/s,
LOS rate: 0.002117 deg/s,
cmd heading: 213.128608 deg,
new cmd heading: 213.130438 deg.
2025-08-22T21:23:05.868Z,1755897785.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.719828 target range: 423.774231 and range: 426.20 m.
2025-08-22T21:23:05.983Z,1755897785.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778907
2025-08-22T21:23:06.240Z,1755897786.240 [DAT](INFO): DAT read: 21:23:06.2110 LVL= 27488, 32753, 29410, 32755, AGC= 70, IDX= 292,-0.25, 0.940,-0.910, 0.860, 0.532, PHS= 0.510,-1.397, 0.283, RAW= 143.8, 6.7, CAL= 143.3, 7.4, ROT= 6.7, -7.4
2025-08-22T21:23:06.241Z,1755897786.241 [DAT](INFO): got valid direction response:
21:23:06.2110 LVL= 27488, 32753, 29410, 32755, AGC= 70, IDX= 292,-0.25, 0.940,-0.910, 0.860, 0.532, PHS= 0.510,-1.397, 0.283, RAW= 143.8, 6.7, CAL= 143.3, 7.4, ROT= 6.7, -7.4
2025-08-22T21:23:06.242Z,1755897786.242 [DAT](INFO): DAT read: Bearing 29.0, 9.0 (Local)
2025-08-22T21:23:06.242Z,1755897786.242 [DAT](INFO): Local bearing/azimuth received:
Bearing 29.0, 9.0 (Local)
2025-08-22T21:23:06.244Z,1755897786.244 [DAT](INFO): DAT read: Range 11 to 50 : 423.3 m (Round-trip 564.5 ms) speed 0.5 m/s
2025-08-22T21:23:06.244Z,1755897786.244 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:23:06.245Z,1755897786.245 [DAT](INFO): direction in FSK: [0.984899,0.115699,0.128796]
2025-08-22T21:23:06.245Z,1755897786.245 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:06.249Z,1755897786.249 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:06.249Z,1755897786.249 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:06.249Z,1755897786.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:06.253Z,1755897786.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 423.299988 m,
deltaT: 4.285601 s,
deltaX: -2.900024 m,
approachRate: -0.676690 m/s,
rangeRepo size: 4
2025-08-22T21:23:06.253Z,1755897786.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:06.260Z,1755897786.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 410.126556 m,
bearing: 226.451034 deg,
approach rate: -0.591577 m/s,
LOS rate: 0.003358 deg/s,
cmd heading: 213.130439 deg,
new cmd heading: 213.133150 deg.
2025-08-22T21:23:06.261Z,1755897786.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.719875 target range: 423.774231 and range: 423.30 m.
2025-08-22T21:23:06.486Z,1755897786.486 [DAT](INFO): DAT read: user:2175>
2025-08-22T21:23:06.487Z,1755897786.487 [DAT](INFO): DAT read: Tx time:21:23:07.4923
2025-08-22T21:23:06.487Z,1755897786.487 [DAT](INFO): Ping request sent.
2025-08-22T21:23:06.488Z,1755897786.488 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:23:06.488Z,1755897786.488 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:06.488Z,1755897786.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-08-22T21:23:06.639Z,1755897786.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:06.642Z,1755897786.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 409.863739 m,
bearing: 226.453136 deg,
approach rate: -0.679217 m/s,
LOS rate: 0.005435 deg/s,
cmd heading: 213.133157 deg,
new cmd heading: 213.137363 deg.
2025-08-22T21:23:06.643Z,1755897786.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.719949 target range: 423.774231 and range: 423.30 m.
2025-08-22T21:23:06.740Z,1755897786.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252413
2025-08-22T21:23:06.991Z,1755897786.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502894
2025-08-22T21:23:07.059Z,1755897787.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:07.062Z,1755897787.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:07.065Z,1755897787.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 409.602905 m,
bearing: 226.455750 deg,
approach rate: -0.617196 m/s,
LOS rate: 0.006189 deg/s,
cmd heading: 213.137364 deg,
new cmd heading: 213.142595 deg.
2025-08-22T21:23:07.066Z,1755897787.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720040 target range: 423.774231 and range: 423.30 m.
2025-08-22T21:23:07.246Z,1755897787.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758238
2025-08-22T21:23:07.436Z,1755897787.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:07.439Z,1755897787.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 409.354584 m,
bearing: 226.458718 deg,
approach rate: -0.663489 m/s,
LOS rate: 0.007936 deg/s,
cmd heading: 213.142596 deg,
new cmd heading: 213.148537 deg.
2025-08-22T21:23:07.440Z,1755897787.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720144 target range: 423.774231 and range: 423.30 m.
2025-08-22T21:23:07.495Z,1755897787.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007467
2025-08-22T21:23:07.749Z,1755897787.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261369
2025-08-22T21:23:07.864Z,1755897787.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:07.867Z,1755897787.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 409.082672 m,
bearing: 226.462326 deg,
approach rate: -0.634857 m/s,
LOS rate: 0.008427 deg/s,
cmd heading: 213.148539 deg,
new cmd heading: 213.155758 deg.
2025-08-22T21:23:07.868Z,1755897787.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720270 target range: 423.774231 and range: 423.30 m.
2025-08-22T21:23:08.002Z,1755897788.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513363
2025-08-22T21:23:08.244Z,1755897788.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:08.246Z,1755897788.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 408.842194 m,
bearing: 226.465953 deg,
approach rate: -0.633644 m/s,
LOS rate: 0.009563 deg/s,
cmd heading: 213.155751 deg,
new cmd heading: 213.163010 deg.
2025-08-22T21:23:08.247Z,1755897788.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720396 target range: 423.774231 and range: 423.30 m.
2025-08-22T21:23:08.251Z,1755897788.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762993
2025-08-22T21:23:08.505Z,1755897788.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016696
2025-08-22T21:23:08.660Z,1755897788.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:08.667Z,1755897788.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 408.584778 m,
bearing: 226.470249 deg,
approach rate: -0.618182 m/s,
LOS rate: 0.010325 deg/s,
cmd heading: 213.163005 deg,
new cmd heading: 213.171603 deg.
2025-08-22T21:23:08.668Z,1755897788.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720546 target range: 423.774231 and range: 423.30 m.
2025-08-22T21:23:08.756Z,1755897788.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267928
2025-08-22T21:23:09.009Z,1755897789.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521469
2025-08-22T21:23:09.058Z,1755897789.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:09.061Z,1755897789.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 408.326294 m,
bearing: 226.474956 deg,
approach rate: -0.649442 m/s,
LOS rate: 0.011833 deg/s,
cmd heading: 213.171597 deg,
new cmd heading: 213.181016 deg.
2025-08-22T21:23:09.082Z,1755897789.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720711 target range: 423.774231 and range: 423.30 m.
2025-08-22T21:23:09.259Z,1755897789.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770926
2025-08-22T21:23:09.455Z,1755897789.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:09.458Z,1755897789.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:09.460Z,1755897789.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 408.074158 m,
bearing: 226.479892 deg,
approach rate: -0.631305 m/s,
LOS rate: 0.012367 deg/s,
cmd heading: 213.181023 deg,
new cmd heading: 213.190902 deg.
2025-08-22T21:23:09.461Z,1755897789.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720883 target range: 423.774231 and range: 423.30 m.
2025-08-22T21:23:09.513Z,1755897789.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024705
2025-08-22T21:23:09.762Z,1755897789.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274826
2025-08-22T21:23:09.899Z,1755897789.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:09.907Z,1755897789.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 407.801147 m,
bearing: 226.486356 deg,
approach rate: -0.617718 m/s,
LOS rate: 0.014635 deg/s,
cmd heading: 213.190899 deg,
new cmd heading: 213.203836 deg.
2025-08-22T21:23:09.908Z,1755897789.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721109 target range: 423.774231 and range: 423.30 m.
2025-08-22T21:23:10.016Z,1755897790.016 [DAT](INFO): DAT read: Rx Time:21:23:10.4576
2025-08-22T21:23:10.016Z,1755897790.016 [DAT](INFO): Rx dataTimestamp_ set to:1755897790.015845
2025-08-22T21:23:10.018Z,1755897790.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529697
2025-08-22T21:23:10.267Z,1755897790.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778916
2025-08-22T21:23:10.429Z,1755897790.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.77 m.
2025-08-22T21:23:10.432Z,1755897790.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 423.774231 m,
nav range: 407.451813 m,
bearing: 226.494640 deg,
approach rate: -0.659209 m/s,
LOS rate: 0.015645 deg/s,
cmd heading: 213.203836 deg,
new cmd heading: 213.220417 deg.
2025-08-22T21:23:10.433Z,1755897790.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721398 target range: 423.774231 and range: 423.30 m.
2025-08-22T21:23:10.528Z,1755897790.528 [DAT](INFO): DAT read: 21:23:10.4576 LVL= 30112, 32753, 32754, 32755, AGC= 68, IDX= 415,-0.43, 1.975, 0.092, 1.695, 1.581, PHS= 0.496,-1.444, 0.069, RAW= 137.9, 10.0, CAL= 137.5, 11.0, ROT= 12.5, -11.0
2025-08-22T21:23:10.530Z,1755897790.530 [DAT](INFO): got valid direction response:
21:23:10.4576 LVL= 30112, 32753, 32754, 32755, AGC= 68, IDX= 415,-0.43, 1.975, 0.092, 1.695, 1.581, PHS= 0.496,-1.444, 0.069, RAW= 137.9, 10.0, CAL= 137.5, 11.0, ROT= 12.5, -11.0
2025-08-22T21:23:10.531Z,1755897790.531 [DAT](INFO): DAT read: Bearing 24.2, 15.4 (Local)
2025-08-22T21:23:10.532Z,1755897790.532 [DAT](INFO): Local bearing/azimuth received:
Bearing 24.2, 15.4 (Local)
2025-08-22T21:23:10.533Z,1755897790.533 [DAT](INFO): DAT read: Range 11 to 50 : 420.8 m (Round-trip 561.1 ms) speed 0.4 m/s
2025-08-22T21:23:10.534Z,1755897790.534 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:23:10.535Z,1755897790.535 [DAT](INFO): direction in FSK: [0.958359,0.212463,0.190809]
2025-08-22T21:23:10.535Z,1755897790.535 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:10.538Z,1755897790.538 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:10.538Z,1755897790.538 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:10.538Z,1755897790.538 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:10.771Z,1755897790.771 [DAT](INFO): DAT read: user:2176>
2025-08-22T21:23:10.771Z,1755897790.771 [DAT](INFO): DAT read: Tx time:21:23:11.7923
2025-08-22T21:23:10.772Z,1755897790.772 [DAT](INFO): Ping request sent.
2025-08-22T21:23:10.772Z,1755897790.772 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:23:10.772Z,1755897790.772 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:10.772Z,1755897790.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000711
2025-08-22T21:23:10.850Z,1755897790.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 420.799988 m,
deltaT: 4.285607 s,
deltaX: -2.500000 m,
approachRate: -0.583348 m/s,
rangeRepo size: 4
2025-08-22T21:23:10.852Z,1755897790.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 418.418152 m,
bearing: 225.760521 deg,
lat: 36.779434 deg,
lon: -121.859545 deg,
deltaT: 8.571208 s,
deltaX: -5.356079 m,
approachRate: -0.624892 m/s,
posRepo size: 4
2025-08-22T21:23:10.853Z,1755897790.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.42 m.
2025-08-22T21:23:10.868Z,1755897790.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.418152 m,
nav range: 406.071289 m,
bearing: 225.884623 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.015645 deg/s,
cmd heading: 213.220420 deg,
new cmd heading: 213.233433 deg.
2025-08-22T21:23:10.869Z,1755897790.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721626 target range: 418.418152 and range: 420.80 m.
2025-08-22T21:23:11.023Z,1755897791.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250838
2025-08-22T21:23:11.209Z,1755897791.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.42 m.
2025-08-22T21:23:11.214Z,1755897791.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.418152 m,
nav range: 405.827179 m,
bearing: 225.890547 deg,
approach rate: -0.671669 m/s,
LOS rate: 0.016309 deg/s,
cmd heading: 213.233438 deg,
new cmd heading: 213.245293 deg.
2025-08-22T21:23:11.215Z,1755897791.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721833 target range: 418.418152 and range: 420.80 m.
2025-08-22T21:23:11.275Z,1755897791.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503046
2025-08-22T21:23:11.527Z,1755897791.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754841
2025-08-22T21:23:11.680Z,1755897791.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:11.682Z,1755897791.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.42 m.
2025-08-22T21:23:11.685Z,1755897791.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.418152 m,
nav range: 405.521820 m,
bearing: 225.896707 deg,
approach rate: -0.644742 m/s,
LOS rate: 0.013016 deg/s,
cmd heading: 213.245295 deg,
new cmd heading: 213.257624 deg.
2025-08-22T21:23:11.686Z,1755897791.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722048 target range: 418.418152 and range: 420.80 m.
2025-08-22T21:23:11.779Z,1755897791.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007329
2025-08-22T21:23:12.029Z,1755897792.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.42 m.
2025-08-22T21:23:12.031Z,1755897792.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258915
2025-08-22T21:23:12.049Z,1755897792.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.418152 m,
nav range: 405.291809 m,
bearing: 225.901419 deg,
approach rate: -0.663441 m/s,
LOS rate: 0.013600 deg/s,
cmd heading: 213.257630 deg,
new cmd heading: 213.267061 deg.
2025-08-22T21:23:12.050Z,1755897792.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722212 target range: 418.418152 and range: 420.80 m.
2025-08-22T21:23:12.283Z,1755897792.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510832
2025-08-22T21:23:12.448Z,1755897792.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.42 m.
2025-08-22T21:23:12.451Z,1755897792.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.418152 m,
nav range: 405.018097 m,
bearing: 225.907088 deg,
approach rate: -0.652444 m/s,
LOS rate: 0.013523 deg/s,
cmd heading: 213.267056 deg,
new cmd heading: 213.278402 deg.
2025-08-22T21:23:12.452Z,1755897792.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722410 target range: 418.418152 and range: 420.80 m.
2025-08-22T21:23:12.536Z,1755897792.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763876
2025-08-22T21:23:12.787Z,1755897792.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015009
2025-08-22T21:23:12.873Z,1755897792.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.42 m.
2025-08-22T21:23:12.879Z,1755897792.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.418152 m,
nav range: 404.749237 m,
bearing: 225.912770 deg,
approach rate: -0.633610 m/s,
LOS rate: 0.013399 deg/s,
cmd heading: 213.278408 deg,
new cmd heading: 213.289779 deg.
2025-08-22T21:23:12.880Z,1755897792.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722609 target range: 418.418152 and range: 420.80 m.
2025-08-22T21:23:13.039Z,1755897793.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266831
2025-08-22T21:23:13.221Z,1755897793.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.42 m.
2025-08-22T21:23:13.240Z,1755897793.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.418152 m,
nav range: 404.505890 m,
bearing: 225.917950 deg,
approach rate: -0.699342 m/s,
LOS rate: 0.014894 deg/s,
cmd heading: 213.289773 deg,
new cmd heading: 213.300139 deg.
2025-08-22T21:23:13.241Z,1755897793.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722790 target range: 418.418152 and range: 420.80 m.
2025-08-22T21:23:13.291Z,1755897793.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518950
2025-08-22T21:23:13.543Z,1755897793.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770806
2025-08-22T21:23:13.687Z,1755897793.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:13.694Z,1755897793.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.42 m.
2025-08-22T21:23:13.696Z,1755897793.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.418152 m,
nav range: 404.200958 m,
bearing: 225.924447 deg,
approach rate: -0.650628 m/s,
LOS rate: 0.013874 deg/s,
cmd heading: 213.300142 deg,
new cmd heading: 213.313146 deg.
2025-08-22T21:23:13.701Z,1755897793.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723017 target range: 418.418152 and range: 420.80 m.
2025-08-22T21:23:13.795Z,1755897793.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022913
2025-08-22T21:23:14.047Z,1755897794.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274861
2025-08-22T21:23:14.065Z,1755897794.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.42 m.
2025-08-22T21:23:14.067Z,1755897794.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.418152 m,
nav range: 403.946289 m,
bearing: 225.930218 deg,
approach rate: -0.678987 m/s,
LOS rate: 0.015397 deg/s,
cmd heading: 213.313146 deg,
new cmd heading: 213.324696 deg.
2025-08-22T21:23:14.068Z,1755897794.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723218 target range: 418.418152 and range: 420.80 m.
2025-08-22T21:23:14.299Z,1755897794.299 [DAT](INFO): DAT read: Rx Time:21:23:14.7428
2025-08-22T21:23:14.300Z,1755897794.300 [DAT](INFO): Rx dataTimestamp_ set to:1755897794.299527
2025-08-22T21:23:14.301Z,1755897794.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529010
2025-08-22T21:23:14.448Z,1755897794.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.42 m.
2025-08-22T21:23:14.451Z,1755897794.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 418.418152 m,
nav range: 403.692719 m,
bearing: 225.935938 deg,
approach rate: -0.661084 m/s,
LOS rate: 0.014920 deg/s,
cmd heading: 213.324703 deg,
new cmd heading: 213.336149 deg.
2025-08-22T21:23:14.452Z,1755897794.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723418 target range: 418.418152 and range: 420.80 m.
2025-08-22T21:23:14.551Z,1755897794.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779425
2025-08-22T21:23:14.808Z,1755897794.808 [DAT](INFO): DAT read: 21:23:14.7428 LVL= 31952, 32753, 32754, 32755, AGC= 71, IDX= 296,-0.39,-2.091, 2.318,-2.429,-2.539, PHS= 0.550,-1.381, 0.066, RAW= 136.1, 8.8, CAL= 135.8, 9.9, ROT= 14.2, -9.9
2025-08-22T21:23:14.809Z,1755897794.809 [DAT](INFO): got valid direction response:
21:23:14.7428 LVL= 31952, 32753, 32754, 32755, AGC= 71, IDX= 296,-0.39,-2.091, 2.318,-2.429,-2.539, PHS= 0.550,-1.381, 0.066, RAW= 136.1, 8.8, CAL= 135.8, 9.9, ROT= 14.2, -9.9
2025-08-22T21:23:14.814Z,1755897794.814 [DAT](INFO): DAT read: Bearing 20.8, 18.7 (Local)
2025-08-22T21:23:14.814Z,1755897794.814 [DAT](INFO): Local bearing/azimuth received:
Bearing 20.8, 18.7 (Local)
2025-08-22T21:23:14.815Z,1755897794.815 [DAT](INFO): DAT read: Range 11 to 50 : 409.7 m (Round-trip 546.3 ms) speed 0.6 m/s
2025-08-22T21:23:14.816Z,1755897794.816 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:23:14.817Z,1755897794.817 [DAT](INFO): direction in FSK: [0.955010,0.241655,0.171929]
2025-08-22T21:23:14.817Z,1755897794.817 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:14.820Z,1755897794.820 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:14.821Z,1755897794.821 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:14.821Z,1755897794.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:14.915Z,1755897794.915 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,341.38, 306.17, 367.40, 289.33
2025-08-22T21:23:14.960Z,1755897794.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 409.700012 m,
deltaT: 4.282225 s,
deltaX: -11.099976 m,
approachRate: -2.592105 m/s,
rangeRepo size: 4
2025-08-22T21:23:14.967Z,1755897794.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 407.386108 m,
bearing: 226.775158 deg,
lat: 36.779434 deg,
lon: -121.859545 deg,
deltaT: 4.282225 s,
deltaX: -11.032043 m,
approachRate: -2.576241 m/s,
posRepo size: 4
2025-08-22T21:23:14.967Z,1755897794.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.39 m.
2025-08-22T21:23:14.974Z,1755897794.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 407.386108 m,
nav range: 403.320160 m,
bearing: 225.949928 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.014920 deg/s,
cmd heading: 213.336150 deg,
new cmd heading: 213.351413 deg.
2025-08-22T21:23:14.976Z,1755897794.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723685 target range: 407.386108 and range: 409.70 m.
2025-08-22T21:23:15.055Z,1755897795.055 [DAT](INFO): DAT read: user:2177>
2025-08-22T21:23:15.056Z,1755897795.056 [DAT](INFO): DAT read: Tx time:21:23:16.0923
2025-08-22T21:23:15.057Z,1755897795.057 [DAT](INFO): Ping request sent.
2025-08-22T21:23:15.057Z,1755897795.057 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:23:15.057Z,1755897795.057 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:15.058Z,1755897795.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001168
2025-08-22T21:23:15.307Z,1755897795.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249874
2025-08-22T21:23:15.342Z,1755897795.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.39 m.
2025-08-22T21:23:15.345Z,1755897795.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 407.386108 m,
nav range: 403.053223 m,
bearing: 225.955891 deg,
approach rate: -0.698589 m/s,
LOS rate: 0.015616 deg/s,
cmd heading: 213.351409 deg,
new cmd heading: 213.363343 deg.
2025-08-22T21:23:15.347Z,1755897795.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723893 target range: 407.386108 and range: 409.70 m.
2025-08-22T21:23:15.562Z,1755897795.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505353
2025-08-22T21:23:15.810Z,1755897795.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753671
2025-08-22T21:23:15.816Z,1755897795.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:15.826Z,1755897795.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.39 m.
2025-08-22T21:23:15.828Z,1755897795.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 407.386108 m,
nav range: 402.742096 m,
bearing: 225.963570 deg,
approach rate: -0.653732 m/s,
LOS rate: 0.016147 deg/s,
cmd heading: 213.363348 deg,
new cmd heading: 213.378717 deg.
2025-08-22T21:23:15.834Z,1755897795.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.724161 target range: 407.386108 and range: 409.70 m.
2025-08-22T21:23:16.036Z,1755897796.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:23:16.063Z,1755897796.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005912
2025-08-22T21:23:16.200Z,1755897796.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.39 m.
2025-08-22T21:23:16.203Z,1755897796.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 407.386108 m,
nav range: 402.464966 m,
bearing: 225.970379 deg,
approach rate: -0.724196 m/s,
LOS rate: 0.017808 deg/s,
cmd heading: 213.378716 deg,
new cmd heading: 213.392345 deg.
2025-08-22T21:23:16.204Z,1755897796.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.724399 target range: 407.386108 and range: 409.70 m.
2025-08-22T21:23:16.315Z,1755897796.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258159
2025-08-22T21:23:16.566Z,1755897796.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509734
2025-08-22T21:23:16.601Z,1755897796.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.39 m.
2025-08-22T21:23:16.608Z,1755897796.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 407.386108 m,
nav range: 402.198212 m,
bearing: 225.976922 deg,
approach rate: -0.665357 m/s,
LOS rate: 0.016329 deg/s,
cmd heading: 213.392349 deg,
new cmd heading: 213.405442 deg.
2025-08-22T21:23:16.609Z,1755897796.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.724627 target range: 407.386108 and range: 409.70 m.
2025-08-22T21:23:16.819Z,1755897796.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761773
2025-08-22T21:23:17.038Z,1755897797.038 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:23:17.057Z,1755897797.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.39 m.
2025-08-22T21:23:17.060Z,1755897797.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 407.386108 m,
nav range: 401.877655 m,
bearing: 225.985294 deg,
approach rate: -0.703617 m/s,
LOS rate: 0.018391 deg/s,
cmd heading: 213.405436 deg,
new cmd heading: 213.422193 deg.
2025-08-22T21:23:17.061Z,1755897797.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.724920 target range: 407.386108 and range: 409.70 m.
2025-08-22T21:23:17.071Z,1755897797.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013839
2025-08-22T21:23:17.323Z,1755897797.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266444
2025-08-22T21:23:17.403Z,1755897797.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.39 m.
2025-08-22T21:23:17.426Z,1755897797.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 407.386108 m,
nav range: 401.639618 m,
bearing: 225.991477 deg,
approach rate: -0.687621 m/s,
LOS rate: 0.017873 deg/s,
cmd heading: 213.422197 deg,
new cmd heading: 213.434571 deg.
2025-08-22T21:23:17.427Z,1755897797.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.725136 target range: 407.386108 and range: 409.70 m.
2025-08-22T21:23:17.575Z,1755897797.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518726
2025-08-22T21:23:17.827Z,1755897797.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769868
2025-08-22T21:23:17.832Z,1755897797.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:17.834Z,1755897797.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.39 m.
2025-08-22T21:23:17.837Z,1755897797.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 407.386108 m,
nav range: 401.345123 m,
bearing: 225.999380 deg,
approach rate: -0.683631 m/s,
LOS rate: 0.018359 deg/s,
cmd heading: 213.434573 deg,
new cmd heading: 213.450391 deg.
2025-08-22T21:23:17.854Z,1755897797.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.725412 target range: 407.386108 and range: 409.70 m.
2025-08-22T21:23:18.079Z,1755897798.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022667
2025-08-22T21:23:18.235Z,1755897798.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.39 m.
2025-08-22T21:23:18.238Z,1755897798.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 407.386108 m,
nav range: 401.068359 m,
bearing: 226.006777 deg,
approach rate: -0.690004 m/s,
LOS rate: 0.018455 deg/s,
cmd heading: 213.450392 deg,
new cmd heading: 213.465196 deg.
2025-08-22T21:23:18.239Z,1755897798.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.725671 target range: 407.386108 and range: 409.70 m.
2025-08-22T21:23:18.331Z,1755897798.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274506
2025-08-22T21:23:18.583Z,1755897798.583 [DAT](INFO): DAT read: Rx Time:21:23:19.0509
2025-08-22T21:23:18.583Z,1755897798.583 [DAT](INFO): Rx dataTimestamp_ set to:1755897798.582743
2025-08-22T21:23:18.584Z,1755897798.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526840
2025-08-22T21:23:18.612Z,1755897798.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.39 m.
2025-08-22T21:23:18.615Z,1755897798.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 407.386108 m,
nav range: 400.809662 m,
bearing: 226.013677 deg,
approach rate: -0.685662 m/s,
LOS rate: 0.018300 deg/s,
cmd heading: 213.465200 deg,
new cmd heading: 213.479009 deg.
2025-08-22T21:23:18.616Z,1755897798.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.725912 target range: 407.386108 and range: 409.70 m.
2025-08-22T21:23:18.835Z,1755897798.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777829
2025-08-22T21:23:19.062Z,1755897799.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.39 m.
2025-08-22T21:23:19.065Z,1755897799.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 407.386108 m,
nav range: 400.509827 m,
bearing: 226.021194 deg,
approach rate: -0.666207 m/s,
LOS rate: 0.016713 deg/s,
cmd heading: 213.479011 deg,
new cmd heading: 213.494054 deg.
2025-08-22T21:23:19.070Z,1755897799.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.726174 target range: 407.386108 and range: 409.70 m.
2025-08-22T21:23:19.092Z,1755897799.092 [DAT](INFO): DAT read: 21:23:19.0509 LVL= 24912, 23265, 27186, 21411, AGC= 70, IDX= 2, 0.22,-0.570,-2.186,-0.745,-1.298, PHS= 0.830,-0.843, 0.510, RAW= 139.6, -6.5, CAL= 139.7, -7.5, ROT= 10.3, 7.5
2025-08-22T21:23:19.093Z,1755897799.093 [DAT](INFO): got valid direction response:
21:23:19.0509 LVL= 24912, 23265, 27186, 21411, AGC= 70, IDX= 2, 0.22,-0.570,-2.186,-0.745,-1.298, PHS= 0.830,-0.843, 0.510, RAW= 139.6, -6.5, CAL= 139.7, -7.5, ROT= 10.3, 7.5
2025-08-22T21:23:19.094Z,1755897799.094 [DAT](INFO): DAT read: Bearing 2.8, 16.5 (Local)
2025-08-22T21:23:19.094Z,1755897799.094 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.8, 16.5 (Local)
2025-08-22T21:23:19.096Z,1755897799.096 [DAT](INFO): DAT read: Range 11 to 50 : 415.8 m (Round-trip 554.4 ms) speed 0.5 m/s
2025-08-22T21:23:19.096Z,1755897799.096 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:23:19.097Z,1755897799.097 [DAT](INFO): direction in FSK: [0.975468,0.177273,-0.130526]
2025-08-22T21:23:19.098Z,1755897799.098 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:19.101Z,1755897799.101 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:19.101Z,1755897799.101 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:19.101Z,1755897799.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:19.338Z,1755897799.338 [DAT](INFO): DAT read: user:2178>
2025-08-22T21:23:19.339Z,1755897799.339 [DAT](INFO): DAT read: Tx time:21:23:20.3423
2025-08-22T21:23:19.339Z,1755897799.339 [DAT](INFO): Ping request sent.
2025-08-22T21:23:19.340Z,1755897799.340 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:23:19.340Z,1755897799.340 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:19.340Z,1755897799.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-22T21:23:19.446Z,1755897799.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 415.799988 m,
deltaT: 4.284196 s,
deltaX: 6.099976 m,
approachRate: 1.423832 m/s,
rangeRepo size: 4
2025-08-22T21:23:19.448Z,1755897799.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 413.446014 m,
bearing: 223.505761 deg,
lat: 36.779434 deg,
lon: -121.859531 deg,
deltaT: 4.284196 s,
deltaX: 6.059906 m,
approachRate: 1.414479 m/s,
posRepo size: 4
2025-08-22T21:23:19.449Z,1755897799.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.45 m.
2025-08-22T21:23:19.452Z,1755897799.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 413.446014 m,
nav range: 399.333282 m,
bearing: 225.890669 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.016713 deg/s,
cmd heading: 213.494051 deg,
new cmd heading: 213.506856 deg.
2025-08-22T21:23:19.453Z,1755897799.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.726398 target range: 413.446014 and range: 415.80 m.
2025-08-22T21:23:19.591Z,1755897799.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251151
2025-08-22T21:23:19.843Z,1755897799.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503041
2025-08-22T21:23:19.859Z,1755897799.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:19.862Z,1755897799.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.45 m.
2025-08-22T21:23:19.864Z,1755897799.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 413.446014 m,
nav range: 399.040192 m,
bearing: 225.897583 deg,
approach rate: -0.704386 m/s,
LOS rate: 0.016629 deg/s,
cmd heading: 213.506850 deg,
new cmd heading: 213.520689 deg.
2025-08-22T21:23:19.865Z,1755897799.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.726639 target range: 413.446014 and range: 415.80 m.
2025-08-22T21:23:20.095Z,1755897800.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755433
2025-08-22T21:23:20.239Z,1755897800.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.45 m.
2025-08-22T21:23:20.242Z,1755897800.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 413.446014 m,
nav range: 398.776245 m,
bearing: 225.903810 deg,
approach rate: -0.698965 m/s,
LOS rate: 0.016501 deg/s,
cmd heading: 213.520688 deg,
new cmd heading: 213.533151 deg.
2025-08-22T21:23:20.243Z,1755897800.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.726856 target range: 413.446014 and range: 415.80 m.
2025-08-22T21:23:20.347Z,1755897800.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006977
2025-08-22T21:23:20.599Z,1755897800.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258977
2025-08-22T21:23:20.662Z,1755897800.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.45 m.
2025-08-22T21:23:20.664Z,1755897800.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 413.446014 m,
nav range: 398.481262 m,
bearing: 225.910780 deg,
approach rate: -0.698294 m/s,
LOS rate: 0.016511 deg/s,
cmd heading: 213.533147 deg,
new cmd heading: 213.547096 deg.
2025-08-22T21:23:20.665Z,1755897800.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.727100 target range: 413.446014 and range: 415.80 m.
2025-08-22T21:23:20.850Z,1755897800.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510910
2025-08-22T21:23:21.081Z,1755897801.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.45 m.
2025-08-22T21:23:21.084Z,1755897801.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 413.446014 m,
nav range: 398.201355 m,
bearing: 225.917314 deg,
approach rate: -0.667601 m/s,
LOS rate: 0.015596 deg/s,
cmd heading: 213.547094 deg,
new cmd heading: 213.560172 deg.
2025-08-22T21:23:21.085Z,1755897801.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.727328 target range: 413.446014 and range: 415.80 m.
2025-08-22T21:23:21.103Z,1755897801.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763752
2025-08-22T21:23:21.355Z,1755897801.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014959
2025-08-22T21:23:21.448Z,1755897801.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.45 m.
2025-08-22T21:23:21.451Z,1755897801.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 413.446014 m,
nav range: 397.932098 m,
bearing: 225.923612 deg,
approach rate: -0.733160 m/s,
LOS rate: 0.017161 deg/s,
cmd heading: 213.560167 deg,
new cmd heading: 213.572772 deg.
2025-08-22T21:23:21.452Z,1755897801.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.727548 target range: 413.446014 and range: 415.80 m.
2025-08-22T21:23:21.606Z,1755897801.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266841
2025-08-22T21:23:21.859Z,1755897801.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519034
2025-08-22T21:23:21.865Z,1755897801.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:21.883Z,1755897801.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.45 m.
2025-08-22T21:23:21.894Z,1755897801.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 413.446014 m,
nav range: 397.641693 m,
bearing: 225.930381 deg,
approach rate: -0.666824 m/s,
LOS rate: 0.015555 deg/s,
cmd heading: 213.572775 deg,
new cmd heading: 213.586324 deg.
2025-08-22T21:23:21.895Z,1755897801.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.727785 target range: 413.446014 and range: 415.80 m.
2025-08-22T21:23:22.111Z,1755897802.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771469
2025-08-22T21:23:22.258Z,1755897802.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.45 m.
2025-08-22T21:23:22.260Z,1755897802.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 413.446014 m,
nav range: 397.370453 m,
bearing: 225.936706 deg,
approach rate: -0.724943 m/s,
LOS rate: 0.016915 deg/s,
cmd heading: 213.586326 deg,
new cmd heading: 213.598984 deg.
2025-08-22T21:23:22.262Z,1755897802.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728006 target range: 413.446014 and range: 415.80 m.
2025-08-22T21:23:22.364Z,1755897802.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023865
2025-08-22T21:23:22.614Z,1755897802.614 [DAT](INFO): DAT read: Rx Time:21:23:23.2850
2025-08-22T21:23:22.615Z,1755897802.615 [DAT](INFO): Rx dataTimestamp_ set to:1755897802.614680
2025-08-22T21:23:22.615Z,1755897802.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275931
2025-08-22T21:23:22.655Z,1755897802.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.45 m.
2025-08-22T21:23:22.658Z,1755897802.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 413.446014 m,
nav range: 397.096313 m,
bearing: 225.943101 deg,
approach rate: -0.689949 m/s,
LOS rate: 0.016107 deg/s,
cmd heading: 213.598990 deg,
new cmd heading: 213.611789 deg.
2025-08-22T21:23:22.659Z,1755897802.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728229 target range: 413.446014 and range: 415.80 m.
2025-08-22T21:23:22.869Z,1755897802.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529836
2025-08-22T21:23:23.085Z,1755897803.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.45 m.
2025-08-22T21:23:23.088Z,1755897803.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 413.446014 m,
nav range: 396.803284 m,
bearing: 225.950500 deg,
approach rate: -0.681650 m/s,
LOS rate: 0.017224 deg/s,
cmd heading: 213.611789 deg,
new cmd heading: 213.626598 deg.
2025-08-22T21:23:23.089Z,1755897803.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728487 target range: 413.446014 and range: 415.80 m.
2025-08-22T21:23:23.119Z,1755897803.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779015
2025-08-22T21:23:23.377Z,1755897803.377 [DAT](INFO): DAT read: 21:23:23.2850 LVL= 26384, 32753, 31938, 32755, AGC= 72, IDX= 279, 0.14,-0.134,-2.010,-0.458,-0.659, PHS= 0.627,-1.306, 0.157, RAW= 136.5, 6.0, CAL= 136.5, 7.0, ROT= 13.5, -7.0
2025-08-22T21:23:23.378Z,1755897803.378 [DAT](INFO): got valid direction response:
21:23:23.2850 LVL= 26384, 32753, 31938, 32755, AGC= 72, IDX= 279, 0.14,-0.134,-2.010,-0.458,-0.659, PHS= 0.627,-1.306, 0.157, RAW= 136.5, 6.0, CAL= 136.5, 7.0, ROT= 13.5, -7.0
2025-08-22T21:23:23.379Z,1755897803.379 [DAT](INFO): DAT read: Bearing 17.4, 22.0 (Local)
2025-08-22T21:23:23.380Z,1755897803.380 [DAT](INFO): Local bearing/azimuth received:
Bearing 17.4, 22.0 (Local)
2025-08-22T21:23:23.381Z,1755897803.381 [DAT](INFO): DAT read: Range 11 to 50 : 403.8 m (Round-trip 538.5 ms) speed 0.5 m/s
2025-08-22T21:23:23.387Z,1755897803.387 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:23:23.388Z,1755897803.388 [DAT](INFO): direction in FSK: [0.965122,0.231705,0.121869]
2025-08-22T21:23:23.389Z,1755897803.389 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:23.392Z,1755897803.392 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:23.392Z,1755897803.392 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:23.392Z,1755897803.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:23.538Z,1755897803.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 403.799988 m,
deltaT: 4.284451 s,
deltaX: -12.000000 m,
approachRate: -2.800826 m/s,
rangeRepo size: 4
2025-08-22T21:23:23.540Z,1755897803.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 401.511566 m,
bearing: 226.745333 deg,
lat: 36.779434 deg,
lon: -121.859509 deg,
deltaT: 4.284451 s,
deltaX: -11.934448 m,
approachRate: -2.785526 m/s,
posRepo size: 4
2025-08-22T21:23:23.542Z,1755897803.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:23.544Z,1755897803.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 395.055054 m,
bearing: 225.766873 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017224 deg/s,
cmd heading: 213.626597 deg,
new cmd heading: 213.642055 deg.
2025-08-22T21:23:23.546Z,1755897803.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728757 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:23.623Z,1755897803.623 [DAT](INFO): DAT read: user:2179>
2025-08-22T21:23:23.623Z,1755897803.623 [DAT](INFO): DAT read: Tx time:21:23:24.6423
2025-08-22T21:23:23.624Z,1755897803.624 [DAT](INFO): Ping request sent.
2025-08-22T21:23:23.624Z,1755897803.624 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:23:23.624Z,1755897803.624 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:23.624Z,1755897803.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-22T21:23:23.875Z,1755897803.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250819
2025-08-22T21:23:23.910Z,1755897803.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:23.912Z,1755897803.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:23.916Z,1755897803.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 394.785431 m,
bearing: 225.773464 deg,
approach rate: -0.711836 m/s,
LOS rate: 0.017414 deg/s,
cmd heading: 213.642061 deg,
new cmd heading: 213.655253 deg.
2025-08-22T21:23:23.917Z,1755897803.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728988 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:24.127Z,1755897804.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502787
2025-08-22T21:23:24.272Z,1755897804.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:24.275Z,1755897804.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 394.539124 m,
bearing: 225.779454 deg,
approach rate: -0.683921 m/s,
LOS rate: 0.016642 deg/s,
cmd heading: 213.655257 deg,
new cmd heading: 213.667244 deg.
2025-08-22T21:23:24.276Z,1755897804.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.729197 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:24.379Z,1755897804.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755477
2025-08-22T21:23:24.630Z,1755897804.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006735
2025-08-22T21:23:24.683Z,1755897804.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:24.690Z,1755897804.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 394.264771 m,
bearing: 225.786075 deg,
approach rate: -0.668624 m/s,
LOS rate: 0.016148 deg/s,
cmd heading: 213.667251 deg,
new cmd heading: 213.680502 deg.
2025-08-22T21:23:24.694Z,1755897804.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.729428 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:24.883Z,1755897804.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258787
2025-08-22T21:23:25.109Z,1755897805.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:25.112Z,1755897805.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 393.966858 m,
bearing: 225.794108 deg,
approach rate: -0.699386 m/s,
LOS rate: 0.018874 deg/s,
cmd heading: 213.680501 deg,
new cmd heading: 213.696580 deg.
2025-08-22T21:23:25.113Z,1755897805.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.729709 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:25.135Z,1755897805.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510909
2025-08-22T21:23:25.387Z,1755897805.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763623
2025-08-22T21:23:25.500Z,1755897805.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:25.504Z,1755897805.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 393.698578 m,
bearing: 225.801224 deg,
approach rate: -0.685472 m/s,
LOS rate: 0.018193 deg/s,
cmd heading: 213.696579 deg,
new cmd heading: 213.710820 deg.
2025-08-22T21:23:25.505Z,1755897805.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.729957 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:25.638Z,1755897805.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014737
2025-08-22T21:23:25.891Z,1755897805.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266901
2025-08-22T21:23:25.925Z,1755897805.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:25.931Z,1755897805.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:25.938Z,1755897805.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 393.418121 m,
bearing: 225.808431 deg,
approach rate: -0.650914 m/s,
LOS rate: 0.016738 deg/s,
cmd heading: 213.710813 deg,
new cmd heading: 213.725237 deg.
2025-08-22T21:23:25.939Z,1755897805.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.730209 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:26.142Z,1755897806.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518676
2025-08-22T21:23:26.296Z,1755897806.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:26.299Z,1755897806.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 393.147858 m,
bearing: 225.815335 deg,
approach rate: -0.739616 m/s,
LOS rate: 0.018908 deg/s,
cmd heading: 213.725239 deg,
new cmd heading: 213.739057 deg.
2025-08-22T21:23:26.300Z,1755897806.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.730450 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:26.395Z,1755897806.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770957
2025-08-22T21:23:26.646Z,1755897806.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022771
2025-08-22T21:23:26.707Z,1755897806.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:26.714Z,1755897806.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 392.872375 m,
bearing: 225.822345 deg,
approach rate: -0.671173 m/s,
LOS rate: 0.017089 deg/s,
cmd heading: 213.739063 deg,
new cmd heading: 213.753092 deg.
2025-08-22T21:23:26.715Z,1755897806.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.730695 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:26.898Z,1755897806.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274747
2025-08-22T21:23:27.124Z,1755897807.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:27.127Z,1755897807.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 392.568268 m,
bearing: 225.829616 deg,
approach rate: -0.728648 m/s,
LOS rate: 0.017437 deg/s,
cmd heading: 213.753092 deg,
new cmd heading: 213.767647 deg.
2025-08-22T21:23:27.128Z,1755897807.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.730949 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:27.157Z,1755897807.157 [DAT](INFO): DAT read: 21:23:27.5922 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 513,-0.18, 0.559,-1.245, 0.368,-0.052, PHS= 0.713,-1.148, 0.376, RAW= 140.2, 0.7, CAL= 140.2, 1.2, ROT= 9.8, -1.2
2025-08-22T21:23:27.159Z,1755897807.159 [DAT](INFO): got valid direction response:
21:23:27.5922 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 513,-0.18, 0.559,-1.245, 0.368,-0.052, PHS= 0.713,-1.148, 0.376, RAW= 140.2, 0.7, CAL= 140.2, 1.2, ROT= 9.8, -1.2
2025-08-22T21:23:27.160Z,1755897807.160 [DAT](INFO): DAT read: Rx Time:21:23:27.5922
2025-08-22T21:23:27.160Z,1755897807.160 [DAT](INFO): Rx dataTimestamp_ set to:1755897807.159838
2025-08-22T21:23:27.161Z,1755897807.161 [DAT](INFO): DAT read: $Low SNR acquisition
2025-08-22T21:23:27.162Z,1755897807.162 [DAT](INFO): Received low SNR in chirp
2025-08-22T21:23:27.175Z,1755897807.175 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T21:23:27.176Z,1755897807.176 [DAT](INFO): direction in FSK: [0.985192,0.170172,0.020942]
2025-08-22T21:23:27.182Z,1755897807.182 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:27.182Z,1755897807.182 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:27.182Z,1755897807.182 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:27.402Z,1755897807.402 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:27.402Z,1755897807.402 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:27.403Z,1755897807.403 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:27.524Z,1755897807.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:27.531Z,1755897807.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 392.296570 m,
bearing: 225.836117 deg,
approach rate: -0.679602 m/s,
LOS rate: 0.016272 deg/s,
cmd heading: 213.767641 deg,
new cmd heading: 213.780652 deg.
2025-08-22T21:23:27.532Z,1755897807.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.731176 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:27.654Z,1755897807.654 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:27.654Z,1755897807.654 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:27.655Z,1755897807.655 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:27.906Z,1755897807.906 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:27.906Z,1755897807.906 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:27.906Z,1755897807.906 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:27.947Z,1755897807.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:27.978Z,1755897807.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:27.980Z,1755897807.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 391.982635 m,
bearing: 225.843165 deg,
approach rate: -0.700973 m/s,
LOS rate: 0.015749 deg/s,
cmd heading: 213.780645 deg,
new cmd heading: 213.794752 deg.
2025-08-22T21:23:27.982Z,1755897807.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.731422 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:28.159Z,1755897808.159 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:28.159Z,1755897808.159 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:28.159Z,1755897808.159 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:28.313Z,1755897808.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:28.316Z,1755897808.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 391.716248 m,
bearing: 225.849136 deg,
approach rate: -0.781533 m/s,
LOS rate: 0.017529 deg/s,
cmd heading: 213.794756 deg,
new cmd heading: 213.806706 deg.
2025-08-22T21:23:28.317Z,1755897808.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.731631 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:28.410Z,1755897808.410 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:28.411Z,1755897808.411 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:28.411Z,1755897808.411 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:28.663Z,1755897808.663 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:28.663Z,1755897808.663 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:28.663Z,1755897808.663 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:28.722Z,1755897808.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:28.725Z,1755897808.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 391.420685 m,
bearing: 225.855753 deg,
approach rate: -0.722529 m/s,
LOS rate: 0.016189 deg/s,
cmd heading: 213.806709 deg,
new cmd heading: 213.819954 deg.
2025-08-22T21:23:28.746Z,1755897808.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.731862 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:28.914Z,1755897808.914 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:28.915Z,1755897808.915 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:28.915Z,1755897808.915 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:29.142Z,1755897809.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:29.144Z,1755897809.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 391.115967 m,
bearing: 225.862056 deg,
approach rate: -0.725872 m/s,
LOS rate: 0.015025 deg/s,
cmd heading: 213.819960 deg,
new cmd heading: 213.832575 deg.
2025-08-22T21:23:29.146Z,1755897809.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732082 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:29.167Z,1755897809.167 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:29.167Z,1755897809.167 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:29.167Z,1755897809.167 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:29.418Z,1755897809.418 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:29.418Z,1755897809.418 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:29.418Z,1755897809.418 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:29.543Z,1755897809.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:29.546Z,1755897809.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 390.824066 m,
bearing: 225.868103 deg,
approach rate: -0.726716 m/s,
LOS rate: 0.015065 deg/s,
cmd heading: 213.832568 deg,
new cmd heading: 213.844671 deg.
2025-08-22T21:23:29.547Z,1755897809.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732294 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:29.670Z,1755897809.670 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:29.670Z,1755897809.670 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:29.670Z,1755897809.670 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:29.922Z,1755897809.922 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:29.922Z,1755897809.922 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:29.923Z,1755897809.923 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:30.035Z,1755897810.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:30.037Z,1755897810.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:30.044Z,1755897810.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 390.491699 m,
bearing: 225.875004 deg,
approach rate: -0.673077 m/s,
LOS rate: 0.013988 deg/s,
cmd heading: 213.844672 deg,
new cmd heading: 213.858486 deg.
2025-08-22T21:23:30.045Z,1755897810.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732535 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:30.175Z,1755897810.175 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:30.175Z,1755897810.175 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:30.175Z,1755897810.175 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:30.426Z,1755897810.426 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:30.427Z,1755897810.427 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:30.427Z,1755897810.427 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:30.429Z,1755897810.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:30.435Z,1755897810.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 390.181580 m,
bearing: 225.881476 deg,
approach rate: -0.792091 m/s,
LOS rate: 0.016544 deg/s,
cmd heading: 213.858482 deg,
new cmd heading: 213.871437 deg.
2025-08-22T21:23:30.437Z,1755897810.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732761 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:30.679Z,1755897810.679 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:30.679Z,1755897810.679 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:30.679Z,1755897810.679 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:30.835Z,1755897810.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:30.842Z,1755897810.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 389.899750 m,
bearing: 225.887417 deg,
approach rate: -0.692656 m/s,
LOS rate: 0.014612 deg/s,
cmd heading: 213.871432 deg,
new cmd heading: 213.883323 deg.
2025-08-22T21:23:30.843Z,1755897810.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732968 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:30.934Z,1755897810.934 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:30.934Z,1755897810.934 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:30.935Z,1755897810.935 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:31.183Z,1755897811.183 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:31.183Z,1755897811.183 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:31.183Z,1755897811.183 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:31.285Z,1755897811.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:31.288Z,1755897811.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 389.574371 m,
bearing: 225.894474 deg,
approach rate: -0.729913 m/s,
LOS rate: 0.015844 deg/s,
cmd heading: 213.883317 deg,
new cmd heading: 213.897443 deg.
2025-08-22T21:23:31.289Z,1755897811.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.733215 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:31.436Z,1755897811.436 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:31.436Z,1755897811.436 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:31.436Z,1755897811.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:31.667Z,1755897811.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:31.670Z,1755897811.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 389.301788 m,
bearing: 225.900415 deg,
approach rate: -0.706014 m/s,
LOS rate: 0.015396 deg/s,
cmd heading: 213.897442 deg,
new cmd heading: 213.909330 deg.
2025-08-22T21:23:31.671Z,1755897811.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.733422 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:31.689Z,1755897811.689 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:31.689Z,1755897811.689 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:31.689Z,1755897811.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:31.940Z,1755897811.940 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:31.940Z,1755897811.940 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:31.940Z,1755897811.940 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:32.056Z,1755897812.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:32.058Z,1755897812.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:32.061Z,1755897812.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 389.012451 m,
bearing: 225.907202 deg,
approach rate: -0.740036 m/s,
LOS rate: 0.017373 deg/s,
cmd heading: 213.909326 deg,
new cmd heading: 213.922911 deg.
2025-08-22T21:23:32.062Z,1755897812.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.733659 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:32.191Z,1755897812.191 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:32.191Z,1755897812.191 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:32.191Z,1755897812.191 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:32.444Z,1755897812.444 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:32.444Z,1755897812.444 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:32.444Z,1755897812.444 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:32.465Z,1755897812.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:32.468Z,1755897812.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 388.724335 m,
bearing: 225.913972 deg,
approach rate: -0.708507 m/s,
LOS rate: 0.016660 deg/s,
cmd heading: 213.922905 deg,
new cmd heading: 213.936454 deg.
2025-08-22T21:23:32.469Z,1755897812.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.733896 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:32.694Z,1755897812.694 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:32.694Z,1755897812.694 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:32.695Z,1755897812.695 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:32.853Z,1755897812.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:32.856Z,1755897812.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 388.448273 m,
bearing: 225.920472 deg,
approach rate: -0.711276 m/s,
LOS rate: 0.016759 deg/s,
cmd heading: 213.936456 deg,
new cmd heading: 213.949465 deg.
2025-08-22T21:23:32.857Z,1755897812.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734123 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:32.950Z,1755897812.950 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:32.951Z,1755897812.951 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:32.951Z,1755897812.951 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:33.198Z,1755897813.198 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:33.198Z,1755897813.198 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:33.198Z,1755897813.198 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:33.276Z,1755897813.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:33.279Z,1755897813.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 388.148315 m,
bearing: 225.927800 deg,
approach rate: -0.709530 m/s,
LOS rate: 0.017348 deg/s,
cmd heading: 213.949460 deg,
new cmd heading: 213.964129 deg.
2025-08-22T21:23:33.280Z,1755897813.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734379 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:33.451Z,1755897813.451 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:33.451Z,1755897813.451 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:33.451Z,1755897813.451 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:33.656Z,1755897813.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:33.659Z,1755897813.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 387.878571 m,
bearing: 225.934383 deg,
approach rate: -0.709664 m/s,
LOS rate: 0.017330 deg/s,
cmd heading: 213.964132 deg,
new cmd heading: 213.977306 deg.
2025-08-22T21:23:33.660Z,1755897813.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734608 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:33.703Z,1755897813.703 [DAT](INFO): Reached modem response timeout
2025-08-22T21:23:33.703Z,1755897813.703 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:23:33.703Z,1755897813.703 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:33.957Z,1755897813.957 [DAT](INFO): DAT read:
2025-08-22T21:23:33.958Z,1755897813.958 [DAT](INFO): Reached modem response timeout
2025-08-22T21:23:33.959Z,1755897813.959 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:23:33.959Z,1755897813.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:34.096Z,1755897814.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:34.099Z,1755897814.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:34.102Z,1755897814.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 387.563934 m,
bearing: 225.942102 deg,
approach rate: -0.710630 m/s,
LOS rate: 0.017448 deg/s,
cmd heading: 213.977300 deg,
new cmd heading: 213.992750 deg.
2025-08-22T21:23:34.103Z,1755897814.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734878 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:34.206Z,1755897814.206 [DAT](INFO): Reached modem response timeout
2025-08-22T21:23:34.207Z,1755897814.207 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:23:34.207Z,1755897814.207 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:34.458Z,1755897814.458 [DAT](INFO): Reached modem response timeout
2025-08-22T21:23:34.458Z,1755897814.458 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:23:34.459Z,1755897814.459 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:34.491Z,1755897814.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:34.494Z,1755897814.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 387.284271 m,
bearing: 225.948974 deg,
approach rate: -0.713015 m/s,
LOS rate: 0.017534 deg/s,
cmd heading: 213.992750 deg,
new cmd heading: 214.006504 deg.
2025-08-22T21:23:34.495Z,1755897814.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.735118 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:34.710Z,1755897814.710 [DAT](INFO): Reached modem response timeout
2025-08-22T21:23:34.711Z,1755897814.711 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:23:34.711Z,1755897814.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:34.866Z,1755897814.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:34.868Z,1755897814.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 387.017944 m,
bearing: 225.955525 deg,
approach rate: -0.711351 m/s,
LOS rate: 0.017510 deg/s,
cmd heading: 214.006506 deg,
new cmd heading: 214.019618 deg.
2025-08-22T21:23:34.869Z,1755897814.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.735347 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:34.965Z,1755897814.965 [DAT](INFO): Reached modem response timeout
2025-08-22T21:23:34.966Z,1755897814.966 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:23:34.966Z,1755897814.966 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:35.214Z,1755897815.214 [DAT](INFO): Reached modem response timeout
2025-08-22T21:23:35.214Z,1755897815.214 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:23:35.215Z,1755897815.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:35.317Z,1755897815.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:35.324Z,1755897815.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 386.704163 m,
bearing: 225.963464 deg,
approach rate: -0.694933 m/s,
LOS rate: 0.017597 deg/s,
cmd heading: 214.019620 deg,
new cmd heading: 214.035511 deg.
2025-08-22T21:23:35.325Z,1755897815.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.735624 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:35.466Z,1755897815.466 [DAT](INFO): Reached modem response timeout
2025-08-22T21:23:35.466Z,1755897815.466 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:23:35.466Z,1755897815.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:35.670Z,1755897815.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:35.673Z,1755897815.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 386.448517 m,
bearing: 225.969952 deg,
approach rate: -0.724328 m/s,
LOS rate: 0.018393 deg/s,
cmd heading: 214.035507 deg,
new cmd heading: 214.048490 deg.
2025-08-22T21:23:35.674Z,1755897815.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.735851 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:35.718Z,1755897815.718 [DAT](INFO): Reached modem response timeout
2025-08-22T21:23:35.719Z,1755897815.719 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:23:35.719Z,1755897815.719 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:35.974Z,1755897815.974 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:23:35.975Z,1755897815.975 [DAT](INFO): response not received
2025-08-22T21:23:35.976Z,1755897815.976 [DAT](INFO): DAT read: user:2181>
2025-08-22T21:23:35.979Z,1755897815.979 [DAT](INFO): DAT read: Tx time:21:23:37.0923
2025-08-22T21:23:35.981Z,1755897815.981 [DAT](INFO): Ping request sent.
2025-08-22T21:23:35.981Z,1755897815.981 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:23:35.982Z,1755897815.982 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:35.985Z,1755897815.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003830
2025-08-22T21:23:36.126Z,1755897816.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:36.128Z,1755897816.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:36.135Z,1755897816.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 386.135712 m,
bearing: 225.977039 deg,
approach rate: -0.683049 m/s,
LOS rate: 0.015489 deg/s,
cmd heading: 214.048484 deg,
new cmd heading: 214.062671 deg.
2025-08-22T21:23:36.136Z,1755897816.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.736099 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:36.223Z,1755897816.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242221
2025-08-22T21:23:36.518Z,1755897816.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.537533
2025-08-22T21:23:36.552Z,1755897816.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:36.555Z,1755897816.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 385.841125 m,
bearing: 225.983741 deg,
approach rate: -0.693624 m/s,
LOS rate: 0.015791 deg/s,
cmd heading: 214.062677 deg,
new cmd heading: 214.076091 deg.
2025-08-22T21:23:36.556Z,1755897816.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.736333 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:36.727Z,1755897816.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746120
2025-08-22T21:23:36.983Z,1755897816.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002007
2025-08-22T21:23:37.093Z,1755897817.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:37.096Z,1755897817.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 385.447205 m,
bearing: 225.992543 deg,
approach rate: -0.729147 m/s,
LOS rate: 0.016310 deg/s,
cmd heading: 214.076092 deg,
new cmd heading: 214.093715 deg.
2025-08-22T21:23:37.096Z,1755897817.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.736640 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:37.231Z,1755897817.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250535
2025-08-22T21:23:37.470Z,1755897817.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:37.472Z,1755897817.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 385.181183 m,
bearing: 225.998518 deg,
approach rate: -0.706351 m/s,
LOS rate: 0.015875 deg/s,
cmd heading: 214.093714 deg,
new cmd heading: 214.105671 deg.
2025-08-22T21:23:37.473Z,1755897817.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.736849 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:37.483Z,1755897817.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502234
2025-08-22T21:23:37.734Z,1755897817.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754073
2025-08-22T21:23:37.862Z,1755897817.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:37.865Z,1755897817.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 384.904022 m,
bearing: 226.004756 deg,
approach rate: -0.705610 m/s,
LOS rate: 0.015893 deg/s,
cmd heading: 214.105667 deg,
new cmd heading: 214.118152 deg.
2025-08-22T21:23:37.866Z,1755897817.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.737067 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:37.990Z,1755897817.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009470
2025-08-22T21:23:38.239Z,1755897818.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258178
2025-08-22T21:23:38.295Z,1755897818.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:38.298Z,1755897818.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:38.301Z,1755897818.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 384.598938 m,
bearing: 226.012067 deg,
approach rate: -0.700594 m/s,
LOS rate: 0.016803 deg/s,
cmd heading: 214.118152 deg,
new cmd heading: 214.132786 deg.
2025-08-22T21:23:38.302Z,1755897818.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.737322 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:38.490Z,1755897818.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510072
2025-08-22T21:23:38.686Z,1755897818.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:38.688Z,1755897818.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 384.326569 m,
bearing: 226.018605 deg,
approach rate: -0.702054 m/s,
LOS rate: 0.016862 deg/s,
cmd heading: 214.132783 deg,
new cmd heading: 214.145866 deg.
2025-08-22T21:23:38.691Z,1755897818.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.737550 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:38.743Z,1755897818.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762224
2025-08-22T21:23:38.997Z,1755897818.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016532
2025-08-22T21:23:39.136Z,1755897819.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:39.143Z,1755897819.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 384.033142 m,
bearing: 226.025962 deg,
approach rate: -0.651878 m/s,
LOS rate: 0.016358 deg/s,
cmd heading: 214.145869 deg,
new cmd heading: 214.160596 deg.
2025-08-22T21:23:39.144Z,1755897819.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.737808 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:39.247Z,1755897819.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266556
2025-08-22T21:23:39.499Z,1755897819.499 [DAT](INFO): DAT read: Rx Time:21:23:40.0189
2025-08-22T21:23:39.499Z,1755897819.499 [DAT](INFO): Rx dataTimestamp_ set to:1755897819.498698
2025-08-22T21:23:39.499Z,1755897819.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519115
2025-08-22T21:23:39.527Z,1755897819.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:39.530Z,1755897819.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 383.773987 m,
bearing: 226.032443 deg,
approach rate: -0.661475 m/s,
LOS rate: 0.016554 deg/s,
cmd heading: 214.160595 deg,
new cmd heading: 214.173566 deg.
2025-08-22T21:23:39.531Z,1755897819.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.738034 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:39.752Z,1755897819.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771583
2025-08-22T21:23:39.941Z,1755897819.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.51 m.
2025-08-22T21:23:39.954Z,1755897819.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.511566 m,
nav range: 383.493683 m,
bearing: 226.039450 deg,
approach rate: -0.678488 m/s,
LOS rate: 0.016973 deg/s,
cmd heading: 214.173572 deg,
new cmd heading: 214.187597 deg.
2025-08-22T21:23:39.955Z,1755897819.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.738279 target range: 401.511566 and range: 403.80 m.
2025-08-22T21:23:40.078Z,1755897820.078 [DAT](INFO): DAT read: 21:23:40.0189 LVL= 30704, 32753, 32754, 32755, AGC= 70, IDX= 210,-0.36, 1.309,-0.494, 1.053, 0.777, PHS= 0.633,-1.227, 0.231, RAW= 138.1, 4.3, CAL= 138.1, 5.1, ROT= 11.9, -5.1
2025-08-22T21:23:40.080Z,1755897820.080 [DAT](INFO): got valid direction response:
21:23:40.0189 LVL= 30704, 32753, 32754, 32755, AGC= 70, IDX= 210,-0.36, 1.309,-0.494, 1.053, 0.777, PHS= 0.633,-1.227, 0.231, RAW= 138.1, 4.3, CAL= 138.1, 5.1, ROT= 11.9, -5.1
2025-08-22T21:23:40.081Z,1755897820.081 [DAT](INFO): DAT read: Bearing 15.5, 24.4 (Local)
2025-08-22T21:23:40.087Z,1755897820.087 [DAT](INFO): Local bearing/azimuth received:
Bearing 15.5, 24.4 (Local)
2025-08-22T21:23:40.089Z,1755897820.089 [DAT](INFO): DAT read: Range 11 to 50 : 391.8 m (Round-trip 522.4 ms) speed 0.8 m/s
2025-08-22T21:23:40.099Z,1755897820.099 [DAT](INFO): DAT read: user:2182>
2025-08-22T21:23:40.100Z,1755897820.100 [DAT](INFO): DAT read: Tx time:21:23:41.1423
2025-08-22T21:23:40.101Z,1755897820.101 [DAT](INFO): Ping request sent.
2025-08-22T21:23:40.101Z,1755897820.101 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:23:40.101Z,1755897820.101 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:23:40.107Z,1755897820.107 [DAT](INFO): direction in FSK: [0.974635,0.205388,0.088894]
2025-08-22T21:23:40.107Z,1755897820.107 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:40.107Z,1755897820.107 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:40.116Z,1755897820.116 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:40.116Z,1755897820.116 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:40.365Z,1755897820.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 391.799988 m,
deltaT: 16.633965 s,
deltaX: -12.000000 m,
approachRate: -0.721415 m/s,
rangeRepo size: 4
2025-08-22T21:23:40.367Z,1755897820.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 389.581482 m,
bearing: 225.588101 deg,
lat: 36.779485 deg,
lon: -121.859507 deg,
deltaT: 16.633965 s,
deltaX: -11.930084 m,
approachRate: -0.717212 m/s,
posRepo size: 4
2025-08-22T21:23:40.368Z,1755897820.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.58 m.
2025-08-22T21:23:40.371Z,1755897820.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.581482 m,
nav range: 379.216187 m,
bearing: 226.641912 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.016973 deg/s,
cmd heading: 214.187602 deg,
new cmd heading: 214.201980 deg.
2025-08-22T21:23:40.372Z,1755897820.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.738530 target range: 389.581482 and range: 391.80 m.
2025-08-22T21:23:40.765Z,1755897820.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:40.768Z,1755897820.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.58 m.
2025-08-22T21:23:40.770Z,1755897820.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.581482 m,
nav range: 378.937195 m,
bearing: 226.649406 deg,
approach rate: -0.691546 m/s,
LOS rate: 0.018589 deg/s,
cmd heading: 214.201986 deg,
new cmd heading: 214.216985 deg.
2025-08-22T21:23:40.771Z,1755897820.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.738792 target range: 389.581482 and range: 391.80 m.
2025-08-22T21:23:41.012Z,1755897821.012 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:41.012Z,1755897821.012 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:41.012Z,1755897821.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:41.198Z,1755897821.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.58 m.
2025-08-22T21:23:41.201Z,1755897821.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.581482 m,
nav range: 378.637756 m,
bearing: 226.658308 deg,
approach rate: -0.694962 m/s,
LOS rate: 0.020677 deg/s,
cmd heading: 214.216985 deg,
new cmd heading: 214.234803 deg.
2025-08-22T21:23:41.202Z,1755897821.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.739103 target range: 389.581482 and range: 391.80 m.
2025-08-22T21:23:41.264Z,1755897821.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.162641
2025-08-22T21:23:41.514Z,1755897821.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.413525
2025-08-22T21:23:41.572Z,1755897821.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.58 m.
2025-08-22T21:23:41.575Z,1755897821.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.581482 m,
nav range: 378.381195 m,
bearing: 226.665892 deg,
approach rate: -0.686834 m/s,
LOS rate: 0.020318 deg/s,
cmd heading: 214.234798 deg,
new cmd heading: 214.249978 deg.
2025-08-22T21:23:41.576Z,1755897821.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.739367 target range: 389.581482 and range: 391.80 m.
2025-08-22T21:23:41.770Z,1755897821.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.669014
2025-08-22T21:23:41.993Z,1755897821.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.58 m.
2025-08-22T21:23:41.996Z,1755897821.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.581482 m,
nav range: 378.089783 m,
bearing: 226.674450 deg,
approach rate: -0.692015 m/s,
LOS rate: 0.020338 deg/s,
cmd heading: 214.249975 deg,
new cmd heading: 214.267104 deg.
2025-08-22T21:23:41.997Z,1755897821.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.739666 target range: 389.581482 and range: 391.80 m.
2025-08-22T21:23:42.020Z,1755897822.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.919443
2025-08-22T21:23:42.271Z,1755897822.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.169608
2025-08-22T21:23:42.435Z,1755897822.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.58 m.
2025-08-22T21:23:42.442Z,1755897822.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.581482 m,
nav range: 377.777100 m,
bearing: 226.683651 deg,
approach rate: -0.707151 m/s,
LOS rate: 0.020826 deg/s,
cmd heading: 214.267105 deg,
new cmd heading: 214.285522 deg.
2025-08-22T21:23:42.443Z,1755897822.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.739988 target range: 389.581482 and range: 391.80 m.
2025-08-22T21:23:42.523Z,1755897822.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.421972
2025-08-22T21:23:42.775Z,1755897822.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.673764
2025-08-22T21:23:42.795Z,1755897822.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:42.797Z,1755897822.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.58 m.
2025-08-22T21:23:42.807Z,1755897822.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.581482 m,
nav range: 377.513550 m,
bearing: 226.691292 deg,
approach rate: -0.729358 m/s,
LOS rate: 0.021161 deg/s,
cmd heading: 214.285519 deg,
new cmd heading: 214.300812 deg.
2025-08-22T21:23:42.808Z,1755897822.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740255 target range: 389.581482 and range: 391.80 m.
2025-08-22T21:23:43.027Z,1755897823.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.926085
2025-08-22T21:23:43.227Z,1755897823.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.58 m.
2025-08-22T21:23:43.230Z,1755897823.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.581482 m,
nav range: 377.187988 m,
bearing: 226.700376 deg,
approach rate: -0.756067 m/s,
LOS rate: 0.021113 deg/s,
cmd heading: 214.300805 deg,
new cmd heading: 214.318988 deg.
2025-08-22T21:23:43.231Z,1755897823.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740572 target range: 389.581482 and range: 391.80 m.
2025-08-22T21:23:43.279Z,1755897823.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.178100
2025-08-22T21:23:43.531Z,1755897823.531 [DAT](INFO): DAT read: Rx Time:21:23:44.0649
2025-08-22T21:23:43.531Z,1755897823.531 [DAT](INFO): Rx dataTimestamp_ set to:1755897823.530700
2025-08-22T21:23:43.531Z,1755897823.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.430604
2025-08-22T21:23:43.602Z,1755897823.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.58 m.
2025-08-22T21:23:43.605Z,1755897823.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.581482 m,
nav range: 376.924622 m,
bearing: 226.707680 deg,
approach rate: -0.710855 m/s,
LOS rate: 0.019728 deg/s,
cmd heading: 214.318987 deg,
new cmd heading: 214.333606 deg.
2025-08-22T21:23:43.610Z,1755897823.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740827 target range: 389.581482 and range: 391.80 m.
2025-08-22T21:23:43.782Z,1755897823.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.681548
2025-08-22T21:23:44.048Z,1755897824.048 [DAT](INFO): DAT read: 21:23:44.0649 LVL= 28128, 32753, 32754, 32755, AGC= 69, IDX= 393, 0.18, 0.290,-1.585,-0.006,-0.267, PHS= 0.659,-1.274, 0.217, RAW= 137.4, 4.6, CAL= 137.4, 5.4, ROT= 12.6, -5.4
2025-08-22T21:23:44.049Z,1755897824.049 [DAT](INFO): got valid direction response:
21:23:44.0649 LVL= 28128, 32753, 32754, 32755, AGC= 69, IDX= 393, 0.18, 0.290,-1.585,-0.006,-0.267, PHS= 0.659,-1.274, 0.217, RAW= 137.4, 4.6, CAL= 137.4, 5.4, ROT= 12.6, -5.4
2025-08-22T21:23:44.050Z,1755897824.050 [DAT](INFO): DAT read: Bearing 14.9, 23.7 (Local)
2025-08-22T21:23:44.051Z,1755897824.051 [DAT](INFO): Local bearing/azimuth received:
Bearing 14.9, 23.7 (Local)
2025-08-22T21:23:44.052Z,1755897824.052 [DAT](INFO): DAT read: Range 11 to 50 : 388.8 m (Round-trip 518.4 ms) speed 0.7 m/s
2025-08-22T21:23:44.060Z,1755897824.060 [DAT](INFO): DAT read: user:2183>
2025-08-22T21:23:44.063Z,1755897824.063 [DAT](INFO): DAT read: Tx time:21:23:45.1923
2025-08-22T21:23:44.064Z,1755897824.064 [DAT](INFO): Ping request sent.
2025-08-22T21:23:44.065Z,1755897824.065 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:23:44.098Z,1755897824.098 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:23:44.114Z,1755897824.114 [DAT](INFO): direction in FSK: [0.971586,0.217175,0.094108]
2025-08-22T21:23:44.115Z,1755897824.115 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:44.116Z,1755897824.116 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:44.136Z,1755897824.136 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:44.136Z,1755897824.136 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:44.349Z,1755897824.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 388.799988 m,
deltaT: 4.029498 s,
deltaX: -3.000000 m,
approachRate: -0.744510 m/s,
rangeRepo size: 4
2025-08-22T21:23:44.379Z,1755897824.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 386.582275 m,
bearing: 226.977292 deg,
lat: 36.779526 deg,
lon: -121.859491 deg,
deltaT: 4.029498 s,
deltaX: -2.999207 m,
approachRate: -0.744313 m/s,
posRepo size: 4
2025-08-22T21:23:44.380Z,1755897824.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.58 m.
2025-08-22T21:23:44.387Z,1755897824.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 386.582275 m,
nav range: 372.218262 m,
bearing: 227.089998 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.019728 deg/s,
cmd heading: 214.333604 deg,
new cmd heading: 214.363207 deg.
2025-08-22T21:23:44.395Z,1755897824.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.741344 target range: 386.582275 and range: 388.80 m.
2025-08-22T21:23:44.690Z,1755897824.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.58 m.
2025-08-22T21:23:44.692Z,1755897824.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 386.582275 m,
nav range: 371.962219 m,
bearing: 227.096764 deg,
approach rate: -0.749783 m/s,
LOS rate: 0.019827 deg/s,
cmd heading: 214.363206 deg,
new cmd heading: 214.376747 deg.
2025-08-22T21:23:44.710Z,1755897824.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.741580 target range: 386.582275 and range: 388.80 m.
2025-08-22T21:23:45.180Z,1755897825.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:45.188Z,1755897825.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.58 m.
2025-08-22T21:23:45.200Z,1755897825.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 386.582275 m,
nav range: 371.617004 m,
bearing: 227.105887 deg,
approach rate: -0.693029 m/s,
LOS rate: 0.018331 deg/s,
cmd heading: 214.376743 deg,
new cmd heading: 214.395005 deg.
2025-08-22T21:23:45.201Z,1755897825.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.741899 target range: 386.582275 and range: 388.80 m.
2025-08-22T21:23:45.299Z,1755897825.299 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:45.299Z,1755897825.299 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:45.299Z,1755897825.299 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:45.551Z,1755897825.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486245
2025-08-22T21:23:45.621Z,1755897825.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.58 m.
2025-08-22T21:23:45.624Z,1755897825.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 386.582275 m,
nav range: 371.279602 m,
bearing: 227.113499 deg,
approach rate: -0.778280 m/s,
LOS rate: 0.017574 deg/s,
cmd heading: 214.395007 deg,
new cmd heading: 214.410245 deg.
2025-08-22T21:23:45.625Z,1755897825.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.742165 target range: 386.582275 and range: 388.80 m.
2025-08-22T21:23:45.803Z,1755897825.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738961
2025-08-22T21:23:46.055Z,1755897826.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990293
2025-08-22T21:23:46.178Z,1755897826.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.58 m.
2025-08-22T21:23:46.187Z,1755897826.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 386.582275 m,
nav range: 370.896637 m,
bearing: 227.122116 deg,
approach rate: -0.693816 m/s,
LOS rate: 0.015628 deg/s,
cmd heading: 214.410239 deg,
new cmd heading: 214.427491 deg.
2025-08-22T21:23:46.188Z,1755897826.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.742466 target range: 386.582275 and range: 388.80 m.
2025-08-22T21:23:46.307Z,1755897826.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242288
2025-08-22T21:23:46.559Z,1755897826.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494393
2025-08-22T21:23:46.563Z,1755897826.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.58 m.
2025-08-22T21:23:46.566Z,1755897826.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 386.582275 m,
nav range: 370.590576 m,
bearing: 227.129341 deg,
approach rate: -0.785031 m/s,
LOS rate: 0.018548 deg/s,
cmd heading: 214.427492 deg,
new cmd heading: 214.441954 deg.
2025-08-22T21:23:46.567Z,1755897826.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.742718 target range: 386.582275 and range: 388.80 m.
2025-08-22T21:23:46.810Z,1755897826.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746214
2025-08-22T21:23:46.984Z,1755897826.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.58 m.
2025-08-22T21:23:46.987Z,1755897826.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 386.582275 m,
nav range: 370.280365 m,
bearing: 227.136654 deg,
approach rate: -0.736013 m/s,
LOS rate: 0.017365 deg/s,
cmd heading: 214.441958 deg,
new cmd heading: 214.456596 deg.
2025-08-22T21:23:46.988Z,1755897826.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.742974 target range: 386.582275 and range: 388.80 m.
2025-08-22T21:23:47.063Z,1755897827.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999016
2025-08-22T21:23:47.170Z,1755897827.170 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:23:47.315Z,1755897827.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250264
2025-08-22T21:23:47.444Z,1755897827.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:47.450Z,1755897827.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.58 m.
2025-08-22T21:23:47.453Z,1755897827.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 386.582275 m,
nav range: 369.960907 m,
bearing: 227.143975 deg,
approach rate: -0.685779 m/s,
LOS rate: 0.015729 deg/s,
cmd heading: 214.456602 deg,
new cmd heading: 214.471256 deg.
2025-08-22T21:23:47.454Z,1755897827.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.743230 target range: 386.582275 and range: 388.80 m.
2025-08-22T21:23:47.567Z,1755897827.567 [DAT](INFO): DAT read: Rx Time:21:23:48.1109
2025-08-22T21:23:47.567Z,1755897827.567 [DAT](INFO): Rx dataTimestamp_ set to:1755897827.566761
2025-08-22T21:23:47.568Z,1755897827.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503329
2025-08-22T21:23:47.805Z,1755897827.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.58 m.
2025-08-22T21:23:47.808Z,1755897827.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 386.582275 m,
nav range: 369.687683 m,
bearing: 227.150254 deg,
approach rate: -0.770680 m/s,
LOS rate: 0.017725 deg/s,
cmd heading: 214.471259 deg,
new cmd heading: 214.483827 deg.
2025-08-22T21:23:47.809Z,1755897827.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.743449 target range: 386.582275 and range: 388.80 m.
2025-08-22T21:23:47.819Z,1755897827.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754351
2025-08-22T21:23:48.078Z,1755897828.078 [DAT](INFO): DAT read: 21:23:48.1109 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400, 0.39,-2.472, 2.011,-2.761,-2.988, PHS= 0.618,-1.240, 0.182, RAW= 137.0, 5.3, CAL= 137.0, 6.2, ROT= 13.0, -6.2
2025-08-22T21:23:48.079Z,1755897828.079 [DAT](INFO): got valid direction response:
21:23:48.1109 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400, 0.39,-2.472, 2.011,-2.761,-2.988, PHS= 0.618,-1.240, 0.182, RAW= 137.0, 5.3, CAL= 137.0, 6.2, ROT= 13.0, -6.2
2025-08-22T21:23:48.080Z,1755897828.080 [DAT](INFO): DAT read: Bearing 14.8, 22.5 (Local)
2025-08-22T21:23:48.080Z,1755897828.080 [DAT](INFO): Local bearing/azimuth received:
Bearing 14.8, 22.5 (Local)
2025-08-22T21:23:48.082Z,1755897828.082 [DAT](INFO): DAT read: Range 11 to 50 : 385.8 m (Round-trip 514.4 ms) speed 0.5 m/s
2025-08-22T21:23:48.082Z,1755897828.082 [DAT](INFO): DAT read: user:2184>
2025-08-22T21:23:48.083Z,1755897828.083 [DAT](INFO): DAT read: Tx time:21:23:49.1923
2025-08-22T21:23:48.083Z,1755897828.083 [DAT](INFO): Ping request sent.
2025-08-22T21:23:48.083Z,1755897828.083 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:23:48.084Z,1755897828.084 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:23:48.085Z,1755897828.085 [DAT](INFO): direction in FSK: [0.968671,0.223635,0.107999]
2025-08-22T21:23:48.085Z,1755897828.085 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:48.085Z,1755897828.085 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:48.088Z,1755897828.088 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:48.089Z,1755897828.089 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:48.171Z,1755897828.171 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:23:48.320Z,1755897828.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 385.799988 m,
deltaT: 4.037545 s,
deltaX: -3.000000 m,
approachRate: -0.743026 m/s,
rangeRepo size: 4
2025-08-22T21:23:48.327Z,1755897828.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 383.602509 m,
bearing: 227.464901 deg,
lat: 36.779526 deg,
lon: -121.859491 deg,
deltaT: 4.037545 s,
deltaX: -2.979767 m,
approachRate: -0.738015 m/s,
posRepo size: 4
2025-08-22T21:23:48.327Z,1755897828.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.60 m.
2025-08-22T21:23:48.335Z,1755897828.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 383.602509 m,
nav range: 369.330658 m,
bearing: 227.158868 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017725 deg/s,
cmd heading: 214.483827 deg,
new cmd heading: 214.502085 deg.
2025-08-22T21:23:48.336Z,1755897828.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.743768 target range: 383.602509 and range: 385.80 m.
2025-08-22T21:23:48.604Z,1755897828.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.60 m.
2025-08-22T21:23:48.606Z,1755897828.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 383.602509 m,
nav range: 369.115112 m,
bearing: 227.164062 deg,
approach rate: -0.759670 m/s,
LOS rate: 0.018318 deg/s,
cmd heading: 214.502091 deg,
new cmd heading: 214.512486 deg.
2025-08-22T21:23:48.607Z,1755897828.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.743949 target range: 383.602509 and range: 385.80 m.
2025-08-22T21:23:49.010Z,1755897829.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.60 m.
2025-08-22T21:23:49.012Z,1755897829.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 383.602509 m,
nav range: 368.823914 m,
bearing: 227.171032 deg,
approach rate: -0.717664 m/s,
LOS rate: 0.017191 deg/s,
cmd heading: 214.512486 deg,
new cmd heading: 214.526437 deg.
2025-08-22T21:23:49.013Z,1755897829.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.744193 target range: 383.602509 and range: 385.80 m.
2025-08-22T21:23:49.539Z,1755897829.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:49.541Z,1755897829.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.60 m.
2025-08-22T21:23:49.575Z,1755897829.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 383.602509 m,
nav range: 368.444183 m,
bearing: 227.180401 deg,
approach rate: -0.714375 m/s,
LOS rate: 0.017644 deg/s,
cmd heading: 214.526434 deg,
new cmd heading: 214.545191 deg.
2025-08-22T21:23:49.576Z,1755897829.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.744520 target range: 383.602509 and range: 385.80 m.
2025-08-22T21:23:49.582Z,1755897829.582 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:49.582Z,1755897829.582 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:49.583Z,1755897829.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:49.835Z,1755897829.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751269
2025-08-22T21:23:50.087Z,1755897830.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003230
2025-08-22T21:23:50.104Z,1755897830.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.60 m.
2025-08-22T21:23:50.107Z,1755897830.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 383.602509 m,
nav range: 368.041534 m,
bearing: 227.190357 deg,
approach rate: -0.714966 m/s,
LOS rate: 0.017697 deg/s,
cmd heading: 214.545189 deg,
new cmd heading: 214.565122 deg.
2025-08-22T21:23:50.108Z,1755897830.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.744868 target range: 383.602509 and range: 385.80 m.
2025-08-22T21:23:50.339Z,1755897830.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255160
2025-08-22T21:23:50.562Z,1755897830.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.60 m.
2025-08-22T21:23:50.564Z,1755897830.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 383.602509 m,
nav range: 367.714172 m,
bearing: 227.198370 deg,
approach rate: -0.715760 m/s,
LOS rate: 0.017537 deg/s,
cmd heading: 214.565120 deg,
new cmd heading: 214.581161 deg.
2025-08-22T21:23:50.565Z,1755897830.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745148 target range: 383.602509 and range: 385.80 m.
2025-08-22T21:23:50.590Z,1755897830.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507050
2025-08-22T21:23:50.843Z,1755897830.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759551
2025-08-22T21:23:50.942Z,1755897830.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.60 m.
2025-08-22T21:23:50.944Z,1755897830.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 383.602509 m,
nav range: 367.441803 m,
bearing: 227.204989 deg,
approach rate: -0.716420 m/s,
LOS rate: 0.017422 deg/s,
cmd heading: 214.581157 deg,
new cmd heading: 214.594404 deg.
2025-08-22T21:23:50.946Z,1755897830.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745379 target range: 383.602509 and range: 385.80 m.
2025-08-22T21:23:51.095Z,1755897831.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011132
2025-08-22T21:23:51.347Z,1755897831.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263167
2025-08-22T21:23:51.387Z,1755897831.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.60 m.
2025-08-22T21:23:51.392Z,1755897831.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 383.602509 m,
nav range: 367.133484 m,
bearing: 227.212060 deg,
approach rate: -0.692871 m/s,
LOS rate: 0.015904 deg/s,
cmd heading: 214.594408 deg,
new cmd heading: 214.608562 deg.
2025-08-22T21:23:51.410Z,1755897831.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745626 target range: 383.602509 and range: 385.80 m.
2025-08-22T21:23:51.602Z,1755897831.602 [DAT](INFO): DAT read: Rx Time:21:23:52.1071
2025-08-22T21:23:51.602Z,1755897831.602 [DAT](INFO): Rx dataTimestamp_ set to:1755897831.601956
2025-08-22T21:23:51.603Z,1755897831.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519395
2025-08-22T21:23:51.762Z,1755897831.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:51.764Z,1755897831.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.60 m.
2025-08-22T21:23:51.771Z,1755897831.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 383.602509 m,
nav range: 366.873260 m,
bearing: 227.217994 deg,
approach rate: -0.689452 m/s,
LOS rate: 0.015734 deg/s,
cmd heading: 214.608560 deg,
new cmd heading: 214.620437 deg.
2025-08-22T21:23:51.772Z,1755897831.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745833 target range: 383.602509 and range: 385.80 m.
2025-08-22T21:23:51.851Z,1755897831.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767271
2025-08-22T21:23:52.108Z,1755897832.108 [DAT](INFO): DAT read: 21:23:52.1071 LVL= 31984, 32753, 32754, 32755, AGC= 69, IDX= 409,-0.05, 2.782, 0.872, 2.499, 2.294, PHS= 0.590,-1.377, 0.161, RAW= 138.0, 7.0, CAL= 137.8, 7.9, ROT= 12.2, -7.9
2025-08-22T21:23:52.109Z,1755897832.109 [DAT](INFO): got valid direction response:
21:23:52.1071 LVL= 31984, 32753, 32754, 32755, AGC= 69, IDX= 409,-0.05, 2.782, 0.872, 2.499, 2.294, PHS= 0.590,-1.377, 0.161, RAW= 138.0, 7.0, CAL= 137.8, 7.9, ROT= 12.2, -7.9
2025-08-22T21:23:52.110Z,1755897832.110 [DAT](INFO): DAT read: Bearing 16.9, 19.6 (Local)
2025-08-22T21:23:52.110Z,1755897832.110 [DAT](INFO): Local bearing/azimuth received:
Bearing 16.9, 19.6 (Local)
2025-08-22T21:23:52.112Z,1755897832.112 [DAT](INFO): DAT read: Range 11 to 50 : 382.9 m (Round-trip 510.6 ms) speed 0.6 m/s
2025-08-22T21:23:52.113Z,1755897832.113 [DAT](INFO): DAT read: user:2185>
2025-08-22T21:23:52.126Z,1755897832.126 [DAT](INFO): DAT read: Tx time:21:23:53.1923
2025-08-22T21:23:52.126Z,1755897832.126 [DAT](INFO): Ping request sent.
2025-08-22T21:23:52.126Z,1755897832.126 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:23:52.126Z,1755897832.126 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:23:52.127Z,1755897832.127 [DAT](INFO): direction in FSK: [0.968140,0.209319,0.137445]
2025-08-22T21:23:52.127Z,1755897832.127 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:52.128Z,1755897832.128 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:52.131Z,1755897832.131 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:52.131Z,1755897832.131 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:52.297Z,1755897832.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 382.899994 m,
deltaT: 4.030365 s,
deltaX: -2.899994 m,
approachRate: -0.719536 m/s,
rangeRepo size: 4
2025-08-22T21:23:52.307Z,1755897832.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 380.725006 m,
bearing: 227.054874 deg,
lat: 36.779526 deg,
lon: -121.859491 deg,
deltaT: 4.030365 s,
deltaX: -2.877502 m,
approachRate: -0.713956 m/s,
posRepo size: 4
2025-08-22T21:23:52.308Z,1755897832.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.73 m.
2025-08-22T21:23:52.319Z,1755897832.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.725006 m,
nav range: 366.498199 m,
bearing: 227.226526 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.015734 deg/s,
cmd heading: 214.620431 deg,
new cmd heading: 214.637065 deg.
2025-08-22T21:23:52.320Z,1755897832.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.746124 target range: 380.725006 and range: 382.90 m.
2025-08-22T21:23:52.669Z,1755897832.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.73 m.
2025-08-22T21:23:52.672Z,1755897832.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.725006 m,
nav range: 366.214203 m,
bearing: 227.232359 deg,
approach rate: -0.754525 m/s,
LOS rate: 0.015508 deg/s,
cmd heading: 214.637069 deg,
new cmd heading: 214.648744 deg.
2025-08-22T21:23:52.673Z,1755897832.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.746327 target range: 380.725006 and range: 382.90 m.
2025-08-22T21:23:53.050Z,1755897833.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.73 m.
2025-08-22T21:23:53.053Z,1755897833.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.725006 m,
nav range: 365.941315 m,
bearing: 227.237968 deg,
approach rate: -0.715817 m/s,
LOS rate: 0.014723 deg/s,
cmd heading: 214.648749 deg,
new cmd heading: 214.659974 deg.
2025-08-22T21:23:53.054Z,1755897833.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.746523 target range: 380.725006 and range: 382.90 m.
2025-08-22T21:23:53.590Z,1755897833.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.73 m.
2025-08-22T21:23:53.593Z,1755897833.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.725006 m,
nav range: 365.557678 m,
bearing: 227.246218 deg,
approach rate: -0.710358 m/s,
LOS rate: 0.015293 deg/s,
cmd heading: 214.659978 deg,
new cmd heading: 214.676496 deg.
2025-08-22T21:23:53.594Z,1755897833.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.746812 target range: 380.725006 and range: 382.90 m.
2025-08-22T21:23:53.981Z,1755897833.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:53.983Z,1755897833.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.73 m.
2025-08-22T21:23:53.986Z,1755897833.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.725006 m,
nav range: 365.278473 m,
bearing: 227.252236 deg,
approach rate: -0.710283 m/s,
LOS rate: 0.015320 deg/s,
cmd heading: 214.676493 deg,
new cmd heading: 214.688538 deg.
2025-08-22T21:23:53.987Z,1755897833.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.747022 target range: 380.725006 and range: 382.90 m.
2025-08-22T21:23:54.118Z,1755897834.118 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:54.118Z,1755897834.118 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:54.119Z,1755897834.119 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:54.371Z,1755897834.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245147
2025-08-22T21:23:54.462Z,1755897834.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.73 m.
2025-08-22T21:23:54.465Z,1755897834.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.725006 m,
nav range: 364.937958 m,
bearing: 227.258992 deg,
approach rate: -0.710877 m/s,
LOS rate: 0.014117 deg/s,
cmd heading: 214.688541 deg,
new cmd heading: 214.702066 deg.
2025-08-22T21:23:54.466Z,1755897834.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.747258 target range: 380.725006 and range: 382.90 m.
2025-08-22T21:23:54.622Z,1755897834.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496469
2025-08-22T21:23:54.832Z,1755897834.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.73 m.
2025-08-22T21:23:54.835Z,1755897834.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.725006 m,
nav range: 364.671722 m,
bearing: 227.264320 deg,
approach rate: -0.719362 m/s,
LOS rate: 0.014408 deg/s,
cmd heading: 214.702065 deg,
new cmd heading: 214.712730 deg.
2025-08-22T21:23:54.836Z,1755897834.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.747444 target range: 380.725006 and range: 382.90 m.
2025-08-22T21:23:54.876Z,1755897834.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750127
2025-08-22T21:23:55.127Z,1755897835.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000495
2025-08-22T21:23:55.306Z,1755897835.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.73 m.
2025-08-22T21:23:55.308Z,1755897835.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.725006 m,
nav range: 364.381531 m,
bearing: 227.270166 deg,
approach rate: -0.618906 m/s,
LOS rate: 0.012477 deg/s,
cmd heading: 214.712734 deg,
new cmd heading: 214.724434 deg.
2025-08-22T21:23:55.309Z,1755897835.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.747648 target range: 380.725006 and range: 382.90 m.
2025-08-22T21:23:55.381Z,1755897835.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255088
2025-08-22T21:23:55.631Z,1755897835.631 [DAT](INFO): DAT read: Rx Time:21:23:56.1032
2025-08-22T21:23:55.631Z,1755897835.631 [DAT](INFO): Rx dataTimestamp_ set to:1755897835.630828
2025-08-22T21:23:55.632Z,1755897835.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505643
2025-08-22T21:23:55.657Z,1755897835.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.73 m.
2025-08-22T21:23:55.684Z,1755897835.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.725006 m,
nav range: 364.082855 m,
bearing: 227.276502 deg,
approach rate: -0.839667 m/s,
LOS rate: 0.017826 deg/s,
cmd heading: 214.724441 deg,
new cmd heading: 214.737123 deg.
2025-08-22T21:23:55.685Z,1755897835.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.747870 target range: 380.725006 and range: 382.90 m.
2025-08-22T21:23:55.884Z,1755897835.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757527
2025-08-22T21:23:56.058Z,1755897836.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:56.060Z,1755897836.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.73 m.
2025-08-22T21:23:56.063Z,1755897836.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.725006 m,
nav range: 363.795349 m,
bearing: 227.282629 deg,
approach rate: -0.714021 m/s,
LOS rate: 0.015230 deg/s,
cmd heading: 214.737118 deg,
new cmd heading: 214.749382 deg.
2025-08-22T21:23:56.064Z,1755897836.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748084 target range: 380.725006 and range: 382.90 m.
2025-08-22T21:23:56.143Z,1755897836.143 [DAT](INFO): DAT read: 21:23:56.1032 LVL= 31728, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.17,-1.783, 2.642,-2.103,-2.252, PHS= 0.571,-1.344, 0.105, RAW= 136.5, 7.8, CAL= 136.3, 8.8, ROT= 13.7, -8.8
2025-08-22T21:23:56.144Z,1755897836.144 [DAT](INFO): got valid direction response:
21:23:56.1032 LVL= 31728, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.17,-1.783, 2.642,-2.103,-2.252, PHS= 0.571,-1.344, 0.105, RAW= 136.5, 7.8, CAL= 136.3, 8.8, ROT= 13.7, -8.8
2025-08-22T21:23:56.144Z,1755897836.144 [DAT](INFO): DAT read: 17.6, 19.3 (Local)
2025-08-22T21:23:56.145Z,1755897836.145 [DAT](INFO): Local bearing/azimuth received:
17.6, 19.3 (Local)
2025-08-22T21:23:56.146Z,1755897836.146 [DAT](INFO): DAT read: Range 11 to 50 : 380.1 m (Round-trip 506.8 ms) speed 0.5 m/s
2025-08-22T21:23:56.147Z,1755897836.147 [DAT](INFO): DAT read: user:2186>
2025-08-22T21:23:56.148Z,1755897836.148 [DAT](INFO): DAT read: Tx time:21:23:57.1922
2025-08-22T21:23:56.148Z,1755897836.148 [DAT](INFO): Ping request sent.
2025-08-22T21:23:56.148Z,1755897836.148 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:23:56.148Z,1755897836.148 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:23:56.149Z,1755897836.149 [DAT](INFO): direction in FSK: [0.960112,0.234050,0.152986]
2025-08-22T21:23:56.154Z,1755897836.154 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:56.155Z,1755897836.155 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:56.172Z,1755897836.172 [DAT](INFO): publishing transmit ping time
2025-08-22T21:23:56.173Z,1755897836.173 [DAT](INFO): publishing direction and range info
2025-08-22T21:23:56.484Z,1755897836.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 380.100006 m,
deltaT: 4.033104 s,
deltaX: -2.799988 m,
approachRate: -0.694251 m/s,
rangeRepo size: 4
2025-08-22T21:23:56.487Z,1755897836.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 377.939270 m,
bearing: 228.349637 deg,
lat: 36.779526 deg,
lon: -121.859497 deg,
deltaT: 4.033104 s,
deltaX: -2.785736 m,
approachRate: -0.690718 m/s,
posRepo size: 4
2025-08-22T21:23:56.487Z,1755897836.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:23:56.490Z,1755897836.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 363.845459 m,
bearing: 227.339950 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.015230 deg/s,
cmd heading: 214.749385 deg,
new cmd heading: 214.762298 deg.
2025-08-22T21:23:56.491Z,1755897836.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748309 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:23:56.840Z,1755897836.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:23:56.870Z,1755897836.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 363.587585 m,
bearing: 227.345950 deg,
approach rate: -0.722914 m/s,
LOS rate: 0.016830 deg/s,
cmd heading: 214.762294 deg,
new cmd heading: 214.774301 deg.
2025-08-22T21:23:56.872Z,1755897836.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748519 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:23:57.245Z,1755897837.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:23:57.252Z,1755897837.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 363.300049 m,
bearing: 227.352680 deg,
approach rate: -0.711012 m/s,
LOS rate: 0.016656 deg/s,
cmd heading: 214.774301 deg,
new cmd heading: 214.787773 deg.
2025-08-22T21:23:57.253Z,1755897837.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748754 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:23:57.844Z,1755897837.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:23:57.848Z,1755897837.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 362.875214 m,
bearing: 227.362251 deg,
approach rate: -0.708481 m/s,
LOS rate: 0.015980 deg/s,
cmd heading: 214.787770 deg,
new cmd heading: 214.806935 deg.
2025-08-22T21:23:57.849Z,1755897837.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.749088 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:23:58.435Z,1755897838.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:23:58.438Z,1755897838.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:23:58.440Z,1755897838.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 362.454773 m,
bearing: 227.373579 deg,
approach rate: -0.708937 m/s,
LOS rate: 0.019123 deg/s,
cmd heading: 214.806936 deg,
new cmd heading: 214.829618 deg.
2025-08-22T21:23:58.442Z,1755897838.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.749484 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:23:58.655Z,1755897838.655 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:58.655Z,1755897838.655 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:58.655Z,1755897838.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:23:58.907Z,1755897838.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758745
2025-08-22T21:23:58.918Z,1755897838.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:23:58.920Z,1755897838.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 362.127838 m,
bearing: 227.382438 deg,
approach rate: -0.710586 m/s,
LOS rate: 0.019273 deg/s,
cmd heading: 214.829612 deg,
new cmd heading: 214.847346 deg.
2025-08-22T21:23:58.926Z,1755897838.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.749794 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:23:59.160Z,1755897839.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012169
2025-08-22T21:23:59.360Z,1755897839.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:23:59.375Z,1755897839.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 361.846039 m,
bearing: 227.390078 deg,
approach rate: -0.617984 m/s,
LOS rate: 0.016768 deg/s,
cmd heading: 214.847343 deg,
new cmd heading: 214.862636 deg.
2025-08-22T21:23:59.376Z,1755897839.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.750060 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:23:59.411Z,1755897839.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262720
2025-08-22T21:23:59.671Z,1755897839.671 [DAT](INFO): DAT read: 21:24:00.0994 LVL= 28800, 32753, 32754, 32755, AGC= 69, IDX= 395,-0.15, 2.624, 0.818, 2.324, 2.199, PHS= 0.526,-1.337, 0.080, RAW= 136.8, 8.7, CAL= 136.5, 9.7, ROT= 13.5, -9.7
2025-08-22T21:23:59.673Z,1755897839.673 [DAT](INFO): got valid direction response:
21:24:00.0994 LVL= 28800, 32753, 32754, 32755, AGC= 69, IDX= 395,-0.15, 2.624, 0.818, 2.324, 2.199, PHS= 0.526,-1.337, 0.080, RAW= 136.8, 8.7, CAL= 136.5, 9.7, ROT= 13.5, -9.7
2025-08-22T21:23:59.675Z,1755897839.675 [DAT](INFO): DAT read: Rx Time:21:24:00.0994
2025-08-22T21:23:59.675Z,1755897839.675 [DAT](INFO): Rx dataTimestamp_ set to:1755897839.675139
2025-08-22T21:23:59.676Z,1755897839.676 [DAT](INFO): DAT read: $Low SNR acquisition
2025-08-22T21:23:59.676Z,1755897839.676 [DAT](INFO): Received low SNR in chirp
2025-08-22T21:23:59.690Z,1755897839.690 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T21:23:59.691Z,1755897839.691 [DAT](INFO): direction in FSK: [0.958468,0.230108,0.168489]
2025-08-22T21:23:59.694Z,1755897839.694 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:59.694Z,1755897839.694 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:59.694Z,1755897839.694 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:23:59.839Z,1755897839.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:23:59.848Z,1755897839.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 361.465057 m,
bearing: 227.399754 deg,
approach rate: -0.784295 m/s,
LOS rate: 0.019940 deg/s,
cmd heading: 214.862629 deg,
new cmd heading: 214.882001 deg.
2025-08-22T21:23:59.854Z,1755897839.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.750398 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:23:59.915Z,1755897839.915 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:23:59.915Z,1755897839.915 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:23:59.915Z,1755897839.915 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:00.167Z,1755897840.167 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:00.167Z,1755897840.167 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:00.167Z,1755897840.167 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:00.205Z,1755897840.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:00.208Z,1755897840.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 361.199280 m,
bearing: 227.406489 deg,
approach rate: -0.726480 m/s,
LOS rate: 0.018423 deg/s,
cmd heading: 214.882000 deg,
new cmd heading: 214.895480 deg.
2025-08-22T21:24:00.209Z,1755897840.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.750634 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:00.421Z,1755897840.421 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:00.421Z,1755897840.421 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:00.421Z,1755897840.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:00.618Z,1755897840.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:00.620Z,1755897840.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:00.623Z,1755897840.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 360.904480 m,
bearing: 227.414155 deg,
approach rate: -0.710272 m/s,
LOS rate: 0.018485 deg/s,
cmd heading: 214.895482 deg,
new cmd heading: 214.910827 deg.
2025-08-22T21:24:00.624Z,1755897840.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.750901 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:00.671Z,1755897840.671 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:00.671Z,1755897840.671 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:00.671Z,1755897840.671 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:00.922Z,1755897840.922 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:00.922Z,1755897840.922 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:00.923Z,1755897840.923 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:01.003Z,1755897841.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:01.006Z,1755897841.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 360.631592 m,
bearing: 227.421235 deg,
approach rate: -0.712569 m/s,
LOS rate: 0.018501 deg/s,
cmd heading: 214.910823 deg,
new cmd heading: 214.924993 deg.
2025-08-22T21:24:01.007Z,1755897841.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.751149 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:01.175Z,1755897841.175 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:01.175Z,1755897841.175 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:01.175Z,1755897841.175 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:01.426Z,1755897841.426 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:01.426Z,1755897841.426 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:01.427Z,1755897841.427 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:01.443Z,1755897841.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:01.446Z,1755897841.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 360.316742 m,
bearing: 227.429389 deg,
approach rate: -0.715908 m/s,
LOS rate: 0.018557 deg/s,
cmd heading: 214.924989 deg,
new cmd heading: 214.941311 deg.
2025-08-22T21:24:01.447Z,1755897841.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.751434 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:01.678Z,1755897841.678 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:01.678Z,1755897841.678 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:01.679Z,1755897841.679 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:01.823Z,1755897841.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:01.826Z,1755897841.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 360.043549 m,
bearing: 227.436461 deg,
approach rate: -0.718049 m/s,
LOS rate: 0.018603 deg/s,
cmd heading: 214.941313 deg,
new cmd heading: 214.955469 deg.
2025-08-22T21:24:01.827Z,1755897841.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.751681 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:01.930Z,1755897841.930 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:01.930Z,1755897841.930 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:01.931Z,1755897841.931 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:02.183Z,1755897842.183 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:02.183Z,1755897842.183 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:02.183Z,1755897842.183 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:02.415Z,1755897842.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:02.417Z,1755897842.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 359.664642 m,
bearing: 227.446315 deg,
approach rate: -0.641007 m/s,
LOS rate: 0.016687 deg/s,
cmd heading: 214.955465 deg,
new cmd heading: 214.975193 deg.
2025-08-22T21:24:02.418Z,1755897842.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.752025 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:02.437Z,1755897842.437 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:02.437Z,1755897842.437 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:02.437Z,1755897842.437 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:02.686Z,1755897842.686 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:02.686Z,1755897842.686 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:02.686Z,1755897842.686 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:02.782Z,1755897842.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:02.784Z,1755897842.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:02.795Z,1755897842.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 359.371124 m,
bearing: 227.453277 deg,
approach rate: -0.795173 m/s,
LOS rate: 0.018877 deg/s,
cmd heading: 214.975191 deg,
new cmd heading: 214.989127 deg.
2025-08-22T21:24:02.796Z,1755897842.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.752268 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:02.938Z,1755897842.938 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:02.938Z,1755897842.938 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:02.938Z,1755897842.938 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:03.150Z,1755897843.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:03.152Z,1755897843.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 359.097595 m,
bearing: 227.459772 deg,
approach rate: -0.747997 m/s,
LOS rate: 0.017774 deg/s,
cmd heading: 214.989124 deg,
new cmd heading: 215.002123 deg.
2025-08-22T21:24:03.153Z,1755897843.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.752495 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:03.191Z,1755897843.191 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:03.191Z,1755897843.191 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:03.191Z,1755897843.191 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:03.442Z,1755897843.442 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:03.443Z,1755897843.443 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:03.443Z,1755897843.443 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:03.692Z,1755897843.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:03.694Z,1755897843.694 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:03.695Z,1755897843.695 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:03.695Z,1755897843.695 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:03.696Z,1755897843.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 358.705994 m,
bearing: 227.467938 deg,
approach rate: -0.722130 m/s,
LOS rate: 0.015075 deg/s,
cmd heading: 215.002129 deg,
new cmd heading: 215.018479 deg.
2025-08-22T21:24:03.697Z,1755897843.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.752780 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:03.946Z,1755897843.946 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:03.947Z,1755897843.947 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:03.947Z,1755897843.947 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:04.095Z,1755897844.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:04.098Z,1755897844.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 358.414856 m,
bearing: 227.474020 deg,
approach rate: -0.722277 m/s,
LOS rate: 0.015102 deg/s,
cmd heading: 215.018481 deg,
new cmd heading: 215.030655 deg.
2025-08-22T21:24:04.099Z,1755897844.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.752993 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:04.198Z,1755897844.198 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:04.198Z,1755897844.198 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:04.199Z,1755897844.199 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:04.451Z,1755897844.451 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:04.451Z,1755897844.451 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:04.452Z,1755897844.452 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:04.546Z,1755897844.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:04.549Z,1755897844.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 358.092224 m,
bearing: 227.481126 deg,
approach rate: -0.714609 m/s,
LOS rate: 0.015753 deg/s,
cmd heading: 215.030652 deg,
new cmd heading: 215.044876 deg.
2025-08-22T21:24:04.550Z,1755897844.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753241 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:04.702Z,1755897844.702 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:04.702Z,1755897844.702 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:04.702Z,1755897844.702 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:04.948Z,1755897844.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:04.951Z,1755897844.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:04.963Z,1755897844.963 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:04.963Z,1755897844.963 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:04.963Z,1755897844.963 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:04.973Z,1755897844.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 357.803101 m,
bearing: 227.487504 deg,
approach rate: -0.714817 m/s,
LOS rate: 0.015782 deg/s,
cmd heading: 215.044872 deg,
new cmd heading: 215.057640 deg.
2025-08-22T21:24:04.975Z,1755897844.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753464 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:05.216Z,1755897845.216 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:05.217Z,1755897845.217 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:05.217Z,1755897845.217 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:05.358Z,1755897845.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:05.367Z,1755897845.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 357.527771 m,
bearing: 227.493532 deg,
approach rate: -0.705396 m/s,
LOS rate: 0.015457 deg/s,
cmd heading: 215.057645 deg,
new cmd heading: 215.069711 deg.
2025-08-22T21:24:05.374Z,1755897845.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753675 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:05.467Z,1755897845.467 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:05.467Z,1755897845.467 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:05.467Z,1755897845.467 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:05.718Z,1755897845.718 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:05.718Z,1755897845.718 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:05.718Z,1755897845.718 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:05.793Z,1755897845.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:05.796Z,1755897845.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 357.200348 m,
bearing: 227.500765 deg,
approach rate: -0.724777 m/s,
LOS rate: 0.016023 deg/s,
cmd heading: 215.069707 deg,
new cmd heading: 215.084184 deg.
2025-08-22T21:24:05.797Z,1755897845.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753927 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:05.970Z,1755897845.970 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:05.970Z,1755897845.970 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:05.970Z,1755897845.970 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:24:06.178Z,1755897846.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:06.182Z,1755897846.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 356.932465 m,
bearing: 227.506661 deg,
approach rate: -0.697202 m/s,
LOS rate: 0.015357 deg/s,
cmd heading: 215.084187 deg,
new cmd heading: 215.095988 deg.
2025-08-22T21:24:06.183Z,1755897846.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.754133 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:06.222Z,1755897846.222 [DAT](INFO): Reached modem response timeout
2025-08-22T21:24:06.223Z,1755897846.223 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:24:06.223Z,1755897846.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:06.474Z,1755897846.474 [DAT](INFO): Reached modem response timeout
2025-08-22T21:24:06.475Z,1755897846.475 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:24:06.475Z,1755897846.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:06.606Z,1755897846.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:06.609Z,1755897846.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 356.611816 m,
bearing: 227.513421 deg,
approach rate: -0.747099 m/s,
LOS rate: 0.015766 deg/s,
cmd heading: 215.095989 deg,
new cmd heading: 215.109522 deg.
2025-08-22T21:24:06.630Z,1755897846.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.754369 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:06.726Z,1755897846.726 [DAT](INFO): Reached modem response timeout
2025-08-22T21:24:06.726Z,1755897846.726 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:24:06.727Z,1755897846.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:06.971Z,1755897846.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:06.973Z,1755897846.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:06.976Z,1755897846.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 356.343719 m,
bearing: 227.519062 deg,
approach rate: -0.730436 m/s,
LOS rate: 0.015381 deg/s,
cmd heading: 215.109527 deg,
new cmd heading: 215.120817 deg.
2025-08-22T21:24:06.977Z,1755897846.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.754567 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:06.978Z,1755897846.978 [DAT](INFO): Reached modem response timeout
2025-08-22T21:24:06.979Z,1755897846.979 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:24:06.979Z,1755897846.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:07.233Z,1755897847.233 [DAT](INFO): Reached modem response timeout
2025-08-22T21:24:07.235Z,1755897847.235 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:24:07.235Z,1755897847.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:07.410Z,1755897847.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:07.416Z,1755897847.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 356.043640 m,
bearing: 227.525328 deg,
approach rate: -0.692156 m/s,
LOS rate: 0.014466 deg/s,
cmd heading: 215.120824 deg,
new cmd heading: 215.133367 deg.
2025-08-22T21:24:07.424Z,1755897847.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.754786 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:07.482Z,1755897847.482 [DAT](INFO): Reached modem response timeout
2025-08-22T21:24:07.482Z,1755897847.482 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:24:07.483Z,1755897847.483 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:07.734Z,1755897847.734 [DAT](INFO): Reached modem response timeout
2025-08-22T21:24:07.735Z,1755897847.735 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:24:07.735Z,1755897847.735 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:07.925Z,1755897847.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:07.932Z,1755897847.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 355.671387 m,
bearing: 227.533187 deg,
approach rate: -0.718075 m/s,
LOS rate: 0.015175 deg/s,
cmd heading: 215.133364 deg,
new cmd heading: 215.149098 deg.
2025-08-22T21:24:07.933Z,1755897847.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.755060 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:07.987Z,1755897847.987 [DAT](INFO): Reached modem response timeout
2025-08-22T21:24:07.988Z,1755897847.988 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:24:07.988Z,1755897847.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:08.238Z,1755897848.238 [DAT](INFO): Reached modem response timeout
2025-08-22T21:24:08.238Z,1755897848.238 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:24:08.239Z,1755897848.239 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:08.300Z,1755897848.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:08.303Z,1755897848.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 355.384521 m,
bearing: 227.539254 deg,
approach rate: -0.765249 m/s,
LOS rate: 0.016199 deg/s,
cmd heading: 215.149101 deg,
new cmd heading: 215.161246 deg.
2025-08-22T21:24:08.304Z,1755897848.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.755272 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:08.492Z,1755897848.492 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:24:08.492Z,1755897848.492 [DAT](INFO): response not received
2025-08-22T21:24:08.492Z,1755897848.492 [DAT](INFO): DAT read: user:2188>
2025-08-22T21:24:08.493Z,1755897848.493 [DAT](INFO): DAT read: Tx time:21:24:09.6422
2025-08-22T21:24:08.493Z,1755897848.493 [DAT](INFO): Ping request sent.
2025-08-22T21:24:08.493Z,1755897848.493 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:08.494Z,1755897848.494 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:08.494Z,1755897848.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000840
2025-08-22T21:24:08.742Z,1755897848.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249059
2025-08-22T21:24:08.788Z,1755897848.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:08.790Z,1755897848.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 355.032745 m,
bearing: 227.547126 deg,
approach rate: -0.721557 m/s,
LOS rate: 0.016163 deg/s,
cmd heading: 215.161245 deg,
new cmd heading: 215.177005 deg.
2025-08-22T21:24:08.791Z,1755897848.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.755547 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:08.995Z,1755897848.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501207
2025-08-22T21:24:09.247Z,1755897849.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753283
2025-08-22T21:24:09.294Z,1755897849.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:09.296Z,1755897849.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:09.299Z,1755897849.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 354.666199 m,
bearing: 227.555194 deg,
approach rate: -0.721232 m/s,
LOS rate: 0.015889 deg/s,
cmd heading: 215.177009 deg,
new cmd heading: 215.193160 deg.
2025-08-22T21:24:09.300Z,1755897849.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.755829 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:09.501Z,1755897849.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007270
2025-08-22T21:24:09.745Z,1755897849.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:09.748Z,1755897849.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 354.347534 m,
bearing: 227.562556 deg,
approach rate: -0.709045 m/s,
LOS rate: 0.016397 deg/s,
cmd heading: 215.193156 deg,
new cmd heading: 215.207895 deg.
2025-08-22T21:24:09.749Z,1755897849.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.756086 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:09.751Z,1755897849.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257544
2025-08-22T21:24:10.003Z,1755897850.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509183
2025-08-22T21:24:10.129Z,1755897850.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:10.132Z,1755897850.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 354.075775 m,
bearing: 227.568824 deg,
approach rate: -0.708556 m/s,
LOS rate: 0.016353 deg/s,
cmd heading: 215.207895 deg,
new cmd heading: 215.220440 deg.
2025-08-22T21:24:10.133Z,1755897850.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.756305 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:10.254Z,1755897850.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761113
2025-08-22T21:24:10.509Z,1755897850.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015029
2025-08-22T21:24:10.569Z,1755897850.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:10.572Z,1755897850.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 353.761169 m,
bearing: 227.575414 deg,
approach rate: -0.715055 m/s,
LOS rate: 0.014992 deg/s,
cmd heading: 215.220436 deg,
new cmd heading: 215.233628 deg.
2025-08-22T21:24:10.573Z,1755897850.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.756536 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:10.759Z,1755897850.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265240
2025-08-22T21:24:10.953Z,1755897850.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:10.956Z,1755897850.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 353.486115 m,
bearing: 227.581176 deg,
approach rate: -0.715274 m/s,
LOS rate: 0.014996 deg/s,
cmd heading: 215.233631 deg,
new cmd heading: 215.245164 deg.
2025-08-22T21:24:10.957Z,1755897850.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.756737 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:11.011Z,1755897851.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518000
2025-08-22T21:24:11.262Z,1755897851.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769083
2025-08-22T21:24:11.421Z,1755897851.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:11.423Z,1755897851.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:11.425Z,1755897851.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 353.150543 m,
bearing: 227.588211 deg,
approach rate: -0.714679 m/s,
LOS rate: 0.014998 deg/s,
cmd heading: 215.245161 deg,
new cmd heading: 215.259245 deg.
2025-08-22T21:24:11.426Z,1755897851.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.756983 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:11.520Z,1755897851.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026194
2025-08-22T21:24:11.767Z,1755897851.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273196
2025-08-22T21:24:11.789Z,1755897851.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:11.796Z,1755897851.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 352.904297 m,
bearing: 227.593406 deg,
approach rate: -0.672880 m/s,
LOS rate: 0.014204 deg/s,
cmd heading: 215.259245 deg,
new cmd heading: 215.269641 deg.
2025-08-22T21:24:11.797Z,1755897851.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.757164 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:12.023Z,1755897852.023 [DAT](INFO): DAT read: Rx Time:21:24:12.5507
2025-08-22T21:24:12.024Z,1755897852.024 [DAT](INFO): Rx dataTimestamp_ set to:1755897852.023558
2025-08-22T21:24:12.024Z,1755897852.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531035
2025-08-22T21:24:12.200Z,1755897852.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.94 m.
2025-08-22T21:24:12.202Z,1755897852.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.939270 m,
nav range: 352.620453 m,
bearing: 227.599401 deg,
approach rate: -0.690949 m/s,
LOS rate: 0.014605 deg/s,
cmd heading: 215.269640 deg,
new cmd heading: 215.281640 deg.
2025-08-22T21:24:12.203Z,1755897852.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.757373 target range: 377.939270 and range: 380.10 m.
2025-08-22T21:24:12.274Z,1755897852.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779960
2025-08-22T21:24:12.541Z,1755897852.541 [DAT](INFO): DAT read: 21:24:12.5507 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 319, 0.23, 0.644,-1.248, 0.355, 0.161, PHS= 0.585,-1.364, 0.150, RAW= 137.7, 7.2, CAL= 137.5, 8.1, ROT= 12.5, -8.1
2025-08-22T21:24:12.543Z,1755897852.543 [DAT](INFO): got valid direction response:
21:24:12.5507 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 319, 0.23, 0.644,-1.248, 0.355, 0.161, PHS= 0.585,-1.364, 0.150, RAW= 137.7, 7.2, CAL= 137.5, 8.1, ROT= 12.5, -8.1
2025-08-22T21:24:12.543Z,1755897852.543 [DAT](INFO): DAT read: Bearing 13.1, 18.4 (Local)
2025-08-22T21:24:12.544Z,1755897852.544 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.1, 18.4 (Local)
2025-08-22T21:24:12.545Z,1755897852.545 [DAT](INFO): DAT read: Range 11 to 50 : 378.2 m (Round-trip 504.3 ms) speed 0.3 m/s
2025-08-22T21:24:12.546Z,1755897852.546 [DAT](INFO): DAT read: user:2189>
2025-08-22T21:24:12.547Z,1755897852.547 [DAT](INFO): DAT read: Tx time:21:24:13.6422
2025-08-22T21:24:12.547Z,1755897852.547 [DAT](INFO): Ping request sent.
2025-08-22T21:24:12.547Z,1755897852.547 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:12.547Z,1755897852.547 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:24:12.548Z,1755897852.548 [DAT](INFO): direction in FSK: [0.966556,0.214280,0.140901]
2025-08-22T21:24:12.548Z,1755897852.548 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:12.549Z,1755897852.549 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:12.552Z,1755897852.552 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:12.552Z,1755897852.552 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:12.743Z,1755897852.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 378.200012 m,
deltaT: 16.391915 s,
deltaX: -1.899994 m,
approachRate: -0.115910 m/s,
rangeRepo size: 4
2025-08-22T21:24:12.745Z,1755897852.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 376.041992 m,
bearing: 227.613749 deg,
lat: 36.779526 deg,
lon: -121.859513 deg,
deltaT: 16.391915 s,
deltaX: -1.897278 m,
approachRate: -0.115745 m/s,
posRepo size: 4
2025-08-22T21:24:12.747Z,1755897852.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.04 m.
2025-08-22T21:24:12.758Z,1755897852.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 376.041992 m,
nav range: 353.315765 m,
bearing: 227.768356 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.014605 deg/s,
cmd heading: 215.281634 deg,
new cmd heading: 215.297356 deg.
2025-08-22T21:24:12.759Z,1755897852.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.757648 target range: 376.041992 and range: 378.20 m.
2025-08-22T21:24:13.068Z,1755897853.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.04 m.
2025-08-22T21:24:13.071Z,1755897853.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 376.041992 m,
nav range: 353.073975 m,
bearing: 227.773656 deg,
approach rate: -0.732295 m/s,
LOS rate: 0.016062 deg/s,
cmd heading: 215.297357 deg,
new cmd heading: 215.307964 deg.
2025-08-22T21:24:13.072Z,1755897853.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.757833 target range: 376.041992 and range: 378.20 m.
2025-08-22T21:24:13.464Z,1755897853.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:13.478Z,1755897853.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.04 m.
2025-08-22T21:24:13.480Z,1755897853.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 376.041992 m,
nav range: 352.793243 m,
bearing: 227.779844 deg,
approach rate: -0.705791 m/s,
LOS rate: 0.015568 deg/s,
cmd heading: 215.307958 deg,
new cmd heading: 215.320342 deg.
2025-08-22T21:24:13.482Z,1755897853.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.758049 target range: 376.041992 and range: 378.20 m.
2025-08-22T21:24:13.537Z,1755897853.537 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:13.538Z,1755897853.538 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:13.538Z,1755897853.538 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:13.787Z,1755897853.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239546
2025-08-22T21:24:13.911Z,1755897853.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.04 m.
2025-08-22T21:24:13.914Z,1755897853.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 376.041992 m,
nav range: 352.481293 m,
bearing: 227.786954 deg,
approach rate: -0.701095 m/s,
LOS rate: 0.015994 deg/s,
cmd heading: 215.320348 deg,
new cmd heading: 215.334581 deg.
2025-08-22T21:24:13.915Z,1755897853.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.758297 target range: 376.041992 and range: 378.20 m.
2025-08-22T21:24:14.039Z,1755897854.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491595
2025-08-22T21:24:14.273Z,1755897854.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.04 m.
2025-08-22T21:24:14.291Z,1755897854.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743811
2025-08-22T21:24:14.296Z,1755897854.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 376.041992 m,
nav range: 352.227631 m,
bearing: 227.792773 deg,
approach rate: -0.700621 m/s,
LOS rate: 0.016085 deg/s,
cmd heading: 215.334582 deg,
new cmd heading: 215.346229 deg.
2025-08-22T21:24:14.297Z,1755897854.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.758501 target range: 376.041992 and range: 378.20 m.
2025-08-22T21:24:14.550Z,1755897854.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001852
2025-08-22T21:24:14.795Z,1755897854.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247545
2025-08-22T21:24:14.865Z,1755897854.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.04 m.
2025-08-22T21:24:14.872Z,1755897854.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 376.041992 m,
nav range: 351.825378 m,
bearing: 227.802767 deg,
approach rate: -0.679097 m/s,
LOS rate: 0.016891 deg/s,
cmd heading: 215.346234 deg,
new cmd heading: 215.366244 deg.
2025-08-22T21:24:14.873Z,1755897854.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.758850 target range: 376.041992 and range: 378.20 m.
2025-08-22T21:24:15.049Z,1755897855.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501561
2025-08-22T21:24:15.299Z,1755897855.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751596
2025-08-22T21:24:15.356Z,1755897855.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.04 m.
2025-08-22T21:24:15.359Z,1755897855.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 376.041992 m,
nav range: 351.477203 m,
bearing: 227.811417 deg,
approach rate: -0.709038 m/s,
LOS rate: 0.017634 deg/s,
cmd heading: 215.366246 deg,
new cmd heading: 215.383564 deg.
2025-08-22T21:24:15.360Z,1755897855.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.759152 target range: 376.041992 and range: 378.20 m.
2025-08-22T21:24:15.554Z,1755897855.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005732
2025-08-22T21:24:15.763Z,1755897855.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:15.770Z,1755897855.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.04 m.
2025-08-22T21:24:15.772Z,1755897855.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 376.041992 m,
nav range: 351.203339 m,
bearing: 227.817688 deg,
approach rate: -0.669293 m/s,
LOS rate: 0.015338 deg/s,
cmd heading: 215.383568 deg,
new cmd heading: 215.396120 deg.
2025-08-22T21:24:15.773Z,1755897855.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.759372 target range: 376.041992 and range: 378.20 m.
2025-08-22T21:24:15.805Z,1755897855.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257517
2025-08-22T21:24:16.055Z,1755897856.055 [DAT](INFO): DAT read: Rx Time:21:24:16.5335
2025-08-22T21:24:16.055Z,1755897856.055 [DAT](INFO): Rx dataTimestamp_ set to:1755897856.054743
2025-08-22T21:24:16.056Z,1755897856.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508539
2025-08-22T21:24:16.240Z,1755897856.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.04 m.
2025-08-22T21:24:16.243Z,1755897856.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 376.041992 m,
nav range: 350.860535 m,
bearing: 227.825495 deg,
approach rate: -0.722251 m/s,
LOS rate: 0.016465 deg/s,
cmd heading: 215.396122 deg,
new cmd heading: 215.411751 deg.
2025-08-22T21:24:16.244Z,1755897856.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.759644 target range: 376.041992 and range: 378.20 m.
2025-08-22T21:24:16.308Z,1755897856.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760644
2025-08-22T21:24:16.578Z,1755897856.578 [DAT](INFO): DAT read: 21:24:16.5335 LVL= 29984, 32753, 32754, 32755, AGC= 69, IDX= 265, 0.25, 1.944,-0.019, 1.629, 1.411, PHS= 0.635,-1.385, 0.174, RAW= 137.4, 6.3, CAL= 137.3, 7.3, ROT= 12.7, -7.3
2025-08-22T21:24:16.581Z,1755897856.581 [DAT](INFO): got valid direction response:
21:24:16.5335 LVL= 29984, 32753, 32754, 32755, AGC= 69, IDX= 265, 0.25, 1.944,-0.019, 1.629, 1.411, PHS= 0.635,-1.385, 0.174, RAW= 137.4, 6.3, CAL= 137.3, 7.3, ROT= 12.7, -7.3
2025-08-22T21:24:16.584Z,1755897856.584 [DAT](INFO): DAT read: Bearing 11.2, 20.0 (Local)
2025-08-22T21:24:16.614Z,1755897856.614 [DAT](INFO): Local bearing/azimuth received:
Bearing 11.2, 20.0 (Local)
2025-08-22T21:24:16.616Z,1755897856.616 [DAT](INFO): DAT read: Range 11 to 50 : 365.4 m (Round-trip 487.2 ms) speed 0.5 m/s
2025-08-22T21:24:16.617Z,1755897856.617 [DAT](INFO): DAT read: user:2190>
2025-08-22T21:24:16.634Z,1755897856.634 [DAT](INFO): DAT read: Tx time:21:24:17.6422
2025-08-22T21:24:16.634Z,1755897856.634 [DAT](INFO): Ping request sent.
2025-08-22T21:24:16.634Z,1755897856.634 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:16.634Z,1755897856.634 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:24:16.635Z,1755897856.635 [DAT](INFO): direction in FSK: [0.967627,0.218064,0.127065]
2025-08-22T21:24:16.635Z,1755897856.635 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:16.636Z,1755897856.636 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:16.648Z,1755897856.648 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:16.648Z,1755897856.648 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:16.767Z,1755897856.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 365.399994 m,
deltaT: 4.032608 s,
deltaX: -12.800018 m,
approachRate: -3.174129 m/s,
rangeRepo size: 4
2025-08-22T21:24:16.769Z,1755897856.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 363.319458 m,
bearing: 227.915524 deg,
lat: 36.779526 deg,
lon: -121.859522 deg,
deltaT: 4.032608 s,
deltaX: -12.722534 m,
approachRate: -3.154915 m/s,
posRepo size: 4
2025-08-22T21:24:16.774Z,1755897856.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.32 m.
2025-08-22T21:24:16.776Z,1755897856.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.319458 m,
nav range: 351.151276 m,
bearing: 227.916795 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.016465 deg/s,
cmd heading: 215.411749 deg,
new cmd heading: 215.429076 deg.
2025-08-22T21:24:16.781Z,1755897856.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.759947 target range: 363.319458 and range: 365.40 m.
2025-08-22T21:24:17.045Z,1755897857.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.32 m.
2025-08-22T21:24:17.048Z,1755897857.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.319458 m,
nav range: 350.935150 m,
bearing: 227.921323 deg,
approach rate: -0.775850 m/s,
LOS rate: 0.016261 deg/s,
cmd heading: 215.429070 deg,
new cmd heading: 215.438130 deg.
2025-08-22T21:24:17.049Z,1755897857.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.760105 target range: 363.319458 and range: 365.40 m.
2025-08-22T21:24:17.463Z,1755897857.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.32 m.
2025-08-22T21:24:17.466Z,1755897857.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.319458 m,
nav range: 350.641785 m,
bearing: 227.927435 deg,
approach rate: -0.701402 m/s,
LOS rate: 0.014627 deg/s,
cmd heading: 215.438127 deg,
new cmd heading: 215.450363 deg.
2025-08-22T21:24:17.467Z,1755897857.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.760318 target range: 363.319458 and range: 365.40 m.
2025-08-22T21:24:17.892Z,1755897857.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:17.906Z,1755897857.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.32 m.
2025-08-22T21:24:17.909Z,1755897857.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.319458 m,
nav range: 350.339142 m,
bearing: 227.933901 deg,
approach rate: -0.682610 m/s,
LOS rate: 0.014595 deg/s,
cmd heading: 215.450367 deg,
new cmd heading: 215.463309 deg.
2025-08-22T21:24:17.910Z,1755897857.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.760544 target range: 363.319458 and range: 365.40 m.
2025-08-22T21:24:18.070Z,1755897858.070 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:18.071Z,1755897858.071 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:18.071Z,1755897858.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:18.275Z,1755897858.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.32 m.
2025-08-22T21:24:18.284Z,1755897858.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.319458 m,
nav range: 350.082947 m,
bearing: 227.939292 deg,
approach rate: -0.694934 m/s,
LOS rate: 0.014633 deg/s,
cmd heading: 215.463303 deg,
new cmd heading: 215.474093 deg.
2025-08-22T21:24:18.285Z,1755897858.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.760732 target range: 363.319458 and range: 365.40 m.
2025-08-22T21:24:18.319Z,1755897858.319 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:24:18.324Z,1755897858.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.690195
2025-08-22T21:24:18.577Z,1755897858.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942606
2025-08-22T21:24:18.831Z,1755897858.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.196143
2025-08-22T21:24:18.839Z,1755897858.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.32 m.
2025-08-22T21:24:18.846Z,1755897858.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.319458 m,
nav range: 349.712280 m,
bearing: 227.946703 deg,
approach rate: -0.657504 m/s,
LOS rate: 0.013162 deg/s,
cmd heading: 215.474095 deg,
new cmd heading: 215.488935 deg.
2025-08-22T21:24:18.847Z,1755897858.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.760991 target range: 363.319458 and range: 365.40 m.
2025-08-22T21:24:19.079Z,1755897859.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.444671
2025-08-22T21:24:19.322Z,1755897859.322 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:24:19.330Z,1755897859.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.696423
2025-08-22T21:24:19.351Z,1755897859.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.32 m.
2025-08-22T21:24:19.358Z,1755897859.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.319458 m,
nav range: 349.353699 m,
bearing: 227.953844 deg,
approach rate: -0.700256 m/s,
LOS rate: 0.013959 deg/s,
cmd heading: 215.488930 deg,
new cmd heading: 215.503226 deg.
2025-08-22T21:24:19.359Z,1755897859.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.761241 target range: 363.319458 and range: 365.40 m.
2025-08-22T21:24:19.583Z,1755897859.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.948711
2025-08-22T21:24:19.840Z,1755897859.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206028
2025-08-22T21:24:19.862Z,1755897859.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.32 m.
2025-08-22T21:24:19.864Z,1755897859.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.319458 m,
nav range: 348.969940 m,
bearing: 227.961589 deg,
approach rate: -0.751492 m/s,
LOS rate: 0.015183 deg/s,
cmd heading: 215.503233 deg,
new cmd heading: 215.518740 deg.
2025-08-22T21:24:19.866Z,1755897859.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.761512 target range: 363.319458 and range: 365.40 m.
2025-08-22T21:24:20.092Z,1755897860.092 [DAT](INFO): DAT read: Rx Time:21:24:20.5297
2025-08-22T21:24:20.092Z,1755897860.092 [DAT](INFO): Rx dataTimestamp_ set to:1755897860.091967
2025-08-22T21:24:20.093Z,1755897860.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.459080
2025-08-22T21:24:20.220Z,1755897860.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:20.222Z,1755897860.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.32 m.
2025-08-22T21:24:20.224Z,1755897860.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.319458 m,
nav range: 348.718628 m,
bearing: 227.966634 deg,
approach rate: -0.697617 m/s,
LOS rate: 0.014015 deg/s,
cmd heading: 215.518737 deg,
new cmd heading: 215.528835 deg.
2025-08-22T21:24:20.226Z,1755897860.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.761688 target range: 363.319458 and range: 365.40 m.
2025-08-22T21:24:20.343Z,1755897860.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.708956
2025-08-22T21:24:20.616Z,1755897860.616 [DAT](INFO): DAT read: 21:24:20.5297 LVL= 29152, 32753, 32754, 32755, AGC= 70, IDX= 402, 0.27,-0.481,-2.414,-0.751,-0.993, PHS= 0.614,-1.376, 0.198, RAW= 138.6, 6.3, CAL= 138.4, 7.1, ROT= 11.6, -7.1
2025-08-22T21:24:20.656Z,1755897860.656 [DAT](INFO): got valid direction response:
21:24:20.5297 LVL= 29152, 32753, 32754, 32755, AGC= 70, IDX= 402, 0.27,-0.481,-2.414,-0.751,-0.993, PHS= 0.614,-1.376, 0.198, RAW= 138.6, 6.3, CAL= 138.4, 7.1, ROT= 11.6, -7.1
2025-08-22T21:24:20.666Z,1755897860.666 [DAT](INFO): DAT read: Bearing 11.2, 20.9 (Local)
2025-08-22T21:24:20.666Z,1755897860.666 [DAT](INFO): Local bearing/azimuth received:
Bearing 11.2, 20.9 (Local)
2025-08-22T21:24:20.668Z,1755897860.668 [DAT](INFO): DAT read: Range 11 to 50 : 362.4 m (Round-trip 483.3 ms) speed 0.4 m/s
2025-08-22T21:24:20.668Z,1755897860.668 [DAT](INFO): DAT read: user:2191>
2025-08-22T21:24:20.669Z,1755897860.669 [DAT](INFO): DAT read: Tx time:21:24:21.6438
2025-08-22T21:24:20.682Z,1755897860.682 [DAT](INFO): Ping request sent.
2025-08-22T21:24:20.682Z,1755897860.682 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:20.682Z,1755897860.682 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:24:20.683Z,1755897860.683 [DAT](INFO): direction in FSK: [0.972064,0.199536,0.123601]
2025-08-22T21:24:20.683Z,1755897860.683 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:20.683Z,1755897860.683 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:20.695Z,1755897860.695 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:20.695Z,1755897860.695 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:20.825Z,1755897860.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 362.399994 m,
deltaT: 4.035980 s,
deltaX: -3.000000 m,
approachRate: -0.743314 m/s,
rangeRepo size: 4
2025-08-22T21:24:20.838Z,1755897860.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 360.331848 m,
bearing: 227.372177 deg,
lat: 36.779519 deg,
lon: -121.859522 deg,
deltaT: 4.035980 s,
deltaX: -2.987610 m,
approachRate: -0.740244 m/s,
posRepo size: 4
2025-08-22T21:24:20.839Z,1755897860.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.33 m.
2025-08-22T21:24:20.847Z,1755897860.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.331848 m,
nav range: 348.817169 m,
bearing: 227.882225 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.014015 deg/s,
cmd heading: 215.528832 deg,
new cmd heading: 215.545719 deg.
2025-08-22T21:24:20.848Z,1755897860.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.761982 target range: 360.331848 and range: 362.40 m.
2025-08-22T21:24:21.196Z,1755897861.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.33 m.
2025-08-22T21:24:21.203Z,1755897861.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.331848 m,
nav range: 348.545837 m,
bearing: 227.887141 deg,
approach rate: -0.730244 m/s,
LOS rate: 0.013243 deg/s,
cmd heading: 215.545716 deg,
new cmd heading: 215.555558 deg.
2025-08-22T21:24:21.204Z,1755897861.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.762154 target range: 360.331848 and range: 362.40 m.
2025-08-22T21:24:21.580Z,1755897861.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.33 m.
2025-08-22T21:24:21.583Z,1755897861.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.331848 m,
nav range: 348.254883 m,
bearing: 227.892365 deg,
approach rate: -0.757221 m/s,
LOS rate: 0.013605 deg/s,
cmd heading: 215.555552 deg,
new cmd heading: 215.566007 deg.
2025-08-22T21:24:21.584Z,1755897861.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.762336 target range: 360.331848 and range: 362.40 m.
2025-08-22T21:24:22.014Z,1755897862.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.33 m.
2025-08-22T21:24:22.017Z,1755897862.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.331848 m,
nav range: 347.949341 m,
bearing: 227.897265 deg,
approach rate: -0.703215 m/s,
LOS rate: 0.011289 deg/s,
cmd heading: 215.566002 deg,
new cmd heading: 215.575812 deg.
2025-08-22T21:24:22.018Z,1755897862.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.762508 target range: 360.331848 and range: 362.40 m.
2025-08-22T21:24:22.487Z,1755897862.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:22.489Z,1755897862.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.33 m.
2025-08-22T21:24:22.492Z,1755897862.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.331848 m,
nav range: 347.616608 m,
bearing: 227.902351 deg,
approach rate: -0.701369 m/s,
LOS rate: 0.010730 deg/s,
cmd heading: 215.575810 deg,
new cmd heading: 215.585991 deg.
2025-08-22T21:24:22.493Z,1755897862.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.762685 target range: 360.331848 and range: 362.40 m.
2025-08-22T21:24:22.612Z,1755897862.612 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:22.612Z,1755897862.612 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:22.612Z,1755897862.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:22.863Z,1755897862.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180824
2025-08-22T21:24:22.976Z,1755897862.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.33 m.
2025-08-22T21:24:22.995Z,1755897862.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.331848 m,
nav range: 347.278107 m,
bearing: 227.907652 deg,
approach rate: -0.695622 m/s,
LOS rate: 0.010905 deg/s,
cmd heading: 215.585987 deg,
new cmd heading: 215.596601 deg.
2025-08-22T21:24:22.996Z,1755897862.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.762871 target range: 360.331848 and range: 362.40 m.
2025-08-22T21:24:23.115Z,1755897863.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.432843
2025-08-22T21:24:23.360Z,1755897863.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.33 m.
2025-08-22T21:24:23.362Z,1755897863.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.331848 m,
nav range: 347.007812 m,
bearing: 227.911810 deg,
approach rate: -0.703651 m/s,
LOS rate: 0.010832 deg/s,
cmd heading: 215.596601 deg,
new cmd heading: 215.604923 deg.
2025-08-22T21:24:23.363Z,1755897863.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763016 target range: 360.331848 and range: 362.40 m.
2025-08-22T21:24:23.367Z,1755897863.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.684869
2025-08-22T21:24:23.620Z,1755897863.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.937795
2025-08-22T21:24:23.773Z,1755897863.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.33 m.
2025-08-22T21:24:23.776Z,1755897863.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.331848 m,
nav range: 346.709717 m,
bearing: 227.916088 deg,
approach rate: -0.721649 m/s,
LOS rate: 0.010366 deg/s,
cmd heading: 215.604921 deg,
new cmd heading: 215.613485 deg.
2025-08-22T21:24:23.777Z,1755897863.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763165 target range: 360.331848 and range: 362.40 m.
2025-08-22T21:24:23.871Z,1755897863.871 [DAT](INFO): DAT read: Rx Time:21:24:24.5274
2025-08-22T21:24:23.872Z,1755897863.872 [DAT](INFO): Rx dataTimestamp_ set to:1755897863.871748
2025-08-22T21:24:23.873Z,1755897863.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191073
2025-08-22T21:24:24.122Z,1755897864.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.440685
2025-08-22T21:24:24.180Z,1755897864.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.33 m.
2025-08-22T21:24:24.185Z,1755897864.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.331848 m,
nav range: 346.427917 m,
bearing: 227.920075 deg,
approach rate: -0.693271 m/s,
LOS rate: 0.009815 deg/s,
cmd heading: 215.613486 deg,
new cmd heading: 215.621465 deg.
2025-08-22T21:24:24.187Z,1755897864.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763304 target range: 360.331848 and range: 362.40 m.
2025-08-22T21:24:24.375Z,1755897864.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.693535
2025-08-22T21:24:24.632Z,1755897864.632 [DAT](INFO): DAT read: 21:24:24.5274 LVL= 30128, 32753, 32754, 32755, AGC= 67, IDX= 394,-0.08,-1.421, 3.065,-1.668,-1.921, PHS= 0.601,-1.252, 0.208, RAW= 138.4, 5.3, CAL= 138.3, 6.1, ROT= 11.7, -6.1
2025-08-22T21:24:24.634Z,1755897864.634 [DAT](INFO): got valid direction response:
21:24:24.5274 LVL= 30128, 32753, 32754, 32755, AGC= 67, IDX= 394,-0.08,-1.421, 3.065,-1.668,-1.921, PHS= 0.601,-1.252, 0.208, RAW= 138.4, 5.3, CAL= 138.3, 6.1, ROT= 11.7, -6.1
2025-08-22T21:24:24.635Z,1755897864.635 [DAT](INFO): DAT read: Bearing 10.9, 22.6 (Local)
2025-08-22T21:24:24.635Z,1755897864.635 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.9, 22.6 (Local)
2025-08-22T21:24:24.638Z,1755897864.638 [DAT](INFO): DAT read: Range 11 to 50 : 359.5 m (Round-trip 479.4 ms) speed 0.8 m/s
2025-08-22T21:24:24.641Z,1755897864.641 [DAT](INFO): DAT read: user:2192>
2025-08-22T21:24:24.655Z,1755897864.655 [DAT](INFO): DAT read: Tx time:21:24:25.6422
2025-08-22T21:24:24.656Z,1755897864.656 [DAT](INFO): Ping request sent.
2025-08-22T21:24:24.657Z,1755897864.657 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:24.658Z,1755897864.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:24:24.661Z,1755897864.661 [DAT](INFO): direction in FSK: [0.973678,0.201639,0.106264]
2025-08-22T21:24:24.686Z,1755897864.686 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:24.687Z,1755897864.687 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:24.720Z,1755897864.720 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:24.720Z,1755897864.720 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:24.983Z,1755897864.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 359.500000 m,
deltaT: 4.030857 s,
deltaX: -2.899994 m,
approachRate: -0.719448 m/s,
rangeRepo size: 4
2025-08-22T21:24:24.985Z,1755897864.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 357.429596 m,
bearing: 228.298192 deg,
lat: 36.779526 deg,
lon: -121.859522 deg,
deltaT: 4.030857 s,
deltaX: -2.902252 m,
approachRate: -0.720009 m/s,
posRepo size: 4
2025-08-22T21:24:24.990Z,1755897864.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.43 m.
2025-08-22T21:24:24.993Z,1755897864.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 357.429596 m,
nav range: 345.369080 m,
bearing: 228.020518 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009815 deg/s,
cmd heading: 215.621463 deg,
new cmd heading: 215.637137 deg.
2025-08-22T21:24:24.998Z,1755897864.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763578 target range: 357.429596 and range: 359.50 m.
2025-08-22T21:24:25.584Z,1755897865.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:25.586Z,1755897865.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.43 m.
2025-08-22T21:24:25.589Z,1755897865.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 357.429596 m,
nav range: 344.930634 m,
bearing: 228.026291 deg,
approach rate: -0.720148 m/s,
LOS rate: 0.009495 deg/s,
cmd heading: 215.637132 deg,
new cmd heading: 215.648693 deg.
2025-08-22T21:24:25.590Z,1755897865.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763780 target range: 357.429596 and range: 359.50 m.
2025-08-22T21:24:25.638Z,1755897865.638 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:25.638Z,1755897865.638 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:25.639Z,1755897865.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:25.887Z,1755897865.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230599
2025-08-22T21:24:26.011Z,1755897866.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.43 m.
2025-08-22T21:24:26.019Z,1755897866.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 357.429596 m,
nav range: 344.661957 m,
bearing: 228.029496 deg,
approach rate: -0.632291 m/s,
LOS rate: 0.007549 deg/s,
cmd heading: 215.648688 deg,
new cmd heading: 215.655104 deg.
2025-08-22T21:24:26.020Z,1755897866.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763892 target range: 357.429596 and range: 359.50 m.
2025-08-22T21:24:26.139Z,1755897866.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482371
2025-08-22T21:24:26.390Z,1755897866.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734121
2025-08-22T21:24:26.506Z,1755897866.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.43 m.
2025-08-22T21:24:26.508Z,1755897866.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 357.429596 m,
nav range: 344.298218 m,
bearing: 228.033755 deg,
approach rate: -0.735877 m/s,
LOS rate: 0.008625 deg/s,
cmd heading: 215.655109 deg,
new cmd heading: 215.663635 deg.
2025-08-22T21:24:26.510Z,1755897866.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.764040 target range: 357.429596 and range: 359.50 m.
2025-08-22T21:24:26.643Z,1755897866.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986711
2025-08-22T21:24:26.899Z,1755897866.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242267
2025-08-22T21:24:26.926Z,1755897866.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.43 m.
2025-08-22T21:24:26.929Z,1755897866.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 357.429596 m,
nav range: 344.018158 m,
bearing: 228.037310 deg,
approach rate: -0.665663 m/s,
LOS rate: 0.008458 deg/s,
cmd heading: 215.663633 deg,
new cmd heading: 215.670749 deg.
2025-08-22T21:24:26.939Z,1755897866.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.764165 target range: 357.429596 and range: 359.50 m.
2025-08-22T21:24:27.150Z,1755897867.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494175
2025-08-22T21:24:27.326Z,1755897867.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.43 m.
2025-08-22T21:24:27.328Z,1755897867.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 357.429596 m,
nav range: 343.742981 m,
bearing: 228.040806 deg,
approach rate: -0.689147 m/s,
LOS rate: 0.008762 deg/s,
cmd heading: 215.670750 deg,
new cmd heading: 215.677747 deg.
2025-08-22T21:24:27.330Z,1755897867.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.764287 target range: 357.429596 and range: 359.50 m.
2025-08-22T21:24:27.405Z,1755897867.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748393
2025-08-22T21:24:27.663Z,1755897867.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006255
2025-08-22T21:24:27.704Z,1755897867.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:27.707Z,1755897867.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.43 m.
2025-08-22T21:24:27.709Z,1755897867.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 357.429596 m,
nav range: 343.489532 m,
bearing: 228.043996 deg,
approach rate: -0.665324 m/s,
LOS rate: 0.008380 deg/s,
cmd heading: 215.677744 deg,
new cmd heading: 215.684129 deg.
2025-08-22T21:24:27.710Z,1755897867.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.764398 target range: 357.429596 and range: 359.50 m.
2025-08-22T21:24:27.915Z,1755897867.915 [DAT](INFO): DAT read: Rx Time:21:24:28.5221
2025-08-22T21:24:27.915Z,1755897867.915 [DAT](INFO): Rx dataTimestamp_ set to:1755897867.915074
2025-08-22T21:24:27.916Z,1755897867.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259629
2025-08-22T21:24:28.137Z,1755897868.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.43 m.
2025-08-22T21:24:28.144Z,1755897868.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 357.429596 m,
nav range: 343.201599 m,
bearing: 228.047854 deg,
approach rate: -0.669309 m/s,
LOS rate: 0.008976 deg/s,
cmd heading: 215.684123 deg,
new cmd heading: 215.691846 deg.
2025-08-22T21:24:28.145Z,1755897868.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.764533 target range: 357.429596 and range: 359.50 m.
2025-08-22T21:24:28.167Z,1755897868.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511110
2025-08-22T21:24:28.442Z,1755897868.442 [DAT](INFO): DAT read: 21:24:28.5221 LVL= 29632, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.19,-3.119, 1.299, 2.969, 2.615, PHS= 0.651,-1.272, 0.310, RAW= 140.4, 3.5, CAL= 140.3, 4.2, ROT= 9.7, -4.2
2025-08-22T21:24:28.443Z,1755897868.443 [DAT](INFO): got valid direction response:
21:24:28.5221 LVL= 29632, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.19,-3.119, 1.299, 2.969, 2.615, PHS= 0.651,-1.272, 0.310, RAW= 140.4, 3.5, CAL= 140.3, 4.2, ROT= 9.7, -4.2
2025-08-22T21:24:28.444Z,1755897868.444 [DAT](INFO): DAT read: Bearing 9.5, 21.9 (Local)
2025-08-22T21:24:28.444Z,1755897868.444 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.5, 21.9 (Local)
2025-08-22T21:24:28.447Z,1755897868.447 [DAT](INFO): DAT read: Range 11 to 50 : 356.7 m (Round-trip 475.7 ms) speed 0.4 m/s
2025-08-22T21:24:28.456Z,1755897868.456 [DAT](INFO): DAT read: user:2193>
2025-08-22T21:24:28.457Z,1755897868.457 [DAT](INFO): DAT read: Tx time:21:24:29.6422
2025-08-22T21:24:28.457Z,1755897868.457 [DAT](INFO): Ping request sent.
2025-08-22T21:24:28.457Z,1755897868.457 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:28.458Z,1755897868.458 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:24:28.459Z,1755897868.459 [DAT](INFO): direction in FSK: [0.983056,0.168037,0.073238]
2025-08-22T21:24:28.459Z,1755897868.459 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:28.459Z,1755897868.459 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:28.462Z,1755897868.462 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:28.463Z,1755897868.463 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:28.584Z,1755897868.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 356.700012 m,
deltaT: 3.792662 s,
deltaX: -2.799988 m,
approachRate: -0.738265 m/s,
rangeRepo size: 4
2025-08-22T21:24:28.587Z,1755897868.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 354.626160 m,
bearing: 226.853961 deg,
lat: 36.779519 deg,
lon: -121.859505 deg,
deltaT: 3.792662 s,
deltaX: -2.803436 m,
approachRate: -0.739174 m/s,
posRepo size: 4
2025-08-22T21:24:28.588Z,1755897868.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.63 m.
2025-08-22T21:24:28.598Z,1755897868.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.626160 m,
nav range: 342.231323 m,
bearing: 227.781871 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.008976 deg/s,
cmd heading: 215.691842 deg,
new cmd heading: 215.699865 deg.
2025-08-22T21:24:28.600Z,1755897868.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.764673 target range: 354.626160 and range: 356.70 m.
2025-08-22T21:24:29.092Z,1755897869.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.63 m.
2025-08-22T21:24:29.095Z,1755897869.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.626160 m,
nav range: 341.872925 m,
bearing: 227.785535 deg,
approach rate: -0.705635 m/s,
LOS rate: 0.007222 deg/s,
cmd heading: 215.699860 deg,
new cmd heading: 215.707197 deg.
2025-08-22T21:24:29.095Z,1755897869.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.764801 target range: 354.626160 and range: 356.70 m.
2025-08-22T21:24:29.562Z,1755897869.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.63 m.
2025-08-22T21:24:29.564Z,1755897869.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.626160 m,
nav range: 341.552277 m,
bearing: 227.788820 deg,
approach rate: -0.682727 m/s,
LOS rate: 0.007001 deg/s,
cmd heading: 215.707196 deg,
new cmd heading: 215.713772 deg.
2025-08-22T21:24:29.565Z,1755897869.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.764915 target range: 354.626160 and range: 356.70 m.
2025-08-22T21:24:30.024Z,1755897870.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:30.043Z,1755897870.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.63 m.
2025-08-22T21:24:30.074Z,1755897870.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.626160 m,
nav range: 341.235626 m,
bearing: 227.792440 deg,
approach rate: -0.681744 m/s,
LOS rate: 0.007800 deg/s,
cmd heading: 215.713766 deg,
new cmd heading: 215.721012 deg.
2025-08-22T21:24:30.075Z,1755897870.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765042 target range: 354.626160 and range: 356.70 m.
2025-08-22T21:24:30.183Z,1755897870.183 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:30.183Z,1755897870.183 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:30.184Z,1755897870.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:30.416Z,1755897870.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.63 m.
2025-08-22T21:24:30.431Z,1755897870.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.626160 m,
nav range: 340.969086 m,
bearing: 227.795504 deg,
approach rate: -0.682143 m/s,
LOS rate: 0.007847 deg/s,
cmd heading: 215.721006 deg,
new cmd heading: 215.727139 deg.
2025-08-22T21:24:30.432Z,1755897870.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765149 target range: 354.626160 and range: 356.70 m.
2025-08-22T21:24:30.435Z,1755897870.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977435
2025-08-22T21:24:30.687Z,1755897870.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229862
2025-08-22T21:24:30.899Z,1755897870.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.63 m.
2025-08-22T21:24:30.902Z,1755897870.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.626160 m,
nav range: 340.641052 m,
bearing: 227.798072 deg,
approach rate: -0.679233 m/s,
LOS rate: 0.005324 deg/s,
cmd heading: 215.727140 deg,
new cmd heading: 215.732282 deg.
2025-08-22T21:24:30.903Z,1755897870.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765239 target range: 354.626160 and range: 356.70 m.
2025-08-22T21:24:30.939Z,1755897870.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481406
2025-08-22T21:24:31.192Z,1755897871.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734416
2025-08-22T21:24:31.332Z,1755897871.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.63 m.
2025-08-22T21:24:31.335Z,1755897871.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.626160 m,
nav range: 340.347992 m,
bearing: 227.800367 deg,
approach rate: -0.677817 m/s,
LOS rate: 0.005311 deg/s,
cmd heading: 215.732276 deg,
new cmd heading: 215.736869 deg.
2025-08-22T21:24:31.336Z,1755897871.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765319 target range: 354.626160 and range: 356.70 m.
2025-08-22T21:24:31.442Z,1755897871.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985246
2025-08-22T21:24:31.695Z,1755897871.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237962
2025-08-22T21:24:31.895Z,1755897871.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.63 m.
2025-08-22T21:24:31.898Z,1755897871.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.626160 m,
nav range: 339.978546 m,
bearing: 227.803245 deg,
approach rate: -0.655527 m/s,
LOS rate: 0.005112 deg/s,
cmd heading: 215.736866 deg,
new cmd heading: 215.742629 deg.
2025-08-22T21:24:31.899Z,1755897871.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765419 target range: 354.626160 and range: 356.70 m.
2025-08-22T21:24:31.947Z,1755897871.947 [DAT](INFO): DAT read: Rx Time:21:24:32.5185
2025-08-22T21:24:31.947Z,1755897871.947 [DAT](INFO): Rx dataTimestamp_ set to:1755897871.946995
2025-08-22T21:24:31.948Z,1755897871.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490610
2025-08-22T21:24:32.199Z,1755897872.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741350
2025-08-22T21:24:32.231Z,1755897872.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:32.246Z,1755897872.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.63 m.
2025-08-22T21:24:32.248Z,1755897872.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.626160 m,
nav range: 339.734100 m,
bearing: 227.805164 deg,
approach rate: -0.723129 m/s,
LOS rate: 0.005681 deg/s,
cmd heading: 215.742631 deg,
new cmd heading: 215.746472 deg.
2025-08-22T21:24:32.253Z,1755897872.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765486 target range: 354.626160 and range: 356.70 m.
2025-08-22T21:24:32.459Z,1755897872.459 [DAT](INFO): DAT read: 21:24:32.5185 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 399,-0.17,-0.817,-2.644,-1.040,-1.344, PHS= 0.629,-1.255, 0.260, RAW= 139.4, 4.3, CAL= 139.2, 5.0, ROT= 10.8, -5.0
2025-08-22T21:24:32.461Z,1755897872.461 [DAT](INFO): got valid direction response:
21:24:32.5185 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 399,-0.17,-0.817,-2.644,-1.040,-1.344, PHS= 0.629,-1.255, 0.260, RAW= 139.4, 4.3, CAL= 139.2, 5.0, ROT= 10.8, -5.0
2025-08-22T21:24:32.462Z,1755897872.462 [DAT](INFO): DAT read: Bearing 10.4, 22.9 (Local)
2025-08-22T21:24:32.463Z,1755897872.463 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.4, 22.9 (Local)
2025-08-22T21:24:32.465Z,1755897872.465 [DAT](INFO): DAT read: Range 11 to 50 : 354.0 m (Round-trip 472.1 ms) speed 0.5 m/s
2025-08-22T21:24:32.466Z,1755897872.466 [DAT](INFO): DAT read: user:2194>
2025-08-22T21:24:32.466Z,1755897872.466 [DAT](INFO): DAT read: Tx time:21:24:33.6422
2025-08-22T21:24:32.467Z,1755897872.467 [DAT](INFO): Ping request sent.
2025-08-22T21:24:32.467Z,1755897872.467 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:32.467Z,1755897872.467 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:24:32.468Z,1755897872.468 [DAT](INFO): direction in FSK: [0.978549,0.186668,0.087156]
2025-08-22T21:24:32.468Z,1755897872.468 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:32.469Z,1755897872.469 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:32.472Z,1755897872.472 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:32.472Z,1755897872.472 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:32.726Z,1755897872.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 354.000000 m,
deltaT: 4.032062 s,
deltaX: -2.700012 m,
approachRate: -0.669636 m/s,
rangeRepo size: 4
2025-08-22T21:24:32.728Z,1755897872.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 351.942108 m,
bearing: 227.956598 deg,
lat: 36.779526 deg,
lon: -121.859488 deg,
deltaT: 4.032062 s,
deltaX: -2.684052 m,
approachRate: -0.665677 m/s,
posRepo size: 4
2025-08-22T21:24:32.729Z,1755897872.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.94 m.
2025-08-22T21:24:32.732Z,1755897872.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 351.942108 m,
nav range: 337.759460 m,
bearing: 227.727747 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.005681 deg/s,
cmd heading: 215.746469 deg,
new cmd heading: 215.752060 deg.
2025-08-22T21:24:32.733Z,1755897872.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765584 target range: 351.942108 and range: 354.00 m.
2025-08-22T21:24:33.165Z,1755897873.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.94 m.
2025-08-22T21:24:33.170Z,1755897873.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 351.942108 m,
nav range: 337.463837 m,
bearing: 227.730108 deg,
approach rate: -0.674845 m/s,
LOS rate: 0.005395 deg/s,
cmd heading: 215.752056 deg,
new cmd heading: 215.756783 deg.
2025-08-22T21:24:33.172Z,1755897873.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765666 target range: 351.942108 and range: 354.00 m.
2025-08-22T21:24:33.525Z,1755897873.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.94 m.
2025-08-22T21:24:33.527Z,1755897873.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 351.942108 m,
nav range: 337.204529 m,
bearing: 227.732187 deg,
approach rate: -0.718284 m/s,
LOS rate: 0.005762 deg/s,
cmd heading: 215.756783 deg,
new cmd heading: 215.760943 deg.
2025-08-22T21:24:33.528Z,1755897873.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765739 target range: 351.942108 and range: 354.00 m.
2025-08-22T21:24:33.960Z,1755897873.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.94 m.
2025-08-22T21:24:33.964Z,1755897873.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 351.942108 m,
nav range: 336.898987 m,
bearing: 227.734773 deg,
approach rate: -0.701818 m/s,
LOS rate: 0.005947 deg/s,
cmd heading: 215.760949 deg,
new cmd heading: 215.766128 deg.
2025-08-22T21:24:33.965Z,1755897873.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765829 target range: 351.942108 and range: 354.00 m.
2025-08-22T21:24:34.331Z,1755897874.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:34.333Z,1755897874.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.94 m.
2025-08-22T21:24:34.336Z,1755897874.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 351.942108 m,
nav range: 336.637360 m,
bearing: 227.736999 deg,
approach rate: -0.701096 m/s,
LOS rate: 0.005968 deg/s,
cmd heading: 215.766127 deg,
new cmd heading: 215.770581 deg.
2025-08-22T21:24:34.337Z,1755897874.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765907 target range: 351.942108 and range: 354.00 m.
2025-08-22T21:24:34.466Z,1755897874.466 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:34.466Z,1755897874.466 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:34.467Z,1755897874.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:34.719Z,1755897874.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251643
2025-08-22T21:24:34.755Z,1755897874.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.94 m.
2025-08-22T21:24:34.758Z,1755897874.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 351.942108 m,
nav range: 336.341003 m,
bearing: 227.739523 deg,
approach rate: -0.702679 m/s,
LOS rate: 0.005991 deg/s,
cmd heading: 215.770580 deg,
new cmd heading: 215.775634 deg.
2025-08-22T21:24:34.759Z,1755897874.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765995 target range: 351.942108 and range: 354.00 m.
2025-08-22T21:24:34.971Z,1755897874.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503688
2025-08-22T21:24:35.203Z,1755897875.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.94 m.
2025-08-22T21:24:35.210Z,1755897875.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 351.942108 m,
nav range: 336.049530 m,
bearing: 227.742323 deg,
approach rate: -0.650078 m/s,
LOS rate: 0.006249 deg/s,
cmd heading: 215.775634 deg,
new cmd heading: 215.781238 deg.
2025-08-22T21:24:35.211Z,1755897875.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766093 target range: 351.942108 and range: 354.00 m.
2025-08-22T21:24:35.223Z,1755897875.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755712
2025-08-22T21:24:35.474Z,1755897875.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007571
2025-08-22T21:24:35.559Z,1755897875.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.94 m.
2025-08-22T21:24:35.561Z,1755897875.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 351.942108 m,
nav range: 335.796021 m,
bearing: 227.744798 deg,
approach rate: -0.713446 m/s,
LOS rate: 0.006972 deg/s,
cmd heading: 215.781235 deg,
new cmd heading: 215.786190 deg.
2025-08-22T21:24:35.563Z,1755897875.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766180 target range: 351.942108 and range: 354.00 m.
2025-08-22T21:24:35.727Z,1755897875.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259615
2025-08-22T21:24:35.979Z,1755897875.979 [DAT](INFO): DAT read: Rx Time:21:24:36.5147
2025-08-22T21:24:35.979Z,1755897875.979 [DAT](INFO): Rx dataTimestamp_ set to:1755897875.978832
2025-08-22T21:24:35.980Z,1755897875.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512746
2025-08-22T21:24:35.980Z,1755897875.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.94 m.
2025-08-22T21:24:35.983Z,1755897875.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 351.942108 m,
nav range: 335.494293 m,
bearing: 227.747811 deg,
approach rate: -0.720323 m/s,
LOS rate: 0.007199 deg/s,
cmd heading: 215.786194 deg,
new cmd heading: 215.792224 deg.
2025-08-22T21:24:35.984Z,1755897875.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766285 target range: 351.942108 and range: 354.00 m.
2025-08-22T21:24:36.231Z,1755897876.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763621
2025-08-22T21:24:36.351Z,1755897876.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:36.353Z,1755897876.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.94 m.
2025-08-22T21:24:36.356Z,1755897876.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 351.942108 m,
nav range: 335.234131 m,
bearing: 227.750477 deg,
approach rate: -0.693164 m/s,
LOS rate: 0.007110 deg/s,
cmd heading: 215.792218 deg,
new cmd heading: 215.797555 deg.
2025-08-22T21:24:36.357Z,1755897876.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766378 target range: 351.942108 and range: 354.00 m.
2025-08-22T21:24:36.488Z,1755897876.488 [DAT](INFO): DAT read: 21:24:36.5147 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408, 0.30, 2.450, 0.609, 2.218, 1.894, PHS= 0.658,-1.239, 0.280, RAW= 139.1, 3.5, CAL= 139.1, 4.2, ROT= 10.9, -4.2
2025-08-22T21:24:36.489Z,1755897876.489 [DAT](INFO): got valid direction response:
21:24:36.5147 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408, 0.30, 2.450, 0.609, 2.218, 1.894, PHS= 0.658,-1.239, 0.280, RAW= 139.1, 3.5, CAL= 139.1, 4.2, ROT= 10.9, -4.2
2025-08-22T21:24:36.490Z,1755897876.490 [DAT](INFO): DAT read: Bearing 8.7, 23.0 (Local)
2025-08-22T21:24:36.491Z,1755897876.491 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.7, 23.0 (Local)
2025-08-22T21:24:36.492Z,1755897876.492 [DAT](INFO): DAT read: Range 11 to 50 : 351.2 m (Round-trip 468.3 ms) speed 0.5 m/s
2025-08-22T21:24:36.493Z,1755897876.493 [DAT](INFO): DAT read: user:2195>
2025-08-22T21:24:36.494Z,1755897876.494 [DAT](INFO): DAT read: Tx time:21:24:37.6422
2025-08-22T21:24:36.494Z,1755897876.494 [DAT](INFO): Ping request sent.
2025-08-22T21:24:36.494Z,1755897876.494 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:36.494Z,1755897876.494 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:24:36.495Z,1755897876.495 [DAT](INFO): direction in FSK: [0.979322,0.188588,0.073238]
2025-08-22T21:24:36.495Z,1755897876.495 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:36.496Z,1755897876.496 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:36.499Z,1755897876.499 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:36.499Z,1755897876.499 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:36.807Z,1755897876.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 351.200012 m,
deltaT: 4.031033 s,
deltaX: -2.799988 m,
approachRate: -0.694608 m/s,
rangeRepo size: 4
2025-08-22T21:24:36.810Z,1755897876.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 349.144196 m,
bearing: 227.755866 deg,
lat: 36.779523 deg,
lon: -121.859488 deg,
deltaT: 4.031033 s,
deltaX: -2.797913 m,
approachRate: -0.694093 m/s,
posRepo size: 4
2025-08-22T21:24:36.810Z,1755897876.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.14 m.
2025-08-22T21:24:36.813Z,1755897876.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.144196 m,
nav range: 335.137482 m,
bearing: 227.715833 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007110 deg/s,
cmd heading: 215.797559 deg,
new cmd heading: 215.804016 deg.
2025-08-22T21:24:36.814Z,1755897876.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766491 target range: 349.144196 and range: 351.20 m.
2025-08-22T21:24:37.322Z,1755897877.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.14 m.
2025-08-22T21:24:37.325Z,1755897877.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.144196 m,
nav range: 334.765594 m,
bearing: 227.720544 deg,
approach rate: -0.722171 m/s,
LOS rate: 0.009158 deg/s,
cmd heading: 215.804021 deg,
new cmd heading: 215.813453 deg.
2025-08-22T21:24:37.326Z,1755897877.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766655 target range: 349.144196 and range: 351.20 m.
2025-08-22T21:24:37.823Z,1755897877.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.14 m.
2025-08-22T21:24:37.826Z,1755897877.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.144196 m,
nav range: 334.429718 m,
bearing: 227.724807 deg,
approach rate: -0.669515 m/s,
LOS rate: 0.008507 deg/s,
cmd heading: 215.813446 deg,
new cmd heading: 215.821981 deg.
2025-08-22T21:24:37.827Z,1755897877.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766804 target range: 349.144196 and range: 351.20 m.
2025-08-22T21:24:38.322Z,1755897878.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.14 m.
2025-08-22T21:24:38.325Z,1755897878.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.144196 m,
nav range: 334.095093 m,
bearing: 227.728634 deg,
approach rate: -0.671566 m/s,
LOS rate: 0.007687 deg/s,
cmd heading: 215.821984 deg,
new cmd heading: 215.829645 deg.
2025-08-22T21:24:38.326Z,1755897878.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766938 target range: 349.144196 and range: 351.20 m.
2025-08-22T21:24:38.607Z,1755897878.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:38.609Z,1755897878.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.14 m.
2025-08-22T21:24:38.628Z,1755897878.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.144196 m,
nav range: 333.887817 m,
bearing: 227.731056 deg,
approach rate: -0.721759 m/s,
LOS rate: 0.008442 deg/s,
cmd heading: 215.829647 deg,
new cmd heading: 215.834496 deg.
2025-08-22T21:24:38.634Z,1755897878.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767023 target range: 349.144196 and range: 351.20 m.
2025-08-22T21:24:38.750Z,1755897878.750 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:38.750Z,1755897878.750 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:38.751Z,1755897878.751 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:39.002Z,1755897879.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508298
2025-08-22T21:24:39.070Z,1755897879.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.14 m.
2025-08-22T21:24:39.073Z,1755897879.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.144196 m,
nav range: 333.576996 m,
bearing: 227.733984 deg,
approach rate: -0.673769 m/s,
LOS rate: 0.006352 deg/s,
cmd heading: 215.834497 deg,
new cmd heading: 215.840357 deg.
2025-08-22T21:24:39.078Z,1755897879.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767125 target range: 349.144196 and range: 351.20 m.
2025-08-22T21:24:39.256Z,1755897879.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761481
2025-08-22T21:24:39.424Z,1755897879.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.14 m.
2025-08-22T21:24:39.426Z,1755897879.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.144196 m,
nav range: 333.330963 m,
bearing: 227.736324 deg,
approach rate: -0.696239 m/s,
LOS rate: 0.006627 deg/s,
cmd heading: 215.840357 deg,
new cmd heading: 215.845040 deg.
2025-08-22T21:24:39.427Z,1755897879.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767207 target range: 349.144196 and range: 351.20 m.
2025-08-22T21:24:39.507Z,1755897879.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012648
2025-08-22T21:24:39.760Z,1755897879.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265494
2025-08-22T21:24:39.813Z,1755897879.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.14 m.
2025-08-22T21:24:39.838Z,1755897879.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.144196 m,
nav range: 333.066040 m,
bearing: 227.738917 deg,
approach rate: -0.680499 m/s,
LOS rate: 0.006667 deg/s,
cmd heading: 215.845043 deg,
new cmd heading: 215.850234 deg.
2025-08-22T21:24:39.839Z,1755897879.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767297 target range: 349.144196 and range: 351.20 m.
2025-08-22T21:24:40.011Z,1755897880.011 [DAT](INFO): DAT read: Rx Time:21:24:40.5110
2025-08-22T21:24:40.011Z,1755897880.011 [DAT](INFO): Rx dataTimestamp_ set to:1755897880.010759
2025-08-22T21:24:40.012Z,1755897880.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517544
2025-08-22T21:24:40.243Z,1755897880.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.14 m.
2025-08-22T21:24:40.246Z,1755897880.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.144196 m,
nav range: 332.776306 m,
bearing: 227.741443 deg,
approach rate: -0.673601 m/s,
LOS rate: 0.005877 deg/s,
cmd heading: 215.850234 deg,
new cmd heading: 215.855289 deg.
2025-08-22T21:24:40.247Z,1755897880.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767385 target range: 349.144196 and range: 351.20 m.
2025-08-22T21:24:40.263Z,1755897880.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769113
2025-08-22T21:24:40.540Z,1755897880.540 [DAT](INFO): DAT read: 21:24:40.5110 LVL= 31952, 32753, 32754, 32755, AGC= 66, IDX= 402, 0.22,-2.798, 1.651,-3.057, 2.922, PHS= 0.665,-1.226, 0.260, RAW= 138.3, 3.5, CAL= 138.3, 4.3, ROT= 11.7, -4.3
2025-08-22T21:24:40.541Z,1755897880.541 [DAT](INFO): got valid direction response:
21:24:40.5110 LVL= 31952, 32753, 32754, 32755, AGC= 66, IDX= 402, 0.22,-2.798, 1.651,-3.057, 2.922, PHS= 0.665,-1.226, 0.260, RAW= 138.3, 3.5, CAL= 138.3, 4.3, ROT= 11.7, -4.3
2025-08-22T21:24:40.546Z,1755897880.546 [DAT](INFO): DAT read: Bearing 7.3, 23.3 (Local)
2025-08-22T21:24:40.546Z,1755897880.546 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.3, 23.3 (Local)
2025-08-22T21:24:40.548Z,1755897880.548 [DAT](INFO): DAT read: Range 11 to 50 : 348.4 m (Round-trip 464.6 ms) speed 0.2 m/s
2025-08-22T21:24:40.548Z,1755897880.548 [DAT](INFO): DAT read: user:2196>
2025-08-22T21:24:40.549Z,1755897880.549 [DAT](INFO): DAT read: Tx time:21:24:41.6422
2025-08-22T21:24:40.554Z,1755897880.554 [DAT](INFO): Ping request sent.
2025-08-22T21:24:40.554Z,1755897880.554 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:40.554Z,1755897880.554 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:24:40.555Z,1755897880.555 [DAT](INFO): direction in FSK: [0.976466,0.202216,0.074979]
2025-08-22T21:24:40.555Z,1755897880.555 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:40.555Z,1755897880.555 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:40.563Z,1755897880.563 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:40.563Z,1755897880.563 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:40.671Z,1755897880.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 348.399994 m,
deltaT: 4.031764 s,
deltaX: -2.800018 m,
approachRate: -0.694490 m/s,
rangeRepo size: 4
2025-08-22T21:24:40.678Z,1755897880.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 346.360687 m,
bearing: 227.807356 deg,
lat: 36.779523 deg,
lon: -121.859492 deg,
deltaT: 4.031764 s,
deltaX: -2.783508 m,
approachRate: -0.690395 m/s,
posRepo size: 4
2025-08-22T21:24:40.678Z,1755897880.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.36 m.
2025-08-22T21:24:40.681Z,1755897880.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.360687 m,
nav range: 332.772766 m,
bearing: 227.785392 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.005877 deg/s,
cmd heading: 215.855288 deg,
new cmd heading: 215.860316 deg.
2025-08-22T21:24:40.686Z,1755897880.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767473 target range: 346.360687 and range: 348.40 m.
2025-08-22T21:24:41.054Z,1755897881.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:41.056Z,1755897881.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.36 m.
2025-08-22T21:24:41.059Z,1755897881.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.360687 m,
nav range: 332.492554 m,
bearing: 227.788061 deg,
approach rate: -0.727566 m/s,
LOS rate: 0.006936 deg/s,
cmd heading: 215.860315 deg,
new cmd heading: 215.865658 deg.
2025-08-22T21:24:41.060Z,1755897881.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767566 target range: 346.360687 and range: 348.40 m.
2025-08-22T21:24:41.275Z,1755897881.275 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:41.275Z,1755897881.275 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:41.276Z,1755897881.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:41.447Z,1755897881.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.36 m.
2025-08-22T21:24:41.449Z,1755897881.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.360687 m,
nav range: 332.227966 m,
bearing: 227.790585 deg,
approach rate: -0.678722 m/s,
LOS rate: 0.006481 deg/s,
cmd heading: 215.865656 deg,
new cmd heading: 215.870709 deg.
2025-08-22T21:24:41.450Z,1755897881.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767655 target range: 346.360687 and range: 348.40 m.
2025-08-22T21:24:41.527Z,1755897881.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972873
2025-08-22T21:24:41.780Z,1755897881.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226140
2025-08-22T21:24:41.855Z,1755897881.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.36 m.
2025-08-22T21:24:41.858Z,1755897881.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.360687 m,
nav range: 331.961517 m,
bearing: 227.793281 deg,
approach rate: -0.650524 m/s,
LOS rate: 0.006587 deg/s,
cmd heading: 215.870711 deg,
new cmd heading: 215.876107 deg.
2025-08-22T21:24:41.859Z,1755897881.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767749 target range: 346.360687 and range: 348.40 m.
2025-08-22T21:24:42.030Z,1755897882.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476754
2025-08-22T21:24:42.283Z,1755897882.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728834
2025-08-22T21:24:42.292Z,1755897882.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.36 m.
2025-08-22T21:24:42.299Z,1755897882.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.360687 m,
nav range: 331.670868 m,
bearing: 227.796192 deg,
approach rate: -0.665914 m/s,
LOS rate: 0.006674 deg/s,
cmd heading: 215.876106 deg,
new cmd heading: 215.881933 deg.
2025-08-22T21:24:42.300Z,1755897882.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767851 target range: 346.360687 and range: 348.40 m.
2025-08-22T21:24:42.535Z,1755897882.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981188
2025-08-22T21:24:42.641Z,1755897882.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.36 m.
2025-08-22T21:24:42.660Z,1755897882.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.360687 m,
nav range: 331.420349 m,
bearing: 227.798742 deg,
approach rate: -0.717350 m/s,
LOS rate: 0.007308 deg/s,
cmd heading: 215.881939 deg,
new cmd heading: 215.887044 deg.
2025-08-22T21:24:42.661Z,1755897882.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767940 target range: 346.360687 and range: 348.40 m.
2025-08-22T21:24:42.787Z,1755897882.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232771
2025-08-22T21:24:43.039Z,1755897883.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484825
2025-08-22T21:24:43.071Z,1755897883.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:43.073Z,1755897883.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.36 m.
2025-08-22T21:24:43.076Z,1755897883.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.360687 m,
nav range: 331.129150 m,
bearing: 227.801593 deg,
approach rate: -0.673798 m/s,
LOS rate: 0.006603 deg/s,
cmd heading: 215.887048 deg,
new cmd heading: 215.892756 deg.
2025-08-22T21:24:43.077Z,1755897883.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768039 target range: 346.360687 and range: 348.40 m.
2025-08-22T21:24:43.293Z,1755897883.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739595
2025-08-22T21:24:43.448Z,1755897883.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.36 m.
2025-08-22T21:24:43.467Z,1755897883.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.360687 m,
nav range: 330.878052 m,
bearing: 227.804109 deg,
approach rate: -0.670480 m/s,
LOS rate: 0.006723 deg/s,
cmd heading: 215.892758 deg,
new cmd heading: 215.897794 deg.
2025-08-22T21:24:43.468Z,1755897883.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768127 target range: 346.360687 and range: 348.40 m.
2025-08-22T21:24:43.543Z,1755897883.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989464
2025-08-22T21:24:43.794Z,1755897883.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240713
2025-08-22T21:24:43.857Z,1755897883.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.36 m.
2025-08-22T21:24:43.859Z,1755897883.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.360687 m,
nav range: 330.604370 m,
bearing: 227.806899 deg,
approach rate: -0.669477 m/s,
LOS rate: 0.006830 deg/s,
cmd heading: 215.897799 deg,
new cmd heading: 215.903383 deg.
2025-08-22T21:24:43.860Z,1755897883.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768225 target range: 346.360687 and range: 348.40 m.
2025-08-22T21:24:44.047Z,1755897884.047 [DAT](INFO): DAT read: Rx Time:21:24:44.5074
2025-08-22T21:24:44.047Z,1755897884.047 [DAT](INFO): Rx dataTimestamp_ set to:1755897884.046697
2025-08-22T21:24:44.047Z,1755897884.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493798
2025-08-22T21:24:44.298Z,1755897884.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.744641
2025-08-22T21:24:44.311Z,1755897884.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.36 m.
2025-08-22T21:24:44.318Z,1755897884.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.360687 m,
nav range: 330.309418 m,
bearing: 227.810360 deg,
approach rate: -0.648852 m/s,
LOS rate: 0.007620 deg/s,
cmd heading: 215.903386 deg,
new cmd heading: 215.910314 deg.
2025-08-22T21:24:44.319Z,1755897884.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768346 target range: 346.360687 and range: 348.40 m.
2025-08-22T21:24:44.556Z,1755897884.556 [DAT](INFO): DAT read: 21:24:44.5073 LVL= 28752, 32753, 32754, 32755, AGC= 71, IDX= 397, 0.20, 1.256,-0.576, 0.992, 0.723, PHS= 0.636,-1.254, 0.225, RAW= 138.1, 4.6, CAL= 138.1, 5.4, ROT= 11.9, -5.4
2025-08-22T21:24:44.557Z,1755897884.557 [DAT](INFO): got valid direction response:
21:24:44.5073 LVL= 28752, 32753, 32754, 32755, AGC= 71, IDX= 397, 0.20, 1.256,-0.576, 0.992, 0.723, PHS= 0.636,-1.254, 0.225, RAW= 138.1, 4.6, CAL= 138.1, 5.4, ROT= 11.9, -5.4
2025-08-22T21:24:44.578Z,1755897884.578 [DAT](INFO): DAT read: Bearing 7.4, 23.4 (Local)
2025-08-22T21:24:44.578Z,1755897884.578 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.4, 23.4 (Local)
2025-08-22T21:24:44.580Z,1755897884.580 [DAT](INFO): DAT read: Range 11 to 50 : 345.7 m (Round-trip 461.0 ms) speed 0.8 m/s
2025-08-22T21:24:44.581Z,1755897884.581 [DAT](INFO): DAT read: user:2197>
2025-08-22T21:24:44.585Z,1755897884.585 [DAT](INFO): DAT read: Tx time:21:24:45.5921
2025-08-22T21:24:44.586Z,1755897884.586 [DAT](INFO): Ping request sent.
2025-08-22T21:24:44.586Z,1755897884.586 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:44.586Z,1755897884.586 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:24:44.587Z,1755897884.587 [DAT](INFO): direction in FSK: [0.974166,0.205289,0.094108]
2025-08-22T21:24:44.587Z,1755897884.587 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:44.588Z,1755897884.588 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:44.595Z,1755897884.595 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:44.595Z,1755897884.595 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:44.713Z,1755897884.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 345.700012 m,
deltaT: 4.036024 s,
deltaX: -2.699982 m,
approachRate: -0.668971 m/s,
rangeRepo size: 4
2025-08-22T21:24:44.731Z,1755897884.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 343.674042 m,
bearing: 227.402058 deg,
lat: 36.779521 deg,
lon: -121.859488 deg,
deltaT: 4.036024 s,
deltaX: -2.686646 m,
approachRate: -0.665666 m/s,
posRepo size: 4
2025-08-22T21:24:44.732Z,1755897884.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.67 m.
2025-08-22T21:24:44.745Z,1755897884.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 343.674042 m,
nav range: 329.941193 m,
bearing: 227.740089 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007620 deg/s,
cmd heading: 215.910312 deg,
new cmd heading: 215.916428 deg.
2025-08-22T21:24:44.752Z,1755897884.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768453 target range: 343.674042 and range: 345.70 m.
2025-08-22T21:24:45.125Z,1755897885.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:45.127Z,1755897885.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.67 m.
2025-08-22T21:24:45.130Z,1755897885.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 343.674042 m,
nav range: 329.641479 m,
bearing: 227.743823 deg,
approach rate: -0.723197 m/s,
LOS rate: 0.009018 deg/s,
cmd heading: 215.916432 deg,
new cmd heading: 215.923907 deg.
2025-08-22T21:24:45.131Z,1755897885.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768583 target range: 343.674042 and range: 345.70 m.
2025-08-22T21:24:45.309Z,1755897885.309 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:45.309Z,1755897885.309 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:45.309Z,1755897885.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:45.486Z,1755897885.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.67 m.
2025-08-22T21:24:45.489Z,1755897885.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 343.674042 m,
nav range: 329.393311 m,
bearing: 227.746920 deg,
approach rate: -0.690064 m/s,
LOS rate: 0.008618 deg/s,
cmd heading: 215.923904 deg,
new cmd heading: 215.930103 deg.
2025-08-22T21:24:45.490Z,1755897885.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768691 target range: 343.674042 and range: 345.70 m.
2025-08-22T21:24:45.560Z,1755897885.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974460
2025-08-22T21:24:45.810Z,1755897885.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224702
2025-08-22T21:24:45.885Z,1755897885.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.67 m.
2025-08-22T21:24:45.888Z,1755897885.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 343.674042 m,
nav range: 329.117950 m,
bearing: 227.750447 deg,
approach rate: -0.690851 m/s,
LOS rate: 0.008856 deg/s,
cmd heading: 215.930106 deg,
new cmd heading: 215.937165 deg.
2025-08-22T21:24:45.889Z,1755897885.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768815 target range: 343.674042 and range: 345.70 m.
2025-08-22T21:24:46.063Z,1755897886.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476763
2025-08-22T21:24:46.313Z,1755897886.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.67 m.
2025-08-22T21:24:46.315Z,1755897886.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728918
2025-08-22T21:24:46.317Z,1755897886.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 343.674042 m,
nav range: 328.824463 m,
bearing: 227.753656 deg,
approach rate: -0.686342 m/s,
LOS rate: 0.007511 deg/s,
cmd heading: 215.937168 deg,
new cmd heading: 215.943592 deg.
2025-08-22T21:24:46.318Z,1755897886.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768927 target range: 343.674042 and range: 345.70 m.
2025-08-22T21:24:46.567Z,1755897886.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980903
2025-08-22T21:24:46.682Z,1755897886.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.67 m.
2025-08-22T21:24:46.684Z,1755897886.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 343.674042 m,
nav range: 328.571655 m,
bearing: 227.756449 deg,
approach rate: -0.685749 m/s,
LOS rate: 0.007583 deg/s,
cmd heading: 215.943589 deg,
new cmd heading: 215.949180 deg.
2025-08-22T21:24:46.685Z,1755897886.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769024 target range: 343.674042 and range: 345.70 m.
2025-08-22T21:24:46.818Z,1755897886.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232732
2025-08-22T21:24:47.071Z,1755897887.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484895
2025-08-22T21:24:47.132Z,1755897887.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:47.135Z,1755897887.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.67 m.
2025-08-22T21:24:47.137Z,1755897887.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 343.674042 m,
nav range: 328.262451 m,
bearing: 227.759430 deg,
approach rate: -0.682101 m/s,
LOS rate: 0.006581 deg/s,
cmd heading: 215.949176 deg,
new cmd heading: 215.955143 deg.
2025-08-22T21:24:47.138Z,1755897887.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769128 target range: 343.674042 and range: 345.70 m.
2025-08-22T21:24:47.325Z,1755897887.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739439
2025-08-22T21:24:47.488Z,1755897887.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.67 m.
2025-08-22T21:24:47.491Z,1755897887.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 343.674042 m,
nav range: 328.021332 m,
bearing: 227.761802 deg,
approach rate: -0.683011 m/s,
LOS rate: 0.006724 deg/s,
cmd heading: 215.955145 deg,
new cmd heading: 215.959893 deg.
2025-08-22T21:24:47.491Z,1755897887.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769211 target range: 343.674042 and range: 345.70 m.
2025-08-22T21:24:47.575Z,1755897887.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988920
2025-08-22T21:24:47.827Z,1755897887.827 [DAT](INFO): DAT read: Rx Time:21:24:48.4536
2025-08-22T21:24:47.827Z,1755897887.827 [DAT](INFO): Rx dataTimestamp_ set to:1755897887.826701
2025-08-22T21:24:47.827Z,1755897887.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241772
2025-08-22T21:24:47.901Z,1755897887.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.67 m.
2025-08-22T21:24:47.905Z,1755897887.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 343.674042 m,
nav range: 327.738312 m,
bearing: 227.764616 deg,
approach rate: -0.684349 m/s,
LOS rate: 0.006812 deg/s,
cmd heading: 215.959899 deg,
new cmd heading: 215.965533 deg.
2025-08-22T21:24:47.906Z,1755897887.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769310 target range: 343.674042 and range: 345.70 m.
2025-08-22T21:24:48.080Z,1755897888.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493748
2025-08-22T21:24:48.333Z,1755897888.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747200
2025-08-22T21:24:48.390Z,1755897888.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.67 m.
2025-08-22T21:24:48.393Z,1755897888.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 343.674042 m,
nav range: 327.413330 m,
bearing: 227.768723 deg,
approach rate: -0.671010 m/s,
LOS rate: 0.008488 deg/s,
cmd heading: 215.965527 deg,
new cmd heading: 215.973749 deg.
2025-08-22T21:24:48.398Z,1755897888.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769453 target range: 343.674042 and range: 345.70 m.
2025-08-22T21:24:48.588Z,1755897888.588 [DAT](INFO): DAT read: 21:24:48.4536 LVL= 29904, 32753, 32754, 32755, AGC= 69, IDX= 407,-0.43,-0.137,-1.925,-0.403,-0.661, PHS= 0.626,-1.219, 0.214, RAW= 137.7, 4.6, CAL= 137.7, 5.4, ROT= 12.3, -5.4
2025-08-22T21:24:48.589Z,1755897888.589 [DAT](INFO): got valid direction response:
21:24:48.4536 LVL= 29904, 32753, 32754, 32755, AGC= 69, IDX= 407,-0.43,-0.137,-1.925,-0.403,-0.661, PHS= 0.626,-1.219, 0.214, RAW= 137.7, 4.6, CAL= 137.7, 5.4, ROT= 12.3, -5.4
2025-08-22T21:24:48.590Z,1755897888.590 [DAT](INFO): DAT read: Bearing 6.7, 23.6 (Local)
2025-08-22T21:24:48.591Z,1755897888.591 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.7, 23.6 (Local)
2025-08-22T21:24:48.592Z,1755897888.592 [DAT](INFO): DAT read: Range 11 to 50 : 342.9 m (Round-trip 457.3 ms) speed 0.6 m/s
2025-08-22T21:24:48.593Z,1755897888.593 [DAT](INFO): DAT read: user:2198>
2025-08-22T21:24:48.596Z,1755897888.596 [DAT](INFO): DAT read: Tx time:21:24:49.5421
2025-08-22T21:24:48.597Z,1755897888.597 [DAT](INFO): Ping request sent.
2025-08-22T21:24:48.604Z,1755897888.604 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:48.604Z,1755897888.604 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:24:48.606Z,1755897888.606 [DAT](INFO): direction in FSK: [0.972709,0.212085,0.094108]
2025-08-22T21:24:48.606Z,1755897888.606 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:48.606Z,1755897888.606 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:48.609Z,1755897888.609 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:48.610Z,1755897888.610 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:48.768Z,1755897888.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 342.899994 m,
deltaT: 4.032071 s,
deltaX: -2.800018 m,
approachRate: -0.694437 m/s,
rangeRepo size: 4
2025-08-22T21:24:48.774Z,1755897888.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 340.887390 m,
bearing: 227.387654 deg,
lat: 36.779521 deg,
lon: -121.859488 deg,
deltaT: 4.032071 s,
deltaX: -2.786652 m,
approachRate: -0.691122 m/s,
posRepo size: 4
2025-08-22T21:24:48.775Z,1755897888.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.89 m.
2025-08-22T21:24:48.777Z,1755897888.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.887390 m,
nav range: 327.175995 m,
bearing: 227.771759 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.008488 deg/s,
cmd heading: 215.973751 deg,
new cmd heading: 215.980225 deg.
2025-08-22T21:24:48.782Z,1755897888.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769566 target range: 340.887390 and range: 342.90 m.
2025-08-22T21:24:49.140Z,1755897889.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:49.143Z,1755897889.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.89 m.
2025-08-22T21:24:49.146Z,1755897889.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.887390 m,
nav range: 326.882629 m,
bearing: 227.774523 deg,
approach rate: -0.780408 m/s,
LOS rate: 0.007360 deg/s,
cmd heading: 215.980226 deg,
new cmd heading: 215.985759 deg.
2025-08-22T21:24:49.147Z,1755897889.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769663 target range: 340.887390 and range: 342.90 m.
2025-08-22T21:24:49.341Z,1755897889.341 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:49.341Z,1755897889.341 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:49.341Z,1755897889.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:49.442Z,1755897889.442 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:24:49.513Z,1755897889.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.89 m.
2025-08-22T21:24:49.515Z,1755897889.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.887390 m,
nav range: 326.625336 m,
bearing: 227.776977 deg,
approach rate: -0.695836 m/s,
LOS rate: 0.006641 deg/s,
cmd heading: 215.985758 deg,
new cmd heading: 215.990670 deg.
2025-08-22T21:24:49.516Z,1755897889.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769748 target range: 340.887390 and range: 342.90 m.
2025-08-22T21:24:49.591Z,1755897889.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993824
2025-08-22T21:24:49.843Z,1755897889.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245669
2025-08-22T21:24:49.935Z,1755897889.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.89 m.
2025-08-22T21:24:49.938Z,1755897889.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.887390 m,
nav range: 326.343445 m,
bearing: 227.779706 deg,
approach rate: -0.667524 m/s,
LOS rate: 0.006467 deg/s,
cmd heading: 215.990676 deg,
new cmd heading: 215.996138 deg.
2025-08-22T21:24:49.939Z,1755897889.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769844 target range: 340.887390 and range: 342.90 m.
2025-08-22T21:24:50.100Z,1755897890.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502384
2025-08-22T21:24:50.350Z,1755897890.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753527
2025-08-22T21:24:50.368Z,1755897890.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.89 m.
2025-08-22T21:24:50.375Z,1755897890.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.887390 m,
nav range: 326.044037 m,
bearing: 227.782609 deg,
approach rate: -0.690990 m/s,
LOS rate: 0.006706 deg/s,
cmd heading: 215.996140 deg,
new cmd heading: 216.001952 deg.
2025-08-22T21:24:50.376Z,1755897890.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769945 target range: 340.887390 and range: 342.90 m.
2025-08-22T21:24:50.446Z,1755897890.446 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:24:50.604Z,1755897890.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007101
2025-08-22T21:24:50.719Z,1755897890.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.89 m.
2025-08-22T21:24:50.722Z,1755897890.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.887390 m,
nav range: 325.786102 m,
bearing: 227.785163 deg,
approach rate: -0.735527 m/s,
LOS rate: 0.007288 deg/s,
cmd heading: 216.001946 deg,
new cmd heading: 216.007058 deg.
2025-08-22T21:24:50.723Z,1755897890.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770034 target range: 340.887390 and range: 342.90 m.
2025-08-22T21:24:50.855Z,1755897890.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257842
2025-08-22T21:24:51.109Z,1755897891.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512083
2025-08-22T21:24:51.274Z,1755897891.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:51.276Z,1755897891.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.89 m.
2025-08-22T21:24:51.283Z,1755897891.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.887390 m,
nav range: 325.425354 m,
bearing: 227.789945 deg,
approach rate: -0.647134 m/s,
LOS rate: 0.008589 deg/s,
cmd heading: 216.007055 deg,
new cmd heading: 216.016631 deg.
2025-08-22T21:24:51.284Z,1755897891.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770201 target range: 340.887390 and range: 342.90 m.
2025-08-22T21:24:51.360Z,1755897891.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762424
2025-08-22T21:24:51.606Z,1755897891.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.89 m.
2025-08-22T21:24:51.609Z,1755897891.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.887390 m,
nav range: 325.188721 m,
bearing: 227.793120 deg,
approach rate: -0.716797 m/s,
LOS rate: 0.009622 deg/s,
cmd heading: 216.016631 deg,
new cmd heading: 216.022984 deg.
2025-08-22T21:24:51.611Z,1755897891.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013859
2025-08-22T21:24:51.626Z,1755897891.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770312 target range: 340.887390 and range: 342.90 m.
2025-08-22T21:24:51.863Z,1755897891.863 [DAT](INFO): DAT read: Rx Time:21:24:52.4000
2025-08-22T21:24:51.863Z,1755897891.863 [DAT](INFO): Rx dataTimestamp_ set to:1755897891.863013
2025-08-22T21:24:51.864Z,1755897891.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267006
2025-08-22T21:24:52.022Z,1755897892.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.89 m.
2025-08-22T21:24:52.024Z,1755897892.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.887390 m,
nav range: 324.909637 m,
bearing: 227.796882 deg,
approach rate: -0.672812 m/s,
LOS rate: 0.009078 deg/s,
cmd heading: 216.022983 deg,
new cmd heading: 216.030514 deg.
2025-08-22T21:24:52.025Z,1755897892.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770444 target range: 340.887390 and range: 342.90 m.
2025-08-22T21:24:52.119Z,1755897892.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521342
2025-08-22T21:24:52.376Z,1755897892.376 [DAT](INFO): DAT read: 21:24:52.4000 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 403,-0.31, 1.262,-0.592, 0.977, 0.694, PHS= 0.670,-1.241, 0.239, RAW= 137.6, 3.9, CAL= 137.6, 4.7, ROT= 12.4, -4.7
2025-08-22T21:24:52.379Z,1755897892.379 [DAT](INFO): got valid direction response:
21:24:52.4000 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 403,-0.31, 1.262,-0.592, 0.977, 0.694, PHS= 0.670,-1.241, 0.239, RAW= 137.6, 3.9, CAL= 137.6, 4.7, ROT= 12.4, -4.7
2025-08-22T21:24:52.380Z,1755897892.380 [DAT](INFO): DAT read: Bearing 5.2, 23.8 (Local)
2025-08-22T21:24:52.381Z,1755897892.381 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.2, 23.8 (Local)
2025-08-22T21:24:52.382Z,1755897892.382 [DAT](INFO): DAT read: Range 11 to 50 : 340.3 m (Round-trip 453.8 ms) speed 0.4 m/s
2025-08-22T21:24:52.383Z,1755897892.383 [DAT](INFO): DAT read: user:2199>
2025-08-22T21:24:52.384Z,1755897892.384 [DAT](INFO): DAT read: Tx time:21:24:53.4921
2025-08-22T21:24:52.384Z,1755897892.384 [DAT](INFO): Ping request sent.
2025-08-22T21:24:52.384Z,1755897892.384 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:52.384Z,1755897892.384 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:24:52.385Z,1755897892.385 [DAT](INFO): direction in FSK: [0.973388,0.214013,0.081939]
2025-08-22T21:24:52.386Z,1755897892.386 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:52.386Z,1755897892.386 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:52.389Z,1755897892.389 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:52.389Z,1755897892.389 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:52.544Z,1755897892.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 340.299988 m,
deltaT: 3.784845 s,
deltaX: -2.600006 m,
approachRate: -0.686952 m/s,
rangeRepo size: 4
2025-08-22T21:24:52.551Z,1755897892.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 338.301239 m,
bearing: 227.277934 deg,
lat: 36.779513 deg,
lon: -121.859468 deg,
deltaT: 3.784845 s,
deltaX: -2.586151 m,
approachRate: -0.683291 m/s,
posRepo size: 4
2025-08-22T21:24:52.551Z,1755897892.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.30 m.
2025-08-22T21:24:52.558Z,1755897892.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 338.301239 m,
nav range: 323.856049 m,
bearing: 227.479521 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009078 deg/s,
cmd heading: 216.030510 deg,
new cmd heading: 216.039993 deg.
2025-08-22T21:24:52.559Z,1755897892.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770609 target range: 338.301239 and range: 340.30 m.
2025-08-22T21:24:52.895Z,1755897892.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.30 m.
2025-08-22T21:24:52.914Z,1755897892.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 338.301239 m,
nav range: 323.611053 m,
bearing: 227.483508 deg,
approach rate: -0.697050 m/s,
LOS rate: 0.011353 deg/s,
cmd heading: 216.039990 deg,
new cmd heading: 216.047971 deg.
2025-08-22T21:24:52.915Z,1755897892.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770748 target range: 338.301239 and range: 340.30 m.
2025-08-22T21:24:53.325Z,1755897893.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:53.327Z,1755897893.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.30 m.
2025-08-22T21:24:53.330Z,1755897893.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 338.301239 m,
nav range: 323.325500 m,
bearing: 227.489148 deg,
approach rate: -0.660956 m/s,
LOS rate: 0.013067 deg/s,
cmd heading: 216.047968 deg,
new cmd heading: 216.059258 deg.
2025-08-22T21:24:53.331Z,1755897893.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770946 target range: 338.301239 and range: 340.30 m.
2025-08-22T21:24:53.374Z,1755897893.374 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:53.374Z,1755897893.374 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:53.375Z,1755897893.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:53.627Z,1755897893.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242482
2025-08-22T21:24:53.704Z,1755897893.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.30 m.
2025-08-22T21:24:53.707Z,1755897893.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 338.301239 m,
nav range: 323.075653 m,
bearing: 227.494081 deg,
approach rate: -0.662560 m/s,
LOS rate: 0.013092 deg/s,
cmd heading: 216.059265 deg,
new cmd heading: 216.069138 deg.
2025-08-22T21:24:53.708Z,1755897893.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.771118 target range: 338.301239 and range: 340.30 m.
2025-08-22T21:24:53.879Z,1755897893.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494605
2025-08-22T21:24:54.133Z,1755897894.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748605
2025-08-22T21:24:54.175Z,1755897894.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.30 m.
2025-08-22T21:24:54.184Z,1755897894.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 338.301239 m,
nav range: 322.805145 m,
bearing: 227.499420 deg,
approach rate: -0.574605 m/s,
LOS rate: 0.011350 deg/s,
cmd heading: 216.069141 deg,
new cmd heading: 216.079828 deg.
2025-08-22T21:24:54.185Z,1755897894.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.771304 target range: 338.301239 and range: 340.30 m.
2025-08-22T21:24:54.383Z,1755897894.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998567
2025-08-22T21:24:54.527Z,1755897894.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.30 m.
2025-08-22T21:24:54.530Z,1755897894.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 338.301239 m,
nav range: 322.540375 m,
bearing: 227.504594 deg,
approach rate: -0.752593 m/s,
LOS rate: 0.014719 deg/s,
cmd heading: 216.079824 deg,
new cmd heading: 216.090180 deg.
2025-08-22T21:24:54.531Z,1755897894.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.771485 target range: 338.301239 and range: 340.30 m.
2025-08-22T21:24:54.635Z,1755897894.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251228
2025-08-22T21:24:54.886Z,1755897894.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502343
2025-08-22T21:24:54.908Z,1755897894.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.30 m.
2025-08-22T21:24:54.911Z,1755897894.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 338.301239 m,
nav range: 322.296417 m,
bearing: 227.509343 deg,
approach rate: -0.639069 m/s,
LOS rate: 0.012451 deg/s,
cmd heading: 216.090178 deg,
new cmd heading: 216.099684 deg.
2025-08-22T21:24:54.912Z,1755897894.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.771651 target range: 338.301239 and range: 340.30 m.
2025-08-22T21:24:55.141Z,1755897895.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756796
2025-08-22T21:24:55.351Z,1755897895.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:55.354Z,1755897895.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.30 m.
2025-08-22T21:24:55.356Z,1755897895.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 338.301239 m,
nav range: 321.998566 m,
bearing: 227.515289 deg,
approach rate: -0.669426 m/s,
LOS rate: 0.013376 deg/s,
cmd heading: 216.099686 deg,
new cmd heading: 216.111589 deg.
2025-08-22T21:24:55.358Z,1755897895.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.771859 target range: 338.301239 and range: 340.30 m.
2025-08-22T21:24:55.391Z,1755897895.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006727
2025-08-22T21:24:55.643Z,1755897895.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258553
2025-08-22T21:24:55.724Z,1755897895.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.30 m.
2025-08-22T21:24:55.730Z,1755897895.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 338.301239 m,
nav range: 321.753174 m,
bearing: 227.520141 deg,
approach rate: -0.662551 m/s,
LOS rate: 0.013109 deg/s,
cmd heading: 216.111584 deg,
new cmd heading: 216.121294 deg.
2025-08-22T21:24:55.731Z,1755897895.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.772028 target range: 338.301239 and range: 340.30 m.
2025-08-22T21:24:55.895Z,1755897895.895 [DAT](INFO): DAT read: Rx Time:21:24:56.3463
2025-08-22T21:24:55.895Z,1755897895.895 [DAT](INFO): Rx dataTimestamp_ set to:1755897895.894694
2025-08-22T21:24:55.895Z,1755897895.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511500
2025-08-22T21:24:56.149Z,1755897896.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764851
2025-08-22T21:24:56.192Z,1755897896.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.30 m.
2025-08-22T21:24:56.215Z,1755897896.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 338.301239 m,
nav range: 321.483612 m,
bearing: 227.525452 deg,
approach rate: -0.577061 m/s,
LOS rate: 0.011380 deg/s,
cmd heading: 216.121297 deg,
new cmd heading: 216.131928 deg.
2025-08-22T21:24:56.228Z,1755897896.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.772214 target range: 338.301239 and range: 340.30 m.
2025-08-22T21:24:56.404Z,1755897896.404 [DAT](INFO): DAT read: 21:24:56.3463 LVL= 32176, 32401, 31714, 32755, AGC= 68, IDX= 398,-0.39, 1.750,-0.078, 1.475, 1.193, PHS= 0.660,-1.226, 0.239, RAW= 137.7, 3.9, CAL= 137.8, 4.7, ROT= 12.2, -4.7
2025-08-22T21:24:56.405Z,1755897896.405 [DAT](INFO): got valid direction response:
21:24:56.3463 LVL= 32176, 32401, 31714, 32755, AGC= 68, IDX= 398,-0.39, 1.750,-0.078, 1.475, 1.193, PHS= 0.660,-1.226, 0.239, RAW= 137.7, 3.9, CAL= 137.8, 4.7, ROT= 12.2, -4.7
2025-08-22T21:24:56.406Z,1755897896.406 [DAT](INFO): DAT read: Bearing 4.6, 24.1 (Local)
2025-08-22T21:24:56.406Z,1755897896.406 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.6, 24.1 (Local)
2025-08-22T21:24:56.408Z,1755897896.408 [DAT](INFO): DAT read: Range 11 to 50 : 337.5 m (Round-trip 450.0 ms) speed 0.5 m/s
2025-08-22T21:24:56.408Z,1755897896.408 [DAT](INFO): DAT read: user:2200>
2025-08-22T21:24:56.409Z,1755897896.409 [DAT](INFO): DAT read: Tx time:21:24:57.4421
2025-08-22T21:24:56.409Z,1755897896.409 [DAT](INFO): Ping request sent.
2025-08-22T21:24:56.410Z,1755897896.410 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:24:56.410Z,1755897896.410 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:24:56.411Z,1755897896.411 [DAT](INFO): direction in FSK: [0.974129,0.210614,0.081939]
2025-08-22T21:24:56.411Z,1755897896.411 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:56.411Z,1755897896.411 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:56.414Z,1755897896.414 [DAT](INFO): publishing transmit ping time
2025-08-22T21:24:56.415Z,1755897896.415 [DAT](INFO): publishing direction and range info
2025-08-22T21:24:56.648Z,1755897896.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 337.500000 m,
deltaT: 4.031043 s,
deltaX: -2.799988 m,
approachRate: -0.694606 m/s,
rangeRepo size: 4
2025-08-22T21:24:56.655Z,1755897896.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 335.458221 m,
bearing: 227.208704 deg,
lat: 36.779511 deg,
lon: -121.859466 deg,
deltaT: 4.031043 s,
deltaX: -2.843018 m,
approachRate: -0.705281 m/s,
posRepo size: 4
2025-08-22T21:24:56.655Z,1755897896.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.46 m.
2025-08-22T21:24:56.662Z,1755897896.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.458221 m,
nav range: 321.201263 m,
bearing: 227.475543 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.011380 deg/s,
cmd heading: 216.131924 deg,
new cmd heading: 216.142317 deg.
2025-08-22T21:24:56.663Z,1755897896.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.772395 target range: 335.458221 and range: 337.50 m.
2025-08-22T21:24:56.999Z,1755897896.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.46 m.
2025-08-22T21:24:57.002Z,1755897897.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.458221 m,
nav range: 320.958679 m,
bearing: 227.478682 deg,
approach rate: -0.690781 m/s,
LOS rate: 0.008945 deg/s,
cmd heading: 216.142320 deg,
new cmd heading: 216.148603 deg.
2025-08-22T21:24:57.003Z,1755897897.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.772505 target range: 335.458221 and range: 337.50 m.
2025-08-22T21:24:57.428Z,1755897897.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:57.430Z,1755897897.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.46 m.
2025-08-22T21:24:57.433Z,1755897897.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.458221 m,
nav range: 320.661377 m,
bearing: 227.483524 deg,
approach rate: -0.689243 m/s,
LOS rate: 0.011236 deg/s,
cmd heading: 216.148604 deg,
new cmd heading: 216.158296 deg.
2025-08-22T21:24:57.434Z,1755897897.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.772674 target range: 335.458221 and range: 337.50 m.
2025-08-22T21:24:57.658Z,1755897897.658 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:24:57.659Z,1755897897.659 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:24:57.659Z,1755897897.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:24:57.811Z,1755897897.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.46 m.
2025-08-22T21:24:57.814Z,1755897897.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.458221 m,
nav range: 320.398285 m,
bearing: 227.487804 deg,
approach rate: -0.690306 m/s,
LOS rate: 0.011241 deg/s,
cmd heading: 216.158302 deg,
new cmd heading: 216.166871 deg.
2025-08-22T21:24:57.815Z,1755897897.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.772824 target range: 335.458221 and range: 337.50 m.
2025-08-22T21:24:57.911Z,1755897897.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501025
2025-08-22T21:24:58.166Z,1755897898.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755749
2025-08-22T21:24:58.279Z,1755897898.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.46 m.
2025-08-22T21:24:58.314Z,1755897898.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.458221 m,
nav range: 320.077057 m,
bearing: 227.491530 deg,
approach rate: -0.686473 m/s,
LOS rate: 0.007971 deg/s,
cmd heading: 216.166868 deg,
new cmd heading: 216.174327 deg.
2025-08-22T21:24:58.315Z,1755897898.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.772954 target range: 335.458221 and range: 337.50 m.
2025-08-22T21:24:58.415Z,1755897898.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005460
2025-08-22T21:24:58.617Z,1755897898.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.46 m.
2025-08-22T21:24:58.620Z,1755897898.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.458221 m,
nav range: 319.845062 m,
bearing: 227.494240 deg,
approach rate: -0.686651 m/s,
LOS rate: 0.008026 deg/s,
cmd heading: 216.174326 deg,
new cmd heading: 216.179749 deg.
2025-08-22T21:24:58.621Z,1755897898.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773048 target range: 335.458221 and range: 337.50 m.
2025-08-22T21:24:58.668Z,1755897898.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257682
2025-08-22T21:24:58.918Z,1755897898.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508862
2025-08-22T21:24:59.020Z,1755897899.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.46 m.
2025-08-22T21:24:59.023Z,1755897899.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.458221 m,
nav range: 319.568207 m,
bearing: 227.497485 deg,
approach rate: -0.686543 m/s,
LOS rate: 0.008053 deg/s,
cmd heading: 216.179749 deg,
new cmd heading: 216.186244 deg.
2025-08-22T21:24:59.024Z,1755897899.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773162 target range: 335.458221 and range: 337.50 m.
2025-08-22T21:24:59.174Z,1755897899.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764076
2025-08-22T21:24:59.423Z,1755897899.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012931
2025-08-22T21:24:59.452Z,1755897899.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:24:59.455Z,1755897899.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.46 m.
2025-08-22T21:24:59.458Z,1755897899.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.458221 m,
nav range: 319.274292 m,
bearing: 227.500539 deg,
approach rate: -0.676321 m/s,
LOS rate: 0.007035 deg/s,
cmd heading: 216.186238 deg,
new cmd heading: 216.192352 deg.
2025-08-22T21:24:59.459Z,1755897899.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773268 target range: 335.458221 and range: 337.50 m.
2025-08-22T21:24:59.676Z,1755897899.676 [DAT](INFO): DAT read: Rx Time:21:25:00.2928
2025-08-22T21:24:59.677Z,1755897899.677 [DAT](INFO): Rx dataTimestamp_ set to:1755897899.676298
2025-08-22T21:24:59.677Z,1755897899.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267525
2025-08-22T21:24:59.861Z,1755897899.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.46 m.
2025-08-22T21:24:59.864Z,1755897899.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.458221 m,
nav range: 319.011444 m,
bearing: 227.503275 deg,
approach rate: -0.647265 m/s,
LOS rate: 0.006743 deg/s,
cmd heading: 216.192358 deg,
new cmd heading: 216.197834 deg.
2025-08-22T21:24:59.865Z,1755897899.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773364 target range: 335.458221 and range: 337.50 m.
2025-08-22T21:24:59.926Z,1755897899.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516863
2025-08-22T21:25:00.183Z,1755897900.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772497
2025-08-22T21:25:00.376Z,1755897900.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.46 m.
2025-08-22T21:25:00.382Z,1755897900.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.458221 m,
nav range: 318.683075 m,
bearing: 227.506803 deg,
approach rate: -0.638165 m/s,
LOS rate: 0.006863 deg/s,
cmd heading: 216.197836 deg,
new cmd heading: 216.204898 deg.
2025-08-22T21:25:00.383Z,1755897900.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773487 target range: 335.458221 and range: 337.50 m.
2025-08-22T21:25:00.439Z,1755897900.439 [DAT](INFO): DAT read: 21:25:00.2928 LVL= 27168, 32753, 31410, 32755, AGC= 69, IDX= 409, 0.45,-0.675,-2.529,-0.922,-1.215, PHS= 0.642,-1.269, 0.249, RAW= 138.8, 4.4, CAL= 138.7, 5.1, ROT= 11.3, -5.1
2025-08-22T21:25:00.441Z,1755897900.441 [DAT](INFO): got valid direction response:
21:25:00.2928 LVL= 27168, 32753, 31410, 32755, AGC= 69, IDX= 409, 0.45,-0.675,-2.529,-0.922,-1.215, PHS= 0.642,-1.269, 0.249, RAW= 138.8, 4.4, CAL= 138.7, 5.1, ROT= 11.3, -5.1
2025-08-22T21:25:00.443Z,1755897900.443 [DAT](INFO): DAT read: Bearing 5.0, 23.5 (Local)
2025-08-22T21:25:00.443Z,1755897900.443 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.0, 23.5 (Local)
2025-08-22T21:25:00.445Z,1755897900.445 [DAT](INFO): DAT read: Range 11 to 50 : 334.8 m (Round-trip 446.5 ms) speed 0.7 m/s
2025-08-22T21:25:00.446Z,1755897900.446 [DAT](INFO): DAT read: user:2201>
2025-08-22T21:25:00.447Z,1755897900.447 [DAT](INFO): DAT read: Tx time:21:25:01.3921
2025-08-22T21:25:00.448Z,1755897900.448 [DAT](INFO): Ping request sent.
2025-08-22T21:25:00.448Z,1755897900.448 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:00.448Z,1755897900.448 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:00.451Z,1755897900.451 [DAT](INFO): direction in FSK: [0.976732,0.195170,0.088894]
2025-08-22T21:25:00.451Z,1755897900.451 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:00.452Z,1755897900.452 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:00.458Z,1755897900.458 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:00.458Z,1755897900.458 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:00.680Z,1755897900.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 334.799988 m,
deltaT: 4.032273 s,
deltaX: -2.700012 m,
approachRate: -0.669601 m/s,
rangeRepo size: 4
2025-08-22T21:25:00.687Z,1755897900.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 332.772400 m,
bearing: 226.449151 deg,
lat: 36.779499 deg,
lon: -121.859465 deg,
deltaT: 4.032273 s,
deltaX: -2.685822 m,
approachRate: -0.666081 m/s,
posRepo size: 4
2025-08-22T21:25:00.687Z,1755897900.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.77 m.
2025-08-22T21:25:00.694Z,1755897900.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.772400 m,
nav range: 319.254639 m,
bearing: 227.331413 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.006863 deg/s,
cmd heading: 216.204898 deg,
new cmd heading: 216.209074 deg.
2025-08-22T21:25:00.695Z,1755897900.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773560 target range: 332.772400 and range: 334.80 m.
2025-08-22T21:25:01.092Z,1755897901.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.77 m.
2025-08-22T21:25:01.095Z,1755897901.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.772400 m,
nav range: 318.959534 m,
bearing: 227.334307 deg,
approach rate: -0.716215 m/s,
LOS rate: 0.007031 deg/s,
cmd heading: 216.209078 deg,
new cmd heading: 216.214873 deg.
2025-08-22T21:25:01.096Z,1755897901.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773661 target range: 332.772400 and range: 334.80 m.
2025-08-22T21:25:01.493Z,1755897901.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:01.496Z,1755897901.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.77 m.
2025-08-22T21:25:01.499Z,1755897901.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.772400 m,
nav range: 318.694550 m,
bearing: 227.337409 deg,
approach rate: -0.656038 m/s,
LOS rate: 0.007685 deg/s,
cmd heading: 216.214870 deg,
new cmd heading: 216.221078 deg.
2025-08-22T21:25:01.500Z,1755897901.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773770 target range: 332.772400 and range: 334.80 m.
2025-08-22T21:25:01.691Z,1755897901.691 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:01.691Z,1755897901.691 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:01.691Z,1755897901.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:01.881Z,1755897901.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.77 m.
2025-08-22T21:25:01.884Z,1755897901.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.772400 m,
nav range: 318.430481 m,
bearing: 227.340469 deg,
approach rate: -0.685364 m/s,
LOS rate: 0.007950 deg/s,
cmd heading: 216.221072 deg,
new cmd heading: 216.227198 deg.
2025-08-22T21:25:01.885Z,1755897901.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773876 target range: 332.772400 and range: 334.80 m.
2025-08-22T21:25:01.943Z,1755897901.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495220
2025-08-22T21:25:02.195Z,1755897902.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746474
2025-08-22T21:25:02.331Z,1755897902.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.77 m.
2025-08-22T21:25:02.352Z,1755897902.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.772400 m,
nav range: 318.109924 m,
bearing: 227.344387 deg,
approach rate: -0.712910 m/s,
LOS rate: 0.008722 deg/s,
cmd heading: 216.227192 deg,
new cmd heading: 216.235035 deg.
2025-08-22T21:25:02.366Z,1755897902.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.774013 target range: 332.772400 and range: 334.80 m.
2025-08-22T21:25:02.448Z,1755897902.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999926
2025-08-22T21:25:02.695Z,1755897902.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.77 m.
2025-08-22T21:25:02.699Z,1755897902.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250759
2025-08-22T21:25:02.700Z,1755897902.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.772400 m,
nav range: 317.872559 m,
bearing: 227.347269 deg,
approach rate: -0.654021 m/s,
LOS rate: 0.007947 deg/s,
cmd heading: 216.235033 deg,
new cmd heading: 216.240801 deg.
2025-08-22T21:25:02.700Z,1755897902.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.774114 target range: 332.772400 and range: 334.80 m.
2025-08-22T21:25:02.951Z,1755897902.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502426
2025-08-22T21:25:03.078Z,1755897903.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.77 m.
2025-08-22T21:25:03.081Z,1755897903.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.772400 m,
nav range: 317.598633 m,
bearing: 227.350532 deg,
approach rate: -0.712210 m/s,
LOS rate: 0.008490 deg/s,
cmd heading: 216.240797 deg,
new cmd heading: 216.247328 deg.
2025-08-22T21:25:03.082Z,1755897903.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.774228 target range: 332.772400 and range: 334.80 m.
2025-08-22T21:25:03.204Z,1755897903.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755853
2025-08-22T21:25:03.455Z,1755897903.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006495
2025-08-22T21:25:03.504Z,1755897903.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:03.522Z,1755897903.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.77 m.
2025-08-22T21:25:03.525Z,1755897903.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.772400 m,
nav range: 317.307678 m,
bearing: 227.355366 deg,
approach rate: -0.680583 m/s,
LOS rate: 0.011319 deg/s,
cmd heading: 216.247327 deg,
new cmd heading: 216.257005 deg.
2025-08-22T21:25:03.530Z,1755897903.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.774397 target range: 332.772400 and range: 334.80 m.
2025-08-22T21:25:03.708Z,1755897903.708 [DAT](INFO): DAT read: Rx Time:21:25:04.2557
2025-08-22T21:25:03.709Z,1755897903.709 [DAT](INFO): Rx dataTimestamp_ set to:1755897903.708319
2025-08-22T21:25:03.709Z,1755897903.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261012
2025-08-22T21:25:03.898Z,1755897903.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.77 m.
2025-08-22T21:25:03.901Z,1755897903.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.772400 m,
nav range: 317.040497 m,
bearing: 227.359777 deg,
approach rate: -0.681622 m/s,
LOS rate: 0.011261 deg/s,
cmd heading: 216.256999 deg,
new cmd heading: 216.265827 deg.
2025-08-22T21:25:03.902Z,1755897903.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.774551 target range: 332.772400 and range: 334.80 m.
2025-08-22T21:25:03.959Z,1755897903.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511179
2025-08-22T21:25:04.220Z,1755897904.220 [DAT](INFO): DAT read: 21:25:04.2557 LVL= 27312, 32753, 32754, 32755, AGC= 70, IDX= 61,-0.05,-0.600,-2.362,-0.819,-1.148, PHS= 0.650,-1.169, 0.285, RAW= 139.1, 2.8, CAL= 139.1, 3.5, ROT= 10.9, -3.5
2025-08-22T21:25:04.222Z,1755897904.222 [DAT](INFO): got valid direction response:
21:25:04.2557 LVL= 27312, 32753, 32754, 32755, AGC= 70, IDX= 61,-0.05,-0.600,-2.362,-0.819,-1.148, PHS= 0.650,-1.169, 0.285, RAW= 139.1, 2.8, CAL= 139.1, 3.5, ROT= 10.9, -3.5
2025-08-22T21:25:04.224Z,1755897904.224 [DAT](INFO): DAT read: Bearing 2.9, 23.3 (Local)
2025-08-22T21:25:04.224Z,1755897904.224 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.9, 23.3 (Local)
2025-08-22T21:25:04.227Z,1755897904.227 [DAT](INFO): DAT read: Range 11 to 50 : 344.5 m (Round-trip 459.4 ms) speed 0.7 m/s
2025-08-22T21:25:04.228Z,1755897904.228 [DAT](INFO): DAT read: user:2202>
2025-08-22T21:25:04.229Z,1755897904.229 [DAT](INFO): DAT read: Tx time:21:25:05.3421
2025-08-22T21:25:04.230Z,1755897904.230 [DAT](INFO): Ping request sent.
2025-08-22T21:25:04.230Z,1755897904.230 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:04.231Z,1755897904.231 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:04.231Z,1755897904.231 [DAT](INFO): direction in FSK: [0.980127,0.188743,0.061049]
2025-08-22T21:25:04.232Z,1755897904.232 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:04.232Z,1755897904.232 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:04.237Z,1755897904.237 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:04.238Z,1755897904.238 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:04.558Z,1755897904.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 344.500000 m,
deltaT: 3.780305 s,
deltaX: 9.700012 m,
approachRate: 2.565934 m/s,
rangeRepo size: 4
2025-08-22T21:25:04.560Z,1755897904.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 342.411713 m,
bearing: 226.474394 deg,
lat: 36.779497 deg,
lon: -121.859465 deg,
deltaT: 3.780305 s,
deltaX: 9.639313 m,
approachRate: 2.549877 m/s,
posRepo size: 4
2025-08-22T21:25:04.561Z,1755897904.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.41 m.
2025-08-22T21:25:04.568Z,1755897904.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 342.411713 m,
nav range: 316.742889 m,
bearing: 227.340550 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.011261 deg/s,
cmd heading: 216.265823 deg,
new cmd heading: 216.280498 deg.
2025-08-22T21:25:04.569Z,1755897904.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.774807 target range: 342.411713 and range: 344.50 m.
2025-08-22T21:25:04.942Z,1755897904.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.41 m.
2025-08-22T21:25:04.945Z,1755897904.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 342.411713 m,
nav range: 316.466858 m,
bearing: 227.344743 deg,
approach rate: -0.703208 m/s,
LOS rate: 0.010691 deg/s,
cmd heading: 216.280495 deg,
new cmd heading: 216.288888 deg.
2025-08-22T21:25:04.946Z,1755897904.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.774953 target range: 342.411713 and range: 344.50 m.
2025-08-22T21:25:05.393Z,1755897905.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.41 m.
2025-08-22T21:25:05.396Z,1755897905.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 342.411713 m,
nav range: 316.170288 m,
bearing: 227.349247 deg,
approach rate: -0.657234 m/s,
LOS rate: 0.009993 deg/s,
cmd heading: 216.288882 deg,
new cmd heading: 216.297900 deg.
2025-08-22T21:25:05.397Z,1755897905.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775110 target range: 342.411713 and range: 344.50 m.
2025-08-22T21:25:05.764Z,1755897905.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:05.766Z,1755897905.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.41 m.
2025-08-22T21:25:05.769Z,1755897905.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 342.411713 m,
nav range: 315.920837 m,
bearing: 227.353007 deg,
approach rate: -0.668688 m/s,
LOS rate: 0.010085 deg/s,
cmd heading: 216.297898 deg,
new cmd heading: 216.305422 deg.
2025-08-22T21:25:05.770Z,1755897905.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775242 target range: 342.411713 and range: 344.50 m.
2025-08-22T21:25:05.974Z,1755897905.974 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:05.974Z,1755897905.974 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:05.975Z,1755897905.975 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:06.154Z,1755897906.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.41 m.
2025-08-22T21:25:06.157Z,1755897906.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 342.411713 m,
nav range: 315.663849 m,
bearing: 227.356885 deg,
approach rate: -0.663604 m/s,
LOS rate: 0.010023 deg/s,
cmd heading: 216.305425 deg,
new cmd heading: 216.313188 deg.
2025-08-22T21:25:06.159Z,1755897906.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775377 target range: 342.411713 and range: 344.50 m.
2025-08-22T21:25:06.227Z,1755897906.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997181
2025-08-22T21:25:06.483Z,1755897906.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253217
2025-08-22T21:25:06.581Z,1755897906.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.41 m.
2025-08-22T21:25:06.584Z,1755897906.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 342.411713 m,
nav range: 315.393616 m,
bearing: 227.361327 deg,
approach rate: -0.632021 m/s,
LOS rate: 0.010398 deg/s,
cmd heading: 216.313184 deg,
new cmd heading: 216.322076 deg.
2025-08-22T21:25:06.585Z,1755897906.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775532 target range: 342.411713 and range: 344.50 m.
2025-08-22T21:25:06.731Z,1755897906.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500606
2025-08-22T21:25:06.954Z,1755897906.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.41 m.
2025-08-22T21:25:06.956Z,1755897906.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 342.411713 m,
nav range: 315.129852 m,
bearing: 227.365588 deg,
approach rate: -0.708168 m/s,
LOS rate: 0.011449 deg/s,
cmd heading: 216.322077 deg,
new cmd heading: 216.330605 deg.
2025-08-22T21:25:06.957Z,1755897906.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775681 target range: 342.411713 and range: 344.50 m.
2025-08-22T21:25:06.983Z,1755897906.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752617
2025-08-22T21:25:07.237Z,1755897907.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006792
2025-08-22T21:25:07.409Z,1755897907.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.41 m.
2025-08-22T21:25:07.416Z,1755897907.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 342.411713 m,
nav range: 314.832428 m,
bearing: 227.370003 deg,
approach rate: -0.652583 m/s,
LOS rate: 0.009696 deg/s,
cmd heading: 216.330601 deg,
new cmd heading: 216.339439 deg.
2025-08-22T21:25:07.417Z,1755897907.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775836 target range: 342.411713 and range: 344.50 m.
2025-08-22T21:25:07.423Z,1755897907.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 65.330162 m.
2025-08-22T21:25:07.491Z,1755897907.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261426
2025-08-22T21:25:07.743Z,1755897907.743 [DAT](INFO): DAT read: Rx Time:21:25:08.1854
2025-08-22T21:25:07.743Z,1755897907.743 [DAT](INFO): Rx dataTimestamp_ set to:1755897907.742791
2025-08-22T21:25:07.744Z,1755897907.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513671
2025-08-22T21:25:07.757Z,1755897907.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.41 m.
2025-08-22T21:25:07.760Z,1755897907.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 342.411713 m,
nav range: 314.586456 m,
bearing: 227.373616 deg,
approach rate: -0.707798 m/s,
LOS rate: 0.010406 deg/s,
cmd heading: 216.339439 deg,
new cmd heading: 216.346672 deg.
2025-08-22T21:25:07.761Z,1755897907.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775962 target range: 342.411713 and range: 344.50 m.
2025-08-22T21:25:07.995Z,1755897907.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764992
2025-08-22T21:25:08.191Z,1755897908.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:08.199Z,1755897908.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.41 m.
2025-08-22T21:25:08.208Z,1755897908.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 342.411713 m,
nav range: 314.297729 m,
bearing: 227.377773 deg,
approach rate: -0.653337 m/s,
LOS rate: 0.009415 deg/s,
cmd heading: 216.346665 deg,
new cmd heading: 216.354987 deg.
2025-08-22T21:25:08.214Z,1755897908.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776107 target range: 342.411713 and range: 344.50 m.
2025-08-22T21:25:08.252Z,1755897908.252 [DAT](INFO): DAT read: 21:25:08.1854 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 238, 0.26,-0.867,-2.639,-1.086,-1.420, PHS= 0.656,-1.173, 0.290, RAW= 139.1, 2.7, CAL= 139.1, 3.4, ROT= 10.9, -3.4
2025-08-22T21:25:08.254Z,1755897908.254 [DAT](INFO): got valid direction response:
21:25:08.1854 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 238, 0.26,-0.867,-2.639,-1.086,-1.420, PHS= 0.656,-1.173, 0.290, RAW= 139.1, 2.7, CAL= 139.1, 3.4, ROT= 10.9, -3.4
2025-08-22T21:25:08.255Z,1755897908.255 [DAT](INFO): DAT read: Bearing 2.8, 23.3 (Local)
2025-08-22T21:25:08.255Z,1755897908.255 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.8, 23.3 (Local)
2025-08-22T21:25:08.256Z,1755897908.256 [DAT](INFO): DAT read: Range 11 to 50 : 329.4 m (Round-trip 439.2 ms) speed 0.8 m/s
2025-08-22T21:25:08.257Z,1755897908.257 [DAT](INFO): DAT read: user:2203>
2025-08-22T21:25:08.258Z,1755897908.258 [DAT](INFO): DAT read: Tx time:21:25:09.2920
2025-08-22T21:25:08.258Z,1755897908.258 [DAT](INFO): Ping request sent.
2025-08-22T21:25:08.258Z,1755897908.258 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:08.259Z,1755897908.259 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:08.259Z,1755897908.259 [DAT](INFO): direction in FSK: [0.980230,0.188763,0.059306]
2025-08-22T21:25:08.260Z,1755897908.260 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:08.260Z,1755897908.260 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:08.263Z,1755897908.263 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:08.263Z,1755897908.263 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:08.607Z,1755897908.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 329.399994 m,
deltaT: 4.035662 s,
deltaX: -15.100006 m,
approachRate: -3.741643 m/s,
rangeRepo size: 4
2025-08-22T21:25:08.609Z,1755897908.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 327.397766 m,
bearing: 227.286160 deg,
lat: 36.779486 deg,
lon: -121.859468 deg,
deltaT: 4.035662 s,
deltaX: -15.013947 m,
approachRate: -3.720318 m/s,
posRepo size: 4
2025-08-22T21:25:08.610Z,1755897908.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.40 m.
2025-08-22T21:25:08.613Z,1755897908.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.397766 m,
nav range: 315.077698 m,
bearing: 227.235698 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009415 deg/s,
cmd heading: 216.354985 deg,
new cmd heading: 216.362664 deg.
2025-08-22T21:25:08.622Z,1755897908.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776241 target range: 327.397766 and range: 329.40 m.
2025-08-22T21:25:08.977Z,1755897908.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.40 m.
2025-08-22T21:25:08.980Z,1755897908.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.397766 m,
nav range: 314.828949 m,
bearing: 227.238492 deg,
approach rate: -0.671066 m/s,
LOS rate: 0.007544 deg/s,
cmd heading: 216.362662 deg,
new cmd heading: 216.368254 deg.
2025-08-22T21:25:08.981Z,1755897908.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776338 target range: 327.397766 and range: 329.40 m.
2025-08-22T21:25:09.452Z,1755897909.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.40 m.
2025-08-22T21:25:09.455Z,1755897909.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.397766 m,
nav range: 314.524597 m,
bearing: 227.241543 deg,
approach rate: -0.640198 m/s,
LOS rate: 0.006423 deg/s,
cmd heading: 216.368249 deg,
new cmd heading: 216.374356 deg.
2025-08-22T21:25:09.456Z,1755897909.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776445 target range: 327.397766 and range: 329.40 m.
2025-08-22T21:25:09.822Z,1755897909.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.40 m.
2025-08-22T21:25:09.825Z,1755897909.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.397766 m,
nav range: 314.248474 m,
bearing: 227.244300 deg,
approach rate: -0.747725 m/s,
LOS rate: 0.007472 deg/s,
cmd heading: 216.374355 deg,
new cmd heading: 216.379873 deg.
2025-08-22T21:25:09.826Z,1755897909.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776541 target range: 327.397766 and range: 329.40 m.
2025-08-22T21:25:10.228Z,1755897910.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:10.231Z,1755897910.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.40 m.
2025-08-22T21:25:10.234Z,1755897910.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.397766 m,
nav range: 313.980255 m,
bearing: 227.246983 deg,
approach rate: -0.655307 m/s,
LOS rate: 0.006560 deg/s,
cmd heading: 216.379874 deg,
new cmd heading: 216.385244 deg.
2025-08-22T21:25:10.235Z,1755897910.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776635 target range: 327.397766 and range: 329.40 m.
2025-08-22T21:25:10.267Z,1755897910.267 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:10.267Z,1755897910.267 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:10.267Z,1755897910.267 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:10.518Z,1755897910.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260155
2025-08-22T21:25:10.614Z,1755897910.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.40 m.
2025-08-22T21:25:10.617Z,1755897910.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.397766 m,
nav range: 313.717834 m,
bearing: 227.249559 deg,
approach rate: -0.684696 m/s,
LOS rate: 0.006728 deg/s,
cmd heading: 216.385242 deg,
new cmd heading: 216.390400 deg.
2025-08-22T21:25:10.618Z,1755897910.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776725 target range: 327.397766 and range: 329.40 m.
2025-08-22T21:25:10.771Z,1755897910.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512199
2025-08-22T21:25:10.993Z,1755897910.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.40 m.
2025-08-22T21:25:10.996Z,1755897910.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.397766 m,
nav range: 313.447876 m,
bearing: 227.252209 deg,
approach rate: -0.712828 m/s,
LOS rate: 0.007004 deg/s,
cmd heading: 216.390406 deg,
new cmd heading: 216.395711 deg.
2025-08-22T21:25:10.997Z,1755897910.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776818 target range: 327.397766 and range: 329.40 m.
2025-08-22T21:25:11.023Z,1755897911.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764239
2025-08-22T21:25:11.275Z,1755897911.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016185
2025-08-22T21:25:11.476Z,1755897911.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.40 m.
2025-08-22T21:25:11.479Z,1755897911.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.397766 m,
nav range: 313.118439 m,
bearing: 227.255733 deg,
approach rate: -0.682438 m/s,
LOS rate: 0.007308 deg/s,
cmd heading: 216.395706 deg,
new cmd heading: 216.402761 deg.
2025-08-22T21:25:11.480Z,1755897911.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776941 target range: 327.397766 and range: 329.40 m.
2025-08-22T21:25:11.528Z,1755897911.528 [DAT](INFO): DAT read: Rx Time:21:25:12.1320
2025-08-22T21:25:11.528Z,1755897911.528 [DAT](INFO): Rx dataTimestamp_ set to:1755897911.527894
2025-08-22T21:25:11.531Z,1755897911.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270660
2025-08-22T21:25:11.779Z,1755897911.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520333
2025-08-22T21:25:11.793Z,1755897911.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.40 m.
2025-08-22T21:25:11.796Z,1755897911.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.397766 m,
nav range: 312.901642 m,
bearing: 227.258032 deg,
approach rate: -0.683736 m/s,
LOS rate: 0.007253 deg/s,
cmd heading: 216.402755 deg,
new cmd heading: 216.407355 deg.
2025-08-22T21:25:11.797Z,1755897911.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777021 target range: 327.397766 and range: 329.40 m.
2025-08-22T21:25:12.065Z,1755897912.065 [DAT](INFO): DAT read: 21:25:12.1320 LVL= 29344, 32753, 31202, 32755, AGC= 68, IDX= 411,-0.12,-2.129, 2.373,-2.364,-2.680, PHS= 0.652,-1.185, 0.272, RAW= 138.7, 3.1, CAL= 138.7, 3.9, ROT= 11.3, -3.9
2025-08-22T21:25:12.066Z,1755897912.066 [DAT](INFO): got valid direction response:
21:25:12.1320 LVL= 29344, 32753, 31202, 32755, AGC= 68, IDX= 411,-0.12,-2.129, 2.373,-2.364,-2.680, PHS= 0.652,-1.185, 0.272, RAW= 138.7, 3.1, CAL= 138.7, 3.9, ROT= 11.3, -3.9
2025-08-22T21:25:12.067Z,1755897912.067 [DAT](INFO): DAT read: Bearing 2.8, 23.7 (Local)
2025-08-22T21:25:12.067Z,1755897912.067 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.8, 23.7 (Local)
2025-08-22T21:25:12.068Z,1755897912.068 [DAT](INFO): DAT read: Range 11 to 50 : 326.8 m (Round-trip 435.8 ms) speed 0.4 m/s
2025-08-22T21:25:12.069Z,1755897912.069 [DAT](INFO): DAT read: user:2204>
2025-08-22T21:25:12.072Z,1755897912.072 [DAT](INFO): DAT read: Tx time:21:25:13.2420
2025-08-22T21:25:12.072Z,1755897912.072 [DAT](INFO): Ping request sent.
2025-08-22T21:25:12.072Z,1755897912.072 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:12.072Z,1755897912.072 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:12.098Z,1755897912.098 [DAT](INFO): direction in FSK: [0.978344,0.195492,0.068015]
2025-08-22T21:25:12.098Z,1755897912.098 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:12.098Z,1755897912.098 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:12.101Z,1755897912.101 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:12.106Z,1755897912.106 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:12.270Z,1755897912.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 326.799988 m,
deltaT: 3.786323 s,
deltaX: -2.600006 m,
approachRate: -0.686684 m/s,
rangeRepo size: 4
2025-08-22T21:25:12.272Z,1755897912.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 324.808990 m,
bearing: 228.002575 deg,
lat: 36.779486 deg,
lon: -121.859472 deg,
deltaT: 3.786323 s,
deltaX: -2.588776 m,
approachRate: -0.683718 m/s,
posRepo size: 4
2025-08-22T21:25:12.273Z,1755897912.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.81 m.
2025-08-22T21:25:12.280Z,1755897912.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.808990 m,
nav range: 312.900360 m,
bearing: 227.313307 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007253 deg/s,
cmd heading: 216.407358 deg,
new cmd heading: 216.414205 deg.
2025-08-22T21:25:12.281Z,1755897912.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777140 target range: 324.808990 and range: 326.80 m.
2025-08-22T21:25:12.624Z,1755897912.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:12.627Z,1755897912.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.81 m.
2025-08-22T21:25:12.629Z,1755897912.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.808990 m,
nav range: 312.640320 m,
bearing: 227.315662 deg,
approach rate: -0.718659 m/s,
LOS rate: 0.006514 deg/s,
cmd heading: 216.414202 deg,
new cmd heading: 216.418916 deg.
2025-08-22T21:25:12.631Z,1755897912.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777223 target range: 324.808990 and range: 326.80 m.
2025-08-22T21:25:12.786Z,1755897912.786 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:12.786Z,1755897912.786 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:12.787Z,1755897912.787 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:13.042Z,1755897913.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969939
2025-08-22T21:25:13.122Z,1755897913.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.81 m.
2025-08-22T21:25:13.125Z,1755897913.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.808990 m,
nav range: 312.301605 m,
bearing: 227.318757 deg,
approach rate: -0.683114 m/s,
LOS rate: 0.006248 deg/s,
cmd heading: 216.418915 deg,
new cmd heading: 216.425112 deg.
2025-08-22T21:25:13.126Z,1755897913.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777331 target range: 324.808990 and range: 326.80 m.
2025-08-22T21:25:13.291Z,1755897913.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219187
2025-08-22T21:25:13.543Z,1755897913.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470473
2025-08-22T21:25:13.558Z,1755897913.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.81 m.
2025-08-22T21:25:13.561Z,1755897913.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.808990 m,
nav range: 312.020355 m,
bearing: 227.321425 deg,
approach rate: -0.677388 m/s,
LOS rate: 0.006431 deg/s,
cmd heading: 216.425117 deg,
new cmd heading: 216.430457 deg.
2025-08-22T21:25:13.566Z,1755897913.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777424 target range: 324.808990 and range: 326.80 m.
2025-08-22T21:25:13.795Z,1755897913.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722499
2025-08-22T21:25:13.000Z,1755897914.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.81 m.
2025-08-22T21:25:14.003Z,1755897914.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.808990 m,
nav range: 311.707581 m,
bearing: 227.324423 deg,
approach rate: -0.676977 m/s,
LOS rate: 0.006496 deg/s,
cmd heading: 216.430458 deg,
new cmd heading: 216.436461 deg.
2025-08-22T21:25:14.004Z,1755897914.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777529 target range: 324.808990 and range: 326.80 m.
2025-08-22T21:25:14.047Z,1755897914.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974499
2025-08-22T21:25:14.299Z,1755897914.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226817
2025-08-22T21:25:14.468Z,1755897914.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.81 m.
2025-08-22T21:25:14.495Z,1755897914.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.808990 m,
nav range: 311.431274 m,
bearing: 227.327081 deg,
approach rate: -0.614783 m/s,
LOS rate: 0.005918 deg/s,
cmd heading: 216.436455 deg,
new cmd heading: 216.441775 deg.
2025-08-22T21:25:14.496Z,1755897914.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777622 target range: 324.808990 and range: 326.80 m.
2025-08-22T21:25:14.552Z,1755897914.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479275
2025-08-22T21:25:14.802Z,1755897914.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730266
2025-08-22T21:25:14.853Z,1755897914.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:14.855Z,1755897914.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.81 m.
2025-08-22T21:25:14.858Z,1755897914.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.808990 m,
nav range: 311.128998 m,
bearing: 227.329834 deg,
approach rate: -0.744285 m/s,
LOS rate: 0.006787 deg/s,
cmd heading: 216.441769 deg,
new cmd heading: 216.447281 deg.
2025-08-22T21:25:14.859Z,1755897914.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777718 target range: 324.808990 and range: 326.80 m.
2025-08-22T21:25:15.055Z,1755897915.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982381
2025-08-22T21:25:15.256Z,1755897915.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.81 m.
2025-08-22T21:25:15.263Z,1755897915.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.808990 m,
nav range: 310.871674 m,
bearing: 227.332217 deg,
approach rate: -0.642559 m/s,
LOS rate: 0.005954 deg/s,
cmd heading: 216.447288 deg,
new cmd heading: 216.452057 deg.
2025-08-22T21:25:15.264Z,1755897915.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777801 target range: 324.808990 and range: 326.80 m.
2025-08-22T21:25:15.307Z,1755897915.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234606
2025-08-22T21:25:15.559Z,1755897915.559 [DAT](INFO): DAT read: Rx Time:21:25:16.0785
2025-08-22T21:25:15.559Z,1755897915.559 [DAT](INFO): Rx dataTimestamp_ set to:1755897915.559070
2025-08-22T21:25:15.560Z,1755897915.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487783
2025-08-22T21:25:15.660Z,1755897915.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.81 m.
2025-08-22T21:25:15.663Z,1755897915.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.808990 m,
nav range: 310.580078 m,
bearing: 227.335164 deg,
approach rate: -0.721244 m/s,
LOS rate: 0.007297 deg/s,
cmd heading: 216.452055 deg,
new cmd heading: 216.457955 deg.
2025-08-22T21:25:15.664Z,1755897915.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777904 target range: 324.808990 and range: 326.80 m.
2025-08-22T21:25:15.811Z,1755897915.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.738451
2025-08-22T21:25:16.051Z,1755897916.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.81 m.
2025-08-22T21:25:16.054Z,1755897916.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.808990 m,
nav range: 310.310455 m,
bearing: 227.337934 deg,
approach rate: -0.689239 m/s,
LOS rate: 0.007086 deg/s,
cmd heading: 216.457957 deg,
new cmd heading: 216.463501 deg.
2025-08-22T21:25:16.055Z,1755897916.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778001 target range: 324.808990 and range: 326.80 m.
2025-08-22T21:25:16.069Z,1755897916.069 [DAT](INFO): DAT read: 21:25:16.0785 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407, 0.07, 2.346, 0.608, 2.110, 1.820, PHS= 0.628,-1.167, 0.246, RAW= 138.4, 3.6, CAL= 138.4, 4.4, ROT= 11.6, -4.4
2025-08-22T21:25:16.070Z,1755897916.070 [DAT](INFO): got valid direction response:
21:25:16.0785 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407, 0.07, 2.346, 0.608, 2.110, 1.820, PHS= 0.628,-1.167, 0.246, RAW= 138.4, 3.6, CAL= 138.4, 4.4, ROT= 11.6, -4.4
2025-08-22T21:25:16.071Z,1755897916.071 [DAT](INFO): DAT read: Bearing 2.8, 23.8 (Local)
2025-08-22T21:25:16.071Z,1755897916.071 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.8, 23.8 (Local)
2025-08-22T21:25:16.073Z,1755897916.073 [DAT](INFO): DAT read: Range 11 to 50 : 324.2 m (Round-trip 432.3 ms) speed 0.7 m/s
2025-08-22T21:25:16.074Z,1755897916.074 [DAT](INFO): DAT read: user:2205>
2025-08-22T21:25:16.074Z,1755897916.074 [DAT](INFO): DAT read: Tx time:21:25:17.1920
2025-08-22T21:25:16.075Z,1755897916.075 [DAT](INFO): Ping request sent.
2025-08-22T21:25:16.075Z,1755897916.075 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:16.075Z,1755897916.075 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:16.076Z,1755897916.076 [DAT](INFO): direction in FSK: [0.976688,0.200485,0.076719]
2025-08-22T21:25:16.076Z,1755897916.076 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:16.076Z,1755897916.076 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:16.080Z,1755897916.080 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:16.080Z,1755897916.080 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:16.519Z,1755897916.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 324.200012 m,
deltaT: 4.029655 s,
deltaX: -2.599976 m,
approachRate: -0.645210 m/s,
rangeRepo size: 4
2025-08-22T21:25:16.526Z,1755897916.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 322.222382 m,
bearing: 228.047830 deg,
lat: 36.779486 deg,
lon: -121.859496 deg,
deltaT: 4.029655 s,
deltaX: -2.586609 m,
approachRate: -0.641893 m/s,
posRepo size: 4
2025-08-22T21:25:16.526Z,1755897916.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.22 m.
2025-08-22T21:25:16.529Z,1755897916.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.222382 m,
nav range: 311.597076 m,
bearing: 227.606517 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007086 deg/s,
cmd heading: 216.463503 deg,
new cmd heading: 216.470129 deg.
2025-08-22T21:25:16.534Z,1755897916.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778116 target range: 322.222382 and range: 324.20 m.
2025-08-22T21:25:16.877Z,1755897916.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:16.879Z,1755897916.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.22 m.
2025-08-22T21:25:16.882Z,1755897916.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.222382 m,
nav range: 311.307159 m,
bearing: 227.609713 deg,
approach rate: -0.805007 m/s,
LOS rate: 0.008883 deg/s,
cmd heading: 216.470128 deg,
new cmd heading: 216.476526 deg.
2025-08-22T21:25:16.883Z,1755897916.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778228 target range: 322.222382 and range: 324.20 m.
2025-08-22T21:25:17.070Z,1755897917.070 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:17.070Z,1755897917.070 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:17.071Z,1755897917.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:17.263Z,1755897917.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.22 m.
2025-08-22T21:25:17.276Z,1755897917.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.222382 m,
nav range: 311.043579 m,
bearing: 227.612710 deg,
approach rate: -0.686312 m/s,
LOS rate: 0.007809 deg/s,
cmd heading: 216.476521 deg,
new cmd heading: 216.482519 deg.
2025-08-22T21:25:17.298Z,1755897917.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778333 target range: 322.222382 and range: 324.20 m.
2025-08-22T21:25:17.323Z,1755897917.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247977
2025-08-22T21:25:17.576Z,1755897917.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501113
2025-08-22T21:25:17.748Z,1755897917.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.22 m.
2025-08-22T21:25:17.751Z,1755897917.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.222382 m,
nav range: 310.703613 m,
bearing: 227.616962 deg,
approach rate: -0.701161 m/s,
LOS rate: 0.008780 deg/s,
cmd heading: 216.482518 deg,
new cmd heading: 216.491032 deg.
2025-08-22T21:25:17.752Z,1755897917.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778481 target range: 322.222382 and range: 324.20 m.
2025-08-22T21:25:17.827Z,1755897917.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751952
2025-08-22T21:25:18.079Z,1755897918.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003956
2025-08-22T21:25:18.112Z,1755897918.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.22 m.
2025-08-22T21:25:18.119Z,1755897918.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.222382 m,
nav range: 310.462158 m,
bearing: 227.620042 deg,
approach rate: -0.663509 m/s,
LOS rate: 0.008471 deg/s,
cmd heading: 216.491028 deg,
new cmd heading: 216.497193 deg.
2025-08-22T21:25:18.120Z,1755897918.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778589 target range: 322.222382 and range: 324.20 m.
2025-08-22T21:25:18.330Z,1755897918.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255804
2025-08-22T21:25:18.560Z,1755897918.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.22 m.
2025-08-22T21:25:18.567Z,1755897918.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.222382 m,
nav range: 310.148712 m,
bearing: 227.624058 deg,
approach rate: -0.699767 m/s,
LOS rate: 0.008975 deg/s,
cmd heading: 216.497189 deg,
new cmd heading: 216.505230 deg.
2025-08-22T21:25:18.568Z,1755897918.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778729 target range: 322.222382 and range: 324.20 m.
2025-08-22T21:25:18.583Z,1755897918.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507936
2025-08-22T21:25:18.835Z,1755897918.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760159
2025-08-22T21:25:18.964Z,1755897918.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:18.966Z,1755897918.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.22 m.
2025-08-22T21:25:18.968Z,1755897918.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.222382 m,
nav range: 309.868500 m,
bearing: 227.628076 deg,
approach rate: -0.690204 m/s,
LOS rate: 0.009904 deg/s,
cmd heading: 216.505235 deg,
new cmd heading: 216.513277 deg.
2025-08-22T21:25:18.970Z,1755897918.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778870 target range: 322.222382 and range: 324.20 m.
2025-08-22T21:25:19.087Z,1755897919.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012532
2025-08-22T21:25:19.339Z,1755897919.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263885
2025-08-22T21:25:19.347Z,1755897919.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.22 m.
2025-08-22T21:25:19.350Z,1755897919.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.222382 m,
nav range: 309.613068 m,
bearing: 227.631807 deg,
approach rate: -0.669189 m/s,
LOS rate: 0.009785 deg/s,
cmd heading: 216.513281 deg,
new cmd heading: 216.520751 deg.
2025-08-22T21:25:19.351Z,1755897919.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.779000 target range: 322.222382 and range: 324.20 m.
2025-08-22T21:25:19.591Z,1755897919.591 [DAT](INFO): DAT read: Rx Time:21:25:20.0248
2025-08-22T21:25:19.591Z,1755897919.591 [DAT](INFO): Rx dataTimestamp_ set to:1755897919.590826
2025-08-22T21:25:19.592Z,1755897919.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516969
2025-08-22T21:25:19.815Z,1755897919.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.22 m.
2025-08-22T21:25:19.818Z,1755897919.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.222382 m,
nav range: 309.292419 m,
bearing: 227.636200 deg,
approach rate: -0.685193 m/s,
LOS rate: 0.009397 deg/s,
cmd heading: 216.520753 deg,
new cmd heading: 216.529548 deg.
2025-08-22T21:25:19.819Z,1755897919.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.779154 target range: 322.222382 and range: 324.20 m.
2025-08-22T21:25:19.863Z,1755897919.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788702
2025-08-22T21:25:20.120Z,1755897920.120 [DAT](INFO): DAT read: 21:25:20.0248 LVL= 30928, 32753, 32754, 32755, AGC= 65, IDX= 401,-0.33, 2.695, 0.860, 2.426, 2.101, PHS= 0.696,-1.196, 0.282, RAW= 138.0, 2.6, CAL= 138.1, 3.3, ROT= 11.9, -3.3
2025-08-22T21:25:20.121Z,1755897920.121 [DAT](INFO): got valid direction response:
21:25:20.0248 LVL= 30928, 32753, 32754, 32755, AGC= 65, IDX= 401,-0.33, 2.695, 0.860, 2.426, 2.101, PHS= 0.696,-1.196, 0.282, RAW= 138.0, 2.6, CAL= 138.1, 3.3, ROT= 11.9, -3.3
2025-08-22T21:25:20.122Z,1755897920.122 [DAT](INFO): DAT read: Bearing 0.3, 23.5 (Local)
2025-08-22T21:25:20.123Z,1755897920.123 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.3, 23.5 (Local)
2025-08-22T21:25:20.124Z,1755897920.124 [DAT](INFO): DAT read: Range 11 to 50 : 321.4 m (Round-trip 428.6 ms) speed 0.6 m/s
2025-08-22T21:25:20.125Z,1755897920.125 [DAT](INFO): DAT read: user:2206>
2025-08-22T21:25:20.126Z,1755897920.126 [DAT](INFO): DAT read: Tx time:21:25:21.1420
2025-08-22T21:25:20.126Z,1755897920.126 [DAT](INFO): Ping request sent.
2025-08-22T21:25:20.126Z,1755897920.126 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:20.126Z,1755897920.126 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:20.127Z,1755897920.127 [DAT](INFO): direction in FSK: [0.976886,0.205862,0.057564]
2025-08-22T21:25:20.127Z,1755897920.127 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:20.128Z,1755897920.128 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:20.131Z,1755897920.131 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:20.132Z,1755897920.132 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:20.276Z,1755897920.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 321.399994 m,
deltaT: 4.051932 s,
deltaX: -2.800018 m,
approachRate: -0.691033 m/s,
rangeRepo size: 4
2025-08-22T21:25:20.282Z,1755897920.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 319.437347 m,
bearing: 227.775278 deg,
lat: 36.779491 deg,
lon: -121.859497 deg,
deltaT: 4.051932 s,
deltaX: -2.785034 m,
approachRate: -0.687335 m/s,
posRepo size: 4
2025-08-22T21:25:20.282Z,1755897920.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.44 m.
2025-08-22T21:25:20.285Z,1755897920.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 319.437347 m,
nav range: 308.677063 m,
bearing: 227.718365 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009397 deg/s,
cmd heading: 216.529551 deg,
new cmd heading: 216.538187 deg.
2025-08-22T21:25:20.291Z,1755897920.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.779304 target range: 319.437347 and range: 321.40 m.
2025-08-22T21:25:20.582Z,1755897920.582 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:25:20.723Z,1755897920.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.44 m.
2025-08-22T21:25:20.726Z,1755897920.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 319.437347 m,
nav range: 308.347107 m,
bearing: 227.724114 deg,
approach rate: -0.735980 m/s,
LOS rate: 0.012839 deg/s,
cmd heading: 216.538184 deg,
new cmd heading: 216.549696 deg.
2025-08-22T21:25:20.727Z,1755897920.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.779505 target range: 319.437347 and range: 321.40 m.
2025-08-22T21:25:21.088Z,1755897921.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:21.090Z,1755897921.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.44 m.
2025-08-22T21:25:21.093Z,1755897921.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 319.437347 m,
nav range: 308.099884 m,
bearing: 227.728468 deg,
approach rate: -0.673221 m/s,
LOS rate: 0.011863 deg/s,
cmd heading: 216.549700 deg,
new cmd heading: 216.558413 deg.
2025-08-22T21:25:21.094Z,1755897921.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.779657 target range: 319.437347 and range: 321.40 m.
2025-08-22T21:25:21.127Z,1755897921.127 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:21.127Z,1755897921.127 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:21.127Z,1755897921.127 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:21.379Z,1755897921.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252991
2025-08-22T21:25:21.569Z,1755897921.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.44 m.
2025-08-22T21:25:21.576Z,1755897921.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 319.437347 m,
nav range: 307.788483 m,
bearing: 227.733961 deg,
approach rate: -0.650818 m/s,
LOS rate: 0.011493 deg/s,
cmd heading: 216.558415 deg,
new cmd heading: 216.569413 deg.
2025-08-22T21:25:21.577Z,1755897921.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.779849 target range: 319.437347 and range: 321.40 m.
2025-08-22T21:25:21.586Z,1755897921.586 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:25:21.631Z,1755897921.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505000
2025-08-22T21:25:21.883Z,1755897921.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756528
2025-08-22T21:25:21.964Z,1755897921.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.44 m.
2025-08-22T21:25:21.971Z,1755897921.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 319.437347 m,
nav range: 307.517120 m,
bearing: 227.739107 deg,
approach rate: -0.686321 m/s,
LOS rate: 0.013027 deg/s,
cmd heading: 216.569412 deg,
new cmd heading: 216.579713 deg.
2025-08-22T21:25:21.972Z,1755897921.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.780029 target range: 319.437347 and range: 321.40 m.
2025-08-22T21:25:22.135Z,1755897922.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008568
2025-08-22T21:25:22.330Z,1755897922.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.44 m.
2025-08-22T21:25:22.333Z,1755897922.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 319.437347 m,
nav range: 307.254669 m,
bearing: 227.744104 deg,
approach rate: -0.717082 m/s,
LOS rate: 0.013665 deg/s,
cmd heading: 216.579711 deg,
new cmd heading: 216.589714 deg.
2025-08-22T21:25:22.334Z,1755897922.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.780204 target range: 319.437347 and range: 321.40 m.
2025-08-22T21:25:22.387Z,1755897922.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260643
2025-08-22T21:25:22.639Z,1755897922.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512606
2025-08-22T21:25:22.754Z,1755897922.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.44 m.
2025-08-22T21:25:22.756Z,1755897922.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 319.437347 m,
nav range: 306.970551 m,
bearing: 227.750387 deg,
approach rate: -0.671325 m/s,
LOS rate: 0.014858 deg/s,
cmd heading: 216.589711 deg,
new cmd heading: 216.602287 deg.
2025-08-22T21:25:22.758Z,1755897922.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.780423 target range: 319.437347 and range: 321.40 m.
2025-08-22T21:25:22.891Z,1755897922.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764671
2025-08-22T21:25:23.137Z,1755897923.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:23.139Z,1755897923.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.44 m.
2025-08-22T21:25:23.143Z,1755897923.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016624
2025-08-22T21:25:23.144Z,1755897923.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 319.437347 m,
nav range: 306.711548 m,
bearing: 227.756121 deg,
approach rate: -0.671011 m/s,
LOS rate: 0.014868 deg/s,
cmd heading: 216.602292 deg,
new cmd heading: 216.613770 deg.
2025-08-22T21:25:23.145Z,1755897923.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.780623 target range: 319.437347 and range: 321.40 m.
2025-08-22T21:25:23.395Z,1755897923.395 [DAT](INFO): DAT read: Rx Time:21:25:23.9710
2025-08-22T21:25:23.395Z,1755897923.395 [DAT](INFO): Rx dataTimestamp_ set to:1755897923.394733
2025-08-22T21:25:23.396Z,1755897923.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269585
2025-08-22T21:25:23.628Z,1755897923.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.44 m.
2025-08-22T21:25:23.647Z,1755897923.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520616
2025-08-22T21:25:23.649Z,1755897923.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 319.437347 m,
nav range: 306.381104 m,
bearing: 227.763026 deg,
approach rate: -0.676300 m/s,
LOS rate: 0.014149 deg/s,
cmd heading: 216.613767 deg,
new cmd heading: 216.627593 deg.
2025-08-22T21:25:23.655Z,1755897923.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.780865 target range: 319.437347 and range: 321.40 m.
2025-08-22T21:25:23.904Z,1755897923.904 [DAT](INFO): DAT read: 21:25:23.9710 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.36, 0.694,-1.212, 0.423, 0.140, PHS= 0.656,-1.307, 0.240, RAW= 138.4, 4.6, CAL= 138.3, 5.4, ROT= 11.7, -5.4
2025-08-22T21:25:23.906Z,1755897923.906 [DAT](INFO): got valid direction response:
21:25:23.9710 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.36, 0.694,-1.212, 0.423, 0.140, PHS= 0.656,-1.307, 0.240, RAW= 138.4, 4.6, CAL= 138.3, 5.4, ROT= 11.7, -5.4
2025-08-22T21:25:23.907Z,1755897923.907 [DAT](INFO): DAT read: Bearing 2.1, 22.7 (Local)
2025-08-22T21:25:23.907Z,1755897923.907 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.1, 22.7 (Local)
2025-08-22T21:25:23.908Z,1755897923.908 [DAT](INFO): DAT read: Range 11 to 50 : 318.6 m (Round-trip 424.9 ms) speed 0.4 m/s
2025-08-22T21:25:23.909Z,1755897923.909 [DAT](INFO): DAT read: user:2207>
2025-08-22T21:25:23.910Z,1755897923.910 [DAT](INFO): DAT read: Tx time:21:25:25.0920
2025-08-22T21:25:23.910Z,1755897923.910 [DAT](INFO): Ping request sent.
2025-08-22T21:25:23.910Z,1755897923.910 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:23.910Z,1755897923.910 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:23.911Z,1755897923.911 [DAT](INFO): direction in FSK: [0.974877,0.201887,0.094108]
2025-08-22T21:25:23.912Z,1755897923.912 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:23.912Z,1755897923.912 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:23.946Z,1755897923.946 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:23.946Z,1755897923.946 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:24.087Z,1755897924.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 318.600006 m,
deltaT: 3.784247 s,
deltaX: -2.799988 m,
approachRate: -0.739906 m/s,
rangeRepo size: 4
2025-08-22T21:25:24.089Z,1755897924.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 316.648956 m,
bearing: 227.206116 deg,
lat: 36.779491 deg,
lon: -121.859496 deg,
deltaT: 3.784247 s,
deltaX: -2.788391 m,
approachRate: -0.736842 m/s,
posRepo size: 4
2025-08-22T21:25:24.094Z,1755897924.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-08-22T21:25:24.102Z,1755897924.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.648956 m,
nav range: 306.060791 m,
bearing: 227.764262 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.014149 deg/s,
cmd heading: 216.627591 deg,
new cmd heading: 216.640552 deg.
2025-08-22T21:25:24.103Z,1755897924.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781091 target range: 316.648956 and range: 318.60 m.
2025-08-22T21:25:24.394Z,1755897924.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-08-22T21:25:24.397Z,1755897924.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.648956 m,
nav range: 305.832336 m,
bearing: 227.769014 deg,
approach rate: -0.740918 m/s,
LOS rate: 0.015424 deg/s,
cmd heading: 216.640555 deg,
new cmd heading: 216.650066 deg.
2025-08-22T21:25:24.398Z,1755897924.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781257 target range: 316.648956 and range: 318.60 m.
2025-08-22T21:25:24.819Z,1755897924.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-08-22T21:25:24.822Z,1755897924.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.648956 m,
nav range: 305.542542 m,
bearing: 227.774038 deg,
approach rate: -0.682931 m/s,
LOS rate: 0.011851 deg/s,
cmd heading: 216.650062 deg,
new cmd heading: 216.660120 deg.
2025-08-22T21:25:24.823Z,1755897924.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781432 target range: 316.648956 and range: 318.60 m.
2025-08-22T21:25:25.213Z,1755897925.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:25.216Z,1755897925.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-08-22T21:25:25.218Z,1755897925.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.648956 m,
nav range: 305.274261 m,
bearing: 227.778675 deg,
approach rate: -0.676126 m/s,
LOS rate: 0.011698 deg/s,
cmd heading: 216.660116 deg,
new cmd heading: 216.669400 deg.
2025-08-22T21:25:25.219Z,1755897925.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781595 target range: 316.648956 and range: 318.60 m.
2025-08-22T21:25:25.410Z,1755897925.410 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:25.410Z,1755897925.410 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:25.411Z,1755897925.411 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:25.664Z,1755897925.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753347
2025-08-22T21:25:25.711Z,1755897925.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-08-22T21:25:25.718Z,1755897925.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.648956 m,
nav range: 304.955200 m,
bearing: 227.784896 deg,
approach rate: -0.643550 m/s,
LOS rate: 0.012561 deg/s,
cmd heading: 216.669406 deg,
new cmd heading: 216.681861 deg.
2025-08-22T21:25:25.719Z,1755897925.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781812 target range: 316.648956 and range: 318.60 m.
2025-08-22T21:25:25.915Z,1755897925.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004448
2025-08-22T21:25:26.044Z,1755897926.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-08-22T21:25:26.067Z,1755897926.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.648956 m,
nav range: 304.706726 m,
bearing: 227.789748 deg,
approach rate: -0.746449 m/s,
LOS rate: 0.014587 deg/s,
cmd heading: 216.681864 deg,
new cmd heading: 216.691575 deg.
2025-08-22T21:25:26.068Z,1755897926.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781981 target range: 316.648956 and range: 318.60 m.
2025-08-22T21:25:26.168Z,1755897926.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257205
2025-08-22T21:25:26.419Z,1755897926.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508402
2025-08-22T21:25:26.468Z,1755897926.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-08-22T21:25:26.475Z,1755897926.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.648956 m,
nav range: 304.431335 m,
bearing: 227.795124 deg,
approach rate: -0.650356 m/s,
LOS rate: 0.012707 deg/s,
cmd heading: 216.691576 deg,
new cmd heading: 216.702338 deg.
2025-08-22T21:25:26.476Z,1755897926.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782169 target range: 316.648956 and range: 318.60 m.
2025-08-22T21:25:26.672Z,1755897926.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761872
2025-08-22T21:25:26.872Z,1755897926.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-08-22T21:25:26.875Z,1755897926.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.648956 m,
nav range: 304.147491 m,
bearing: 227.800090 deg,
approach rate: -0.702247 m/s,
LOS rate: 0.012298 deg/s,
cmd heading: 216.702341 deg,
new cmd heading: 216.712282 deg.
2025-08-22T21:25:26.876Z,1755897926.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782343 target range: 316.648956 and range: 318.60 m.
2025-08-22T21:25:26.925Z,1755897926.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014897
2025-08-22T21:25:27.177Z,1755897927.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266402
2025-08-22T21:25:27.267Z,1755897927.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:27.269Z,1755897927.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-08-22T21:25:27.273Z,1755897927.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.648956 m,
nav range: 303.881683 m,
bearing: 227.804730 deg,
approach rate: -0.669854 m/s,
LOS rate: 0.011703 deg/s,
cmd heading: 216.712285 deg,
new cmd heading: 216.721573 deg.
2025-08-22T21:25:27.319Z,1755897927.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782505 target range: 316.648956 and range: 318.60 m.
2025-08-22T21:25:27.427Z,1755897927.427 [DAT](INFO): DAT read: Rx Time:21:25:27.9175
2025-08-22T21:25:27.427Z,1755897927.427 [DAT](INFO): Rx dataTimestamp_ set to:1755897927.426752
2025-08-22T21:25:27.428Z,1755897927.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517412
2025-08-22T21:25:27.679Z,1755897927.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768764
2025-08-22T21:25:27.876Z,1755897927.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-08-22T21:25:27.879Z,1755897927.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.648956 m,
nav range: 303.474457 m,
bearing: 227.812207 deg,
approach rate: -0.670337 m/s,
LOS rate: 0.012324 deg/s,
cmd heading: 216.721575 deg,
new cmd heading: 216.736548 deg.
2025-08-22T21:25:27.880Z,1755897927.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782766 target range: 316.648956 and range: 318.60 m.
2025-08-22T21:25:27.939Z,1755897927.939 [DAT](INFO): DAT read: 21:25:27.9175 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407,-0.37, 1.279,-0.542, 1.011, 0.755, PHS= 0.625,-1.252, 0.211, RAW= 137.9, 4.9, CAL= 137.8, 5.8, ROT= 12.2, -5.8
2025-08-22T21:25:27.941Z,1755897927.941 [DAT](INFO): got valid direction response:
21:25:27.9175 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407,-0.37, 1.279,-0.542, 1.011, 0.755, PHS= 0.625,-1.252, 0.211, RAW= 137.9, 4.9, CAL= 137.8, 5.8, ROT= 12.2, -5.8
2025-08-22T21:25:27.942Z,1755897927.942 [DAT](INFO): DAT read: Bearing 2.5, 22.4 (Local)
2025-08-22T21:25:27.942Z,1755897927.942 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.5, 22.4 (Local)
2025-08-22T21:25:27.944Z,1755897927.944 [DAT](INFO): DAT read: Range 11 to 50 : 315.9 m (Round-trip 421.3 ms) speed 0.7 m/s
2025-08-22T21:25:27.945Z,1755897927.945 [DAT](INFO): DAT read: user:2208>
2025-08-22T21:25:27.947Z,1755897927.947 [DAT](INFO): DAT read: Tx time:21:25:29.0420
2025-08-22T21:25:27.948Z,1755897927.948 [DAT](INFO): Ping request sent.
2025-08-22T21:25:27.948Z,1755897927.948 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:27.949Z,1755897927.949 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:27.950Z,1755897927.950 [DAT](INFO): direction in FSK: [0.972412,0.210243,0.101056]
2025-08-22T21:25:27.951Z,1755897927.951 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:27.951Z,1755897927.951 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:27.964Z,1755897927.964 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:27.965Z,1755897927.965 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:28.245Z,1755897928.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 315.899994 m,
deltaT: 4.034877 s,
deltaX: -2.700012 m,
approachRate: -0.669168 m/s,
rangeRepo size: 4
2025-08-22T21:25:28.247Z,1755897928.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 313.958710 m,
bearing: 227.758927 deg,
lat: 36.779495 deg,
lon: -121.859496 deg,
deltaT: 4.034877 s,
deltaX: -2.690247 m,
approachRate: -0.666748 m/s,
posRepo size: 4
2025-08-22T21:25:28.248Z,1755897928.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.96 m.
2025-08-22T21:25:28.250Z,1755897928.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 313.958710 m,
nav range: 302.920898 m,
bearing: 227.881236 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012324 deg/s,
cmd heading: 216.736546 deg,
new cmd heading: 216.745609 deg.
2025-08-22T21:25:28.251Z,1755897928.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782924 target range: 313.958710 and range: 315.90 m.
2025-08-22T21:25:28.774Z,1755897928.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.96 m.
2025-08-22T21:25:28.777Z,1755897928.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 313.958710 m,
nav range: 302.557922 m,
bearing: 227.888595 deg,
approach rate: -0.684210 m/s,
LOS rate: 0.013888 deg/s,
cmd heading: 216.745603 deg,
new cmd heading: 216.760338 deg.
2025-08-22T21:25:28.778Z,1755897928.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.783182 target range: 313.958710 and range: 315.90 m.
2025-08-22T21:25:29.106Z,1755897929.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.96 m.
2025-08-22T21:25:29.109Z,1755897929.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 313.958710 m,
nav range: 302.332245 m,
bearing: 227.893162 deg,
approach rate: -0.679551 m/s,
LOS rate: 0.013763 deg/s,
cmd heading: 216.760343 deg,
new cmd heading: 216.769484 deg.
2025-08-22T21:25:29.110Z,1755897929.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.783341 target range: 313.958710 and range: 315.90 m.
2025-08-22T21:25:29.507Z,1755897929.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:29.509Z,1755897929.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.96 m.
2025-08-22T21:25:29.512Z,1755897929.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 313.958710 m,
nav range: 302.058868 m,
bearing: 227.898654 deg,
approach rate: -0.679107 m/s,
LOS rate: 0.013656 deg/s,
cmd heading: 216.769481 deg,
new cmd heading: 216.780476 deg.
2025-08-22T21:25:29.513Z,1755897929.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.783533 target range: 313.958710 and range: 315.90 m.
2025-08-22T21:25:29.698Z,1755897929.698 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:29.699Z,1755897929.699 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:29.699Z,1755897929.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:29.937Z,1755897929.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.96 m.
2025-08-22T21:25:29.940Z,1755897929.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 313.958710 m,
nav range: 301.774872 m,
bearing: 227.904471 deg,
approach rate: -0.664180 m/s,
LOS rate: 0.013615 deg/s,
cmd heading: 216.780478 deg,
new cmd heading: 216.792122 deg.
2025-08-22T21:25:29.940Z,1755897929.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.783736 target range: 313.958710 and range: 315.90 m.
2025-08-22T21:25:29.950Z,1755897929.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002217
2025-08-22T21:25:30.203Z,1755897930.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254605
2025-08-22T21:25:30.315Z,1755897930.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.96 m.
2025-08-22T21:25:30.318Z,1755897930.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 313.958710 m,
nav range: 301.523529 m,
bearing: 227.909592 deg,
approach rate: -0.664283 m/s,
LOS rate: 0.013547 deg/s,
cmd heading: 216.792117 deg,
new cmd heading: 216.802368 deg.
2025-08-22T21:25:30.319Z,1755897930.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.783915 target range: 313.958710 and range: 315.90 m.
2025-08-22T21:25:30.455Z,1755897930.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506916
2025-08-22T21:25:30.709Z,1755897930.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760556
2025-08-22T21:25:30.821Z,1755897930.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.96 m.
2025-08-22T21:25:30.824Z,1755897930.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 313.958710 m,
nav range: 301.185730 m,
bearing: 227.916726 deg,
approach rate: -0.667479 m/s,
LOS rate: 0.014113 deg/s,
cmd heading: 216.802362 deg,
new cmd heading: 216.816646 deg.
2025-08-22T21:25:30.825Z,1755897930.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.784164 target range: 313.958710 and range: 315.90 m.
2025-08-22T21:25:30.958Z,1755897930.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010235
2025-08-22T21:25:31.157Z,1755897931.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.96 m.
2025-08-22T21:25:31.182Z,1755897931.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 313.958710 m,
nav range: 300.966736 m,
bearing: 227.921323 deg,
approach rate: -0.653525 m/s,
LOS rate: 0.013726 deg/s,
cmd heading: 216.816651 deg,
new cmd heading: 216.825850 deg.
2025-08-22T21:25:31.184Z,1755897931.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.784325 target range: 313.958710 and range: 315.90 m.
2025-08-22T21:25:31.211Z,1755897931.211 [DAT](INFO): DAT read: Rx Time:21:25:31.8638
2025-08-22T21:25:31.211Z,1755897931.211 [DAT](INFO): Rx dataTimestamp_ set to:1755897931.210851
2025-08-22T21:25:31.212Z,1755897931.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263415
2025-08-22T21:25:31.463Z,1755897931.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514262
2025-08-22T21:25:31.557Z,1755897931.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:31.559Z,1755897931.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.96 m.
2025-08-22T21:25:31.562Z,1755897931.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 313.958710 m,
nav range: 300.692780 m,
bearing: 227.927044 deg,
approach rate: -0.679568 m/s,
LOS rate: 0.014206 deg/s,
cmd heading: 216.825844 deg,
new cmd heading: 216.837298 deg.
2025-08-22T21:25:31.563Z,1755897931.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.784525 target range: 313.958710 and range: 315.90 m.
2025-08-22T21:25:31.715Z,1755897931.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766374
2025-08-22T21:25:31.974Z,1755897931.974 [DAT](INFO): DAT read: 21:25:31.8638 LVL= 24416, 31217, 30946, 32755, AGC= 68, IDX= 401, 0.30,-1.581, 2.928,-1.853,-2.081, PHS= 0.601,-1.230, 0.184, RAW= 137.4, 5.4, CAL= 137.4, 6.3, ROT= 12.6, -6.3
2025-08-22T21:25:31.975Z,1755897931.975 [DAT](INFO): got valid direction response:
21:25:31.8638 LVL= 24416, 31217, 30946, 32755, AGC= 68, IDX= 401, 0.30,-1.581, 2.928,-1.853,-2.081, PHS= 0.601,-1.230, 0.184, RAW= 137.4, 5.4, CAL= 137.4, 6.3, ROT= 12.6, -6.3
2025-08-22T21:25:31.976Z,1755897931.976 [DAT](INFO): DAT read: Bearing 3.1, 21.8 (Local)
2025-08-22T21:25:31.977Z,1755897931.977 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.1, 21.8 (Local)
2025-08-22T21:25:31.978Z,1755897931.978 [DAT](INFO): DAT read: Range 11 to 50 : 313.2 m (Round-trip 417.6 ms) speed 0.8 m/s
2025-08-22T21:25:31.979Z,1755897931.979 [DAT](INFO): DAT read: user:2209>
2025-08-22T21:25:31.980Z,1755897931.980 [DAT](INFO): DAT read: Tx time:21:25:32.9920
2025-08-22T21:25:31.980Z,1755897931.980 [DAT](INFO): Ping request sent.
2025-08-22T21:25:31.980Z,1755897931.980 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:31.980Z,1755897931.980 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:31.981Z,1755897931.981 [DAT](INFO): direction in FSK: [0.970023,0.216826,0.109734]
2025-08-22T21:25:31.982Z,1755897931.982 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:31.982Z,1755897931.982 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:31.985Z,1755897931.985 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:31.985Z,1755897931.985 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:32.018Z,1755897932.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 313.200012 m,
deltaT: 4.032881 s,
deltaX: -2.699982 m,
approachRate: -0.669492 m/s,
rangeRepo size: 4
2025-08-22T21:25:32.020Z,1755897932.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 311.268219 m,
bearing: 228.409608 deg,
lat: 36.779495 deg,
lon: -121.859497 deg,
deltaT: 4.032881 s,
deltaX: -2.690491 m,
approachRate: -0.667139 m/s,
posRepo size: 4
2025-08-22T21:25:32.020Z,1755897932.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.27 m.
2025-08-22T21:25:32.048Z,1755897932.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 311.268219 m,
nav range: 300.416168 m,
bearing: 227.939008 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.014206 deg/s,
cmd heading: 216.837292 deg,
new cmd heading: 216.850288 deg.
2025-08-22T21:25:32.048Z,1755897932.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.784751 target range: 311.268219 and range: 313.20 m.
2025-08-22T21:25:32.410Z,1755897932.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.27 m.
2025-08-22T21:25:32.412Z,1755897932.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 311.268219 m,
nav range: 300.147644 m,
bearing: 227.945075 deg,
approach rate: -0.683690 m/s,
LOS rate: 0.015460 deg/s,
cmd heading: 216.850283 deg,
new cmd heading: 216.862427 deg.
2025-08-22T21:25:32.414Z,1755897932.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.784963 target range: 311.268219 and range: 313.20 m.
2025-08-22T21:25:32.817Z,1755897932.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.27 m.
2025-08-22T21:25:32.820Z,1755897932.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 311.268219 m,
nav range: 299.870117 m,
bearing: 227.950948 deg,
approach rate: -0.680733 m/s,
LOS rate: 0.014419 deg/s,
cmd heading: 216.862427 deg,
new cmd heading: 216.874184 deg.
2025-08-22T21:25:32.821Z,1755897932.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.785169 target range: 311.268219 and range: 313.20 m.
2025-08-22T21:25:33.208Z,1755897933.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.27 m.
2025-08-22T21:25:33.211Z,1755897933.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 311.268219 m,
nav range: 299.603943 m,
bearing: 227.956537 deg,
approach rate: -0.681830 m/s,
LOS rate: 0.014330 deg/s,
cmd heading: 216.874188 deg,
new cmd heading: 216.885377 deg.
2025-08-22T21:25:33.212Z,1755897933.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.785364 target range: 311.268219 and range: 313.20 m.
2025-08-22T21:25:33.604Z,1755897933.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:33.607Z,1755897933.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.27 m.
2025-08-22T21:25:33.609Z,1755897933.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 311.268219 m,
nav range: 299.332458 m,
bearing: 227.962196 deg,
approach rate: -0.680351 m/s,
LOS rate: 0.014193 deg/s,
cmd heading: 216.885376 deg,
new cmd heading: 216.896704 deg.
2025-08-22T21:25:33.632Z,1755897933.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.785562 target range: 311.268219 and range: 313.20 m.
2025-08-22T21:25:33.739Z,1755897933.739 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:33.739Z,1755897933.739 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:33.739Z,1755897933.739 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:33.991Z,1755897933.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011046
2025-08-22T21:25:34.041Z,1755897934.041 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-08-22T21:25:34.089Z,1755897934.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.27 m.
2025-08-22T21:25:34.092Z,1755897934.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 311.268219 m,
nav range: 299.003448 m,
bearing: 227.969458 deg,
approach rate: -0.682173 m/s,
LOS rate: 0.015073 deg/s,
cmd heading: 216.896701 deg,
new cmd heading: 216.911240 deg.
2025-08-22T21:25:34.093Z,1755897934.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.785815 target range: 311.268219 and range: 313.20 m.
2025-08-22T21:25:34.243Z,1755897934.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262553
2025-08-22T21:25:34.487Z,1755897934.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.27 m.
2025-08-22T21:25:34.490Z,1755897934.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 311.268219 m,
nav range: 298.743500 m,
bearing: 227.975157 deg,
approach rate: -0.652742 m/s,
LOS rate: 0.014323 deg/s,
cmd heading: 216.911235 deg,
new cmd heading: 216.922644 deg.
2025-08-22T21:25:34.491Z,1755897934.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786014 target range: 311.268219 and range: 313.20 m.
2025-08-22T21:25:34.495Z,1755897934.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514579
2025-08-22T21:25:34.750Z,1755897934.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769087
2025-08-22T21:25:34.875Z,1755897934.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.27 m.
2025-08-22T21:25:34.878Z,1755897934.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 311.268219 m,
nav range: 298.469238 m,
bearing: 227.980160 deg,
approach rate: -0.707250 m/s,
LOS rate: 0.012914 deg/s,
cmd heading: 216.922642 deg,
new cmd heading: 216.932658 deg.
2025-08-22T21:25:34.879Z,1755897934.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786189 target range: 311.268219 and range: 313.20 m.
2025-08-22T21:25:34.999Z,1755897934.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018633
2025-08-22T21:25:35.254Z,1755897935.254 [DAT](INFO): DAT read: Rx Time:21:25:35.8105
2025-08-22T21:25:35.255Z,1755897935.255 [DAT](INFO): Rx dataTimestamp_ set to:1755897935.254277
2025-08-22T21:25:35.255Z,1755897935.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275118
2025-08-22T21:25:35.299Z,1755897935.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.27 m.
2025-08-22T21:25:35.302Z,1755897935.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 311.268219 m,
nav range: 298.181976 m,
bearing: 227.985360 deg,
approach rate: -0.677823 m/s,
LOS rate: 0.012281 deg/s,
cmd heading: 216.932655 deg,
new cmd heading: 216.943064 deg.
2025-08-22T21:25:35.303Z,1755897935.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786371 target range: 311.268219 and range: 313.20 m.
2025-08-22T21:25:35.507Z,1755897935.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526507
2025-08-22T21:25:35.771Z,1755897935.771 [DAT](INFO): DAT read: 21:25:35.8105 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.46,-2.059, 2.426,-2.320,-2.523, PHS= 0.566,-1.289, 0.159, RAW= 137.9, 6.7, CAL= 137.8, 7.6, ROT= 12.2, -7.6
2025-08-22T21:25:35.772Z,1755897935.772 [DAT](INFO): got valid direction response:
21:25:35.8105 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.46,-2.059, 2.426,-2.320,-2.523, PHS= 0.566,-1.289, 0.159, RAW= 137.9, 6.7, CAL= 137.8, 7.6, ROT= 12.2, -7.6
2025-08-22T21:25:35.773Z,1755897935.773 [DAT](INFO): DAT read: Bearing 5.1, 20.1 (Local)
2025-08-22T21:25:35.773Z,1755897935.773 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.1, 20.1 (Local)
2025-08-22T21:25:35.775Z,1755897935.775 [DAT](INFO): DAT read: Range 11 to 50 : 310.7 m (Round-trip 414.3 ms) speed 0.3 m/s
2025-08-22T21:25:35.776Z,1755897935.776 [DAT](INFO): DAT read: user:2210>
2025-08-22T21:25:35.776Z,1755897935.776 [DAT](INFO): DAT read: Tx time:21:25:36.8920
2025-08-22T21:25:35.777Z,1755897935.777 [DAT](INFO): Ping request sent.
2025-08-22T21:25:35.777Z,1755897935.777 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:35.777Z,1755897935.777 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:35.778Z,1755897935.778 [DAT](INFO): direction in FSK: [0.968830,0.209468,0.132256]
2025-08-22T21:25:35.778Z,1755897935.778 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:35.778Z,1755897935.778 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:35.782Z,1755897935.782 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:35.783Z,1755897935.783 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:35.803Z,1755897935.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 310.700012 m,
deltaT: 3.793239 s,
deltaX: -2.500000 m,
approachRate: -0.659067 m/s,
rangeRepo size: 4
2025-08-22T21:25:35.805Z,1755897935.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 308.782288 m,
bearing: 228.524252 deg,
lat: 36.779495 deg,
lon: -121.859502 deg,
deltaT: 3.793239 s,
deltaX: -2.485931 m,
approachRate: -0.655358 m/s,
posRepo size: 4
2025-08-22T21:25:35.809Z,1755897935.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.78 m.
2025-08-22T21:25:35.812Z,1755897935.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 308.782288 m,
nav range: 298.225494 m,
bearing: 228.050602 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012281 deg/s,
cmd heading: 216.943064 deg,
new cmd heading: 216.955418 deg.
2025-08-22T21:25:35.813Z,1755897935.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786586 target range: 308.782288 and range: 310.70 m.
2025-08-22T21:25:36.218Z,1755897936.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:36.221Z,1755897936.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.78 m.
2025-08-22T21:25:36.232Z,1755897936.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 308.782288 m,
nav range: 297.903839 m,
bearing: 228.057523 deg,
approach rate: -0.767916 m/s,
LOS rate: 0.016541 deg/s,
cmd heading: 216.955413 deg,
new cmd heading: 216.969270 deg.
2025-08-22T21:25:36.233Z,1755897936.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786828 target range: 308.782288 and range: 310.70 m.
2025-08-22T21:25:36.262Z,1755897936.262 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:36.262Z,1755897936.262 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:36.263Z,1755897936.263 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:36.516Z,1755897936.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739496
2025-08-22T21:25:36.565Z,1755897936.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.78 m.
2025-08-22T21:25:36.568Z,1755897936.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 308.782288 m,
nav range: 297.659454 m,
bearing: 228.062615 deg,
approach rate: -0.709172 m/s,
LOS rate: 0.014788 deg/s,
cmd heading: 216.969264 deg,
new cmd heading: 216.979456 deg.
2025-08-22T21:25:36.569Z,1755897936.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.787006 target range: 308.782288 and range: 310.70 m.
2025-08-22T21:25:36.770Z,1755897936.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992675
2025-08-22T21:25:37.011Z,1755897937.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.78 m.
2025-08-22T21:25:37.014Z,1755897937.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 308.782288 m,
nav range: 297.360718 m,
bearing: 228.067500 deg,
approach rate: -0.670393 m/s,
LOS rate: 0.010974 deg/s,
cmd heading: 216.979455 deg,
new cmd heading: 216.989236 deg.
2025-08-22T21:25:37.015Z,1755897937.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.787177 target range: 308.782288 and range: 310.70 m.
2025-08-22T21:25:37.019Z,1755897937.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241889
2025-08-22T21:25:37.271Z,1755897937.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493892
2025-08-22T21:25:37.383Z,1755897937.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.78 m.
2025-08-22T21:25:37.388Z,1755897937.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 308.782288 m,
nav range: 297.121490 m,
bearing: 228.071374 deg,
approach rate: -0.641937 m/s,
LOS rate: 0.010405 deg/s,
cmd heading: 216.989236 deg,
new cmd heading: 216.996991 deg.
2025-08-22T21:25:37.388Z,1755897937.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.787312 target range: 308.782288 and range: 310.70 m.
2025-08-22T21:25:37.522Z,1755897937.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745651
2025-08-22T21:25:37.779Z,1755897937.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001447
2025-08-22T21:25:37.841Z,1755897937.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.78 m.
2025-08-22T21:25:37.844Z,1755897937.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 308.782288 m,
nav range: 296.807831 m,
bearing: 228.076780 deg,
approach rate: -0.685199 m/s,
LOS rate: 0.011821 deg/s,
cmd heading: 216.996995 deg,
new cmd heading: 217.007818 deg.
2025-08-22T21:25:37.845Z,1755897937.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.787501 target range: 308.782288 and range: 310.70 m.
2025-08-22T21:25:38.026Z,1755897938.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249758
2025-08-22T21:25:38.199Z,1755897938.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.78 m.
2025-08-22T21:25:38.202Z,1755897938.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 308.782288 m,
nav range: 296.571716 m,
bearing: 228.080793 deg,
approach rate: -0.659857 m/s,
LOS rate: 0.011225 deg/s,
cmd heading: 217.007814 deg,
new cmd heading: 217.015847 deg.
2025-08-22T21:25:38.203Z,1755897938.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.787641 target range: 308.782288 and range: 310.70 m.
2025-08-22T21:25:38.279Z,1755897938.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501889
2025-08-22T21:25:38.530Z,1755897938.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753764
2025-08-22T21:25:38.689Z,1755897938.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:38.691Z,1755897938.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.78 m.
2025-08-22T21:25:38.710Z,1755897938.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 308.782288 m,
nav range: 296.244995 m,
bearing: 228.086267 deg,
approach rate: -0.664072 m/s,
LOS rate: 0.011139 deg/s,
cmd heading: 217.015846 deg,
new cmd heading: 217.026807 deg.
2025-08-22T21:25:38.711Z,1755897938.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.787832 target range: 308.782288 and range: 310.70 m.
2025-08-22T21:25:38.787Z,1755897938.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009622
2025-08-22T21:25:39.034Z,1755897939.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257688
2025-08-22T21:25:39.217Z,1755897939.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.78 m.
2025-08-22T21:25:39.228Z,1755897939.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 308.782288 m,
nav range: 295.869781 m,
bearing: 228.092463 deg,
approach rate: -0.713615 m/s,
LOS rate: 0.011798 deg/s,
cmd heading: 217.026802 deg,
new cmd heading: 217.039209 deg.
2025-08-22T21:25:39.229Z,1755897939.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788049 target range: 308.782288 and range: 310.70 m.
2025-08-22T21:25:39.288Z,1755897939.288 [DAT](INFO): DAT read: Rx Time:21:25:39.7070
2025-08-22T21:25:39.288Z,1755897939.288 [DAT](INFO): Rx dataTimestamp_ set to:1755897939.287828
2025-08-22T21:25:39.289Z,1755897939.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512208
2025-08-22T21:25:39.539Z,1755897939.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761899
2025-08-22T21:25:39.648Z,1755897939.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.78 m.
2025-08-22T21:25:39.656Z,1755897939.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 308.782288 m,
nav range: 295.596680 m,
bearing: 228.096906 deg,
approach rate: -0.633738 m/s,
LOS rate: 0.010318 deg/s,
cmd heading: 217.039206 deg,
new cmd heading: 217.048099 deg.
2025-08-22T21:25:39.657Z,1755897939.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788204 target range: 308.782288 and range: 310.70 m.
2025-08-22T21:25:39.811Z,1755897939.811 [DAT](INFO): DAT read: 21:25:39.7070 LVL= 29088, 32753, 30194, 32755, AGC= 70, IDX= 411,-0.34, 1.558,-0.455, 1.303, 1.066, PHS= 0.594,-1.475, 0.193, RAW= 139.5, 7.3, CAL= 139.2, 8.1, ROT= 10.8, -8.1
2025-08-22T21:25:39.816Z,1755897939.816 [DAT](INFO): got valid direction response:
21:25:39.7070 LVL= 29088, 32753, 30194, 32755, AGC= 70, IDX= 411,-0.34, 1.558,-0.455, 1.303, 1.066, PHS= 0.594,-1.475, 0.193, RAW= 139.5, 7.3, CAL= 139.2, 8.1, ROT= 10.8, -8.1
2025-08-22T21:25:39.819Z,1755897939.819 [DAT](INFO): DAT read: Bearing 6.3, 17.1 (Local)
2025-08-22T21:25:39.820Z,1755897939.820 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.3, 17.1 (Local)
2025-08-22T21:25:39.835Z,1755897939.835 [DAT](INFO): DAT read: Range 11 to 50 : 308.1 m (Round-trip 410.8 ms) speed 0.5 m/s
2025-08-22T21:25:39.836Z,1755897939.836 [DAT](INFO): DAT read: user:2211>
2025-08-22T21:25:39.836Z,1755897939.836 [DAT](INFO): DAT read: Tx time:21:25:40.7920
2025-08-22T21:25:39.837Z,1755897939.837 [DAT](INFO): Ping request sent.
2025-08-22T21:25:39.837Z,1755897939.837 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:39.837Z,1755897939.837 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:39.842Z,1755897939.842 [DAT](INFO): direction in FSK: [0.972488,0.185512,0.140901]
2025-08-22T21:25:39.842Z,1755897939.842 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:39.843Z,1755897939.843 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:39.850Z,1755897939.850 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:39.850Z,1755897939.850 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:40.079Z,1755897940.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 308.100006 m,
deltaT: 4.032388 s,
deltaX: -2.600006 m,
approachRate: -0.644781 m/s,
rangeRepo size: 4
2025-08-22T21:25:40.082Z,1755897940.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 306.197784 m,
bearing: 227.777834 deg,
lat: 36.779495 deg,
lon: -121.859502 deg,
deltaT: 4.032388 s,
deltaX: -2.584503 m,
approachRate: -0.640936 m/s,
posRepo size: 4
2025-08-22T21:25:40.082Z,1755897940.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m.
2025-08-22T21:25:40.085Z,1755897940.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 306.197784 m,
nav range: 295.243896 m,
bearing: 228.097005 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.010318 deg/s,
cmd heading: 217.048099 deg,
new cmd heading: 217.056990 deg.
2025-08-22T21:25:40.086Z,1755897940.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788359 target range: 306.197784 and range: 308.10 m.
2025-08-22T21:25:40.448Z,1755897940.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m.
2025-08-22T21:25:40.451Z,1755897940.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 306.197784 m,
nav range: 294.991333 m,
bearing: 228.101229 deg,
approach rate: -0.684343 m/s,
LOS rate: 0.011455 deg/s,
cmd heading: 217.056991 deg,
new cmd heading: 217.065447 deg.
2025-08-22T21:25:40.452Z,1755897940.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788507 target range: 306.197784 and range: 308.10 m.
2025-08-22T21:25:40.897Z,1755897940.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:40.899Z,1755897940.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m.
2025-08-22T21:25:40.902Z,1755897940.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 306.197784 m,
nav range: 294.683136 m,
bearing: 228.106069 deg,
approach rate: -0.682953 m/s,
LOS rate: 0.010736 deg/s,
cmd heading: 217.065447 deg,
new cmd heading: 217.075137 deg.
2025-08-22T21:25:40.903Z,1755897940.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788676 target range: 306.197784 and range: 308.10 m.
2025-08-22T21:25:41.050Z,1755897941.050 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:41.050Z,1755897941.050 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:41.051Z,1755897941.051 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:41.263Z,1755897941.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m.
2025-08-22T21:25:41.266Z,1755897941.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 306.197784 m,
nav range: 294.432922 m,
bearing: 228.109890 deg,
approach rate: -0.687820 m/s,
LOS rate: 0.010513 deg/s,
cmd heading: 217.075132 deg,
new cmd heading: 217.082781 deg.
2025-08-22T21:25:41.267Z,1755897941.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788809 target range: 306.197784 and range: 308.10 m.
2025-08-22T21:25:41.303Z,1755897941.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466360
2025-08-22T21:25:41.554Z,1755897941.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717694
2025-08-22T21:25:41.695Z,1755897941.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m.
2025-08-22T21:25:41.702Z,1755897941.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 306.197784 m,
nav range: 294.151276 m,
bearing: 228.114116 deg,
approach rate: -0.651496 m/s,
LOS rate: 0.009786 deg/s,
cmd heading: 217.082782 deg,
new cmd heading: 217.091243 deg.
2025-08-22T21:25:41.703Z,1755897941.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788957 target range: 306.197784 and range: 308.10 m.
2025-08-22T21:25:41.810Z,1755897941.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972517
2025-08-22T21:25:42.058Z,1755897942.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221614
2025-08-22T21:25:42.100Z,1755897942.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m.
2025-08-22T21:25:42.103Z,1755897942.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 306.197784 m,
nav range: 293.859985 m,
bearing: 228.118243 deg,
approach rate: -0.720158 m/s,
LOS rate: 0.010213 deg/s,
cmd heading: 217.091238 deg,
new cmd heading: 217.099500 deg.
2025-08-22T21:25:42.104Z,1755897942.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789101 target range: 306.197784 and range: 308.10 m.
2025-08-22T21:25:42.310Z,1755897942.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473766
2025-08-22T21:25:42.464Z,1755897942.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m.
2025-08-22T21:25:42.467Z,1755897942.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 306.197784 m,
nav range: 293.611084 m,
bearing: 228.121616 deg,
approach rate: -0.683371 m/s,
LOS rate: 0.009270 deg/s,
cmd heading: 217.099503 deg,
new cmd heading: 217.106255 deg.
2025-08-22T21:25:42.468Z,1755897942.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789219 target range: 306.197784 and range: 308.10 m.
2025-08-22T21:25:42.564Z,1755897942.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727666
2025-08-22T21:25:42.815Z,1755897942.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977814
2025-08-22T21:25:42.954Z,1755897942.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:42.957Z,1755897942.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m.
2025-08-22T21:25:42.976Z,1755897942.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 306.197784 m,
nav range: 293.283783 m,
bearing: 228.125107 deg,
approach rate: -0.664198 m/s,
LOS rate: 0.007092 deg/s,
cmd heading: 217.106251 deg,
new cmd heading: 217.113240 deg.
2025-08-22T21:25:42.977Z,1755897942.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789341 target range: 306.197784 and range: 308.10 m.
2025-08-22T21:25:43.067Z,1755897943.067 [DAT](INFO): DAT read: Rx Time:21:25:43.6033
2025-08-22T21:25:43.067Z,1755897943.067 [DAT](INFO): Rx dataTimestamp_ set to:1755897943.066780
2025-08-22T21:25:43.068Z,1755897943.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230875
2025-08-22T21:25:43.323Z,1755897943.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485426
2025-08-22T21:25:43.338Z,1755897943.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m.
2025-08-22T21:25:43.341Z,1755897943.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 306.197784 m,
nav range: 293.025391 m,
bearing: 228.127698 deg,
approach rate: -0.677024 m/s,
LOS rate: 0.006794 deg/s,
cmd heading: 217.113245 deg,
new cmd heading: 217.118431 deg.
2025-08-22T21:25:43.342Z,1755897943.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789432 target range: 306.197784 and range: 308.10 m.
2025-08-22T21:25:43.589Z,1755897943.589 [DAT](INFO): DAT read: 21:25:43.6032 LVL= 32432, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.09, 0.874,-1.147, 0.634, 0.396, PHS= 0.580,-1.498, 0.195, RAW= 140.0, 7.6, CAL= 139.6, 8.4, ROT= 10.4, -8.4
2025-08-22T21:25:43.594Z,1755897943.594 [DAT](INFO): got valid direction response:
21:25:43.6032 LVL= 32432, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.09, 0.874,-1.147, 0.634, 0.396, PHS= 0.580,-1.498, 0.195, RAW= 140.0, 7.6, CAL= 139.6, 8.4, ROT= 10.4, -8.4
2025-08-22T21:25:43.596Z,1755897943.596 [DAT](INFO): DAT read: Bearing 7.4, 14.6 (Local)
2025-08-22T21:25:43.596Z,1755897943.596 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.4, 14.6 (Local)
2025-08-22T21:25:43.599Z,1755897943.599 [DAT](INFO): DAT read: Range 11 to 50 : 305.3 m (Round-trip 407.1 ms) speed 0.4 m/s
2025-08-22T21:25:43.601Z,1755897943.601 [DAT](INFO): DAT read: user:2212>
2025-08-22T21:25:43.602Z,1755897943.602 [DAT](INFO): DAT read: Tx time:21:25:44.6919
2025-08-22T21:25:43.603Z,1755897943.603 [DAT](INFO): Ping request sent.
2025-08-22T21:25:43.603Z,1755897943.603 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:43.603Z,1755897943.603 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:43.605Z,1755897943.605 [DAT](INFO): direction in FSK: [0.973020,0.178583,0.146083]
2025-08-22T21:25:43.606Z,1755897943.606 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:43.606Z,1755897943.606 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:43.611Z,1755897943.611 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:43.612Z,1755897943.612 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:43.940Z,1755897943.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 305.299988 m,
deltaT: 3.778747 s,
deltaX: -2.800018 m,
approachRate: -0.740991 m/s,
rangeRepo size: 4
2025-08-22T21:25:43.958Z,1755897943.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 303.397858 m,
bearing: 228.442118 deg,
lat: 36.779495 deg,
lon: -121.859513 deg,
deltaT: 3.778747 s,
deltaX: -2.799927 m,
approachRate: -0.740967 m/s,
posRepo size: 4
2025-08-22T21:25:43.959Z,1755897943.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.40 m.
2025-08-22T21:25:43.962Z,1755897943.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.397858 m,
nav range: 293.383911 m,
bearing: 228.263107 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.006794 deg/s,
cmd heading: 217.118436 deg,
new cmd heading: 217.126602 deg.
2025-08-22T21:25:43.963Z,1755897943.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789574 target range: 303.397858 and range: 305.30 m.
2025-08-22T21:25:44.307Z,1755897944.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.40 m.
2025-08-22T21:25:44.309Z,1755897944.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.397858 m,
nav range: 293.137787 m,
bearing: 228.265284 deg,
approach rate: -0.669855 m/s,
LOS rate: 0.005930 deg/s,
cmd heading: 217.126605 deg,
new cmd heading: 217.130963 deg.
2025-08-22T21:25:44.328Z,1755897944.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789650 target range: 303.397858 and range: 305.30 m.
2025-08-22T21:25:44.718Z,1755897944.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.40 m.
2025-08-22T21:25:44.720Z,1755897944.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.397858 m,
nav range: 292.868042 m,
bearing: 228.267545 deg,
approach rate: -0.656333 m/s,
LOS rate: 0.005506 deg/s,
cmd heading: 217.130962 deg,
new cmd heading: 217.135488 deg.
2025-08-22T21:25:44.722Z,1755897944.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789729 target range: 303.397858 and range: 305.30 m.
2025-08-22T21:25:45.198Z,1755897945.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:45.200Z,1755897945.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.40 m.
2025-08-22T21:25:45.203Z,1755897945.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.397858 m,
nav range: 292.537262 m,
bearing: 228.269645 deg,
approach rate: -0.685812 m/s,
LOS rate: 0.004360 deg/s,
cmd heading: 217.135484 deg,
new cmd heading: 217.139690 deg.
2025-08-22T21:25:45.204Z,1755897945.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789803 target range: 303.397858 and range: 305.30 m.
2025-08-22T21:25:45.334Z,1755897945.334 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:45.334Z,1755897945.334 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:45.335Z,1755897945.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:45.514Z,1755897945.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.40 m.
2025-08-22T21:25:45.517Z,1755897945.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.397858 m,
nav range: 292.316498 m,
bearing: 228.270964 deg,
approach rate: -0.702809 m/s,
LOS rate: 0.004200 deg/s,
cmd heading: 217.139691 deg,
new cmd heading: 217.142330 deg.
2025-08-22T21:25:45.518Z,1755897945.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789849 target range: 303.397858 and range: 305.30 m.
2025-08-22T21:25:45.587Z,1755897945.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983895
2025-08-22T21:25:45.841Z,1755897945.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238176
2025-08-22T21:25:45.962Z,1755897945.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.40 m.
2025-08-22T21:25:45.965Z,1755897945.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.397858 m,
nav range: 292.010803 m,
bearing: 228.271961 deg,
approach rate: -0.682116 m/s,
LOS rate: 0.002228 deg/s,
cmd heading: 217.142328 deg,
new cmd heading: 217.144325 deg.
2025-08-22T21:25:45.966Z,1755897945.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789883 target range: 303.397858 and range: 305.30 m.
2025-08-22T21:25:46.090Z,1755897946.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487601
2025-08-22T21:25:46.325Z,1755897946.325 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-08-22T21:25:46.343Z,1755897946.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739801
2025-08-22T21:25:46.345Z,1755897946.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.40 m.
2025-08-22T21:25:46.348Z,1755897946.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.397858 m,
nav range: 291.750671 m,
bearing: 228.272812 deg,
approach rate: -0.679923 m/s,
LOS rate: 0.002225 deg/s,
cmd heading: 217.144322 deg,
new cmd heading: 217.146025 deg.
2025-08-22T21:25:46.349Z,1755897946.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789913 target range: 303.397858 and range: 305.30 m.
2025-08-22T21:25:46.594Z,1755897946.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991546
2025-08-22T21:25:46.743Z,1755897946.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.40 m.
2025-08-22T21:25:46.746Z,1755897946.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.397858 m,
nav range: 291.477417 m,
bearing: 228.273581 deg,
approach rate: -0.686071 m/s,
LOS rate: 0.001934 deg/s,
cmd heading: 217.146030 deg,
new cmd heading: 217.147571 deg.
2025-08-22T21:25:46.747Z,1755897946.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789940 target range: 303.397858 and range: 305.30 m.
2025-08-22T21:25:46.849Z,1755897946.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245590
2025-08-22T21:25:47.099Z,1755897947.099 [DAT](INFO): DAT read: Rx Time:21:25:47.5189
2025-08-22T21:25:47.099Z,1755897947.099 [DAT](INFO): Rx dataTimestamp_ set to:1755897947.098806
2025-08-22T21:25:47.100Z,1755897947.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496766
2025-08-22T21:25:47.200Z,1755897947.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.40 m.
2025-08-22T21:25:47.219Z,1755897947.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.397858 m,
nav range: 291.163483 m,
bearing: 228.275455 deg,
approach rate: -0.687787 m/s,
LOS rate: 0.004109 deg/s,
cmd heading: 217.147573 deg,
new cmd heading: 217.151325 deg.
2025-08-22T21:25:47.220Z,1755897947.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790006 target range: 303.397858 and range: 305.30 m.
2025-08-22T21:25:47.351Z,1755897947.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747643
2025-08-22T21:25:47.554Z,1755897947.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:47.556Z,1755897947.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.40 m.
2025-08-22T21:25:47.559Z,1755897947.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.397858 m,
nav range: 290.927368 m,
bearing: 228.276867 deg,
approach rate: -0.661886 m/s,
LOS rate: 0.003961 deg/s,
cmd heading: 217.151330 deg,
new cmd heading: 217.154156 deg.
2025-08-22T21:25:47.560Z,1755897947.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790055 target range: 303.397858 and range: 305.30 m.
2025-08-22T21:25:47.617Z,1755897947.617 [DAT](INFO): DAT read: 21:25:47.5193 LVL= 16848, 17521, 18050, 17011, AGC= 66, IDX= 98,-0.24,-0.196,-1.666,-0.291,-0.908, PHS= 0.814,-0.712, 0.573, RAW= 141.5, -9.5, CAL= 141.7, -11.3, ROT= 8.3, 11.3
2025-08-22T21:25:47.619Z,1755897947.619 [DAT](INFO): got valid direction response:
21:25:47.5193 LVL= 16848, 17521, 18050, 17011, AGC= 66, IDX= 98,-0.24,-0.196,-1.666,-0.291,-0.908, PHS= 0.814,-0.712, 0.573, RAW= 141.5, -9.5, CAL= 141.7, -11.3, ROT= 8.3, 11.3
2025-08-22T21:25:47.620Z,1755897947.620 [DAT](INFO): DAT read: Bearing 348.2, 10.2 (Local)
2025-08-22T21:25:47.621Z,1755897947.621 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.2, 10.2 (Local)
2025-08-22T21:25:47.623Z,1755897947.623 [DAT](INFO): DAT read: Range 11 to 50 : 317.4 m (Round-trip 423.2 ms) speed 0.5 m/s
2025-08-22T21:25:47.624Z,1755897947.624 [DAT](INFO): DAT read: user:2213>
2025-08-22T21:25:47.626Z,1755897947.626 [DAT](INFO): DAT read: Tx time:21:25:48.6419
2025-08-22T21:25:47.627Z,1755897947.627 [DAT](INFO): Ping request sent.
2025-08-22T21:25:47.627Z,1755897947.627 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:47.627Z,1755897947.627 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:47.629Z,1755897947.629 [DAT](INFO): direction in FSK: [0.970343,0.141558,-0.195946]
2025-08-22T21:25:47.630Z,1755897947.630 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:47.630Z,1755897947.630 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:47.672Z,1755897947.672 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:47.673Z,1755897947.673 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:48.015Z,1755897948.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 317.399994 m,
deltaT: 4.032471 s,
deltaX: 12.100006 m,
approachRate: 3.000643 m/s,
rangeRepo size: 4
2025-08-22T21:25:48.017Z,1755897948.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 315.398926 m,
bearing: 227.868189 deg,
lat: 36.779485 deg,
lon: -121.859517 deg,
deltaT: 4.032471 s,
deltaX: 12.001068 m,
approachRate: 2.976108 m/s,
posRepo size: 4
2025-08-22T21:25:48.022Z,1755897948.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.40 m.
2025-08-22T21:25:48.024Z,1755897948.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.398926 m,
nav range: 291.639832 m,
bearing: 228.159536 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003961 deg/s,
cmd heading: 217.154158 deg,
new cmd heading: 217.157785 deg.
2025-08-22T21:25:48.030Z,1755897948.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790118 target range: 315.398926 and range: 317.40 m.
2025-08-22T21:25:48.346Z,1755897948.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.40 m.
2025-08-22T21:25:48.348Z,1755897948.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.398926 m,
nav range: 291.399811 m,
bearing: 228.160415 deg,
approach rate: -0.724165 m/s,
LOS rate: 0.002655 deg/s,
cmd heading: 217.157791 deg,
new cmd heading: 217.159552 deg.
2025-08-22T21:25:48.350Z,1755897948.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790149 target range: 315.398926 and range: 317.40 m.
2025-08-22T21:25:48.743Z,1755897948.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.40 m.
2025-08-22T21:25:48.745Z,1755897948.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.398926 m,
nav range: 291.137543 m,
bearing: 228.161408 deg,
approach rate: -0.660655 m/s,
LOS rate: 0.002504 deg/s,
cmd heading: 217.159554 deg,
new cmd heading: 217.161542 deg.
2025-08-22T21:25:48.746Z,1755897948.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790184 target range: 315.398926 and range: 317.40 m.
2025-08-22T21:25:49.190Z,1755897949.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.40 m.
2025-08-22T21:25:49.210Z,1755897949.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.398926 m,
nav range: 290.827698 m,
bearing: 228.163477 deg,
approach rate: -0.693235 m/s,
LOS rate: 0.004634 deg/s,
cmd heading: 217.161548 deg,
new cmd heading: 217.165690 deg.
2025-08-22T21:25:49.211Z,1755897949.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790256 target range: 315.398926 and range: 317.40 m.
2025-08-22T21:25:49.554Z,1755897949.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.40 m.
2025-08-22T21:25:49.556Z,1755897949.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.398926 m,
nav range: 290.571228 m,
bearing: 228.165233 deg,
approach rate: -0.704796 m/s,
LOS rate: 0.004829 deg/s,
cmd heading: 217.165687 deg,
new cmd heading: 217.169201 deg.
2025-08-22T21:25:49.557Z,1755897949.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790318 target range: 315.398926 and range: 317.40 m.
2025-08-22T21:25:50.047Z,1755897950.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:50.049Z,1755897950.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.40 m.
2025-08-22T21:25:50.057Z,1755897950.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.398926 m,
nav range: 290.257690 m,
bearing: 228.165643 deg,
approach rate: -0.632580 m/s,
LOS rate: 0.000828 deg/s,
cmd heading: 217.169198 deg,
new cmd heading: 217.170019 deg.
2025-08-22T21:25:50.062Z,1755897950.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790332 target range: 315.398926 and range: 317.40 m.
2025-08-22T21:25:50.132Z,1755897950.132 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:50.132Z,1755897950.132 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:50.132Z,1755897950.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:50.379Z,1755897950.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.40 m.
2025-08-22T21:25:50.381Z,1755897950.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.398926 m,
nav range: 290.031372 m,
bearing: 228.165939 deg,
approach rate: -0.687144 m/s,
LOS rate: 0.000901 deg/s,
cmd heading: 217.170017 deg,
new cmd heading: 217.170611 deg.
2025-08-22T21:25:50.383Z,1755897950.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755615
2025-08-22T21:25:50.384Z,1755897950.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790342 target range: 315.398926 and range: 317.40 m.
2025-08-22T21:25:50.634Z,1755897950.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007427
2025-08-22T21:25:50.773Z,1755897950.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.40 m.
2025-08-22T21:25:50.776Z,1755897950.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.398926 m,
nav range: 289.772797 m,
bearing: 228.166401 deg,
approach rate: -0.655223 m/s,
LOS rate: 0.001172 deg/s,
cmd heading: 217.170605 deg,
new cmd heading: 217.171530 deg.
2025-08-22T21:25:50.777Z,1755897950.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790358 target range: 315.398926 and range: 317.40 m.
2025-08-22T21:25:50.887Z,1755897950.887 [DAT](INFO): DAT read: Rx Time:21:25:51.4861
2025-08-22T21:25:50.887Z,1755897950.887 [DAT](INFO): Rx dataTimestamp_ set to:1755897950.886838
2025-08-22T21:25:50.888Z,1755897950.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260663
2025-08-22T21:25:51.139Z,1755897951.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511558
2025-08-22T21:25:51.214Z,1755897951.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.40 m.
2025-08-22T21:25:51.217Z,1755897951.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.398926 m,
nav range: 289.481384 m,
bearing: 228.167231 deg,
approach rate: -0.660835 m/s,
LOS rate: 0.001883 deg/s,
cmd heading: 217.171534 deg,
new cmd heading: 217.173195 deg.
2025-08-22T21:25:51.222Z,1755897951.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790387 target range: 315.398926 and range: 317.40 m.
2025-08-22T21:25:51.408Z,1755897951.408 [DAT](INFO): DAT read: 21:25:51.4861 LVL= 25552, 28305, 27970, 31347, AGC= 73, IDX= 102, 0.32, 1.855, 0.320, 1.764, 1.108, PHS= 0.849,-0.743, 0.612, RAW= 142.1, -9.7, CAL= 142.3, -11.5, ROT= 7.7, 11.5
2025-08-22T21:25:51.409Z,1755897951.409 [DAT](INFO): got valid direction response:
21:25:51.4861 LVL= 25552, 28305, 27970, 31347, AGC= 73, IDX= 102, 0.32, 1.855, 0.320, 1.764, 1.108, PHS= 0.849,-0.743, 0.612, RAW= 142.1, -9.7, CAL= 142.3, -11.5, ROT= 7.7, 11.5
2025-08-22T21:25:51.410Z,1755897951.410 [DAT](INFO): DAT read: Bearing 347.8, 8.3 (Local)
2025-08-22T21:25:51.411Z,1755897951.411 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.8, 8.3 (Local)
2025-08-22T21:25:51.412Z,1755897951.412 [DAT](INFO): DAT read: Range 11 to 50 : 330.0 m (Round-trip 440.0 ms) speed 0.8 m/s
2025-08-22T21:25:51.413Z,1755897951.413 [DAT](INFO): DAT read: user:2214>
2025-08-22T21:25:51.414Z,1755897951.414 [DAT](INFO): DAT read: Tx time:21:25:52.5919
2025-08-22T21:25:51.414Z,1755897951.414 [DAT](INFO): Ping request sent.
2025-08-22T21:25:51.414Z,1755897951.414 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:51.414Z,1755897951.414 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:51.415Z,1755897951.415 [DAT](INFO): direction in FSK: [0.971089,0.131296,-0.199368]
2025-08-22T21:25:51.416Z,1755897951.416 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:51.416Z,1755897951.416 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:51.419Z,1755897951.419 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:51.419Z,1755897951.419 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:51.639Z,1755897951.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 330.000000 m,
deltaT: 3.789514 s,
deltaX: 12.600006 m,
approachRate: 3.324966 m/s,
rangeRepo size: 4
2025-08-22T21:25:51.641Z,1755897951.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 327.916351 m,
bearing: 226.669100 deg,
lat: 36.779475 deg,
lon: -121.859543 deg,
deltaT: 3.789514 s,
deltaX: 12.517426 m,
approachRate: 3.303174 m/s,
posRepo size: 4
2025-08-22T21:25:51.641Z,1755897951.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.92 m.
2025-08-22T21:25:51.648Z,1755897951.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.916351 m,
nav range: 291.660797 m,
bearing: 228.310042 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001883 deg/s,
cmd heading: 217.173200 deg,
new cmd heading: 217.174781 deg.
2025-08-22T21:25:51.660Z,1755897951.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790415 target range: 327.916351 and range: 330.00 m.
2025-08-22T21:25:51.710Z,1755897951.710 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:25:52.055Z,1755897952.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:52.057Z,1755897952.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.92 m.
2025-08-22T21:25:52.076Z,1755897952.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.916351 m,
nav range: 291.347015 m,
bearing: 228.310867 deg,
approach rate: -0.741188 m/s,
LOS rate: 0.001951 deg/s,
cmd heading: 217.174785 deg,
new cmd heading: 217.176437 deg.
2025-08-22T21:25:52.077Z,1755897952.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790444 target range: 327.916351 and range: 330.00 m.
2025-08-22T21:25:52.146Z,1755897952.146 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:52.146Z,1755897952.146 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:52.147Z,1755897952.147 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:52.399Z,1755897952.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984369
2025-08-22T21:25:52.452Z,1755897952.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.92 m.
2025-08-22T21:25:52.455Z,1755897952.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.916351 m,
nav range: 291.074860 m,
bearing: 228.311680 deg,
approach rate: -0.688859 m/s,
LOS rate: 0.002058 deg/s,
cmd heading: 217.176438 deg,
new cmd heading: 217.178064 deg.
2025-08-22T21:25:52.456Z,1755897952.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790472 target range: 327.916351 and range: 330.00 m.
2025-08-22T21:25:52.651Z,1755897952.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236378
2025-08-22T21:25:52.716Z,1755897952.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:25:52.842Z,1755897952.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.92 m.
2025-08-22T21:25:52.845Z,1755897952.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.916351 m,
nav range: 290.805756 m,
bearing: 228.312596 deg,
approach rate: -0.689422 m/s,
LOS rate: 0.002350 deg/s,
cmd heading: 217.178063 deg,
new cmd heading: 217.179898 deg.
2025-08-22T21:25:52.846Z,1755897952.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790504 target range: 327.916351 and range: 330.00 m.
2025-08-22T21:25:52.904Z,1755897952.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489340
2025-08-22T21:25:53.155Z,1755897953.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740408
2025-08-22T21:25:53.269Z,1755897953.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.92 m.
2025-08-22T21:25:53.279Z,1755897953.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.916351 m,
nav range: 290.512207 m,
bearing: 228.313233 deg,
approach rate: -0.688086 m/s,
LOS rate: 0.001494 deg/s,
cmd heading: 217.179894 deg,
new cmd heading: 217.181168 deg.
2025-08-22T21:25:53.280Z,1755897953.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790526 target range: 327.916351 and range: 330.00 m.
2025-08-22T21:25:53.406Z,1755897953.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992300
2025-08-22T21:25:53.654Z,1755897953.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.92 m.
2025-08-22T21:25:53.657Z,1755897953.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.916351 m,
nav range: 290.247284 m,
bearing: 228.313879 deg,
approach rate: -0.687953 m/s,
LOS rate: 0.001680 deg/s,
cmd heading: 217.181164 deg,
new cmd heading: 217.182458 deg.
2025-08-22T21:25:53.659Z,1755897953.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244472
2025-08-22T21:25:53.659Z,1755897953.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790549 target range: 327.916351 and range: 330.00 m.
2025-08-22T21:25:53.911Z,1755897953.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496321
2025-08-22T21:25:54.096Z,1755897954.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:54.100Z,1755897954.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.92 m.
2025-08-22T21:25:54.104Z,1755897954.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.916351 m,
nav range: 289.951721 m,
bearing: 228.314426 deg,
approach rate: -0.663494 m/s,
LOS rate: 0.001230 deg/s,
cmd heading: 217.182462 deg,
new cmd heading: 217.183558 deg.
2025-08-22T21:25:54.107Z,1755897954.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790568 target range: 327.916351 and range: 330.00 m.
2025-08-22T21:25:54.163Z,1755897954.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749107
2025-08-22T21:25:54.415Z,1755897954.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000345
2025-08-22T21:25:54.459Z,1755897954.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.92 m.
2025-08-22T21:25:54.483Z,1755897954.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.916351 m,
nav range: 289.704376 m,
bearing: 228.314987 deg,
approach rate: -0.688603 m/s,
LOS rate: 0.001563 deg/s,
cmd heading: 217.183555 deg,
new cmd heading: 217.184678 deg.
2025-08-22T21:25:54.485Z,1755897954.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790588 target range: 327.916351 and range: 330.00 m.
2025-08-22T21:25:54.666Z,1755897954.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252289
2025-08-22T21:25:54.884Z,1755897954.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.92 m.
2025-08-22T21:25:54.900Z,1755897954.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.916351 m,
nav range: 289.418793 m,
bearing: 228.315734 deg,
approach rate: -0.671255 m/s,
LOS rate: 0.001758 deg/s,
cmd heading: 217.184675 deg,
new cmd heading: 217.186171 deg.
2025-08-22T21:25:54.900Z,1755897954.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790614 target range: 327.916351 and range: 330.00 m.
2025-08-22T21:25:54.919Z,1755897954.919 [DAT](INFO): DAT read: Rx Time:21:25:55.4335
2025-08-22T21:25:54.919Z,1755897954.919 [DAT](INFO): Rx dataTimestamp_ set to:1755897954.918822
2025-08-22T21:25:54.920Z,1755897954.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505456
2025-08-22T21:25:55.171Z,1755897955.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756628
2025-08-22T21:25:55.360Z,1755897955.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.92 m.
2025-08-22T21:25:55.367Z,1755897955.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 327.916351 m,
nav range: 289.147308 m,
bearing: 228.316534 deg,
approach rate: -0.570190 m/s,
LOS rate: 0.001681 deg/s,
cmd heading: 217.186164 deg,
new cmd heading: 217.187764 deg.
2025-08-22T21:25:55.368Z,1755897955.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790642 target range: 327.916351 and range: 330.00 m.
2025-08-22T21:25:55.432Z,1755897955.432 [DAT](INFO): DAT read: 21:25:55.4335 LVL= 32064, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.48,-2.378, 2.551,-2.506,-3.031, PHS= 0.755,-0.656, 0.480, RAW= 139.4, -9.0, CAL= 139.5, -10.6, ROT= 10.5, 10.6
2025-08-22T21:25:55.434Z,1755897955.434 [DAT](INFO): got valid direction response:
21:25:55.4335 LVL= 32064, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.48,-2.378, 2.551,-2.506,-3.031, PHS= 0.755,-0.656, 0.480, RAW= 139.4, -9.0, CAL= 139.5, -10.6, ROT= 10.5, 10.6
2025-08-22T21:25:55.435Z,1755897955.435 [DAT](INFO): DAT read: Bearing 347.7, 9.8 (Local)
2025-08-22T21:25:55.436Z,1755897955.436 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.7, 9.8 (Local)
2025-08-22T21:25:55.438Z,1755897955.438 [DAT](INFO): DAT read: Range 11 to 50 : 328.1 m (Round-trip 437.5 ms) speed 0.4 m/s
2025-08-22T21:25:55.439Z,1755897955.439 [DAT](INFO): DAT read: user:2215>
2025-08-22T21:25:55.440Z,1755897955.440 [DAT](INFO): DAT read: Tx time:21:25:56.5419
2025-08-22T21:25:55.440Z,1755897955.440 [DAT](INFO): Ping request sent.
2025-08-22T21:25:55.441Z,1755897955.441 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:55.441Z,1755897955.441 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:55.443Z,1755897955.443 [DAT](INFO): direction in FSK: [0.966476,0.179126,-0.183951]
2025-08-22T21:25:55.443Z,1755897955.443 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:55.443Z,1755897955.443 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:55.447Z,1755897955.447 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:55.448Z,1755897955.448 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:55.730Z,1755897955.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 328.100006 m,
deltaT: 4.030336 s,
deltaX: -1.899994 m,
approachRate: -0.471423 m/s,
rangeRepo size: 4
2025-08-22T21:25:55.747Z,1755897955.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 326.026672 m,
bearing: 228.496715 deg,
lat: 36.779354 deg,
lon: -121.859672 deg,
deltaT: 4.030336 s,
deltaX: -1.889679 m,
approachRate: -0.468864 m/s,
posRepo size: 4
2025-08-22T21:25:55.747Z,1755897955.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.03 m.
2025-08-22T21:25:55.754Z,1755897955.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.026672 m,
nav range: 306.404297 m,
bearing: 227.877994 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001681 deg/s,
cmd heading: 217.187762 deg,
new cmd heading: 217.188988 deg.
2025-08-22T21:25:55.755Z,1755897955.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790663 target range: 326.026672 and range: 328.10 m.
2025-08-22T21:25:56.222Z,1755897956.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:56.224Z,1755897956.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.03 m.
2025-08-22T21:25:56.227Z,1755897956.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.026672 m,
nav range: 306.060150 m,
bearing: 227.879243 deg,
approach rate: -0.690089 m/s,
LOS rate: 0.002507 deg/s,
cmd heading: 217.188992 deg,
new cmd heading: 217.191492 deg.
2025-08-22T21:25:56.228Z,1755897956.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790707 target range: 326.026672 and range: 328.10 m.
2025-08-22T21:25:56.430Z,1755897956.430 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:25:56.430Z,1755897956.430 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:25:56.431Z,1755897956.431 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:25:56.581Z,1755897956.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.03 m.
2025-08-22T21:25:56.587Z,1755897956.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.026672 m,
nav range: 305.815491 m,
bearing: 227.880218 deg,
approach rate: -0.685584 m/s,
LOS rate: 0.002736 deg/s,
cmd heading: 217.191492 deg,
new cmd heading: 217.193444 deg.
2025-08-22T21:25:56.590Z,1755897956.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790741 target range: 326.026672 and range: 328.10 m.
2025-08-22T21:25:56.683Z,1755897956.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242133
2025-08-22T21:25:56.938Z,1755897956.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497362
2025-08-22T21:25:57.136Z,1755897957.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.03 m.
2025-08-22T21:25:57.156Z,1755897957.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.026672 m,
nav range: 305.450348 m,
bearing: 227.882048 deg,
approach rate: -0.657286 m/s,
LOS rate: 0.003298 deg/s,
cmd heading: 217.193445 deg,
new cmd heading: 217.197109 deg.
2025-08-22T21:25:57.157Z,1755897957.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790805 target range: 326.026672 and range: 328.10 m.
2025-08-22T21:25:57.187Z,1755897957.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746781
2025-08-22T21:25:57.439Z,1755897957.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998338
2025-08-22T21:25:57.530Z,1755897957.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.03 m.
2025-08-22T21:25:57.532Z,1755897957.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.026672 m,
nav range: 305.191772 m,
bearing: 227.883346 deg,
approach rate: -0.657471 m/s,
LOS rate: 0.003304 deg/s,
cmd heading: 217.197106 deg,
new cmd heading: 217.199705 deg.
2025-08-22T21:25:57.534Z,1755897957.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790850 target range: 326.026672 and range: 328.10 m.
2025-08-22T21:25:57.691Z,1755897957.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250069
2025-08-22T21:25:57.923Z,1755897957.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.03 m.
2025-08-22T21:25:57.926Z,1755897957.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.026672 m,
nav range: 304.933228 m,
bearing: 227.884696 deg,
approach rate: -0.657398 m/s,
LOS rate: 0.003435 deg/s,
cmd heading: 217.199701 deg,
new cmd heading: 217.202404 deg.
2025-08-22T21:25:57.927Z,1755897957.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790897 target range: 326.026672 and range: 328.10 m.
2025-08-22T21:25:57.945Z,1755897957.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504479
2025-08-22T21:25:58.195Z,1755897958.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754583
2025-08-22T21:25:58.351Z,1755897958.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:25:58.353Z,1755897958.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.03 m.
2025-08-22T21:25:58.356Z,1755897958.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.026672 m,
nav range: 304.651154 m,
bearing: 227.886632 deg,
approach rate: -0.656142 m/s,
LOS rate: 0.004507 deg/s,
cmd heading: 217.202406 deg,
new cmd heading: 217.206281 deg.
2025-08-22T21:25:58.357Z,1755897958.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790965 target range: 326.026672 and range: 328.10 m.
2025-08-22T21:25:58.447Z,1755897958.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006325
2025-08-22T21:25:58.698Z,1755897958.698 [DAT](INFO): DAT read: Rx Time:21:25:59.3592
2025-08-22T21:25:58.699Z,1755897958.699 [DAT](INFO): Rx dataTimestamp_ set to:1755897958.698652
2025-08-22T21:25:58.699Z,1755897958.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259030
2025-08-22T21:25:58.880Z,1755897958.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.03 m.
2025-08-22T21:25:58.887Z,1755897958.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.026672 m,
nav range: 304.309235 m,
bearing: 227.889016 deg,
approach rate: -0.648593 m/s,
LOS rate: 0.004528 deg/s,
cmd heading: 217.206286 deg,
new cmd heading: 217.211060 deg.
2025-08-22T21:25:58.890Z,1755897958.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791048 target range: 326.026672 and range: 328.10 m.
2025-08-22T21:25:58.951Z,1755897958.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510282
2025-08-22T21:25:59.203Z,1755897959.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762092
2025-08-22T21:25:59.405Z,1755897959.405 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-08-22T21:25:59.461Z,1755897959.461 [DAT](INFO): DAT read: 21:25:59.3592 LVL= 24432, 29169, 29010, 32755, AGC= 70, IDX= 195,-0.23, 2.436, 1.016, 2.352, 1.822, PHS= 0.715,-0.761, 0.486, RAW= 141.7, -6.5, CAL= 141.8, -7.6, ROT= 8.2, 7.6
2025-08-22T21:25:59.462Z,1755897959.462 [DAT](INFO): got valid direction response:
21:25:59.3592 LVL= 24432, 29169, 29010, 32755, AGC= 70, IDX= 195,-0.23, 2.436, 1.016, 2.352, 1.822, PHS= 0.715,-0.761, 0.486, RAW= 141.7, -6.5, CAL= 141.8, -7.6, ROT= 8.2, 7.6
2025-08-22T21:25:59.463Z,1755897959.463 [DAT](INFO): DAT read: Bearing 350.3, 6.6 (Local)
2025-08-22T21:25:59.463Z,1755897959.463 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.3, 6.6 (Local)
2025-08-22T21:25:59.465Z,1755897959.465 [DAT](INFO): DAT read: Range 11 to 50 : 309.8 m (Round-trip 413.1 ms) speed 0.6 m/s
2025-08-22T21:25:59.466Z,1755897959.466 [DAT](INFO): DAT read: user:2216>
2025-08-22T21:25:59.466Z,1755897959.466 [DAT](INFO): DAT read: Tx time:21:26:00.4919
2025-08-22T21:25:59.467Z,1755897959.467 [DAT](INFO): Ping request sent.
2025-08-22T21:25:59.467Z,1755897959.467 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:25:59.467Z,1755897959.467 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:25:59.468Z,1755897959.468 [DAT](INFO): direction in FSK: [0.981082,0.141376,-0.132256]
2025-08-22T21:25:59.468Z,1755897959.468 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:59.469Z,1755897959.469 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:59.476Z,1755897959.476 [DAT](INFO): publishing transmit ping time
2025-08-22T21:25:59.476Z,1755897959.476 [DAT](INFO): publishing direction and range info
2025-08-22T21:25:59.495Z,1755897959.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 309.799988 m,
deltaT: 4.032083 s,
deltaX: -18.300018 m,
approachRate: -4.538601 m/s,
rangeRepo size: 4
2025-08-22T21:25:59.497Z,1755897959.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 307.842438 m,
bearing: 225.848185 deg,
lat: 36.779294 deg,
lon: -121.859672 deg,
deltaT: 4.032083 s,
deltaX: -18.184235 m,
approachRate: -4.509886 m/s,
posRepo size: 4
2025-08-22T21:25:59.506Z,1755897959.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.84 m.
2025-08-22T21:25:59.508Z,1755897959.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.842438 m,
nav range: 308.491516 m,
bearing: 226.961206 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004528 deg/s,
cmd heading: 217.211053 deg,
new cmd heading: 217.216537 deg.
2025-08-22T21:25:59.509Z,1755897959.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791144 target range: 307.842438 and range: 309.80 m.
2025-08-22T21:26:00.006Z,1755897960.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.84 m.
2025-08-22T21:26:00.009Z,1755897960.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.842438 m,
nav range: 308.119781 m,
bearing: 226.961330 deg,
approach rate: -0.714565 m/s,
LOS rate: 0.000239 deg/s,
cmd heading: 217.216531 deg,
new cmd heading: 217.216780 deg.
2025-08-22T21:26:00.010Z,1755897960.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791148 target range: 307.842438 and range: 309.80 m.
2025-08-22T21:26:00.404Z,1755897960.404 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +158.81, +3684.40, - 6.01,
2025-08-22T21:26:00.434Z,1755897960.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:00.436Z,1755897960.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.84 m.
2025-08-22T21:26:00.443Z,1755897960.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.842438 m,
nav range: 307.847443 m,
bearing: 226.961444 deg,
approach rate: -0.633192 m/s,
LOS rate: 0.000264 deg/s,
cmd heading: 217.216777 deg,
new cmd heading: 217.217004 deg.
2025-08-22T21:26:00.444Z,1755897960.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791152 target range: 307.842438 and range: 309.80 m.
2025-08-22T21:26:00.462Z,1755897960.462 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:00.462Z,1755897960.462 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:00.463Z,1755897960.463 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:00.715Z,1755897960.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247747
2025-08-22T21:26:00.808Z,1755897960.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.84 m.
2025-08-22T21:26:00.812Z,1755897960.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.842438 m,
nav range: 307.603424 m,
bearing: 226.961563 deg,
approach rate: -0.655610 m/s,
LOS rate: 0.000321 deg/s,
cmd heading: 217.217009 deg,
new cmd heading: 217.217248 deg.
2025-08-22T21:26:00.813Z,1755897960.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791156 target range: 307.842438 and range: 309.80 m.
2025-08-22T21:26:00.967Z,1755897960.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499714
2025-08-22T21:26:01.219Z,1755897961.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751812
2025-08-22T21:26:01.229Z,1755897961.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.84 m.
2025-08-22T21:26:01.231Z,1755897961.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.842438 m,
nav range: 307.314270 m,
bearing: 226.961681 deg,
approach rate: -0.687643 m/s,
LOS rate: 0.000280 deg/s,
cmd heading: 217.217241 deg,
new cmd heading: 217.217477 deg.
2025-08-22T21:26:01.232Z,1755897961.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791160 target range: 307.842438 and range: 309.80 m.
2025-08-22T21:26:01.471Z,1755897961.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003744
2025-08-22T21:26:01.615Z,1755897961.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.84 m.
2025-08-22T21:26:01.618Z,1755897961.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.842438 m,
nav range: 307.058350 m,
bearing: 226.961791 deg,
approach rate: -0.661984 m/s,
LOS rate: 0.000286 deg/s,
cmd heading: 217.217474 deg,
new cmd heading: 217.217695 deg.
2025-08-22T21:26:01.619Z,1755897961.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791164 target range: 307.842438 and range: 309.80 m.
2025-08-22T21:26:01.723Z,1755897961.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255709
2025-08-22T21:26:01.975Z,1755897961.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507754
2025-08-22T21:26:01.997Z,1755897961.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.84 m.
2025-08-22T21:26:02.000Z,1755897962.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.842438 m,
nav range: 306.806091 m,
bearing: 226.961903 deg,
approach rate: -0.660461 m/s,
LOS rate: 0.000293 deg/s,
cmd heading: 217.217692 deg,
new cmd heading: 217.217916 deg.
2025-08-22T21:26:02.001Z,1755897962.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791168 target range: 307.842438 and range: 309.80 m.
2025-08-22T21:26:02.227Z,1755897962.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760248
2025-08-22T21:26:02.446Z,1755897962.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:02.448Z,1755897962.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.84 m.
2025-08-22T21:26:02.451Z,1755897962.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.842438 m,
nav range: 306.508667 m,
bearing: 226.961686 deg,
approach rate: -0.659292 m/s,
LOS rate: -0.000481 deg/s,
cmd heading: 217.217911 deg,
new cmd heading: 217.217476 deg.
2025-08-22T21:26:02.452Z,1755897962.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791160 target range: 307.842438 and range: 309.80 m.
2025-08-22T21:26:02.479Z,1755897962.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011799
2025-08-22T21:26:02.732Z,1755897962.732 [DAT](INFO): DAT read: Rx Time:21:26:03.3271
2025-08-22T21:26:02.732Z,1755897962.732 [DAT](INFO): Rx dataTimestamp_ set to:1755897962.731705
2025-08-22T21:26:02.733Z,1755897962.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266099
2025-08-22T21:26:02.818Z,1755897962.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.84 m.
2025-08-22T21:26:02.821Z,1755897962.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.842438 m,
nav range: 306.264313 m,
bearing: 226.961514 deg,
approach rate: -0.660860 m/s,
LOS rate: -0.000467 deg/s,
cmd heading: 217.217474 deg,
new cmd heading: 217.217128 deg.
2025-08-22T21:26:02.822Z,1755897962.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791154 target range: 307.842438 and range: 309.80 m.
2025-08-22T21:26:02.983Z,1755897962.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515893
2025-08-22T21:26:03.252Z,1755897963.252 [DAT](INFO): DAT read: 21:26:03.3271 LVL= 29008, 32753, 32754, 32755, AGC= 72, IDX= 106,-0.47,-0.473,-2.080,-0.597,-1.252, PHS= 0.880,-0.783, 0.611, RAW= 141.3, -9.2, CAL= 141.5, -10.9, ROT= 8.5, 10.9
2025-08-22T21:26:03.253Z,1755897963.253 [DAT](INFO): got valid direction response:
21:26:03.3271 LVL= 29008, 32753, 32754, 32755, AGC= 72, IDX= 106,-0.47,-0.473,-2.080,-0.597,-1.252, PHS= 0.880,-0.783, 0.611, RAW= 141.3, -9.2, CAL= 141.5, -10.9, ROT= 8.5, 10.9
2025-08-22T21:26:03.254Z,1755897963.254 [DAT](INFO): DAT read: Bearing 346.9, 6.1 (Local)
2025-08-22T21:26:03.255Z,1755897963.255 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.9, 6.1 (Local)
2025-08-22T21:26:03.256Z,1755897963.256 [DAT](INFO): DAT read: Range 11 to 50 : 323.2 m (Round-trip 431.0 ms) speed 0.1 m/s
2025-08-22T21:26:03.257Z,1755897963.257 [DAT](INFO): DAT read: user:2217>
2025-08-22T21:26:03.258Z,1755897963.258 [DAT](INFO): DAT read: Tx time:21:26:04.4419
2025-08-22T21:26:03.258Z,1755897963.258 [DAT](INFO): Ping request sent.
2025-08-22T21:26:03.258Z,1755897963.258 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:03.258Z,1755897963.258 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:26:03.259Z,1755897963.259 [DAT](INFO): direction in FSK: [0.971173,0.145143,-0.189095]
2025-08-22T21:26:03.259Z,1755897963.259 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:03.260Z,1755897963.260 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:03.283Z,1755897963.283 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:03.283Z,1755897963.283 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:03.397Z,1755897963.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 323.200012 m,
deltaT: 3.780970 s,
deltaX: 13.400024 m,
approachRate: 3.544070 m/s,
rangeRepo size: 4
2025-08-22T21:26:03.404Z,1755897963.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 321.155823 m,
bearing: 226.197073 deg,
lat: 36.779281 deg,
lon: -121.859703 deg,
deltaT: 3.780970 s,
deltaX: 13.313385 m,
approachRate: 3.521156 m/s,
posRepo size: 4
2025-08-22T21:26:03.404Z,1755897963.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.16 m.
2025-08-22T21:26:03.411Z,1755897963.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 321.155823 m,
nav range: 308.850708 m,
bearing: 227.131221 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000467 deg/s,
cmd heading: 217.217132 deg,
new cmd heading: 217.216591 deg.
2025-08-22T21:26:03.412Z,1755897963.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791145 target range: 321.155823 and range: 323.20 m.
2025-08-22T21:26:03.689Z,1755897963.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.16 m.
2025-08-22T21:26:03.692Z,1755897963.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 321.155823 m,
nav range: 308.640076 m,
bearing: 227.130863 deg,
approach rate: -0.719923 m/s,
LOS rate: -0.001224 deg/s,
cmd heading: 217.216586 deg,
new cmd heading: 217.215869 deg.
2025-08-22T21:26:03.693Z,1755897963.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791132 target range: 321.155823 and range: 323.20 m.
2025-08-22T21:26:04.115Z,1755897964.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.16 m.
2025-08-22T21:26:04.118Z,1755897964.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 321.155823 m,
nav range: 308.356506 m,
bearing: 227.130378 deg,
approach rate: -0.665707 m/s,
LOS rate: -0.001140 deg/s,
cmd heading: 217.215875 deg,
new cmd heading: 217.214904 deg.
2025-08-22T21:26:04.119Z,1755897964.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791115 target range: 321.155823 and range: 323.20 m.
2025-08-22T21:26:04.532Z,1755897964.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:04.535Z,1755897964.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.16 m.
2025-08-22T21:26:04.537Z,1755897964.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 321.155823 m,
nav range: 308.077423 m,
bearing: 227.130227 deg,
approach rate: -0.665268 m/s,
LOS rate: -0.000360 deg/s,
cmd heading: 217.214905 deg,
new cmd heading: 217.214603 deg.
2025-08-22T21:26:04.538Z,1755897964.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791110 target range: 321.155823 and range: 323.20 m.
2025-08-22T21:26:04.751Z,1755897964.751 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:04.751Z,1755897964.751 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:04.751Z,1755897964.751 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:04.906Z,1755897964.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.16 m.
2025-08-22T21:26:04.909Z,1755897964.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 321.155823 m,
nav range: 307.831879 m,
bearing: 227.130074 deg,
approach rate: -0.661380 m/s,
LOS rate: -0.000412 deg/s,
cmd heading: 217.214605 deg,
new cmd heading: 217.214299 deg.
2025-08-22T21:26:04.910Z,1755897964.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791105 target range: 321.155823 and range: 323.20 m.
2025-08-22T21:26:05.003Z,1755897965.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744540
2025-08-22T21:26:05.255Z,1755897965.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996679
2025-08-22T21:26:05.337Z,1755897965.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.16 m.
2025-08-22T21:26:05.348Z,1755897965.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 321.155823 m,
nav range: 307.550873 m,
bearing: 227.130716 deg,
approach rate: -0.651673 m/s,
LOS rate: 0.001490 deg/s,
cmd heading: 217.214304 deg,
new cmd heading: 217.215590 deg.
2025-08-22T21:26:05.350Z,1755897965.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791127 target range: 321.155823 and range: 323.20 m.
2025-08-22T21:26:05.507Z,1755897965.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248620
2025-08-22T21:26:05.715Z,1755897965.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.16 m.
2025-08-22T21:26:05.717Z,1755897965.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 321.155823 m,
nav range: 307.284027 m,
bearing: 227.131348 deg,
approach rate: -0.706818 m/s,
LOS rate: 0.001675 deg/s,
cmd heading: 217.215588 deg,
new cmd heading: 217.216853 deg.
2025-08-22T21:26:05.718Z,1755897965.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791149 target range: 321.155823 and range: 323.20 m.
2025-08-22T21:26:05.759Z,1755897965.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500977
2025-08-22T21:26:06.011Z,1755897966.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752532
2025-08-22T21:26:06.121Z,1755897966.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.16 m.
2025-08-22T21:26:06.123Z,1755897966.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 321.155823 m,
nav range: 307.009338 m,
bearing: 227.131996 deg,
approach rate: -0.676483 m/s,
LOS rate: 0.001598 deg/s,
cmd heading: 217.216859 deg,
new cmd heading: 217.218156 deg.
2025-08-22T21:26:06.124Z,1755897966.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791172 target range: 321.155823 and range: 323.20 m.
2025-08-22T21:26:06.263Z,1755897966.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005247
2025-08-22T21:26:06.515Z,1755897966.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256545
2025-08-22T21:26:06.564Z,1755897966.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:06.569Z,1755897966.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.16 m.
2025-08-22T21:26:06.575Z,1755897966.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 321.155823 m,
nav range: 306.721375 m,
bearing: 227.132286 deg,
approach rate: -0.643746 m/s,
LOS rate: 0.000647 deg/s,
cmd heading: 217.218157 deg,
new cmd heading: 217.218736 deg.
2025-08-22T21:26:06.577Z,1755897966.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791182 target range: 321.155823 and range: 323.20 m.
2025-08-22T21:26:06.767Z,1755897966.767 [DAT](INFO): DAT read: Rx Time:21:26:07.2730
2025-08-22T21:26:06.767Z,1755897966.767 [DAT](INFO): Rx dataTimestamp_ set to:1755897966.766775
2025-08-22T21:26:06.768Z,1755897966.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509606
2025-08-22T21:26:06.949Z,1755897966.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.16 m.
2025-08-22T21:26:06.952Z,1755897966.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 321.155823 m,
nav range: 306.472107 m,
bearing: 227.132545 deg,
approach rate: -0.655695 m/s,
LOS rate: 0.000683 deg/s,
cmd heading: 217.218730 deg,
new cmd heading: 217.219249 deg.
2025-08-22T21:26:06.953Z,1755897966.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791191 target range: 321.155823 and range: 323.20 m.
2025-08-22T21:26:07.019Z,1755897967.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761413
2025-08-22T21:26:07.276Z,1755897967.276 [DAT](INFO): DAT read: 21:26:07.2730 LVL= 31664, 32753, 32754, 32755, AGC= 69, IDX= 400,-0.24, 1.154,-0.383, 1.056, 0.581, PHS= 0.675,-0.919, 0.431, RAW= 141.8, -2.6, CAL= 141.8, -2.8, ROT= 8.2, 2.8
2025-08-22T21:26:07.277Z,1755897967.277 [DAT](INFO): got valid direction response:
21:26:07.2730 LVL= 31664, 32753, 32754, 32755, AGC= 69, IDX= 400,-0.24, 1.154,-0.383, 1.056, 0.581, PHS= 0.675,-0.919, 0.431, RAW= 141.8, -2.6, CAL= 141.8, -2.8, ROT= 8.2, 2.8
2025-08-22T21:26:07.278Z,1755897967.278 [DAT](INFO): DAT read: Bearing 355.2, 6.0 (Local)
2025-08-22T21:26:07.279Z,1755897967.279 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.2, 6.0 (Local)
2025-08-22T21:26:07.280Z,1755897967.280 [DAT](INFO): DAT read: Range 11 to 50 : 320.2 m (Round-trip 427.0 ms) speed 0.7 m/s
2025-08-22T21:26:07.281Z,1755897967.281 [DAT](INFO): DAT read: user:2218>
2025-08-22T21:26:07.282Z,1755897967.282 [DAT](INFO): DAT read: Tx time:21:26:08.3918
2025-08-22T21:26:07.282Z,1755897967.282 [DAT](INFO): Ping request sent.
2025-08-22T21:26:07.282Z,1755897967.282 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:07.282Z,1755897967.282 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:26:07.283Z,1755897967.283 [DAT](INFO): direction in FSK: [0.988595,0.142459,-0.048850]
2025-08-22T21:26:07.283Z,1755897967.283 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:07.284Z,1755897967.284 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:07.287Z,1755897967.287 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:07.287Z,1755897967.287 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:07.444Z,1755897967.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 320.200012 m,
deltaT: 4.034373 s,
deltaX: -3.000000 m,
approachRate: -0.743610 m/s,
rangeRepo size: 4
2025-08-22T21:26:07.450Z,1755897967.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 318.174805 m,
bearing: 225.582040 deg,
lat: 36.779230 deg,
lon: -121.859728 deg,
deltaT: 4.034373 s,
deltaX: -2.981018 m,
approachRate: -0.738905 m/s,
posRepo size: 4
2025-08-22T21:26:07.453Z,1755897967.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.17 m.
2025-08-22T21:26:07.460Z,1755897967.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 318.174805 m,
nav range: 311.624054 m,
bearing: 226.634576 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000683 deg/s,
cmd heading: 217.219249 deg,
new cmd heading: 217.219926 deg.
2025-08-22T21:26:07.461Z,1755897967.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791203 target range: 318.174805 and range: 320.20 m.
2025-08-22T21:26:07.798Z,1755897967.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.17 m.
2025-08-22T21:26:07.801Z,1755897967.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 318.174805 m,
nav range: 311.379242 m,
bearing: 226.634615 deg,
approach rate: -0.690748 m/s,
LOS rate: 0.000109 deg/s,
cmd heading: 217.219919 deg,
new cmd heading: 217.219996 deg.
2025-08-22T21:26:07.802Z,1755897967.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791204 target range: 318.174805 and range: 320.20 m.
2025-08-22T21:26:08.267Z,1755897968.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.17 m.
2025-08-22T21:26:08.270Z,1755897968.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 318.174805 m,
nav range: 311.072662 m,
bearing: 226.634668 deg,
approach rate: -0.653072 m/s,
LOS rate: 0.000114 deg/s,
cmd heading: 217.220001 deg,
new cmd heading: 217.220107 deg.
2025-08-22T21:26:08.271Z,1755897968.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791206 target range: 318.174805 and range: 320.20 m.
2025-08-22T21:26:08.649Z,1755897968.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:08.655Z,1755897968.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.17 m.
2025-08-22T21:26:08.662Z,1755897968.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 318.174805 m,
nav range: 310.840637 m,
bearing: 226.634118 deg,
approach rate: -0.598296 m/s,
LOS rate: -0.001420 deg/s,
cmd heading: 217.220110 deg,
new cmd heading: 217.219008 deg.
2025-08-22T21:26:08.663Z,1755897968.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791187 target range: 318.174805 and range: 320.20 m.
2025-08-22T21:26:08.782Z,1755897968.782 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:08.783Z,1755897968.783 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:08.783Z,1755897968.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:09.014Z,1755897969.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.17 m.
2025-08-22T21:26:09.016Z,1755897969.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 318.174805 m,
nav range: 310.597198 m,
bearing: 226.633535 deg,
approach rate: -0.678978 m/s,
LOS rate: -0.001626 deg/s,
cmd heading: 217.219004 deg,
new cmd heading: 217.217837 deg.
2025-08-22T21:26:09.017Z,1755897969.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791167 target range: 318.174805 and range: 320.20 m.
2025-08-22T21:26:09.036Z,1755897969.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754302
2025-08-22T21:26:09.286Z,1755897969.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004562
2025-08-22T21:26:09.444Z,1755897969.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.17 m.
2025-08-22T21:26:09.451Z,1755897969.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 318.174805 m,
nav range: 310.321533 m,
bearing: 226.632267 deg,
approach rate: -0.640076 m/s,
LOS rate: -0.002946 deg/s,
cmd heading: 217.217842 deg,
new cmd heading: 217.215305 deg.
2025-08-22T21:26:09.452Z,1755897969.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791122 target range: 318.174805 and range: 320.20 m.
2025-08-22T21:26:09.540Z,1755897969.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258437
2025-08-22T21:26:09.791Z,1755897969.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508669
2025-08-22T21:26:09.830Z,1755897969.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.17 m.
2025-08-22T21:26:09.832Z,1755897969.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 318.174805 m,
nav range: 310.084015 m,
bearing: 226.631179 deg,
approach rate: -0.622824 m/s,
LOS rate: -0.002856 deg/s,
cmd heading: 217.215302 deg,
new cmd heading: 217.213123 deg.
2025-08-22T21:26:09.838Z,1755897969.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791084 target range: 318.174805 and range: 320.20 m.
2025-08-22T21:26:10.042Z,1755897970.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760532
2025-08-22T21:26:10.295Z,1755897970.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012606
2025-08-22T21:26:10.402Z,1755897970.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.17 m.
2025-08-22T21:26:10.405Z,1755897970.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 318.174805 m,
nav range: 309.707672 m,
bearing: 226.629801 deg,
approach rate: -0.652711 m/s,
LOS rate: -0.002392 deg/s,
cmd heading: 217.213130 deg,
new cmd heading: 217.210371 deg.
2025-08-22T21:26:10.406Z,1755897970.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791036 target range: 318.174805 and range: 320.20 m.
2025-08-22T21:26:10.551Z,1755897970.551 [DAT](INFO): DAT read: Rx Time:21:26:11.2200
2025-08-22T21:26:10.552Z,1755897970.552 [DAT](INFO): Rx dataTimestamp_ set to:1755897970.551676
2025-08-22T21:26:10.554Z,1755897970.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271388
2025-08-22T21:26:10.746Z,1755897970.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:10.748Z,1755897970.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.17 m.
2025-08-22T21:26:10.767Z,1755897970.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 318.174805 m,
nav range: 309.483673 m,
bearing: 226.628951 deg,
approach rate: -0.648104 m/s,
LOS rate: -0.002463 deg/s,
cmd heading: 217.210370 deg,
new cmd heading: 217.208668 deg.
2025-08-22T21:26:10.770Z,1755897970.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791006 target range: 318.174805 and range: 320.20 m.
2025-08-22T21:26:10.798Z,1755897970.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516544
2025-08-22T21:26:11.052Z,1755897971.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769280
2025-08-22T21:26:11.201Z,1755897971.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.17 m.
2025-08-22T21:26:11.205Z,1755897971.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 318.174805 m,
nav range: 309.193146 m,
bearing: 226.627846 deg,
approach rate: -0.640730 m/s,
LOS rate: -0.002440 deg/s,
cmd heading: 217.208663 deg,
new cmd heading: 217.206450 deg.
2025-08-22T21:26:11.206Z,1755897971.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790968 target range: 318.174805 and range: 320.20 m.
2025-08-22T21:26:11.313Z,1755897971.313 [DAT](INFO): DAT read: 21:26:11.2200 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 418,-0.01, 1.924, 0.397, 1.784, 1.284, PHS= 0.741,-0.843, 0.455, RAW= 140.2, -4.9, CAL= 140.3, -5.5, ROT= 9.7, 5.5
2025-08-22T21:26:11.314Z,1755897971.314 [DAT](INFO): got valid direction response:
21:26:11.2200 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 418,-0.01, 1.924, 0.397, 1.784, 1.284, PHS= 0.741,-0.843, 0.455, RAW= 140.2, -4.9, CAL= 140.3, -5.5, ROT= 9.7, 5.5
2025-08-22T21:26:11.315Z,1755897971.315 [DAT](INFO): DAT read: Bearing 352.2, 7.2 (Local)
2025-08-22T21:26:11.315Z,1755897971.315 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.2, 7.2 (Local)
2025-08-22T21:26:11.317Z,1755897971.317 [DAT](INFO): DAT read: Range 11 to 50 : 318.0 m (Round-trip 424.0 ms) speed 0.4 m/s
2025-08-22T21:26:11.330Z,1755897971.330 [DAT](INFO): DAT read: user:2219>
2025-08-22T21:26:11.331Z,1755897971.331 [DAT](INFO): DAT read: Tx time:21:26:12.3418
2025-08-22T21:26:11.331Z,1755897971.331 [DAT](INFO): Ping request sent.
2025-08-22T21:26:11.331Z,1755897971.331 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:11.332Z,1755897971.332 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:26:11.333Z,1755897971.333 [DAT](INFO): direction in FSK: [0.981165,0.167714,-0.095846]
2025-08-22T21:26:11.333Z,1755897971.333 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:11.333Z,1755897971.333 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:11.336Z,1755897971.336 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:11.337Z,1755897971.337 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:11.624Z,1755897971.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 318.000000 m,
deltaT: 4.033827 s,
deltaX: -2.200012 m,
approachRate: -0.545391 m/s,
rangeRepo size: 4
2025-08-22T21:26:11.631Z,1755897971.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 315.988800 m,
bearing: 227.192634 deg,
lat: 36.779222 deg,
lon: -121.859728 deg,
deltaT: 4.033827 s,
deltaX: -2.186005 m,
approachRate: -0.541918 m/s,
posRepo size: 4
2025-08-22T21:26:11.631Z,1755897971.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.99 m.
2025-08-22T21:26:11.638Z,1755897971.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.988800 m,
nav range: 309.515900 m,
bearing: 226.511195 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002440 deg/s,
cmd heading: 217.206450 deg,
new cmd heading: 217.204388 deg.
2025-08-22T21:26:11.639Z,1755897971.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790932 target range: 315.988800 and range: 318.00 m.
2025-08-22T21:26:11.972Z,1755897971.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.99 m.
2025-08-22T21:26:11.975Z,1755897971.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.988800 m,
nav range: 309.277039 m,
bearing: 226.509748 deg,
approach rate: -0.685366 m/s,
LOS rate: -0.004157 deg/s,
cmd heading: 217.204387 deg,
new cmd heading: 217.201490 deg.
2025-08-22T21:26:11.976Z,1755897971.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790881 target range: 315.988800 and range: 318.00 m.
2025-08-22T21:26:12.410Z,1755897972.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.99 m.
2025-08-22T21:26:12.413Z,1755897972.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.988800 m,
nav range: 309.002563 m,
bearing: 226.507893 deg,
approach rate: -0.626288 m/s,
LOS rate: -0.004236 deg/s,
cmd heading: 217.201491 deg,
new cmd heading: 217.197778 deg.
2025-08-22T21:26:12.415Z,1755897972.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790816 target range: 315.988800 and range: 318.00 m.
2025-08-22T21:26:12.757Z,1755897972.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:12.759Z,1755897972.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.99 m.
2025-08-22T21:26:12.778Z,1755897972.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.988800 m,
nav range: 308.779022 m,
bearing: 226.506361 deg,
approach rate: -0.641324 m/s,
LOS rate: -0.004397 deg/s,
cmd heading: 217.197775 deg,
new cmd heading: 217.194710 deg.
2025-08-22T21:26:12.779Z,1755897972.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790763 target range: 315.988800 and range: 318.00 m.
2025-08-22T21:26:12.815Z,1755897972.815 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:12.815Z,1755897972.815 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:12.816Z,1755897972.816 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:13.067Z,1755897973.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735453
2025-08-22T21:26:13.187Z,1755897973.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.99 m.
2025-08-22T21:26:13.191Z,1755897973.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.988800 m,
nav range: 308.511200 m,
bearing: 226.504511 deg,
approach rate: -0.626590 m/s,
LOS rate: -0.004333 deg/s,
cmd heading: 217.194715 deg,
new cmd heading: 217.191011 deg.
2025-08-22T21:26:13.192Z,1755897973.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790698 target range: 315.988800 and range: 318.00 m.
2025-08-22T21:26:13.321Z,1755897973.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988970
2025-08-22T21:26:13.572Z,1755897973.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240458
2025-08-22T21:26:13.615Z,1755897973.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.99 m.
2025-08-22T21:26:13.618Z,1755897973.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.988800 m,
nav range: 308.227020 m,
bearing: 226.502962 deg,
approach rate: -0.663206 m/s,
LOS rate: -0.003619 deg/s,
cmd heading: 217.191013 deg,
new cmd heading: 217.187912 deg.
2025-08-22T21:26:13.619Z,1755897973.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790644 target range: 315.988800 and range: 318.00 m.
2025-08-22T21:26:13.822Z,1755897973.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491014
2025-08-22T21:26:13.976Z,1755897973.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.99 m.
2025-08-22T21:26:13.979Z,1755897973.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.988800 m,
nav range: 307.990112 m,
bearing: 226.501657 deg,
approach rate: -0.655866 m/s,
LOS rate: -0.003615 deg/s,
cmd heading: 217.187913 deg,
new cmd heading: 217.185301 deg.
2025-08-22T21:26:13.980Z,1755897973.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790599 target range: 315.988800 and range: 318.00 m.
2025-08-22T21:26:14.076Z,1755897974.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744308
2025-08-22T21:26:14.330Z,1755897974.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997697
2025-08-22T21:26:14.401Z,1755897974.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.99 m.
2025-08-22T21:26:14.424Z,1755897974.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.988800 m,
nav range: 307.714142 m,
bearing: 226.500514 deg,
approach rate: -0.649709 m/s,
LOS rate: -0.002694 deg/s,
cmd heading: 217.185303 deg,
new cmd heading: 217.183015 deg.
2025-08-22T21:26:14.425Z,1755897974.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790559 target range: 315.988800 and range: 318.00 m.
2025-08-22T21:26:14.579Z,1755897974.579 [DAT](INFO): DAT read: Rx Time:21:26:15.1461
2025-08-22T21:26:14.579Z,1755897974.579 [DAT](INFO): Rx dataTimestamp_ set to:1755897974.578769
2025-08-22T21:26:14.580Z,1755897974.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248213
2025-08-22T21:26:14.783Z,1755897974.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:14.785Z,1755897974.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.99 m.
2025-08-22T21:26:14.788Z,1755897974.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.988800 m,
nav range: 307.464783 m,
bearing: 226.499446 deg,
approach rate: -0.649363 m/s,
LOS rate: -0.002783 deg/s,
cmd heading: 217.183008 deg,
new cmd heading: 217.180871 deg.
2025-08-22T21:26:14.789Z,1755897974.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790521 target range: 315.988800 and range: 318.00 m.
2025-08-22T21:26:14.831Z,1755897974.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499755
2025-08-22T21:26:15.088Z,1755897975.088 [DAT](INFO): DAT read: 21:26:15.1461 LVL= 20112, 22049, 21426, 23731, AGC= 69, IDX= 190,-0.09, 2.599, 1.019, 2.458, 1.901, PHS= 0.801,-0.837, 0.513, RAW= 140.5, -6.3, CAL= 140.6, -7.4, ROT= 9.4, 7.4
2025-08-22T21:26:15.089Z,1755897975.089 [DAT](INFO): got valid direction response:
21:26:15.1461 LVL= 20112, 22049, 21426, 23731, AGC= 69, IDX= 190,-0.09, 2.599, 1.019, 2.458, 1.901, PHS= 0.801,-0.837, 0.513, RAW= 140.5, -6.3, CAL= 140.6, -7.4, ROT= 9.4, 7.4
2025-08-22T21:26:15.090Z,1755897975.090 [DAT](INFO): DAT read: Bearing 349.6, 7.0 (Local)
2025-08-22T21:26:15.091Z,1755897975.091 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.6, 7.0 (Local)
2025-08-22T21:26:15.092Z,1755897975.092 [DAT](INFO): DAT read: Range 11 to 50 : 300.0 m (Round-trip 400.1 ms) speed 0.3 m/s
2025-08-22T21:26:15.093Z,1755897975.093 [DAT](INFO): DAT read: user:2220>
2025-08-22T21:26:15.094Z,1755897975.094 [DAT](INFO): DAT read: Tx time:21:26:16.2418
2025-08-22T21:26:15.094Z,1755897975.094 [DAT](INFO): Ping request sent.
2025-08-22T21:26:15.094Z,1755897975.094 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:15.094Z,1755897975.094 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:26:15.095Z,1755897975.095 [DAT](INFO): direction in FSK: [0.978355,0.161966,-0.128796]
2025-08-22T21:26:15.095Z,1755897975.095 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:15.096Z,1755897975.096 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:15.124Z,1755897975.124 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:15.125Z,1755897975.125 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:15.244Z,1755897975.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 300.000000 m,
deltaT: 3.778028 s,
deltaX: -18.000000 m,
approachRate: -4.764390 m/s,
rangeRepo size: 4
2025-08-22T21:26:15.251Z,1755897975.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 298.101685 m,
bearing: 227.170882 deg,
lat: 36.779222 deg,
lon: -121.859703 deg,
deltaT: 3.778028 s,
deltaX: -17.887115 m,
approachRate: -4.734511 m/s,
posRepo size: 4
2025-08-22T21:26:15.252Z,1755897975.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.10 m.
2025-08-22T21:26:15.259Z,1755897975.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.101685 m,
nav range: 305.630188 m,
bearing: 226.220476 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002783 deg/s,
cmd heading: 217.180877 deg,
new cmd heading: 217.178323 deg.
2025-08-22T21:26:15.260Z,1755897975.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790477 target range: 298.101685 and range: 300.00 m.
2025-08-22T21:26:15.636Z,1755897975.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.10 m.
2025-08-22T21:26:15.639Z,1755897975.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.101685 m,
nav range: 305.345490 m,
bearing: 226.218602 deg,
approach rate: -0.726299 m/s,
LOS rate: -0.004785 deg/s,
cmd heading: 217.178323 deg,
new cmd heading: 217.174571 deg.
2025-08-22T21:26:15.640Z,1755897975.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790411 target range: 298.101685 and range: 300.00 m.
2025-08-22T21:26:16.014Z,1755897976.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.10 m.
2025-08-22T21:26:16.016Z,1755897976.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.101685 m,
nav range: 305.092407 m,
bearing: 226.216926 deg,
approach rate: -0.669808 m/s,
LOS rate: -0.004440 deg/s,
cmd heading: 217.174566 deg,
new cmd heading: 217.171211 deg.
2025-08-22T21:26:16.018Z,1755897976.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790353 target range: 298.101685 and range: 300.00 m.
2025-08-22T21:26:16.502Z,1755897976.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.10 m.
2025-08-22T21:26:16.504Z,1755897976.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.101685 m,
nav range: 304.769531 m,
bearing: 226.215201 deg,
approach rate: -0.661955 m/s,
LOS rate: -0.003540 deg/s,
cmd heading: 217.171206 deg,
new cmd heading: 217.167753 deg.
2025-08-22T21:26:16.505Z,1755897976.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790292 target range: 298.101685 and range: 300.00 m.
2025-08-22T21:26:16.829Z,1755897976.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:16.831Z,1755897976.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.10 m.
2025-08-22T21:26:16.834Z,1755897976.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.101685 m,
nav range: 304.551453 m,
bearing: 226.214024 deg,
approach rate: -0.661355 m/s,
LOS rate: -0.003572 deg/s,
cmd heading: 217.167750 deg,
new cmd heading: 217.165394 deg.
2025-08-22T21:26:16.835Z,1755897976.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790251 target range: 298.101685 and range: 300.00 m.
2025-08-22T21:26:16.846Z,1755897976.846 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:16.846Z,1755897976.846 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:16.846Z,1755897976.846 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:17.104Z,1755897977.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009871
2025-08-22T21:26:17.270Z,1755897977.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.10 m.
2025-08-22T21:26:17.273Z,1755897977.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.101685 m,
nav range: 304.269073 m,
bearing: 226.212498 deg,
approach rate: -0.644063 m/s,
LOS rate: -0.003485 deg/s,
cmd heading: 217.165400 deg,
new cmd heading: 217.162345 deg.
2025-08-22T21:26:17.274Z,1755897977.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790198 target range: 298.101685 and range: 300.00 m.
2025-08-22T21:26:17.359Z,1755897977.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264709
2025-08-22T21:26:17.603Z,1755897977.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508573
2025-08-22T21:26:17.683Z,1755897977.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.10 m.
2025-08-22T21:26:17.686Z,1755897977.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.101685 m,
nav range: 303.990753 m,
bearing: 226.210499 deg,
approach rate: -0.672996 m/s,
LOS rate: -0.004838 deg/s,
cmd heading: 217.162340 deg,
new cmd heading: 217.158338 deg.
2025-08-22T21:26:17.687Z,1755897977.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790128 target range: 298.101685 and range: 300.00 m.
2025-08-22T21:26:17.854Z,1755897977.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760439
2025-08-22T21:26:18.036Z,1755897978.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.10 m.
2025-08-22T21:26:18.041Z,1755897978.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.101685 m,
nav range: 303.760132 m,
bearing: 226.208852 deg,
approach rate: -0.654195 m/s,
LOS rate: -0.004674 deg/s,
cmd heading: 217.158338 deg,
new cmd heading: 217.155042 deg.
2025-08-22T21:26:18.043Z,1755897978.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790071 target range: 298.101685 and range: 300.00 m.
2025-08-22T21:26:18.107Z,1755897978.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013075
2025-08-22T21:26:18.361Z,1755897978.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266498
2025-08-22T21:26:18.463Z,1755897978.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.10 m.
2025-08-22T21:26:18.482Z,1755897978.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.101685 m,
nav range: 303.474945 m,
bearing: 226.207234 deg,
approach rate: -0.667839 m/s,
LOS rate: -0.003794 deg/s,
cmd heading: 217.155046 deg,
new cmd heading: 217.151805 deg.
2025-08-22T21:26:18.483Z,1755897978.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790014 target range: 298.101685 and range: 300.00 m.
2025-08-22T21:26:18.611Z,1755897978.611 [DAT](INFO): DAT read: Rx Time:21:26:19.0429
2025-08-22T21:26:18.611Z,1755897978.611 [DAT](INFO): Rx dataTimestamp_ set to:1755897978.610777
2025-08-22T21:26:18.612Z,1755897978.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517654
2025-08-22T21:26:18.844Z,1755897978.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:18.847Z,1755897978.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.10 m.
2025-08-22T21:26:18.850Z,1755897978.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.101685 m,
nav range: 303.218201 m,
bearing: 226.205789 deg,
approach rate: -0.667243 m/s,
LOS rate: -0.003757 deg/s,
cmd heading: 217.151808 deg,
new cmd heading: 217.148917 deg.
2025-08-22T21:26:18.851Z,1755897978.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789963 target range: 298.101685 and range: 300.00 m.
2025-08-22T21:26:18.863Z,1755897978.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768619
2025-08-22T21:26:19.120Z,1755897979.120 [DAT](INFO): DAT read: 21:26:19.0429 LVL= 27280, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.15, 1.800, 0.210, 1.627, 1.045, PHS= 0.857,-0.790, 0.538, RAW= 139.5, -8.0, CAL= 139.6, -9.4, ROT= 10.4, 9.4
2025-08-22T21:26:19.121Z,1755897979.121 [DAT](INFO): got valid direction response:
21:26:19.0429 LVL= 27280, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.15, 1.800, 0.210, 1.627, 1.045, PHS= 0.857,-0.790, 0.538, RAW= 139.5, -8.0, CAL= 139.6, -9.4, ROT= 10.4, 9.4
2025-08-22T21:26:19.122Z,1755897979.122 [DAT](INFO): DAT read: Bearing 346.9, 8.2 (Local)
2025-08-22T21:26:19.123Z,1755897979.123 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.9, 8.2 (Local)
2025-08-22T21:26:19.124Z,1755897979.124 [DAT](INFO): DAT read: Range 11 to 50 : 297.6 m (Round-trip 396.9 ms) speed 0.4 m/s
2025-08-22T21:26:19.125Z,1755897979.125 [DAT](INFO): DAT read: user:2221>
2025-08-22T21:26:19.126Z,1755897979.126 [DAT](INFO): DAT read: Tx time:21:26:20.1418
2025-08-22T21:26:19.126Z,1755897979.126 [DAT](INFO): Ping request sent.
2025-08-22T21:26:19.126Z,1755897979.126 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:19.126Z,1755897979.126 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:26:19.127Z,1755897979.127 [DAT](INFO): direction in FSK: [0.970364,0.178095,-0.163326]
2025-08-22T21:26:19.127Z,1755897979.127 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:19.128Z,1755897979.128 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:19.131Z,1755897979.131 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:19.132Z,1755897979.132 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:19.303Z,1755897979.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 297.600006 m,
deltaT: 4.032024 s,
deltaX: -2.399994 m,
approachRate: -0.595233 m/s,
rangeRepo size: 4
2025-08-22T21:26:19.305Z,1755897979.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 295.716583 m,
bearing: 228.141812 deg,
lat: 36.779222 deg,
lon: -121.859703 deg,
deltaT: 4.032024 s,
deltaX: -2.385101 m,
approachRate: -0.591539 m/s,
posRepo size: 4
2025-08-22T21:26:19.310Z,1755897979.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.72 m.
2025-08-22T21:26:19.312Z,1755897979.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.716583 m,
nav range: 302.921509 m,
bearing: 226.204134 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003757 deg/s,
cmd heading: 217.148912 deg,
new cmd heading: 217.145494 deg.
2025-08-22T21:26:19.318Z,1755897979.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789904 target range: 295.716583 and range: 297.60 m.
2025-08-22T21:26:19.684Z,1755897979.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.72 m.
2025-08-22T21:26:19.687Z,1755897979.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.716583 m,
nav range: 302.670319 m,
bearing: 226.203160 deg,
approach rate: -0.658095 m/s,
LOS rate: -0.002554 deg/s,
cmd heading: 217.145497 deg,
new cmd heading: 217.143547 deg.
2025-08-22T21:26:19.688Z,1755897979.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789870 target range: 295.716583 and range: 297.60 m.
2025-08-22T21:26:20.086Z,1755897980.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.72 m.
2025-08-22T21:26:20.088Z,1755897980.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.716583 m,
nav range: 302.413177 m,
bearing: 226.202226 deg,
approach rate: -0.640349 m/s,
LOS rate: -0.002328 deg/s,
cmd heading: 217.143544 deg,
new cmd heading: 217.141674 deg.
2025-08-22T21:26:20.090Z,1755897980.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789837 target range: 295.716583 and range: 297.60 m.
2025-08-22T21:26:20.510Z,1755897980.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.72 m.
2025-08-22T21:26:20.512Z,1755897980.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.716583 m,
nav range: 302.157135 m,
bearing: 226.201249 deg,
approach rate: -0.634089 m/s,
LOS rate: -0.002423 deg/s,
cmd heading: 217.141672 deg,
new cmd heading: 217.139715 deg.
2025-08-22T21:26:20.522Z,1755897980.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789803 target range: 295.716583 and range: 297.60 m.
2025-08-22T21:26:20.871Z,1755897980.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:20.873Z,1755897980.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.72 m.
2025-08-22T21:26:20.876Z,1755897980.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.716583 m,
nav range: 301.913849 m,
bearing: 226.200340 deg,
approach rate: -0.634058 m/s,
LOS rate: -0.002369 deg/s,
cmd heading: 217.139719 deg,
new cmd heading: 217.137901 deg.
2025-08-22T21:26:20.877Z,1755897980.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789771 target range: 295.716583 and range: 297.60 m.
2025-08-22T21:26:20.878Z,1755897980.878 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:20.878Z,1755897980.878 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:20.879Z,1755897980.879 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:21.131Z,1755897981.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004559
2025-08-22T21:26:21.294Z,1755897981.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.72 m.
2025-08-22T21:26:21.296Z,1755897981.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.716583 m,
nav range: 301.646912 m,
bearing: 226.199342 deg,
approach rate: -0.635305 m/s,
LOS rate: -0.002378 deg/s,
cmd heading: 217.137902 deg,
new cmd heading: 217.135904 deg.
2025-08-22T21:26:21.297Z,1755897981.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789737 target range: 295.716583 and range: 297.60 m.
2025-08-22T21:26:21.383Z,1755897981.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256689
2025-08-22T21:26:21.634Z,1755897981.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508531
2025-08-22T21:26:21.710Z,1755897981.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.72 m.
2025-08-22T21:26:21.713Z,1755897981.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.716583 m,
nav range: 301.376862 m,
bearing: 226.198563 deg,
approach rate: -0.648515 m/s,
LOS rate: -0.001871 deg/s,
cmd heading: 217.135907 deg,
new cmd heading: 217.134349 deg.
2025-08-22T21:26:21.714Z,1755897981.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789709 target range: 295.716583 and range: 297.60 m.
2025-08-22T21:26:21.887Z,1755897981.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760573
2025-08-22T21:26:22.095Z,1755897982.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.72 m.
2025-08-22T21:26:22.098Z,1755897982.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.716583 m,
nav range: 301.127838 m,
bearing: 226.197845 deg,
approach rate: -0.646747 m/s,
LOS rate: -0.001866 deg/s,
cmd heading: 217.134350 deg,
new cmd heading: 217.132913 deg.
2025-08-22T21:26:22.099Z,1755897982.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789684 target range: 295.716583 and range: 297.60 m.
2025-08-22T21:26:22.139Z,1755897982.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012728
2025-08-22T21:26:22.391Z,1755897982.391 [DAT](INFO): DAT read: Rx Time:21:26:22.9391
2025-08-22T21:26:22.392Z,1755897982.392 [DAT](INFO): Rx dataTimestamp_ set to:1755897982.391761
2025-08-22T21:26:22.394Z,1755897982.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267830
2025-08-22T21:26:22.537Z,1755897982.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.72 m.
2025-08-22T21:26:22.557Z,1755897982.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.716583 m,
nav range: 300.849731 m,
bearing: 226.197286 deg,
approach rate: -0.630389 m/s,
LOS rate: -0.001268 deg/s,
cmd heading: 217.132916 deg,
new cmd heading: 217.131797 deg.
2025-08-22T21:26:22.572Z,1755897982.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789665 target range: 295.716583 and range: 297.60 m.
2025-08-22T21:26:22.643Z,1755897982.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517390
2025-08-22T21:26:22.839Z,1755897982.839 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:26:22.900Z,1755897982.900 [DAT](INFO): DAT read: 21:26:22.9391 LVL= 31552, 32753, 32754, 32755, AGC= 71, IDX= 193,-0.39,-3.096, 1.259, 2.917, 2.854, PHS= 0.435,-1.550, 0.019, RAW= 138.5, 12.1, CAL= 137.9, 13.1, ROT= 12.1, -13.1
2025-08-22T21:26:22.902Z,1755897982.902 [DAT](INFO): got valid direction response:
21:26:22.9391 LVL= 31552, 32753, 32754, 32755, AGC= 71, IDX= 193,-0.39,-3.096, 1.259, 2.917, 2.854, PHS= 0.435,-1.550, 0.019, RAW= 138.5, 12.1, CAL= 137.9, 13.1, ROT= 12.1, -13.1
2025-08-22T21:26:22.903Z,1755897982.903 [DAT](INFO): DAT read: Bearing 8.9, 10.4 (Local)
2025-08-22T21:26:22.903Z,1755897982.903 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.9, 10.4 (Local)
2025-08-22T21:26:22.905Z,1755897982.905 [DAT](INFO): DAT read: Range 11 to 50 : 294.8 m (Round-trip 393.1 ms) speed 0.2 m/s
2025-08-22T21:26:22.914Z,1755897982.914 [DAT](INFO): DAT read: user:2222>
2025-08-22T21:26:22.915Z,1755897982.915 [DAT](INFO): DAT read: Tx time:21:26:24.0418
2025-08-22T21:26:22.915Z,1755897982.915 [DAT](INFO): Ping request sent.
2025-08-22T21:26:22.915Z,1755897982.915 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:22.915Z,1755897982.915 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:26:22.916Z,1755897982.916 [DAT](INFO): direction in FSK: [0.952337,0.204163,0.226651]
2025-08-22T21:26:22.916Z,1755897982.916 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:22.917Z,1755897982.917 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:22.928Z,1755897982.928 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:22.929Z,1755897982.929 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:22.973Z,1755897982.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 294.799988 m,
deltaT: 3.780016 s,
deltaX: -2.800018 m,
approachRate: -0.740742 m/s,
rangeRepo size: 4
2025-08-22T21:26:22.980Z,1755897982.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 292.933960 m,
bearing: 228.834948 deg,
lat: 36.779324 deg,
lon: -121.859693 deg,
deltaT: 3.780016 s,
deltaX: -2.782623 m,
approachRate: -0.736141 m/s,
posRepo size: 4
2025-08-22T21:26:22.980Z,1755897982.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.93 m.
2025-08-22T21:26:22.987Z,1755897982.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 292.933960 m,
nav range: 292.143463 m,
bearing: 227.672852 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001268 deg/s,
cmd heading: 217.131796 deg,
new cmd heading: 217.130688 deg.
2025-08-22T21:26:22.988Z,1755897982.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789645 target range: 292.933960 and range: 294.80 m.
2025-08-22T21:26:23.392Z,1755897983.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:23.399Z,1755897983.399 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:23.399Z,1755897983.399 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:23.399Z,1755897983.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:23.414Z,1755897983.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.93 m.
2025-08-22T21:26:23.417Z,1755897983.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 292.933960 m,
nav range: 291.856171 m,
bearing: 227.673697 deg,
approach rate: -0.650129 m/s,
LOS rate: 0.001913 deg/s,
cmd heading: 217.130689 deg,
new cmd heading: 217.132380 deg.
2025-08-22T21:26:23.432Z,1755897983.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789675 target range: 292.933960 and range: 294.80 m.
2025-08-22T21:26:23.651Z,1755897983.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.735635
2025-08-22T21:26:23.842Z,1755897983.842 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:26:23.877Z,1755897983.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.93 m.
2025-08-22T21:26:23.880Z,1755897983.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 292.933960 m,
nav range: 291.539795 m,
bearing: 227.674876 deg,
approach rate: -0.683710 m/s,
LOS rate: 0.002551 deg/s,
cmd heading: 217.132383 deg,
new cmd heading: 217.134744 deg.
2025-08-22T21:26:23.881Z,1755897983.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789716 target range: 292.933960 and range: 294.80 m.
2025-08-22T21:26:23.903Z,1755897983.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987673
2025-08-22T21:26:24.159Z,1755897984.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243418
2025-08-22T21:26:24.247Z,1755897984.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.93 m.
2025-08-22T21:26:24.250Z,1755897984.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 292.933960 m,
nav range: 291.297638 m,
bearing: 227.675796 deg,
approach rate: -0.654723 m/s,
LOS rate: 0.002491 deg/s,
cmd heading: 217.134746 deg,
new cmd heading: 217.136589 deg.
2025-08-22T21:26:24.251Z,1755897984.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789748 target range: 292.933960 and range: 294.80 m.
2025-08-22T21:26:24.410Z,1755897984.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494174
2025-08-22T21:26:24.659Z,1755897984.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743622
2025-08-22T21:26:24.674Z,1755897984.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.93 m.
2025-08-22T21:26:24.676Z,1755897984.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 292.933960 m,
nav range: 291.034637 m,
bearing: 227.675109 deg,
approach rate: -0.616816 m/s,
LOS rate: -0.001614 deg/s,
cmd heading: 217.136590 deg,
new cmd heading: 217.135214 deg.
2025-08-22T21:26:24.677Z,1755897984.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789724 target range: 292.933960 and range: 294.80 m.
2025-08-22T21:26:24.911Z,1755897984.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995586
2025-08-22T21:26:25.061Z,1755897985.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.93 m.
2025-08-22T21:26:25.064Z,1755897985.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 292.933960 m,
nav range: 290.798828 m,
bearing: 227.674491 deg,
approach rate: -0.608713 m/s,
LOS rate: -0.001595 deg/s,
cmd heading: 217.135211 deg,
new cmd heading: 217.133975 deg.
2025-08-22T21:26:25.065Z,1755897985.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789703 target range: 292.933960 and range: 294.80 m.
2025-08-22T21:26:25.164Z,1755897985.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249472
2025-08-22T21:26:25.414Z,1755897985.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499421
2025-08-22T21:26:25.439Z,1755897985.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:25.442Z,1755897985.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.93 m.
2025-08-22T21:26:25.445Z,1755897985.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 292.933960 m,
nav range: 290.563568 m,
bearing: 227.673946 deg,
approach rate: -0.617727 m/s,
LOS rate: -0.001434 deg/s,
cmd heading: 217.133981 deg,
new cmd heading: 217.132889 deg.
2025-08-22T21:26:25.446Z,1755897985.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789684 target range: 292.933960 and range: 294.80 m.
2025-08-22T21:26:25.666Z,1755897985.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751548
2025-08-22T21:26:25.868Z,1755897985.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.93 m.
2025-08-22T21:26:25.871Z,1755897985.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 292.933960 m,
nav range: 290.284454 m,
bearing: 227.674019 deg,
approach rate: -0.654974 m/s,
LOS rate: 0.000172 deg/s,
cmd heading: 217.132889 deg,
new cmd heading: 217.133035 deg.
2025-08-22T21:26:25.872Z,1755897985.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789686 target range: 292.933960 and range: 294.80 m.
2025-08-22T21:26:25.920Z,1755897985.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004677
2025-08-22T21:26:26.171Z,1755897986.171 [DAT](INFO): DAT read: Rx Time:21:26:26.8363
2025-08-22T21:26:26.171Z,1755897986.171 [DAT](INFO): Rx dataTimestamp_ set to:1755897986.170854
2025-08-22T21:26:26.172Z,1755897986.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256944
2025-08-22T21:26:26.244Z,1755897986.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.93 m.
2025-08-22T21:26:26.247Z,1755897986.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 292.933960 m,
nav range: 290.040955 m,
bearing: 227.674114 deg,
approach rate: -0.647764 m/s,
LOS rate: 0.000254 deg/s,
cmd heading: 217.133039 deg,
new cmd heading: 217.133230 deg.
2025-08-22T21:26:26.248Z,1755897986.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789690 target range: 292.933960 and range: 294.80 m.
2025-08-22T21:26:26.422Z,1755897986.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507507
2025-08-22T21:26:26.671Z,1755897986.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.93 m.
2025-08-22T21:26:26.675Z,1755897986.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759733
2025-08-22T21:26:26.676Z,1755897986.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 292.933960 m,
nav range: 289.766632 m,
bearing: 227.673803 deg,
approach rate: -0.641888 m/s,
LOS rate: -0.000729 deg/s,
cmd heading: 217.133230 deg,
new cmd heading: 217.132607 deg.
2025-08-22T21:26:26.677Z,1755897986.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789679 target range: 292.933960 and range: 294.80 m.
2025-08-22T21:26:26.932Z,1755897986.932 [DAT](INFO): DAT read: 21:26:26.8363 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 191,-0.37, 0.303,-1.546,-0.021,-0.055, PHS= 0.459,-1.446,-0.010, RAW= 136.3, 11.6, CAL= 135.8, 12.6, ROT= 14.2, -12.6
2025-08-22T21:26:26.933Z,1755897986.933 [DAT](INFO): got valid direction response:
21:26:26.8363 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 191,-0.37, 0.303,-1.546,-0.021,-0.055, PHS= 0.459,-1.446,-0.010, RAW= 136.3, 11.6, CAL= 135.8, 12.6, ROT= 14.2, -12.6
2025-08-22T21:26:26.934Z,1755897986.934 [DAT](INFO): DAT read: Bearing 7.6, 12.3 (Local)
2025-08-22T21:26:26.935Z,1755897986.935 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.6, 12.3 (Local)
2025-08-22T21:26:26.936Z,1755897986.936 [DAT](INFO): DAT read: Range 11 to 50 : 292.7 m (Round-trip 390.3 ms) speed 0.4 m/s
2025-08-22T21:26:26.937Z,1755897986.937 [DAT](INFO): DAT read: user:2223>
2025-08-22T21:26:26.937Z,1755897986.937 [DAT](INFO): DAT read: Tx time:21:26:27.9418
2025-08-22T21:26:26.938Z,1755897986.938 [DAT](INFO): Ping request sent.
2025-08-22T21:26:26.938Z,1755897986.938 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:26.938Z,1755897986.938 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:26:26.939Z,1755897986.939 [DAT](INFO): direction in FSK: [0.946098,0.239400,0.218143]
2025-08-22T21:26:26.939Z,1755897986.939 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:26.940Z,1755897986.940 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:26.943Z,1755897986.943 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:26.943Z,1755897986.943 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:27.124Z,1755897987.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 292.700012 m,
deltaT: 4.031872 s,
deltaX: -2.099976 m,
approachRate: -0.520844 m/s,
rangeRepo size: 4
2025-08-22T21:26:27.130Z,1755897987.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 290.846954 m,
bearing: 230.657729 deg,
lat: 36.779365 deg,
lon: -121.859693 deg,
deltaT: 4.031872 s,
deltaX: -2.087006 m,
approachRate: -0.517627 m/s,
posRepo size: 4
2025-08-22T21:26:27.131Z,1755897987.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.85 m.
2025-08-22T21:26:27.138Z,1755897987.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 290.846954 m,
nav range: 286.470062 m,
bearing: 228.341762 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000729 deg/s,
cmd heading: 217.132602 deg,
new cmd heading: 217.131942 deg.
2025-08-22T21:26:27.139Z,1755897987.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789667 target range: 290.846954 and range: 292.70 m.
2025-08-22T21:26:27.472Z,1755897987.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:27.474Z,1755897987.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.85 m.
2025-08-22T21:26:27.476Z,1755897987.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 290.846954 m,
nav range: 286.233673 m,
bearing: 228.342146 deg,
approach rate: -0.675010 m/s,
LOS rate: 0.001098 deg/s,
cmd heading: 217.131946 deg,
new cmd heading: 217.132715 deg.
2025-08-22T21:26:27.478Z,1755897987.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789681 target range: 290.846954 and range: 292.70 m.
2025-08-22T21:26:27.682Z,1755897987.682 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:27.682Z,1755897987.682 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:27.683Z,1755897987.683 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:27.895Z,1755897987.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.85 m.
2025-08-22T21:26:27.897Z,1755897987.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 290.846954 m,
nav range: 285.957855 m,
bearing: 228.341679 deg,
approach rate: -0.655263 m/s,
LOS rate: -0.001111 deg/s,
cmd heading: 217.132711 deg,
new cmd heading: 217.131776 deg.
2025-08-22T21:26:27.898Z,1755897987.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789665 target range: 290.846954 and range: 292.70 m.
2025-08-22T21:26:27.935Z,1755897987.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997446
2025-08-22T21:26:28.189Z,1755897988.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250612
2025-08-22T21:26:28.269Z,1755897988.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.85 m.
2025-08-22T21:26:28.272Z,1755897988.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 290.846954 m,
nav range: 285.717529 m,
bearing: 228.341296 deg,
approach rate: -0.642191 m/s,
LOS rate: -0.001026 deg/s,
cmd heading: 217.131782 deg,
new cmd heading: 217.131014 deg.
2025-08-22T21:26:28.273Z,1755897988.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789651 target range: 290.846954 and range: 292.70 m.
2025-08-22T21:26:28.438Z,1755897988.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500653
2025-08-22T21:26:28.691Z,1755897988.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752742
2025-08-22T21:26:28.705Z,1755897988.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.85 m.
2025-08-22T21:26:28.708Z,1755897988.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 290.846954 m,
nav range: 285.417480 m,
bearing: 228.342521 deg,
approach rate: -0.687651 m/s,
LOS rate: 0.002810 deg/s,
cmd heading: 217.131017 deg,
new cmd heading: 217.133469 deg.
2025-08-22T21:26:28.709Z,1755897988.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789694 target range: 290.846954 and range: 292.70 m.
2025-08-22T21:26:28.943Z,1755897988.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005177
2025-08-22T21:26:29.079Z,1755897989.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.85 m.
2025-08-22T21:26:29.085Z,1755897989.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 290.846954 m,
nav range: 285.160004 m,
bearing: 228.343584 deg,
approach rate: -0.688014 m/s,
LOS rate: 0.002844 deg/s,
cmd heading: 217.133476 deg,
new cmd heading: 217.135604 deg.
2025-08-22T21:26:29.086Z,1755897989.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789731 target range: 290.846954 and range: 292.70 m.
2025-08-22T21:26:29.195Z,1755897989.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256803
2025-08-22T21:26:29.447Z,1755897989.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509034
2025-08-22T21:26:29.480Z,1755897989.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:29.482Z,1755897989.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.85 m.
2025-08-22T21:26:29.485Z,1755897989.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 290.846954 m,
nav range: 284.886810 m,
bearing: 228.344732 deg,
approach rate: -0.677941 m/s,
LOS rate: 0.002851 deg/s,
cmd heading: 217.135607 deg,
new cmd heading: 217.137905 deg.
2025-08-22T21:26:29.487Z,1755897989.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789771 target range: 290.846954 and range: 292.70 m.
2025-08-22T21:26:29.699Z,1755897989.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760749
2025-08-22T21:26:29.904Z,1755897989.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.85 m.
2025-08-22T21:26:29.907Z,1755897989.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 290.846954 m,
nav range: 284.599609 m,
bearing: 228.345621 deg,
approach rate: -0.680326 m/s,
LOS rate: 0.002109 deg/s,
cmd heading: 217.137902 deg,
new cmd heading: 217.139683 deg.
2025-08-22T21:26:29.908Z,1755897989.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789802 target range: 290.846954 and range: 292.70 m.
2025-08-22T21:26:29.951Z,1755897989.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012870
2025-08-22T21:26:30.203Z,1755897990.203 [DAT](INFO): DAT read: Rx Time:21:26:30.7335
2025-08-22T21:26:30.203Z,1755897990.203 [DAT](INFO): Rx dataTimestamp_ set to:1755897990.202735
2025-08-22T21:26:30.204Z,1755897990.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265733
2025-08-22T21:26:30.306Z,1755897990.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.85 m.
2025-08-22T21:26:30.308Z,1755897990.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 290.846954 m,
nav range: 284.329437 m,
bearing: 228.346460 deg,
approach rate: -0.673679 m/s,
LOS rate: 0.002093 deg/s,
cmd heading: 217.139678 deg,
new cmd heading: 217.141356 deg.
2025-08-22T21:26:30.310Z,1755897990.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789832 target range: 290.846954 and range: 292.70 m.
2025-08-22T21:26:30.455Z,1755897990.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516686
2025-08-22T21:26:30.712Z,1755897990.712 [DAT](INFO): DAT read: 21:26:30.7335 LVL= 30192, 32753, 32754, 32755, AGC= 68, IDX= 414,-0.05, 0.558,-1.448, 0.201, 0.177, PHS= 0.482,-1.580,-0.020, RAW= 136.5, 12.0, CAL= 135.9, 13.0, ROT= 14.1, -13.0
2025-08-22T21:26:30.713Z,1755897990.713 [DAT](INFO): got valid direction response:
21:26:30.7335 LVL= 30192, 32753, 32754, 32755, AGC= 68, IDX= 414,-0.05, 0.558,-1.448, 0.201, 0.177, PHS= 0.482,-1.580,-0.020, RAW= 136.5, 12.0, CAL= 135.9, 13.0, ROT= 14.1, -13.0
2025-08-22T21:26:30.714Z,1755897990.714 [DAT](INFO): DAT read: Bearing 7.6, 12.1 (Local)
2025-08-22T21:26:30.715Z,1755897990.715 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.6, 12.1 (Local)
2025-08-22T21:26:30.716Z,1755897990.716 [DAT](INFO): DAT read: Range 11 to 50 : 290.7 m (Round-trip 387.6 ms) speed 0.8 m/s
2025-08-22T21:26:30.717Z,1755897990.717 [DAT](INFO): DAT read: user:2224>
2025-08-22T21:26:30.717Z,1755897990.717 [DAT](INFO): DAT read: Tx time:21:26:31.8417
2025-08-22T21:26:30.718Z,1755897990.718 [DAT](INFO): Ping request sent.
2025-08-22T21:26:30.718Z,1755897990.718 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:30.718Z,1755897990.718 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:26:30.719Z,1755897990.719 [DAT](INFO): direction in FSK: [0.945014,0.237371,0.224951]
2025-08-22T21:26:30.719Z,1755897990.719 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:30.720Z,1755897990.720 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:30.727Z,1755897990.727 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:30.727Z,1755897990.727 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:30.926Z,1755897990.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 290.700012 m,
deltaT: 3.780015 s,
deltaX: -2.000000 m,
approachRate: -0.529098 m/s,
rangeRepo size: 4
2025-08-22T21:26:30.928Z,1755897990.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 288.859528 m,
bearing: 230.420655 deg,
lat: 36.779395 deg,
lon: -121.859693 deg,
deltaT: 3.780015 s,
deltaX: -1.987427 m,
approachRate: -0.525772 m/s,
posRepo size: 4
2025-08-22T21:26:30.929Z,1755897990.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:30.936Z,1755897990.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 281.716797 m,
bearing: 228.858430 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002093 deg/s,
cmd heading: 217.141358 deg,
new cmd heading: 217.143936 deg.
2025-08-22T21:26:30.937Z,1755897990.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789877 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:31.346Z,1755897991.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:31.348Z,1755897991.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 281.432953 m,
bearing: 228.860118 deg,
approach rate: -0.669383 m/s,
LOS rate: 0.003984 deg/s,
cmd heading: 217.143940 deg,
new cmd heading: 217.147319 deg.
2025-08-22T21:26:31.350Z,1755897991.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789936 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:31.756Z,1755897991.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:31.759Z,1755897991.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:31.762Z,1755897991.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 281.152893 m,
bearing: 228.863029 deg,
approach rate: -0.677648 m/s,
LOS rate: 0.007049 deg/s,
cmd heading: 217.147314 deg,
new cmd heading: 217.153140 deg.
2025-08-22T21:26:31.763Z,1755897991.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790037 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:31.966Z,1755897991.966 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:31.966Z,1755897991.966 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:31.967Z,1755897991.967 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:32.218Z,1755897992.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500546
2025-08-22T21:26:32.250Z,1755897992.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:32.252Z,1755897992.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 280.825775 m,
bearing: 228.866480 deg,
approach rate: -0.666366 m/s,
LOS rate: 0.007039 deg/s,
cmd heading: 217.153147 deg,
new cmd heading: 217.160057 deg.
2025-08-22T21:26:32.254Z,1755897992.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790158 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:32.472Z,1755897992.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753694
2025-08-22T21:26:32.723Z,1755897992.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004633
2025-08-22T21:26:32.780Z,1755897992.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:32.787Z,1755897992.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 280.491058 m,
bearing: 228.869307 deg,
approach rate: -0.630841 m/s,
LOS rate: 0.005335 deg/s,
cmd heading: 217.160059 deg,
new cmd heading: 217.165721 deg.
2025-08-22T21:26:32.788Z,1755897992.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790257 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:32.978Z,1755897992.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259640
2025-08-22T21:26:33.227Z,1755897993.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508686
2025-08-22T21:26:33.262Z,1755897993.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:33.265Z,1755897993.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 280.182190 m,
bearing: 228.871907 deg,
approach rate: -0.641017 m/s,
LOS rate: 0.005401 deg/s,
cmd heading: 217.165714 deg,
new cmd heading: 217.170920 deg.
2025-08-22T21:26:33.266Z,1755897993.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790348 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:33.479Z,1755897993.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761141
2025-08-22T21:26:33.701Z,1755897993.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:33.704Z,1755897993.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 279.897919 m,
bearing: 228.873688 deg,
approach rate: -0.647804 m/s,
LOS rate: 0.004061 deg/s,
cmd heading: 217.170919 deg,
new cmd heading: 217.174483 deg.
2025-08-22T21:26:33.705Z,1755897993.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790410 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:33.731Z,1755897993.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012665
2025-08-22T21:26:33.983Z,1755897993.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264875
2025-08-22T21:26:34.076Z,1755897994.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:34.079Z,1755897994.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:34.081Z,1755897994.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 279.651520 m,
bearing: 228.875264 deg,
approach rate: -0.652548 m/s,
LOS rate: 0.004178 deg/s,
cmd heading: 217.174484 deg,
new cmd heading: 217.177640 deg.
2025-08-22T21:26:34.082Z,1755897994.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790465 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:34.235Z,1755897994.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516629
2025-08-22T21:26:34.470Z,1755897994.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:34.473Z,1755897994.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 279.396606 m,
bearing: 228.876884 deg,
approach rate: -0.650864 m/s,
LOS rate: 0.004141 deg/s,
cmd heading: 217.177640 deg,
new cmd heading: 217.180883 deg.
2025-08-22T21:26:34.474Z,1755897994.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790521 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:34.503Z,1755897994.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784329
2025-08-22T21:26:34.739Z,1755897994.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020639
2025-08-22T21:26:34.895Z,1755897994.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:34.897Z,1755897994.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 279.128662 m,
bearing: 228.878068 deg,
approach rate: -0.631362 m/s,
LOS rate: 0.002793 deg/s,
cmd heading: 217.180877 deg,
new cmd heading: 217.183248 deg.
2025-08-22T21:26:34.898Z,1755897994.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790563 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:34.991Z,1755897994.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273531
2025-08-22T21:26:35.243Z,1755897995.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524721
2025-08-22T21:26:35.300Z,1755897995.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:35.303Z,1755897995.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 278.880859 m,
bearing: 228.879126 deg,
approach rate: -0.611665 m/s,
LOS rate: 0.002613 deg/s,
cmd heading: 217.183254 deg,
new cmd heading: 217.185371 deg.
2025-08-22T21:26:35.304Z,1755897995.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790600 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:35.494Z,1755897995.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776542
2025-08-22T21:26:35.737Z,1755897995.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:35.740Z,1755897995.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 278.586395 m,
bearing: 228.881181 deg,
approach rate: -0.673118 m/s,
LOS rate: 0.004704 deg/s,
cmd heading: 217.185372 deg,
new cmd heading: 217.189488 deg.
2025-08-22T21:26:35.741Z,1755897995.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790672 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:35.747Z,1755897995.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028636
2025-08-22T21:26:35.999Z,1755897995.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280842
2025-08-22T21:26:36.097Z,1755897996.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:36.103Z,1755897996.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:36.110Z,1755897996.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 278.358765 m,
bearing: 228.882781 deg,
approach rate: -0.622396 m/s,
LOS rate: 0.004377 deg/s,
cmd heading: 217.189483 deg,
new cmd heading: 217.192685 deg.
2025-08-22T21:26:36.111Z,1755897996.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790727 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:36.251Z,1755897996.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532583
2025-08-22T21:26:36.508Z,1755897996.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790509
2025-08-22T21:26:36.514Z,1755897996.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:36.518Z,1755897996.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 278.095978 m,
bearing: 228.884641 deg,
approach rate: -0.641117 m/s,
LOS rate: 0.004542 deg/s,
cmd heading: 217.192680 deg,
new cmd heading: 217.196404 deg.
2025-08-22T21:26:36.521Z,1755897996.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790792 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:36.759Z,1755897996.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.041238
2025-08-22T21:26:36.948Z,1755897996.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:36.958Z,1755897996.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 277.803467 m,
bearing: 228.885934 deg,
approach rate: -0.671706 m/s,
LOS rate: 0.002972 deg/s,
cmd heading: 217.196409 deg,
new cmd heading: 217.198998 deg.
2025-08-22T21:26:36.959Z,1755897996.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790838 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:37.012Z,1755897997.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293993
2025-08-22T21:26:37.263Z,1755897997.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.544621
2025-08-22T21:26:37.315Z,1755897997.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:37.318Z,1755897997.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 277.545166 m,
bearing: 228.887043 deg,
approach rate: -0.704028 m/s,
LOS rate: 0.003025 deg/s,
cmd heading: 217.198991 deg,
new cmd heading: 217.201211 deg.
2025-08-22T21:26:37.319Z,1755897997.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790876 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:37.516Z,1755897997.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797549
2025-08-22T21:26:37.759Z,1755897997.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:37.767Z,1755897997.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048668
2025-08-22T21:26:37.783Z,1755897997.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 277.255768 m,
bearing: 228.887821 deg,
approach rate: -0.651317 m/s,
LOS rate: 0.001753 deg/s,
cmd heading: 217.201204 deg,
new cmd heading: 217.202762 deg.
2025-08-22T21:26:37.784Z,1755897997.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790903 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:38.021Z,1755897998.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303116
2025-08-22T21:26:38.119Z,1755897998.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:38.122Z,1755897998.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:38.124Z,1755897998.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 277.019531 m,
bearing: 228.888435 deg,
approach rate: -0.652879 m/s,
LOS rate: 0.001700 deg/s,
cmd heading: 217.202761 deg,
new cmd heading: 217.203992 deg.
2025-08-22T21:26:38.125Z,1755897998.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790925 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:38.270Z,1755897998.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552566
2025-08-22T21:26:38.524Z,1755897998.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805743
2025-08-22T21:26:38.596Z,1755897998.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:38.602Z,1755897998.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 276.725494 m,
bearing: 228.889197 deg,
approach rate: -0.620030 m/s,
LOS rate: 0.001608 deg/s,
cmd heading: 217.203991 deg,
new cmd heading: 217.205516 deg.
2025-08-22T21:26:38.603Z,1755897998.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790951 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:38.775Z,1755897998.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.056690
2025-08-22T21:26:39.001Z,1755897999.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:39.008Z,1755897999.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 276.445282 m,
bearing: 228.889645 deg,
approach rate: -0.692763 m/s,
LOS rate: 0.001108 deg/s,
cmd heading: 217.205521 deg,
new cmd heading: 217.206417 deg.
2025-08-22T21:26:39.010Z,1755897999.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790967 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:39.027Z,1755897999.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.309007
2025-08-22T21:26:39.279Z,1755897999.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560576
2025-08-22T21:26:39.386Z,1755897999.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:39.389Z,1755897999.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 276.205475 m,
bearing: 228.890021 deg,
approach rate: -0.621003 m/s,
LOS rate: 0.000975 deg/s,
cmd heading: 217.206422 deg,
new cmd heading: 217.207176 deg.
2025-08-22T21:26:39.394Z,1755897999.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790980 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:39.531Z,1755897999.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812667
2025-08-22T21:26:39.790Z,1755897999.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072260
2025-08-22T21:26:39.816Z,1755897999.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:39.819Z,1755897999.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 275.908447 m,
bearing: 228.891224 deg,
approach rate: -0.691392 m/s,
LOS rate: 0.002803 deg/s,
cmd heading: 217.207174 deg,
new cmd heading: 217.209582 deg.
2025-08-22T21:26:39.820Z,1755897999.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791022 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:40.043Z,1755898000.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324658
2025-08-22T21:26:40.256Z,1755898000.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:40.263Z,1755898000.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:40.270Z,1755898000.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 275.631744 m,
bearing: 228.892338 deg,
approach rate: -0.618165 m/s,
LOS rate: 0.002492 deg/s,
cmd heading: 217.209578 deg,
new cmd heading: 217.211808 deg.
2025-08-22T21:26:40.274Z,1755898000.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791061 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:40.295Z,1755898000.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576786
2025-08-22T21:26:40.548Z,1755898000.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829331
2025-08-22T21:26:40.628Z,1755898000.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:40.631Z,1755898000.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 275.380890 m,
bearing: 228.893293 deg,
approach rate: -0.688006 m/s,
LOS rate: 0.002622 deg/s,
cmd heading: 217.211805 deg,
new cmd heading: 217.213717 deg.
2025-08-22T21:26:40.632Z,1755898000.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791095 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:40.798Z,1755898000.798 [DAT](INFO): Reached modem response timeout
2025-08-22T21:26:40.798Z,1755898000.798 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:26:40.799Z,1755898000.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:41.050Z,1755898001.050 [DAT](INFO): Reached modem response timeout
2025-08-22T21:26:41.051Z,1755898001.051 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:26:41.051Z,1755898001.051 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:41.065Z,1755898001.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:41.068Z,1755898001.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 275.101318 m,
bearing: 228.894741 deg,
approach rate: -0.640096 m/s,
LOS rate: 0.003318 deg/s,
cmd heading: 217.213717 deg,
new cmd heading: 217.216615 deg.
2025-08-22T21:26:41.069Z,1755898001.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791145 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:41.303Z,1755898001.303 [DAT](INFO): Reached modem response timeout
2025-08-22T21:26:41.304Z,1755898001.304 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:26:41.304Z,1755898001.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:41.431Z,1755898001.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:41.434Z,1755898001.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 274.866791 m,
bearing: 228.895953 deg,
approach rate: -0.640453 m/s,
LOS rate: 0.003314 deg/s,
cmd heading: 217.216613 deg,
new cmd heading: 217.219040 deg.
2025-08-22T21:26:41.435Z,1755898001.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791188 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:41.555Z,1755898001.555 [DAT](INFO): Reached modem response timeout
2025-08-22T21:26:41.555Z,1755898001.555 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:26:41.556Z,1755898001.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:41.806Z,1755898001.806 [DAT](INFO): Reached modem response timeout
2025-08-22T21:26:41.807Z,1755898001.807 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:26:41.807Z,1755898001.807 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:41.871Z,1755898001.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:41.890Z,1755898001.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 274.579803 m,
bearing: 228.897801 deg,
approach rate: -0.651891 m/s,
LOS rate: 0.004202 deg/s,
cmd heading: 217.219045 deg,
new cmd heading: 217.222745 deg.
2025-08-22T21:26:41.891Z,1755898001.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791252 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:42.058Z,1755898002.058 [DAT](INFO): Reached modem response timeout
2025-08-22T21:26:42.058Z,1755898002.058 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:26:42.059Z,1755898002.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:42.258Z,1755898002.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:42.260Z,1755898002.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:42.263Z,1755898002.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 274.326355 m,
bearing: 228.899437 deg,
approach rate: -0.652239 m/s,
LOS rate: 0.004212 deg/s,
cmd heading: 217.222746 deg,
new cmd heading: 217.226020 deg.
2025-08-22T21:26:42.264Z,1755898002.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791309 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:42.310Z,1755898002.310 [DAT](INFO): Reached modem response timeout
2025-08-22T21:26:42.311Z,1755898002.311 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:26:42.311Z,1755898002.311 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:42.562Z,1755898002.562 [DAT](INFO): Reached modem response timeout
2025-08-22T21:26:42.562Z,1755898002.562 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:26:42.563Z,1755898002.563 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:42.656Z,1755898002.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:42.659Z,1755898002.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 274.067932 m,
bearing: 228.901058 deg,
approach rate: -0.652657 m/s,
LOS rate: 0.004100 deg/s,
cmd heading: 217.226025 deg,
new cmd heading: 217.229271 deg.
2025-08-22T21:26:42.660Z,1755898002.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791366 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:42.814Z,1755898002.814 [DAT](INFO): Reached modem response timeout
2025-08-22T21:26:42.814Z,1755898002.814 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:26:42.815Z,1755898002.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:43.067Z,1755898003.067 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:26:43.067Z,1755898003.067 [DAT](INFO): response not received
2025-08-22T21:26:43.067Z,1755898003.067 [DAT](INFO): DAT read: user:2225>
2025-08-22T21:26:43.068Z,1755898003.068 [DAT](ERROR): No response from remote modem.
2025-08-22T21:26:43.068Z,1755898003.068 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:26:43.068Z,1755898003.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:43.097Z,1755898003.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:43.099Z,1755898003.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 273.787811 m,
bearing: 228.902846 deg,
approach rate: -0.637187 m/s,
LOS rate: 0.004071 deg/s,
cmd heading: 217.229276 deg,
new cmd heading: 217.232855 deg.
2025-08-22T21:26:43.100Z,1755898003.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791429 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:43.321Z,1755898003.321 [DAT](INFO): DAT read: Tx time:21:26:44.2917
2025-08-22T21:26:43.322Z,1755898003.322 [DAT](INFO): Ping request sent.
2025-08-22T21:26:43.322Z,1755898003.322 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:43.322Z,1755898003.322 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:43.323Z,1755898003.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764
2025-08-22T21:26:43.452Z,1755898003.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:43.455Z,1755898003.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 273.557129 m,
bearing: 228.904309 deg,
approach rate: -0.646439 m/s,
LOS rate: 0.004103 deg/s,
cmd heading: 217.232855 deg,
new cmd heading: 217.235784 deg.
2025-08-22T21:26:43.456Z,1755898003.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791480 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:43.571Z,1755898003.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248772
2025-08-22T21:26:43.822Z,1755898003.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500668
2025-08-22T21:26:43.898Z,1755898003.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:43.901Z,1755898003.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 273.270508 m,
bearing: 228.905193 deg,
approach rate: -0.642491 m/s,
LOS rate: 0.001983 deg/s,
cmd heading: 217.235778 deg,
new cmd heading: 217.237547 deg.
2025-08-22T21:26:43.902Z,1755898003.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791510 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:44.075Z,1755898004.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752725
2025-08-22T21:26:44.273Z,1755898004.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:44.279Z,1755898004.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:44.286Z,1755898004.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 273.038330 m,
bearing: 228.905904 deg,
approach rate: -0.609147 m/s,
LOS rate: 0.001869 deg/s,
cmd heading: 217.237541 deg,
new cmd heading: 217.238965 deg.
2025-08-22T21:26:44.287Z,1755898004.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791535 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:44.327Z,1755898004.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004943
2025-08-22T21:26:44.578Z,1755898004.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256614
2025-08-22T21:26:44.670Z,1755898004.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:44.672Z,1755898004.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 272.774261 m,
bearing: 228.906691 deg,
approach rate: -0.676870 m/s,
LOS rate: 0.002018 deg/s,
cmd heading: 217.238961 deg,
new cmd heading: 217.240536 deg.
2025-08-22T21:26:44.674Z,1755898004.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791563 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:44.831Z,1755898004.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508838
2025-08-22T21:26:45.083Z,1755898005.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760934
2025-08-22T21:26:45.092Z,1755898005.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:45.095Z,1755898005.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 272.501923 m,
bearing: 228.907810 deg,
approach rate: -0.644301 m/s,
LOS rate: 0.002649 deg/s,
cmd heading: 217.240532 deg,
new cmd heading: 217.242772 deg.
2025-08-22T21:26:45.096Z,1755898005.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791602 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:45.335Z,1755898005.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012704
2025-08-22T21:26:45.555Z,1755898005.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:45.558Z,1755898005.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 272.204102 m,
bearing: 228.909035 deg,
approach rate: -0.643795 m/s,
LOS rate: 0.002652 deg/s,
cmd heading: 217.242773 deg,
new cmd heading: 217.245226 deg.
2025-08-22T21:26:45.559Z,1755898005.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791645 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:45.599Z,1755898005.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277073
2025-08-22T21:26:45.850Z,1755898005.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528676
2025-08-22T21:26:45.938Z,1755898005.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:45.941Z,1755898005.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 271.959320 m,
bearing: 228.910046 deg,
approach rate: -0.638849 m/s,
LOS rate: 0.002641 deg/s,
cmd heading: 217.245231 deg,
new cmd heading: 217.247256 deg.
2025-08-22T21:26:45.942Z,1755898005.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791680 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:46.102Z,1755898006.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780700
2025-08-22T21:26:46.304Z,1755898006.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:46.326Z,1755898006.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:46.329Z,1755898006.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 271.724701 m,
bearing: 228.911010 deg,
approach rate: -0.604453 m/s,
LOS rate: 0.002485 deg/s,
cmd heading: 217.247253 deg,
new cmd heading: 217.249182 deg.
2025-08-22T21:26:46.330Z,1755898006.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791713 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:46.355Z,1755898006.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032745
2025-08-22T21:26:46.607Z,1755898006.607 [DAT](INFO): DAT read: Rx Time:21:26:47.0918
2025-08-22T21:26:46.607Z,1755898006.607 [DAT](INFO): Rx dataTimestamp_ set to:1755898006.607135
2025-08-22T21:26:46.608Z,1755898006.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286173
2025-08-22T21:26:46.698Z,1755898006.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.86 m.
2025-08-22T21:26:46.701Z,1755898006.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.859528 m,
nav range: 271.473877 m,
bearing: 228.912042 deg,
approach rate: -0.674483 m/s,
LOS rate: 0.002778 deg/s,
cmd heading: 217.249179 deg,
new cmd heading: 217.251246 deg.
2025-08-22T21:26:46.702Z,1755898006.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791749 target range: 288.859528 and range: 290.70 m.
2025-08-22T21:26:46.859Z,1755898006.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536721
2025-08-22T21:26:47.116Z,1755898007.116 [DAT](INFO): DAT read: 21:26:47.0918 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498, 0.42,-0.185,-1.766,-0.274,-0.856, PHS= 0.773,-0.865, 0.538, RAW= 142.4, -5.9, CAL= 142.4, -6.9, ROT= 7.6, 6.9
2025-08-22T21:26:47.117Z,1755898007.117 [DAT](INFO): got valid direction response:
21:26:47.0918 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498, 0.42,-0.185,-1.766,-0.274,-0.856, PHS= 0.773,-0.865, 0.538, RAW= 142.4, -5.9, CAL= 142.4, -6.9, ROT= 7.6, 6.9
2025-08-22T21:26:47.118Z,1755898007.118 [DAT](INFO): DAT read: Bearing 346.5, 3.7 (Local)
2025-08-22T21:26:47.119Z,1755898007.119 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.5, 3.7 (Local)
2025-08-22T21:26:47.120Z,1755898007.120 [DAT](INFO): DAT read: Range 11 to 50 : 296.9 m (Round-trip 395.9 ms) speed 0.6 m/s
2025-08-22T21:26:47.121Z,1755898007.121 [DAT](INFO): DAT read: user:2226>
2025-08-22T21:26:47.122Z,1755898007.122 [DAT](INFO): DAT read: Tx time:21:26:48.1917
2025-08-22T21:26:47.122Z,1755898007.122 [DAT](INFO): Ping request sent.
2025-08-22T21:26:47.122Z,1755898007.122 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:47.122Z,1755898007.122 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:26:47.123Z,1755898007.123 [DAT](INFO): direction in FSK: [0.984037,0.131299,-0.120137]
2025-08-22T21:26:47.123Z,1755898007.123 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:47.124Z,1755898007.124 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:47.131Z,1755898007.131 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:47.131Z,1755898007.131 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:47.212Z,1755898007.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 296.899994 m,
deltaT: 16.404106 s,
deltaX: 6.199982 m,
approachRate: 0.377953 m/s,
rangeRepo size: 4
2025-08-22T21:26:47.218Z,1755898007.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 295.018616 m,
bearing: 225.054942 deg,
lat: 36.779395 deg,
lon: -121.859706 deg,
deltaT: 16.404106 s,
deltaX: 6.159088 m,
approachRate: 0.375460 m/s,
posRepo size: 4
2025-08-22T21:26:47.219Z,1755898007.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:47.234Z,1755898007.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 272.052979 m,
bearing: 229.072723 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002778 deg/s,
cmd heading: 217.251242 deg,
new cmd heading: 217.254092 deg.
2025-08-22T21:26:47.235Z,1755898007.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791799 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:47.590Z,1755898007.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:47.593Z,1755898007.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 271.765106 m,
bearing: 229.073163 deg,
approach rate: -0.758691 m/s,
LOS rate: 0.001161 deg/s,
cmd heading: 217.254097 deg,
new cmd heading: 217.254978 deg.
2025-08-22T21:26:47.594Z,1755898007.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791815 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:48.031Z,1755898008.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:48.034Z,1755898008.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 271.486023 m,
bearing: 229.074277 deg,
approach rate: -0.633819 m/s,
LOS rate: 0.002533 deg/s,
cmd heading: 217.254985 deg,
new cmd heading: 217.257215 deg.
2025-08-22T21:26:48.035Z,1755898008.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791854 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:48.388Z,1755898008.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:48.390Z,1755898008.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:48.393Z,1755898008.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 271.259460 m,
bearing: 229.075176 deg,
approach rate: -0.631181 m/s,
LOS rate: 0.002507 deg/s,
cmd heading: 217.257212 deg,
new cmd heading: 217.259012 deg.
2025-08-22T21:26:48.394Z,1755898008.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791885 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:48.623Z,1755898008.623 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:48.623Z,1755898008.623 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:48.623Z,1755898008.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:48.857Z,1755898008.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:48.864Z,1755898008.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 270.978912 m,
bearing: 229.076277 deg,
approach rate: -0.600387 m/s,
LOS rate: 0.002359 deg/s,
cmd heading: 217.259015 deg,
new cmd heading: 217.261219 deg.
2025-08-22T21:26:48.865Z,1755898008.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791924 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:48.875Z,1755898008.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752607
2025-08-22T21:26:49.127Z,1755898009.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004816
2025-08-22T21:26:49.260Z,1755898009.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:49.267Z,1755898009.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 270.708862 m,
bearing: 229.077831 deg,
approach rate: -0.669506 m/s,
LOS rate: 0.003856 deg/s,
cmd heading: 217.261214 deg,
new cmd heading: 217.264325 deg.
2025-08-22T21:26:49.268Z,1755898009.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791978 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:49.379Z,1755898009.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257024
2025-08-22T21:26:49.631Z,1755898009.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508593
2025-08-22T21:26:49.636Z,1755898009.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:49.639Z,1755898009.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 270.449371 m,
bearing: 229.079308 deg,
approach rate: -0.690951 m/s,
LOS rate: 0.003935 deg/s,
cmd heading: 217.264329 deg,
new cmd heading: 217.267284 deg.
2025-08-22T21:26:49.640Z,1755898009.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792029 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:49.885Z,1755898009.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762869
2025-08-22T21:26:50.051Z,1755898010.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:50.054Z,1755898010.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 270.183624 m,
bearing: 229.079630 deg,
approach rate: -0.639636 m/s,
LOS rate: 0.000777 deg/s,
cmd heading: 217.267279 deg,
new cmd heading: 217.267925 deg.
2025-08-22T21:26:50.055Z,1755898010.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792041 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:50.136Z,1755898010.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013525
2025-08-22T21:26:50.387Z,1755898010.387 [DAT](INFO): DAT read: Rx Time:21:26:50.9661
2025-08-22T21:26:50.387Z,1755898010.387 [DAT](INFO): Rx dataTimestamp_ set to:1755898010.386847
2025-08-22T21:26:50.388Z,1755898010.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265691
2025-08-22T21:26:50.442Z,1755898010.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:50.444Z,1755898010.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:50.447Z,1755898010.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 269.933319 m,
bearing: 229.079917 deg,
approach rate: -0.637598 m/s,
LOS rate: 0.000730 deg/s,
cmd heading: 217.267921 deg,
new cmd heading: 217.268495 deg.
2025-08-22T21:26:50.448Z,1755898010.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792051 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:50.638Z,1755898010.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516504
2025-08-22T21:26:50.900Z,1755898010.900 [DAT](INFO): DAT read: 21:26:50.9661 LVL= 27680, 32753, 32178, 32755, AGC= 67, IDX= 171, 0.38,-2.031, 2.411,-2.377,-2.397, PHS= 0.468,-1.430,-0.024, RAW= 135.5, 11.5, CAL= 135.0, 12.6, ROT= 15.0, -12.6
2025-08-22T21:26:50.901Z,1755898010.901 [DAT](INFO): got valid direction response:
21:26:50.9661 LVL= 27680, 32753, 32178, 32755, AGC= 67, IDX= 171, 0.38,-2.031, 2.411,-2.377,-2.397, PHS= 0.468,-1.430,-0.024, RAW= 135.5, 11.5, CAL= 135.0, 12.6, ROT= 15.0, -12.6
2025-08-22T21:26:50.902Z,1755898010.902 [DAT](INFO): DAT read: Bearing 5.8, 11.4 (Local)
2025-08-22T21:26:50.902Z,1755898010.902 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.8, 11.4 (Local)
2025-08-22T21:26:50.903Z,1755898010.903 [DAT](INFO): DAT read: Range 11 to 50 : 277.7 m (Round-trip 370.3 ms) speed 0.6 m/s
2025-08-22T21:26:50.904Z,1755898010.904 [DAT](INFO): DAT read: user:2227>
2025-08-22T21:26:50.905Z,1755898010.905 [DAT](INFO): DAT read: Tx time:21:26:52.0916
2025-08-22T21:26:50.905Z,1755898010.905 [DAT](INFO): Ping request sent.
2025-08-22T21:26:50.905Z,1755898010.905 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:50.942Z,1755898010.942 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:26:50.943Z,1755898010.943 [DAT](INFO): direction in FSK: [0.942663,0.252586,0.218143]
2025-08-22T21:26:50.943Z,1755898010.943 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:50.943Z,1755898010.943 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:50.955Z,1755898010.955 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:50.955Z,1755898010.955 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:51.055Z,1755898011.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 277.700012 m,
deltaT: 3.779996 s,
deltaX: -19.199982 m,
approachRate: -5.079366 m/s,
rangeRepo size: 4
2025-08-22T21:26:51.056Z,1755898011.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:51.063Z,1755898011.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 269.552673 m,
bearing: 229.081208 deg,
approach rate: -0.623440 m/s,
LOS rate: 0.002119 deg/s,
cmd heading: 217.268495 deg,
new cmd heading: 217.271083 deg.
2025-08-22T21:26:51.064Z,1755898011.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792096 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:51.373Z,1755898011.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:51.376Z,1755898011.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 269.337555 m,
bearing: 229.081921 deg,
approach rate: -0.674833 m/s,
LOS rate: 0.002236 deg/s,
cmd heading: 217.271077 deg,
new cmd heading: 217.272502 deg.
2025-08-22T21:26:51.377Z,1755898011.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792120 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:51.793Z,1755898011.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:51.799Z,1755898011.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 269.072174 m,
bearing: 229.082812 deg,
approach rate: -0.635081 m/s,
LOS rate: 0.002135 deg/s,
cmd heading: 217.272498 deg,
new cmd heading: 217.274282 deg.
2025-08-22T21:26:51.800Z,1755898011.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792152 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:52.219Z,1755898012.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:52.239Z,1755898012.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 268.782959 m,
bearing: 229.084343 deg,
approach rate: -0.675249 m/s,
LOS rate: 0.003579 deg/s,
cmd heading: 217.274287 deg,
new cmd heading: 217.277353 deg.
2025-08-22T21:26:52.240Z,1755898012.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792205 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:52.585Z,1755898012.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:52.587Z,1755898012.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:52.606Z,1755898012.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 268.536926 m,
bearing: 229.085661 deg,
approach rate: -0.669124 m/s,
LOS rate: 0.003588 deg/s,
cmd heading: 217.277347 deg,
new cmd heading: 217.279985 deg.
2025-08-22T21:26:52.607Z,1755898012.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792251 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:52.656Z,1755898012.656 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:52.656Z,1755898012.656 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:52.657Z,1755898012.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:52.907Z,1755898012.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002132
2025-08-22T21:26:53.039Z,1755898013.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:53.042Z,1755898013.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 268.245331 m,
bearing: 229.087508 deg,
approach rate: -0.645280 m/s,
LOS rate: 0.004092 deg/s,
cmd heading: 217.279983 deg,
new cmd heading: 217.283682 deg.
2025-08-22T21:26:53.043Z,1755898013.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792316 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:53.159Z,1755898013.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254023
2025-08-22T21:26:53.391Z,1755898013.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:53.403Z,1755898013.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 268.017944 m,
bearing: 229.088945 deg,
approach rate: -0.645152 m/s,
LOS rate: 0.004079 deg/s,
cmd heading: 217.283685 deg,
new cmd heading: 217.286561 deg.
2025-08-22T21:26:53.404Z,1755898013.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792366 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:53.411Z,1755898013.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505376
2025-08-22T21:26:53.666Z,1755898013.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760954
2025-08-22T21:26:53.814Z,1755898013.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:53.817Z,1755898013.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 267.758362 m,
bearing: 229.090593 deg,
approach rate: -0.614231 m/s,
LOS rate: 0.003903 deg/s,
cmd heading: 217.286568 deg,
new cmd heading: 217.289867 deg.
2025-08-22T21:26:53.822Z,1755898013.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792424 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:53.917Z,1755898013.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011474
2025-08-22T21:26:53.979Z,1755898013.979 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:26:54.167Z,1755898014.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261537
2025-08-22T21:26:54.242Z,1755898014.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:54.245Z,1755898014.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 267.466309 m,
bearing: 229.091954 deg,
approach rate: -0.681787 m/s,
LOS rate: 0.003180 deg/s,
cmd heading: 217.289874 deg,
new cmd heading: 217.292598 deg.
2025-08-22T21:26:54.246Z,1755898014.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792471 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:54.419Z,1755898014.419 [DAT](INFO): DAT read: Rx Time:21:26:54.8629
2025-08-22T21:26:54.419Z,1755898014.419 [DAT](INFO): Rx dataTimestamp_ set to:1755898014.418705
2025-08-22T21:26:54.420Z,1755898014.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514347
2025-08-22T21:26:54.631Z,1755898014.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:54.633Z,1755898014.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.02 m.
2025-08-22T21:26:54.644Z,1755898014.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.018616 m,
nav range: 267.225067 m,
bearing: 229.093091 deg,
approach rate: -0.617515 m/s,
LOS rate: 0.002912 deg/s,
cmd heading: 217.292592 deg,
new cmd heading: 217.294867 deg.
2025-08-22T21:26:54.645Z,1755898014.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792511 target range: 295.018616 and range: 296.90 m.
2025-08-22T21:26:54.671Z,1755898014.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765584
2025-08-22T21:26:54.941Z,1755898014.941 [DAT](INFO): DAT read: 21:26:54.8629 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 412, 0.46,-1.488, 3.018,-1.785,-1.795, PHS= 0.409,-1.426,-0.035, RAW= 136.6, 12.6, CAL= 135.9, 13.7, ROT= 14.1, -13.7
2025-08-22T21:26:54.943Z,1755898014.943 [DAT](INFO): got valid direction response:
21:26:54.8629 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 412, 0.46,-1.488, 3.018,-1.785,-1.795, PHS= 0.409,-1.426,-0.035, RAW= 136.6, 12.6, CAL= 135.9, 13.7, ROT= 14.1, -13.7
2025-08-22T21:26:54.945Z,1755898014.945 [DAT](INFO): DAT read: Bearing 6.7, 10.6 (Local)
2025-08-22T21:26:54.945Z,1755898014.945 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.7, 10.6 (Local)
2025-08-22T21:26:54.948Z,1755898014.948 [DAT](INFO): DAT read: Range 11 to 50 : 275.3 m (Round-trip 367.1 ms) speed 0.7 m/s
2025-08-22T21:26:54.949Z,1755898014.949 [DAT](INFO): DAT read: user:2228>
2025-08-22T21:26:54.982Z,1755898014.982 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:26:54.995Z,1755898014.995 [DAT](INFO): DAT read: Tx time:21:26:55.9916
2025-08-22T21:26:54.997Z,1755898014.997 [DAT](INFO): Ping request sent.
2025-08-22T21:26:55.006Z,1755898015.006 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:55.006Z,1755898015.006 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:26:55.007Z,1755898015.007 [DAT](INFO): direction in FSK: [0.942278,0.236684,0.236838]
2025-08-22T21:26:55.007Z,1755898015.007 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:55.007Z,1755898015.007 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:55.019Z,1755898015.019 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:55.019Z,1755898015.019 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:55.155Z,1755898015.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 275.299988 m,
deltaT: 7.813233 s,
deltaX: -21.600006 m,
approachRate: -2.764541 m/s,
rangeRepo size: 4
2025-08-22T21:26:55.198Z,1755898015.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 273.554596 m,
bearing: 230.550613 deg,
lat: 36.779439 deg,
lon: -121.859768 deg,
deltaT: 7.813233 s,
deltaX: -21.464020 m,
approachRate: -2.747137 m/s,
posRepo size: 4
2025-08-22T21:26:55.198Z,1755898015.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-08-22T21:26:55.201Z,1755898015.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 273.554596 m,
nav range: 267.977173 m,
bearing: 230.662335 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002912 deg/s,
cmd heading: 217.294873 deg,
new cmd heading: 217.297909 deg.
2025-08-22T21:26:55.206Z,1755898015.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792564 target range: 273.554596 and range: 275.30 m.
2025-08-22T21:26:55.554Z,1755898015.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-08-22T21:26:55.557Z,1755898015.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 273.554596 m,
nav range: 267.706482 m,
bearing: 230.664706 deg,
approach rate: -0.676384 m/s,
LOS rate: 0.005930 deg/s,
cmd heading: 217.297906 deg,
new cmd heading: 217.302652 deg.
2025-08-22T21:26:55.558Z,1755898015.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792647 target range: 273.554596 and range: 275.30 m.
2025-08-22T21:26:56.031Z,1755898016.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-08-22T21:26:56.033Z,1755898016.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 273.554596 m,
nav range: 267.396881 m,
bearing: 230.666247 deg,
approach rate: -0.650257 m/s,
LOS rate: 0.003242 deg/s,
cmd heading: 217.302646 deg,
new cmd heading: 217.305733 deg.
2025-08-22T21:26:56.034Z,1755898016.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792701 target range: 273.554596 and range: 275.30 m.
2025-08-22T21:26:56.362Z,1755898016.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-08-22T21:26:56.365Z,1755898016.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 273.554596 m,
nav range: 267.181030 m,
bearing: 230.667340 deg,
approach rate: -0.650692 m/s,
LOS rate: 0.003298 deg/s,
cmd heading: 217.305733 deg,
new cmd heading: 217.307921 deg.
2025-08-22T21:26:56.366Z,1755898016.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792739 target range: 273.554596 and range: 275.30 m.
2025-08-22T21:26:56.760Z,1755898016.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:56.762Z,1755898016.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-08-22T21:26:56.765Z,1755898016.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 273.554596 m,
nav range: 266.921600 m,
bearing: 230.668677 deg,
approach rate: -0.649565 m/s,
LOS rate: 0.003349 deg/s,
cmd heading: 217.307919 deg,
new cmd heading: 217.310594 deg.
2025-08-22T21:26:56.766Z,1755898016.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792785 target range: 273.554596 and range: 275.30 m.
2025-08-22T21:26:56.941Z,1755898016.941 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:56.941Z,1755898016.941 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:56.942Z,1755898016.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:57.191Z,1755898017.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194213
2025-08-22T21:26:57.215Z,1755898017.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-08-22T21:26:57.222Z,1755898017.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 273.554596 m,
nav range: 266.635559 m,
bearing: 230.670479 deg,
approach rate: -0.630986 m/s,
LOS rate: 0.003979 deg/s,
cmd heading: 217.310596 deg,
new cmd heading: 217.314204 deg.
2025-08-22T21:26:57.223Z,1755898017.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792848 target range: 273.554596 and range: 275.30 m.
2025-08-22T21:26:57.442Z,1755898017.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445689
2025-08-22T21:26:57.584Z,1755898017.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-08-22T21:26:57.591Z,1755898017.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 273.554596 m,
nav range: 266.393616 m,
bearing: 230.672020 deg,
approach rate: -0.656315 m/s,
LOS rate: 0.004184 deg/s,
cmd heading: 217.314203 deg,
new cmd heading: 217.317287 deg.
2025-08-22T21:26:57.592Z,1755898017.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792902 target range: 273.554596 and range: 275.30 m.
2025-08-22T21:26:57.695Z,1755898017.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.697758
2025-08-22T21:26:57.949Z,1755898017.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.952101
2025-08-22T21:26:58.063Z,1755898018.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-08-22T21:26:58.066Z,1755898018.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 273.554596 m,
nav range: 266.079041 m,
bearing: 230.675806 deg,
approach rate: -0.656474 m/s,
LOS rate: 0.007911 deg/s,
cmd heading: 217.317290 deg,
new cmd heading: 217.324872 deg.
2025-08-22T21:26:58.067Z,1755898018.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793035 target range: 273.554596 and range: 275.30 m.
2025-08-22T21:26:58.202Z,1755898018.202 [DAT](INFO): DAT read: Rx Time:21:26:58.7838
2025-08-22T21:26:58.204Z,1755898018.204 [DAT](INFO): Rx dataTimestamp_ set to:1755898018.202744
2025-08-22T21:26:58.205Z,1755898018.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207672
2025-08-22T21:26:58.439Z,1755898018.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-08-22T21:26:58.442Z,1755898018.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 273.554596 m,
nav range: 265.832520 m,
bearing: 230.678795 deg,
approach rate: -0.655805 m/s,
LOS rate: 0.007957 deg/s,
cmd heading: 217.324871 deg,
new cmd heading: 217.330854 deg.
2025-08-22T21:26:58.443Z,1755898018.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793139 target range: 273.554596 and range: 275.30 m.
2025-08-22T21:26:58.451Z,1755898018.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.453886
2025-08-22T21:26:58.709Z,1755898018.709 [DAT](INFO): DAT read: 21:26:58.7838 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 146, 0.19,-1.102,-2.542,-1.197,-1.798, PHS= 0.798,-0.699, 0.556, RAW= 141.4, -9.4, CAL= 141.5, -11.2, ROT= 8.5, 11.2
2025-08-22T21:26:58.710Z,1755898018.710 [DAT](INFO): got valid direction response:
21:26:58.7838 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 146, 0.19,-1.102,-2.542,-1.197,-1.798, PHS= 0.798,-0.699, 0.556, RAW= 141.4, -9.4, CAL= 141.5, -11.2, ROT= 8.5, 11.2
2025-08-22T21:26:58.711Z,1755898018.711 [DAT](INFO): DAT read: Bearing 341.2, 4.4 (Local)
2025-08-22T21:26:58.711Z,1755898018.711 [DAT](INFO): Local bearing/azimuth received:
Bearing 341.2, 4.4 (Local)
2025-08-22T21:26:58.712Z,1755898018.712 [DAT](INFO): DAT read: Range 11 to 50 : 291.0 m (Round-trip 388.0 ms) speed 0.0 m/s
2025-08-22T21:26:58.713Z,1755898018.713 [DAT](INFO): DAT read: user:2229>
2025-08-22T21:26:58.714Z,1755898018.714 [DAT](INFO): DAT read: Tx time:21:26:59.8916
2025-08-22T21:26:58.714Z,1755898018.714 [DAT](INFO): Ping request sent.
2025-08-22T21:26:58.714Z,1755898018.714 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:26:58.715Z,1755898018.715 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:26:58.716Z,1755898018.716 [DAT](INFO): direction in FSK: [0.970180,0.144994,-0.194234]
2025-08-22T21:26:58.716Z,1755898018.716 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:58.716Z,1755898018.716 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:58.719Z,1755898018.719 [DAT](INFO): publishing transmit ping time
2025-08-22T21:26:58.720Z,1755898018.720 [DAT](INFO): publishing direction and range info
2025-08-22T21:26:58.908Z,1755898018.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 291.000000 m,
deltaT: 3.779108 s,
deltaX: 15.700012 m,
approachRate: 4.154423 m/s,
rangeRepo size: 4
2025-08-22T21:26:58.914Z,1755898018.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 289.154846 m,
bearing: 226.212315 deg,
lat: 36.779430 deg,
lon: -121.859762 deg,
deltaT: 3.779108 s,
deltaX: 15.600250 m,
approachRate: 4.128025 m/s,
posRepo size: 4
2025-08-22T21:26:58.917Z,1755898018.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.15 m.
2025-08-22T21:26:58.924Z,1755898018.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.154846 m,
nav range: 265.745850 m,
bearing: 230.435916 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007957 deg/s,
cmd heading: 217.330855 deg,
new cmd heading: 217.338311 deg.
2025-08-22T21:26:58.925Z,1755898018.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793269 target range: 289.154846 and range: 291.00 m.
2025-08-22T21:26:59.275Z,1755898019.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:26:59.277Z,1755898019.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.15 m.
2025-08-22T21:26:59.280Z,1755898019.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.154846 m,
nav range: 265.491241 m,
bearing: 230.437266 deg,
approach rate: -0.689031 m/s,
LOS rate: 0.003656 deg/s,
cmd heading: 217.338313 deg,
new cmd heading: 217.341015 deg.
2025-08-22T21:26:59.281Z,1755898019.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793316 target range: 289.154846 and range: 291.00 m.
2025-08-22T21:26:59.459Z,1755898019.459 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:26:59.460Z,1755898019.460 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:26:59.460Z,1755898019.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:26:59.699Z,1755898019.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.15 m.
2025-08-22T21:26:59.702Z,1755898019.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.154846 m,
nav range: 265.226105 m,
bearing: 230.438674 deg,
approach rate: -0.627418 m/s,
LOS rate: 0.003336 deg/s,
cmd heading: 217.341018 deg,
new cmd heading: 217.343837 deg.
2025-08-22T21:26:59.703Z,1755898019.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793365 target range: 289.154846 and range: 291.00 m.
2025-08-22T21:26:59.711Z,1755898019.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996535
2025-08-22T21:26:59.966Z,1755898019.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250764
2025-08-22T21:27:00.146Z,1755898020.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.15 m.
2025-08-22T21:27:00.149Z,1755898020.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.154846 m,
nav range: 264.923431 m,
bearing: 230.441712 deg,
approach rate: -0.677679 m/s,
LOS rate: 0.006809 deg/s,
cmd heading: 217.343832 deg,
new cmd heading: 217.349914 deg.
2025-08-22T21:27:00.177Z,1755898020.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793472 target range: 289.154846 and range: 291.00 m.
2025-08-22T21:27:00.215Z,1755898020.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500229
2025-08-22T21:27:00.468Z,1755898020.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753588
2025-08-22T21:27:00.549Z,1755898020.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.15 m.
2025-08-22T21:27:00.559Z,1755898020.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.154846 m,
nav range: 264.670044 m,
bearing: 230.444268 deg,
approach rate: -0.629497 m/s,
LOS rate: 0.006355 deg/s,
cmd heading: 217.349911 deg,
new cmd heading: 217.355027 deg.
2025-08-22T21:27:00.560Z,1755898020.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793561 target range: 289.154846 and range: 291.00 m.
2025-08-22T21:27:00.719Z,1755898020.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004158
2025-08-22T21:27:00.975Z,1755898020.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259994
2025-08-22T21:27:01.033Z,1755898021.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.15 m.
2025-08-22T21:27:01.040Z,1755898021.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.154846 m,
nav range: 264.378021 m,
bearing: 230.447155 deg,
approach rate: -0.603045 m/s,
LOS rate: 0.005969 deg/s,
cmd heading: 217.355034 deg,
new cmd heading: 217.360815 deg.
2025-08-22T21:27:01.041Z,1755898021.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793662 target range: 289.154846 and range: 291.00 m.
2025-08-22T21:27:01.222Z,1755898021.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508117
2025-08-22T21:27:01.429Z,1755898021.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:01.431Z,1755898021.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.15 m.
2025-08-22T21:27:01.434Z,1755898021.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.154846 m,
nav range: 264.081207 m,
bearing: 230.450393 deg,
approach rate: -0.744460 m/s,
LOS rate: 0.008130 deg/s,
cmd heading: 217.360812 deg,
new cmd heading: 217.367295 deg.
2025-08-22T21:27:01.435Z,1755898021.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793775 target range: 289.154846 and range: 291.00 m.
2025-08-22T21:27:01.476Z,1755898021.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761560
2025-08-22T21:27:01.726Z,1755898021.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012075
2025-08-22T21:27:01.785Z,1755898021.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.15 m.
2025-08-22T21:27:01.788Z,1755898021.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.154846 m,
nav range: 263.851929 m,
bearing: 230.452859 deg,
approach rate: -0.648546 m/s,
LOS rate: 0.006981 deg/s,
cmd heading: 217.367301 deg,
new cmd heading: 217.372237 deg.
2025-08-22T21:27:01.789Z,1755898021.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793861 target range: 289.154846 and range: 291.00 m.
2025-08-22T21:27:01.980Z,1755898021.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266011
2025-08-22T21:27:02.223Z,1755898022.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.15 m.
2025-08-22T21:27:02.231Z,1755898022.231 [DAT](INFO): DAT read: Rx Time:21:27:02.6784
2025-08-22T21:27:02.231Z,1755898022.231 [DAT](INFO): Rx dataTimestamp_ set to:1755898022.230760
2025-08-22T21:27:02.232Z,1755898022.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517220
2025-08-22T21:27:02.246Z,1755898022.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.154846 m,
nav range: 263.572601 m,
bearing: 230.455951 deg,
approach rate: -0.637817 m/s,
LOS rate: 0.007069 deg/s,
cmd heading: 217.372232 deg,
new cmd heading: 217.378424 deg.
2025-08-22T21:27:02.247Z,1755898022.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793969 target range: 289.154846 and range: 291.00 m.
2025-08-22T21:27:02.483Z,1755898022.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768579
2025-08-22T21:27:02.643Z,1755898022.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.15 m.
2025-08-22T21:27:02.646Z,1755898022.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.154846 m,
nav range: 263.304352 m,
bearing: 230.458947 deg,
approach rate: -0.637951 m/s,
LOS rate: 0.007133 deg/s,
cmd heading: 217.378420 deg,
new cmd heading: 217.384419 deg.
2025-08-22T21:27:02.647Z,1755898022.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794074 target range: 289.154846 and range: 291.00 m.
2025-08-22T21:27:02.743Z,1755898022.743 [DAT](INFO): DAT read: 21:27:02.6784 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 147,-0.41,-1.214,-2.940,-1.525,-1.550, PHS= 0.438,-1.346,-0.019, RAW= 135.7, 11.5, CAL= 135.2, 12.6, ROT= 14.8, -12.6
2025-08-22T21:27:02.744Z,1755898022.744 [DAT](INFO): got valid direction response:
21:27:02.6784 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 147,-0.41,-1.214,-2.940,-1.525,-1.550, PHS= 0.438,-1.346,-0.019, RAW= 135.7, 11.5, CAL= 135.2, 12.6, ROT= 14.8, -12.6
2025-08-22T21:27:02.746Z,1755898022.746 [DAT](INFO): DAT read: Bearing 4.9, 10.7 (Local)
2025-08-22T21:27:02.746Z,1755898022.746 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.9, 10.7 (Local)
2025-08-22T21:27:02.748Z,1755898022.748 [DAT](INFO): DAT read: Range 11 to 50 : 286.9 m (Round-trip 382.6 ms) speed 0.0 m/s
2025-08-22T21:27:02.749Z,1755898022.749 [DAT](INFO): DAT read: user:2230>
2025-08-22T21:27:02.750Z,1755898022.750 [DAT](INFO): DAT read: Tx time:21:27:03.7916
2025-08-22T21:27:02.750Z,1755898022.750 [DAT](INFO): Ping request sent.
2025-08-22T21:27:02.750Z,1755898022.750 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:02.751Z,1755898022.751 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:27:02.752Z,1755898022.752 [DAT](INFO): direction in FSK: [0.943539,0.249294,0.218143]
2025-08-22T21:27:02.752Z,1755898022.752 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:02.752Z,1755898022.752 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:02.783Z,1755898022.783 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:02.783Z,1755898022.783 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:03.103Z,1755898023.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 286.899994 m,
deltaT: 4.031889 s,
deltaX: -4.100006 m,
approachRate: -1.016895 m/s,
rangeRepo size: 4
2025-08-22T21:27:03.105Z,1755898023.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 285.079987 m,
bearing: 231.267371 deg,
lat: 36.779351 deg,
lon: -121.859773 deg,
deltaT: 4.031889 s,
deltaX: -4.074860 m,
approachRate: -1.010658 m/s,
posRepo size: 4
2025-08-22T21:27:03.105Z,1755898023.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.08 m.
2025-08-22T21:27:03.108Z,1755898023.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.079987 m,
nav range: 269.467224 m,
bearing: 229.145540 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007133 deg/s,
cmd heading: 217.384417 deg,
new cmd heading: 217.390954 deg.
2025-08-22T21:27:03.109Z,1755898023.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794188 target range: 285.079987 and range: 286.90 m.
2025-08-22T21:27:03.449Z,1755898023.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:03.454Z,1755898023.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.08 m.
2025-08-22T21:27:03.459Z,1755898023.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.079987 m,
nav range: 269.240540 m,
bearing: 229.146873 deg,
approach rate: -0.644406 m/s,
LOS rate: 0.003793 deg/s,
cmd heading: 217.390960 deg,
new cmd heading: 217.393629 deg.
2025-08-22T21:27:03.460Z,1755898023.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794235 target range: 285.079987 and range: 286.90 m.
2025-08-22T21:27:03.490Z,1755898023.490 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:03.491Z,1755898023.491 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:03.491Z,1755898023.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:03.743Z,1755898023.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992502
2025-08-22T21:27:03.842Z,1755898023.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.08 m.
2025-08-22T21:27:03.845Z,1755898023.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.079987 m,
nav range: 268.984802 m,
bearing: 229.148358 deg,
approach rate: -0.657996 m/s,
LOS rate: 0.003824 deg/s,
cmd heading: 217.393624 deg,
new cmd heading: 217.396597 deg.
2025-08-22T21:27:03.846Z,1755898023.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794286 target range: 285.079987 and range: 286.90 m.
2025-08-22T21:27:03.994Z,1755898023.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244056
2025-08-22T21:27:04.247Z,1755898024.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496410
2025-08-22T21:27:04.271Z,1755898024.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.08 m.
2025-08-22T21:27:04.274Z,1755898024.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.079987 m,
nav range: 268.712219 m,
bearing: 229.150116 deg,
approach rate: -0.636042 m/s,
LOS rate: 0.004104 deg/s,
cmd heading: 217.396602 deg,
new cmd heading: 217.400120 deg.
2025-08-22T21:27:04.275Z,1755898024.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794348 target range: 285.079987 and range: 286.90 m.
2025-08-22T21:27:04.499Z,1755898024.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748159
2025-08-22T21:27:04.653Z,1755898024.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.08 m.
2025-08-22T21:27:04.656Z,1755898024.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.079987 m,
nav range: 268.469360 m,
bearing: 229.151681 deg,
approach rate: -0.634763 m/s,
LOS rate: 0.004096 deg/s,
cmd heading: 217.400126 deg,
new cmd heading: 217.403261 deg.
2025-08-22T21:27:04.657Z,1755898024.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794403 target range: 285.079987 and range: 286.90 m.
2025-08-22T21:27:04.751Z,1755898024.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000594
2025-08-22T21:27:05.002Z,1755898025.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252021
2025-08-22T21:27:05.140Z,1755898025.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.08 m.
2025-08-22T21:27:05.150Z,1755898025.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.079987 m,
nav range: 268.169220 m,
bearing: 229.153017 deg,
approach rate: -0.616858 m/s,
LOS rate: 0.002747 deg/s,
cmd heading: 217.403255 deg,
new cmd heading: 217.405928 deg.
2025-08-22T21:27:05.151Z,1755898025.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794449 target range: 285.079987 and range: 286.90 m.
2025-08-22T21:27:05.255Z,1755898025.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504564
2025-08-22T21:27:05.506Z,1755898025.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756070
2025-08-22T21:27:05.530Z,1755898025.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:05.532Z,1755898025.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.08 m.
2025-08-22T21:27:05.547Z,1755898025.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.079987 m,
nav range: 267.904602 m,
bearing: 229.154196 deg,
approach rate: -0.675132 m/s,
LOS rate: 0.003013 deg/s,
cmd heading: 217.405932 deg,
new cmd heading: 217.408294 deg.
2025-08-22T21:27:05.548Z,1755898025.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794491 target range: 285.079987 and range: 286.90 m.
2025-08-22T21:27:05.759Z,1755898025.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008461
2025-08-22T21:27:05.949Z,1755898025.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.08 m.
2025-08-22T21:27:05.958Z,1755898025.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.079987 m,
nav range: 267.647644 m,
bearing: 229.155363 deg,
approach rate: -0.615898 m/s,
LOS rate: 0.002800 deg/s,
cmd heading: 217.408295 deg,
new cmd heading: 217.410631 deg.
2025-08-22T21:27:05.960Z,1755898025.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794531 target range: 285.079987 and range: 286.90 m.
2025-08-22T21:27:06.011Z,1755898026.011 [DAT](INFO): DAT read: Rx Time:21:27:06.5757
2025-08-22T21:27:06.012Z,1755898026.012 [DAT](INFO): Rx dataTimestamp_ set to:1755898026.011366
2025-08-22T21:27:06.013Z,1755898026.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262063
2025-08-22T21:27:06.262Z,1755898026.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512031
2025-08-22T21:27:06.359Z,1755898026.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.08 m.
2025-08-22T21:27:06.362Z,1755898026.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.079987 m,
nav range: 267.368530 m,
bearing: 229.155476 deg,
approach rate: -0.680990 m/s,
LOS rate: 0.000276 deg/s,
cmd heading: 217.410631 deg,
new cmd heading: 217.410857 deg.
2025-08-22T21:27:06.363Z,1755898026.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794535 target range: 285.079987 and range: 286.90 m.
2025-08-22T21:27:06.520Z,1755898026.520 [DAT](INFO): DAT read: 21:27:06.5757 LVL= 27824, 32753, 32754, 32755, AGC= 67, IDX= 415,-0.21, 3.080, 1.524, 2.969, 2.461, PHS= 0.721,-0.892, 0.464, RAW= 141.5, -3.9, CAL= 141.5, -4.5, ROT= 8.5, 4.5
2025-08-22T21:27:06.521Z,1755898026.521 [DAT](INFO): got valid direction response:
21:27:06.5757 LVL= 27824, 32753, 32754, 32755, AGC= 67, IDX= 415,-0.21, 3.080, 1.524, 2.969, 2.461, PHS= 0.721,-0.892, 0.464, RAW= 141.5, -3.9, CAL= 141.5, -4.5, ROT= 8.5, 4.5
2025-08-22T21:27:06.522Z,1755898026.522 [DAT](INFO): DAT read: Bearing 347.7, 3.3 (Local)
2025-08-22T21:27:06.523Z,1755898026.523 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.7, 3.3 (Local)
2025-08-22T21:27:06.524Z,1755898026.524 [DAT](INFO): DAT read: Range 11 to 50 : 284.9 m (Round-trip 379.9 ms) speed 0.8 m/s
2025-08-22T21:27:06.525Z,1755898026.525 [DAT](INFO): DAT read: user:2231>
2025-08-22T21:27:06.526Z,1755898026.526 [DAT](INFO): DAT read: Tx time:21:27:07.6916
2025-08-22T21:27:06.527Z,1755898026.527 [DAT](INFO): Ping request sent.
2025-08-22T21:27:06.527Z,1755898026.527 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:06.527Z,1755898026.527 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:27:06.528Z,1755898026.528 [DAT](INFO): direction in FSK: [0.985967,0.147354,-0.078459]
2025-08-22T21:27:06.528Z,1755898026.528 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:06.528Z,1755898026.528 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:06.532Z,1755898026.532 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:06.532Z,1755898026.532 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:06.744Z,1755898026.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 284.899994 m,
deltaT: 3.779735 s,
deltaX: -2.000000 m,
approachRate: -0.529138 m/s,
rangeRepo size: 4
2025-08-22T21:27:06.746Z,1755898026.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 283.093262 m,
bearing: 226.015445 deg,
lat: 36.779351 deg,
lon: -121.859773 deg,
deltaT: 3.779735 s,
deltaX: -1.986725 m,
approachRate: -0.525625 m/s,
posRepo size: 4
2025-08-22T21:27:06.747Z,1755898026.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.09 m.
2025-08-22T21:27:06.749Z,1755898026.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.093262 m,
nav range: 267.120514 m,
bearing: 229.155575 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000276 deg/s,
cmd heading: 217.410864 deg,
new cmd heading: 217.411075 deg.
2025-08-22T21:27:06.750Z,1755898026.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794539 target range: 283.093262 and range: 284.90 m.
2025-08-22T21:27:07.178Z,1755898027.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.09 m.
2025-08-22T21:27:07.182Z,1755898027.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.093262 m,
nav range: 266.845032 m,
bearing: 229.155435 deg,
approach rate: -0.634334 m/s,
LOS rate: -0.000321 deg/s,
cmd heading: 217.411082 deg,
new cmd heading: 217.410803 deg.
2025-08-22T21:27:07.184Z,1755898027.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794534 target range: 283.093262 and range: 284.90 m.
2025-08-22T21:27:07.551Z,1755898027.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:07.554Z,1755898027.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.09 m.
2025-08-22T21:27:07.556Z,1755898027.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.093262 m,
nav range: 266.603943 m,
bearing: 229.155340 deg,
approach rate: -0.640800 m/s,
LOS rate: -0.000252 deg/s,
cmd heading: 217.410809 deg,
new cmd heading: 217.410619 deg.
2025-08-22T21:27:07.558Z,1755898027.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794531 target range: 283.093262 and range: 284.90 m.
2025-08-22T21:27:07.791Z,1755898027.791 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:07.791Z,1755898027.791 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:07.791Z,1755898027.791 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:07.976Z,1755898027.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.09 m.
2025-08-22T21:27:07.983Z,1755898027.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.093262 m,
nav range: 266.351318 m,
bearing: 229.155230 deg,
approach rate: -0.598677 m/s,
LOS rate: -0.000261 deg/s,
cmd heading: 217.410618 deg,
new cmd heading: 217.410397 deg.
2025-08-22T21:27:07.984Z,1755898027.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794527 target range: 283.093262 and range: 284.90 m.
2025-08-22T21:27:08.043Z,1755898028.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515835
2025-08-22T21:27:08.295Z,1755898028.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767690
2025-08-22T21:27:08.387Z,1755898028.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.09 m.
2025-08-22T21:27:08.394Z,1755898028.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.093262 m,
nav range: 266.079559 m,
bearing: 229.154045 deg,
approach rate: -0.660488 m/s,
LOS rate: -0.002884 deg/s,
cmd heading: 217.410399 deg,
new cmd heading: 217.408026 deg.
2025-08-22T21:27:08.395Z,1755898028.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794486 target range: 283.093262 and range: 284.90 m.
2025-08-22T21:27:08.546Z,1755898028.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019636
2025-08-22T21:27:08.762Z,1755898028.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.09 m.
2025-08-22T21:27:08.765Z,1755898028.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.093262 m,
nav range: 265.825806 m,
bearing: 229.152956 deg,
approach rate: -0.676155 m/s,
LOS rate: -0.002904 deg/s,
cmd heading: 217.408022 deg,
new cmd heading: 217.405842 deg.
2025-08-22T21:27:08.766Z,1755898028.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794448 target range: 283.093262 and range: 284.90 m.
2025-08-22T21:27:08.799Z,1755898028.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272211
2025-08-22T21:27:09.051Z,1755898029.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523741
2025-08-22T21:27:09.209Z,1755898029.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.09 m.
2025-08-22T21:27:09.212Z,1755898029.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.093262 m,
nav range: 265.532379 m,
bearing: 229.154157 deg,
approach rate: -0.657194 m/s,
LOS rate: 0.002693 deg/s,
cmd heading: 217.405837 deg,
new cmd heading: 217.408241 deg.
2025-08-22T21:27:09.213Z,1755898029.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794490 target range: 283.093262 and range: 284.90 m.
2025-08-22T21:27:09.303Z,1755898029.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776670
2025-08-22T21:27:09.555Z,1755898029.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027767
2025-08-22T21:27:09.559Z,1755898029.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:09.561Z,1755898029.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.09 m.
2025-08-22T21:27:09.564Z,1755898029.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.093262 m,
nav range: 265.302155 m,
bearing: 229.155084 deg,
approach rate: -0.653841 m/s,
LOS rate: 0.002637 deg/s,
cmd heading: 217.408241 deg,
new cmd heading: 217.410097 deg.
2025-08-22T21:27:09.565Z,1755898029.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794522 target range: 283.093262 and range: 284.90 m.
2025-08-22T21:27:09.807Z,1755898029.807 [DAT](INFO): DAT read: Rx Time:21:27:10.4501
2025-08-22T21:27:09.808Z,1755898029.808 [DAT](INFO): Rx dataTimestamp_ set to:1755898029.807550
2025-08-22T21:27:09.809Z,1755898029.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281565
2025-08-22T21:27:09.991Z,1755898029.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.09 m.
2025-08-22T21:27:09.994Z,1755898029.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.093262 m,
nav range: 265.017853 m,
bearing: 229.156213 deg,
approach rate: -0.660166 m/s,
LOS rate: 0.002624 deg/s,
cmd heading: 217.410099 deg,
new cmd heading: 217.412359 deg.
2025-08-22T21:27:09.995Z,1755898029.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794561 target range: 283.093262 and range: 284.90 m.
2025-08-22T21:27:10.060Z,1755898030.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532676
2025-08-22T21:27:10.315Z,1755898030.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787716
2025-08-22T21:27:10.419Z,1755898030.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.09 m.
2025-08-22T21:27:10.442Z,1755898030.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.093262 m,
nav range: 264.742981 m,
bearing: 229.156986 deg,
approach rate: -0.643110 m/s,
LOS rate: 0.001810 deg/s,
cmd heading: 217.412353 deg,
new cmd heading: 217.413899 deg.
2025-08-22T21:27:10.444Z,1755898030.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794588 target range: 283.093262 and range: 284.90 m.
2025-08-22T21:27:10.569Z,1755898030.569 [DAT](INFO): DAT read: 21:27:10.4501 LVL= 25776, 32289, 30418, 32755, AGC= 70, IDX= 187,-0.36,-2.066, 2.187,-2.466,-2.463, PHS= 0.498,-1.588,-0.048, RAW= 135.4, 12.1, CAL= 134.8, 13.2, ROT= 15.2, -13.2
2025-08-22T21:27:10.570Z,1755898030.570 [DAT](INFO): got valid direction response:
21:27:10.4501 LVL= 25776, 32289, 30418, 32755, AGC= 70, IDX= 187,-0.36,-2.066, 2.187,-2.466,-2.463, PHS= 0.498,-1.588,-0.048, RAW= 135.4, 12.1, CAL= 134.8, 13.2, ROT= 15.2, -13.2
2025-08-22T21:27:10.571Z,1755898030.571 [DAT](INFO): DAT read: Bearing 5.4, 9.5 (Local)
2025-08-22T21:27:10.572Z,1755898030.572 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.4, 9.5 (Local)
2025-08-22T21:27:10.573Z,1755898030.573 [DAT](INFO): DAT read: Range 11 to 50 : 265.8 m (Round-trip 354.4 ms) speed 0.4 m/s
2025-08-22T21:27:10.574Z,1755898030.574 [DAT](INFO): DAT read: user:2232>
2025-08-22T21:27:10.575Z,1755898030.575 [DAT](INFO): DAT read: Tx time:21:27:11.5416
2025-08-22T21:27:10.575Z,1755898030.575 [DAT](INFO): Ping request sent.
2025-08-22T21:27:10.575Z,1755898030.575 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:10.575Z,1755898030.575 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:27:10.576Z,1755898030.576 [DAT](INFO): direction in FSK: [0.939520,0.255262,0.228351]
2025-08-22T21:27:10.576Z,1755898030.576 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:10.577Z,1755898030.577 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:10.600Z,1755898030.600 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:10.600Z,1755898030.600 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:10.792Z,1755898030.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 265.799988 m,
deltaT: 4.048540 s,
deltaX: -19.100006 m,
approachRate: -4.717752 m/s,
rangeRepo size: 4
2025-08-22T21:27:10.795Z,1755898030.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 264.114227 m,
bearing: 231.517546 deg,
lat: 36.779351 deg,
lon: -121.859773 deg,
deltaT: 4.048540 s,
deltaX: -18.979034 m,
approachRate: -4.687871 m/s,
posRepo size: 4
2025-08-22T21:27:10.796Z,1755898030.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.11 m.
2025-08-22T21:27:10.819Z,1755898030.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.114227 m,
nav range: 264.505768 m,
bearing: 229.157668 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001810 deg/s,
cmd heading: 217.413896 deg,
new cmd heading: 217.415245 deg.
2025-08-22T21:27:10.820Z,1755898030.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794612 target range: 264.114227 and range: 265.80 m.
2025-08-22T21:27:11.254Z,1755898031.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.11 m.
2025-08-22T21:27:11.256Z,1755898031.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.114227 m,
nav range: 264.218811 m,
bearing: 229.159092 deg,
approach rate: -0.626881 m/s,
LOS rate: 0.003114 deg/s,
cmd heading: 217.415249 deg,
new cmd heading: 217.418100 deg.
2025-08-22T21:27:11.257Z,1755898031.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794662 target range: 264.114227 and range: 265.80 m.
2025-08-22T21:27:11.599Z,1755898031.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:11.601Z,1755898031.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.11 m.
2025-08-22T21:27:11.604Z,1755898031.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.114227 m,
nav range: 263.977386 m,
bearing: 229.160292 deg,
approach rate: -0.686123 m/s,
LOS rate: 0.003413 deg/s,
cmd heading: 217.418104 deg,
new cmd heading: 217.420505 deg.
2025-08-22T21:27:11.605Z,1755898031.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794704 target range: 264.114227 and range: 265.80 m.
2025-08-22T21:27:11.823Z,1755898031.823 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:11.823Z,1755898031.823 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:11.823Z,1755898031.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:12.003Z,1755898032.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.11 m.
2025-08-22T21:27:12.006Z,1755898032.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.114227 m,
nav range: 263.716461 m,
bearing: 229.161560 deg,
approach rate: -0.649900 m/s,
LOS rate: 0.003162 deg/s,
cmd heading: 217.420508 deg,
new cmd heading: 217.423047 deg.
2025-08-22T21:27:12.007Z,1755898032.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794748 target range: 264.114227 and range: 265.80 m.
2025-08-22T21:27:12.076Z,1755898032.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500961
2025-08-22T21:27:12.326Z,1755898032.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751506
2025-08-22T21:27:12.439Z,1755898032.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.11 m.
2025-08-22T21:27:12.445Z,1755898032.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.114227 m,
nav range: 263.439362 m,
bearing: 229.162830 deg,
approach rate: -0.635191 m/s,
LOS rate: 0.002914 deg/s,
cmd heading: 217.423049 deg,
new cmd heading: 217.425591 deg.
2025-08-22T21:27:12.449Z,1755898032.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794792 target range: 264.114227 and range: 265.80 m.
2025-08-22T21:27:12.579Z,1755898032.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003574
2025-08-22T21:27:12.814Z,1755898032.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.11 m.
2025-08-22T21:27:12.817Z,1755898032.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.114227 m,
nav range: 263.192352 m,
bearing: 229.163934 deg,
approach rate: -0.658110 m/s,
LOS rate: 0.002943 deg/s,
cmd heading: 217.425589 deg,
new cmd heading: 217.427798 deg.
2025-08-22T21:27:12.818Z,1755898032.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794831 target range: 264.114227 and range: 265.80 m.
2025-08-22T21:27:12.831Z,1755898032.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255643
2025-08-22T21:27:13.082Z,1755898033.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507466
2025-08-22T21:27:13.257Z,1755898033.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.11 m.
2025-08-22T21:27:13.260Z,1755898033.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.114227 m,
nav range: 262.910095 m,
bearing: 229.165303 deg,
approach rate: -0.637871 m/s,
LOS rate: 0.003098 deg/s,
cmd heading: 217.427802 deg,
new cmd heading: 217.430544 deg.
2025-08-22T21:27:13.261Z,1755898033.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794879 target range: 264.114227 and range: 265.80 m.
2025-08-22T21:27:13.335Z,1755898033.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759653
2025-08-22T21:27:13.587Z,1755898033.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011534
2025-08-22T21:27:13.623Z,1755898033.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:13.626Z,1755898033.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.11 m.
2025-08-22T21:27:13.628Z,1755898033.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.114227 m,
nav range: 262.675140 m,
bearing: 229.166434 deg,
approach rate: -0.637377 m/s,
LOS rate: 0.003070 deg/s,
cmd heading: 217.430548 deg,
new cmd heading: 217.432811 deg.
2025-08-22T21:27:13.629Z,1755898033.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794919 target range: 264.114227 and range: 265.80 m.
2025-08-22T21:27:13.840Z,1755898033.840 [DAT](INFO): DAT read: Rx Time:21:27:14.2963
2025-08-22T21:27:13.840Z,1755898033.840 [DAT](INFO): Rx dataTimestamp_ set to:1755898033.839994
2025-08-22T21:27:13.841Z,1755898033.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266186
2025-08-22T21:27:14.047Z,1755898034.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.11 m.
2025-08-22T21:27:14.049Z,1755898034.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.114227 m,
nav range: 262.417053 m,
bearing: 229.167665 deg,
approach rate: -0.612801 m/s,
LOS rate: 0.002927 deg/s,
cmd heading: 217.432816 deg,
new cmd heading: 217.435281 deg.
2025-08-22T21:27:14.050Z,1755898034.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794961 target range: 264.114227 and range: 265.80 m.
2025-08-22T21:27:14.091Z,1755898034.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516189
2025-08-22T21:27:14.348Z,1755898034.348 [DAT](INFO): DAT read: 21:27:14.2963 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403,-0.23, 1.659,-0.319, 1.229, 1.363, PHS= 0.398,-1.637,-0.178, RAW= 134.1, 15.4, CAL= 133.1, 16.5, ROT= 16.9, -16.5
2025-08-22T21:27:14.349Z,1755898034.349 [DAT](INFO): got valid direction response:
21:27:14.2963 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403,-0.23, 1.659,-0.319, 1.229, 1.363, PHS= 0.398,-1.637,-0.178, RAW= 134.1, 15.4, CAL= 133.1, 16.5, ROT= 16.9, -16.5
2025-08-22T21:27:14.350Z,1755898034.350 [DAT](INFO): DAT read: Bearing 8.7, 10.5 (Local)
2025-08-22T21:27:14.351Z,1755898034.351 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.7, 10.5 (Local)
2025-08-22T21:27:14.352Z,1755898034.352 [DAT](INFO): DAT read: Range 11 to 50 : 262.9 m (Round-trip 350.6 ms) speed 0.7 m/s
2025-08-22T21:27:14.353Z,1755898034.353 [DAT](INFO): DAT read: user:2233>
2025-08-22T21:27:14.353Z,1755898034.353 [DAT](INFO): DAT read: Tx time:21:27:15.3916
2025-08-22T21:27:14.354Z,1755898034.354 [DAT](INFO): Ping request sent.
2025-08-22T21:27:14.354Z,1755898034.354 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:14.354Z,1755898034.354 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:27:14.355Z,1755898034.355 [DAT](INFO): direction in FSK: [0.917412,0.278731,0.284015]
2025-08-22T21:27:14.355Z,1755898034.355 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:14.356Z,1755898034.356 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:14.383Z,1755898034.383 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:14.383Z,1755898034.383 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:14.616Z,1755898034.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 262.899994 m,
deltaT: 3.779426 s,
deltaX: -2.899994 m,
approachRate: -0.767311 m/s,
rangeRepo size: 4
2025-08-22T21:27:14.623Z,1755898034.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 261.231689 m,
bearing: 233.142451 deg,
lat: 36.779351 deg,
lon: -121.859825 deg,
deltaT: 3.779426 s,
deltaX: -2.882538 m,
approachRate: -0.762692 m/s,
posRepo size: 4
2025-08-22T21:27:14.623Z,1755898034.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.23 m.
2025-08-22T21:27:14.642Z,1755898034.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.231689 m,
nav range: 265.593201 m,
bearing: 229.827026 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002927 deg/s,
cmd heading: 217.435275 deg,
new cmd heading: 217.438601 deg.
2025-08-22T21:27:14.643Z,1755898034.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795020 target range: 261.231689 and range: 262.90 m.
2025-08-22T21:27:14.879Z,1755898034.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.23 m.
2025-08-22T21:27:14.886Z,1755898034.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.231689 m,
nav range: 265.432556 m,
bearing: 229.828166 deg,
approach rate: -0.607692 m/s,
LOS rate: 0.004318 deg/s,
cmd heading: 217.438608 deg,
new cmd heading: 217.440891 deg.
2025-08-22T21:27:14.887Z,1755898034.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795059 target range: 261.231689 and range: 262.90 m.
2025-08-22T21:27:15.316Z,1755898035.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.23 m.
2025-08-22T21:27:15.319Z,1755898035.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.231689 m,
nav range: 265.155090 m,
bearing: 229.830217 deg,
approach rate: -0.635100 m/s,
LOS rate: 0.004698 deg/s,
cmd heading: 217.440889 deg,
new cmd heading: 217.444994 deg.
2025-08-22T21:27:15.320Z,1755898035.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795131 target range: 261.231689 and range: 262.90 m.
2025-08-22T21:27:15.675Z,1755898035.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:15.677Z,1755898035.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.23 m.
2025-08-22T21:27:15.684Z,1755898035.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.231689 m,
nav range: 264.920502 m,
bearing: 229.831953 deg,
approach rate: -0.649852 m/s,
LOS rate: 0.004816 deg/s,
cmd heading: 217.444987 deg,
new cmd heading: 217.448464 deg.
2025-08-22T21:27:15.685Z,1755898035.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795192 target range: 261.231689 and range: 262.90 m.
2025-08-22T21:27:15.854Z,1755898035.854 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:15.854Z,1755898035.854 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:15.855Z,1755898035.855 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:16.057Z,1755898036.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.23 m.
2025-08-22T21:27:16.059Z,1755898036.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.231689 m,
nav range: 264.674988 m,
bearing: 229.833811 deg,
approach rate: -0.646912 m/s,
LOS rate: 0.004900 deg/s,
cmd heading: 217.448471 deg,
new cmd heading: 217.452190 deg.
2025-08-22T21:27:16.060Z,1755898036.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795257 target range: 261.231689 and range: 262.90 m.
2025-08-22T21:27:16.107Z,1755898036.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753320
2025-08-22T21:27:16.361Z,1755898036.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007218
2025-08-22T21:27:16.492Z,1755898036.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.23 m.
2025-08-22T21:27:16.495Z,1755898036.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.231689 m,
nav range: 264.399353 m,
bearing: 229.835507 deg,
approach rate: -0.633458 m/s,
LOS rate: 0.003901 deg/s,
cmd heading: 217.452186 deg,
new cmd heading: 217.455581 deg.
2025-08-22T21:27:16.496Z,1755898036.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795316 target range: 261.231689 and range: 262.90 m.
2025-08-22T21:27:16.611Z,1755898036.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256674
2025-08-22T21:27:16.862Z,1755898036.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508552
2025-08-22T21:27:16.865Z,1755898036.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.23 m.
2025-08-22T21:27:16.868Z,1755898036.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.231689 m,
nav range: 264.171448 m,
bearing: 229.836912 deg,
approach rate: -0.610954 m/s,
LOS rate: 0.003770 deg/s,
cmd heading: 217.455574 deg,
new cmd heading: 217.458386 deg.
2025-08-22T21:27:16.869Z,1755898036.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795365 target range: 261.231689 and range: 262.90 m.
2025-08-22T21:27:17.115Z,1755898037.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760618
2025-08-22T21:27:17.307Z,1755898037.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.23 m.
2025-08-22T21:27:17.310Z,1755898037.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.231689 m,
nav range: 263.882355 m,
bearing: 229.838126 deg,
approach rate: -0.653068 m/s,
LOS rate: 0.002745 deg/s,
cmd heading: 217.458388 deg,
new cmd heading: 217.460819 deg.
2025-08-22T21:27:17.311Z,1755898037.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795407 target range: 261.231689 and range: 262.90 m.
2025-08-22T21:27:17.368Z,1755898037.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013660
2025-08-22T21:27:17.619Z,1755898037.619 [DAT](INFO): DAT read: Rx Time:21:27:18.1667
2025-08-22T21:27:17.619Z,1755898037.619 [DAT](INFO): Rx dataTimestamp_ set to:1755898037.618693
2025-08-22T21:27:17.619Z,1755898037.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265627
2025-08-22T21:27:17.658Z,1755898037.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.23 m.
2025-08-22T21:27:17.661Z,1755898037.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.231689 m,
nav range: 263.660126 m,
bearing: 229.839068 deg,
approach rate: -0.633754 m/s,
LOS rate: 0.002690 deg/s,
cmd heading: 217.460820 deg,
new cmd heading: 217.462706 deg.
2025-08-22T21:27:17.674Z,1755898037.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795440 target range: 261.231689 and range: 262.90 m.
2025-08-22T21:27:17.874Z,1755898037.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520214
2025-08-22T21:27:18.118Z,1755898038.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:18.120Z,1755898038.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.23 m.
2025-08-22T21:27:18.128Z,1755898038.128 [DAT](INFO): DAT read: 21:27:18.1667 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 132,-0.30,-1.182,-2.840,-1.304,-1.890, PHS= 0.810,-0.906, 0.542, RAW= 141.7, -5.6, CAL= 141.7, -6.5, ROT= 8.3, 6.5
2025-08-22T21:27:18.129Z,1755898038.129 [DAT](INFO): got valid direction response:
21:27:18.1667 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 132,-0.30,-1.182,-2.840,-1.304,-1.890, PHS= 0.810,-0.906, 0.542, RAW= 141.7, -5.6, CAL= 141.7, -6.5, ROT= 8.3, 6.5
2025-08-22T21:27:18.130Z,1755898038.130 [DAT](INFO): DAT read: Bearing 345.4, 1.0 (Local)
2025-08-22T21:27:18.131Z,1755898038.131 [DAT](INFO): Local bearing/azimuth received:
Bearing 345.4, 1.0 (Local)
2025-08-22T21:27:18.132Z,1755898038.132 [DAT](INFO): DAT read: Range 11 to 50 : 278.2 m (Round-trip 371.0 ms) speed 0.5 m/s
2025-08-22T21:27:18.133Z,1755898038.133 [DAT](INFO): DAT read: user:2234>
2025-08-22T21:27:18.134Z,1755898038.134 [DAT](INFO): DAT read: Tx time:21:27:19.2916
2025-08-22T21:27:18.134Z,1755898038.134 [DAT](INFO): Ping request sent.
2025-08-22T21:27:18.134Z,1755898038.134 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:18.134Z,1755898038.134 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:27:18.135Z,1755898038.135 [DAT](INFO): direction in FSK: [0.983165,0.143428,-0.113203]
2025-08-22T21:27:18.135Z,1755898038.135 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:18.136Z,1755898038.136 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:18.143Z,1755898038.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.231689 m,
nav range: 263.367676 m,
bearing: 229.840330 deg,
approach rate: -0.633410 m/s,
LOS rate: 0.002735 deg/s,
cmd heading: 217.462705 deg,
new cmd heading: 217.465230 deg.
2025-08-22T21:27:18.144Z,1755898038.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795484 target range: 261.231689 and range: 262.90 m.
2025-08-22T21:27:18.151Z,1755898038.151 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:18.151Z,1755898038.151 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:18.596Z,1755898038.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 278.200012 m,
deltaT: 3.780144 s,
deltaX: 15.300018 m,
approachRate: 4.047470 m/s,
rangeRepo size: 4
2025-08-22T21:27:18.603Z,1755898038.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 276.436646 m,
bearing: 225.839714 deg,
lat: 36.779351 deg,
lon: -121.859825 deg,
deltaT: 3.780144 s,
deltaX: 15.204956 m,
approachRate: 4.022322 m/s,
posRepo size: 4
2025-08-22T21:27:18.603Z,1755898038.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:18.610Z,1755898038.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 263.091858 m,
bearing: 229.842572 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002735 deg/s,
cmd heading: 217.465232 deg,
new cmd heading: 217.467835 deg.
2025-08-22T21:27:18.611Z,1755898038.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795530 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:18.976Z,1755898038.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:18.995Z,1755898038.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 262.835754 m,
bearing: 229.844682 deg,
approach rate: -0.673737 m/s,
LOS rate: 0.005556 deg/s,
cmd heading: 217.467841 deg,
new cmd heading: 217.472065 deg.
2025-08-22T21:27:18.996Z,1755898038.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795604 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:19.392Z,1755898039.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:19.395Z,1755898039.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 262.570068 m,
bearing: 229.847658 deg,
approach rate: -0.638067 m/s,
LOS rate: 0.007156 deg/s,
cmd heading: 217.472062 deg,
new cmd heading: 217.478021 deg.
2025-08-22T21:27:19.396Z,1755898039.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795707 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:19.778Z,1755898039.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:19.780Z,1755898039.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 262.328094 m,
bearing: 229.850352 deg,
approach rate: -0.628106 m/s,
LOS rate: 0.006999 deg/s,
cmd heading: 217.478018 deg,
new cmd heading: 217.483411 deg.
2025-08-22T21:27:19.809Z,1755898039.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795802 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:20.229Z,1755898040.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:20.235Z,1755898040.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:20.242Z,1755898040.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 262.062012 m,
bearing: 229.853322 deg,
approach rate: -0.581016 m/s,
LOS rate: 0.006491 deg/s,
cmd heading: 217.483414 deg,
new cmd heading: 217.489359 deg.
2025-08-22T21:27:20.243Z,1755898040.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795905 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:20.390Z,1755898040.390 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:20.390Z,1755898040.390 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:20.391Z,1755898040.391 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:20.636Z,1755898040.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:20.639Z,1755898040.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 261.770752 m,
bearing: 229.856870 deg,
approach rate: -0.727920 m/s,
LOS rate: 0.008877 deg/s,
cmd heading: 217.489356 deg,
new cmd heading: 217.496460 deg.
2025-08-22T21:27:20.639Z,1755898040.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796029 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:20.643Z,1755898040.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508506
2025-08-22T21:27:20.895Z,1755898040.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760502
2025-08-22T21:27:21.051Z,1755898041.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:21.058Z,1755898041.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 261.515320 m,
bearing: 229.859988 deg,
approach rate: -0.615260 m/s,
LOS rate: 0.007518 deg/s,
cmd heading: 217.496459 deg,
new cmd heading: 217.502702 deg.
2025-08-22T21:27:21.059Z,1755898041.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796138 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:21.148Z,1755898041.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013630
2025-08-22T21:27:21.399Z,1755898041.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264461
2025-08-22T21:27:21.495Z,1755898041.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:21.498Z,1755898041.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 261.214233 m,
bearing: 229.863203 deg,
approach rate: -0.677255 m/s,
LOS rate: 0.007240 deg/s,
cmd heading: 217.502702 deg,
new cmd heading: 217.509140 deg.
2025-08-22T21:27:21.499Z,1755898041.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796251 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:21.656Z,1755898041.656 [DAT](INFO): DAT read: 21:27:22.0633 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 162, 0.09, 0.323,-1.502,-0.057,-0.041, PHS= 0.466,-1.416,-0.060, RAW= 134.3, 12.0, CAL= 133.7, 13.1, ROT= 16.3, -13.1
2025-08-22T21:27:21.657Z,1755898041.657 [DAT](INFO): got valid direction response:
21:27:22.0633 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 162, 0.09, 0.323,-1.502,-0.057,-0.041, PHS= 0.466,-1.416,-0.060, RAW= 134.3, 12.0, CAL= 133.7, 13.1, ROT= 16.3, -13.1
2025-08-22T21:27:21.658Z,1755898041.658 [DAT](INFO): DAT read: Rx Time:21:27:22.0633
2025-08-22T21:27:21.658Z,1755898041.658 [DAT](INFO): Rx dataTimestamp_ set to:1755898041.657926
2025-08-22T21:27:21.659Z,1755898041.659 [DAT](INFO): DAT read: $Low SNR acquisition
2025-08-22T21:27:21.659Z,1755898041.659 [DAT](INFO): Received low SNR in chirp
2025-08-22T21:27:21.677Z,1755898041.677 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T21:27:21.714Z,1755898041.714 [DAT](INFO): direction in FSK: [0.934827,0.273363,0.226651]
2025-08-22T21:27:21.717Z,1755898041.717 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:21.717Z,1755898041.717 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:21.722Z,1755898041.722 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:21.902Z,1755898041.902 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:21.902Z,1755898041.902 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:21.903Z,1755898041.903 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:21.905Z,1755898041.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:21.911Z,1755898041.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 260.967682 m,
bearing: 229.865837 deg,
approach rate: -0.602050 m/s,
LOS rate: 0.006439 deg/s,
cmd heading: 217.509136 deg,
new cmd heading: 217.514410 deg.
2025-08-22T21:27:21.913Z,1755898041.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796343 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:22.155Z,1755898042.155 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:22.155Z,1755898042.155 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:22.155Z,1755898042.155 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:22.297Z,1755898042.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:22.321Z,1755898042.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:22.345Z,1755898042.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 260.706879 m,
bearing: 229.868630 deg,
approach rate: -0.628361 m/s,
LOS rate: 0.006736 deg/s,
cmd heading: 217.514409 deg,
new cmd heading: 217.520000 deg.
2025-08-22T21:27:22.358Z,1755898042.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796440 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:22.409Z,1755898042.409 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:22.410Z,1755898042.410 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:22.410Z,1755898042.410 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:22.658Z,1755898042.658 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:22.658Z,1755898042.658 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:22.658Z,1755898042.658 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:22.740Z,1755898042.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:22.743Z,1755898042.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 260.416016 m,
bearing: 229.872101 deg,
approach rate: -0.692485 m/s,
LOS rate: 0.008273 deg/s,
cmd heading: 217.519996 deg,
new cmd heading: 217.526946 deg.
2025-08-22T21:27:22.744Z,1755898042.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796561 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:22.912Z,1755898042.912 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:22.912Z,1755898042.912 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:22.912Z,1755898042.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:23.110Z,1755898043.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:23.113Z,1755898043.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 260.175751 m,
bearing: 229.875017 deg,
approach rate: -0.649937 m/s,
LOS rate: 0.007896 deg/s,
cmd heading: 217.526949 deg,
new cmd heading: 217.532787 deg.
2025-08-22T21:27:23.114Z,1755898043.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796663 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:23.163Z,1755898043.163 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:23.163Z,1755898043.163 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:23.163Z,1755898043.163 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:23.415Z,1755898043.415 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:23.416Z,1755898043.416 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:23.416Z,1755898043.416 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:23.541Z,1755898043.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:23.544Z,1755898043.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 259.897400 m,
bearing: 229.877462 deg,
approach rate: -0.645071 m/s,
LOS rate: 0.005671 deg/s,
cmd heading: 217.532782 deg,
new cmd heading: 217.537676 deg.
2025-08-22T21:27:23.545Z,1755898043.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796749 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:23.666Z,1755898043.666 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:23.666Z,1755898043.666 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:23.666Z,1755898043.666 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:23.920Z,1755898043.920 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:23.920Z,1755898043.920 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:23.920Z,1755898043.920 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:23.939Z,1755898043.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:23.946Z,1755898043.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 259.657990 m,
bearing: 229.879542 deg,
approach rate: -0.601913 m/s,
LOS rate: 0.005236 deg/s,
cmd heading: 217.537673 deg,
new cmd heading: 217.541838 deg.
2025-08-22T21:27:23.947Z,1755898043.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796821 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:24.171Z,1755898044.171 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:24.171Z,1755898044.171 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:24.171Z,1755898044.171 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:24.315Z,1755898044.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:24.318Z,1755898044.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:24.324Z,1755898044.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 259.393280 m,
bearing: 229.881856 deg,
approach rate: -0.699400 m/s,
LOS rate: 0.006119 deg/s,
cmd heading: 217.541839 deg,
new cmd heading: 217.546471 deg.
2025-08-22T21:27:24.328Z,1755898044.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796902 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:24.423Z,1755898044.423 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:24.424Z,1755898044.424 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:24.424Z,1755898044.424 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:24.674Z,1755898044.674 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:24.674Z,1755898044.674 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:24.674Z,1755898044.674 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:24.763Z,1755898044.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:24.766Z,1755898044.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 259.101227 m,
bearing: 229.884736 deg,
approach rate: -0.655208 m/s,
LOS rate: 0.006469 deg/s,
cmd heading: 217.546470 deg,
new cmd heading: 217.552237 deg.
2025-08-22T21:27:24.767Z,1755898044.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797003 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:24.927Z,1755898044.927 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:24.927Z,1755898044.927 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:24.928Z,1755898044.928 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:25.110Z,1755898045.110 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:27:25.137Z,1755898045.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:25.140Z,1755898045.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 258.857727 m,
bearing: 229.887167 deg,
approach rate: -0.651724 m/s,
LOS rate: 0.006511 deg/s,
cmd heading: 217.552235 deg,
new cmd heading: 217.557100 deg.
2025-08-22T21:27:25.141Z,1755898045.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797088 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:25.179Z,1755898045.179 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:25.179Z,1755898045.179 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:25.179Z,1755898045.179 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:25.433Z,1755898045.433 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:25.433Z,1755898045.433 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:25.433Z,1755898045.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:25.566Z,1755898045.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:25.568Z,1755898045.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 258.578430 m,
bearing: 229.889965 deg,
approach rate: -0.651119 m/s,
LOS rate: 0.006532 deg/s,
cmd heading: 217.557098 deg,
new cmd heading: 217.562701 deg.
2025-08-22T21:27:25.570Z,1755898045.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797185 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:25.683Z,1755898045.683 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:25.683Z,1755898045.683 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:25.683Z,1755898045.683 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:25.935Z,1755898045.935 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:25.935Z,1755898045.935 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:25.935Z,1755898045.935 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:25.952Z,1755898045.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:25.955Z,1755898045.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 258.326324 m,
bearing: 229.892470 deg,
approach rate: -0.653012 m/s,
LOS rate: 0.006493 deg/s,
cmd heading: 217.562699 deg,
new cmd heading: 217.567712 deg.
2025-08-22T21:27:25.956Z,1755898045.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797273 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:26.114Z,1755898046.114 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:27:26.187Z,1755898046.187 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:26.187Z,1755898046.187 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:26.187Z,1755898046.187 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:26.342Z,1755898046.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:26.344Z,1755898046.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:26.347Z,1755898046.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 258.073547 m,
bearing: 229.894970 deg,
approach rate: -0.643862 m/s,
LOS rate: 0.006376 deg/s,
cmd heading: 217.567712 deg,
new cmd heading: 217.572718 deg.
2025-08-22T21:27:26.348Z,1755898046.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797360 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:26.438Z,1755898046.438 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:26.439Z,1755898046.439 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:26.439Z,1755898046.439 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:26.691Z,1755898046.691 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:26.691Z,1755898046.691 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:26.691Z,1755898046.691 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:26.790Z,1755898046.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:26.793Z,1755898046.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 257.783600 m,
bearing: 229.897884 deg,
approach rate: -0.649862 m/s,
LOS rate: 0.006538 deg/s,
cmd heading: 217.572712 deg,
new cmd heading: 217.578546 deg.
2025-08-22T21:27:26.794Z,1755898046.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797462 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:26.942Z,1755898046.942 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:26.942Z,1755898046.942 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:26.942Z,1755898046.942 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:27.149Z,1755898047.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:27.152Z,1755898047.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 257.553040 m,
bearing: 229.900189 deg,
approach rate: -0.643147 m/s,
LOS rate: 0.006437 deg/s,
cmd heading: 217.578545 deg,
new cmd heading: 217.583160 deg.
2025-08-22T21:27:27.153Z,1755898047.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797543 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:27.194Z,1755898047.194 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:27.195Z,1755898047.195 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:27.195Z,1755898047.195 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:27.447Z,1755898047.447 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:27.447Z,1755898047.447 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:27.447Z,1755898047.447 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:27.583Z,1755898047.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:27.586Z,1755898047.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 257.273804 m,
bearing: 229.903697 deg,
approach rate: -0.642919 m/s,
LOS rate: 0.008085 deg/s,
cmd heading: 217.583162 deg,
new cmd heading: 217.590185 deg.
2025-08-22T21:27:27.587Z,1755898047.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797665 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:27.698Z,1755898047.698 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:27.698Z,1755898047.698 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:27.698Z,1755898047.698 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:27.950Z,1755898047.950 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:27.951Z,1755898047.951 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:27.951Z,1755898047.951 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:27:27.961Z,1755898047.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:27.964Z,1755898047.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 257.030212 m,
bearing: 229.906730 deg,
approach rate: -0.644652 m/s,
LOS rate: 0.008034 deg/s,
cmd heading: 217.590183 deg,
new cmd heading: 217.596255 deg.
2025-08-22T21:27:27.965Z,1755898047.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797771 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:28.202Z,1755898048.202 [DAT](INFO): Reached modem response timeout
2025-08-22T21:27:28.202Z,1755898048.202 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:27:28.203Z,1755898048.203 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:28.371Z,1755898048.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:28.373Z,1755898048.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:28.376Z,1755898048.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 256.767883 m,
bearing: 229.909955 deg,
approach rate: -0.636519 m/s,
LOS rate: 0.007833 deg/s,
cmd heading: 217.596249 deg,
new cmd heading: 217.602705 deg.
2025-08-22T21:27:28.377Z,1755898048.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797884 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:28.454Z,1755898048.454 [DAT](INFO): Reached modem response timeout
2025-08-22T21:27:28.455Z,1755898048.455 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:27:28.455Z,1755898048.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:28.707Z,1755898048.707 [DAT](INFO): Reached modem response timeout
2025-08-22T21:27:28.707Z,1755898048.707 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:27:28.707Z,1755898048.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:28.855Z,1755898048.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:28.858Z,1755898048.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 256.459015 m,
bearing: 229.913348 deg,
approach rate: -0.641209 m/s,
LOS rate: 0.007053 deg/s,
cmd heading: 217.602710 deg,
new cmd heading: 217.609504 deg.
2025-08-22T21:27:28.859Z,1755898048.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798002 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:28.959Z,1755898048.959 [DAT](INFO): Reached modem response timeout
2025-08-22T21:27:28.959Z,1755898048.959 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:27:28.959Z,1755898048.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:29.210Z,1755898049.210 [DAT](INFO): Reached modem response timeout
2025-08-22T21:27:29.210Z,1755898049.210 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:27:29.211Z,1755898049.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:29.232Z,1755898049.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:29.235Z,1755898049.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 256.219238 m,
bearing: 229.915955 deg,
approach rate: -0.635165 m/s,
LOS rate: 0.006911 deg/s,
cmd heading: 217.609499 deg,
new cmd heading: 217.614717 deg.
2025-08-22T21:27:29.236Z,1755898049.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798093 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:29.462Z,1755898049.462 [DAT](INFO): Reached modem response timeout
2025-08-22T21:27:29.462Z,1755898049.462 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:27:29.463Z,1755898049.463 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:29.633Z,1755898049.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:29.636Z,1755898049.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 255.965332 m,
bearing: 229.918642 deg,
approach rate: -0.633690 m/s,
LOS rate: 0.006714 deg/s,
cmd heading: 217.614717 deg,
new cmd heading: 217.620098 deg.
2025-08-22T21:27:29.637Z,1755898049.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798187 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:29.715Z,1755898049.715 [DAT](INFO): Reached modem response timeout
2025-08-22T21:27:29.715Z,1755898049.715 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:27:29.715Z,1755898049.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:29.966Z,1755898049.966 [DAT](INFO): Reached modem response timeout
2025-08-22T21:27:29.967Z,1755898049.967 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:27:29.967Z,1755898049.967 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:30.043Z,1755898050.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:30.046Z,1755898050.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 255.705246 m,
bearing: 229.921371 deg,
approach rate: -0.633869 m/s,
LOS rate: 0.006658 deg/s,
cmd heading: 217.620100 deg,
new cmd heading: 217.625564 deg.
2025-08-22T21:27:30.047Z,1755898050.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798283 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:30.218Z,1755898050.218 [DAT](INFO): Reached modem response timeout
2025-08-22T21:27:30.218Z,1755898050.218 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:27:30.219Z,1755898050.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:30.472Z,1755898050.472 [DAT](INFO): Reached modem response timeout
2025-08-22T21:27:30.473Z,1755898050.473 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:27:30.474Z,1755898050.474 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:30.482Z,1755898050.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:30.484Z,1755898050.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:30.491Z,1755898050.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 255.461517 m,
bearing: 229.923941 deg,
approach rate: -0.553217 m/s,
LOS rate: 0.005839 deg/s,
cmd heading: 217.625564 deg,
new cmd heading: 217.630708 deg.
2025-08-22T21:27:30.492Z,1755898050.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798373 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:30.723Z,1755898050.723 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:27:30.723Z,1755898050.723 [DAT](INFO): response not received
2025-08-22T21:27:30.723Z,1755898050.723 [DAT](INFO): DAT read: user:2236>
2025-08-22T21:27:30.724Z,1755898050.724 [DAT](INFO): DAT read: Tx time:21:27:31.7416
2025-08-22T21:27:30.724Z,1755898050.724 [DAT](INFO): Ping request sent.
2025-08-22T21:27:30.724Z,1755898050.724 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:30.724Z,1755898050.724 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:30.725Z,1755898050.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724
2025-08-22T21:27:30.840Z,1755898050.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:30.843Z,1755898050.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 255.195221 m,
bearing: 229.927687 deg,
approach rate: -0.747627 m/s,
LOS rate: 0.010527 deg/s,
cmd heading: 217.630714 deg,
new cmd heading: 217.638213 deg.
2025-08-22T21:27:30.844Z,1755898050.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798503 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:30.975Z,1755898050.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250196
2025-08-22T21:27:31.219Z,1755898051.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:31.223Z,1755898051.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 254.950272 m,
bearing: 229.931103 deg,
approach rate: -0.646417 m/s,
LOS rate: 0.009024 deg/s,
cmd heading: 217.638213 deg,
new cmd heading: 217.645052 deg.
2025-08-22T21:27:31.224Z,1755898051.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798623 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:31.227Z,1755898051.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502257
2025-08-22T21:27:31.479Z,1755898051.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754235
2025-08-22T21:27:31.655Z,1755898051.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:31.658Z,1755898051.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 254.669601 m,
bearing: 229.933431 deg,
approach rate: -0.643957 m/s,
LOS rate: 0.005346 deg/s,
cmd heading: 217.645057 deg,
new cmd heading: 217.649717 deg.
2025-08-22T21:27:31.659Z,1755898051.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798704 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:31.732Z,1755898051.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008132
2025-08-22T21:27:31.986Z,1755898051.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262138
2025-08-22T21:27:32.039Z,1755898052.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:32.046Z,1755898052.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 254.431915 m,
bearing: 229.935367 deg,
approach rate: -0.618886 m/s,
LOS rate: 0.005046 deg/s,
cmd heading: 217.649715 deg,
new cmd heading: 217.653591 deg.
2025-08-22T21:27:32.047Z,1755898052.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798772 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:32.241Z,1755898052.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516493
2025-08-22T21:27:32.458Z,1755898052.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:32.494Z,1755898052.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768614
2025-08-22T21:27:32.504Z,1755898052.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 254.160355 m,
bearing: 229.937563 deg,
approach rate: -0.650490 m/s,
LOS rate: 0.005266 deg/s,
cmd heading: 217.653595 deg,
new cmd heading: 217.657992 deg.
2025-08-22T21:27:32.510Z,1755898052.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798849 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:32.743Z,1755898052.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018207
2025-08-22T21:27:32.867Z,1755898052.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:32.869Z,1755898052.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:32.872Z,1755898052.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 253.873077 m,
bearing: 229.939247 deg,
approach rate: -0.696600 m/s,
LOS rate: 0.004087 deg/s,
cmd heading: 217.657993 deg,
new cmd heading: 217.661365 deg.
2025-08-22T21:27:32.873Z,1755898052.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798908 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:32.995Z,1755898052.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270253
2025-08-22T21:27:33.247Z,1755898053.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522302
2025-08-22T21:27:33.247Z,1755898053.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:33.250Z,1755898053.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 253.618225 m,
bearing: 229.940667 deg,
approach rate: -0.676555 m/s,
LOS rate: 0.003774 deg/s,
cmd heading: 217.661368 deg,
new cmd heading: 217.664211 deg.
2025-08-22T21:27:33.251Z,1755898053.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798957 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:33.506Z,1755898053.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780747
2025-08-22T21:27:33.681Z,1755898053.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:33.687Z,1755898053.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 253.326431 m,
bearing: 229.942595 deg,
approach rate: -0.670980 m/s,
LOS rate: 0.004438 deg/s,
cmd heading: 217.664209 deg,
new cmd heading: 217.668069 deg.
2025-08-22T21:27:33.688Z,1755898053.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.799025 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:33.751Z,1755898053.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026307
2025-08-22T21:27:34.003Z,1755898054.003 [DAT](INFO): DAT read: Rx Time:21:27:34.5037
2025-08-22T21:27:34.003Z,1755898054.003 [DAT](INFO): Rx dataTimestamp_ set to:1755898054.002740
2025-08-22T21:27:34.004Z,1755898054.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279225
2025-08-22T21:27:34.067Z,1755898054.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:34.069Z,1755898054.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 253.067200 m,
bearing: 229.944298 deg,
approach rate: -0.671537 m/s,
LOS rate: 0.004418 deg/s,
cmd heading: 217.668075 deg,
new cmd heading: 217.671486 deg.
2025-08-22T21:27:34.070Z,1755898054.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.799084 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:34.254Z,1755898054.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530154
2025-08-22T21:27:34.469Z,1755898054.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.44 m.
2025-08-22T21:27:34.491Z,1755898054.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.436646 m,
nav range: 252.805374 m,
bearing: 229.946000 deg,
approach rate: -0.650670 m/s,
LOS rate: 0.004234 deg/s,
cmd heading: 217.671490 deg,
new cmd heading: 217.674897 deg.
2025-08-22T21:27:34.499Z,1755898054.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.799144 target range: 276.436646 and range: 278.20 m.
2025-08-22T21:27:34.526Z,1755898054.526 [DAT](INFO): DAT read: 21:27:34.5037 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 103, 0.25,-1.613, 2.743,-2.065,-2.021, PHS= 0.509,-1.475,-0.088, RAW= 132.9, 11.9, CAL= 132.4, 13.0, ROT= 17.6, -13.0
2025-08-22T21:27:34.530Z,1755898054.530 [DAT](INFO): got valid direction response:
21:27:34.5037 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 103, 0.25,-1.613, 2.743,-2.065,-2.021, PHS= 0.509,-1.475,-0.088, RAW= 132.9, 11.9, CAL= 132.4, 13.0, ROT= 17.6, -13.0
2025-08-22T21:27:34.533Z,1755898054.533 [DAT](INFO): DAT read: Bearing 4.6, 10.3 (Local)
2025-08-22T21:27:34.538Z,1755898054.538 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.6, 10.3 (Local)
2025-08-22T21:27:34.539Z,1755898054.539 [DAT](INFO): DAT read: Range 11 to 50 : 268.5 m (Round-trip 358.0 ms) speed 0.5 m/s
2025-08-22T21:27:34.540Z,1755898054.540 [DAT](INFO): DAT read: user:2237>
2025-08-22T21:27:34.541Z,1755898054.541 [DAT](INFO): DAT read: Tx time:21:27:35.5916
2025-08-22T21:27:34.541Z,1755898054.541 [DAT](INFO): Ping request sent.
2025-08-22T21:27:34.541Z,1755898054.541 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:34.541Z,1755898054.541 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:27:34.550Z,1755898054.550 [DAT](INFO): direction in FSK: [0.928760,0.294620,0.224951]
2025-08-22T21:27:34.551Z,1755898054.551 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:34.551Z,1755898054.551 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:34.578Z,1755898054.578 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:34.578Z,1755898054.578 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:34.914Z,1755898054.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 268.500000 m,
deltaT: 16.386260 s,
deltaX: -9.700012 m,
approachRate: -0.591960 m/s,
rangeRepo size: 4
2025-08-22T21:27:34.916Z,1755898054.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 266.805145 m,
bearing: 234.096041 deg,
lat: 36.779414 deg,
lon: -121.859825 deg,
deltaT: 16.386260 s,
deltaX: -9.631500 m,
approachRate: -0.587779 m/s,
posRepo size: 4
2025-08-22T21:27:34.917Z,1755898054.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:34.936Z,1755898054.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 248.052292 m,
bearing: 231.190672 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004234 deg/s,
cmd heading: 217.674891 deg,
new cmd heading: 217.678647 deg.
2025-08-22T21:27:34.937Z,1755898054.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.799209 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:35.294Z,1755898055.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:35.296Z,1755898055.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:35.299Z,1755898055.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 247.790344 m,
bearing: 231.194069 deg,
approach rate: -0.682306 m/s,
LOS rate: 0.008857 deg/s,
cmd heading: 217.678648 deg,
new cmd heading: 217.685448 deg.
2025-08-22T21:27:35.300Z,1755898055.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.799328 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:35.517Z,1755898055.517 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:35.518Z,1755898055.518 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:35.519Z,1755898055.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:35.731Z,1755898055.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:35.734Z,1755898055.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 247.497437 m,
bearing: 231.198884 deg,
approach rate: -0.674172 m/s,
LOS rate: 0.011096 deg/s,
cmd heading: 217.685451 deg,
new cmd heading: 217.695093 deg.
2025-08-22T21:27:35.735Z,1755898055.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.799496 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:35.767Z,1755898055.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225755
2025-08-22T21:27:36.019Z,1755898056.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477798
2025-08-22T21:27:36.110Z,1755898056.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:36.113Z,1755898056.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 247.253189 m,
bearing: 231.202859 deg,
approach rate: -0.643686 m/s,
LOS rate: 0.010485 deg/s,
cmd heading: 217.695095 deg,
new cmd heading: 217.703052 deg.
2025-08-22T21:27:36.114Z,1755898056.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.799635 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:36.271Z,1755898056.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729665
2025-08-22T21:27:36.525Z,1755898056.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983517
2025-08-22T21:27:36.551Z,1755898056.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:36.567Z,1755898056.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 246.977921 m,
bearing: 231.207286 deg,
approach rate: -0.632248 m/s,
LOS rate: 0.010180 deg/s,
cmd heading: 217.703059 deg,
new cmd heading: 217.711924 deg.
2025-08-22T21:27:36.568Z,1755898056.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.799790 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:36.775Z,1755898056.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233637
2025-08-22T21:27:36.944Z,1755898056.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:36.963Z,1755898056.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 246.679672 m,
bearing: 231.212156 deg,
approach rate: -0.748613 m/s,
LOS rate: 0.012239 deg/s,
cmd heading: 217.711925 deg,
new cmd heading: 217.721677 deg.
2025-08-22T21:27:36.964Z,1755898056.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.799960 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:37.027Z,1755898057.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486451
2025-08-22T21:27:37.278Z,1755898057.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737411
2025-08-22T21:27:37.329Z,1755898057.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:37.348Z,1755898057.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:37.351Z,1755898057.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 246.417801 m,
bearing: 231.216442 deg,
approach rate: -0.647586 m/s,
LOS rate: 0.010609 deg/s,
cmd heading: 217.721678 deg,
new cmd heading: 217.730259 deg.
2025-08-22T21:27:37.352Z,1755898057.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.800110 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:37.534Z,1755898057.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992882
2025-08-22T21:27:37.736Z,1755898057.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:37.739Z,1755898057.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 246.146194 m,
bearing: 231.221845 deg,
approach rate: -0.700219 m/s,
LOS rate: 0.013945 deg/s,
cmd heading: 217.730257 deg,
new cmd heading: 217.741075 deg.
2025-08-22T21:27:37.740Z,1755898057.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.800299 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:37.783Z,1755898057.783 [DAT](INFO): DAT read: Rx Time:21:27:38.3263
2025-08-22T21:27:37.784Z,1755898057.784 [DAT](INFO): Rx dataTimestamp_ set to:1755898057.783411
2025-08-22T21:27:37.784Z,1755898057.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243274
2025-08-22T21:27:38.034Z,1755898058.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493492
2025-08-22T21:27:38.120Z,1755898058.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:38.123Z,1755898058.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 245.889359 m,
bearing: 231.226944 deg,
approach rate: -0.669986 m/s,
LOS rate: 0.013314 deg/s,
cmd heading: 217.741076 deg,
new cmd heading: 217.751284 deg.
2025-08-22T21:27:38.124Z,1755898058.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.800477 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:38.293Z,1755898058.293 [DAT](INFO): DAT read: 21:27:38.3263 LVL= 26448, 29729, 28754, 27299, AGC= 70, IDX= 167, 0.12, 0.959,-0.509, 0.893, 0.351, PHS= 0.710,-0.815, 0.498, RAW= 142.7, -5.5, CAL= 142.7, -6.5, ROT= 7.3, 6.5
2025-08-22T21:27:38.294Z,1755898058.294 [DAT](INFO): got valid direction response:
21:27:38.3263 LVL= 26448, 29729, 28754, 27299, AGC= 70, IDX= 167, 0.12, 0.959,-0.509, 0.893, 0.351, PHS= 0.710,-0.815, 0.498, RAW= 142.7, -5.5, CAL= 142.7, -6.5, ROT= 7.3, 6.5
2025-08-22T21:27:38.295Z,1755898058.295 [DAT](INFO): DAT read: Bearing 345.1, -0.7 (Local)
2025-08-22T21:27:38.295Z,1755898058.295 [DAT](INFO): Local bearing/azimuth received:
Bearing 345.1, -0.7 (Local)
2025-08-22T21:27:38.296Z,1755898058.296 [DAT](INFO): DAT read: Range 11 to 50 : 248.0 m (Round-trip 330.7 ms) speed 0.8 m/s
2025-08-22T21:27:38.297Z,1755898058.297 [DAT](INFO): DAT read: user:2238>
2025-08-22T21:27:38.298Z,1755898058.298 [DAT](INFO): DAT read: Tx time:21:27:39.4415
2025-08-22T21:27:38.298Z,1755898058.298 [DAT](INFO): Ping request sent.
2025-08-22T21:27:38.299Z,1755898058.299 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:38.299Z,1755898058.299 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:27:38.300Z,1755898058.300 [DAT](INFO): direction in FSK: [0.985518,0.126248,-0.113203]
2025-08-22T21:27:38.300Z,1755898058.300 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:38.300Z,1755898058.300 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:38.303Z,1755898058.303 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:38.304Z,1755898058.304 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:38.549Z,1755898058.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 248.000000 m,
deltaT: 3.778108 s,
deltaX: -20.500000 m,
approachRate: -5.425996 m/s,
rangeRepo size: 4
2025-08-22T21:27:38.551Z,1755898058.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:38.581Z,1755898058.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 245.615128 m,
bearing: 231.232399 deg,
approach rate: -0.645038 m/s,
LOS rate: 0.012847 deg/s,
cmd heading: 217.751280 deg,
new cmd heading: 217.762204 deg.
2025-08-22T21:27:38.588Z,1755898058.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.800668 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:38.961Z,1755898058.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:38.964Z,1755898058.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 245.335403 m,
bearing: 231.237774 deg,
approach rate: -0.672028 m/s,
LOS rate: 0.012926 deg/s,
cmd heading: 217.762208 deg,
new cmd heading: 217.772969 deg.
2025-08-22T21:27:38.965Z,1755898058.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.800855 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:39.335Z,1755898059.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:39.338Z,1755898059.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:39.340Z,1755898059.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 245.091934 m,
bearing: 231.242408 deg,
approach rate: -0.646797 m/s,
LOS rate: 0.012323 deg/s,
cmd heading: 217.772973 deg,
new cmd heading: 217.782250 deg.
2025-08-22T21:27:39.341Z,1755898059.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.801017 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:39.548Z,1755898059.548 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:39.549Z,1755898059.549 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:39.550Z,1755898059.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:39.772Z,1755898059.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:39.774Z,1755898059.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 244.800598 m,
bearing: 231.248186 deg,
approach rate: -0.671269 m/s,
LOS rate: 0.013330 deg/s,
cmd heading: 217.782248 deg,
new cmd heading: 217.793819 deg.
2025-08-22T21:27:39.775Z,1755898059.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.801219 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:39.799Z,1755898059.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499962
2025-08-22T21:27:40.051Z,1755898060.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751955
2025-08-22T21:27:40.149Z,1755898060.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:40.152Z,1755898060.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 244.546707 m,
bearing: 231.253173 deg,
approach rate: -0.673113 m/s,
LOS rate: 0.013234 deg/s,
cmd heading: 217.793819 deg,
new cmd heading: 217.803802 deg.
2025-08-22T21:27:40.152Z,1755898060.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.801394 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:40.303Z,1755898060.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004052
2025-08-22T21:27:40.555Z,1755898060.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256013
2025-08-22T21:27:40.589Z,1755898060.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:40.609Z,1755898060.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 244.278702 m,
bearing: 231.258412 deg,
approach rate: -0.611238 m/s,
LOS rate: 0.011962 deg/s,
cmd heading: 217.803804 deg,
new cmd heading: 217.814294 deg.
2025-08-22T21:27:40.617Z,1755898060.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.801577 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:40.807Z,1755898060.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507926
2025-08-22T21:27:40.982Z,1755898060.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:40.985Z,1755898060.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 243.999893 m,
bearing: 231.261583 deg,
approach rate: -0.705511 m/s,
LOS rate: 0.008033 deg/s,
cmd heading: 217.814295 deg,
new cmd heading: 217.820644 deg.
2025-08-22T21:27:40.986Z,1755898060.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.801687 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:41.060Z,1755898061.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761136
2025-08-22T21:27:41.310Z,1755898061.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011918
2025-08-22T21:27:41.379Z,1755898061.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:41.384Z,1755898061.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:41.389Z,1755898061.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 243.748886 m,
bearing: 231.264444 deg,
approach rate: -0.626396 m/s,
LOS rate: 0.007147 deg/s,
cmd heading: 217.820648 deg,
new cmd heading: 217.826375 deg.
2025-08-22T21:27:41.406Z,1755898061.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.801787 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:41.565Z,1755898061.565 [DAT](INFO): DAT read: Rx Time:21:27:42.1731
2025-08-22T21:27:41.567Z,1755898061.567 [DAT](INFO): Rx dataTimestamp_ set to:1755898061.566099
2025-08-22T21:27:41.569Z,1755898061.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269636
2025-08-22T21:27:41.780Z,1755898061.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.81 m.
2025-08-22T21:27:41.783Z,1755898061.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 266.805145 m,
nav range: 243.474442 m,
bearing: 231.268463 deg,
approach rate: -0.691220 m/s,
LOS rate: 0.010135 deg/s,
cmd heading: 217.826371 deg,
new cmd heading: 217.834419 deg.
2025-08-22T21:27:41.784Z,1755898061.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.801928 target range: 266.805145 and range: 268.50 m.
2025-08-22T21:27:41.815Z,1755898061.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516007
2025-08-22T21:27:42.091Z,1755898062.091 [DAT](INFO): DAT read: 21:27:42.1731 LVL= 28848, 32753, 32754, 32755, AGC= 69, IDX= 155, 0.02,-2.315, 2.080,-2.759,-2.716, PHS= 0.503,-1.442,-0.087, RAW= 132.8, 11.9, CAL= 132.2, 13.0, ROT= 17.8, -13.0
2025-08-22T21:27:42.092Z,1755898062.092 [DAT](INFO): got valid direction response:
21:27:42.1731 LVL= 28848, 32753, 32754, 32755, AGC= 69, IDX= 155, 0.02,-2.315, 2.080,-2.759,-2.716, PHS= 0.503,-1.442,-0.087, RAW= 132.8, 11.9, CAL= 132.2, 13.0, ROT= 17.8, -13.0
2025-08-22T21:27:42.093Z,1755898062.093 [DAT](INFO): DAT read: Bearing 4.7, 10.1 (Local)
2025-08-22T21:27:42.094Z,1755898062.094 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.7, 10.1 (Local)
2025-08-22T21:27:42.095Z,1755898062.095 [DAT](INFO): DAT read: Range 11 to 50 : 245.6 m (Round-trip 327.5 ms) speed 0.4 m/s
2025-08-22T21:27:42.096Z,1755898062.096 [DAT](INFO): DAT read: user:2239>
2025-08-22T21:27:42.096Z,1755898062.096 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:27:42.099Z,1755898062.099 [DAT](INFO): direction in FSK: [0.927726,0.297860,0.224951]
2025-08-22T21:27:42.101Z,1755898062.101 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:42.104Z,1755898062.104 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:42.104Z,1755898062.104 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:42.105Z,1755898062.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:42.256Z,1755898062.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 245.600006 m,
deltaT: 7.560687 s,
deltaX: -22.899994 m,
approachRate: -3.028825 m/s,
rangeRepo size: 4
2025-08-22T21:27:42.262Z,1755898062.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 244.058594 m,
bearing: 234.867529 deg,
lat: 36.779414 deg,
lon: -121.859852 deg,
deltaT: 7.560687 s,
deltaX: -22.746552 m,
approachRate: -3.008530 m/s,
posRepo size: 4
2025-08-22T21:27:42.263Z,1755898062.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.06 m.
2025-08-22T21:27:42.271Z,1755898062.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 244.058594 m,
nav range: 245.048737 m,
bearing: 231.622186 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.010135 deg/s,
cmd heading: 217.834417 deg,
new cmd heading: 217.844047 deg.
2025-08-22T21:27:42.272Z,1755898062.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.802096 target range: 244.058594 and range: 245.60 m.
2025-08-22T21:27:42.319Z,1755898062.319 [DAT](INFO): DAT read: Tx time:21:27:43.2915
2025-08-22T21:27:42.320Z,1755898062.320 [DAT](INFO): Ping request sent.
2025-08-22T21:27:42.320Z,1755898062.320 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:42.320Z,1755898062.320 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:42.321Z,1755898062.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001070
2025-08-22T21:27:42.571Z,1755898062.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250759
2025-08-22T21:27:42.668Z,1755898062.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.06 m.
2025-08-22T21:27:42.675Z,1755898062.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 244.058594 m,
nav range: 244.755142 m,
bearing: 231.626981 deg,
approach rate: -0.711587 m/s,
LOS rate: 0.011635 deg/s,
cmd heading: 217.844048 deg,
new cmd heading: 217.853649 deg.
2025-08-22T21:27:42.676Z,1755898062.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.802263 target range: 244.058594 and range: 245.60 m.
2025-08-22T21:27:42.822Z,1755898062.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502674
2025-08-22T21:27:43.075Z,1755898063.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754800
2025-08-22T21:27:43.124Z,1755898063.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.06 m.
2025-08-22T21:27:43.127Z,1755898063.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 244.058594 m,
nav range: 244.459717 m,
bearing: 231.631637 deg,
approach rate: -0.646973 m/s,
LOS rate: 0.010211 deg/s,
cmd heading: 217.853651 deg,
new cmd heading: 217.862976 deg.
2025-08-22T21:27:43.128Z,1755898063.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.802426 target range: 244.058594 and range: 245.60 m.
2025-08-22T21:27:43.327Z,1755898063.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007043
2025-08-22T21:27:43.459Z,1755898063.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:43.482Z,1755898063.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.06 m.
2025-08-22T21:27:43.484Z,1755898063.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 244.058594 m,
nav range: 244.224411 m,
bearing: 231.635348 deg,
approach rate: -0.697945 m/s,
LOS rate: 0.011018 deg/s,
cmd heading: 217.862981 deg,
new cmd heading: 217.870410 deg.
2025-08-22T21:27:43.485Z,1755898063.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.802556 target range: 244.058594 and range: 245.60 m.
2025-08-22T21:27:43.580Z,1755898063.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260546
2025-08-22T21:27:43.830Z,1755898063.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510620
2025-08-22T21:27:43.912Z,1755898063.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.06 m.
2025-08-22T21:27:43.915Z,1755898063.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 244.058594 m,
nav range: 243.932312 m,
bearing: 231.639768 deg,
approach rate: -0.648380 m/s,
LOS rate: 0.009821 deg/s,
cmd heading: 217.870412 deg,
new cmd heading: 217.879261 deg.
2025-08-22T21:27:43.916Z,1755898063.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.802711 target range: 244.058594 and range: 245.60 m.
2025-08-22T21:27:44.082Z,1755898064.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762657
2025-08-22T21:27:44.286Z,1755898064.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.06 m.
2025-08-22T21:27:44.288Z,1755898064.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 244.058594 m,
nav range: 243.690414 m,
bearing: 231.643464 deg,
approach rate: -0.647932 m/s,
LOS rate: 0.009911 deg/s,
cmd heading: 217.879264 deg,
new cmd heading: 217.886664 deg.
2025-08-22T21:27:44.289Z,1755898064.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.802840 target range: 244.058594 and range: 245.60 m.
2025-08-22T21:27:44.335Z,1755898064.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015544
2025-08-22T21:27:44.587Z,1755898064.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266707
2025-08-22T21:27:44.736Z,1755898064.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.06 m.
2025-08-22T21:27:44.739Z,1755898064.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 244.058594 m,
nav range: 243.402603 m,
bearing: 231.648274 deg,
approach rate: -0.639143 m/s,
LOS rate: 0.010694 deg/s,
cmd heading: 217.886668 deg,
new cmd heading: 217.896300 deg.
2025-08-22T21:27:44.740Z,1755898064.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803008 target range: 244.058594 and range: 245.60 m.
2025-08-22T21:27:44.839Z,1755898064.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519422
2025-08-22T21:27:45.090Z,1755898065.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770564
2025-08-22T21:27:45.098Z,1755898065.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.06 m.
2025-08-22T21:27:45.100Z,1755898065.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 244.058594 m,
nav range: 243.181381 m,
bearing: 231.651979 deg,
approach rate: -0.639479 m/s,
LOS rate: 0.010720 deg/s,
cmd heading: 217.896299 deg,
new cmd heading: 217.903716 deg.
2025-08-22T21:27:45.106Z,1755898065.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803137 target range: 244.058594 and range: 245.60 m.
2025-08-22T21:27:45.344Z,1755898065.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023944
2025-08-22T21:27:45.488Z,1755898065.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:45.490Z,1755898065.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.06 m.
2025-08-22T21:27:45.493Z,1755898065.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 244.058594 m,
nav range: 242.932281 m,
bearing: 231.656114 deg,
approach rate: -0.609391 m/s,
LOS rate: 0.010127 deg/s,
cmd heading: 217.903716 deg,
new cmd heading: 217.911995 deg.
2025-08-22T21:27:45.494Z,1755898065.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803282 target range: 244.058594 and range: 245.60 m.
2025-08-22T21:27:45.595Z,1755898065.595 [DAT](INFO): DAT read: Rx Time:21:27:46.0192
2025-08-22T21:27:45.595Z,1755898065.595 [DAT](INFO): Rx dataTimestamp_ set to:1755898065.594813
2025-08-22T21:27:45.596Z,1755898065.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275831
2025-08-22T21:27:45.847Z,1755898065.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526770
2025-08-22T21:27:45.981Z,1755898065.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.06 m.
2025-08-22T21:27:45.984Z,1755898065.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 244.058594 m,
nav range: 242.603439 m,
bearing: 231.661587 deg,
approach rate: -0.670662 m/s,
LOS rate: 0.011177 deg/s,
cmd heading: 217.911995 deg,
new cmd heading: 217.922955 deg.
2025-08-22T21:27:45.985Z,1755898065.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803473 target range: 244.058594 and range: 245.60 m.
2025-08-22T21:27:46.104Z,1755898066.104 [DAT](INFO): DAT read: 21:27:46.0192 LVL= 28272, 32753, 29666, 32755, AGC= 67, IDX= 151,-0.06, 0.393,-1.562,-0.081, 0.017, PHS= 0.477,-1.534,-0.142, RAW= 132.5, 13.4, CAL= 131.8, 14.5, ROT= 18.2, -14.5
2025-08-22T21:27:46.105Z,1755898066.105 [DAT](INFO): got valid direction response:
21:27:46.0192 LVL= 28272, 32753, 29666, 32755, AGC= 67, IDX= 151,-0.06, 0.393,-1.562,-0.081, 0.017, PHS= 0.477,-1.534,-0.142, RAW= 132.5, 13.4, CAL= 131.8, 14.5, ROT= 18.2, -14.5
2025-08-22T21:27:46.106Z,1755898066.106 [DAT](INFO): DAT read: Bearing 5.9, 10.5 (Local)
2025-08-22T21:27:46.107Z,1755898066.107 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.9, 10.5 (Local)
2025-08-22T21:27:46.108Z,1755898066.108 [DAT](INFO): DAT read: Range 11 to 50 : 242.7 m (Round-trip 323.6 ms) speed 0.3 m/s
2025-08-22T21:27:46.109Z,1755898066.109 [DAT](INFO): DAT read: user:2240>
2025-08-22T21:27:46.110Z,1755898066.110 [DAT](INFO): DAT read: Tx time:21:27:47.1415
2025-08-22T21:27:46.110Z,1755898066.110 [DAT](INFO): Ping request sent.
2025-08-22T21:27:46.110Z,1755898066.110 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:46.110Z,1755898066.110 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:27:46.111Z,1755898066.111 [DAT](INFO): direction in FSK: [0.919713,0.302386,0.250380]
2025-08-22T21:27:46.112Z,1755898066.112 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:46.112Z,1755898066.112 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:46.115Z,1755898066.115 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:46.116Z,1755898066.116 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:46.347Z,1755898066.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 242.699997 m,
deltaT: 4.028939 s,
deltaX: -2.900009 m,
approachRate: -0.719795 m/s,
rangeRepo size: 4
2025-08-22T21:27:46.349Z,1755898066.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 241.175003 m,
bearing: 235.339707 deg,
lat: 36.779414 deg,
lon: -121.859924 deg,
deltaT: 4.028939 s,
deltaX: -2.883591 m,
approachRate: -0.715720 m/s,
posRepo size: 4
2025-08-22T21:27:46.354Z,1755898066.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.18 m.
2025-08-22T21:27:46.356Z,1755898066.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.175003 m,
nav range: 247.405731 m,
bearing: 232.582939 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.011177 deg/s,
cmd heading: 217.922950 deg,
new cmd heading: 217.931118 deg.
2025-08-22T21:27:46.357Z,1755898066.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803616 target range: 241.175003 and range: 242.70 m.
2025-08-22T21:27:46.910Z,1755898066.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.18 m.
2025-08-22T21:27:46.913Z,1755898066.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.175003 m,
nav range: 247.032089 m,
bearing: 232.590513 deg,
approach rate: -0.662129 m/s,
LOS rate: 0.013443 deg/s,
cmd heading: 217.931119 deg,
new cmd heading: 217.946291 deg.
2025-08-22T21:27:46.918Z,1755898066.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803880 target range: 241.175003 and range: 242.70 m.
2025-08-22T21:27:47.390Z,1755898067.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.18 m.
2025-08-22T21:27:47.393Z,1755898067.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.175003 m,
nav range: 246.715240 m,
bearing: 232.596926 deg,
approach rate: -0.660121 m/s,
LOS rate: 0.013378 deg/s,
cmd heading: 217.946296 deg,
new cmd heading: 217.959138 deg.
2025-08-22T21:27:47.422Z,1755898067.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.804105 target range: 241.175003 and range: 242.70 m.
2025-08-22T21:27:47.886Z,1755898067.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:47.889Z,1755898067.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.18 m.
2025-08-22T21:27:47.896Z,1755898067.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.175003 m,
nav range: 246.397629 m,
bearing: 232.604269 deg,
approach rate: -0.636883 m/s,
LOS rate: 0.014742 deg/s,
cmd heading: 217.959136 deg,
new cmd heading: 217.973840 deg.
2025-08-22T21:27:47.897Z,1755898067.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.804361 target range: 241.175003 and range: 242.70 m.
2025-08-22T21:27:48.115Z,1755898068.115 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:48.115Z,1755898068.115 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:48.116Z,1755898068.116 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:48.235Z,1755898068.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.18 m.
2025-08-22T21:27:48.256Z,1755898068.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.175003 m,
nav range: 246.147751 m,
bearing: 232.610108 deg,
approach rate: -0.722113 m/s,
LOS rate: 0.016892 deg/s,
cmd heading: 217.973835 deg,
new cmd heading: 217.985525 deg.
2025-08-22T21:27:48.258Z,1755898068.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.804565 target range: 241.175003 and range: 242.70 m.
2025-08-22T21:27:48.367Z,1755898068.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257038
2025-08-22T21:27:48.619Z,1755898068.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508400
2025-08-22T21:27:48.637Z,1755898068.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.18 m.
2025-08-22T21:27:48.639Z,1755898068.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.175003 m,
nav range: 245.877396 m,
bearing: 232.616516 deg,
approach rate: -0.673490 m/s,
LOS rate: 0.015980 deg/s,
cmd heading: 217.985528 deg,
new cmd heading: 217.998358 deg.
2025-08-22T21:27:48.640Z,1755898068.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.804789 target range: 241.175003 and range: 242.70 m.
2025-08-22T21:27:48.871Z,1755898068.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760943
2025-08-22T21:27:49.067Z,1755898069.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.18 m.
2025-08-22T21:27:49.070Z,1755898069.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.175003 m,
nav range: 245.590851 m,
bearing: 232.623913 deg,
approach rate: -0.665843 m/s,
LOS rate: 0.017208 deg/s,
cmd heading: 217.998355 deg,
new cmd heading: 218.013166 deg.
2025-08-22T21:27:49.071Z,1755898069.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.805048 target range: 241.175003 and range: 242.70 m.
2025-08-22T21:27:49.123Z,1755898069.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013282
2025-08-22T21:27:49.375Z,1755898069.375 [DAT](INFO): DAT read: Rx Time:21:27:49.8673
2025-08-22T21:27:49.376Z,1755898069.376 [DAT](INFO): Rx dataTimestamp_ set to:1755898069.375518
2025-08-22T21:27:49.378Z,1755898069.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266954
2025-08-22T21:27:49.460Z,1755898069.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.18 m.
2025-08-22T21:27:49.463Z,1755898069.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.175003 m,
nav range: 245.329208 m,
bearing: 232.630779 deg,
approach rate: -0.666853 m/s,
LOS rate: 0.017520 deg/s,
cmd heading: 218.013163 deg,
new cmd heading: 218.026911 deg.
2025-08-22T21:27:49.463Z,1755898069.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.805287 target range: 241.175003 and range: 242.70 m.
2025-08-22T21:27:49.626Z,1755898069.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516333
2025-08-22T21:27:49.887Z,1755898069.887 [DAT](INFO): DAT read: 21:27:49.8673 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 166, 0.05,-0.417,-2.340,-0.842,-0.793, PHS= 0.477,-1.502,-0.094, RAW= 133.7, 12.6, CAL= 133.1, 13.7, ROT= 16.9, -13.7
2025-08-22T21:27:49.888Z,1755898069.888 [DAT](INFO): got valid direction response:
21:27:49.8673 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 166, 0.05,-0.417,-2.340,-0.842,-0.793, PHS= 0.477,-1.502,-0.094, RAW= 133.7, 12.6, CAL= 133.1, 13.7, ROT= 16.9, -13.7
2025-08-22T21:27:49.889Z,1755898069.889 [DAT](INFO): DAT read: Bearing 5.0, 9.5 (Local)
2025-08-22T21:27:49.890Z,1755898069.890 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.0, 9.5 (Local)
2025-08-22T21:27:49.891Z,1755898069.891 [DAT](INFO): DAT read: Range 11 to 50 : 241.2 m (Round-trip 321.7 ms) speed 0.8 m/s
2025-08-22T21:27:49.892Z,1755898069.892 [DAT](INFO): DAT read: user:2241>
2025-08-22T21:27:49.892Z,1755898069.892 [DAT](INFO): DAT read: Tx time:21:27:50.9915
2025-08-22T21:27:49.893Z,1755898069.893 [DAT](INFO): Ping request sent.
2025-08-22T21:27:49.893Z,1755898069.893 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:49.893Z,1755898069.893 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:27:49.898Z,1755898069.898 [DAT](INFO): direction in FSK: [0.929591,0.282431,0.236838]
2025-08-22T21:27:49.898Z,1755898069.898 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:49.899Z,1755898069.899 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:49.910Z,1755898069.910 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:49.910Z,1755898069.910 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:49.992Z,1755898069.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 241.199997 m,
deltaT: 3.781086 s,
deltaX: -1.500000 m,
approachRate: -0.396711 m/s,
rangeRepo size: 4
2025-08-22T21:27:50.015Z,1755898070.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 239.692261 m,
bearing: 233.777911 deg,
lat: 36.779486 deg,
lon: -121.859924 deg,
deltaT: 3.781086 s,
deltaX: -1.482742 m,
approachRate: -0.392147 m/s,
posRepo size: 4
2025-08-22T21:27:50.016Z,1755898070.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:50.023Z,1755898070.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 240.225037 m,
bearing: 234.153721 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017520 deg/s,
cmd heading: 218.026906 deg,
new cmd heading: 218.045560 deg.
2025-08-22T21:27:50.024Z,1755898070.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.805613 target range: 239.692261 and range: 241.20 m.
2025-08-22T21:27:50.333Z,1755898070.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:50.335Z,1755898070.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:50.338Z,1755898070.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 239.977036 m,
bearing: 234.161978 deg,
approach rate: -0.721699 m/s,
LOS rate: 0.024053 deg/s,
cmd heading: 218.045566 deg,
new cmd heading: 218.062097 deg.
2025-08-22T21:27:50.339Z,1755898070.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.805902 target range: 239.692261 and range: 241.20 m.
2025-08-22T21:27:50.383Z,1755898070.383 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:50.383Z,1755898070.383 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:50.383Z,1755898070.383 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:50.634Z,1755898070.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.741696
2025-08-22T21:27:50.799Z,1755898070.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:50.802Z,1755898070.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 239.666611 m,
bearing: 234.172452 deg,
approach rate: -0.669676 m/s,
LOS rate: 0.022625 deg/s,
cmd heading: 218.062095 deg,
new cmd heading: 218.083070 deg.
2025-08-22T21:27:50.803Z,1755898070.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.806267 target range: 239.692261 and range: 241.20 m.
2025-08-22T21:27:50.887Z,1755898070.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994194
2025-08-22T21:27:51.139Z,1755898071.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245780
2025-08-22T21:27:51.186Z,1755898071.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:51.194Z,1755898071.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 239.428650 m,
bearing: 234.180816 deg,
approach rate: -0.621915 m/s,
LOS rate: 0.021881 deg/s,
cmd heading: 218.083063 deg,
new cmd heading: 218.099808 deg.
2025-08-22T21:27:51.195Z,1755898071.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.806560 target range: 239.692261 and range: 241.20 m.
2025-08-22T21:27:51.391Z,1755898071.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497817
2025-08-22T21:27:51.547Z,1755898071.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:51.550Z,1755898071.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 239.172836 m,
bearing: 234.189856 deg,
approach rate: -0.699401 m/s,
LOS rate: 0.024744 deg/s,
cmd heading: 218.099811 deg,
new cmd heading: 218.117912 deg.
2025-08-22T21:27:51.551Z,1755898071.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.806876 target range: 239.692261 and range: 241.20 m.
2025-08-22T21:27:51.643Z,1755898071.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750251
2025-08-22T21:27:51.894Z,1755898071.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001659
2025-08-22T21:27:51.982Z,1755898071.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:51.984Z,1755898071.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 238.884567 m,
bearing: 234.200114 deg,
approach rate: -0.663572 m/s,
LOS rate: 0.023640 deg/s,
cmd heading: 218.117911 deg,
new cmd heading: 218.138450 deg.
2025-08-22T21:27:51.986Z,1755898071.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.807234 target range: 239.692261 and range: 241.20 m.
2025-08-22T21:27:52.147Z,1755898072.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253726
2025-08-22T21:27:52.358Z,1755898072.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:52.362Z,1755898072.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:52.368Z,1755898072.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 238.638763 m,
bearing: 234.208940 deg,
approach rate: -0.647658 m/s,
LOS rate: 0.023280 deg/s,
cmd heading: 218.138456 deg,
new cmd heading: 218.156127 deg.
2025-08-22T21:27:52.369Z,1755898072.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.807543 target range: 239.692261 and range: 241.20 m.
2025-08-22T21:27:52.399Z,1755898072.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505779
2025-08-22T21:27:52.650Z,1755898072.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757674
2025-08-22T21:27:52.865Z,1755898072.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:52.871Z,1755898072.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 238.317291 m,
bearing: 234.221879 deg,
approach rate: -0.638306 m/s,
LOS rate: 0.025726 deg/s,
cmd heading: 218.156133 deg,
new cmd heading: 218.182046 deg.
2025-08-22T21:27:52.872Z,1755898072.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.807995 target range: 239.692261 and range: 241.20 m.
2025-08-22T21:27:52.903Z,1755898072.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009899
2025-08-22T21:27:53.155Z,1755898073.155 [DAT](INFO): DAT read: Rx Time:21:27:53.7139
2025-08-22T21:27:53.156Z,1755898073.156 [DAT](INFO): Rx dataTimestamp_ set to:1755898073.155070
2025-08-22T21:27:53.156Z,1755898073.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263423
2025-08-22T21:27:53.232Z,1755898073.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:53.235Z,1755898073.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 238.056595 m,
bearing: 234.232406 deg,
approach rate: -0.710648 m/s,
LOS rate: 0.028728 deg/s,
cmd heading: 218.182047 deg,
new cmd heading: 218.203124 deg.
2025-08-22T21:27:53.236Z,1755898073.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.808363 target range: 239.692261 and range: 241.20 m.
2025-08-22T21:27:53.407Z,1755898073.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513731
2025-08-22T21:27:53.664Z,1755898073.664 [DAT](INFO): DAT read: 21:27:53.7139 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.29, 0.455,-1.445, 0.004, 0.113, PHS= 0.445,-1.513,-0.152, RAW= 132.7, 13.9, CAL= 131.9, 15.0, ROT= 18.1, -15.0
2025-08-22T21:27:53.665Z,1755898073.665 [DAT](INFO): got valid direction response:
21:27:53.7139 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.29, 0.455,-1.445, 0.004, 0.113, PHS= 0.445,-1.513,-0.152, RAW= 132.7, 13.9, CAL= 131.9, 15.0, ROT= 18.1, -15.0
2025-08-22T21:27:53.666Z,1755898073.666 [DAT](INFO): DAT read: Bearing 5.6, 10.7 (Local)
2025-08-22T21:27:53.667Z,1755898073.667 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.6, 10.7 (Local)
2025-08-22T21:27:53.668Z,1755898073.668 [DAT](INFO): DAT read: Range 11 to 50 : 238.7 m (Round-trip 318.3 ms) speed 0.6 m/s
2025-08-22T21:27:53.669Z,1755898073.669 [DAT](INFO): DAT read: user:2242>
2025-08-22T21:27:53.670Z,1755898073.670 [DAT](INFO): DAT read: Tx time:21:27:54.8415
2025-08-22T21:27:53.670Z,1755898073.670 [DAT](INFO): Ping request sent.
2025-08-22T21:27:53.670Z,1755898073.670 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:53.670Z,1755898073.670 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:27:53.671Z,1755898073.671 [DAT](INFO): direction in FSK: [0.918128,0.300090,0.258819]
2025-08-22T21:27:53.672Z,1755898073.671 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:53.672Z,1755898073.672 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:53.676Z,1755898073.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 238.699997 m,
deltaT: 3.779007 s,
deltaX: -2.500000 m,
approachRate: -0.661549 m/s,
rangeRepo size: 4
2025-08-22T21:27:53.677Z,1755898073.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:53.680Z,1755898073.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 237.773560 m,
bearing: 234.243859 deg,
approach rate: -0.637894 m/s,
LOS rate: 0.025842 deg/s,
cmd heading: 218.203125 deg,
new cmd heading: 218.226057 deg.
2025-08-22T21:27:53.681Z,1755898073.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.808763 target range: 239.692261 and range: 238.70 m.
2025-08-22T21:27:53.683Z,1755898073.683 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:53.683Z,1755898073.683 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:54.087Z,1755898074.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:54.094Z,1755898074.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 237.511963 m,
bearing: 234.255177 deg,
approach rate: -0.634959 m/s,
LOS rate: 0.027503 deg/s,
cmd heading: 218.226060 deg,
new cmd heading: 218.248722 deg.
2025-08-22T21:27:54.095Z,1755898074.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.809159 target range: 239.692261 and range: 238.70 m.
2025-08-22T21:27:54.427Z,1755898074.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:54.429Z,1755898074.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:54.444Z,1755898074.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 237.285217 m,
bearing: 234.264973 deg,
approach rate: -0.663562 m/s,
LOS rate: 0.028696 deg/s,
cmd heading: 218.248723 deg,
new cmd heading: 218.268334 deg.
2025-08-22T21:27:54.445Z,1755898074.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.809501 target range: 239.692261 and range: 238.70 m.
2025-08-22T21:27:54.666Z,1755898074.666 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:54.666Z,1755898074.666 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:54.667Z,1755898074.667 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:54.927Z,1755898074.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256445
2025-08-22T21:27:54.928Z,1755898074.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:54.935Z,1755898074.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 236.976303 m,
bearing: 234.278418 deg,
approach rate: -0.619090 m/s,
LOS rate: 0.026979 deg/s,
cmd heading: 218.268339 deg,
new cmd heading: 218.295263 deg.
2025-08-22T21:27:54.936Z,1755898074.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.809971 target range: 239.692261 and range: 238.70 m.
2025-08-22T21:27:55.179Z,1755898075.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508848
2025-08-22T21:27:55.331Z,1755898075.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:55.334Z,1755898075.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 236.716202 m,
bearing: 234.289671 deg,
approach rate: -0.644821 m/s,
LOS rate: 0.027928 deg/s,
cmd heading: 218.295264 deg,
new cmd heading: 218.317794 deg.
2025-08-22T21:27:55.335Z,1755898075.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810364 target range: 239.692261 and range: 238.70 m.
2025-08-22T21:27:55.431Z,1755898075.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760452
2025-08-22T21:27:55.683Z,1755898075.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012591
2025-08-22T21:27:55.918Z,1755898075.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:55.920Z,1755898075.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 236.354553 m,
bearing: 234.305301 deg,
approach rate: -0.617019 m/s,
LOS rate: 0.026708 deg/s,
cmd heading: 218.317790 deg,
new cmd heading: 218.349099 deg.
2025-08-22T21:27:55.922Z,1755898075.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810911 target range: 239.692261 and range: 238.70 m.
2025-08-22T21:27:55.935Z,1755898075.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264568
2025-08-22T21:27:56.188Z,1755898076.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517450
2025-08-22T21:27:56.234Z,1755898076.234 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:27:56.258Z,1755898076.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:56.288Z,1755898076.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 236.144592 m,
bearing: 234.314398 deg,
approach rate: -0.616048 m/s,
LOS rate: 0.026713 deg/s,
cmd heading: 218.349099 deg,
new cmd heading: 218.367308 deg.
2025-08-22T21:27:56.289Z,1755898076.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.811229 target range: 239.692261 and range: 238.70 m.
2025-08-22T21:27:56.439Z,1755898076.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768509
2025-08-22T21:27:56.656Z,1755898076.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:56.659Z,1755898076.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:56.665Z,1755898076.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 235.897919 m,
bearing: 234.325106 deg,
approach rate: -0.616206 m/s,
LOS rate: 0.026779 deg/s,
cmd heading: 218.367309 deg,
new cmd heading: 218.388748 deg.
2025-08-22T21:27:56.667Z,1755898076.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.811603 target range: 239.692261 and range: 238.70 m.
2025-08-22T21:27:56.691Z,1755898076.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020541
2025-08-22T21:27:56.943Z,1755898076.943 [DAT](INFO): DAT read: Rx Time:21:27:57.5607
2025-08-22T21:27:56.943Z,1755898076.943 [DAT](INFO): Rx dataTimestamp_ set to:1755898076.942712
2025-08-22T21:27:56.944Z,1755898076.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273456
2025-08-22T21:27:57.068Z,1755898077.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:57.087Z,1755898077.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 235.640030 m,
bearing: 234.336094 deg,
approach rate: -0.629765 m/s,
LOS rate: 0.026862 deg/s,
cmd heading: 218.388742 deg,
new cmd heading: 218.410741 deg.
2025-08-22T21:27:57.088Z,1755898077.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.811986 target range: 239.692261 and range: 238.70 m.
2025-08-22T21:27:57.195Z,1755898077.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524488
2025-08-22T21:27:57.238Z,1755898077.238 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:27:57.450Z,1755898077.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779227
2025-08-22T21:27:57.587Z,1755898077.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.69 m.
2025-08-22T21:27:57.589Z,1755898077.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.692261 m,
nav range: 235.313248 m,
bearing: 234.350053 deg,
approach rate: -0.630385 m/s,
LOS rate: 0.026966 deg/s,
cmd heading: 218.410735 deg,
new cmd heading: 218.438692 deg.
2025-08-22T21:27:57.590Z,1755898077.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.812474 target range: 239.692261 and range: 238.70 m.
2025-08-22T21:27:57.704Z,1755898077.704 [DAT](INFO): DAT read: 21:27:57.5607 LVL= 26384, 32753, 31170, 32755, AGC= 66, IDX= 143, 0.07,-2.733, 1.740, 3.142,-3.067, PHS= 0.436,-1.431,-0.119, RAW= 133.2, 13.3, CAL= 132.4, 14.4, ROT= 17.6, -14.4
2025-08-22T21:27:57.705Z,1755898077.705 [DAT](INFO): got valid direction response:
21:27:57.5607 LVL= 26384, 32753, 31170, 32755, AGC= 66, IDX= 143, 0.07,-2.733, 1.740, 3.142,-3.067, PHS= 0.436,-1.431,-0.119, RAW= 133.2, 13.3, CAL= 132.4, 14.4, ROT= 17.6, -14.4
2025-08-22T21:27:57.706Z,1755898077.706 [DAT](INFO): DAT read: Bearing 4.8, 10.7 (Local)
2025-08-22T21:27:57.706Z,1755898077.707 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.8, 10.7 (Local)
2025-08-22T21:27:57.708Z,1755898077.708 [DAT](INFO): DAT read: Range 11 to 50 : 236.3 m (Round-trip 315.1 ms) speed 0.4 m/s
2025-08-22T21:27:57.709Z,1755898077.709 [DAT](INFO): DAT read: user:2243>
2025-08-22T21:27:57.709Z,1755898077.709 [DAT](INFO): DAT read: Tx time:21:27:58.6915
2025-08-22T21:27:57.710Z,1755898077.710 [DAT](INFO): Ping request sent.
2025-08-22T21:27:57.710Z,1755898077.710 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:27:57.710Z,1755898077.710 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:27:57.711Z,1755898077.711 [DAT](INFO): direction in FSK: [0.923244,0.292870,0.248690]
2025-08-22T21:27:57.711Z,1755898077.711 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:57.711Z,1755898077.711 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:57.715Z,1755898077.715 [DAT](INFO): publishing transmit ping time
2025-08-22T21:27:57.715Z,1755898077.715 [DAT](INFO): publishing direction and range info
2025-08-22T21:27:58.012Z,1755898078.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 236.300003 m,
deltaT: 4.039826 s,
deltaX: -2.399994 m,
approachRate: -0.594083 m/s,
rangeRepo size: 4
2025-08-22T21:27:58.018Z,1755898078.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 234.833511 m,
bearing: 234.173563 deg,
lat: 36.779503 deg,
lon: -121.859901 deg,
deltaT: 7.818833 s,
deltaX: -4.858749 m,
approachRate: -0.621416 m/s,
posRepo size: 4
2025-08-22T21:27:58.019Z,1755898078.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.83 m.
2025-08-22T21:27:58.026Z,1755898078.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 234.833511 m,
nav range: 232.287720 m,
bearing: 234.456604 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.026966 deg/s,
cmd heading: 218.438698 deg,
new cmd heading: 218.461602 deg.
2025-08-22T21:27:58.030Z,1755898078.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.812874 target range: 234.833511 and range: 236.30 m.
2025-08-22T21:27:58.330Z,1755898078.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.83 m.
2025-08-22T21:27:58.334Z,1755898078.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 234.833511 m,
nav range: 232.072784 m,
bearing: 234.465246 deg,
approach rate: -0.673631 m/s,
LOS rate: 0.027109 deg/s,
cmd heading: 218.461606 deg,
new cmd heading: 218.478906 deg.
2025-08-22T21:27:58.336Z,1755898078.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.813176 target range: 234.833511 and range: 236.30 m.
2025-08-22T21:27:58.734Z,1755898078.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:27:58.736Z,1755898078.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.83 m.
2025-08-22T21:27:58.739Z,1755898078.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 234.833511 m,
nav range: 231.813065 m,
bearing: 234.475677 deg,
approach rate: -0.640488 m/s,
LOS rate: 0.025752 deg/s,
cmd heading: 218.478900 deg,
new cmd heading: 218.499785 deg.
2025-08-22T21:27:58.740Z,1755898078.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.813541 target range: 234.833511 and range: 236.30 m.
2025-08-22T21:27:58.958Z,1755898078.958 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:27:58.958Z,1755898078.958 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:27:58.959Z,1755898078.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:27:59.153Z,1755898079.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.83 m.
2025-08-22T21:27:59.156Z,1755898079.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 234.833511 m,
nav range: 231.539948 m,
bearing: 234.486214 deg,
approach rate: -0.655241 m/s,
LOS rate: 0.025309 deg/s,
cmd heading: 218.499787 deg,
new cmd heading: 218.520886 deg.
2025-08-22T21:27:59.158Z,1755898079.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.813909 target range: 234.833511 and range: 236.30 m.
2025-08-22T21:27:59.212Z,1755898079.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501528
2025-08-22T21:27:59.463Z,1755898079.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752695
2025-08-22T21:27:59.534Z,1755898079.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.83 m.
2025-08-22T21:27:59.537Z,1755898079.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 234.833511 m,
nav range: 231.290237 m,
bearing: 234.495852 deg,
approach rate: -0.654582 m/s,
LOS rate: 0.025293 deg/s,
cmd heading: 218.520892 deg,
new cmd heading: 218.540190 deg.
2025-08-22T21:27:59.539Z,1755898079.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.814246 target range: 234.833511 and range: 236.30 m.
2025-08-22T21:27:59.716Z,1755898079.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005774
2025-08-22T21:27:59.967Z,1755898079.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256747
2025-08-22T21:28:00.022Z,1755898080.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.83 m.
2025-08-22T21:28:00.025Z,1755898080.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 234.833511 m,
nav range: 230.983978 m,
bearing: 234.506636 deg,
approach rate: -0.627368 m/s,
LOS rate: 0.022119 deg/s,
cmd heading: 218.540194 deg,
new cmd heading: 218.561790 deg.
2025-08-22T21:28:00.030Z,1755898080.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.814623 target range: 234.833511 and range: 236.30 m.
2025-08-22T21:28:00.219Z,1755898080.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509547
2025-08-22T21:28:00.393Z,1755898080.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.83 m.
2025-08-22T21:28:00.396Z,1755898080.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 234.833511 m,
nav range: 230.716751 m,
bearing: 234.516031 deg,
approach rate: -0.720421 m/s,
LOS rate: 0.025358 deg/s,
cmd heading: 218.561791 deg,
new cmd heading: 218.580604 deg.
2025-08-22T21:28:00.397Z,1755898080.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.814951 target range: 234.833511 and range: 236.30 m.
2025-08-22T21:28:00.471Z,1755898080.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760849
2025-08-22T21:28:00.722Z,1755898080.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012654
2025-08-22T21:28:00.796Z,1755898080.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:00.799Z,1755898080.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.83 m.
2025-08-22T21:28:00.802Z,1755898080.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 234.833511 m,
nav range: 230.446671 m,
bearing: 234.525549 deg,
approach rate: -0.665023 m/s,
LOS rate: 0.023463 deg/s,
cmd heading: 218.580602 deg,
new cmd heading: 218.599660 deg.
2025-08-22T21:28:00.803Z,1755898080.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.815284 target range: 234.833511 and range: 236.30 m.
2025-08-22T21:28:00.975Z,1755898080.975 [DAT](INFO): DAT read: Rx Time:21:28:01.4322
2025-08-22T21:28:00.975Z,1755898080.975 [DAT](INFO): Rx dataTimestamp_ set to:1755898080.974760
2025-08-22T21:28:00.976Z,1755898080.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265769
2025-08-22T21:28:01.218Z,1755898081.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.83 m.
2025-08-22T21:28:01.221Z,1755898081.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 234.833511 m,
nav range: 230.162750 m,
bearing: 234.536067 deg,
approach rate: -0.677858 m/s,
LOS rate: 0.025144 deg/s,
cmd heading: 218.599658 deg,
new cmd heading: 218.620721 deg.
2025-08-22T21:28:01.227Z,1755898081.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516819
2025-08-22T21:28:01.242Z,1755898081.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.815651 target range: 234.833511 and range: 236.30 m.
2025-08-22T21:28:01.484Z,1755898081.484 [DAT](INFO): DAT read: 21:28:01.4322 LVL= 27696, 29073, 26610, 28259, AGC= 69, IDX= 148, 0.33, 2.274, 0.774, 2.216, 1.596, PHS= 0.780,-0.777, 0.576, RAW= 143.1, -7.9, CAL= 143.2, -9.4, ROT= 6.8, 9.4
2025-08-22T21:28:01.485Z,1755898081.485 [DAT](INFO): got valid direction response:
21:28:01.4322 LVL= 27696, 29073, 26610, 28259, AGC= 69, IDX= 148, 0.33, 2.274, 0.774, 2.216, 1.596, PHS= 0.780,-0.777, 0.576, RAW= 143.1, -7.9, CAL= 143.2, -9.4, ROT= 6.8, 9.4
2025-08-22T21:28:01.486Z,1755898081.486 [DAT](INFO): DAT read: Bearing 341.4, -0.2 (Local)
2025-08-22T21:28:01.487Z,1755898081.487 [DAT](INFO): Local bearing/azimuth received:
Bearing 341.4, -0.2 (Local)
2025-08-22T21:28:01.488Z,1755898081.488 [DAT](INFO): DAT read: Range 11 to 50 : 252.5 m (Round-trip 336.7 ms) speed 0.7 m/s
2025-08-22T21:28:01.489Z,1755898081.489 [DAT](INFO): DAT read: user:2244>
2025-08-22T21:28:01.489Z,1755898081.489 [DAT](INFO): DAT read: Tx time:21:28:02.5414
2025-08-22T21:28:01.490Z,1755898081.490 [DAT](INFO): Ping request sent.
2025-08-22T21:28:01.490Z,1755898081.490 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:01.490Z,1755898081.490 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:01.491Z,1755898081.491 [DAT](INFO): direction in FSK: [0.979632,0.116814,-0.163326]
2025-08-22T21:28:01.491Z,1755898081.491 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:01.492Z,1755898081.492 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:01.523Z,1755898081.523 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:01.523Z,1755898081.523 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:01.637Z,1755898081.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 252.500000 m,
deltaT: 3.780023 s,
deltaX: 16.199997 m,
approachRate: 4.285687 m/s,
rangeRepo size: 4
2025-08-22T21:28:01.643Z,1755898081.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 250.931961 m,
bearing: 225.491983 deg,
lat: 36.779493 deg,
lon: -121.859897 deg,
deltaT: 3.780023 s,
deltaX: 16.098450 m,
approachRate: 4.258823 m/s,
posRepo size: 4
2025-08-22T21:28:01.644Z,1755898081.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.93 m.
2025-08-22T21:28:01.651Z,1755898081.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.931961 m,
nav range: 230.255768 m,
bearing: 234.260875 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.025144 deg/s,
cmd heading: 218.620722 deg,
new cmd heading: 218.641752 deg.
2025-08-22T21:28:01.652Z,1755898081.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.816018 target range: 250.931961 and range: 252.50 m.
2025-08-22T21:28:02.031Z,1755898082.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.93 m.
2025-08-22T21:28:02.038Z,1755898082.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.931961 m,
nav range: 229.985077 m,
bearing: 234.271821 deg,
approach rate: -0.686061 m/s,
LOS rate: 0.027774 deg/s,
cmd heading: 218.641746 deg,
new cmd heading: 218.663662 deg.
2025-08-22T21:28:02.039Z,1755898082.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.816401 target range: 250.931961 and range: 252.50 m.
2025-08-22T21:28:02.418Z,1755898082.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.93 m.
2025-08-22T21:28:02.420Z,1755898082.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.931961 m,
nav range: 229.716049 m,
bearing: 234.282723 deg,
approach rate: -0.700806 m/s,
LOS rate: 0.028432 deg/s,
cmd heading: 218.663657 deg,
new cmd heading: 218.685486 deg.
2025-08-22T21:28:02.422Z,1755898082.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.816782 target range: 250.931961 and range: 252.50 m.
2025-08-22T21:28:02.804Z,1755898082.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:02.806Z,1755898082.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.93 m.
2025-08-22T21:28:02.809Z,1755898082.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.931961 m,
nav range: 229.434067 m,
bearing: 234.294155 deg,
approach rate: -0.721166 m/s,
LOS rate: 0.029275 deg/s,
cmd heading: 218.685486 deg,
new cmd heading: 218.708379 deg.
2025-08-22T21:28:02.810Z,1755898082.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.817181 target range: 250.931961 and range: 252.50 m.
2025-08-22T21:28:02.990Z,1755898082.990 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:02.990Z,1755898082.990 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:02.991Z,1755898082.991 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:03.236Z,1755898083.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.93 m.
2025-08-22T21:28:03.239Z,1755898083.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.931961 m,
nav range: 229.145752 m,
bearing: 234.305235 deg,
approach rate: -0.670278 m/s,
LOS rate: 0.025791 deg/s,
cmd heading: 218.708381 deg,
new cmd heading: 218.730568 deg.
2025-08-22T21:28:03.240Z,1755898083.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.817569 target range: 250.931961 and range: 252.50 m.
2025-08-22T21:28:03.243Z,1755898083.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753002
2025-08-22T21:28:03.495Z,1755898083.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004698
2025-08-22T21:28:03.615Z,1755898083.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.93 m.
2025-08-22T21:28:03.618Z,1755898083.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.931961 m,
nav range: 228.891556 m,
bearing: 234.314999 deg,
approach rate: -0.669977 m/s,
LOS rate: 0.025764 deg/s,
cmd heading: 218.730565 deg,
new cmd heading: 218.750116 deg.
2025-08-22T21:28:03.619Z,1755898083.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.817910 target range: 250.931961 and range: 252.50 m.
2025-08-22T21:28:03.746Z,1755898083.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256531
2025-08-22T21:28:03.998Z,1755898083.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508520
2025-08-22T21:28:04.046Z,1755898084.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.93 m.
2025-08-22T21:28:04.049Z,1755898084.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.931961 m,
nav range: 228.602783 m,
bearing: 234.326211 deg,
approach rate: -0.669966 m/s,
LOS rate: 0.026044 deg/s,
cmd heading: 218.750113 deg,
new cmd heading: 218.772564 deg.
2025-08-22T21:28:04.050Z,1755898084.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.818302 target range: 250.931961 and range: 252.50 m.
2025-08-22T21:28:04.251Z,1755898084.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761351
2025-08-22T21:28:04.423Z,1755898084.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.93 m.
2025-08-22T21:28:04.426Z,1755898084.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.931961 m,
nav range: 228.349747 m,
bearing: 234.336034 deg,
approach rate: -0.671528 m/s,
LOS rate: 0.026099 deg/s,
cmd heading: 218.772571 deg,
new cmd heading: 218.792240 deg.
2025-08-22T21:28:04.427Z,1755898084.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.818645 target range: 250.931961 and range: 252.50 m.
2025-08-22T21:28:04.503Z,1755898084.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012714
2025-08-22T21:28:04.755Z,1755898084.755 [DAT](INFO): DAT read: Rx Time:21:28:05.2789
2025-08-22T21:28:04.755Z,1755898084.755 [DAT](INFO): Rx dataTimestamp_ set to:1755898084.754700
2025-08-22T21:28:04.755Z,1755898084.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265644
2025-08-22T21:28:04.851Z,1755898084.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:04.854Z,1755898084.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.93 m.
2025-08-22T21:28:04.857Z,1755898084.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.931961 m,
nav range: 228.065201 m,
bearing: 234.347107 deg,
approach rate: -0.660210 m/s,
LOS rate: 0.025724 deg/s,
cmd heading: 218.792242 deg,
new cmd heading: 218.814416 deg.
2025-08-22T21:28:04.858Z,1755898084.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.819032 target range: 250.931961 and range: 252.50 m.
2025-08-22T21:28:05.008Z,1755898085.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517735
2025-08-22T21:28:05.264Z,1755898085.264 [DAT](INFO): DAT read: 21:28:05.2789 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 140, 0.15, 0.875,-1.013, 0.480, 0.478, PHS= 0.499,-1.446,-0.042, RAW= 134.4, 11.4, CAL= 133.9, 12.5, ROT= 16.1, -12.5
2025-08-22T21:28:05.265Z,1755898085.265 [DAT](INFO): got valid direction response:
21:28:05.2789 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 140, 0.15, 0.875,-1.013, 0.480, 0.478, PHS= 0.499,-1.446,-0.042, RAW= 134.4, 11.4, CAL= 133.9, 12.5, ROT= 16.1, -12.5
2025-08-22T21:28:05.266Z,1755898085.266 [DAT](INFO): DAT read: Bearing 2.9, 11.1 (Local)
2025-08-22T21:28:05.267Z,1755898085.267 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.9, 11.1 (Local)
2025-08-22T21:28:05.268Z,1755898085.268 [DAT](INFO): DAT read: Range 11 to 50 : 249.9 m (Round-trip 333.3 ms) speed 0.4 m/s
2025-08-22T21:28:05.269Z,1755898085.269 [DAT](INFO): DAT read: user:2245>
2025-08-22T21:28:05.270Z,1755898085.270 [DAT](INFO): DAT read: Tx time:21:28:06.3929
2025-08-22T21:28:05.270Z,1755898085.270 [DAT](INFO): Ping request sent.
2025-08-22T21:28:05.270Z,1755898085.270 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:05.270Z,1755898085.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:05.271Z,1755898085.271 [DAT](INFO): direction in FSK: [0.938005,0.270741,0.216440]
2025-08-22T21:28:05.271Z,1755898085.271 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:05.272Z,1755898085.272 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:05.279Z,1755898085.279 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:05.279Z,1755898085.279 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:05.464Z,1755898085.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 249.899994 m,
deltaT: 3.780087 s,
deltaX: -2.600006 m,
approachRate: -0.687817 m/s,
rangeRepo size: 4
2025-08-22T21:28:05.466Z,1755898085.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 248.345901 m,
bearing: 233.405121 deg,
lat: 36.779486 deg,
lon: -121.859897 deg,
deltaT: 3.780087 s,
deltaX: -2.586060 m,
approachRate: -0.684127 m/s,
posRepo size: 4
2025-08-22T21:28:05.467Z,1755898085.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:05.474Z,1755898085.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 228.127228 m,
bearing: 234.204937 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.025724 deg/s,
cmd heading: 218.814413 deg,
new cmd heading: 218.845751 deg.
2025-08-22T21:28:05.477Z,1755898085.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.819579 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:05.813Z,1755898085.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:05.816Z,1755898085.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 227.875092 m,
bearing: 234.215489 deg,
approach rate: -0.721086 m/s,
LOS rate: 0.030213 deg/s,
cmd heading: 218.845750 deg,
new cmd heading: 218.866878 deg.
2025-08-22T21:28:05.817Z,1755898085.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.819948 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:06.237Z,1755898086.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:06.240Z,1755898086.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 227.596344 m,
bearing: 234.227028 deg,
approach rate: -0.656987 m/s,
LOS rate: 0.027229 deg/s,
cmd heading: 218.866882 deg,
new cmd heading: 218.889988 deg.
2025-08-22T21:28:06.241Z,1755898086.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.820351 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:06.614Z,1755898086.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:06.616Z,1755898086.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 227.349472 m,
bearing: 234.237228 deg,
approach rate: -0.656375 m/s,
LOS rate: 0.027148 deg/s,
cmd heading: 218.889982 deg,
new cmd heading: 218.910404 deg.
2025-08-22T21:28:06.617Z,1755898086.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.820707 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:07.059Z,1755898087.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:07.062Z,1755898087.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:07.065Z,1755898087.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 227.055908 m,
bearing: 234.249457 deg,
approach rate: -0.655254 m/s,
LOS rate: 0.027332 deg/s,
cmd heading: 218.910404 deg,
new cmd heading: 218.934895 deg.
2025-08-22T21:28:07.098Z,1755898087.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.821135 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:07.278Z,1755898087.278 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:07.278Z,1755898087.278 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:07.279Z,1755898087.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:07.431Z,1755898087.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:07.434Z,1755898087.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 226.812286 m,
bearing: 234.259579 deg,
approach rate: -0.659202 m/s,
LOS rate: 0.027417 deg/s,
cmd heading: 218.934897 deg,
new cmd heading: 218.955162 deg.
2025-08-22T21:28:07.435Z,1755898087.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.821488 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:07.531Z,1755898087.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260962
2025-08-22T21:28:07.783Z,1755898087.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512652
2025-08-22T21:28:07.861Z,1755898087.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:07.864Z,1755898087.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 226.529556 m,
bearing: 234.271330 deg,
approach rate: -0.657235 m/s,
LOS rate: 0.027350 deg/s,
cmd heading: 218.955156 deg,
new cmd heading: 218.978687 deg.
2025-08-22T21:28:07.865Z,1755898087.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.821899 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:08.035Z,1755898088.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764616
2025-08-22T21:28:08.282Z,1755898088.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:08.285Z,1755898088.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 226.260300 m,
bearing: 234.282173 deg,
approach rate: -0.647931 m/s,
LOS rate: 0.026124 deg/s,
cmd heading: 218.978692 deg,
new cmd heading: 219.000404 deg.
2025-08-22T21:28:08.287Z,1755898088.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016772
2025-08-22T21:28:08.288Z,1755898088.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.822278 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:08.539Z,1755898088.539 [DAT](INFO): DAT read: Rx Time:21:28:09.0759
2025-08-22T21:28:08.540Z,1755898088.540 [DAT](INFO): Rx dataTimestamp_ set to:1755898088.539332
2025-08-22T21:28:08.540Z,1755898088.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270176
2025-08-22T21:28:08.653Z,1755898088.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:08.656Z,1755898088.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 226.013016 m,
bearing: 234.292121 deg,
approach rate: -0.657548 m/s,
LOS rate: 0.026483 deg/s,
cmd heading: 219.000399 deg,
new cmd heading: 219.020318 deg.
2025-08-22T21:28:08.657Z,1755898088.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.822626 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:08.791Z,1755898088.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520549
2025-08-22T21:28:09.052Z,1755898089.052 [DAT](INFO): DAT read: 21:28:09.0759 LVL= 28912, 32753, 32754, 32755, AGC= 66, IDX= 388, 0.23,-0.109,-1.935,-0.443,-0.502, PHS= 0.495,-1.388, 0.015, RAW= 135.8, 10.4, CAL= 135.4, 11.4, ROT= 14.6, -11.4
2025-08-22T21:28:09.053Z,1755898089.053 [DAT](INFO): got valid direction response:
21:28:09.0759 LVL= 28912, 32753, 32754, 32755, AGC= 66, IDX= 388, 0.23,-0.109,-1.935,-0.443,-0.502, PHS= 0.495,-1.388, 0.015, RAW= 135.8, 10.4, CAL= 135.4, 11.4, ROT= 14.6, -11.4
2025-08-22T21:28:09.054Z,1755898089.054 [DAT](INFO): DAT read: Bearing 2.0, 10.7 (Local)
2025-08-22T21:28:09.054Z,1755898089.054 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.0, 10.7 (Local)
2025-08-22T21:28:09.055Z,1755898089.055 [DAT](INFO): DAT read: Range 11 to 50 : 209.1 m (Round-trip 278.9 ms) speed 0.4 m/s
2025-08-22T21:28:09.056Z,1755898089.056 [DAT](INFO): DAT read: user:2246>
2025-08-22T21:28:09.057Z,1755898089.057 [DAT](INFO): DAT read: Tx time:21:28:10.1914
2025-08-22T21:28:09.057Z,1755898089.057 [DAT](INFO): Ping request sent.
2025-08-22T21:28:09.057Z,1755898089.057 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:09.098Z,1755898089.098 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:09.099Z,1755898089.099 [DAT](INFO): direction in FSK: [0.948617,0.247096,0.197657]
2025-08-22T21:28:09.099Z,1755898089.099 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:09.100Z,1755898089.100 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:09.107Z,1755898089.107 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:09.107Z,1755898089.107 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:09.236Z,1755898089.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 209.100006 m,
deltaT: 3.785425 s,
deltaX: -40.799988 m,
approachRate: -10.778179 m/s,
rangeRepo size: 4
2025-08-22T21:28:09.237Z,1755898089.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:09.248Z,1755898089.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 225.650787 m,
bearing: 234.307019 deg,
approach rate: -0.621365 m/s,
LOS rate: 0.025597 deg/s,
cmd heading: 219.020316 deg,
new cmd heading: 219.050159 deg.
2025-08-22T21:28:09.249Z,1755898089.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.823147 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:09.578Z,1755898089.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:09.580Z,1755898089.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:09.583Z,1755898089.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 225.412689 m,
bearing: 234.316790 deg,
approach rate: -0.690446 m/s,
LOS rate: 0.028364 deg/s,
cmd heading: 219.050164 deg,
new cmd heading: 219.069726 deg.
2025-08-22T21:28:09.584Z,1755898089.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.823488 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:09.799Z,1755898089.799 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:09.800Z,1755898089.800 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:09.800Z,1755898089.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:10.021Z,1755898090.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:10.045Z,1755898090.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 225.151810 m,
bearing: 234.327443 deg,
approach rate: -0.594393 m/s,
LOS rate: 0.024300 deg/s,
cmd heading: 219.069725 deg,
new cmd heading: 219.091056 deg.
2025-08-22T21:28:10.051Z,1755898090.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993413
2025-08-22T21:28:10.052Z,1755898090.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.823860 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:10.303Z,1755898090.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245952
2025-08-22T21:28:10.546Z,1755898090.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:10.549Z,1755898090.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 224.772232 m,
bearing: 234.342681 deg,
approach rate: -0.720438 m/s,
LOS rate: 0.028969 deg/s,
cmd heading: 219.091049 deg,
new cmd heading: 219.121575 deg.
2025-08-22T21:28:10.550Z,1755898090.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.824393 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:10.555Z,1755898090.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497353
2025-08-22T21:28:10.807Z,1755898090.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749803
2025-08-22T21:28:10.932Z,1755898090.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:10.935Z,1755898090.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 224.511948 m,
bearing: 234.353114 deg,
approach rate: -0.674999 m/s,
LOS rate: 0.027088 deg/s,
cmd heading: 219.121580 deg,
new cmd heading: 219.142471 deg.
2025-08-22T21:28:10.936Z,1755898090.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.824758 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:11.063Z,1755898091.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005189
2025-08-22T21:28:11.312Z,1755898091.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254748
2025-08-22T21:28:11.399Z,1755898091.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:11.402Z,1755898091.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 224.199585 m,
bearing: 234.366395 deg,
approach rate: -0.669143 m/s,
LOS rate: 0.028490 deg/s,
cmd heading: 219.142467 deg,
new cmd heading: 219.169066 deg.
2025-08-22T21:28:11.403Z,1755898091.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.825222 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:11.563Z,1755898091.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505311
2025-08-22T21:28:11.815Z,1755898091.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757937
2025-08-22T21:28:11.866Z,1755898091.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:11.868Z,1755898091.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:11.871Z,1755898091.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 223.885178 m,
bearing: 234.379749 deg,
approach rate: -0.669557 m/s,
LOS rate: 0.028478 deg/s,
cmd heading: 219.169064 deg,
new cmd heading: 219.195809 deg.
2025-08-22T21:28:11.872Z,1755898091.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.825689 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:12.069Z,1755898092.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011102
2025-08-22T21:28:12.296Z,1755898092.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:12.303Z,1755898092.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 223.612900 m,
bearing: 234.391342 deg,
approach rate: -0.636410 m/s,
LOS rate: 0.027131 deg/s,
cmd heading: 219.195811 deg,
new cmd heading: 219.219026 deg.
2025-08-22T21:28:12.310Z,1755898092.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.826094 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:12.320Z,1755898092.320 [DAT](INFO): DAT read: Rx Time:21:28:12.9244
2025-08-22T21:28:12.320Z,1755898092.320 [DAT](INFO): Rx dataTimestamp_ set to:1755898092.320136
2025-08-22T21:28:12.322Z,1755898092.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264073
2025-08-22T21:28:12.570Z,1755898092.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513270
2025-08-22T21:28:12.680Z,1755898092.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m.
2025-08-22T21:28:12.686Z,1755898092.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 248.345901 m,
nav range: 223.339844 m,
bearing: 234.402951 deg,
approach rate: -0.716436 m/s,
LOS rate: 0.030496 deg/s,
cmd heading: 219.219020 deg,
new cmd heading: 219.242265 deg.
2025-08-22T21:28:12.687Z,1755898092.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.826499 target range: 248.345901 and range: 249.90 m.
2025-08-22T21:28:12.840Z,1755898092.840 [DAT](INFO): DAT read: 21:28:12.9244 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 157,-0.12,-2.868, 1.571, 3.123, 3.106, PHS= 0.411,-1.490,-0.027, RAW= 137.3, 12.8, CAL= 136.6, 13.8, ROT= 13.4, -13.8
2025-08-22T21:28:12.841Z,1755898092.841 [DAT](INFO): got valid direction response:
21:28:12.9244 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 157,-0.12,-2.868, 1.571, 3.123, 3.106, PHS= 0.411,-1.490,-0.027, RAW= 137.3, 12.8, CAL= 136.6, 13.8, ROT= 13.4, -13.8
2025-08-22T21:28:12.842Z,1755898092.842 [DAT](INFO): DAT read: Bearing 4.6, 10.6 (Local)
2025-08-22T21:28:12.842Z,1755898092.842 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.6, 10.6 (Local)
2025-08-22T21:28:12.844Z,1755898092.844 [DAT](INFO): DAT read: Range 11 to 50 : 246.6 m (Round-trip 328.9 ms) speed 0.1 m/s
2025-08-22T21:28:12.844Z,1755898092.844 [DAT](INFO): DAT read: user:2247>
2025-08-22T21:28:12.846Z,1755898092.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:12.850Z,1755898092.850 [DAT](INFO): direction in FSK: [0.944696,0.225058,0.238533]
2025-08-22T21:28:12.850Z,1755898092.850 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:12.854Z,1755898092.854 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:12.854Z,1755898092.854 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:12.854Z,1755898092.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:13.078Z,1755898093.078 [DAT](INFO): DAT read: Tx time:21:28:14.0414
2025-08-22T21:28:13.080Z,1755898093.080 [DAT](INFO): Ping request sent.
2025-08-22T21:28:13.080Z,1755898093.080 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:13.081Z,1755898093.081 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:13.084Z,1755898093.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004597
2025-08-22T21:28:13.171Z,1755898093.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 246.600006 m,
deltaT: 7.566175 s,
deltaX: -3.299988 m,
approachRate: -0.436150 m/s,
rangeRepo size: 4
2025-08-22T21:28:13.178Z,1755898093.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 245.068146 m,
bearing: 231.292367 deg,
lat: 36.779367 deg,
lon: -121.859897 deg,
deltaT: 7.566175 s,
deltaX: -3.277756 m,
approachRate: -0.433212 m/s,
posRepo size: 4
2025-08-22T21:28:13.179Z,1755898093.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:13.188Z,1755898093.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 230.996475 m,
bearing: 231.743931 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.030496 deg/s,
cmd heading: 219.242269 deg,
new cmd heading: 219.272022 deg.
2025-08-22T21:28:13.189Z,1755898093.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.827019 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:13.328Z,1755898093.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248100
2025-08-22T21:28:13.576Z,1755898093.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:13.579Z,1755898093.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499137
2025-08-22T21:28:13.580Z,1755898093.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 230.693604 m,
bearing: 231.752881 deg,
approach rate: -0.737433 m/s,
LOS rate: 0.021819 deg/s,
cmd heading: 219.272022 deg,
new cmd heading: 219.289944 deg.
2025-08-22T21:28:13.581Z,1755898093.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.827332 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:13.831Z,1755898093.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751466
2025-08-22T21:28:13.964Z,1755898093.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:13.966Z,1755898093.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:13.969Z,1755898093.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 230.413147 m,
bearing: 231.761158 deg,
approach rate: -0.718072 m/s,
LOS rate: 0.021219 deg/s,
cmd heading: 219.289944 deg,
new cmd heading: 219.306519 deg.
2025-08-22T21:28:13.970Z,1755898093.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.827621 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:14.086Z,1755898094.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005927
2025-08-22T21:28:14.335Z,1755898094.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255101
2025-08-22T21:28:14.392Z,1755898094.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:14.399Z,1755898094.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 230.132538 m,
bearing: 231.768772 deg,
approach rate: -0.658495 m/s,
LOS rate: 0.017889 deg/s,
cmd heading: 219.306514 deg,
new cmd heading: 219.321761 deg.
2025-08-22T21:28:14.400Z,1755898094.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.827887 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:14.586Z,1755898094.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507010
2025-08-22T21:28:14.760Z,1755898094.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:14.763Z,1755898094.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 229.874466 m,
bearing: 231.775769 deg,
approach rate: -0.702026 m/s,
LOS rate: 0.019056 deg/s,
cmd heading: 219.321759 deg,
new cmd heading: 219.335769 deg.
2025-08-22T21:28:14.764Z,1755898094.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.828131 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:14.839Z,1755898094.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759128
2025-08-22T21:28:15.093Z,1755898095.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013144
2025-08-22T21:28:15.288Z,1755898095.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:15.295Z,1755898095.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 229.510101 m,
bearing: 231.786965 deg,
approach rate: -0.689840 m/s,
LOS rate: 0.021230 deg/s,
cmd heading: 219.335775 deg,
new cmd heading: 219.358201 deg.
2025-08-22T21:28:15.296Z,1755898095.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.828523 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:15.343Z,1755898095.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263531
2025-08-22T21:28:15.596Z,1755898095.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516148
2025-08-22T21:28:15.662Z,1755898095.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:15.665Z,1755898095.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 229.239609 m,
bearing: 231.795248 deg,
approach rate: -0.723178 m/s,
LOS rate: 0.022171 deg/s,
cmd heading: 219.358205 deg,
new cmd heading: 219.374791 deg.
2025-08-22T21:28:15.666Z,1755898095.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.828812 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:15.846Z,1755898095.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766957
2025-08-22T21:28:16.091Z,1755898096.091 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:16.102Z,1755898096.102 [DAT](INFO): DAT read: Rx Time:21:28:16.7436
2025-08-22T21:28:16.104Z,1755898096.104 [DAT](INFO): Rx dataTimestamp_ set to:1755898096.102899
2025-08-22T21:28:16.111Z,1755898096.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030570
2025-08-22T21:28:16.127Z,1755898096.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:16.142Z,1755898096.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 228.949936 m,
bearing: 231.804081 deg,
approach rate: -0.631262 m/s,
LOS rate: 0.019275 deg/s,
cmd heading: 219.374789 deg,
new cmd heading: 219.392479 deg.
2025-08-22T21:28:16.143Z,1755898096.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829121 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:16.354Z,1755898096.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274406
2025-08-22T21:28:16.535Z,1755898096.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:16.537Z,1755898096.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 228.646851 m,
bearing: 231.813573 deg,
approach rate: -0.741853 m/s,
LOS rate: 0.023263 deg/s,
cmd heading: 219.392479 deg,
new cmd heading: 219.411488 deg.
2025-08-22T21:28:16.543Z,1755898096.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829453 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:16.606Z,1755898096.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525441
2025-08-22T21:28:16.860Z,1755898096.860 [DAT](INFO): DAT read: 21:28:16.7436 LVL= 17104, 22705, 18322, 17795, AGC= 66, IDX= 121, 0.47, 2.708, 1.372, 2.672, 1.957, PHS= 0.853,-0.540, 0.671, RAW= 143.1, -14.9, CAL= 143.7, -17.7, ROT= 6.3, 17.7
2025-08-22T21:28:16.861Z,1755898096.861 [DAT](INFO): got valid direction response:
21:28:16.7436 LVL= 17104, 22705, 18322, 17795, AGC= 66, IDX= 121, 0.47, 2.708, 1.372, 2.672, 1.957, PHS= 0.853,-0.540, 0.671, RAW= 143.1, -14.9, CAL= 143.7, -17.7, ROT= 6.3, 17.7
2025-08-22T21:28:16.863Z,1755898096.863 [DAT](INFO): DAT read: Bearing 333.4, 3.2 (Local)
2025-08-22T21:28:16.863Z,1755898096.863 [DAT](INFO): Local bearing/azimuth received:
Bearing 333.4, 3.2 (Local)
2025-08-22T21:28:16.864Z,1755898096.864 [DAT](INFO): DAT read: Range 11 to 50 : 223.6 m (Round-trip 298.2 ms) speed 0.0 m/s
2025-08-22T21:28:16.865Z,1755898096.865 [DAT](INFO): DAT read: user:2248>
2025-08-22T21:28:16.866Z,1755898096.866 [DAT](INFO): DAT read: Tx time:21:28:17.8413
2025-08-22T21:28:16.866Z,1755898096.866 [DAT](INFO): Ping request sent.
2025-08-22T21:28:16.866Z,1755898096.866 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:16.867Z,1755898096.867 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:16.868Z,1755898096.868 [DAT](INFO): direction in FSK: [0.946908,0.104540,-0.304033]
2025-08-22T21:28:16.868Z,1755898096.868 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:16.868Z,1755898096.868 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:16.872Z,1755898096.872 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:16.872Z,1755898096.872 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:16.992Z,1755898096.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 223.600006 m,
deltaT: 4.029775 s,
deltaX: -23.000000 m,
approachRate: -5.707515 m/s,
rangeRepo size: 4
2025-08-22T21:28:16.992Z,1755898096.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:16.999Z,1755898096.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 228.323975 m,
bearing: 231.823668 deg,
approach rate: -0.700016 m/s,
LOS rate: 0.021917 deg/s,
cmd heading: 219.411494 deg,
new cmd heading: 219.431712 deg.
2025-08-22T21:28:17.000Z,1755898097.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829806 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:17.379Z,1755898097.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:17.382Z,1755898097.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 228.043594 m,
bearing: 231.832653 deg,
approach rate: -0.721779 m/s,
LOS rate: 0.023160 deg/s,
cmd heading: 219.431712 deg,
new cmd heading: 219.449705 deg.
2025-08-22T21:28:17.383Z,1755898097.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.830120 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:17.756Z,1755898097.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:17.759Z,1755898097.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 227.793579 m,
bearing: 231.840685 deg,
approach rate: -0.663341 m/s,
LOS rate: 0.021332 deg/s,
cmd heading: 219.449702 deg,
new cmd heading: 219.465782 deg.
2025-08-22T21:28:17.760Z,1755898097.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.830400 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:18.210Z,1755898098.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:18.213Z,1755898098.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:18.231Z,1755898098.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 227.466827 m,
bearing: 231.851421 deg,
approach rate: -0.716259 m/s,
LOS rate: 0.023570 deg/s,
cmd heading: 219.465781 deg,
new cmd heading: 219.487285 deg.
2025-08-22T21:28:18.232Z,1755898098.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.830776 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:18.367Z,1755898098.367 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:18.367Z,1755898098.367 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:18.367Z,1755898098.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:18.590Z,1755898098.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:18.592Z,1755898098.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 227.203888 m,
bearing: 231.860075 deg,
approach rate: -0.697343 m/s,
LOS rate: 0.022976 deg/s,
cmd heading: 219.487282 deg,
new cmd heading: 219.504608 deg.
2025-08-22T21:28:18.594Z,1755898098.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.831078 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:18.618Z,1755898098.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752143
2025-08-22T21:28:18.871Z,1755898098.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004196
2025-08-22T21:28:19.006Z,1755898099.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:19.009Z,1755898099.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 226.913422 m,
bearing: 231.869617 deg,
approach rate: -0.696771 m/s,
LOS rate: 0.022919 deg/s,
cmd heading: 219.504603 deg,
new cmd heading: 219.523712 deg.
2025-08-22T21:28:19.010Z,1755898099.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.831412 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:19.123Z,1755898099.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256264
2025-08-22T21:28:19.375Z,1755898099.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508343
2025-08-22T21:28:19.435Z,1755898099.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:19.438Z,1755898099.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 226.620880 m,
bearing: 231.877905 deg,
approach rate: -0.682943 m/s,
LOS rate: 0.019374 deg/s,
cmd heading: 219.523714 deg,
new cmd heading: 219.540312 deg.
2025-08-22T21:28:19.439Z,1755898099.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.831701 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:19.626Z,1755898099.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760140
2025-08-22T21:28:19.803Z,1755898099.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:19.808Z,1755898099.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 226.364914 m,
bearing: 231.885191 deg,
approach rate: -0.697716 m/s,
LOS rate: 0.019884 deg/s,
cmd heading: 219.540312 deg,
new cmd heading: 219.554901 deg.
2025-08-22T21:28:19.810Z,1755898099.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.831956 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:19.879Z,1755898099.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012329
2025-08-22T21:28:20.133Z,1755898100.133 [DAT](INFO): DAT read: Rx Time:21:28:20.5661
2025-08-22T21:28:20.135Z,1755898100.135 [DAT](INFO): Rx dataTimestamp_ set to:1755898100.134165
2025-08-22T21:28:20.137Z,1755898100.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270240
2025-08-22T21:28:20.281Z,1755898100.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:20.284Z,1755898100.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:20.294Z,1755898100.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 226.027054 m,
bearing: 231.892794 deg,
approach rate: -0.700061 m/s,
LOS rate: 0.015777 deg/s,
cmd heading: 219.554901 deg,
new cmd heading: 219.570129 deg.
2025-08-22T21:28:20.295Z,1755898100.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.832222 target range: 245.068146 and range: 246.60 m.
2025-08-22T21:28:20.383Z,1755898100.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516252
2025-08-22T21:28:20.640Z,1755898100.640 [DAT](INFO): DAT read: 21:28:20.5661 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 159, 0.45,-3.078, 1.888,-2.963, 2.239, PHS= 1.068,-0.306, 1.037, RAW= 148.9, -25.1, CAL= 150.4, -26.6, ROT= 359.6, 26.6
2025-08-22T21:28:20.641Z,1755898100.641 [DAT](INFO): got valid direction response:
21:28:20.5661 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 159, 0.45,-3.078, 1.888,-2.963, 2.239, PHS= 1.068,-0.306, 1.037, RAW= 148.9, -25.1, CAL= 150.4, -26.6, ROT= 359.6, 26.6
2025-08-22T21:28:20.642Z,1755898100.642 [DAT](INFO): DAT read: Bearing 325.0, -2.7 (Local)
2025-08-22T21:28:20.643Z,1755898100.643 [DAT](INFO): Local bearing/azimuth received:
Bearing 325.0, -2.7 (Local)
2025-08-22T21:28:20.644Z,1755898100.644 [DAT](INFO): DAT read: Range 11 to 50 : 240.5 m (Round-trip 320.7 ms) speed 0.3 m/s
2025-08-22T21:28:20.645Z,1755898100.645 [DAT](INFO): DAT read: user:2249>
2025-08-22T21:28:20.646Z,1755898100.646 [DAT](INFO): DAT read: Tx time:21:28:21.6913
2025-08-22T21:28:20.646Z,1755898100.646 [DAT](INFO): Ping request sent.
2025-08-22T21:28:20.646Z,1755898100.646 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:20.646Z,1755898100.646 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:20.647Z,1755898100.647 [DAT](INFO): direction in FSK: [0.894132,-0.006242,-0.447759]
2025-08-22T21:28:20.648Z,1755898100.648 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:20.648Z,1755898100.648 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:20.663Z,1755898100.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 240.500000 m,
deltaT: 7.809872 s,
deltaX: -6.100006 m,
approachRate: -0.781063 m/s,
rangeRepo size: 4
2025-08-22T21:28:20.663Z,1755898100.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:20.671Z,1755898100.671 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:20.671Z,1755898100.671 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:20.675Z,1755898100.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 225.784317 m,
bearing: 231.898242 deg,
approach rate: -0.642327 m/s,
LOS rate: 0.014432 deg/s,
cmd heading: 219.570132 deg,
new cmd heading: 219.581040 deg.
2025-08-22T21:28:20.676Z,1755898100.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.832412 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:21.059Z,1755898101.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:21.062Z,1755898101.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 225.493210 m,
bearing: 231.904773 deg,
approach rate: -0.732974 m/s,
LOS rate: 0.016464 deg/s,
cmd heading: 219.581033 deg,
new cmd heading: 219.594111 deg.
2025-08-22T21:28:21.063Z,1755898101.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.832640 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:21.462Z,1755898101.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:21.465Z,1755898101.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 225.210556 m,
bearing: 231.911478 deg,
approach rate: -0.702336 m/s,
LOS rate: 0.016683 deg/s,
cmd heading: 219.594106 deg,
new cmd heading: 219.607534 deg.
2025-08-22T21:28:21.466Z,1755898101.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.832875 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:21.847Z,1755898101.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:21.850Z,1755898101.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 224.942947 m,
bearing: 231.917874 deg,
approach rate: -0.694510 m/s,
LOS rate: 0.016617 deg/s,
cmd heading: 219.607534 deg,
new cmd heading: 219.620340 deg.
2025-08-22T21:28:21.851Z,1755898101.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833098 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:22.297Z,1755898102.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:22.301Z,1755898102.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:22.322Z,1755898102.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 224.645233 m,
bearing: 231.925247 deg,
approach rate: -0.656846 m/s,
LOS rate: 0.016289 deg/s,
cmd heading: 219.620334 deg,
new cmd heading: 219.635100 deg.
2025-08-22T21:28:22.323Z,1755898102.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833356 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:22.398Z,1755898102.398 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:22.399Z,1755898102.399 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:22.399Z,1755898102.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:22.651Z,1755898102.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004531
2025-08-22T21:28:22.654Z,1755898102.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:22.657Z,1755898102.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 224.393326 m,
bearing: 231.931498 deg,
approach rate: -0.711878 m/s,
LOS rate: 0.017684 deg/s,
cmd heading: 219.635101 deg,
new cmd heading: 219.647617 deg.
2025-08-22T21:28:22.658Z,1755898102.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833574 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:22.902Z,1755898102.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256448
2025-08-22T21:28:23.069Z,1755898103.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:23.075Z,1755898103.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 224.111099 m,
bearing: 231.938496 deg,
approach rate: -0.681011 m/s,
LOS rate: 0.016909 deg/s,
cmd heading: 219.647614 deg,
new cmd heading: 219.661629 deg.
2025-08-22T21:28:23.076Z,1755898103.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833819 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:23.156Z,1755898103.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509742
2025-08-22T21:28:23.406Z,1755898103.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760381
2025-08-22T21:28:23.490Z,1755898103.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:23.497Z,1755898103.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 223.828186 m,
bearing: 231.945471 deg,
approach rate: -0.672919 m/s,
LOS rate: 0.016610 deg/s,
cmd heading: 219.661629 deg,
new cmd heading: 219.675596 deg.
2025-08-22T21:28:23.498Z,1755898103.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.834062 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:23.658Z,1755898103.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012439
2025-08-22T21:28:23.862Z,1755898103.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:23.865Z,1755898103.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 223.578262 m,
bearing: 231.951633 deg,
approach rate: -0.669323 m/s,
LOS rate: 0.016520 deg/s,
cmd heading: 219.675590 deg,
new cmd heading: 219.687928 deg.
2025-08-22T21:28:23.866Z,1755898103.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.834278 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:23.911Z,1755898103.911 [DAT](INFO): DAT read: Rx Time:21:28:24.3870
2025-08-22T21:28:23.911Z,1755898103.911 [DAT](INFO): Rx dataTimestamp_ set to:1755898103.911065
2025-08-22T21:28:23.912Z,1755898103.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265848
2025-08-22T21:28:24.163Z,1755898104.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517109
2025-08-22T21:28:24.347Z,1755898104.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:24.349Z,1755898104.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:24.372Z,1755898104.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 223.251266 m,
bearing: 231.960301 deg,
approach rate: -0.672549 m/s,
LOS rate: 0.017855 deg/s,
cmd heading: 219.687926 deg,
new cmd heading: 219.705288 deg.
2025-08-22T21:28:24.373Z,1755898104.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.834581 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:24.420Z,1755898104.420 [DAT](INFO): DAT read: 21:28:24.3870 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 150, 0.01,-0.248,-2.059,-0.442,-0.568, PHS= 0.421,-1.446, 0.081, RAW= 140.2, 11.0, CAL= 139.6, 11.9, ROT= 10.4, -11.9
2025-08-22T21:28:24.422Z,1755898104.422 [DAT](INFO): got valid direction response:
21:28:24.3870 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 150, 0.01,-0.248,-2.059,-0.442,-0.568, PHS= 0.421,-1.446, 0.081, RAW= 140.2, 11.0, CAL= 139.6, 11.9, ROT= 10.4, -11.9
2025-08-22T21:28:24.423Z,1755898104.423 [DAT](INFO): DAT read: Bearing 3.1, 10.7 (Local)
2025-08-22T21:28:24.423Z,1755898104.423 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.1, 10.7 (Local)
2025-08-22T21:28:24.424Z,1755898104.424 [DAT](INFO): DAT read: Range 11 to 50 : 218.7 m (Round-trip 291.6 ms) speed 0.4 m/s
2025-08-22T21:28:24.425Z,1755898104.425 [DAT](INFO): DAT read: user:2250>
2025-08-22T21:28:24.426Z,1755898104.426 [DAT](INFO): DAT read: Tx time:21:28:25.4913
2025-08-22T21:28:24.426Z,1755898104.426 [DAT](INFO): Ping request sent.
2025-08-22T21:28:24.426Z,1755898104.426 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:24.426Z,1755898104.426 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:24.427Z,1755898104.427 [DAT](INFO): direction in FSK: [0.962434,0.176640,0.206204]
2025-08-22T21:28:24.428Z,1755898104.428 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:24.428Z,1755898104.428 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:24.454Z,1755898104.454 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:24.454Z,1755898104.454 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:24.746Z,1755898104.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 218.699997 m,
deltaT: 3.780231 s,
deltaX: -21.800003 m,
approachRate: -5.766844 m/s,
rangeRepo size: 4
2025-08-22T21:28:24.746Z,1755898104.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:24.749Z,1755898104.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 222.986145 m,
bearing: 231.967309 deg,
approach rate: -0.669286 m/s,
LOS rate: 0.017712 deg/s,
cmd heading: 219.705288 deg,
new cmd heading: 219.719321 deg.
2025-08-22T21:28:24.750Z,1755898104.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.834826 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:25.162Z,1755898105.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:25.166Z,1755898105.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 222.710709 m,
bearing: 231.974579 deg,
approach rate: -0.660739 m/s,
LOS rate: 0.017460 deg/s,
cmd heading: 219.719317 deg,
new cmd heading: 219.733874 deg.
2025-08-22T21:28:25.168Z,1755898105.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.835080 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:25.574Z,1755898105.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:25.577Z,1755898105.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 222.424438 m,
bearing: 231.982133 deg,
approach rate: -0.693874 m/s,
LOS rate: 0.018333 deg/s,
cmd heading: 219.733879 deg,
new cmd heading: 219.749007 deg.
2025-08-22T21:28:25.578Z,1755898105.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.835344 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:25.968Z,1755898105.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:25.971Z,1755898105.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 222.169693 m,
bearing: 231.988809 deg,
approach rate: -0.647264 m/s,
LOS rate: 0.016984 deg/s,
cmd heading: 219.749001 deg,
new cmd heading: 219.762370 deg.
2025-08-22T21:28:25.972Z,1755898105.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.835577 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:26.460Z,1755898106.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:26.468Z,1755898106.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:26.475Z,1755898106.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 221.835648 m,
bearing: 231.997702 deg,
approach rate: -0.667590 m/s,
LOS rate: 0.017799 deg/s,
cmd heading: 219.762375 deg,
new cmd heading: 219.780187 deg.
2025-08-22T21:28:26.476Z,1755898106.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.835888 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:26.685Z,1755898106.685 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:26.686Z,1755898106.686 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:26.686Z,1755898106.686 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:26.855Z,1755898106.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:26.861Z,1755898106.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 221.557648 m,
bearing: 232.005113 deg,
approach rate: -0.719339 m/s,
LOS rate: 0.019200 deg/s,
cmd heading: 219.780188 deg,
new cmd heading: 219.795028 deg.
2025-08-22T21:28:26.863Z,1755898106.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.836147 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:26.935Z,1755898106.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509128
2025-08-22T21:28:27.187Z,1755898107.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760965
2025-08-22T21:28:27.325Z,1755898107.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:27.331Z,1755898107.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 221.281967 m,
bearing: 232.012484 deg,
approach rate: -0.586642 m/s,
LOS rate: 0.015706 deg/s,
cmd heading: 219.795023 deg,
new cmd heading: 219.809784 deg.
2025-08-22T21:28:27.332Z,1755898107.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.836405 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:27.374Z,1755898107.374 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:28:27.440Z,1755898107.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013373
2025-08-22T21:28:27.691Z,1755898107.691 [DAT](INFO): DAT read: Rx Time:21:28:28.1832
2025-08-22T21:28:27.691Z,1755898107.691 [DAT](INFO): Rx dataTimestamp_ set to:1755898107.690716
2025-08-22T21:28:27.692Z,1755898107.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265297
2025-08-22T21:28:27.750Z,1755898107.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:27.752Z,1755898107.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 220.934677 m,
bearing: 232.021507 deg,
approach rate: -0.817740 m/s,
LOS rate: 0.021277 deg/s,
cmd heading: 219.809790 deg,
new cmd heading: 219.827863 deg.
2025-08-22T21:28:27.753Z,1755898107.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.836720 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:27.943Z,1755898107.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516318
2025-08-22T21:28:28.141Z,1755898108.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.07 m.
2025-08-22T21:28:28.143Z,1755898108.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.068146 m,
nav range: 220.660538 m,
bearing: 232.028662 deg,
approach rate: -0.700674 m/s,
LOS rate: 0.018311 deg/s,
cmd heading: 219.827863 deg,
new cmd heading: 219.842191 deg.
2025-08-22T21:28:28.144Z,1755898108.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.836970 target range: 245.068146 and range: 240.50 m.
2025-08-22T21:28:28.204Z,1755898108.204 [DAT](INFO): DAT read: 21:28:28.1832 LVL= 30704, 32753, 32754, 32755, AGC= 65, IDX= 399,-0.48,-2.511, 1.884,-2.724,-2.877, PHS= 0.468,-1.477, 0.108, RAW= 140.0, 10.1, CAL= 139.5, 11.0, ROT= 10.5, -11.0
2025-08-22T21:28:28.206Z,1755898108.206 [DAT](INFO): got valid direction response:
21:28:28.1832 LVL= 30704, 32753, 32754, 32755, AGC= 65, IDX= 399,-0.48,-2.511, 1.884,-2.724,-2.877, PHS= 0.468,-1.477, 0.108, RAW= 140.0, 10.1, CAL= 139.5, 11.0, ROT= 10.5, -11.0
2025-08-22T21:28:28.206Z,1755898108.206 [DAT](INFO): DAT read: Bearing 2.2, 11.5 (Local)
2025-08-22T21:28:28.207Z,1755898108.207 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.2, 11.5 (Local)
2025-08-22T21:28:28.208Z,1755898108.208 [DAT](INFO): DAT read: Range 11 to 50 : 215.7 m (Round-trip 287.7 ms) speed 0.2 m/s
2025-08-22T21:28:28.209Z,1755898108.209 [DAT](INFO): DAT read: user:2251>
2025-08-22T21:28:28.226Z,1755898108.226 [DAT](INFO): DAT read: Tx time:21:28:29.2913
2025-08-22T21:28:28.227Z,1755898108.227 [DAT](INFO): Ping request sent.
2025-08-22T21:28:28.227Z,1755898108.227 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:28.227Z,1755898108.227 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:28.228Z,1755898108.228 [DAT](INFO): direction in FSK: [0.965190,0.178887,0.190809]
2025-08-22T21:28:28.229Z,1755898108.229 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:28.246Z,1755898108.246 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:28.259Z,1755898108.259 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:28.260Z,1755898108.260 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:28.380Z,1755898108.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:28:28.570Z,1755898108.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 215.699997 m,
deltaT: 7.560343 s,
deltaX: -24.800003 m,
approachRate: -3.280275 m/s,
rangeRepo size: 4
2025-08-22T21:28:28.572Z,1755898108.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 214.360703 m,
bearing: 229.332674 deg,
lat: 36.779340 deg,
lon: -121.859728 deg,
deltaT: 15.370215 s,
deltaX: -30.707443 m,
approachRate: -1.997854 m/s,
posRepo size: 4
2025-08-22T21:28:28.573Z,1755898108.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:28.579Z,1755898108.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 210.640701 m,
bearing: 228.870971 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.018311 deg/s,
cmd heading: 219.842192 deg,
new cmd heading: 219.857736 deg.
2025-08-22T21:28:28.580Z,1755898108.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.837241 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:28.931Z,1755898108.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:28.933Z,1755898108.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:28.936Z,1755898108.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 210.368057 m,
bearing: 228.873906 deg,
approach rate: -0.740927 m/s,
LOS rate: 0.007986 deg/s,
cmd heading: 219.857738 deg,
new cmd heading: 219.863615 deg.
2025-08-22T21:28:28.938Z,1755898108.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.837344 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:28.950Z,1755898108.950 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:28.950Z,1755898108.950 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:28.951Z,1755898108.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:29.203Z,1755898109.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975719
2025-08-22T21:28:29.433Z,1755898109.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:29.435Z,1755898109.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 210.020584 m,
bearing: 228.877486 deg,
approach rate: -0.695362 m/s,
LOS rate: 0.007176 deg/s,
cmd heading: 219.863612 deg,
new cmd heading: 219.870784 deg.
2025-08-22T21:28:29.436Z,1755898109.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.837469 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:29.455Z,1755898109.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227695
2025-08-22T21:28:29.707Z,1755898109.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480117
2025-08-22T21:28:29.773Z,1755898109.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:29.778Z,1755898109.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 209.786606 m,
bearing: 228.879916 deg,
approach rate: -0.688876 m/s,
LOS rate: 0.007163 deg/s,
cmd heading: 219.870783 deg,
new cmd heading: 219.875650 deg.
2025-08-22T21:28:29.780Z,1755898109.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.837554 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:29.959Z,1755898109.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731660
2025-08-22T21:28:30.200Z,1755898110.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:30.207Z,1755898110.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 209.504471 m,
bearing: 228.882906 deg,
approach rate: -0.659417 m/s,
LOS rate: 0.006999 deg/s,
cmd heading: 219.875647 deg,
new cmd heading: 219.881636 deg.
2025-08-22T21:28:30.208Z,1755898110.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.837658 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:30.211Z,1755898110.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983739
2025-08-22T21:28:30.462Z,1755898110.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235572
2025-08-22T21:28:30.610Z,1755898110.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:30.612Z,1755898110.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 209.195038 m,
bearing: 228.885822 deg,
approach rate: -0.755544 m/s,
LOS rate: 0.007129 deg/s,
cmd heading: 219.881630 deg,
new cmd heading: 219.887469 deg.
2025-08-22T21:28:30.614Z,1755898110.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.837760 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:30.715Z,1755898110.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488389
2025-08-22T21:28:30.967Z,1755898110.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739728
2025-08-22T21:28:30.972Z,1755898110.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:30.974Z,1755898110.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:30.977Z,1755898110.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 208.938110 m,
bearing: 228.888299 deg,
approach rate: -0.704610 m/s,
LOS rate: 0.006801 deg/s,
cmd heading: 219.887463 deg,
new cmd heading: 219.892423 deg.
2025-08-22T21:28:30.978Z,1755898110.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.837847 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:31.218Z,1755898111.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991624
2025-08-22T21:28:31.436Z,1755898111.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:31.439Z,1755898111.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 208.607086 m,
bearing: 228.892246 deg,
approach rate: -0.716909 m/s,
LOS rate: 0.008563 deg/s,
cmd heading: 219.892422 deg,
new cmd heading: 219.900329 deg.
2025-08-22T21:28:31.440Z,1755898111.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.837985 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:31.471Z,1755898111.471 [DAT](INFO): DAT read: Rx Time:21:28:31.9531
2025-08-22T21:28:31.471Z,1755898111.471 [DAT](INFO): Rx dataTimestamp_ set to:1755898111.470885
2025-08-22T21:28:31.472Z,1755898111.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244844
2025-08-22T21:28:31.724Z,1755898111.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496883
2025-08-22T21:28:31.875Z,1755898111.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:31.882Z,1755898111.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 208.333160 m,
bearing: 228.895563 deg,
approach rate: -0.623575 m/s,
LOS rate: 0.007561 deg/s,
cmd heading: 219.900331 deg,
new cmd heading: 219.906974 deg.
2025-08-22T21:28:31.883Z,1755898111.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838101 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:31.985Z,1755898111.985 [DAT](INFO): DAT read: 21:28:31.9531 LVL= 31952, 32753, 28146, 28147, AGC= 67, IDX= 139, 0.02, 2.984, 1.137, 2.812, 2.589, PHS= 0.497,-1.406, 0.179, RAW= 141.0, 8.3, CAL= 140.6, 9.1, ROT= 9.4, -9.1
2025-08-22T21:28:31.986Z,1755898111.986 [DAT](INFO): got valid direction response:
21:28:31.9531 LVL= 31952, 32753, 28146, 28147, AGC= 67, IDX= 139, 0.02, 2.984, 1.137, 2.812, 2.589, PHS= 0.497,-1.406, 0.179, RAW= 141.0, 8.3, CAL= 140.6, 9.1, ROT= 9.4, -9.1
2025-08-22T21:28:31.987Z,1755898111.987 [DAT](INFO): DAT read: Bearing 0.3, 10.9 (Local)
2025-08-22T21:28:31.987Z,1755898111.987 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.3, 10.9 (Local)
2025-08-22T21:28:31.989Z,1755898111.989 [DAT](INFO): DAT read: Range 11 to 50 : 193.2 m (Round-trip 257.7 ms) speed 0.8 m/s
2025-08-22T21:28:31.991Z,1755898111.991 [DAT](INFO): DAT read: user:2252>
2025-08-22T21:28:31.992Z,1755898111.992 [DAT](INFO): DAT read: Tx time:21:28:33.0413
2025-08-22T21:28:31.992Z,1755898111.992 [DAT](INFO): Ping request sent.
2025-08-22T21:28:31.992Z,1755898111.992 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:31.993Z,1755898111.993 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:32.003Z,1755898112.003 [DAT](INFO): direction in FSK: [0.974155,0.161270,0.158158]
2025-08-22T21:28:32.003Z,1755898112.003 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:32.003Z,1755898112.003 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:32.007Z,1755898112.007 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:32.008Z,1755898112.008 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:32.235Z,1755898112.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 193.199997 m,
deltaT: 3.784221 s,
deltaX: -22.500000 m,
approachRate: -5.945742 m/s,
rangeRepo size: 4
2025-08-22T21:28:32.236Z,1755898112.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:32.239Z,1755898112.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 208.039734 m,
bearing: 228.899143 deg,
approach rate: -0.816773 m/s,
LOS rate: 0.009979 deg/s,
cmd heading: 219.906970 deg,
new cmd heading: 219.914140 deg.
2025-08-22T21:28:32.240Z,1755898112.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838226 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:32.663Z,1755898112.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:32.670Z,1755898112.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 207.756668 m,
bearing: 228.902530 deg,
approach rate: -0.661128 m/s,
LOS rate: 0.007922 deg/s,
cmd heading: 219.914142 deg,
new cmd heading: 219.920925 deg.
2025-08-22T21:28:32.671Z,1755898112.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838344 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:33.032Z,1755898113.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:33.034Z,1755898113.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:33.036Z,1755898113.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 207.494751 m,
bearing: 228.905702 deg,
approach rate: -0.706277 m/s,
LOS rate: 0.008563 deg/s,
cmd heading: 219.920931 deg,
new cmd heading: 219.927282 deg.
2025-08-22T21:28:33.038Z,1755898113.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838455 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:33.238Z,1755898113.238 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:33.238Z,1755898113.238 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:33.239Z,1755898113.239 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:33.478Z,1755898113.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:33.481Z,1755898113.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 207.184830 m,
bearing: 228.911337 deg,
approach rate: -0.698373 m/s,
LOS rate: 0.012717 deg/s,
cmd heading: 219.927283 deg,
new cmd heading: 219.938569 deg.
2025-08-22T21:28:33.482Z,1755898113.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838652 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:33.491Z,1755898113.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498475
2025-08-22T21:28:33.743Z,1755898113.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750202
2025-08-22T21:28:33.847Z,1755898113.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:33.854Z,1755898113.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 206.935593 m,
bearing: 228.915867 deg,
approach rate: -0.674330 m/s,
LOS rate: 0.012270 deg/s,
cmd heading: 219.938566 deg,
new cmd heading: 219.947637 deg.
2025-08-22T21:28:33.855Z,1755898113.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838810 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:33.995Z,1755898113.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002200
2025-08-22T21:28:34.242Z,1755898114.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:34.244Z,1755898114.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 206.652649 m,
bearing: 228.921018 deg,
approach rate: -0.717134 m/s,
LOS rate: 0.013074 deg/s,
cmd heading: 219.947637 deg,
new cmd heading: 219.957953 deg.
2025-08-22T21:28:34.247Z,1755898114.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254259
2025-08-22T21:28:34.247Z,1755898114.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838990 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:34.499Z,1755898114.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506900
2025-08-22T21:28:34.675Z,1755898114.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:34.678Z,1755898114.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 206.359497 m,
bearing: 228.927202 deg,
approach rate: -0.676588 m/s,
LOS rate: 0.014294 deg/s,
cmd heading: 219.957950 deg,
new cmd heading: 219.970337 deg.
2025-08-22T21:28:34.679Z,1755898114.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.839207 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:34.752Z,1755898114.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759920
2025-08-22T21:28:35.002Z,1755898115.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010123
2025-08-22T21:28:35.073Z,1755898115.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:35.076Z,1755898115.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:35.079Z,1755898115.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 206.092514 m,
bearing: 228.932864 deg,
approach rate: -0.666042 m/s,
LOS rate: 0.014142 deg/s,
cmd heading: 219.970340 deg,
new cmd heading: 219.981678 deg.
2025-08-22T21:28:35.080Z,1755898115.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.839405 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:35.258Z,1755898115.258 [DAT](INFO): DAT read: Rx Time:21:28:35.6997
2025-08-22T21:28:35.259Z,1755898115.259 [DAT](INFO): Rx dataTimestamp_ set to:1755898115.258062
2025-08-22T21:28:35.260Z,1755898115.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267182
2025-08-22T21:28:35.509Z,1755898115.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516194
2025-08-22T21:28:35.511Z,1755898115.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.36 m.
2025-08-22T21:28:35.513Z,1755898115.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.360703 m,
nav range: 205.808258 m,
bearing: 228.939545 deg,
approach rate: -0.653474 m/s,
LOS rate: 0.015381 deg/s,
cmd heading: 219.981678 deg,
new cmd heading: 219.995059 deg.
2025-08-22T21:28:35.514Z,1755898115.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.839638 target range: 214.360703 and range: 215.70 m.
2025-08-22T21:28:35.771Z,1755898115.771 [DAT](INFO): DAT read: 21:28:35.6997 LVL= 26480, 32369, 29666, 32755, AGC= 68, IDX= 408,-0.26,-1.975, 2.370,-2.145,-2.349, PHS= 0.476,-1.519, 0.160, RAW= 141.5, 9.6, CAL= 141.1, 10.4, ROT= 8.9, -10.4
2025-08-22T21:28:35.773Z,1755898115.773 [DAT](INFO): got valid direction response:
21:28:35.6997 LVL= 26480, 32369, 29666, 32755, AGC= 68, IDX= 408,-0.26,-1.975, 2.370,-2.145,-2.349, PHS= 0.476,-1.519, 0.160, RAW= 141.5, 9.6, CAL= 141.1, 10.4, ROT= 8.9, -10.4
2025-08-22T21:28:35.775Z,1755898115.775 [DAT](INFO): DAT read: Bearing 1.5, 10.9 (Local)
2025-08-22T21:28:35.776Z,1755898115.776 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.5, 10.9 (Local)
2025-08-22T21:28:35.778Z,1755898115.778 [DAT](INFO): DAT read: Range 11 to 50 : 190.6 m (Round-trip 254.2 ms) speed 0.4 m/s
2025-08-22T21:28:35.779Z,1755898115.779 [DAT](INFO): DAT read: user:2253>
2025-08-22T21:28:35.780Z,1755898115.780 [DAT](INFO): DAT read: Tx time:21:28:36.7913
2025-08-22T21:28:35.781Z,1755898115.781 [DAT](INFO): Ping request sent.
2025-08-22T21:28:35.781Z,1755898115.781 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:35.797Z,1755898115.797 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:35.800Z,1755898115.800 [DAT](INFO): direction in FSK: [0.971729,0.152169,0.180519]
2025-08-22T21:28:35.800Z,1755898115.800 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:35.801Z,1755898115.801 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:35.820Z,1755898115.820 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:35.821Z,1755898115.821 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:35.919Z,1755898115.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 190.600006 m,
deltaT: 7.565820 s,
deltaX: -25.099991 m,
approachRate: -3.317551 m/s,
rangeRepo size: 4
2025-08-22T21:28:35.921Z,1755898115.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 189.416473 m,
bearing: 227.670321 deg,
lat: 36.779357 deg,
lon: -121.859548 deg,
deltaT: 7.565820 s,
deltaX: -24.944229 m,
approachRate: -3.296963 m/s,
posRepo size: 4
2025-08-22T21:28:35.926Z,1755898115.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T21:28:35.929Z,1755898115.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.416473 m,
nav range: 192.450989 m,
bearing: 226.247864 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.015381 deg/s,
cmd heading: 219.995066 deg,
new cmd heading: 220.007613 deg.
2025-08-22T21:28:35.934Z,1755898115.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.839857 target range: 189.416473 and range: 190.60 m.
2025-08-22T21:28:36.283Z,1755898116.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T21:28:36.287Z,1755898116.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.416473 m,
nav range: 192.186829 m,
bearing: 226.250773 deg,
approach rate: -0.726625 m/s,
LOS rate: 0.008012 deg/s,
cmd heading: 220.007620 deg,
new cmd heading: 220.013445 deg.
2025-08-22T21:28:36.288Z,1755898116.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.839959 target range: 189.416473 and range: 190.60 m.
2025-08-22T21:28:36.712Z,1755898116.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T21:28:36.715Z,1755898116.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.416473 m,
nav range: 191.907013 m,
bearing: 226.252716 deg,
approach rate: -0.651264 m/s,
LOS rate: 0.004530 deg/s,
cmd heading: 220.013439 deg,
new cmd heading: 220.017331 deg.
2025-08-22T21:28:36.716Z,1755898116.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840027 target range: 189.416473 and range: 190.60 m.
2025-08-22T21:28:37.079Z,1755898117.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:37.081Z,1755898117.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T21:28:37.084Z,1755898117.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.416473 m,
nav range: 191.643127 m,
bearing: 226.254491 deg,
approach rate: -0.714926 m/s,
LOS rate: 0.004815 deg/s,
cmd heading: 220.017332 deg,
new cmd heading: 220.020887 deg.
2025-08-22T21:28:37.085Z,1755898117.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840089 target range: 189.416473 and range: 190.60 m.
2025-08-22T21:28:37.274Z,1755898117.274 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:37.274Z,1755898117.274 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:37.274Z,1755898117.274 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:37.523Z,1755898117.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741719
2025-08-22T21:28:37.536Z,1755898117.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T21:28:37.543Z,1755898117.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.416473 m,
nav range: 191.331696 m,
bearing: 226.255702 deg,
approach rate: -0.683911 m/s,
LOS rate: 0.002664 deg/s,
cmd heading: 220.020884 deg,
new cmd heading: 220.023310 deg.
2025-08-22T21:28:37.544Z,1755898117.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840131 target range: 189.416473 and range: 190.60 m.
2025-08-22T21:28:37.776Z,1755898117.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994242
2025-08-22T21:28:37.900Z,1755898117.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T21:28:37.903Z,1755898117.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.416473 m,
nav range: 191.072922 m,
bearing: 226.256687 deg,
approach rate: -0.711517 m/s,
LOS rate: 0.002711 deg/s,
cmd heading: 220.023315 deg,
new cmd heading: 220.025287 deg.
2025-08-22T21:28:37.904Z,1755898117.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840166 target range: 189.416473 and range: 190.60 m.
2025-08-22T21:28:38.027Z,1755898118.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245897
2025-08-22T21:28:38.280Z,1755898118.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498913
2025-08-22T21:28:38.331Z,1755898118.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T21:28:38.338Z,1755898118.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.416473 m,
nav range: 190.789810 m,
bearing: 226.257725 deg,
approach rate: -0.657115 m/s,
LOS rate: 0.002412 deg/s,
cmd heading: 220.025282 deg,
new cmd heading: 220.027361 deg.
2025-08-22T21:28:38.339Z,1755898118.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840202 target range: 189.416473 and range: 190.60 m.
2025-08-22T21:28:38.530Z,1755898118.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749546
2025-08-22T21:28:38.745Z,1755898118.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T21:28:38.759Z,1755898118.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.416473 m,
nav range: 190.487366 m,
bearing: 226.258861 deg,
approach rate: -0.730676 m/s,
LOS rate: 0.002749 deg/s,
cmd heading: 220.027359 deg,
new cmd heading: 220.029634 deg.
2025-08-22T21:28:38.761Z,1755898118.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840242 target range: 189.416473 and range: 190.60 m.
2025-08-22T21:28:38.783Z,1755898118.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001752
2025-08-22T21:28:39.035Z,1755898119.035 [DAT](INFO): DAT read: Rx Time:21:28:39.4461
2025-08-22T21:28:39.036Z,1755898119.036 [DAT](INFO): Rx dataTimestamp_ set to:1755898119.035800
2025-08-22T21:28:39.037Z,1755898119.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255690
2025-08-22T21:28:39.149Z,1755898119.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:39.151Z,1755898119.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T21:28:39.155Z,1755898119.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.416473 m,
nav range: 190.196625 m,
bearing: 226.259901 deg,
approach rate: -0.714891 m/s,
LOS rate: 0.002561 deg/s,
cmd heading: 220.029640 deg,
new cmd heading: 220.031723 deg.
2025-08-22T21:28:39.156Z,1755898119.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840278 target range: 189.416473 and range: 190.60 m.
2025-08-22T21:28:39.286Z,1755898119.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505552
2025-08-22T21:28:39.544Z,1755898119.544 [DAT](INFO): DAT read: 21:28:39.4461 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 405, 0.08, 2.178, 0.239, 1.969, 1.823, PHS= 0.456,-1.539, 0.102, RAW= 140.4, 10.7, CAL= 139.9, 11.6, ROT= 10.1, -11.6
2025-08-22T21:28:39.545Z,1755898119.545 [DAT](INFO): got valid direction response:
21:28:39.4461 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 405, 0.08, 2.178, 0.239, 1.969, 1.823, PHS= 0.456,-1.539, 0.102, RAW= 140.4, 10.7, CAL= 139.9, 11.6, ROT= 10.1, -11.6
2025-08-22T21:28:39.547Z,1755898119.547 [DAT](INFO): DAT read: Bearing 2.6, 12.4 (Local)
2025-08-22T21:28:39.547Z,1755898119.547 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.6, 12.4 (Local)
2025-08-22T21:28:39.549Z,1755898119.549 [DAT](INFO): DAT read: Range 11 to 50 : 188.1 m (Round-trip 250.8 ms) speed 0.5 m/s
2025-08-22T21:28:39.549Z,1755898119.549 [DAT](INFO): DAT read: user:2254>
2025-08-22T21:28:39.550Z,1755898119.550 [DAT](INFO): DAT read: Tx time:21:28:40.5412
2025-08-22T21:28:39.550Z,1755898119.550 [DAT](INFO): Ping request sent.
2025-08-22T21:28:39.550Z,1755898119.550 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:39.551Z,1755898119.551 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:39.552Z,1755898119.552 [DAT](INFO): direction in FSK: [0.964395,0.171785,0.201078]
2025-08-22T21:28:39.552Z,1755898119.552 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:39.552Z,1755898119.552 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:39.559Z,1755898119.559 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:39.560Z,1755898119.560 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:39.647Z,1755898119.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 188.100006 m,
deltaT: 3.777774 s,
deltaX: -2.500000 m,
approachRate: -0.661765 m/s,
rangeRepo size: 4
2025-08-22T21:28:39.649Z,1755898119.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 186.931839 m,
bearing: 229.043933 deg,
lat: 36.779433 deg,
lon: -121.859548 deg,
deltaT: 3.777774 s,
deltaX: -2.484634 m,
approachRate: -0.657698 m/s,
posRepo size: 4
2025-08-22T21:28:39.653Z,1755898119.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.93 m.
2025-08-22T21:28:39.656Z,1755898119.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.931839 m,
nav range: 184.158508 m,
bearing: 228.152512 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002561 deg/s,
cmd heading: 220.031716 deg,
new cmd heading: 220.034207 deg.
2025-08-22T21:28:39.657Z,1755898119.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840321 target range: 186.931839 and range: 188.10 m.
2025-08-22T21:28:39.983Z,1755898119.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.93 m.
2025-08-22T21:28:39.986Z,1755898119.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.931839 m,
nav range: 183.892227 m,
bearing: 228.154665 deg,
approach rate: -0.770871 m/s,
LOS rate: 0.006242 deg/s,
cmd heading: 220.034203 deg,
new cmd heading: 220.038515 deg.
2025-08-22T21:28:39.987Z,1755898119.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840397 target range: 186.931839 and range: 188.10 m.
2025-08-22T21:28:40.384Z,1755898120.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.93 m.
2025-08-22T21:28:40.403Z,1755898120.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.931839 m,
nav range: 183.612076 m,
bearing: 228.156899 deg,
approach rate: -0.698310 m/s,
LOS rate: 0.005576 deg/s,
cmd heading: 220.038519 deg,
new cmd heading: 220.042994 deg.
2025-08-22T21:28:40.404Z,1755898120.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840475 target range: 186.931839 and range: 188.10 m.
2025-08-22T21:28:40.893Z,1755898120.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.93 m.
2025-08-22T21:28:40.896Z,1755898120.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.931839 m,
nav range: 183.259430 m,
bearing: 228.158484 deg,
approach rate: -0.693300 m/s,
LOS rate: 0.003122 deg/s,
cmd heading: 220.043000 deg,
new cmd heading: 220.046176 deg.
2025-08-22T21:28:40.897Z,1755898120.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840530 target range: 186.931839 and range: 188.10 m.
2025-08-22T21:28:41.268Z,1755898121.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:41.272Z,1755898121.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.93 m.
2025-08-22T21:28:41.295Z,1755898121.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.931839 m,
nav range: 183.002365 m,
bearing: 228.159643 deg,
approach rate: -0.679234 m/s,
LOS rate: 0.003068 deg/s,
cmd heading: 220.046183 deg,
new cmd heading: 220.048505 deg.
2025-08-22T21:28:41.296Z,1755898121.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840571 target range: 186.931839 and range: 188.10 m.
2025-08-22T21:28:41.303Z,1755898121.303 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:41.303Z,1755898121.303 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:41.303Z,1755898121.303 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:41.554Z,1755898121.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004022
2025-08-22T21:28:41.679Z,1755898121.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.93 m.
2025-08-22T21:28:41.682Z,1755898121.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.931839 m,
nav range: 182.713486 m,
bearing: 228.162506 deg,
approach rate: -0.709077 m/s,
LOS rate: 0.007038 deg/s,
cmd heading: 220.048505 deg,
new cmd heading: 220.054240 deg.
2025-08-22T21:28:41.683Z,1755898121.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840671 target range: 186.931839 and range: 188.10 m.
2025-08-22T21:28:41.807Z,1755898121.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256672
2025-08-22T21:28:42.058Z,1755898122.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507990
2025-08-22T21:28:42.082Z,1755898122.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.93 m.
2025-08-22T21:28:42.085Z,1755898122.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.931839 m,
nav range: 182.449295 m,
bearing: 228.165132 deg,
approach rate: -0.662268 m/s,
LOS rate: 0.006592 deg/s,
cmd heading: 220.054242 deg,
new cmd heading: 220.059502 deg.
2025-08-22T21:28:42.086Z,1755898122.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840763 target range: 186.931839 and range: 188.10 m.
2025-08-22T21:28:42.315Z,1755898122.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763691
2025-08-22T21:28:42.445Z,1755898122.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.93 m.
2025-08-22T21:28:42.450Z,1755898122.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.931839 m,
nav range: 182.192612 m,
bearing: 228.167587 deg,
approach rate: -0.701510 m/s,
LOS rate: 0.006718 deg/s,
cmd heading: 220.059502 deg,
new cmd heading: 220.064418 deg.
2025-08-22T21:28:42.451Z,1755898122.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840849 target range: 186.931839 and range: 188.10 m.
2025-08-22T21:28:42.563Z,1755898122.563 [DAT](INFO): DAT read: Rx Time:21:28:43.1925
2025-08-22T21:28:42.563Z,1755898122.563 [DAT](INFO): Rx dataTimestamp_ set to:1755898122.563011
2025-08-22T21:28:42.564Z,1755898122.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013383
2025-08-22T21:28:42.815Z,1755898122.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264162
2025-08-22T21:28:42.862Z,1755898122.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.93 m.
2025-08-22T21:28:42.865Z,1755898122.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.931839 m,
nav range: 181.890976 m,
bearing: 228.171164 deg,
approach rate: -0.721423 m/s,
LOS rate: 0.008569 deg/s,
cmd heading: 220.064419 deg,
new cmd heading: 220.071585 deg.
2025-08-22T21:28:42.866Z,1755898122.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840974 target range: 186.931839 and range: 188.10 m.
2025-08-22T21:28:43.070Z,1755898123.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518779
2025-08-22T21:28:43.280Z,1755898123.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:43.282Z,1755898123.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.93 m.
2025-08-22T21:28:43.285Z,1755898123.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.931839 m,
nav range: 181.600327 m,
bearing: 228.174621 deg,
approach rate: -0.691436 m/s,
LOS rate: 0.008238 deg/s,
cmd heading: 220.071591 deg,
new cmd heading: 220.078517 deg.
2025-08-22T21:28:43.286Z,1755898123.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.841095 target range: 186.931839 and range: 188.10 m.
2025-08-22T21:28:43.326Z,1755898123.326 [DAT](INFO): DAT read: 21:28:43.1925 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 400, 0.07,-2.170, 2.331,-2.326,-2.572, PHS= 0.504,-1.335, 0.203, RAW= 141.2, 7.4, CAL= 140.8, 8.2, ROT= 9.2, -8.2
2025-08-22T21:28:43.327Z,1755898123.327 [DAT](INFO): got valid direction response:
21:28:43.1925 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 400, 0.07,-2.170, 2.331,-2.326,-2.572, PHS= 0.504,-1.335, 0.203, RAW= 141.2, 7.4, CAL= 140.8, 8.2, ROT= 9.2, -8.2
2025-08-22T21:28:43.328Z,1755898123.328 [DAT](INFO): DAT read: Bearing 359.2, 11.8 (Local)
2025-08-22T21:28:43.329Z,1755898123.329 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.2, 11.8 (Local)
2025-08-22T21:28:43.330Z,1755898123.330 [DAT](INFO): DAT read: Range 11 to 50 : 185.4 m (Round-trip 247.2 ms) speed 0.5 m/s
2025-08-22T21:28:43.331Z,1755898123.331 [DAT](INFO): DAT read: user:2255>
2025-08-22T21:28:43.332Z,1755898123.332 [DAT](INFO): DAT read: Tx time:21:28:44.2912
2025-08-22T21:28:43.333Z,1755898123.333 [DAT](INFO): Ping request sent.
2025-08-22T21:28:43.333Z,1755898123.333 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:43.342Z,1755898123.342 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:43.343Z,1755898123.343 [DAT](INFO): direction in FSK: [0.977044,0.158247,0.142629]
2025-08-22T21:28:43.344Z,1755898123.344 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:43.344Z,1755898123.344 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:43.380Z,1755898123.380 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:43.381Z,1755898123.381 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:43.704Z,1755898123.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 185.399994 m,
deltaT: 3.782005 s,
deltaX: -2.700012 m,
approachRate: -0.713910 m/s,
rangeRepo size: 4
2025-08-22T21:28:43.711Z,1755898123.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 184.248840 m,
bearing: 228.493195 deg,
lat: 36.779439 deg,
lon: -121.859548 deg,
deltaT: 3.782005 s,
deltaX: -2.682999 m,
approachRate: -0.709412 m/s,
posRepo size: 4
2025-08-22T21:28:43.711Z,1755898123.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:43.718Z,1755898123.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 180.851181 m,
bearing: 228.343640 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.008238 deg/s,
cmd heading: 220.078517 deg,
new cmd heading: 220.085463 deg.
2025-08-22T21:28:43.719Z,1755898123.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.841216 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:44.044Z,1755898124.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:44.051Z,1755898124.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 180.603745 m,
bearing: 228.346875 deg,
approach rate: -0.726959 m/s,
LOS rate: 0.009519 deg/s,
cmd heading: 220.085470 deg,
new cmd heading: 220.091950 deg.
2025-08-22T21:28:44.052Z,1755898124.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.841329 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:44.447Z,1755898124.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:44.466Z,1755898124.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 180.323486 m,
bearing: 228.350468 deg,
approach rate: -0.695068 m/s,
LOS rate: 0.008924 deg/s,
cmd heading: 220.091945 deg,
new cmd heading: 220.099141 deg.
2025-08-22T21:28:44.467Z,1755898124.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.841455 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:44.892Z,1755898124.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:44.899Z,1755898124.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 180.031082 m,
bearing: 228.355131 deg,
approach rate: -0.658114 m/s,
LOS rate: 0.010512 deg/s,
cmd heading: 220.099144 deg,
new cmd heading: 220.108485 deg.
2025-08-22T21:28:44.900Z,1755898124.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.841618 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:45.293Z,1755898125.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:45.311Z,1755898125.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:45.318Z,1755898125.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 179.739853 m,
bearing: 228.359744 deg,
approach rate: -0.694287 m/s,
LOS rate: 0.011016 deg/s,
cmd heading: 220.108488 deg,
new cmd heading: 220.117729 deg.
2025-08-22T21:28:45.319Z,1755898125.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.841779 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:45.334Z,1755898125.334 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:45.334Z,1755898125.334 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:45.335Z,1755898125.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:45.587Z,1755898125.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253995
2025-08-22T21:28:45.707Z,1755898125.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:45.714Z,1755898125.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 179.453903 m,
bearing: 228.363727 deg,
approach rate: -0.722024 m/s,
LOS rate: 0.010074 deg/s,
cmd heading: 220.117736 deg,
new cmd heading: 220.125715 deg.
2025-08-22T21:28:45.715Z,1755898125.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.841918 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:45.839Z,1755898125.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505542
2025-08-22T21:28:46.085Z,1755898126.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:46.088Z,1755898126.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 179.186142 m,
bearing: 228.367422 deg,
approach rate: -0.708663 m/s,
LOS rate: 0.009793 deg/s,
cmd heading: 220.125713 deg,
new cmd heading: 220.133114 deg.
2025-08-22T21:28:46.089Z,1755898126.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842048 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:46.091Z,1755898126.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757606
2025-08-22T21:28:46.343Z,1755898126.343 [DAT](INFO): DAT read: Rx Time:21:28:46.9677
2025-08-22T21:28:46.344Z,1755898126.344 [DAT](INFO): Rx dataTimestamp_ set to:1755898126.343368
2025-08-22T21:28:46.344Z,1755898126.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011195
2025-08-22T21:28:46.505Z,1755898126.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:46.511Z,1755898126.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 178.905670 m,
bearing: 228.371252 deg,
approach rate: -0.699776 m/s,
LOS rate: 0.009571 deg/s,
cmd heading: 220.133117 deg,
new cmd heading: 220.140790 deg.
2025-08-22T21:28:46.512Z,1755898126.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842182 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:46.595Z,1755898126.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262468
2025-08-22T21:28:46.858Z,1755898126.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524758
2025-08-22T21:28:46.954Z,1755898126.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:46.956Z,1755898126.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 178.581131 m,
bearing: 228.374853 deg,
approach rate: -0.694166 m/s,
LOS rate: 0.007716 deg/s,
cmd heading: 220.140795 deg,
new cmd heading: 220.148010 deg.
2025-08-22T21:28:46.957Z,1755898126.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842308 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:47.104Z,1755898127.104 [DAT](INFO): DAT read: 21:28:46.9677 LVL= 27088, 32753, 31810, 32755, AGC= 65, IDX= 195,-0.47, 0.449,-1.367, 0.294, 0.021, PHS= 0.530,-1.343, 0.230, RAW= 141.4, 6.7, CAL= 141.0, 7.5, ROT= 9.0, -7.5
2025-08-22T21:28:47.105Z,1755898127.105 [DAT](INFO): got valid direction response:
21:28:46.9677 LVL= 27088, 32753, 31810, 32755, AGC= 65, IDX= 195,-0.47, 0.449,-1.367, 0.294, 0.021, PHS= 0.530,-1.343, 0.230, RAW= 141.4, 6.7, CAL= 141.0, 7.5, ROT= 9.0, -7.5
2025-08-22T21:28:47.106Z,1755898127.106 [DAT](INFO): DAT read: Bearing 358.4, 11.7 (Local)
2025-08-22T21:28:47.107Z,1755898127.107 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.4, 11.7 (Local)
2025-08-22T21:28:47.108Z,1755898127.108 [DAT](INFO): DAT read: Range 11 to 50 : 204.3 m (Round-trip 272.4 ms) speed 0.6 m/s
2025-08-22T21:28:47.109Z,1755898127.109 [DAT](INFO): DAT read: user:2256>
2025-08-22T21:28:47.110Z,1755898127.110 [DAT](INFO): DAT read: Tx time:21:28:48.0912
2025-08-22T21:28:47.110Z,1755898127.110 [DAT](INFO): Ping request sent.
2025-08-22T21:28:47.110Z,1755898127.110 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:47.111Z,1755898127.111 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:47.112Z,1755898127.112 [DAT](INFO): direction in FSK: [0.979239,0.155096,0.130526]
2025-08-22T21:28:47.112Z,1755898127.112 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:47.112Z,1755898127.112 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:47.130Z,1755898127.130 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:47.130Z,1755898127.130 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:47.332Z,1755898127.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 204.300003 m,
deltaT: 3.778015 s,
deltaX: 18.900009 m,
approachRate: 5.002629 m/s,
rangeRepo size: 4
2025-08-22T21:28:47.332Z,1755898127.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:47.343Z,1755898127.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 178.333603 m,
bearing: 228.377609 deg,
approach rate: -0.655273 m/s,
LOS rate: 0.007305 deg/s,
cmd heading: 220.148007 deg,
new cmd heading: 220.153526 deg.
2025-08-22T21:28:47.344Z,1755898127.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842404 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:47.711Z,1755898127.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:47.714Z,1755898127.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:47.716Z,1755898127.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 178.054398 m,
bearing: 228.380272 deg,
approach rate: -0.730071 m/s,
LOS rate: 0.006976 deg/s,
cmd heading: 220.153526 deg,
new cmd heading: 220.158862 deg.
2025-08-22T21:28:47.738Z,1755898127.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842497 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:47.854Z,1755898127.854 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:47.854Z,1755898127.854 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:47.855Z,1755898127.855 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:48.107Z,1755898128.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996137
2025-08-22T21:28:48.111Z,1755898128.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:48.114Z,1755898128.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 177.775726 m,
bearing: 228.382952 deg,
approach rate: -0.700056 m/s,
LOS rate: 0.006743 deg/s,
cmd heading: 220.158867 deg,
new cmd heading: 220.164235 deg.
2025-08-22T21:28:48.115Z,1755898128.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842591 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:48.359Z,1755898128.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248001
2025-08-22T21:28:48.507Z,1755898128.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:48.526Z,1755898128.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 177.498184 m,
bearing: 228.385581 deg,
approach rate: -0.701860 m/s,
LOS rate: 0.006658 deg/s,
cmd heading: 220.164236 deg,
new cmd heading: 220.169502 deg.
2025-08-22T21:28:48.531Z,1755898128.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842683 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:48.615Z,1755898128.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503407
2025-08-22T21:28:48.863Z,1755898128.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752017
2025-08-22T21:28:48.935Z,1755898128.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:48.939Z,1755898128.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 177.204712 m,
bearing: 228.387598 deg,
approach rate: -0.685385 m/s,
LOS rate: 0.004718 deg/s,
cmd heading: 220.169495 deg,
new cmd heading: 220.173535 deg.
2025-08-22T21:28:48.940Z,1755898128.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842753 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:49.123Z,1755898129.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012684
2025-08-22T21:28:49.307Z,1755898129.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:49.309Z,1755898129.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 176.950012 m,
bearing: 228.389370 deg,
approach rate: -0.685731 m/s,
LOS rate: 0.004780 deg/s,
cmd heading: 220.173538 deg,
new cmd heading: 220.177089 deg.
2025-08-22T21:28:49.310Z,1755898129.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842815 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:49.375Z,1755898129.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264880
2025-08-22T21:28:49.629Z,1755898129.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518122
2025-08-22T21:28:49.747Z,1755898129.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:49.766Z,1755898129.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:49.769Z,1755898129.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 176.649490 m,
bearing: 228.392787 deg,
approach rate: -0.653622 m/s,
LOS rate: 0.007444 deg/s,
cmd heading: 220.177090 deg,
new cmd heading: 220.183935 deg.
2025-08-22T21:28:49.771Z,1755898129.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842935 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:49.879Z,1755898129.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768368
2025-08-22T21:28:50.131Z,1755898130.131 [DAT](INFO): DAT read: Rx Time:21:28:50.7356
2025-08-22T21:28:50.131Z,1755898130.131 [DAT](INFO): Rx dataTimestamp_ set to:1755898130.130692
2025-08-22T21:28:50.131Z,1755898130.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020992
2025-08-22T21:28:50.162Z,1755898130.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:50.171Z,1755898130.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 176.389389 m,
bearing: 228.395732 deg,
approach rate: -0.665267 m/s,
LOS rate: 0.007544 deg/s,
cmd heading: 220.183934 deg,
new cmd heading: 220.189833 deg.
2025-08-22T21:28:50.172Z,1755898130.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843038 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:50.383Z,1755898130.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272136
2025-08-22T21:28:50.532Z,1755898130.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.25 m.
2025-08-22T21:28:50.535Z,1755898130.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 184.248840 m,
nav range: 176.106949 m,
bearing: 228.398925 deg,
approach rate: -0.753934 m/s,
LOS rate: 0.008538 deg/s,
cmd heading: 220.189835 deg,
new cmd heading: 220.196232 deg.
2025-08-22T21:28:50.536Z,1755898130.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843149 target range: 184.248840 and range: 185.40 m.
2025-08-22T21:28:50.663Z,1755898130.663 [DAT](INFO): DAT read: 21:28:50.7356 LVL= 27472, 26209, 23122, 28627, AGC= 66, IDX= 105,-0.13, 2.539, 0.701, 2.381, 2.089, PHS= 0.551,-1.344, 0.248, RAW= 141.4, 6.2, CAL= 141.1, 6.9, ROT= 8.9, -6.9
2025-08-22T21:28:50.664Z,1755898130.664 [DAT](INFO): got valid direction response:
21:28:50.7356 LVL= 27472, 26209, 23122, 28627, AGC= 66, IDX= 105,-0.13, 2.539, 0.701, 2.381, 2.089, PHS= 0.551,-1.344, 0.248, RAW= 141.4, 6.2, CAL= 141.1, 6.9, ROT= 8.9, -6.9
2025-08-22T21:28:50.665Z,1755898130.665 [DAT](INFO): DAT read: Bearing 357.8, 11.5 (Local)
2025-08-22T21:28:50.665Z,1755898130.665 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.8, 11.5 (Local)
2025-08-22T21:28:50.667Z,1755898130.667 [DAT](INFO): DAT read: Range 11 to 50 : 180.2 m (Round-trip 240.3 ms) speed 0.5 m/s
2025-08-22T21:28:50.667Z,1755898130.667 [DAT](INFO): DAT read: user:2257>
2025-08-22T21:28:50.668Z,1755898130.668 [DAT](INFO): DAT read: Tx time:21:28:51.8412
2025-08-22T21:28:50.668Z,1755898130.668 [DAT](INFO): Ping request sent.
2025-08-22T21:28:50.668Z,1755898130.668 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:50.669Z,1755898130.669 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:50.670Z,1755898130.670 [DAT](INFO): direction in FSK: [0.980804,0.153590,0.120137]
2025-08-22T21:28:50.671Z,1755898130.671 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:50.671Z,1755898130.671 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:50.674Z,1755898130.674 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:50.674Z,1755898130.674 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:50.979Z,1755898130.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 180.199997 m,
deltaT: 7.329373 s,
deltaX: -5.199997 m,
approachRate: -0.709474 m/s,
rangeRepo size: 4
2025-08-22T21:28:50.982Z,1755898130.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 179.081528 m,
bearing: 228.695811 deg,
lat: 36.779440 deg,
lon: -121.859554 deg,
deltaT: 7.329373 s,
deltaX: -5.167313 m,
approachRate: -0.705014 m/s,
posRepo size: 4
2025-08-22T21:28:50.982Z,1755898130.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.08 m.
2025-08-22T21:28:50.985Z,1755898130.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.081528 m,
nav range: 176.076904 m,
bearing: 228.542936 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.008538 deg/s,
cmd heading: 220.196228 deg,
new cmd heading: 220.203858 deg.
2025-08-22T21:28:50.986Z,1755898130.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843282 target range: 179.081528 and range: 180.20 m.
2025-08-22T21:28:51.345Z,1755898131.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.08 m.
2025-08-22T21:28:51.348Z,1755898131.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.081528 m,
nav range: 175.804260 m,
bearing: 228.545405 deg,
approach rate: -0.744606 m/s,
LOS rate: 0.006752 deg/s,
cmd heading: 220.203865 deg,
new cmd heading: 220.208809 deg.
2025-08-22T21:28:51.349Z,1755898131.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843369 target range: 179.081528 and range: 180.20 m.
2025-08-22T21:28:51.775Z,1755898131.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:51.778Z,1755898131.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.08 m.
2025-08-22T21:28:51.780Z,1755898131.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.081528 m,
nav range: 175.504807 m,
bearing: 228.549135 deg,
approach rate: -0.692388 m/s,
LOS rate: 0.008639 deg/s,
cmd heading: 220.208810 deg,
new cmd heading: 220.216282 deg.
2025-08-22T21:28:51.782Z,1755898131.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843499 target range: 179.081528 and range: 180.20 m.
2025-08-22T21:28:51.910Z,1755898131.910 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:51.910Z,1755898131.910 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:51.911Z,1755898131.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:52.155Z,1755898132.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.08 m.
2025-08-22T21:28:52.160Z,1755898132.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490985
2025-08-22T21:28:52.162Z,1755898132.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.081528 m,
nav range: 175.242752 m,
bearing: 228.552409 deg,
approach rate: -0.694006 m/s,
LOS rate: 0.008685 deg/s,
cmd heading: 220.216282 deg,
new cmd heading: 220.222841 deg.
2025-08-22T21:28:52.163Z,1755898132.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843614 target range: 179.081528 and range: 180.20 m.
2025-08-22T21:28:52.411Z,1755898132.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742120
2025-08-22T21:28:52.557Z,1755898132.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.08 m.
2025-08-22T21:28:52.560Z,1755898132.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.081528 m,
nav range: 174.964081 m,
bearing: 228.555810 deg,
approach rate: -0.693440 m/s,
LOS rate: 0.008477 deg/s,
cmd heading: 220.222839 deg,
new cmd heading: 220.229652 deg.
2025-08-22T21:28:52.561Z,1755898132.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843733 target range: 179.081528 and range: 180.20 m.
2025-08-22T21:28:52.666Z,1755898132.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996820
2025-08-22T21:28:52.914Z,1755898132.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246024
2025-08-22T21:28:52.987Z,1755898132.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.08 m.
2025-08-22T21:28:52.990Z,1755898132.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.081528 m,
nav range: 174.669083 m,
bearing: 228.559885 deg,
approach rate: -0.686301 m/s,
LOS rate: 0.009495 deg/s,
cmd heading: 220.229655 deg,
new cmd heading: 220.237818 deg.
2025-08-22T21:28:52.991Z,1755898132.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843875 target range: 179.081528 and range: 180.20 m.
2025-08-22T21:28:53.168Z,1755898133.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499029
2025-08-22T21:28:53.400Z,1755898133.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.08 m.
2025-08-22T21:28:53.403Z,1755898133.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.081528 m,
nav range: 174.396729 m,
bearing: 228.563599 deg,
approach rate: -0.659116 m/s,
LOS rate: 0.009002 deg/s,
cmd heading: 220.237824 deg,
new cmd heading: 220.245264 deg.
2025-08-22T21:28:53.404Z,1755898133.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844005 target range: 179.081528 and range: 180.20 m.
2025-08-22T21:28:53.419Z,1755898133.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750291
2025-08-22T21:28:53.676Z,1755898133.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007162
2025-08-22T21:28:53.816Z,1755898133.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:53.835Z,1755898133.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.08 m.
2025-08-22T21:28:53.842Z,1755898133.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.081528 m,
nav range: 174.089752 m,
bearing: 228.566883 deg,
approach rate: -0.705811 m/s,
LOS rate: 0.007565 deg/s,
cmd heading: 220.245269 deg,
new cmd heading: 220.251849 deg.
2025-08-22T21:28:53.843Z,1755898133.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844120 target range: 179.081528 and range: 180.20 m.
2025-08-22T21:28:53.927Z,1755898133.927 [DAT](INFO): DAT read: Rx Time:21:28:54.4821
2025-08-22T21:28:53.928Z,1755898133.928 [DAT](INFO): Rx dataTimestamp_ set to:1755898133.927477
2025-08-22T21:28:53.928Z,1755898133.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259898
2025-08-22T21:28:54.176Z,1755898134.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507469
2025-08-22T21:28:54.260Z,1755898134.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.08 m.
2025-08-22T21:28:54.279Z,1755898134.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.081528 m,
nav range: 173.778015 m,
bearing: 228.570121 deg,
approach rate: -0.733113 m/s,
LOS rate: 0.007629 deg/s,
cmd heading: 220.251853 deg,
new cmd heading: 220.258341 deg.
2025-08-22T21:28:54.280Z,1755898134.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844233 target range: 179.081528 and range: 180.20 m.
2025-08-22T21:28:54.432Z,1755898134.432 [DAT](INFO): DAT read: 21:28:54.4821 LVL= 29680, 32753, 32658, 32755, AGC= 61, IDX= 405, 0.05, 0.467,-1.415, 0.284, 0.068, PHS= 0.501,-1.438, 0.172, RAW= 140.9, 8.6, CAL= 140.5, 9.4, ROT= 9.5, -9.4
2025-08-22T21:28:54.433Z,1755898134.433 [DAT](INFO): got valid direction response:
21:28:54.4821 LVL= 29680, 32753, 32658, 32755, AGC= 61, IDX= 405, 0.05, 0.467,-1.415, 0.284, 0.068, PHS= 0.501,-1.438, 0.172, RAW= 140.9, 8.6, CAL= 140.5, 9.4, ROT= 9.5, -9.4
2025-08-22T21:28:54.434Z,1755898134.434 [DAT](INFO): DAT read: Bearing 360.0, 12.2 (Local)
2025-08-22T21:28:54.435Z,1755898134.435 [DAT](INFO): Local bearing/azimuth received:
Bearing 360.0, 12.2 (Local)
2025-08-22T21:28:54.436Z,1755898134.436 [DAT](INFO): DAT read: Range 11 to 50 : 177.6 m (Round-trip 236.8 ms) speed 0.5 m/s
2025-08-22T21:28:54.437Z,1755898134.437 [DAT](INFO): DAT read: user:2258>
2025-08-22T21:28:54.438Z,1755898134.438 [DAT](INFO): DAT read: Tx time:21:28:55.5912
2025-08-22T21:28:54.438Z,1755898134.438 [DAT](INFO): Ping request sent.
2025-08-22T21:28:54.438Z,1755898134.438 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:54.438Z,1755898134.438 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:54.439Z,1755898134.439 [DAT](INFO): direction in FSK: [0.973042,0.162831,0.163326]
2025-08-22T21:28:54.440Z,1755898134.440 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:54.440Z,1755898134.440 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:54.443Z,1755898134.443 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:54.443Z,1755898134.443 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:54.693Z,1755898134.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 177.600006 m,
deltaT: 3.776611 s,
deltaX: -2.599991 m,
approachRate: -0.688446 m/s,
rangeRepo size: 4
2025-08-22T21:28:54.707Z,1755898134.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 176.496643 m,
bearing: 229.490978 deg,
lat: 36.779441 deg,
lon: -121.859562 deg,
deltaT: 3.776611 s,
deltaX: -2.584885 m,
approachRate: -0.684446 m/s,
posRepo size: 4
2025-08-22T21:28:54.707Z,1755898134.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.50 m.
2025-08-22T21:28:54.715Z,1755898134.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 176.496643 m,
nav range: 174.010513 m,
bearing: 228.741516 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007629 deg/s,
cmd heading: 220.258342 deg,
new cmd heading: 220.264575 deg.
2025-08-22T21:28:54.722Z,1755898134.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844342 target range: 176.496643 and range: 177.60 m.
2025-08-22T21:28:55.083Z,1755898135.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.50 m.
2025-08-22T21:28:55.085Z,1755898135.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 176.496643 m,
nav range: 173.711975 m,
bearing: 228.743197 deg,
approach rate: -0.722681 m/s,
LOS rate: 0.004077 deg/s,
cmd heading: 220.264571 deg,
new cmd heading: 220.267940 deg.
2025-08-22T21:28:55.087Z,1755898135.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844401 target range: 176.496643 and range: 177.60 m.
2025-08-22T21:28:55.531Z,1755898135.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.50 m.
2025-08-22T21:28:55.534Z,1755898135.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 176.496643 m,
nav range: 173.410477 m,
bearing: 228.744797 deg,
approach rate: -0.671105 m/s,
LOS rate: 0.003566 deg/s,
cmd heading: 220.267945 deg,
new cmd heading: 220.271150 deg.
2025-08-22T21:28:55.535Z,1755898135.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844457 target range: 176.496643 and range: 177.60 m.
2025-08-22T21:28:55.914Z,1755898135.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:55.916Z,1755898135.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.50 m.
2025-08-22T21:28:55.935Z,1755898135.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 176.496643 m,
nav range: 173.143890 m,
bearing: 228.746501 deg,
approach rate: -0.691552 m/s,
LOS rate: 0.004429 deg/s,
cmd heading: 220.271156 deg,
new cmd heading: 220.274570 deg.
2025-08-22T21:28:55.938Z,1755898135.938 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:55.938Z,1755898135.938 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:55.939Z,1755898135.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:55.942Z,1755898135.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844517 target range: 176.496643 and range: 177.60 m.
2025-08-22T21:28:56.192Z,1755898136.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753413
2025-08-22T21:28:56.310Z,1755898136.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.50 m.
2025-08-22T21:28:56.313Z,1755898136.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 176.496643 m,
nav range: 172.874084 m,
bearing: 228.748153 deg,
approach rate: -0.686884 m/s,
LOS rate: 0.004212 deg/s,
cmd heading: 220.274571 deg,
new cmd heading: 220.277880 deg.
2025-08-22T21:28:56.314Z,1755898136.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844574 target range: 176.496643 and range: 177.60 m.
2025-08-22T21:28:56.443Z,1755898136.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004487
2025-08-22T21:28:56.697Z,1755898136.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258489
2025-08-22T21:28:56.765Z,1755898136.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.50 m.
2025-08-22T21:28:56.768Z,1755898136.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 176.496643 m,
nav range: 172.570557 m,
bearing: 228.750018 deg,
approach rate: -0.671514 m/s,
LOS rate: 0.004132 deg/s,
cmd heading: 220.277876 deg,
new cmd heading: 220.281612 deg.
2025-08-22T21:28:56.769Z,1755898136.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844639 target range: 176.496643 and range: 177.60 m.
2025-08-22T21:28:56.946Z,1755898136.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508367
2025-08-22T21:28:57.117Z,1755898137.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.50 m.
2025-08-22T21:28:57.120Z,1755898137.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 176.496643 m,
nav range: 172.316818 m,
bearing: 228.750546 deg,
approach rate: -0.713538 m/s,
LOS rate: 0.001488 deg/s,
cmd heading: 220.281606 deg,
new cmd heading: 220.282664 deg.
2025-08-22T21:28:57.121Z,1755898137.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844658 target range: 176.496643 and range: 177.60 m.
2025-08-22T21:28:57.200Z,1755898137.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761211
2025-08-22T21:28:57.450Z,1755898137.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012319
2025-08-22T21:28:57.489Z,1755898137.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.50 m.
2025-08-22T21:28:57.492Z,1755898137.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 176.496643 m,
nav range: 172.057205 m,
bearing: 228.750888 deg,
approach rate: -0.697120 m/s,
LOS rate: 0.000920 deg/s,
cmd heading: 220.282658 deg,
new cmd heading: 220.283343 deg.
2025-08-22T21:28:57.493Z,1755898137.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844670 target range: 176.496643 and range: 177.60 m.
2025-08-22T21:28:57.707Z,1755898137.707 [DAT](INFO): DAT read: Rx Time:21:28:58.2286
2025-08-22T21:28:57.708Z,1755898137.708 [DAT](INFO): Rx dataTimestamp_ set to:1755898137.707163
2025-08-22T21:28:57.711Z,1755898137.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272405
2025-08-22T21:28:57.914Z,1755898137.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.50 m.
2025-08-22T21:28:57.917Z,1755898137.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 176.496643 m,
nav range: 171.757797 m,
bearing: 228.750832 deg,
approach rate: -0.705382 m/s,
LOS rate: -0.000132 deg/s,
cmd heading: 220.283341 deg,
new cmd heading: 220.283229 deg.
2025-08-22T21:28:57.918Z,1755898137.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844668 target range: 176.496643 and range: 177.60 m.
2025-08-22T21:28:57.957Z,1755898137.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518931
2025-08-22T21:28:58.217Z,1755898138.217 [DAT](INFO): DAT read: 21:28:58.2286 LVL= 29744, 32753, 30994, 32755, AGC= 65, IDX= 401, 0.29,-2.604, 1.767,-2.761,-3.026, PHS= 0.524,-1.446, 0.221, RAW= 141.8, 7.7, CAL= 141.4, 8.4, ROT= 8.6, -8.4
2025-08-22T21:28:58.219Z,1755898138.219 [DAT](INFO): got valid direction response:
21:28:58.2286 LVL= 29744, 32753, 30994, 32755, AGC= 65, IDX= 401, 0.29,-2.604, 1.767,-2.761,-3.026, PHS= 0.524,-1.446, 0.221, RAW= 141.8, 7.7, CAL= 141.4, 8.4, ROT= 8.6, -8.4
2025-08-22T21:28:58.221Z,1755898138.221 [DAT](INFO): DAT read: Bearing 359.1, 11.1 (Local)
2025-08-22T21:28:58.221Z,1755898138.221 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.1, 11.1 (Local)
2025-08-22T21:28:58.228Z,1755898138.228 [DAT](INFO): DAT read: Range 11 to 50 : 174.9 m (Round-trip 233.3 ms) speed 0.5 m/s
2025-08-22T21:28:58.229Z,1755898138.229 [DAT](INFO): DAT read: user:2259>
2025-08-22T21:28:58.232Z,1755898138.232 [DAT](INFO): DAT read: Tx time:21:28:59.3412
2025-08-22T21:28:58.232Z,1755898138.232 [DAT](INFO): Ping request sent.
2025-08-22T21:28:58.233Z,1755898138.233 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:28:58.233Z,1755898138.233 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:28:58.234Z,1755898138.234 [DAT](INFO): direction in FSK: [0.978149,0.147931,0.146083]
2025-08-22T21:28:58.235Z,1755898138.235 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:58.236Z,1755898138.236 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:58.248Z,1755898138.248 [DAT](INFO): publishing transmit ping time
2025-08-22T21:28:58.248Z,1755898138.248 [DAT](INFO): publishing direction and range info
2025-08-22T21:28:58.354Z,1755898138.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 174.899994 m,
deltaT: 3.780581 s,
deltaX: -2.700012 m,
approachRate: -0.714179 m/s,
rangeRepo size: 4
2025-08-22T21:28:58.356Z,1755898138.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 173.809586 m,
bearing: 228.999578 deg,
lat: 36.779441 deg,
lon: -121.859562 deg,
deltaT: 3.780581 s,
deltaX: -2.687057 m,
approachRate: -0.710753 m/s,
posRepo size: 4
2025-08-22T21:28:58.357Z,1755898138.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:28:58.364Z,1755898138.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 171.469116 m,
bearing: 228.750744 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000132 deg/s,
cmd heading: 220.283231 deg,
new cmd heading: 220.283116 deg.
2025-08-22T21:28:58.365Z,1755898138.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844666 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:28:58.502Z,1755898138.502 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:28:58.697Z,1755898138.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:28:58.706Z,1755898138.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:28:58.714Z,1755898138.714 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:28:58.714Z,1755898138.714 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:28:58.715Z,1755898138.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:28:58.746Z,1755898138.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 171.203537 m,
bearing: 228.750593 deg,
approach rate: -0.750404 m/s,
LOS rate: -0.000430 deg/s,
cmd heading: 220.283122 deg,
new cmd heading: 220.282818 deg.
2025-08-22T21:28:58.754Z,1755898138.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844661 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:28:58.963Z,1755898138.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.730273
2025-08-22T21:28:59.167Z,1755898139.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:28:59.176Z,1755898139.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 170.897232 m,
bearing: 228.750951 deg,
approach rate: -0.660578 m/s,
LOS rate: 0.000774 deg/s,
cmd heading: 220.282821 deg,
new cmd heading: 220.283539 deg.
2025-08-22T21:28:59.177Z,1755898139.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844673 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:28:59.216Z,1755898139.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983369
2025-08-22T21:28:59.467Z,1755898139.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234279
2025-08-22T21:28:59.506Z,1755898139.506 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:28:59.559Z,1755898139.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:28:59.574Z,1755898139.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 170.599976 m,
bearing: 228.751177 deg,
approach rate: -0.758158 m/s,
LOS rate: 0.000579 deg/s,
cmd heading: 220.283545 deg,
new cmd heading: 220.283999 deg.
2025-08-22T21:28:59.575Z,1755898139.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844681 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:28:59.720Z,1755898139.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487242
2025-08-22T21:28:59.971Z,1755898139.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738350
2025-08-22T21:28:59.981Z,1755898139.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:28:59.984Z,1755898139.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 170.302612 m,
bearing: 228.751725 deg,
approach rate: -0.704465 m/s,
LOS rate: 0.001301 deg/s,
cmd heading: 220.283996 deg,
new cmd heading: 220.285094 deg.
2025-08-22T21:28:59.985Z,1755898139.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844700 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:00.223Z,1755898140.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991145
2025-08-22T21:29:00.373Z,1755898140.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:00.376Z,1755898140.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 170.026215 m,
bearing: 228.752215 deg,
approach rate: -0.704870 m/s,
LOS rate: 0.001250 deg/s,
cmd heading: 220.285089 deg,
new cmd heading: 220.286069 deg.
2025-08-22T21:29:00.377Z,1755898140.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844717 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:00.475Z,1755898140.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242269
2025-08-22T21:29:00.728Z,1755898140.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495303
2025-08-22T21:29:00.862Z,1755898140.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:00.864Z,1755898140.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:00.867Z,1755898140.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 169.691299 m,
bearing: 228.753554 deg,
approach rate: -0.682933 m/s,
LOS rate: 0.002736 deg/s,
cmd heading: 220.286073 deg,
new cmd heading: 220.288756 deg.
2025-08-22T21:29:00.868Z,1755898140.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844764 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:00.979Z,1755898140.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746767
2025-08-22T21:29:01.192Z,1755898141.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:01.195Z,1755898141.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 169.469467 m,
bearing: 228.754360 deg,
approach rate: -0.675517 m/s,
LOS rate: 0.002458 deg/s,
cmd heading: 220.288750 deg,
new cmd heading: 220.290364 deg.
2025-08-22T21:29:01.196Z,1755898141.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844792 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:01.231Z,1755898141.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999030
2025-08-22T21:29:01.482Z,1755898141.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250219
2025-08-22T21:29:01.570Z,1755898141.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:01.573Z,1755898141.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 169.208481 m,
bearing: 228.755296 deg,
approach rate: -0.690175 m/s,
LOS rate: 0.002480 deg/s,
cmd heading: 220.290362 deg,
new cmd heading: 220.292237 deg.
2025-08-22T21:29:01.574Z,1755898141.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844825 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:01.735Z,1755898141.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502326
2025-08-22T21:29:01.987Z,1755898141.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754319
2025-08-22T21:29:02.003Z,1755898142.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:02.006Z,1755898142.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 168.909851 m,
bearing: 228.755181 deg,
approach rate: -0.689388 m/s,
LOS rate: -0.000265 deg/s,
cmd heading: 220.292233 deg,
new cmd heading: 220.292004 deg.
2025-08-22T21:29:02.007Z,1755898142.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844821 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:02.239Z,1755898142.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.006283
2025-08-22T21:29:02.380Z,1755898142.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:02.383Z,1755898142.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 168.650070 m,
bearing: 228.755075 deg,
approach rate: -0.688900 m/s,
LOS rate: -0.000284 deg/s,
cmd heading: 220.292001 deg,
new cmd heading: 220.291787 deg.
2025-08-22T21:29:02.384Z,1755898142.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844817 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:02.491Z,1755898142.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.258965
2025-08-22T21:29:02.742Z,1755898142.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.510225
2025-08-22T21:29:02.872Z,1755898142.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:02.878Z,1755898142.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:02.881Z,1755898142.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 168.329544 m,
bearing: 228.754890 deg,
approach rate: -0.649826 m/s,
LOS rate: -0.000374 deg/s,
cmd heading: 220.291783 deg,
new cmd heading: 220.291414 deg.
2025-08-22T21:29:02.894Z,1755898142.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844810 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:02.995Z,1755898142.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.763160
2025-08-22T21:29:03.247Z,1755898143.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.014355
2025-08-22T21:29:03.293Z,1755898143.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:03.296Z,1755898143.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 168.029251 m,
bearing: 228.755240 deg,
approach rate: -0.716110 m/s,
LOS rate: 0.000835 deg/s,
cmd heading: 220.291414 deg,
new cmd heading: 220.292114 deg.
2025-08-22T21:29:03.297Z,1755898143.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844823 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:03.500Z,1755898143.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.267344
2025-08-22T21:29:03.675Z,1755898143.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:03.677Z,1755898143.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 167.791565 m,
bearing: 228.755490 deg,
approach rate: -0.623089 m/s,
LOS rate: 0.000655 deg/s,
cmd heading: 220.292111 deg,
new cmd heading: 220.292610 deg.
2025-08-22T21:29:03.679Z,1755898143.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844831 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:03.751Z,1755898143.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.519081
2025-08-22T21:29:04.003Z,1755898144.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.770282
2025-08-22T21:29:04.101Z,1755898144.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:04.107Z,1755898144.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 167.484695 m,
bearing: 228.757145 deg,
approach rate: -0.720373 m/s,
LOS rate: 0.003893 deg/s,
cmd heading: 220.292616 deg,
new cmd heading: 220.295933 deg.
2025-08-22T21:29:04.108Z,1755898144.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844889 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:04.254Z,1755898144.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.022207
2025-08-22T21:29:04.459Z,1755898144.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:04.462Z,1755898144.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 167.232559 m,
bearing: 228.758452 deg,
approach rate: -0.704134 m/s,
LOS rate: 0.003656 deg/s,
cmd heading: 220.295935 deg,
new cmd heading: 220.298554 deg.
2025-08-22T21:29:04.463Z,1755898144.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844935 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:04.507Z,1755898144.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.274775
2025-08-22T21:29:04.759Z,1755898144.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.526270
2025-08-22T21:29:04.912Z,1755898144.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:04.914Z,1755898144.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:04.917Z,1755898144.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 166.922958 m,
bearing: 228.759421 deg,
approach rate: -0.679571 m/s,
LOS rate: 0.002132 deg/s,
cmd heading: 220.298558 deg,
new cmd heading: 220.300501 deg.
2025-08-22T21:29:04.919Z,1755898144.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844969 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:05.011Z,1755898145.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.778711
2025-08-22T21:29:05.262Z,1755898145.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.030130
2025-08-22T21:29:05.332Z,1755898145.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:05.342Z,1755898145.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 166.651764 m,
bearing: 228.760273 deg,
approach rate: -0.649298 m/s,
LOS rate: 0.002043 deg/s,
cmd heading: 220.300498 deg,
new cmd heading: 220.302205 deg.
2025-08-22T21:29:05.343Z,1755898145.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844999 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:05.515Z,1755898145.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.282243
2025-08-22T21:29:05.739Z,1755898145.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:05.742Z,1755898145.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 166.378067 m,
bearing: 228.760982 deg,
approach rate: -0.703231 m/s,
LOS rate: 0.001823 deg/s,
cmd heading: 220.302206 deg,
new cmd heading: 220.303625 deg.
2025-08-22T21:29:05.743Z,1755898145.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845024 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:05.767Z,1755898145.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.534360
2025-08-22T21:29:06.018Z,1755898146.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.786226
2025-08-22T21:29:06.142Z,1755898146.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:06.145Z,1755898146.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 166.087479 m,
bearing: 228.761184 deg,
approach rate: -0.691495 m/s,
LOS rate: 0.000482 deg/s,
cmd heading: 220.303626 deg,
new cmd heading: 220.304031 deg.
2025-08-22T21:29:06.146Z,1755898146.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845031 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:06.271Z,1755898146.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.038396
2025-08-22T21:29:06.505Z,1755898146.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:06.522Z,1755898146.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.290205
2025-08-22T21:29:06.525Z,1755898146.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 165.835297 m,
bearing: 228.761261 deg,
approach rate: -0.693978 m/s,
LOS rate: 0.000213 deg/s,
cmd heading: 220.304036 deg,
new cmd heading: 220.304191 deg.
2025-08-22T21:29:06.526Z,1755898146.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845033 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:06.775Z,1755898146.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.542806
2025-08-22T21:29:06.946Z,1755898146.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:06.949Z,1755898146.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:06.963Z,1755898146.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 165.532913 m,
bearing: 228.761677 deg,
approach rate: -0.681280 m/s,
LOS rate: 0.000938 deg/s,
cmd heading: 220.304186 deg,
new cmd heading: 220.305019 deg.
2025-08-22T21:29:06.964Z,1755898146.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845048 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:07.028Z,1755898147.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.795012
2025-08-22T21:29:07.279Z,1755898147.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.046304
2025-08-22T21:29:07.323Z,1755898147.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:07.326Z,1755898147.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 165.277176 m,
bearing: 228.761974 deg,
approach rate: -0.682957 m/s,
LOS rate: 0.000794 deg/s,
cmd heading: 220.305020 deg,
new cmd heading: 220.305614 deg.
2025-08-22T21:29:07.327Z,1755898147.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845058 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:07.533Z,1755898147.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.301131
2025-08-22T21:29:07.738Z,1755898147.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:07.741Z,1755898147.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 164.994034 m,
bearing: 228.762234 deg,
approach rate: -0.681941 m/s,
LOS rate: 0.000628 deg/s,
cmd heading: 220.305621 deg,
new cmd heading: 220.306142 deg.
2025-08-22T21:29:07.742Z,1755898147.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845068 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:07.783Z,1755898147.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.550679
2025-08-22T21:29:08.034Z,1755898148.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.802216
2025-08-22T21:29:08.147Z,1755898148.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:08.150Z,1755898148.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 164.721786 m,
bearing: 228.762422 deg,
approach rate: -0.665838 m/s,
LOS rate: 0.000462 deg/s,
cmd heading: 220.306140 deg,
new cmd heading: 220.306517 deg.
2025-08-22T21:29:08.151Z,1755898148.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845074 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:08.286Z,1755898148.286 [DAT](INFO): Reached modem response timeout
2025-08-22T21:29:08.287Z,1755898148.287 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:29:08.287Z,1755898148.287 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:08.524Z,1755898148.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:08.538Z,1755898148.538 [DAT](INFO): Reached modem response timeout
2025-08-22T21:29:08.539Z,1755898148.539 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:29:08.539Z,1755898148.539 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:08.545Z,1755898148.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 164.465042 m,
bearing: 228.762574 deg,
approach rate: -0.680361 m/s,
LOS rate: 0.000402 deg/s,
cmd heading: 220.306522 deg,
new cmd heading: 220.306826 deg.
2025-08-22T21:29:08.550Z,1755898148.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845079 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:08.790Z,1755898148.790 [DAT](INFO): Reached modem response timeout
2025-08-22T21:29:08.790Z,1755898148.790 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:29:08.791Z,1755898148.791 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:08.973Z,1755898148.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:08.975Z,1755898148.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:08.978Z,1755898148.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 164.160339 m,
bearing: 228.762247 deg,
approach rate: -0.675812 m/s,
LOS rate: -0.000727 deg/s,
cmd heading: 220.306823 deg,
new cmd heading: 220.306167 deg.
2025-08-22T21:29:08.979Z,1755898148.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845068 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:09.044Z,1755898149.044 [DAT](INFO): Reached modem response timeout
2025-08-22T21:29:09.044Z,1755898149.044 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:29:09.044Z,1755898149.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:09.294Z,1755898149.294 [DAT](INFO): Reached modem response timeout
2025-08-22T21:29:09.294Z,1755898149.294 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:29:09.295Z,1755898149.295 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:09.363Z,1755898149.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:09.373Z,1755898149.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 163.913788 m,
bearing: 228.761955 deg,
approach rate: -0.635161 m/s,
LOS rate: -0.000753 deg/s,
cmd heading: 220.306167 deg,
new cmd heading: 220.305582 deg.
2025-08-22T21:29:09.375Z,1755898149.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845058 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:09.546Z,1755898149.546 [DAT](INFO): Reached modem response timeout
2025-08-22T21:29:09.546Z,1755898149.546 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:29:09.547Z,1755898149.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:09.742Z,1755898149.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:09.745Z,1755898149.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 163.641022 m,
bearing: 228.761609 deg,
approach rate: -0.719698 m/s,
LOS rate: -0.000915 deg/s,
cmd heading: 220.305580 deg,
new cmd heading: 220.304886 deg.
2025-08-22T21:29:09.746Z,1755898149.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845046 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:09.799Z,1755898149.799 [DAT](INFO): Reached modem response timeout
2025-08-22T21:29:09.799Z,1755898149.799 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:29:09.799Z,1755898149.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:10.050Z,1755898150.050 [DAT](INFO): Reached modem response timeout
2025-08-22T21:29:10.050Z,1755898150.050 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:29:10.051Z,1755898150.051 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:10.268Z,1755898150.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:10.277Z,1755898150.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 163.286484 m,
bearing: 228.758711 deg,
approach rate: -0.675171 m/s,
LOS rate: -0.005530 deg/s,
cmd heading: 220.304883 deg,
new cmd heading: 220.299075 deg.
2025-08-22T21:29:10.320Z,1755898150.320 [DAT](INFO): Reached modem response timeout
2025-08-22T21:29:10.320Z,1755898150.320 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:29:10.320Z,1755898150.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:10.326Z,1755898150.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844944 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:10.555Z,1755898150.555 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:29:10.555Z,1755898150.555 [DAT](INFO): response not received
2025-08-22T21:29:10.556Z,1755898150.556 [DAT](INFO): DAT read: user:2260>
2025-08-22T21:29:10.556Z,1755898150.556 [DAT](ERROR): No response from remote modem.
2025-08-22T21:29:10.556Z,1755898150.556 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:29:10.557Z,1755898150.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:10.669Z,1755898150.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:10.694Z,1755898150.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 163.015671 m,
bearing: 228.756558 deg,
approach rate: -0.675144 m/s,
LOS rate: -0.005376 deg/s,
cmd heading: 220.299077 deg,
new cmd heading: 220.294765 deg.
2025-08-22T21:29:10.696Z,1755898150.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844869 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:10.807Z,1755898150.807 [DAT](INFO): DAT read: Tx time:21:29:11.7911
2025-08-22T21:29:10.808Z,1755898150.808 [DAT](INFO): Ping request sent.
2025-08-22T21:29:10.808Z,1755898150.808 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:10.808Z,1755898150.808 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:10.810Z,1755898150.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001091
2025-08-22T21:29:11.058Z,1755898151.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250562
2025-08-22T21:29:11.126Z,1755898151.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:11.128Z,1755898151.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:11.131Z,1755898151.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 162.699585 m,
bearing: 228.753074 deg,
approach rate: -0.688352 m/s,
LOS rate: -0.007603 deg/s,
cmd heading: 220.294761 deg,
new cmd heading: 220.287778 deg.
2025-08-22T21:29:11.132Z,1755898151.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844747 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:11.311Z,1755898151.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502882
2025-08-22T21:29:11.489Z,1755898151.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:11.492Z,1755898151.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 162.450424 m,
bearing: 228.750422 deg,
approach rate: -0.689865 m/s,
LOS rate: -0.007353 deg/s,
cmd heading: 220.287780 deg,
new cmd heading: 220.282469 deg.
2025-08-22T21:29:11.493Z,1755898151.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844654 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:11.565Z,1755898151.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756901
2025-08-22T21:29:11.819Z,1755898151.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010751
2025-08-22T21:29:11.883Z,1755898151.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:11.886Z,1755898151.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 162.179764 m,
bearing: 228.747541 deg,
approach rate: -0.687634 m/s,
LOS rate: -0.007333 deg/s,
cmd heading: 220.282466 deg,
new cmd heading: 220.276693 deg.
2025-08-22T21:29:11.886Z,1755898151.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844553 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:12.070Z,1755898152.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262615
2025-08-22T21:29:12.306Z,1755898152.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:12.309Z,1755898152.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 161.885986 m,
bearing: 228.744083 deg,
approach rate: -0.694421 m/s,
LOS rate: -0.008188 deg/s,
cmd heading: 220.276688 deg,
new cmd heading: 220.269760 deg.
2025-08-22T21:29:12.310Z,1755898152.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844433 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:12.331Z,1755898152.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522725
2025-08-22T21:29:12.582Z,1755898152.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774549
2025-08-22T21:29:12.777Z,1755898152.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:12.780Z,1755898152.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 161.559494 m,
bearing: 228.740375 deg,
approach rate: -0.693063 m/s,
LOS rate: -0.007887 deg/s,
cmd heading: 220.269762 deg,
new cmd heading: 220.262331 deg.
2025-08-22T21:29:12.781Z,1755898152.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844303 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:12.835Z,1755898152.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027037
2025-08-22T21:29:13.087Z,1755898153.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279110
2025-08-22T21:29:13.225Z,1755898153.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:13.228Z,1755898153.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:13.246Z,1755898153.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 161.239807 m,
bearing: 228.737388 deg,
approach rate: -0.709240 m/s,
LOS rate: -0.006640 deg/s,
cmd heading: 220.262331 deg,
new cmd heading: 220.256345 deg.
2025-08-22T21:29:13.247Z,1755898153.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844198 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:13.338Z,1755898153.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530557
2025-08-22T21:29:13.591Z,1755898153.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783417
2025-08-22T21:29:13.731Z,1755898153.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:13.734Z,1755898153.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 160.882141 m,
bearing: 228.734044 deg,
approach rate: -0.710804 m/s,
LOS rate: -0.006661 deg/s,
cmd heading: 220.256348 deg,
new cmd heading: 220.249645 deg.
2025-08-22T21:29:13.735Z,1755898153.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844081 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:13.843Z,1755898153.843 [DAT](INFO): DAT read: Rx Time:21:29:14.4135
2025-08-22T21:29:13.843Z,1755898153.843 [DAT](INFO): Rx dataTimestamp_ set to:1755898153.842755
2025-08-22T21:29:13.844Z,1755898153.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035718
2025-08-22T21:29:14.096Z,1755898154.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287724
2025-08-22T21:29:14.291Z,1755898154.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.81 m.
2025-08-22T21:29:14.315Z,1755898154.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.809586 m,
nav range: 160.496460 m,
bearing: 228.732607 deg,
approach rate: -0.716621 m/s,
LOS rate: -0.002676 deg/s,
cmd heading: 220.249640 deg,
new cmd heading: 220.246760 deg.
2025-08-22T21:29:14.327Z,1755898154.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844031 target range: 173.809586 and range: 174.90 m.
2025-08-22T21:29:14.355Z,1755898154.355 [DAT](INFO): DAT read: 21:29:14.4135 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 264, 0.28, 2.398, 0.471, 2.285, 1.999, PHS= 0.501,-1.483, 0.242, RAW= 143.1, 8.0, CAL= 142.7, 8.7, ROT= 7.3, -8.7
2025-08-22T21:29:14.356Z,1755898154.356 [DAT](INFO): got valid direction response:
21:29:14.4135 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 264, 0.28, 2.398, 0.471, 2.285, 1.999, PHS= 0.501,-1.483, 0.242, RAW= 143.1, 8.0, CAL= 142.7, 8.7, ROT= 7.3, -8.7
2025-08-22T21:29:14.357Z,1755898154.357 [DAT](INFO): DAT read: Bearing 0.0, 9.5 (Local)
2025-08-22T21:29:14.358Z,1755898154.358 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.0, 9.5 (Local)
2025-08-22T21:29:14.359Z,1755898154.359 [DAT](INFO): DAT read: Range 11 to 50 : 163.7 m (Round-trip 218.3 ms) speed 0.5 m/s
2025-08-22T21:29:14.360Z,1755898154.360 [DAT](INFO): DAT read: user:2261>
2025-08-22T21:29:14.361Z,1755898154.361 [DAT](INFO): DAT read: Tx time:21:29:15.5411
2025-08-22T21:29:14.361Z,1755898154.361 [DAT](INFO): Ping request sent.
2025-08-22T21:29:14.361Z,1755898154.361 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:14.361Z,1755898154.361 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:14.362Z,1755898154.362 [DAT](INFO): direction in FSK: [0.980482,0.125603,0.151261]
2025-08-22T21:29:14.363Z,1755898154.363 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:14.363Z,1755898154.363 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:14.366Z,1755898154.366 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:14.366Z,1755898154.366 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:14.722Z,1755898154.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 163.699997 m,
deltaT: 16.141863 s,
deltaX: -11.199997 m,
approachRate: -0.693848 m/s,
rangeRepo size: 4
2025-08-22T21:29:14.724Z,1755898154.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 162.666077 m,
bearing: 228.436256 deg,
lat: 36.779440 deg,
lon: -121.859562 deg,
deltaT: 16.141863 s,
deltaX: -11.143509 m,
approachRate: -0.690348 m/s,
posRepo size: 4
2025-08-22T21:29:14.725Z,1755898154.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.67 m.
2025-08-22T21:29:14.728Z,1755898154.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.666077 m,
nav range: 160.225800 m,
bearing: 228.717361 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002676 deg/s,
cmd heading: 220.246758 deg,
new cmd heading: 220.244337 deg.
2025-08-22T21:29:14.729Z,1755898154.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843989 target range: 162.666077 and range: 163.70 m.
2025-08-22T21:29:15.110Z,1755898155.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.67 m.
2025-08-22T21:29:15.113Z,1755898155.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.666077 m,
nav range: 159.954071 m,
bearing: 228.716306 deg,
approach rate: -0.738182 m/s,
LOS rate: -0.002871 deg/s,
cmd heading: 220.244340 deg,
new cmd heading: 220.242227 deg.
2025-08-22T21:29:15.119Z,1755898155.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843952 target range: 162.666077 and range: 163.70 m.
2025-08-22T21:29:15.472Z,1755898155.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:15.474Z,1755898155.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.67 m.
2025-08-22T21:29:15.477Z,1755898155.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.666077 m,
nav range: 159.691101 m,
bearing: 228.715309 deg,
approach rate: -0.683255 m/s,
LOS rate: -0.002596 deg/s,
cmd heading: 220.242223 deg,
new cmd heading: 220.240225 deg.
2025-08-22T21:29:15.478Z,1755898155.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843917 target range: 162.666077 and range: 163.70 m.
2025-08-22T21:29:15.606Z,1755898155.606 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:29:15.606Z,1755898155.606 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:29:15.607Z,1755898155.607 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:15.858Z,1755898155.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497487
2025-08-22T21:29:15.880Z,1755898155.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.67 m.
2025-08-22T21:29:15.883Z,1755898155.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.666077 m,
nav range: 159.413284 m,
bearing: 228.714245 deg,
approach rate: -0.685262 m/s,
LOS rate: -0.002629 deg/s,
cmd heading: 220.240228 deg,
new cmd heading: 220.238097 deg.
2025-08-22T21:29:15.884Z,1755898155.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843880 target range: 162.666077 and range: 163.70 m.
2025-08-22T21:29:16.111Z,1755898156.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749603
2025-08-22T21:29:16.331Z,1755898156.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.67 m.
2025-08-22T21:29:16.334Z,1755898156.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.666077 m,
nav range: 159.105911 m,
bearing: 228.712931 deg,
approach rate: -0.680496 m/s,
LOS rate: -0.002914 deg/s,
cmd heading: 220.238097 deg,
new cmd heading: 220.235465 deg.
2025-08-22T21:29:16.335Z,1755898156.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843834 target range: 162.666077 and range: 163.70 m.
2025-08-22T21:29:16.388Z,1755898156.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026705
2025-08-22T21:29:16.639Z,1755898156.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277563
2025-08-22T21:29:16.715Z,1755898156.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.67 m.
2025-08-22T21:29:16.718Z,1755898156.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.666077 m,
nav range: 158.844925 m,
bearing: 228.711610 deg,
approach rate: -0.680634 m/s,
LOS rate: -0.003450 deg/s,
cmd heading: 220.235461 deg,
new cmd heading: 220.232815 deg.
2025-08-22T21:29:16.719Z,1755898156.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843788 target range: 162.666077 and range: 163.70 m.
2025-08-22T21:29:16.891Z,1755898156.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529538
2025-08-22T21:29:17.140Z,1755898157.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.67 m.
2025-08-22T21:29:17.143Z,1755898157.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781652
2025-08-22T21:29:17.145Z,1755898157.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.666077 m,
nav range: 158.570374 m,
bearing: 228.709180 deg,
approach rate: -0.645531 m/s,
LOS rate: -0.005724 deg/s,
cmd heading: 220.232811 deg,
new cmd heading: 220.227942 deg.
2025-08-22T21:29:17.146Z,1755898157.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843703 target range: 162.666077 and range: 163.70 m.
2025-08-22T21:29:17.395Z,1755898157.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033611
2025-08-22T21:29:17.501Z,1755898157.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:17.523Z,1755898157.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.67 m.
2025-08-22T21:29:17.530Z,1755898157.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.666077 m,
nav range: 158.307983 m,
bearing: 228.706809 deg,
approach rate: -0.684913 m/s,
LOS rate: -0.006199 deg/s,
cmd heading: 220.227948 deg,
new cmd heading: 220.223198 deg.
2025-08-22T21:29:17.531Z,1755898157.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843620 target range: 162.666077 and range: 163.70 m.
2025-08-22T21:29:17.647Z,1755898157.647 [DAT](INFO): DAT read: Rx Time:21:29:18.1600
2025-08-22T21:29:17.647Z,1755898157.647 [DAT](INFO): Rx dataTimestamp_ set to:1755898157.646724
2025-08-22T21:29:17.648Z,1755898157.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286587
2025-08-22T21:29:17.899Z,1755898157.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537580
2025-08-22T21:29:17.904Z,1755898157.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.67 m.
2025-08-22T21:29:17.907Z,1755898157.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.666077 m,
nav range: 158.032135 m,
bearing: 228.704303 deg,
approach rate: -0.725083 m/s,
LOS rate: -0.006598 deg/s,
cmd heading: 220.223194 deg,
new cmd heading: 220.218173 deg.
2025-08-22T21:29:17.908Z,1755898157.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843532 target range: 162.666077 and range: 163.70 m.
2025-08-22T21:29:18.158Z,1755898158.158 [DAT](INFO): DAT read: 21:29:18.1600 LVL= 29552, 32753, 32754, 32755, AGC= 67, IDX= 405,-0.15, 2.233, 0.289, 2.073, 1.829, PHS= 0.505,-1.495, 0.200, RAW= 141.9, 8.5, CAL= 141.4, 9.3, ROT= 8.6, -9.3
2025-08-22T21:29:18.160Z,1755898158.160 [DAT](INFO): got valid direction response:
21:29:18.1600 LVL= 29552, 32753, 32754, 32755, AGC= 67, IDX= 405,-0.15, 2.233, 0.289, 2.073, 1.829, PHS= 0.505,-1.495, 0.200, RAW= 141.9, 8.5, CAL= 141.4, 9.3, ROT= 8.6, -9.3
2025-08-22T21:29:18.161Z,1755898158.161 [DAT](INFO): DAT read: Bearing 0.6, 10.5 (Local)
2025-08-22T21:29:18.161Z,1755898158.161 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.6, 10.5 (Local)
2025-08-22T21:29:18.164Z,1755898158.164 [DAT](INFO): DAT read: Range 11 to 50 : 161.1 m (Round-trip 214.9 ms) speed 0.5 m/s
2025-08-22T21:29:18.166Z,1755898158.166 [DAT](INFO): DAT read: user:2262>
2025-08-22T21:29:18.168Z,1755898158.168 [DAT](INFO): DAT read: Tx time:21:29:19.2910
2025-08-22T21:29:18.168Z,1755898158.168 [DAT](INFO): Ping request sent.
2025-08-22T21:29:18.168Z,1755898158.168 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:18.170Z,1755898158.170 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:18.172Z,1755898158.172 [DAT](INFO): direction in FSK: [0.975760,0.147570,0.161604]
2025-08-22T21:29:18.173Z,1755898158.173 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:18.173Z,1755898158.173 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:18.221Z,1755898158.221 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:18.221Z,1755898158.221 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:18.388Z,1755898158.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 161.100006 m,
deltaT: 3.801976 s,
deltaX: -2.599991 m,
approachRate: -0.683852 m/s,
rangeRepo size: 4
2025-08-22T21:29:18.391Z,1755898158.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 160.079987 m,
bearing: 229.759002 deg,
lat: 36.779451 deg,
lon: -121.859562 deg,
deltaT: 3.801976 s,
deltaX: -2.586090 m,
approachRate: -0.680196 m/s,
posRepo size: 4
2025-08-22T21:29:18.391Z,1755898158.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.08 m.
2025-08-22T21:29:18.398Z,1755898158.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.079987 m,
nav range: 156.958893 m,
bearing: 229.017422 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006598 deg/s,
cmd heading: 220.218167 deg,
new cmd heading: 220.211780 deg.
2025-08-22T21:29:18.399Z,1755898158.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843421 target range: 160.079987 and range: 161.10 m.
2025-08-22T21:29:18.752Z,1755898158.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.08 m.
2025-08-22T21:29:18.756Z,1755898158.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.079987 m,
nav range: 156.709869 m,
bearing: 229.016605 deg,
approach rate: -0.689191 m/s,
LOS rate: -0.002264 deg/s,
cmd heading: 220.211774 deg,
new cmd heading: 220.210138 deg.
2025-08-22T21:29:18.757Z,1755898158.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843392 target range: 160.079987 and range: 161.10 m.
2025-08-22T21:29:19.200Z,1755898159.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.08 m.
2025-08-22T21:29:19.207Z,1755898159.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.079987 m,
nav range: 156.408798 m,
bearing: 229.013758 deg,
approach rate: -0.667799 m/s,
LOS rate: -0.006327 deg/s,
cmd heading: 220.210135 deg,
new cmd heading: 220.204430 deg.
2025-08-22T21:29:19.208Z,1755898159.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843292 target range: 160.079987 and range: 161.10 m.
2025-08-22T21:29:19.567Z,1755898159.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:19.570Z,1755898159.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.08 m.
2025-08-22T21:29:19.572Z,1755898159.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.079987 m,
nav range: 156.153641 m,
bearing: 229.011337 deg,
approach rate: -0.690191 m/s,
LOS rate: -0.006560 deg/s,
cmd heading: 220.204425 deg,
new cmd heading: 220.199574 deg.
2025-08-22T21:29:19.574Z,1755898159.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843208 target range: 160.079987 and range: 161.10 m.
2025-08-22T21:29:19.664Z,1755898159.664 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:29:19.664Z,1755898159.664 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:29:19.664Z,1755898159.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:19.915Z,1755898159.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746269
2025-08-22T21:29:19.960Z,1755898159.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.08 m.
2025-08-22T21:29:19.963Z,1755898159.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.079987 m,
nav range: 155.889816 m,
bearing: 229.008922 deg,
approach rate: -0.675418 m/s,
LOS rate: -0.006193 deg/s,
cmd heading: 220.199575 deg,
new cmd heading: 220.194737 deg.
2025-08-22T21:29:19.964Z,1755898159.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843123 target range: 160.079987 and range: 161.10 m.
2025-08-22T21:29:20.168Z,1755898160.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999670
2025-08-22T21:29:20.397Z,1755898160.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.08 m.
2025-08-22T21:29:20.407Z,1755898160.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.079987 m,
nav range: 155.592422 m,
bearing: 229.007412 deg,
approach rate: -0.680881 m/s,
LOS rate: -0.003464 deg/s,
cmd heading: 220.194739 deg,
new cmd heading: 220.191713 deg.
2025-08-22T21:29:20.408Z,1755898160.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843070 target range: 160.079987 and range: 161.10 m.
2025-08-22T21:29:20.419Z,1755898160.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250312
2025-08-22T21:29:20.674Z,1755898160.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505359
2025-08-22T21:29:20.763Z,1755898160.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.08 m.
2025-08-22T21:29:20.767Z,1755898160.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.079987 m,
nav range: 155.335938 m,
bearing: 229.006182 deg,
approach rate: -0.700514 m/s,
LOS rate: -0.003363 deg/s,
cmd heading: 220.191707 deg,
new cmd heading: 220.189244 deg.
2025-08-22T21:29:20.768Z,1755898160.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843027 target range: 160.079987 and range: 161.10 m.
2025-08-22T21:29:20.922Z,1755898160.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754137
2025-08-22T21:29:21.176Z,1755898161.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007218
2025-08-22T21:29:21.230Z,1755898161.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.08 m.
2025-08-22T21:29:21.233Z,1755898161.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.079987 m,
nav range: 155.015152 m,
bearing: 229.004122 deg,
approach rate: -0.687528 m/s,
LOS rate: -0.004424 deg/s,
cmd heading: 220.189248 deg,
new cmd heading: 220.185120 deg.
2025-08-22T21:29:21.234Z,1755898161.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842955 target range: 160.079987 and range: 161.10 m.
2025-08-22T21:29:21.427Z,1755898161.427 [DAT](INFO): DAT read: Rx Time:21:29:21.9065
2025-08-22T21:29:21.427Z,1755898161.427 [DAT](INFO): Rx dataTimestamp_ set to:1755898161.426868
2025-08-22T21:29:21.428Z,1755898161.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259359
2025-08-22T21:29:21.567Z,1755898161.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.08 m.
2025-08-22T21:29:21.571Z,1755898161.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.079987 m,
nav range: 154.780991 m,
bearing: 229.002612 deg,
approach rate: -0.694128 m/s,
LOS rate: -0.004484 deg/s,
cmd heading: 220.185122 deg,
new cmd heading: 220.182097 deg.
2025-08-22T21:29:21.572Z,1755898161.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842903 target range: 160.079987 and range: 161.10 m.
2025-08-22T21:29:21.680Z,1755898161.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511405
2025-08-22T21:29:21.936Z,1755898161.936 [DAT](INFO): DAT read: 21:29:21.9065 LVL= 30592, 32753, 32754, 32755, AGC= 65, IDX= 401, 0.00,-0.268,-2.129,-0.413,-0.648, PHS= 0.482,-1.436, 0.191, RAW= 141.9, 8.6, CAL= 141.5, 9.4, ROT= 8.5, -9.4
2025-08-22T21:29:21.937Z,1755898161.937 [DAT](INFO): got valid direction response:
21:29:21.9065 LVL= 30592, 32753, 32754, 32755, AGC= 65, IDX= 401, 0.00,-0.268,-2.129,-0.413,-0.648, PHS= 0.482,-1.436, 0.191, RAW= 141.9, 8.6, CAL= 141.5, 9.4, ROT= 8.5, -9.4
2025-08-22T21:29:21.938Z,1755898161.938 [DAT](INFO): DAT read: Bearing 0.7, 9.9 (Local)
2025-08-22T21:29:21.938Z,1755898161.938 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.7, 9.9 (Local)
2025-08-22T21:29:21.940Z,1755898161.940 [DAT](INFO): DAT read: Range 11 to 50 : 158.5 m (Round-trip 211.4 ms) speed 0.6 m/s
2025-08-22T21:29:21.940Z,1755898161.940 [DAT](INFO): DAT read: user:2263>
2025-08-22T21:29:21.941Z,1755898161.941 [DAT](INFO): DAT read: Tx time:21:29:22.9910
2025-08-22T21:29:21.942Z,1755898161.942 [DAT](INFO): Ping request sent.
2025-08-22T21:29:21.942Z,1755898161.942 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:21.942Z,1755898161.942 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:21.943Z,1755898161.943 [DAT](INFO): direction in FSK: [0.975736,0.145825,0.163326]
2025-08-22T21:29:21.943Z,1755898161.943 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:21.943Z,1755898161.943 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:21.947Z,1755898161.947 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:21.947Z,1755898161.947 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:22.146Z,1755898162.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 158.500000 m,
deltaT: 3.779478 s,
deltaX: -2.600006 m,
approachRate: -0.687927 m/s,
rangeRepo size: 4
2025-08-22T21:29:22.148Z,1755898162.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 157.498718 m,
bearing: 229.476566 deg,
lat: 36.779457 deg,
lon: -121.859566 deg,
deltaT: 3.779478 s,
deltaX: -2.581268 m,
approachRate: -0.682970 m/s,
posRepo size: 4
2025-08-22T21:29:22.149Z,1755898162.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m.
2025-08-22T21:29:22.157Z,1755898162.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.498718 m,
nav range: 154.291702 m,
bearing: 229.289883 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004484 deg/s,
cmd heading: 220.182104 deg,
new cmd heading: 220.176954 deg.
2025-08-22T21:29:22.164Z,1755898162.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842813 target range: 157.498718 and range: 158.50 m.
2025-08-22T21:29:22.485Z,1755898162.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:22.487Z,1755898162.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m.
2025-08-22T21:29:22.494Z,1755898162.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.498718 m,
nav range: 154.006317 m,
bearing: 229.288817 deg,
approach rate: -0.824612 m/s,
LOS rate: -0.003085 deg/s,
cmd heading: 220.176954 deg,
new cmd heading: 220.174819 deg.
2025-08-22T21:29:22.495Z,1755898162.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842776 target range: 157.498718 and range: 158.50 m.
2025-08-22T21:29:22.687Z,1755898162.687 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:29:22.688Z,1755898162.688 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:29:22.688Z,1755898162.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:22.863Z,1755898162.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m.
2025-08-22T21:29:22.866Z,1755898162.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.498718 m,
nav range: 153.754700 m,
bearing: 229.287887 deg,
approach rate: -0.669644 m/s,
LOS rate: -0.002479 deg/s,
cmd heading: 220.174823 deg,
new cmd heading: 220.172960 deg.
2025-08-22T21:29:22.867Z,1755898162.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842743 target range: 157.498718 and range: 158.50 m.
2025-08-22T21:29:22.940Z,1755898162.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997810
2025-08-22T21:29:23.191Z,1755898163.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249605
2025-08-22T21:29:23.296Z,1755898163.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m.
2025-08-22T21:29:23.315Z,1755898163.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.498718 m,
nav range: 153.458359 m,
bearing: 229.287333 deg,
approach rate: -0.685314 m/s,
LOS rate: -0.001285 deg/s,
cmd heading: 220.172965 deg,
new cmd heading: 220.171854 deg.
2025-08-22T21:29:23.315Z,1755898163.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842724 target range: 157.498718 and range: 158.50 m.
2025-08-22T21:29:23.443Z,1755898163.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501235
2025-08-22T21:29:23.695Z,1755898163.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752962
2025-08-22T21:29:23.702Z,1755898163.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m.
2025-08-22T21:29:23.705Z,1755898163.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.498718 m,
nav range: 153.193481 m,
bearing: 229.286785 deg,
approach rate: -0.651167 m/s,
LOS rate: -0.001348 deg/s,
cmd heading: 220.171858 deg,
new cmd heading: 220.170761 deg.
2025-08-22T21:29:23.706Z,1755898163.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842705 target range: 157.498718 and range: 158.50 m.
2025-08-22T21:29:23.946Z,1755898163.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004780
2025-08-22T21:29:24.199Z,1755898164.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256840
2025-08-22T21:29:24.235Z,1755898164.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m.
2025-08-22T21:29:24.238Z,1755898164.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.498718 m,
nav range: 152.819000 m,
bearing: 229.285927 deg,
approach rate: -0.703174 m/s,
LOS rate: -0.001616 deg/s,
cmd heading: 220.170765 deg,
new cmd heading: 220.169045 deg.
2025-08-22T21:29:24.239Z,1755898164.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842675 target range: 157.498718 and range: 158.50 m.
2025-08-22T21:29:24.450Z,1755898164.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508761
2025-08-22T21:29:24.692Z,1755898164.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:24.702Z,1755898164.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760663
2025-08-22T21:29:24.714Z,1755898164.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m.
2025-08-22T21:29:24.717Z,1755898164.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.498718 m,
nav range: 152.503342 m,
bearing: 229.285246 deg,
approach rate: -0.658817 m/s,
LOS rate: -0.001423 deg/s,
cmd heading: 220.169044 deg,
new cmd heading: 220.167680 deg.
2025-08-22T21:29:24.722Z,1755898164.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842651 target range: 157.498718 and range: 158.50 m.
2025-08-22T21:29:24.955Z,1755898164.955 [DAT](INFO): DAT read: Rx Time:21:29:25.6031
2025-08-22T21:29:24.955Z,1755898164.955 [DAT](INFO): Rx dataTimestamp_ set to:1755898164.955106
2025-08-22T21:29:24.956Z,1755898164.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014532
2025-08-22T21:29:25.207Z,1755898165.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264922
2025-08-22T21:29:25.318Z,1755898165.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m.
2025-08-22T21:29:25.321Z,1755898165.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.498718 m,
nav range: 152.080032 m,
bearing: 229.288252 deg,
approach rate: -0.701189 m/s,
LOS rate: 0.004993 deg/s,
cmd heading: 220.167678 deg,
new cmd heading: 220.173707 deg.
2025-08-22T21:29:25.338Z,1755898165.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842756 target range: 157.498718 and range: 158.50 m.
2025-08-22T21:29:25.459Z,1755898165.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516901
2025-08-22T21:29:25.694Z,1755898165.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m.
2025-08-22T21:29:25.697Z,1755898165.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.498718 m,
nav range: 151.824921 m,
bearing: 229.290116 deg,
approach rate: -0.677726 m/s,
LOS rate: 0.004960 deg/s,
cmd heading: 220.173702 deg,
new cmd heading: 220.177436 deg.
2025-08-22T21:29:25.698Z,1755898165.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842821 target range: 157.498718 and range: 158.50 m.
2025-08-22T21:29:25.716Z,1755898165.716 [DAT](INFO): DAT read: 21:29:25.6031 LVL= 30320, 32753, 32754, 32755, AGC= 64, IDX= 414, 0.41,-2.445, 1.944,-2.617,-2.845, PHS= 0.502,-1.450, 0.184, RAW= 141.3, 8.5, CAL= 140.8, 9.3, ROT= 9.2, -9.3
2025-08-22T21:29:25.717Z,1755898165.717 [DAT](INFO): got valid direction response:
21:29:25.6031 LVL= 30320, 32753, 32754, 32755, AGC= 64, IDX= 414, 0.41,-2.445, 1.944,-2.617,-2.845, PHS= 0.502,-1.450, 0.184, RAW= 141.3, 8.5, CAL= 140.8, 9.3, ROT= 9.2, -9.3
2025-08-22T21:29:25.718Z,1755898165.718 [DAT](INFO): DAT read: Bearing 0.3, 10.1 (Local)
2025-08-22T21:29:25.719Z,1755898165.719 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.3, 10.1 (Local)
2025-08-22T21:29:25.720Z,1755898165.720 [DAT](INFO): DAT read: Range 11 to 50 : 156.0 m (Round-trip 208.0 ms) speed 0.6 m/s
2025-08-22T21:29:25.721Z,1755898165.721 [DAT](INFO): DAT read: user:2264>
2025-08-22T21:29:25.722Z,1755898165.722 [DAT](INFO): DAT read: Tx time:21:29:26.6910
2025-08-22T21:29:25.722Z,1755898165.722 [DAT](INFO): Ping request sent.
2025-08-22T21:29:25.722Z,1755898165.722 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:25.722Z,1755898165.722 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:25.723Z,1755898165.723 [DAT](INFO): direction in FSK: [0.974161,0.157780,0.161604]
2025-08-22T21:29:25.723Z,1755898165.723 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:25.724Z,1755898165.724 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:25.728Z,1755898165.728 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:25.728Z,1755898165.728 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:26.090Z,1755898166.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 156.000000 m,
deltaT: 3.780133 s,
deltaX: -2.500000 m,
approachRate: -0.661352 m/s,
rangeRepo size: 4
2025-08-22T21:29:26.092Z,1755898166.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 155.011856 m,
bearing: 230.075928 deg,
lat: 36.779457 deg,
lon: -121.859575 deg,
deltaT: 3.780133 s,
deltaX: -2.486862 m,
approachRate: -0.657877 m/s,
posRepo size: 4
2025-08-22T21:29:26.093Z,1755898166.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.01 m.
2025-08-22T21:29:26.095Z,1755898166.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.011856 m,
nav range: 152.149063 m,
bearing: 229.482634 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004960 deg/s,
cmd heading: 220.177432 deg,
new cmd heading: 220.181349 deg.
2025-08-22T21:29:26.096Z,1755898166.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842890 target range: 155.011856 and range: 156.00 m.
2025-08-22T21:29:26.503Z,1755898166.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.01 m.
2025-08-22T21:29:26.506Z,1755898166.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.011856 m,
nav range: 151.858887 m,
bearing: 229.481910 deg,
approach rate: -0.700897 m/s,
LOS rate: -0.001752 deg/s,
cmd heading: 220.181352 deg,
new cmd heading: 220.179901 deg.
2025-08-22T21:29:26.507Z,1755898166.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842864 target range: 155.011856 and range: 156.00 m.
2025-08-22T21:29:26.878Z,1755898166.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:26.880Z,1755898166.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.01 m.
2025-08-22T21:29:26.883Z,1755898166.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.011856 m,
nav range: 151.597061 m,
bearing: 229.481261 deg,
approach rate: -0.693651 m/s,
LOS rate: -0.001722 deg/s,
cmd heading: 220.179904 deg,
new cmd heading: 220.178604 deg.
2025-08-22T21:29:26.884Z,1755898166.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842842 target range: 155.011856 and range: 156.00 m.
2025-08-22T21:29:26.971Z,1755898166.971 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:29:26.971Z,1755898166.971 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:29:26.972Z,1755898166.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:27.222Z,1755898167.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500524
2025-08-22T21:29:27.326Z,1755898167.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.01 m.
2025-08-22T21:29:27.328Z,1755898167.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.011856 m,
nav range: 151.285507 m,
bearing: 229.480948 deg,
approach rate: -0.700214 m/s,
LOS rate: -0.000705 deg/s,
cmd heading: 220.178606 deg,
new cmd heading: 220.177980 deg.
2025-08-22T21:29:27.330Z,1755898167.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842831 target range: 155.011856 and range: 156.00 m.
2025-08-22T21:29:27.475Z,1755898167.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752669
2025-08-22T21:29:27.700Z,1755898167.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.01 m.
2025-08-22T21:29:27.703Z,1755898167.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.011856 m,
nav range: 151.023560 m,
bearing: 229.480806 deg,
approach rate: -0.699790 m/s,
LOS rate: -0.000379 deg/s,
cmd heading: 220.177978 deg,
new cmd heading: 220.177694 deg.
2025-08-22T21:29:27.704Z,1755898167.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842826 target range: 155.011856 and range: 156.00 m.
2025-08-22T21:29:27.739Z,1755898167.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017287
2025-08-22T21:29:27.990Z,1755898167.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268507
2025-08-22T21:29:28.094Z,1755898168.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.01 m.
2025-08-22T21:29:28.097Z,1755898168.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.011856 m,
nav range: 150.747940 m,
bearing: 229.480696 deg,
approach rate: -0.699666 m/s,
LOS rate: -0.000280 deg/s,
cmd heading: 220.177691 deg,
new cmd heading: 220.177471 deg.
2025-08-22T21:29:28.098Z,1755898168.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842822 target range: 155.011856 and range: 156.00 m.
2025-08-22T21:29:28.243Z,1755898168.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521380
2025-08-22T21:29:28.495Z,1755898168.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772553
2025-08-22T21:29:28.516Z,1755898168.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.01 m.
2025-08-22T21:29:28.519Z,1755898168.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.011856 m,
nav range: 150.461502 m,
bearing: 229.480153 deg,
approach rate: -0.678646 m/s,
LOS rate: -0.001291 deg/s,
cmd heading: 220.177473 deg,
new cmd heading: 220.176383 deg.
2025-08-22T21:29:28.520Z,1755898168.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842803 target range: 155.011856 and range: 156.00 m.
2025-08-22T21:29:28.747Z,1755898168.747 [DAT](INFO): DAT read: Rx Time:21:29:29.2998
2025-08-22T21:29:28.747Z,1755898168.747 [DAT](INFO): Rx dataTimestamp_ set to:1755898168.746906
2025-08-22T21:29:28.748Z,1755898168.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025769
2025-08-22T21:29:28.899Z,1755898168.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:28.901Z,1755898168.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.01 m.
2025-08-22T21:29:28.904Z,1755898168.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.011856 m,
nav range: 150.199875 m,
bearing: 229.479653 deg,
approach rate: -0.678908 m/s,
LOS rate: -0.001298 deg/s,
cmd heading: 220.176380 deg,
new cmd heading: 220.175380 deg.
2025-08-22T21:29:28.905Z,1755898168.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842785 target range: 155.011856 and range: 156.00 m.
2025-08-22T21:29:28.999Z,1755898168.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276654
2025-08-22T21:29:29.256Z,1755898169.256 [DAT](INFO): DAT read: 21:29:29.2998 LVL= 32752, 32753, 32626, 32755, AGC= 66, IDX= 412,-0.14, 0.021,-1.886,-0.165,-0.366, PHS= 0.489,-1.475, 0.157, RAW= 140.9, 9.1, CAL= 140.5, 10.0, ROT= 9.5, -10.0
2025-08-22T21:29:29.257Z,1755898169.257 [DAT](INFO): got valid direction response:
21:29:29.2998 LVL= 32752, 32753, 32626, 32755, AGC= 66, IDX= 412,-0.14, 0.021,-1.886,-0.165,-0.366, PHS= 0.489,-1.475, 0.157, RAW= 140.9, 9.1, CAL= 140.5, 10.0, ROT= 9.5, -10.0
2025-08-22T21:29:29.258Z,1755898169.258 [DAT](INFO): DAT read: Bearing 0.8, 9.7 (Local)
2025-08-22T21:29:29.258Z,1755898169.258 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.8, 9.7 (Local)
2025-08-22T21:29:29.260Z,1755898169.260 [DAT](INFO): DAT read: Range 11 to 50 : 153.4 m (Round-trip 204.6 ms) speed 0.3 m/s
2025-08-22T21:29:29.260Z,1755898169.260 [DAT](INFO): DAT read: user:2265>
2025-08-22T21:29:29.261Z,1755898169.261 [DAT](INFO): DAT read: Tx time:21:29:30.3910
2025-08-22T21:29:29.261Z,1755898169.261 [DAT](INFO): Ping request sent.
2025-08-22T21:29:29.262Z,1755898169.262 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:29.262Z,1755898169.262 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:29.263Z,1755898169.263 [DAT](INFO): direction in FSK: [0.971302,0.162540,0.173648]
2025-08-22T21:29:29.263Z,1755898169.263 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:29.263Z,1755898169.263 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:29.266Z,1755898169.266 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:29.267Z,1755898169.267 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:29.411Z,1755898169.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 153.399994 m,
deltaT: 3.539833 s,
deltaX: -2.600006 m,
approachRate: -0.734500 m/s,
rangeRepo size: 4
2025-08-22T21:29:29.418Z,1755898169.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 152.427841 m,
bearing: 230.225926 deg,
lat: 36.779463 deg,
lon: -121.859578 deg,
deltaT: 3.539833 s,
deltaX: -2.584015 m,
approachRate: -0.729982 m/s,
posRepo size: 4
2025-08-22T21:29:29.418Z,1755898169.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.43 m.
2025-08-22T21:29:29.421Z,1755898169.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.427841 m,
nav range: 149.635651 m,
bearing: 229.765053 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001298 deg/s,
cmd heading: 220.175383 deg,
new cmd heading: 220.174060 deg.
2025-08-22T21:29:29.426Z,1755898169.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842762 target range: 152.427841 and range: 153.40 m.
2025-08-22T21:29:29.626Z,1755898169.626 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:29:29.708Z,1755898169.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.43 m.
2025-08-22T21:29:29.711Z,1755898169.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.427841 m,
nav range: 149.416626 m,
bearing: 229.764419 deg,
approach rate: -0.737094 m/s,
LOS rate: -0.002135 deg/s,
cmd heading: 220.174058 deg,
new cmd heading: 220.172789 deg.
2025-08-22T21:29:29.712Z,1755898169.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842740 target range: 152.427841 and range: 153.40 m.
2025-08-22T21:29:30.121Z,1755898170.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.43 m.
2025-08-22T21:29:30.124Z,1755898170.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.427841 m,
nav range: 149.135956 m,
bearing: 229.763639 deg,
approach rate: -0.679368 m/s,
LOS rate: -0.001892 deg/s,
cmd heading: 220.172787 deg,
new cmd heading: 220.171224 deg.
2025-08-22T21:29:30.125Z,1755898170.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842713 target range: 152.427841 and range: 153.40 m.
2025-08-22T21:29:30.547Z,1755898170.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.43 m.
2025-08-22T21:29:30.550Z,1755898170.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.427841 m,
nav range: 148.845566 m,
bearing: 229.763216 deg,
approach rate: -0.681345 m/s,
LOS rate: -0.000995 deg/s,
cmd heading: 220.171230 deg,
new cmd heading: 220.170382 deg.
2025-08-22T21:29:30.551Z,1755898170.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842698 target range: 152.427841 and range: 153.40 m.
2025-08-22T21:29:30.630Z,1755898170.630 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:29:30.925Z,1755898170.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:30.927Z,1755898170.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.43 m.
2025-08-22T21:29:30.930Z,1755898170.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.427841 m,
nav range: 148.587616 m,
bearing: 229.762819 deg,
approach rate: -0.679135 m/s,
LOS rate: -0.001048 deg/s,
cmd heading: 220.170383 deg,
new cmd heading: 220.169587 deg.
2025-08-22T21:29:30.931Z,1755898170.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842684 target range: 152.427841 and range: 153.40 m.
2025-08-22T21:29:31.019Z,1755898171.019 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:29:31.019Z,1755898171.019 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:29:31.020Z,1755898171.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:31.271Z,1755898171.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008920
2025-08-22T21:29:31.363Z,1755898171.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.43 m.
2025-08-22T21:29:31.366Z,1755898171.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.427841 m,
nav range: 148.295593 m,
bearing: 229.762443 deg,
approach rate: -0.669900 m/s,
LOS rate: -0.000863 deg/s,
cmd heading: 220.169591 deg,
new cmd heading: 220.168838 deg.
2025-08-22T21:29:31.367Z,1755898171.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842671 target range: 152.427841 and range: 153.40 m.
2025-08-22T21:29:31.523Z,1755898171.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260927
2025-08-22T21:29:31.730Z,1755898171.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.43 m.
2025-08-22T21:29:31.733Z,1755898171.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.427841 m,
nav range: 148.049973 m,
bearing: 229.762129 deg,
approach rate: -0.669514 m/s,
LOS rate: -0.000857 deg/s,
cmd heading: 220.168839 deg,
new cmd heading: 220.168211 deg.
2025-08-22T21:29:31.734Z,1755898171.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842660 target range: 152.427841 and range: 153.40 m.
2025-08-22T21:29:31.775Z,1755898171.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513421
2025-08-22T21:29:32.027Z,1755898172.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764887
2025-08-22T21:29:32.130Z,1755898172.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.43 m.
2025-08-22T21:29:32.133Z,1755898172.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.427841 m,
nav range: 147.781982 m,
bearing: 229.761795 deg,
approach rate: -0.668963 m/s,
LOS rate: -0.000835 deg/s,
cmd heading: 220.168211 deg,
new cmd heading: 220.167542 deg.
2025-08-22T21:29:32.146Z,1755898172.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842649 target range: 152.427841 and range: 153.40 m.
2025-08-22T21:29:32.279Z,1755898172.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017074
2025-08-22T21:29:32.531Z,1755898172.531 [DAT](INFO): DAT read: Rx Time:21:29:32.9961
2025-08-22T21:29:32.531Z,1755898172.531 [DAT](INFO): Rx dataTimestamp_ set to:1755898172.530754
2025-08-22T21:29:32.532Z,1755898172.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269958
2025-08-22T21:29:32.603Z,1755898172.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.43 m.
2025-08-22T21:29:32.606Z,1755898172.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.427841 m,
nav range: 147.470474 m,
bearing: 229.760282 deg,
approach rate: -0.658538 m/s,
LOS rate: -0.003206 deg/s,
cmd heading: 220.167542 deg,
new cmd heading: 220.164509 deg.
2025-08-22T21:29:32.607Z,1755898172.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842596 target range: 152.427841 and range: 153.40 m.
2025-08-22T21:29:32.782Z,1755898172.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520872
2025-08-22T21:29:32.971Z,1755898172.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:32.974Z,1755898172.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.43 m.
2025-08-22T21:29:32.976Z,1755898172.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.427841 m,
nav range: 147.216644 m,
bearing: 229.759044 deg,
approach rate: -0.685951 m/s,
LOS rate: -0.003351 deg/s,
cmd heading: 220.164509 deg,
new cmd heading: 220.162029 deg.
2025-08-22T21:29:32.977Z,1755898172.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842552 target range: 152.427841 and range: 153.40 m.
2025-08-22T21:29:33.041Z,1755898173.041 [DAT](INFO): DAT read: 21:29:32.9961 LVL= 27504, 32753, 31266, 32755, AGC= 67, IDX= 408, 0.40,-1.977, 2.401,-2.162,-2.350, PHS= 0.476,-1.487, 0.145, RAW= 140.9, 9.6, CAL= 140.5, 10.4, ROT= 9.5, -10.4
2025-08-22T21:29:33.042Z,1755898173.042 [DAT](INFO): got valid direction response:
21:29:32.9961 LVL= 27504, 32753, 31266, 32755, AGC= 67, IDX= 408, 0.40,-1.977, 2.401,-2.162,-2.350, PHS= 0.476,-1.487, 0.145, RAW= 140.9, 9.6, CAL= 140.5, 10.4, ROT= 9.5, -10.4
2025-08-22T21:29:33.043Z,1755898173.043 [DAT](INFO): DAT read: Bearing 1.2, 8.9 (Local)
2025-08-22T21:29:33.043Z,1755898173.043 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.2, 8.9 (Local)
2025-08-22T21:29:33.045Z,1755898173.045 [DAT](INFO): DAT read: Range 11 to 50 : 150.8 m (Round-trip 201.1 ms) speed 0.4 m/s
2025-08-22T21:29:33.046Z,1755898173.046 [DAT](INFO): DAT read: user:2266>
2025-08-22T21:29:33.046Z,1755898173.046 [DAT](INFO): DAT read: Tx time:21:29:34.0909
2025-08-22T21:29:33.047Z,1755898173.047 [DAT](INFO): Ping request sent.
2025-08-22T21:29:33.047Z,1755898173.047 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:33.047Z,1755898173.047 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:33.048Z,1755898173.048 [DAT](INFO): direction in FSK: [0.970082,0.162336,0.180519]
2025-08-22T21:29:33.048Z,1755898173.048 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:33.048Z,1755898173.048 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:33.052Z,1755898173.052 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:33.052Z,1755898173.052 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:33.398Z,1755898173.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 150.800003 m,
deltaT: 3.784496 s,
deltaX: -2.599991 m,
approachRate: -0.687011 m/s,
rangeRepo size: 4
2025-08-22T21:29:33.400Z,1755898173.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 149.844131 m,
bearing: 230.185121 deg,
lat: 36.779464 deg,
lon: -121.859591 deg,
deltaT: 3.784496 s,
deltaX: -2.583710 m,
approachRate: -0.682709 m/s,
posRepo size: 4
2025-08-22T21:29:33.401Z,1755898173.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-08-22T21:29:33.404Z,1755898173.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.844131 m,
nav range: 147.721039 m,
bearing: 230.080358 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003351 deg/s,
cmd heading: 220.162023 deg,
new cmd heading: 220.159182 deg.
2025-08-22T21:29:33.405Z,1755898173.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842503 target range: 149.844131 and range: 150.80 m.
2025-08-22T21:29:33.780Z,1755898173.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-08-22T21:29:33.782Z,1755898173.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.844131 m,
nav range: 147.473221 m,
bearing: 230.080526 deg,
approach rate: -0.648226 m/s,
LOS rate: 0.000442 deg/s,
cmd heading: 220.159181 deg,
new cmd heading: 220.159520 deg.
2025-08-22T21:29:33.783Z,1755898173.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842509 target range: 149.844131 and range: 150.80 m.
2025-08-22T21:29:34.183Z,1755898174.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-08-22T21:29:34.187Z,1755898174.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.844131 m,
nav range: 147.195862 m,
bearing: 230.080763 deg,
approach rate: -0.687876 m/s,
LOS rate: 0.000587 deg/s,
cmd heading: 220.159523 deg,
new cmd heading: 220.159996 deg.
2025-08-22T21:29:34.189Z,1755898174.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842517 target range: 149.844131 and range: 150.80 m.
2025-08-22T21:29:34.585Z,1755898174.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-08-22T21:29:34.592Z,1755898174.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.844131 m,
nav range: 146.903458 m,
bearing: 230.081825 deg,
approach rate: -0.726649 m/s,
LOS rate: 0.002646 deg/s,
cmd heading: 220.160001 deg,
new cmd heading: 220.162130 deg.
2025-08-22T21:29:34.593Z,1755898174.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842554 target range: 149.844131 and range: 150.80 m.
2025-08-22T21:29:34.980Z,1755898174.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:34.983Z,1755898174.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-08-22T21:29:34.990Z,1755898174.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.844131 m,
nav range: 146.630325 m,
bearing: 230.082906 deg,
approach rate: -0.686533 m/s,
LOS rate: 0.002722 deg/s,
cmd heading: 220.162132 deg,
new cmd heading: 220.164298 deg.
2025-08-22T21:29:34.991Z,1755898174.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842592 target range: 149.844131 and range: 150.80 m.
2025-08-22T21:29:35.050Z,1755898175.050 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:29:35.050Z,1755898175.050 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:29:35.051Z,1755898175.051 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:35.306Z,1755898175.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259056
2025-08-22T21:29:35.428Z,1755898175.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-08-22T21:29:35.435Z,1755898175.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.844131 m,
nav range: 146.324738 m,
bearing: 230.082772 deg,
approach rate: -0.686196 m/s,
LOS rate: -0.000301 deg/s,
cmd heading: 220.164304 deg,
new cmd heading: 220.164036 deg.
2025-08-22T21:29:35.436Z,1755898175.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842587 target range: 149.844131 and range: 150.80 m.
2025-08-22T21:29:35.555Z,1755898175.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508340
2025-08-22T21:29:35.778Z,1755898175.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-08-22T21:29:35.781Z,1755898175.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.844131 m,
nav range: 146.070923 m,
bearing: 230.082678 deg,
approach rate: -0.726380 m/s,
LOS rate: -0.000271 deg/s,
cmd heading: 220.164031 deg,
new cmd heading: 220.163841 deg.
2025-08-22T21:29:35.782Z,1755898175.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842584 target range: 149.844131 and range: 150.80 m.
2025-08-22T21:29:35.807Z,1755898175.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759769
2025-08-22T21:29:36.059Z,1755898176.059 [DAT](INFO): DAT read: Rx Time:21:29:36.6929
2025-08-22T21:29:36.059Z,1755898176.059 [DAT](INFO): Rx dataTimestamp_ set to:1755898176.058685
2025-08-22T21:29:36.059Z,1755898176.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012647
2025-08-22T21:29:36.202Z,1755898176.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-08-22T21:29:36.204Z,1755898176.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.844131 m,
nav range: 145.778748 m,
bearing: 230.082600 deg,
approach rate: -0.689402 m/s,
LOS rate: -0.000184 deg/s,
cmd heading: 220.163840 deg,
new cmd heading: 220.163684 deg.
2025-08-22T21:29:36.206Z,1755898176.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842581 target range: 149.844131 and range: 150.80 m.
2025-08-22T21:29:36.327Z,1755898176.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266037
2025-08-22T21:29:36.566Z,1755898176.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518099
2025-08-22T21:29:36.689Z,1755898176.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-08-22T21:29:36.691Z,1755898176.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.844131 m,
nav range: 145.445312 m,
bearing: 230.082573 deg,
approach rate: -0.684717 m/s,
LOS rate: -0.000057 deg/s,
cmd heading: 220.163689 deg,
new cmd heading: 220.163634 deg.
2025-08-22T21:29:36.692Z,1755898176.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842580 target range: 149.844131 and range: 150.80 m.
2025-08-22T21:29:36.820Z,1755898176.820 [DAT](INFO): DAT read: 21:29:36.6929 LVL= 32160, 32753, 32754, 32755, AGC= 65, IDX= 407,-0.13,-0.097,-1.939,-0.319,-0.496, PHS= 0.501,-1.398, 0.133, RAW= 139.5, 8.8, CAL= 139.1, 9.7, ROT= 10.9, -9.7
2025-08-22T21:29:36.821Z,1755898176.821 [DAT](INFO): got valid direction response:
21:29:36.6929 LVL= 32160, 32753, 32754, 32755, AGC= 65, IDX= 407,-0.13,-0.097,-1.939,-0.319,-0.496, PHS= 0.501,-1.398, 0.133, RAW= 139.5, 8.8, CAL= 139.1, 9.7, ROT= 10.9, -9.7
2025-08-22T21:29:36.825Z,1755898176.825 [DAT](INFO): DAT read: Bearing 0.3, 9.5 (Local)
2025-08-22T21:29:36.832Z,1755898176.832 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.3, 9.5 (Local)
2025-08-22T21:29:36.834Z,1755898176.834 [DAT](INFO): DAT read: Range 11 to 50 : 148.4 m (Round-trip 197.9 ms) speed 1.1 m/s
2025-08-22T21:29:36.835Z,1755898176.835 [DAT](INFO): DAT read: user:2267>
2025-08-22T21:29:36.835Z,1755898176.835 [DAT](INFO): DAT read: Tx time:21:29:37.7909
2025-08-22T21:29:36.836Z,1755898176.836 [DAT](INFO): Ping request sent.
2025-08-22T21:29:36.836Z,1755898176.836 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:36.836Z,1755898176.836 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:36.837Z,1755898176.837 [DAT](INFO): direction in FSK: [0.967920,0.186392,0.168489]
2025-08-22T21:29:36.837Z,1755898176.837 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:36.858Z,1755898176.858 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:36.861Z,1755898176.861 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:36.866Z,1755898176.866 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:37.030Z,1755898177.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 148.399994 m,
deltaT: 3.779645 s,
deltaX: -2.400009 m,
approachRate: -0.634983 m/s,
rangeRepo size: 4
2025-08-22T21:29:37.032Z,1755898177.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 147.460144 m,
bearing: 231.448707 deg,
lat: 36.779466 deg,
lon: -121.859591 deg,
deltaT: 3.779645 s,
deltaX: -2.383987 m,
approachRate: -0.630744 m/s,
posRepo size: 4
2025-08-22T21:29:37.032Z,1755898177.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.46 m.
2025-08-22T21:29:37.039Z,1755898177.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.460144 m,
nav range: 145.126617 m,
bearing: 230.131507 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000057 deg/s,
cmd heading: 220.163635 deg,
new cmd heading: 220.163597 deg.
2025-08-22T21:29:37.040Z,1755898177.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842580 target range: 147.460144 and range: 148.40 m.
2025-08-22T21:29:37.431Z,1755898177.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:37.438Z,1755898177.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.46 m.
2025-08-22T21:29:37.440Z,1755898177.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.460144 m,
nav range: 144.849258 m,
bearing: 230.132174 deg,
approach rate: -0.678557 m/s,
LOS rate: 0.001635 deg/s,
cmd heading: 220.163594 deg,
new cmd heading: 220.164930 deg.
2025-08-22T21:29:37.446Z,1755898177.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842603 target range: 147.460144 and range: 148.40 m.
2025-08-22T21:29:37.574Z,1755898177.574 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:29:37.574Z,1755898177.574 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:29:37.574Z,1755898177.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:37.799Z,1755898177.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.46 m.
2025-08-22T21:29:37.802Z,1755898177.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.460144 m,
nav range: 144.584625 m,
bearing: 230.132821 deg,
approach rate: -0.724268 m/s,
LOS rate: 0.001775 deg/s,
cmd heading: 220.164932 deg,
new cmd heading: 220.166229 deg.
2025-08-22T21:29:37.803Z,1755898177.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842626 target range: 147.460144 and range: 148.40 m.
2025-08-22T21:29:37.822Z,1755898177.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986567
2025-08-22T21:29:38.075Z,1755898178.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239078
2025-08-22T21:29:38.211Z,1755898178.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.46 m.
2025-08-22T21:29:38.214Z,1755898178.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.460144 m,
nav range: 144.302139 m,
bearing: 230.133638 deg,
approach rate: -0.685310 m/s,
LOS rate: 0.001986 deg/s,
cmd heading: 220.166230 deg,
new cmd heading: 220.167867 deg.
2025-08-22T21:29:38.215Z,1755898178.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842654 target range: 147.460144 and range: 148.40 m.
2025-08-22T21:29:38.329Z,1755898178.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492963
2025-08-22T21:29:38.579Z,1755898178.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742998
2025-08-22T21:29:38.682Z,1755898178.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.46 m.
2025-08-22T21:29:38.685Z,1755898178.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.460144 m,
nav range: 143.987701 m,
bearing: 230.134996 deg,
approach rate: -0.667592 m/s,
LOS rate: 0.002889 deg/s,
cmd heading: 220.167869 deg,
new cmd heading: 220.170590 deg.
2025-08-22T21:29:38.690Z,1755898178.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842702 target range: 147.460144 and range: 148.40 m.
2025-08-22T21:29:38.700Z,1755898178.700 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-22T21:19:38.5Z
2025-08-22T21:29:38.700Z,1755898178.700 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T21:29:38.700Z,1755898178.700 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T21:29:38.700Z,1755898178.700 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T21:29:38.702Z,1755898178.702 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T21:29:38.702Z,1755898178.702 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-22T21:29:38.831Z,1755898178.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994735
2025-08-22T21:29:39.020Z,1755898179.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.46 m.
2025-08-22T21:29:39.023Z,1755898179.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.460144 m,
nav range: 143.733749 m,
bearing: 230.136147 deg,
approach rate: -0.750478 m/s,
LOS rate: 0.003409 deg/s,
cmd heading: 220.170588 deg,
new cmd heading: 220.172895 deg.
2025-08-22T21:29:39.024Z,1755898179.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842742 target range: 147.460144 and range: 148.40 m.
2025-08-22T21:29:39.044Z,1755898179.044 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T21:29:39.044Z,1755898179.044 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T21:29:39.044Z,1755898179.044 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T21:29:39.045Z,1755898179.045 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T21:29:39.045Z,1755898179.045 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T21:29:39.084Z,1755898179.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247644
2025-08-22T21:29:39.337Z,1755898179.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501037
2025-08-22T21:29:39.587Z,1755898179.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750795
2025-08-22T21:29:39.768Z,1755898179.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:39.770Z,1755898179.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.46 m.
2025-08-22T21:29:39.773Z,1755898179.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.460144 m,
nav range: 143.218384 m,
bearing: 230.136885 deg,
approach rate: -0.687411 m/s,
LOS rate: 0.000988 deg/s,
cmd heading: 220.172896 deg,
new cmd heading: 220.174378 deg.
2025-08-22T21:29:39.774Z,1755898179.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842768 target range: 147.460144 and range: 148.40 m.
2025-08-22T21:29:39.839Z,1755898179.839 [DAT](INFO): DAT read: Rx Time:21:29:40.3895
2025-08-22T21:29:39.840Z,1755898179.840 [DAT](INFO): Rx dataTimestamp_ set to:1755898179.839901
2025-08-22T21:29:39.841Z,1755898179.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005083
2025-08-22T21:29:40.091Z,1755898180.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254694
2025-08-22T21:29:40.175Z,1755898180.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.46 m.
2025-08-22T21:29:40.183Z,1755898180.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.460144 m,
nav range: 142.954971 m,
bearing: 230.137313 deg,
approach rate: -0.651603 m/s,
LOS rate: 0.001060 deg/s,
cmd heading: 220.174372 deg,
new cmd heading: 220.175229 deg.
2025-08-22T21:29:40.185Z,1755898180.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842783 target range: 147.460144 and range: 148.40 m.
2025-08-22T21:29:40.361Z,1755898180.361 [DAT](INFO): DAT read: 21:29:40.3895 LVL= 28784, 32753, 28898, 32755, AGC= 68, IDX= 404,-0.32, 3.100, 1.096, 2.861, 2.691, PHS= 0.511,-1.550, 0.125, RAW= 139.9, 9.7, CAL= 139.4, 10.6, ROT= 10.6, -10.6
2025-08-22T21:29:40.364Z,1755898180.364 [DAT](INFO): got valid direction response:
21:29:40.3895 LVL= 28784, 32753, 28898, 32755, AGC= 68, IDX= 404,-0.32, 3.100, 1.096, 2.861, 2.691, PHS= 0.511,-1.550, 0.125, RAW= 139.9, 9.7, CAL= 139.4, 10.6, ROT= 10.6, -10.6
2025-08-22T21:29:40.368Z,1755898180.368 [DAT](INFO): DAT read: Bearing 0.8, 8.6 (Local)
2025-08-22T21:29:40.369Z,1755898180.369 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.8, 8.6 (Local)
2025-08-22T21:29:40.384Z,1755898180.384 [DAT](INFO): DAT read: Range 11 to 50 : 145.8 m (Round-trip 194.5 ms) speed 0.0 m/s
2025-08-22T21:29:40.392Z,1755898180.392 [DAT](INFO): DAT read: us
2025-08-22T21:29:40.393Z,1755898180.393 [DAT](INFO): unknown deviceResponse_: us
2025-08-22T21:29:40.414Z,1755898180.414 [DAT](INFO): DAT read: Tx time:21:29:41.4909
2025-08-22T21:29:40.414Z,1755898180.414 [DAT](INFO): Ping request sent.
2025-08-22T21:29:40.414Z,1755898180.414 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:40.414Z,1755898180.414 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:40.415Z,1755898180.415 [DAT](INFO): direction in FSK: [0.966162,0.180812,0.183951]
2025-08-22T21:29:40.416Z,1755898180.416 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:40.416Z,1755898180.416 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:40.438Z,1755898180.438 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:40.439Z,1755898180.439 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:40.676Z,1755898180.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 145.800003 m,
deltaT: 3.529232 s,
deltaX: -2.599991 m,
approachRate: -0.736702 m/s,
rangeRepo size: 4
2025-08-22T21:29:40.682Z,1755898180.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 144.877640 m,
bearing: 230.870011 deg,
lat: 36.779469 deg,
lon: -121.859594 deg,
deltaT: 3.529232 s,
deltaX: -2.582504 m,
approachRate: -0.731747 m/s,
posRepo size: 4
2025-08-22T21:29:40.683Z,1755898180.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.88 m.
2025-08-22T21:29:40.690Z,1755898180.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.877640 m,
nav range: 142.580887 m,
bearing: 230.302460 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001060 deg/s,
cmd heading: 220.175232 deg,
new cmd heading: 220.176294 deg.
2025-08-22T21:29:40.691Z,1755898180.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842801 target range: 144.877640 and range: 145.80 m.
2025-08-22T21:29:41.037Z,1755898181.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.88 m.
2025-08-22T21:29:41.040Z,1755898181.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.877640 m,
nav range: 142.321838 m,
bearing: 230.304678 deg,
approach rate: -0.716035 m/s,
LOS rate: 0.006143 deg/s,
cmd heading: 220.176298 deg,
new cmd heading: 220.180743 deg.
2025-08-22T21:29:41.041Z,1755898181.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842879 target range: 144.877640 and range: 145.80 m.
2025-08-22T21:29:41.466Z,1755898181.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.88 m.
2025-08-22T21:29:41.468Z,1755898181.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.877640 m,
nav range: 142.039062 m,
bearing: 230.308111 deg,
approach rate: -0.691817 m/s,
LOS rate: 0.008416 deg/s,
cmd heading: 220.180737 deg,
new cmd heading: 220.187617 deg.
2025-08-22T21:29:41.474Z,1755898181.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842999 target range: 144.877640 and range: 145.80 m.
2025-08-22T21:29:41.817Z,1755898181.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:41.819Z,1755898181.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.88 m.
2025-08-22T21:29:41.822Z,1755898181.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.877640 m,
nav range: 141.781357 m,
bearing: 230.311295 deg,
approach rate: -0.690387 m/s,
LOS rate: 0.008543 deg/s,
cmd heading: 220.187622 deg,
new cmd heading: 220.194000 deg.
2025-08-22T21:29:41.823Z,1755898181.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843110 target range: 144.877640 and range: 145.80 m.
2025-08-22T21:29:41.857Z,1755898181.857 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:29:41.858Z,1755898181.858 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:29:41.858Z,1755898181.858 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:42.106Z,1755898182.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.692247
2025-08-22T21:29:42.235Z,1755898182.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.88 m.
2025-08-22T21:29:42.239Z,1755898182.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.877640 m,
nav range: 141.493164 m,
bearing: 230.314927 deg,
approach rate: -0.691904 m/s,
LOS rate: 0.008739 deg/s,
cmd heading: 220.194002 deg,
new cmd heading: 220.201282 deg.
2025-08-22T21:29:42.240Z,1755898182.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843237 target range: 144.877640 and range: 145.80 m.
2025-08-22T21:29:42.361Z,1755898182.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.946065
2025-08-22T21:29:42.611Z,1755898182.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.196445
2025-08-22T21:29:42.676Z,1755898182.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.88 m.
2025-08-22T21:29:42.680Z,1755898182.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.877640 m,
nav range: 141.199768 m,
bearing: 230.317856 deg,
approach rate: -0.665670 m/s,
LOS rate: 0.006660 deg/s,
cmd heading: 220.201283 deg,
new cmd heading: 220.207153 deg.
2025-08-22T21:29:42.681Z,1755898182.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843340 target range: 144.877640 and range: 145.80 m.
2025-08-22T21:29:42.862Z,1755898182.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.448158
2025-08-22T21:29:43.048Z,1755898183.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.88 m.
2025-08-22T21:29:43.051Z,1755898183.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.877640 m,
nav range: 140.963364 m,
bearing: 230.320238 deg,
approach rate: -0.635850 m/s,
LOS rate: 0.006417 deg/s,
cmd heading: 220.207157 deg,
new cmd heading: 220.211929 deg.
2025-08-22T21:29:43.052Z,1755898183.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843423 target range: 144.877640 and range: 145.80 m.
2025-08-22T21:29:43.117Z,1755898183.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702671
2025-08-22T21:29:43.369Z,1755898183.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954478
2025-08-22T21:29:43.481Z,1755898183.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.88 m.
2025-08-22T21:29:43.484Z,1755898183.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.877640 m,
nav range: 140.654129 m,
bearing: 230.324026 deg,
approach rate: -0.714042 m/s,
LOS rate: 0.008765 deg/s,
cmd heading: 220.211924 deg,
new cmd heading: 220.219516 deg.
2025-08-22T21:29:43.485Z,1755898183.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843556 target range: 144.877640 and range: 145.80 m.
2025-08-22T21:29:43.620Z,1755898183.620 [DAT](INFO): DAT read: Rx Time:21:29:44.0861
2025-08-22T21:29:43.621Z,1755898183.621 [DAT](INFO): Rx dataTimestamp_ set to:1755898183.620392
2025-08-22T21:29:43.622Z,1755898183.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208046
2025-08-22T21:29:43.848Z,1755898183.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:43.850Z,1755898183.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.88 m.
2025-08-22T21:29:43.853Z,1755898183.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.877640 m,
nav range: 140.400864 m,
bearing: 230.327181 deg,
approach rate: -0.685925 m/s,
LOS rate: 0.008562 deg/s,
cmd heading: 220.219519 deg,
new cmd heading: 220.225842 deg.
2025-08-22T21:29:43.855Z,1755898183.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843666 target range: 144.877640 and range: 145.80 m.
2025-08-22T21:29:43.873Z,1755898183.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458772
2025-08-22T21:29:44.147Z,1755898184.147 [DAT](INFO): DAT read: 21:29:44.0861 LVL= 30288, 32753, 32754, 32755, AGC= 67, IDX= 402,-0.50,-0.615,-2.562,-0.873,-0.995, PHS= 0.482,-1.522, 0.078, RAW= 139.0, 10.5, CAL= 138.5, 11.5, ROT= 11.5, -11.5
2025-08-22T21:29:44.148Z,1755898184.148 [DAT](INFO): got valid direction response:
21:29:44.0861 LVL= 30288, 32753, 32754, 32755, AGC= 67, IDX= 402,-0.50,-0.615,-2.562,-0.873,-0.995, PHS= 0.482,-1.522, 0.078, RAW= 139.0, 10.5, CAL= 138.5, 11.5, ROT= 11.5, -11.5
2025-08-22T21:29:44.155Z,1755898184.155 [DAT](INFO): DAT read: Bearing 1.2, 8.9 (Local)
2025-08-22T21:29:44.156Z,1755898184.156 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.2, 8.9 (Local)
2025-08-22T21:29:44.158Z,1755898184.158 [DAT](INFO): DAT read: Range 11 to 50 : 143.3 m (Round-trip 191.1 ms) speed 0.8 m/s
2025-08-22T21:29:44.159Z,1755898184.159 [DAT](INFO): DAT read: user:2269>
2025-08-22T21:29:44.160Z,1755898184.160 [DAT](INFO): DAT read: Tx time:21:29:45.1909
2025-08-22T21:29:44.160Z,1755898184.160 [DAT](INFO): Ping request sent.
2025-08-22T21:29:44.160Z,1755898184.160 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:44.161Z,1755898184.161 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:44.180Z,1755898184.180 [DAT](INFO): direction in FSK: [0.960252,0.195366,0.199368]
2025-08-22T21:29:44.180Z,1755898184.180 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:44.181Z,1755898184.181 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:44.185Z,1755898184.185 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:44.190Z,1755898184.190 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:44.289Z,1755898184.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 143.300003 m,
deltaT: 3.795170 s,
deltaX: -2.500000 m,
approachRate: -0.658732 m/s,
rangeRepo size: 4
2025-08-22T21:29:44.303Z,1755898184.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 142.396164 m,
bearing: 231.519398 deg,
lat: 36.779475 deg,
lon: -121.859610 deg,
deltaT: 3.795170 s,
deltaX: -2.481476 m,
approachRate: -0.653851 m/s,
posRepo size: 4
2025-08-22T21:29:44.304Z,1755898184.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-22T21:29:44.311Z,1755898184.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.396164 m,
nav range: 140.791718 m,
bearing: 230.908723 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.008562 deg/s,
cmd heading: 220.225844 deg,
new cmd heading: 220.233336 deg.
2025-08-22T21:29:44.312Z,1755898184.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843797 target range: 142.396164 and range: 143.30 m.
2025-08-22T21:29:44.704Z,1755898184.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-22T21:29:44.707Z,1755898184.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.396164 m,
nav range: 140.495346 m,
bearing: 230.912225 deg,
approach rate: -0.711738 m/s,
LOS rate: 0.008428 deg/s,
cmd heading: 220.233330 deg,
new cmd heading: 220.240349 deg.
2025-08-22T21:29:44.708Z,1755898184.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843919 target range: 142.396164 and range: 143.30 m.
2025-08-22T21:29:45.073Z,1755898185.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-22T21:29:45.076Z,1755898185.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.396164 m,
nav range: 140.245087 m,
bearing: 230.915193 deg,
approach rate: -0.678706 m/s,
LOS rate: 0.008065 deg/s,
cmd heading: 220.240351 deg,
new cmd heading: 220.246299 deg.
2025-08-22T21:29:45.077Z,1755898185.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844023 target range: 142.396164 and range: 143.30 m.
2025-08-22T21:29:45.500Z,1755898185.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-22T21:29:45.503Z,1755898185.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.396164 m,
nav range: 139.956055 m,
bearing: 230.919052 deg,
approach rate: -0.677668 m/s,
LOS rate: 0.009067 deg/s,
cmd heading: 220.246294 deg,
new cmd heading: 220.254028 deg.
2025-08-22T21:29:45.504Z,1755898185.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844158 target range: 142.396164 and range: 143.30 m.
2025-08-22T21:29:45.876Z,1755898185.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:45.879Z,1755898185.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-22T21:29:45.882Z,1755898185.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.396164 m,
nav range: 139.699203 m,
bearing: 230.922527 deg,
approach rate: -0.677272 m/s,
LOS rate: 0.009180 deg/s,
cmd heading: 220.254025 deg,
new cmd heading: 220.260988 deg.
2025-08-22T21:29:45.883Z,1755898185.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844280 target range: 142.396164 and range: 143.30 m.
2025-08-22T21:29:45.902Z,1755898185.902 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:29:45.902Z,1755898185.902 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:29:45.903Z,1755898185.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:46.155Z,1755898186.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994693
2025-08-22T21:29:46.295Z,1755898186.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-22T21:29:46.299Z,1755898186.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.396164 m,
nav range: 139.427246 m,
bearing: 230.926230 deg,
approach rate: -0.652700 m/s,
LOS rate: 0.008903 deg/s,
cmd heading: 220.260992 deg,
new cmd heading: 220.268412 deg.
2025-08-22T21:29:46.299Z,1755898186.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844409 target range: 142.396164 and range: 143.30 m.
2025-08-22T21:29:46.408Z,1755898186.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248027
2025-08-22T21:29:46.659Z,1755898186.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498422
2025-08-22T21:29:46.733Z,1755898186.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-22T21:29:46.736Z,1755898186.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.396164 m,
nav range: 139.122116 m,
bearing: 230.928259 deg,
approach rate: -0.697379 m/s,
LOS rate: 0.004647 deg/s,
cmd heading: 220.268410 deg,
new cmd heading: 220.272476 deg.
2025-08-22T21:29:46.737Z,1755898186.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844480 target range: 142.396164 and range: 143.30 m.
2025-08-22T21:29:46.911Z,1755898186.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750357
2025-08-22T21:29:47.098Z,1755898187.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-22T21:29:47.100Z,1755898187.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.396164 m,
nav range: 138.879196 m,
bearing: 230.929943 deg,
approach rate: -0.666206 m/s,
LOS rate: 0.004627 deg/s,
cmd heading: 220.272481 deg,
new cmd heading: 220.275855 deg.
2025-08-22T21:29:47.102Z,1755898187.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844539 target range: 142.396164 and range: 143.30 m.
2025-08-22T21:29:47.164Z,1755898187.164 [DAT](INFO): DAT read: Rx Time:21:29:47.7827
2025-08-22T21:29:47.164Z,1755898187.164 [DAT](INFO): Rx dataTimestamp_ set to:1755898187.163984
2025-08-22T21:29:47.165Z,1755898187.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005033
2025-08-22T21:29:47.414Z,1755898187.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254298
2025-08-22T21:29:47.542Z,1755898187.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-22T21:29:47.545Z,1755898187.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.396164 m,
nav range: 138.575043 m,
bearing: 230.932664 deg,
approach rate: -0.685220 m/s,
LOS rate: 0.006143 deg/s,
cmd heading: 220.275855 deg,
new cmd heading: 220.281308 deg.
2025-08-22T21:29:47.546Z,1755898187.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844634 target range: 142.396164 and range: 143.30 m.
2025-08-22T21:29:47.670Z,1755898187.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509617
2025-08-22T21:29:47.895Z,1755898187.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:47.898Z,1755898187.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-22T21:29:47.901Z,1755898187.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.396164 m,
nav range: 138.333344 m,
bearing: 230.934829 deg,
approach rate: -0.678866 m/s,
LOS rate: 0.006091 deg/s,
cmd heading: 220.281305 deg,
new cmd heading: 220.285642 deg.
2025-08-22T21:29:47.902Z,1755898187.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844710 target range: 142.396164 and range: 143.30 m.
2025-08-22T21:29:47.926Z,1755898187.926 [DAT](INFO): DAT read: 21:29:47.7827 LVL= 27440, 32753, 30354, 32755, AGC= 64, IDX= 414, 0.21,-1.285, 3.080,-1.590,-1.696, PHS= 0.513,-1.462, 0.062, RAW= 137.4, 9.9, CAL= 137.0, 10.9, ROT= 13.0, -10.9
2025-08-22T21:29:47.927Z,1755898187.927 [DAT](INFO): got valid direction response:
21:29:47.7827 LVL= 27440, 32753, 30354, 32755, AGC= 64, IDX= 414, 0.21,-1.285, 3.080,-1.590,-1.696, PHS= 0.513,-1.462, 0.062, RAW= 137.4, 9.9, CAL= 137.0, 10.9, ROT= 13.0, -10.9
2025-08-22T21:29:47.928Z,1755898187.928 [DAT](INFO): DAT read: Bearing 0.4, 9.9 (Local)
2025-08-22T21:29:47.928Z,1755898187.928 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.4, 9.9 (Local)
2025-08-22T21:29:47.930Z,1755898187.930 [DAT](INFO): DAT read: Range 11 to 50 : 140.7 m (Round-trip 187.6 ms) speed 0.4 m/s
2025-08-22T21:29:47.931Z,1755898187.931 [DAT](INFO): DAT read: user:2270>
2025-08-22T21:29:47.932Z,1755898187.932 [DAT](INFO): DAT read: Tx time:21:29:48.8909
2025-08-22T21:29:47.932Z,1755898187.932 [DAT](INFO): Ping request sent.
2025-08-22T21:29:47.932Z,1755898187.932 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:47.933Z,1755898187.933 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:47.938Z,1755898187.938 [DAT](INFO): direction in FSK: [0.956791,0.220893,0.189095]
2025-08-22T21:29:47.939Z,1755898187.939 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:47.939Z,1755898187.939 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:47.948Z,1755898187.948 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:47.949Z,1755898187.949 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:48.332Z,1755898188.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 140.699997 m,
deltaT: 3.781193 s,
deltaX: -2.600006 m,
approachRate: -0.687615 m/s,
rangeRepo size: 4
2025-08-22T21:29:48.338Z,1755898188.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 139.812592 m,
bearing: 232.770661 deg,
lat: 36.779485 deg,
lon: -121.859619 deg,
deltaT: 3.781193 s,
deltaX: -2.583572 m,
approachRate: -0.683269 m/s,
posRepo size: 4
2025-08-22T21:29:48.338Z,1755898188.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.81 m.
2025-08-22T21:29:48.341Z,1755898188.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.812592 m,
nav range: 138.029266 m,
bearing: 231.499917 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.006091 deg/s,
cmd heading: 220.285649 deg,
new cmd heading: 220.290929 deg.
2025-08-22T21:29:48.346Z,1755898188.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844802 target range: 139.812592 and range: 140.70 m.
2025-08-22T21:29:48.734Z,1755898188.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.81 m.
2025-08-22T21:29:48.737Z,1755898188.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.812592 m,
nav range: 137.731552 m,
bearing: 231.504421 deg,
approach rate: -0.737809 m/s,
LOS rate: 0.011187 deg/s,
cmd heading: 220.290922 deg,
new cmd heading: 220.299950 deg.
2025-08-22T21:29:48.738Z,1755898188.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844959 target range: 139.812592 and range: 140.70 m.
2025-08-22T21:29:49.123Z,1755898189.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.81 m.
2025-08-22T21:29:49.128Z,1755898189.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.812592 m,
nav range: 137.466125 m,
bearing: 231.508461 deg,
approach rate: -0.685703 m/s,
LOS rate: 0.010457 deg/s,
cmd heading: 220.299952 deg,
new cmd heading: 220.308047 deg.
2025-08-22T21:29:49.130Z,1755898189.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845101 target range: 139.812592 and range: 140.70 m.
2025-08-22T21:29:49.578Z,1755898189.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.81 m.
2025-08-22T21:29:49.588Z,1755898189.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.812592 m,
nav range: 137.154129 m,
bearing: 231.514076 deg,
approach rate: -0.702845 m/s,
LOS rate: 0.012677 deg/s,
cmd heading: 220.308052 deg,
new cmd heading: 220.319307 deg.
2025-08-22T21:29:49.589Z,1755898189.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845297 target range: 139.812592 and range: 140.70 m.
2025-08-22T21:29:49.931Z,1755898189.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:49.934Z,1755898189.934 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:29:49.934Z,1755898189.934 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:29:49.935Z,1755898189.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:49.936Z,1755898189.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.81 m.
2025-08-22T21:29:49.940Z,1755898189.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.812592 m,
nav range: 136.899902 m,
bearing: 231.518677 deg,
approach rate: -0.690995 m/s,
LOS rate: 0.012530 deg/s,
cmd heading: 220.319308 deg,
new cmd heading: 220.328528 deg.
2025-08-22T21:29:49.941Z,1755898189.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845458 target range: 139.812592 and range: 140.70 m.
2025-08-22T21:29:50.187Z,1755898190.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254945
2025-08-22T21:29:50.361Z,1755898190.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.81 m.
2025-08-22T21:29:50.364Z,1755898190.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.812592 m,
nav range: 136.603043 m,
bearing: 231.524069 deg,
approach rate: -0.694597 m/s,
LOS rate: 0.012643 deg/s,
cmd heading: 220.328529 deg,
new cmd heading: 220.339336 deg.
2025-08-22T21:29:50.365Z,1755898190.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845647 target range: 139.812592 and range: 140.70 m.
2025-08-22T21:29:50.439Z,1755898190.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506075
2025-08-22T21:29:50.691Z,1755898190.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758251
2025-08-22T21:29:50.880Z,1755898190.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.81 m.
2025-08-22T21:29:50.883Z,1755898190.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.812592 m,
nav range: 136.263138 m,
bearing: 231.528871 deg,
approach rate: -0.654431 m/s,
LOS rate: 0.009270 deg/s,
cmd heading: 220.339334 deg,
new cmd heading: 220.348964 deg.
2025-08-22T21:29:50.884Z,1755898190.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845815 target range: 139.812592 and range: 140.70 m.
2025-08-22T21:29:50.943Z,1755898190.943 [DAT](INFO): DAT read: Rx Time:21:29:51.4792
2025-08-22T21:29:50.943Z,1755898190.943 [DAT](INFO): Rx dataTimestamp_ set to:1755898190.942895
2025-08-22T21:29:50.944Z,1755898190.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011275
2025-08-22T21:29:51.195Z,1755898191.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262420
2025-08-22T21:29:51.316Z,1755898191.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.81 m.
2025-08-22T21:29:51.319Z,1755898191.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.812592 m,
nav range: 135.948288 m,
bearing: 231.533373 deg,
approach rate: -0.721752 m/s,
LOS rate: 0.010343 deg/s,
cmd heading: 220.348965 deg,
new cmd heading: 220.357989 deg.
2025-08-22T21:29:51.320Z,1755898191.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845973 target range: 139.812592 and range: 140.70 m.
2025-08-22T21:29:51.452Z,1755898191.452 [DAT](INFO): DAT read: 21:29:51.4792 LVL= 32224, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.20, 2.631, 0.665, 2.336, 2.197, PHS= 0.536,-1.487, 0.095, RAW= 138.0, 9.3, CAL= 137.7, 10.3, ROT= 12.3, -10.3
2025-08-22T21:29:51.453Z,1755898191.453 [DAT](INFO): got valid direction response:
21:29:51.4792 LVL= 32224, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.20, 2.631, 0.665, 2.336, 2.197, PHS= 0.536,-1.487, 0.095, RAW= 138.0, 9.3, CAL= 137.7, 10.3, ROT= 12.3, -10.3
2025-08-22T21:29:51.454Z,1755898191.454 [DAT](INFO): DAT read: Bearing 359.4, 8.9 (Local)
2025-08-22T21:29:51.455Z,1755898191.455 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.4, 8.9 (Local)
2025-08-22T21:29:51.456Z,1755898191.456 [DAT](INFO): DAT read: Range 11 to 50 : 138.2 m (Round-trip 184.3 ms) speed 0.0 m/s
2025-08-22T21:29:51.457Z,1755898191.457 [DAT](INFO): DAT read: user:2271>
2025-08-22T21:29:51.458Z,1755898191.458 [DAT](INFO): DAT read: Tx time:21:29:52.5923
2025-08-22T21:29:51.458Z,1755898191.458 [DAT](INFO): Ping request sent.
2025-08-22T21:29:51.458Z,1755898191.458 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:51.458Z,1755898191.458 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:51.459Z,1755898191.459 [DAT](INFO): direction in FSK: [0.961301,0.209597,0.178802]
2025-08-22T21:29:51.460Z,1755898191.460 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:51.460Z,1755898191.460 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:51.468Z,1755898191.468 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:51.468Z,1755898191.468 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:51.894Z,1755898191.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 138.199997 m,
deltaT: 3.526439 s,
deltaX: -2.500000 m,
approachRate: -0.708930 m/s,
rangeRepo size: 4
2025-08-22T21:29:51.896Z,1755898191.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 137.328125 m,
bearing: 232.132870 deg,
lat: 36.779486 deg,
lon: -121.859622 deg,
deltaT: 3.526439 s,
deltaX: -2.484467 m,
approachRate: -0.704526 m/s,
posRepo size: 4
2025-08-22T21:29:51.896Z,1755898191.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.33 m.
2025-08-22T21:29:51.903Z,1755898191.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.328125 m,
nav range: 135.675903 m,
bearing: 231.673437 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.010343 deg/s,
cmd heading: 220.357995 deg,
new cmd heading: 220.369836 deg.
2025-08-22T21:29:51.904Z,1755898191.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.846179 target range: 137.328125 and range: 138.20 m.
2025-08-22T21:29:52.254Z,1755898192.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:52.256Z,1755898192.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.33 m.
2025-08-22T21:29:52.259Z,1755898192.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.328125 m,
nav range: 135.412689 m,
bearing: 231.678548 deg,
approach rate: -0.717158 m/s,
LOS rate: 0.013954 deg/s,
cmd heading: 220.369838 deg,
new cmd heading: 220.380081 deg.
2025-08-22T21:29:52.260Z,1755898192.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.846358 target range: 137.328125 and range: 138.20 m.
2025-08-22T21:29:52.459Z,1755898192.459 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:29:52.460Z,1755898192.460 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:29:52.460Z,1755898192.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:52.686Z,1755898192.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.33 m.
2025-08-22T21:29:52.689Z,1755898192.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.328125 m,
nav range: 135.120285 m,
bearing: 231.684727 deg,
approach rate: -0.679616 m/s,
LOS rate: 0.014391 deg/s,
cmd heading: 220.380083 deg,
new cmd heading: 220.392467 deg.
2025-08-22T21:29:52.690Z,1755898192.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.846574 target range: 137.328125 and range: 138.20 m.
2025-08-22T21:29:52.711Z,1755898192.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252426
2025-08-22T21:29:52.963Z,1755898192.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504832
2025-08-22T21:29:53.066Z,1755898193.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.33 m.
2025-08-22T21:29:53.069Z,1755898193.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.328125 m,
nav range: 134.861465 m,
bearing: 231.690266 deg,
approach rate: -0.680610 m/s,
LOS rate: 0.014593 deg/s,
cmd heading: 220.392473 deg,
new cmd heading: 220.403572 deg.
2025-08-22T21:29:53.070Z,1755898193.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.846768 target range: 137.328125 and range: 138.20 m.
2025-08-22T21:29:53.215Z,1755898193.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756406
2025-08-22T21:29:53.459Z,1755898193.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.33 m.
2025-08-22T21:29:53.467Z,1755898193.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008432
2025-08-22T21:29:53.478Z,1755898193.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.328125 m,
nav range: 134.594894 m,
bearing: 231.696080 deg,
approach rate: -0.679238 m/s,
LOS rate: 0.014844 deg/s,
cmd heading: 220.403579 deg,
new cmd heading: 220.415231 deg.
2025-08-22T21:29:53.479Z,1755898193.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.846972 target range: 137.328125 and range: 138.20 m.
2025-08-22T21:29:53.719Z,1755898193.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260393
2025-08-22T21:29:53.890Z,1755898193.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.33 m.
2025-08-22T21:29:53.892Z,1755898193.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.328125 m,
nav range: 134.308350 m,
bearing: 231.699934 deg,
approach rate: -0.665435 m/s,
LOS rate: 0.008970 deg/s,
cmd heading: 220.415232 deg,
new cmd heading: 220.422956 deg.
2025-08-22T21:29:53.893Z,1755898193.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.847106 target range: 137.328125 and range: 138.20 m.
2025-08-22T21:29:53.972Z,1755898193.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513449
2025-08-22T21:29:54.222Z,1755898194.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764341
2025-08-22T21:29:54.344Z,1755898194.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:54.366Z,1755898194.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.33 m.
2025-08-22T21:29:54.369Z,1755898194.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.328125 m,
nav range: 134.003754 m,
bearing: 231.704084 deg,
approach rate: -0.639492 m/s,
LOS rate: 0.008732 deg/s,
cmd heading: 220.422950 deg,
new cmd heading: 220.431268 deg.
2025-08-22T21:29:54.370Z,1755898194.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.847251 target range: 137.328125 and range: 138.20 m.
2025-08-22T21:29:54.478Z,1755898194.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020318
2025-08-22T21:29:54.726Z,1755898194.726 [DAT](INFO): DAT read: Rx Time:21:29:55.1774
2025-08-22T21:29:54.727Z,1755898194.727 [DAT](INFO): Rx dataTimestamp_ set to:1755898194.726641
2025-08-22T21:29:54.727Z,1755898194.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269351
2025-08-22T21:29:54.743Z,1755898194.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.33 m.
2025-08-22T21:29:54.770Z,1755898194.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.328125 m,
nav range: 133.757629 m,
bearing: 231.708425 deg,
approach rate: -0.652524 m/s,
LOS rate: 0.011530 deg/s,
cmd heading: 220.431269 deg,
new cmd heading: 220.439967 deg.
2025-08-22T21:29:54.771Z,1755898194.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.847403 target range: 137.328125 and range: 138.20 m.
2025-08-22T21:29:54.979Z,1755898194.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520517
2025-08-22T21:29:55.157Z,1755898195.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.33 m.
2025-08-22T21:29:55.177Z,1755898195.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.328125 m,
nav range: 133.469711 m,
bearing: 231.713562 deg,
approach rate: -0.696356 m/s,
LOS rate: 0.012451 deg/s,
cmd heading: 220.439970 deg,
new cmd heading: 220.450266 deg.
2025-08-22T21:29:55.183Z,1755898195.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.847583 target range: 137.328125 and range: 138.20 m.
2025-08-22T21:29:55.236Z,1755898195.236 [DAT](INFO): DAT read: 21:29:55.1774 LVL= 21456, 32753, 24274, 31443, AGC= 66, IDX= 409, 0.09,-2.602, 1.700,-2.920,-3.034, PHS= 0.534,-1.504, 0.071, RAW= 137.5, 9.7, CAL= 137.1, 10.7, ROT= 12.9, -10.7
2025-08-22T21:29:55.238Z,1755898195.238 [DAT](INFO): got valid direction response:
21:29:55.1774 LVL= 21456, 32753, 24274, 31443, AGC= 66, IDX= 409, 0.09,-2.602, 1.700,-2.920,-3.034, PHS= 0.534,-1.504, 0.071, RAW= 137.5, 9.7, CAL= 137.1, 10.7, ROT= 12.9, -10.7
2025-08-22T21:29:55.239Z,1755898195.239 [DAT](INFO): DAT read: Bearing 359.7, 9.4 (Local)
2025-08-22T21:29:55.240Z,1755898195.240 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.7, 9.4 (Local)
2025-08-22T21:29:55.241Z,1755898195.241 [DAT](INFO): DAT read: Range 11 to 50 : 135.6 m (Round-trip 180.9 ms) speed 0.3 m/s
2025-08-22T21:29:55.242Z,1755898195.242 [DAT](INFO): DAT read: user:2272>
2025-08-22T21:29:55.243Z,1755898195.243 [DAT](INFO): DAT read: Tx time:21:29:56.2908
2025-08-22T21:29:55.243Z,1755898195.243 [DAT](INFO): Ping request sent.
2025-08-22T21:29:55.243Z,1755898195.243 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:55.243Z,1755898195.243 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:55.244Z,1755898195.244 [DAT](INFO): direction in FSK: [0.957813,0.219368,0.185667]
2025-08-22T21:29:55.244Z,1755898195.244 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:55.245Z,1755898195.245 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:55.248Z,1755898195.248 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:55.248Z,1755898195.248 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:55.678Z,1755898195.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 135.600006 m,
deltaT: 3.784311 s,
deltaX: -2.599991 m,
approachRate: -0.687045 m/s,
rangeRepo size: 4
2025-08-22T21:29:55.680Z,1755898195.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 134.746902 m,
bearing: 232.596994 deg,
lat: 36.779491 deg,
lon: -121.859635 deg,
deltaT: 3.784311 s,
deltaX: -2.581223 m,
approachRate: -0.682085 m/s,
posRepo size: 4
2025-08-22T21:29:55.681Z,1755898195.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.75 m.
2025-08-22T21:29:55.684Z,1755898195.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.746902 m,
nav range: 133.697479 m,
bearing: 232.190945 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012451 deg/s,
cmd heading: 220.450270 deg,
new cmd heading: 220.463248 deg.
2025-08-22T21:29:55.685Z,1755898195.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.847810 target range: 134.746902 and range: 135.60 m.
2025-08-22T21:29:55.998Z,1755898195.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.75 m.
2025-08-22T21:29:56.001Z,1755898196.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.746902 m,
nav range: 133.488953 m,
bearing: 232.196939 deg,
approach rate: -0.651664 m/s,
LOS rate: 0.018761 deg/s,
cmd heading: 220.463248 deg,
new cmd heading: 220.475254 deg.
2025-08-22T21:29:56.002Z,1755898196.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.848019 target range: 134.746902 and range: 135.60 m.
2025-08-22T21:29:56.373Z,1755898196.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:56.375Z,1755898196.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.75 m.
2025-08-22T21:29:56.379Z,1755898196.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.746902 m,
nav range: 133.220474 m,
bearing: 232.204617 deg,
approach rate: -0.710546 m/s,
LOS rate: 0.020360 deg/s,
cmd heading: 220.475255 deg,
new cmd heading: 220.490641 deg.
2025-08-22T21:29:56.380Z,1755898196.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.848288 target range: 134.746902 and range: 135.60 m.
2025-08-22T21:29:56.491Z,1755898196.491 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:29:56.491Z,1755898196.491 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:29:56.491Z,1755898196.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:29:56.743Z,1755898196.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499622
2025-08-22T21:29:56.825Z,1755898196.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.75 m.
2025-08-22T21:29:56.828Z,1755898196.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.746902 m,
nav range: 132.909119 m,
bearing: 232.215470 deg,
approach rate: -0.692047 m/s,
LOS rate: 0.024180 deg/s,
cmd heading: 220.490637 deg,
new cmd heading: 220.512394 deg.
2025-08-22T21:29:56.829Z,1755898196.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.848667 target range: 134.746902 and range: 135.60 m.
2025-08-22T21:29:56.994Z,1755898196.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751457
2025-08-22T21:29:57.202Z,1755898197.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.75 m.
2025-08-22T21:29:57.204Z,1755898197.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.746902 m,
nav range: 132.652649 m,
bearing: 232.224506 deg,
approach rate: -0.681743 m/s,
LOS rate: 0.024068 deg/s,
cmd heading: 220.512398 deg,
new cmd heading: 220.530506 deg.
2025-08-22T21:29:57.206Z,1755898197.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.848984 target range: 134.746902 and range: 135.60 m.
2025-08-22T21:29:57.247Z,1755898197.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003701
2025-08-22T21:29:57.499Z,1755898197.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256095
2025-08-22T21:29:57.652Z,1755898197.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.75 m.
2025-08-22T21:29:57.655Z,1755898197.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.746902 m,
nav range: 132.341873 m,
bearing: 232.235491 deg,
approach rate: -0.689193 m/s,
LOS rate: 0.024416 deg/s,
cmd heading: 220.530511 deg,
new cmd heading: 220.552531 deg.
2025-08-22T21:29:57.656Z,1755898197.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.849368 target range: 134.746902 and range: 135.60 m.
2025-08-22T21:29:57.751Z,1755898197.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507603
2025-08-22T21:29:58.002Z,1755898198.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759468
2025-08-22T21:29:58.037Z,1755898198.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.75 m.
2025-08-22T21:29:58.040Z,1755898198.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.746902 m,
nav range: 132.075699 m,
bearing: 232.246273 deg,
approach rate: -0.691716 m/s,
LOS rate: 0.028077 deg/s,
cmd heading: 220.552532 deg,
new cmd heading: 220.574140 deg.
2025-08-22T21:29:58.041Z,1755898198.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.849745 target range: 134.746902 and range: 135.60 m.
2025-08-22T21:29:58.255Z,1755898198.255 [DAT](INFO): DAT read: Rx Time:21:29:58.8725
2025-08-22T21:29:58.255Z,1755898198.255 [DAT](INFO): Rx dataTimestamp_ set to:1755898198.254688
2025-08-22T21:29:58.255Z,1755898198.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012493
2025-08-22T21:29:58.411Z,1755898198.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:29:58.413Z,1755898198.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.75 m.
2025-08-22T21:29:58.416Z,1755898198.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.746902 m,
nav range: 131.823257 m,
bearing: 232.256401 deg,
approach rate: -0.671900 m/s,
LOS rate: 0.027007 deg/s,
cmd heading: 220.574143 deg,
new cmd heading: 220.594437 deg.
2025-08-22T21:29:58.417Z,1755898198.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.850099 target range: 134.746902 and range: 135.60 m.
2025-08-22T21:29:58.507Z,1755898198.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264409
2025-08-22T21:29:58.762Z,1755898198.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518770
2025-08-22T21:29:58.861Z,1755898198.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.75 m.
2025-08-22T21:29:58.864Z,1755898198.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.746902 m,
nav range: 131.519684 m,
bearing: 232.268184 deg,
approach rate: -0.677726 m/s,
LOS rate: 0.026367 deg/s,
cmd heading: 220.594442 deg,
new cmd heading: 220.618063 deg.
2025-08-22T21:29:58.865Z,1755898198.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.850512 target range: 134.746902 and range: 135.60 m.
2025-08-22T21:29:59.018Z,1755898199.018 [DAT](INFO): DAT read: 21:29:58.8725 LVL= 27280, 31777, 32754, 32755, AGC= 68, IDX= 407, 0.02, 2.619, 0.620, 2.330, 2.191, PHS= 0.530,-1.526, 0.095, RAW= 138.4, 9.6, CAL= 138.0, 10.6, ROT= 12.0, -10.6
2025-08-22T21:29:59.020Z,1755898199.020 [DAT](INFO): got valid direction response:
21:29:58.8725 LVL= 27280, 31777, 32754, 32755, AGC= 68, IDX= 407, 0.02, 2.619, 0.620, 2.330, 2.191, PHS= 0.530,-1.526, 0.095, RAW= 138.4, 9.6, CAL= 138.0, 10.6, ROT= 12.0, -10.6
2025-08-22T21:29:59.020Z,1755898199.020 [DAT](INFO): DAT read: Bearing 359.5, 8.7 (Local)
2025-08-22T21:29:59.021Z,1755898199.021 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.5, 8.7 (Local)
2025-08-22T21:29:59.023Z,1755898199.023 [DAT](INFO): DAT read: Range 11 to 50 : 133.2 m (Round-trip 177.6 ms) speed 0.5 m/s
2025-08-22T21:29:59.023Z,1755898199.023 [DAT](INFO): DAT read: user:2273>
2025-08-22T21:29:59.024Z,1755898199.024 [DAT](INFO): DAT read: Tx time:21:29:59.9908
2025-08-22T21:29:59.024Z,1755898199.024 [DAT](INFO): Ping request sent.
2025-08-22T21:29:59.024Z,1755898199.024 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:29:59.025Z,1755898199.025 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:29:59.026Z,1755898199.026 [DAT](INFO): direction in FSK: [0.961456,0.204364,0.183951]
2025-08-22T21:29:59.026Z,1755898199.026 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:59.026Z,1755898199.026 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:59.029Z,1755898199.029 [DAT](INFO): publishing transmit ping time
2025-08-22T21:29:59.030Z,1755898199.030 [DAT](INFO): publishing direction and range info
2025-08-22T21:29:59.252Z,1755898199.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 133.199997 m,
deltaT: 3.779595 s,
deltaX: -2.400009 m,
approachRate: -0.634991 m/s,
rangeRepo size: 4
2025-08-22T21:29:59.259Z,1755898199.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 132.364288 m,
bearing: 231.785650 deg,
lat: 36.779491 deg,
lon: -121.859635 deg,
deltaT: 3.779595 s,
deltaX: -2.382614 m,
approachRate: -0.630389 m/s,
posRepo size: 4
2025-08-22T21:29:59.259Z,1755898199.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.36 m.
2025-08-22T21:29:59.266Z,1755898199.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.364288 m,
nav range: 131.268341 m,
bearing: 232.277970 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.026367 deg/s,
cmd heading: 220.618061 deg,
new cmd heading: 220.638668 deg.
2025-08-22T21:29:59.267Z,1755898199.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.850871 target range: 132.364288 and range: 133.20 m.
2025-08-22T21:29:59.686Z,1755898199.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.36 m.
2025-08-22T21:29:59.689Z,1755898199.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.364288 m,
nav range: 130.972961 m,
bearing: 232.289452 deg,
approach rate: -0.684554 m/s,
LOS rate: 0.026670 deg/s,
cmd heading: 220.638674 deg,
new cmd heading: 220.661690 deg.
2025-08-22T21:29:59.690Z,1755898199.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.851273 target range: 132.364288 and range: 133.20 m.
2025-08-22T21:30:00.042Z,1755898200.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.36 m.
2025-08-22T21:30:00.045Z,1755898200.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.364288 m,
nav range: 130.723053 m,
bearing: 232.297936 deg,
approach rate: -0.696648 m/s,
LOS rate: 0.023696 deg/s,
cmd heading: 220.661692 deg,
new cmd heading: 220.678693 deg.
2025-08-22T21:30:00.046Z,1755898200.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.851570 target range: 132.364288 and range: 133.20 m.
2025-08-22T21:30:00.427Z,1755898200.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:00.430Z,1755898200.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.36 m.
2025-08-22T21:30:00.432Z,1755898200.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.364288 m,
nav range: 130.458542 m,
bearing: 232.306873 deg,
approach rate: -0.682428 m/s,
LOS rate: 0.023104 deg/s,
cmd heading: 220.678699 deg,
new cmd heading: 220.696610 deg.
2025-08-22T21:30:00.450Z,1755898200.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.851882 target range: 132.364288 and range: 133.20 m.
2025-08-22T21:30:00.522Z,1755898200.522 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:00.523Z,1755898200.523 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:00.523Z,1755898200.523 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:00.762Z,1755898200.762 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:30:00.775Z,1755898200.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750341
2025-08-22T21:30:00.878Z,1755898200.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.36 m.
2025-08-22T21:30:00.880Z,1755898200.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.364288 m,
nav range: 130.158569 m,
bearing: 232.318051 deg,
approach rate: -0.675483 m/s,
LOS rate: 0.025227 deg/s,
cmd heading: 220.696608 deg,
new cmd heading: 220.719014 deg.
2025-08-22T21:30:00.886Z,1755898200.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.852273 target range: 132.364288 and range: 133.20 m.
2025-08-22T21:30:01.026Z,1755898201.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002055
2025-08-22T21:30:01.238Z,1755898201.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.36 m.
2025-08-22T21:30:01.240Z,1755898201.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.364288 m,
nav range: 129.907562 m,
bearing: 232.327414 deg,
approach rate: -0.689281 m/s,
LOS rate: 0.025761 deg/s,
cmd heading: 220.719011 deg,
new cmd heading: 220.737773 deg.
2025-08-22T21:30:01.242Z,1755898201.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.852601 target range: 132.364288 and range: 133.20 m.
2025-08-22T21:30:01.279Z,1755898201.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255068
2025-08-22T21:30:01.531Z,1755898201.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506210
2025-08-22T21:30:01.699Z,1755898201.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.36 m.
2025-08-22T21:30:01.706Z,1755898201.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.364288 m,
nav range: 129.631821 m,
bearing: 232.337672 deg,
approach rate: -0.597491 m/s,
LOS rate: 0.022277 deg/s,
cmd heading: 220.737767 deg,
new cmd heading: 220.758328 deg.
2025-08-22T21:30:01.707Z,1755898201.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.852960 target range: 132.364288 and range: 133.20 m.
2025-08-22T21:30:01.766Z,1755898201.766 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:30:01.783Z,1755898201.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758928
2025-08-22T21:30:02.034Z,1755898202.034 [DAT](INFO): DAT read: Rx Time:21:30:02.5691
2025-08-22T21:30:02.035Z,1755898202.035 [DAT](INFO): Rx dataTimestamp_ set to:1755898202.034596
2025-08-22T21:30:02.035Z,1755898202.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011067
2025-08-22T21:30:02.108Z,1755898202.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.36 m.
2025-08-22T21:30:02.115Z,1755898202.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.364288 m,
nav range: 129.331894 m,
bearing: 232.347972 deg,
approach rate: -0.734546 m/s,
LOS rate: 0.025282 deg/s,
cmd heading: 220.758326 deg,
new cmd heading: 220.778972 deg.
2025-08-22T21:30:02.116Z,1755898202.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.853320 target range: 132.364288 and range: 133.20 m.
2025-08-22T21:30:02.287Z,1755898202.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262193
2025-08-22T21:30:02.522Z,1755898202.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:02.524Z,1755898202.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.36 m.
2025-08-22T21:30:02.528Z,1755898202.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.364288 m,
nav range: 129.020630 m,
bearing: 232.358787 deg,
approach rate: -0.746281 m/s,
LOS rate: 0.025992 deg/s,
cmd heading: 220.778966 deg,
new cmd heading: 220.800649 deg.
2025-08-22T21:30:02.529Z,1755898202.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.853698 target range: 132.364288 and range: 133.20 m.
2025-08-22T21:30:02.544Z,1755898202.544 [DAT](INFO): DAT read: 21:30:02.5691 LVL= 29552, 32753, 32754, 32755, AGC= 68, IDX= 404,-0.33,-1.971, 2.357,-2.280,-2.423, PHS= 0.554,-1.458, 0.100, RAW= 137.6, 8.8, CAL= 137.3, 9.8, ROT= 12.7, -9.8
2025-08-22T21:30:02.545Z,1755898202.545 [DAT](INFO): got valid direction response:
21:30:02.5691 LVL= 29552, 32753, 32754, 32755, AGC= 68, IDX= 404,-0.33,-1.971, 2.357,-2.280,-2.423, PHS= 0.554,-1.458, 0.100, RAW= 137.6, 8.8, CAL= 137.3, 9.8, ROT= 12.7, -9.8
2025-08-22T21:30:02.546Z,1755898202.546 [DAT](INFO): DAT read: Bearing 358.7, 9.8 (Local)
2025-08-22T21:30:02.547Z,1755898202.547 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.7, 9.8 (Local)
2025-08-22T21:30:02.548Z,1755898202.548 [DAT](INFO): DAT read: Range 11 to 50 : 130.6 m (Round-trip 174.2 ms) speed 0.2 m/s
2025-08-22T21:30:02.549Z,1755898202.549 [DAT](INFO): DAT read: user:2274>
2025-08-22T21:30:02.550Z,1755898202.550 [DAT](INFO): DAT read: Tx time:21:30:03.6908
2025-08-22T21:30:02.550Z,1755898202.550 [DAT](INFO): Ping request sent.
2025-08-22T21:30:02.550Z,1755898202.550 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:02.550Z,1755898202.550 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:02.551Z,1755898202.551 [DAT](INFO): direction in FSK: [0.961299,0.216638,0.170209]
2025-08-22T21:30:02.551Z,1755898202.551 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:02.552Z,1755898202.552 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:02.584Z,1755898202.584 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:02.585Z,1755898202.585 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:02.939Z,1755898202.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 130.600006 m,
deltaT: 3.528098 s,
deltaX: -2.599991 m,
approachRate: -0.736938 m/s,
rangeRepo size: 4
2025-08-22T21:30:02.941Z,1755898202.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 129.783035 m,
bearing: 232.578473 deg,
lat: 36.779494 deg,
lon: -121.859638 deg,
deltaT: 3.528098 s,
deltaX: -2.581253 m,
approachRate: -0.731627 m/s,
posRepo size: 4
2025-08-22T21:30:02.946Z,1755898202.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m.
2025-08-22T21:30:02.948Z,1755898202.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.783035 m,
nav range: 128.791565 m,
bearing: 232.578942 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.025992 deg/s,
cmd heading: 220.800645 deg,
new cmd heading: 220.822145 deg.
2025-08-22T21:30:02.949Z,1755898202.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.854074 target range: 129.783035 and range: 130.60 m.
2025-08-22T21:30:03.278Z,1755898203.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m.
2025-08-22T21:30:03.281Z,1755898203.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.783035 m,
nav range: 128.544754 m,
bearing: 232.586944 deg,
approach rate: -0.725145 m/s,
LOS rate: 0.023554 deg/s,
cmd heading: 220.822147 deg,
new cmd heading: 220.838181 deg.
2025-08-22T21:30:03.282Z,1755898203.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.854353 target range: 129.783035 and range: 130.60 m.
2025-08-22T21:30:03.735Z,1755898203.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m.
2025-08-22T21:30:03.746Z,1755898203.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.783035 m,
nav range: 128.232574 m,
bearing: 232.597119 deg,
approach rate: -0.683495 m/s,
LOS rate: 0.022333 deg/s,
cmd heading: 220.838184 deg,
new cmd heading: 220.858585 deg.
2025-08-22T21:30:03.747Z,1755898203.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.854709 target range: 129.783035 and range: 130.60 m.
2025-08-22T21:30:04.127Z,1755898204.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m.
2025-08-22T21:30:04.129Z,1755898204.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.783035 m,
nav range: 127.967392 m,
bearing: 232.601758 deg,
approach rate: -0.677433 m/s,
LOS rate: 0.011875 deg/s,
cmd heading: 220.858579 deg,
new cmd heading: 220.867876 deg.
2025-08-22T21:30:04.130Z,1755898204.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.854872 target range: 129.783035 and range: 130.60 m.
2025-08-22T21:30:04.503Z,1755898204.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m.
2025-08-22T21:30:04.505Z,1755898204.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.783035 m,
nav range: 127.718315 m,
bearing: 232.606106 deg,
approach rate: -0.662472 m/s,
LOS rate: 0.011587 deg/s,
cmd heading: 220.867882 deg,
new cmd heading: 220.876595 deg.
2025-08-22T21:30:04.506Z,1755898204.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.855024 target range: 129.783035 and range: 130.60 m.
2025-08-22T21:30:04.917Z,1755898204.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:04.919Z,1755898204.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m.
2025-08-22T21:30:04.922Z,1755898204.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.783035 m,
nav range: 127.421326 m,
bearing: 232.614751 deg,
approach rate: -0.713478 m/s,
LOS rate: 0.020816 deg/s,
cmd heading: 220.876597 deg,
new cmd heading: 220.893927 deg.
2025-08-22T21:30:04.923Z,1755898204.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.855326 target range: 129.783035 and range: 130.60 m.
2025-08-22T21:30:05.058Z,1755898205.058 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:05.058Z,1755898205.058 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:05.059Z,1755898205.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:05.311Z,1755898205.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760647
2025-08-22T21:30:05.311Z,1755898205.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m.
2025-08-22T21:30:05.320Z,1755898205.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.783035 m,
nav range: 127.147194 m,
bearing: 232.622766 deg,
approach rate: -0.701251 m/s,
LOS rate: 0.020547 deg/s,
cmd heading: 220.893932 deg,
new cmd heading: 220.909997 deg.
2025-08-22T21:30:05.350Z,1755898205.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.855607 target range: 129.783035 and range: 130.60 m.
2025-08-22T21:30:05.564Z,1755898205.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014059
2025-08-22T21:30:05.762Z,1755898205.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m.
2025-08-22T21:30:05.765Z,1755898205.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.783035 m,
nav range: 126.862823 m,
bearing: 232.631067 deg,
approach rate: -0.635452 m/s,
LOS rate: 0.018590 deg/s,
cmd heading: 220.909997 deg,
new cmd heading: 220.926635 deg.
2025-08-22T21:30:05.766Z,1755898205.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.855897 target range: 129.783035 and range: 130.60 m.
2025-08-22T21:30:05.816Z,1755898205.816 [DAT](INFO): DAT read: Rx Time:21:30:06.2656
2025-08-22T21:30:05.816Z,1755898205.816 [DAT](INFO): Rx dataTimestamp_ set to:1755898205.815784
2025-08-22T21:30:05.817Z,1755898205.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266954
2025-08-22T21:30:06.067Z,1755898206.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517275
2025-08-22T21:30:06.215Z,1755898206.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.78 m.
2025-08-22T21:30:06.222Z,1755898206.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.783035 m,
nav range: 126.533630 m,
bearing: 232.641314 deg,
approach rate: -0.719314 m/s,
LOS rate: 0.022449 deg/s,
cmd heading: 220.926635 deg,
new cmd heading: 220.947183 deg.
2025-08-22T21:30:06.223Z,1755898206.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.856256 target range: 129.783035 and range: 130.60 m.
2025-08-22T21:30:06.325Z,1755898206.325 [DAT](INFO): DAT read: 21:30:06.2656 LVL= 32752, 32753, 31218, 32755, AGC= 67, IDX= 400, 0.21, 1.689,-0.320, 1.385, 1.240, PHS= 0.551,-1.515, 0.102, RAW= 138.1, 9.2, CAL= 137.7, 10.2, ROT= 12.3, -10.2
2025-08-22T21:30:06.327Z,1755898206.327 [DAT](INFO): got valid direction response:
21:30:06.2656 LVL= 32752, 32753, 31218, 32755, AGC= 67, IDX= 400, 0.21, 1.689,-0.320, 1.385, 1.240, PHS= 0.551,-1.515, 0.102, RAW= 138.1, 9.2, CAL= 137.7, 10.2, ROT= 12.3, -10.2
2025-08-22T21:30:06.328Z,1755898206.328 [DAT](INFO): DAT read: Bearing 358.9, 9.6 (Local)
2025-08-22T21:30:06.328Z,1755898206.328 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.9, 9.6 (Local)
2025-08-22T21:30:06.343Z,1755898206.343 [DAT](INFO): DAT read: Range 11 to 50 : 128.0 m (Round-trip 170.7 ms) speed 0.7 m/s
2025-08-22T21:30:06.343Z,1755898206.343 [DAT](INFO): DAT read: user:2275>
2025-08-22T21:30:06.344Z,1755898206.344 [DAT](INFO): DAT read: Tx time:21:30:07.3908
2025-08-22T21:30:06.344Z,1755898206.344 [DAT](INFO): Ping request sent.
2025-08-22T21:30:06.344Z,1755898206.344 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:06.345Z,1755898206.345 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:06.346Z,1755898206.346 [DAT](INFO): direction in FSK: [0.961604,0.209664,0.177085]
2025-08-22T21:30:06.346Z,1755898206.346 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:06.346Z,1755898206.346 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:06.379Z,1755898206.379 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:06.379Z,1755898206.379 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:06.588Z,1755898206.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 128.000000 m,
deltaT: 3.781037 s,
deltaX: -2.600006 m,
approachRate: -0.687644 m/s,
rangeRepo size: 4
2025-08-22T21:30:06.596Z,1755898206.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 127.203812 m,
bearing: 232.228699 deg,
lat: 36.779491 deg,
lon: -121.859635 deg,
deltaT: 3.781037 s,
deltaX: -2.579224 m,
approachRate: -0.682147 m/s,
posRepo size: 4
2025-08-22T21:30:06.599Z,1755898206.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m.
2025-08-22T21:30:06.606Z,1755898206.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.203812 m,
nav range: 126.251732 m,
bearing: 232.432760 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.022449 deg/s,
cmd heading: 220.947180 deg,
new cmd heading: 220.963868 deg.
2025-08-22T21:30:06.607Z,1755898206.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.856547 target range: 127.203812 and range: 128.00 m.
2025-08-22T21:30:07.002Z,1755898207.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:07.004Z,1755898207.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m.
2025-08-22T21:30:07.007Z,1755898207.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.203812 m,
nav range: 125.942162 m,
bearing: 232.442828 deg,
approach rate: -0.741750 m/s,
LOS rate: 0.024184 deg/s,
cmd heading: 220.963873 deg,
new cmd heading: 220.984059 deg.
2025-08-22T21:30:07.008Z,1755898207.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.856899 target range: 127.203812 and range: 128.00 m.
2025-08-22T21:30:07.075Z,1755898207.075 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:07.076Z,1755898207.076 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:07.076Z,1755898207.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:07.327Z,1755898207.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982023
2025-08-22T21:30:07.402Z,1755898207.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m.
2025-08-22T21:30:07.404Z,1755898207.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.203812 m,
nav range: 125.683426 m,
bearing: 232.451286 deg,
approach rate: -0.657465 m/s,
LOS rate: 0.021538 deg/s,
cmd heading: 220.984063 deg,
new cmd heading: 221.001015 deg.
2025-08-22T21:30:07.410Z,1755898207.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.857195 target range: 127.203812 and range: 128.00 m.
2025-08-22T21:30:07.580Z,1755898207.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235329
2025-08-22T21:30:07.830Z,1755898207.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485842
2025-08-22T21:30:07.849Z,1755898207.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m.
2025-08-22T21:30:07.860Z,1755898207.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.203812 m,
nav range: 125.372421 m,
bearing: 232.462889 deg,
approach rate: -0.688787 m/s,
LOS rate: 0.025761 deg/s,
cmd heading: 221.001016 deg,
new cmd heading: 221.024279 deg.
2025-08-22T21:30:07.861Z,1755898207.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.857601 target range: 127.203812 and range: 128.00 m.
2025-08-22T21:30:08.084Z,1755898208.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738673
2025-08-22T21:30:08.335Z,1755898208.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990072
2025-08-22T21:30:08.389Z,1755898208.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m.
2025-08-22T21:30:08.396Z,1755898208.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.203812 m,
nav range: 124.991219 m,
bearing: 232.477156 deg,
approach rate: -0.705930 m/s,
LOS rate: 0.026501 deg/s,
cmd heading: 221.024280 deg,
new cmd heading: 221.052900 deg.
2025-08-22T21:30:08.397Z,1755898208.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.858101 target range: 127.203812 and range: 128.00 m.
2025-08-22T21:30:08.588Z,1755898208.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242787
2025-08-22T21:30:08.839Z,1755898208.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494804
2025-08-22T21:30:08.983Z,1755898208.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m.
2025-08-22T21:30:08.987Z,1755898208.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.203812 m,
nav range: 124.580132 m,
bearing: 232.491012 deg,
approach rate: -0.692204 m/s,
LOS rate: 0.023408 deg/s,
cmd heading: 221.052898 deg,
new cmd heading: 221.080701 deg.
2025-08-22T21:30:08.988Z,1755898208.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.858586 target range: 127.203812 and range: 128.00 m.
2025-08-22T21:30:09.092Z,1755898209.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746652
2025-08-22T21:30:09.344Z,1755898209.344 [DAT](INFO): DAT read: Rx Time:21:30:09.9622
2025-08-22T21:30:09.344Z,1755898209.344 [DAT](INFO): Rx dataTimestamp_ set to:1755898209.343693
2025-08-22T21:30:09.345Z,1755898209.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000336
2025-08-22T21:30:09.456Z,1755898209.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:09.458Z,1755898209.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m.
2025-08-22T21:30:09.460Z,1755898209.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.203812 m,
nav range: 124.258972 m,
bearing: 232.501748 deg,
approach rate: -0.676525 m/s,
LOS rate: 0.022674 deg/s,
cmd heading: 221.080697 deg,
new cmd heading: 221.102224 deg.
2025-08-22T21:30:09.478Z,1755898209.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.858962 target range: 127.203812 and range: 128.00 m.
2025-08-22T21:30:09.595Z,1755898209.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250104
2025-08-22T21:30:09.850Z,1755898209.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504708
2025-08-22T21:30:09.963Z,1755898209.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m.
2025-08-22T21:30:09.973Z,1755898209.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.203812 m,
nav range: 123.914429 m,
bearing: 232.514177 deg,
approach rate: -0.681973 m/s,
LOS rate: 0.024670 deg/s,
cmd heading: 221.102226 deg,
new cmd heading: 221.127153 deg.
2025-08-22T21:30:09.974Z,1755898209.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.859397 target range: 127.203812 and range: 128.00 m.
2025-08-22T21:30:10.104Z,1755898210.104 [DAT](INFO): DAT read: 21:30:09.9622 LVL= 32016, 32753, 32034, 32755, AGC= 65, IDX= 414, 0.21,-0.575,-2.506,-0.849,-1.032, PHS= 0.559,-1.429, 0.139, RAW= 138.4, 8.1, CAL= 138.1, 9.0, ROT= 11.9, -9.0
2025-08-22T21:30:10.106Z,1755898210.106 [DAT](INFO): got valid direction response:
21:30:09.9622 LVL= 32016, 32753, 32034, 32755, AGC= 65, IDX= 414, 0.21,-0.575,-2.506,-0.849,-1.032, PHS= 0.559,-1.429, 0.139, RAW= 138.4, 8.1, CAL= 138.1, 9.0, ROT= 11.9, -9.0
2025-08-22T21:30:10.107Z,1755898210.107 [DAT](INFO): DAT read: Bearing 357.9, 9.3 (Local)
2025-08-22T21:30:10.107Z,1755898210.107 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.9, 9.3 (Local)
2025-08-22T21:30:10.108Z,1755898210.108 [DAT](INFO): DAT read: Range 11 to 50 : 125.4 m (Round-trip 167.3 ms) speed -0.5 m/s
2025-08-22T21:30:10.109Z,1755898210.109 [DAT](INFO): DAT read: user:2276>
2025-08-22T21:30:10.110Z,1755898210.110 [DAT](INFO): DAT read: Tx time:21:30:11.0907
2025-08-22T21:30:10.110Z,1755898210.110 [DAT](INFO): Ping request sent.
2025-08-22T21:30:10.110Z,1755898210.110 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:10.111Z,1755898210.111 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:10.112Z,1755898210.112 [DAT](INFO): direction in FSK: [0.966462,0.203665,0.156434]
2025-08-22T21:30:10.112Z,1755898210.112 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:10.112Z,1755898210.112 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:10.115Z,1755898210.115 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:10.115Z,1755898210.115 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:10.359Z,1755898210.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 125.400002 m,
deltaT: 3.779328 s,
deltaX: -2.599998 m,
approachRate: -0.687953 m/s,
rangeRepo size: 4
2025-08-22T21:30:10.366Z,1755898210.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 124.621613 m,
bearing: 231.957969 deg,
lat: 36.779489 deg,
lon: -121.859630 deg,
deltaT: 3.779328 s,
deltaX: -2.582199 m,
approachRate: -0.683243 m/s,
posRepo size: 4
2025-08-22T21:30:10.366Z,1755898210.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.62 m.
2025-08-22T21:30:10.369Z,1755898210.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.621613 m,
nav range: 123.460564 m,
bearing: 232.315771 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.024670 deg/s,
cmd heading: 221.127156 deg,
new cmd heading: 221.146682 deg.
2025-08-22T21:30:10.374Z,1755898210.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.859738 target range: 124.621613 and range: 125.40 m.
2025-08-22T21:30:10.704Z,1755898210.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.62 m.
2025-08-22T21:30:10.707Z,1755898210.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.621613 m,
nav range: 123.190826 m,
bearing: 232.325052 deg,
approach rate: -0.780747 m/s,
LOS rate: 0.026921 deg/s,
cmd heading: 221.146676 deg,
new cmd heading: 221.165278 deg.
2025-08-22T21:30:10.708Z,1755898210.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.860062 target range: 124.621613 and range: 125.40 m.
2025-08-22T21:30:11.146Z,1755898211.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.62 m.
2025-08-22T21:30:11.149Z,1755898211.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.621613 m,
nav range: 122.900513 m,
bearing: 232.336000 deg,
approach rate: -0.656601 m/s,
LOS rate: 0.024819 deg/s,
cmd heading: 221.165282 deg,
new cmd heading: 221.187229 deg.
2025-08-22T21:30:11.150Z,1755898211.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.860445 target range: 124.621613 and range: 125.40 m.
2025-08-22T21:30:11.509Z,1755898211.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:11.511Z,1755898211.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.62 m.
2025-08-22T21:30:11.515Z,1755898211.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.621613 m,
nav range: 122.650452 m,
bearing: 232.345409 deg,
approach rate: -0.684564 m/s,
LOS rate: 0.025810 deg/s,
cmd heading: 221.187234 deg,
new cmd heading: 221.206090 deg.
2025-08-22T21:30:11.516Z,1755898211.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.860775 target range: 124.621613 and range: 125.40 m.
2025-08-22T21:30:11.611Z,1755898211.611 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:11.611Z,1755898211.611 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:11.611Z,1755898211.611 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:11.863Z,1755898211.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751984
2025-08-22T21:30:11.994Z,1755898211.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.62 m.
2025-08-22T21:30:11.997Z,1755898211.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.621613 m,
nav range: 122.326263 m,
bearing: 232.358504 deg,
approach rate: -0.671268 m/s,
LOS rate: 0.027188 deg/s,
cmd heading: 221.206085 deg,
new cmd heading: 221.232346 deg.
2025-08-22T21:30:12.018Z,1755898212.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.861233 target range: 124.621613 and range: 125.40 m.
2025-08-22T21:30:12.116Z,1755898212.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005804
2025-08-22T21:30:12.344Z,1755898212.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.62 m.
2025-08-22T21:30:12.347Z,1755898212.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.621613 m,
nav range: 122.082039 m,
bearing: 232.368309 deg,
approach rate: -0.698030 m/s,
LOS rate: 0.028080 deg/s,
cmd heading: 221.232341 deg,
new cmd heading: 221.251990 deg.
2025-08-22T21:30:12.348Z,1755898212.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.861576 target range: 124.621613 and range: 125.40 m.
2025-08-22T21:30:12.367Z,1755898212.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256055
2025-08-22T21:30:12.620Z,1755898212.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508876
2025-08-22T21:30:12.763Z,1755898212.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.62 m.
2025-08-22T21:30:12.785Z,1755898212.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.621613 m,
nav range: 121.807304 m,
bearing: 232.379275 deg,
approach rate: -0.655559 m/s,
LOS rate: 0.026225 deg/s,
cmd heading: 221.251984 deg,
new cmd heading: 221.273965 deg.
2025-08-22T21:30:12.786Z,1755898212.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.861959 target range: 124.621613 and range: 125.40 m.
2025-08-22T21:30:12.874Z,1755898212.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762884
2025-08-22T21:30:13.123Z,1755898213.123 [DAT](INFO): DAT read: Rx Time:21:30:13.6587
2025-08-22T21:30:13.124Z,1755898213.124 [DAT](INFO): Rx dataTimestamp_ set to:1755898213.122984
2025-08-22T21:30:13.124Z,1755898213.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013623
2025-08-22T21:30:13.274Z,1755898213.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.62 m.
2025-08-22T21:30:13.277Z,1755898213.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.621613 m,
nav range: 121.464973 m,
bearing: 232.393258 deg,
approach rate: -0.671045 m/s,
LOS rate: 0.027488 deg/s,
cmd heading: 221.273964 deg,
new cmd heading: 221.302010 deg.
2025-08-22T21:30:13.278Z,1755898213.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.862449 target range: 124.621613 and range: 125.40 m.
2025-08-22T21:30:13.374Z,1755898213.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263972
2025-08-22T21:30:13.632Z,1755898213.632 [DAT](INFO): DAT read: 21:30:13.6587 LVL= 23504, 32753, 26338, 32755, AGC= 66, IDX= 395,-0.27, 1.480,-0.482, 1.205, 1.054, PHS= 0.528,-1.491, 0.107, RAW= 138.6, 9.3, CAL= 138.2, 10.3, ROT= 11.8, -10.3
2025-08-22T21:30:13.633Z,1755898213.633 [DAT](INFO): got valid direction response:
21:30:13.6587 LVL= 23504, 32753, 26338, 32755, AGC= 66, IDX= 395,-0.27, 1.480,-0.482, 1.205, 1.054, PHS= 0.528,-1.491, 0.107, RAW= 138.6, 9.3, CAL= 138.2, 10.3, ROT= 11.8, -10.3
2025-08-22T21:30:13.634Z,1755898213.634 [DAT](INFO): DAT read: Bearing 359.1, 9.6 (Local)
2025-08-22T21:30:13.635Z,1755898213.635 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.1, 9.6 (Local)
2025-08-22T21:30:13.636Z,1755898213.636 [DAT](INFO): DAT read: Range 11 to 50 : 122.9 m (Round-trip 163.9 ms) speed 0.7 m/s
2025-08-22T21:30:13.637Z,1755898213.637 [DAT](INFO): DAT read: user:2277>
2025-08-22T21:30:13.638Z,1755898213.638 [DAT](INFO): DAT read: Tx time:21:30:14.7907
2025-08-22T21:30:13.638Z,1755898213.638 [DAT](INFO): Ping request sent.
2025-08-22T21:30:13.638Z,1755898213.638 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:13.638Z,1755898213.638 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:13.639Z,1755898213.639 [DAT](INFO): direction in FSK: [0.963093,0.201201,0.178802]
2025-08-22T21:30:13.640Z,1755898213.640 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:13.640Z,1755898213.640 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:13.643Z,1755898213.643 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:13.643Z,1755898213.643 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:13.719Z,1755898213.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 122.900002 m,
deltaT: 3.527593 s,
deltaX: -2.500000 m,
approachRate: -0.708699 m/s,
rangeRepo size: 4
2025-08-22T21:30:13.721Z,1755898213.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 122.137741 m,
bearing: 232.092012 deg,
lat: 36.779486 deg,
lon: -121.859627 deg,
deltaT: 3.527593 s,
deltaX: -2.483871 m,
approachRate: -0.704126 m/s,
posRepo size: 4
2025-08-22T21:30:13.726Z,1755898213.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.14 m.
2025-08-22T21:30:13.728Z,1755898213.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.137741 m,
nav range: 121.198662 m,
bearing: 232.225668 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.027488 deg/s,
cmd heading: 221.302009 deg,
new cmd heading: 221.326450 deg.
2025-08-22T21:30:13.729Z,1755898213.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.862875 target range: 122.137741 and range: 122.90 m.
2025-08-22T21:30:14.087Z,1755898214.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:14.089Z,1755898214.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.14 m.
2025-08-22T21:30:14.096Z,1755898214.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.137741 m,
nav range: 120.919136 m,
bearing: 232.237189 deg,
approach rate: -0.753922 m/s,
LOS rate: 0.031143 deg/s,
cmd heading: 221.326447 deg,
new cmd heading: 221.349541 deg.
2025-08-22T21:30:14.097Z,1755898214.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.863278 target range: 122.137741 and range: 122.90 m.
2025-08-22T21:30:14.130Z,1755898214.130 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:14.131Z,1755898214.131 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:14.131Z,1755898214.131 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:14.383Z,1755898214.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744462
2025-08-22T21:30:14.443Z,1755898214.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.14 m.
2025-08-22T21:30:14.450Z,1755898214.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.137741 m,
nav range: 120.671913 m,
bearing: 232.247422 deg,
approach rate: -0.699043 m/s,
LOS rate: 0.028996 deg/s,
cmd heading: 221.349547 deg,
new cmd heading: 221.370056 deg.
2025-08-22T21:30:14.451Z,1755898214.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.863636 target range: 122.137741 and range: 122.90 m.
2025-08-22T21:30:14.634Z,1755898214.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996344
2025-08-22T21:30:14.838Z,1755898214.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.14 m.
2025-08-22T21:30:14.856Z,1755898214.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.137741 m,
nav range: 120.403542 m,
bearing: 232.258385 deg,
approach rate: -0.686970 m/s,
LOS rate: 0.028125 deg/s,
cmd heading: 221.370051 deg,
new cmd heading: 221.392025 deg.
2025-08-22T21:30:14.864Z,1755898214.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.864020 target range: 122.137741 and range: 122.90 m.
2025-08-22T21:30:14.891Z,1755898214.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252896
2025-08-22T21:30:15.139Z,1755898215.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500449
2025-08-22T21:30:15.261Z,1755898215.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.14 m.
2025-08-22T21:30:15.263Z,1755898215.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.137741 m,
nav range: 120.084099 m,
bearing: 232.270383 deg,
approach rate: -0.747444 m/s,
LOS rate: 0.028147 deg/s,
cmd heading: 221.392031 deg,
new cmd heading: 221.416090 deg.
2025-08-22T21:30:15.264Z,1755898215.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.864440 target range: 122.137741 and range: 122.90 m.
2025-08-22T21:30:15.391Z,1755898215.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752451
2025-08-22T21:30:15.643Z,1755898215.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004484
2025-08-22T21:30:15.649Z,1755898215.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.14 m.
2025-08-22T21:30:15.652Z,1755898215.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.137741 m,
nav range: 119.808075 m,
bearing: 232.280731 deg,
approach rate: -0.710194 m/s,
LOS rate: 0.026688 deg/s,
cmd heading: 221.416086 deg,
new cmd heading: 221.436832 deg.
2025-08-22T21:30:15.654Z,1755898215.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.864802 target range: 122.137741 and range: 122.90 m.
2025-08-22T21:30:15.967Z,1755898215.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.328403
2025-08-22T21:30:16.067Z,1755898216.067 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +18
2025-08-22T21:30:16.088Z,1755898216.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.14 m.
2025-08-22T21:30:16.090Z,1755898216.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.137741 m,
nav range: 119.494705 m,
bearing: 232.292457 deg,
approach rate: -0.714891 m/s,
LOS rate: 0.026819 deg/s,
cmd heading: 221.436837 deg,
new cmd heading: 221.460349 deg.
2025-08-22T21:30:16.091Z,1755898216.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.865212 target range: 122.137741 and range: 122.90 m.
2025-08-22T21:30:16.147Z,1755898216.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509182
2025-08-22T21:30:16.398Z,1755898216.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760313
2025-08-22T21:30:16.470Z,1755898216.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:16.472Z,1755898216.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.14 m.
2025-08-22T21:30:16.475Z,1755898216.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.137741 m,
nav range: 119.220612 m,
bearing: 232.302694 deg,
approach rate: -0.712079 m/s,
LOS rate: 0.026657 deg/s,
cmd heading: 221.460346 deg,
new cmd heading: 221.480868 deg.
2025-08-22T21:30:16.476Z,1755898216.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.865570 target range: 122.137741 and range: 122.90 m.
2025-08-22T21:30:16.652Z,1755898216.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013623
2025-08-22T21:30:16.865Z,1755898216.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.14 m.
2025-08-22T21:30:16.870Z,1755898216.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.137741 m,
nav range: 118.943398 m,
bearing: 232.313057 deg,
approach rate: -0.705979 m/s,
LOS rate: 0.026453 deg/s,
cmd heading: 221.480864 deg,
new cmd heading: 221.501638 deg.
2025-08-22T21:30:16.873Z,1755898216.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.865933 target range: 122.137741 and range: 122.90 m.
2025-08-22T21:30:16.906Z,1755898216.906 [DAT](INFO): DAT read: Rx Time:21:30:17.3552
2025-08-22T21:30:16.908Z,1755898216.908 [DAT](INFO): Rx dataTimestamp_ set to:1755898216.906538
2025-08-22T21:30:16.910Z,1755898216.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270948
2025-08-22T21:30:17.155Z,1755898217.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517087
2025-08-22T21:30:17.342Z,1755898217.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.14 m.
2025-08-22T21:30:17.344Z,1755898217.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.137741 m,
nav range: 118.604805 m,
bearing: 232.322691 deg,
approach rate: -0.710700 m/s,
LOS rate: 0.020280 deg/s,
cmd heading: 221.501641 deg,
new cmd heading: 221.520965 deg.
2025-08-22T21:30:17.346Z,1755898217.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.866270 target range: 122.137741 and range: 122.90 m.
2025-08-22T21:30:17.412Z,1755898217.412 [DAT](INFO): DAT read: 21:30:17.3552 LVL= 24240, 31041, 29058, 32371, AGC= 66, IDX= 407,-0.06,-2.627, 1.643,-2.852,-3.027, PHS= 0.502,-1.568, 0.131, RAW= 140.3, 9.8, CAL= 139.8, 10.7, ROT= 10.2, -10.7
2025-08-22T21:30:17.414Z,1755898217.414 [DAT](INFO): got valid direction response:
21:30:17.3552 LVL= 24240, 31041, 29058, 32371, AGC= 66, IDX= 407,-0.06,-2.627, 1.643,-2.852,-3.027, PHS= 0.502,-1.568, 0.131, RAW= 140.3, 9.8, CAL= 139.8, 10.7, ROT= 10.2, -10.7
2025-08-22T21:30:17.414Z,1755898217.414 [DAT](INFO): DAT read: Bearing 360.0, 8.5 (Local)
2025-08-22T21:30:17.415Z,1755898217.415 [DAT](INFO): Local bearing/azimuth received:
Bearing 360.0, 8.5 (Local)
2025-08-22T21:30:17.416Z,1755898217.416 [DAT](INFO): DAT read: Range 11 to 50 : 120.3 m (Round-trip 160.4 ms) speed 0.5 m/s
2025-08-22T21:30:17.417Z,1755898217.417 [DAT](INFO): DAT read: user:2278>
2025-08-22T21:30:17.418Z,1755898217.418 [DAT](INFO): DAT read: Tx time:21:30:18.4407
2025-08-22T21:30:17.418Z,1755898217.418 [DAT](INFO): Ping request sent.
2025-08-22T21:30:17.418Z,1755898217.418 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:17.419Z,1755898217.418 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:17.419Z,1755898217.419 [DAT](INFO): direction in FSK: [0.967083,0.174006,0.185667]
2025-08-22T21:30:17.420Z,1755898217.420 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:17.420Z,1755898217.420 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:17.423Z,1755898217.423 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:17.423Z,1755898217.423 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:17.686Z,1755898217.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 120.300003 m,
deltaT: 3.780146 s,
deltaX: -2.599998 m,
approachRate: -0.687804 m/s,
rangeRepo size: 4
2025-08-22T21:30:17.688Z,1755898217.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 119.554924 m,
bearing: 230.803241 deg,
lat: 36.779486 deg,
lon: -121.859627 deg,
deltaT: 3.780146 s,
deltaX: -2.582817 m,
approachRate: -0.683259 m/s,
posRepo size: 4
2025-08-22T21:30:17.689Z,1755898217.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.55 m.
2025-08-22T21:30:17.692Z,1755898217.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.554924 m,
nav range: 118.365646 m,
bearing: 232.329440 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.020280 deg/s,
cmd heading: 221.520971 deg,
new cmd heading: 221.534902 deg.
2025-08-22T21:30:17.693Z,1755898217.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.866513 target range: 119.554924 and range: 120.30 m.
2025-08-22T21:30:18.114Z,1755898218.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.55 m.
2025-08-22T21:30:18.116Z,1755898218.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.554924 m,
nav range: 118.066803 m,
bearing: 232.338339 deg,
approach rate: -0.697857 m/s,
LOS rate: 0.020832 deg/s,
cmd heading: 221.534904 deg,
new cmd heading: 221.552746 deg.
2025-08-22T21:30:18.118Z,1755898218.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.866825 target range: 119.554924 and range: 120.30 m.
2025-08-22T21:30:18.495Z,1755898218.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:18.498Z,1755898218.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.55 m.
2025-08-22T21:30:18.500Z,1755898218.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.554924 m,
nav range: 117.804337 m,
bearing: 232.346204 deg,
approach rate: -0.683295 m/s,
LOS rate: 0.020523 deg/s,
cmd heading: 221.552745 deg,
new cmd heading: 221.568511 deg.
2025-08-22T21:30:18.501Z,1755898218.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.867100 target range: 119.554924 and range: 120.30 m.
2025-08-22T21:30:18.666Z,1755898218.666 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:18.666Z,1755898218.666 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:18.667Z,1755898218.667 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:18.921Z,1755898218.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502166
2025-08-22T21:30:18.947Z,1755898218.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.55 m.
2025-08-22T21:30:18.976Z,1755898218.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.554924 m,
nav range: 117.521088 m,
bearing: 232.354732 deg,
approach rate: -0.638951 m/s,
LOS rate: 0.019284 deg/s,
cmd heading: 221.568509 deg,
new cmd heading: 221.585606 deg.
2025-08-22T21:30:18.977Z,1755898218.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.867399 target range: 119.554924 and range: 120.30 m.
2025-08-22T21:30:19.174Z,1755898219.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755271
2025-08-22T21:30:19.324Z,1755898219.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.55 m.
2025-08-22T21:30:19.327Z,1755898219.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.554924 m,
nav range: 117.245155 m,
bearing: 232.364415 deg,
approach rate: -0.720883 m/s,
LOS rate: 0.025355 deg/s,
cmd heading: 221.585612 deg,
new cmd heading: 221.605022 deg.
2025-08-22T21:30:19.328Z,1755898219.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.867737 target range: 119.554924 and range: 120.30 m.
2025-08-22T21:30:19.423Z,1755898219.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004705
2025-08-22T21:30:19.674Z,1755898219.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256171
2025-08-22T21:30:19.694Z,1755898219.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.55 m.
2025-08-22T21:30:19.697Z,1755898219.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.554924 m,
nav range: 116.977730 m,
bearing: 232.373775 deg,
approach rate: -0.721450 m/s,
LOS rate: 0.025310 deg/s,
cmd heading: 221.605023 deg,
new cmd heading: 221.623787 deg.
2025-08-22T21:30:19.699Z,1755898219.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.868065 target range: 119.554924 and range: 120.30 m.
2025-08-22T21:30:19.929Z,1755898219.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510424
2025-08-22T21:30:20.132Z,1755898220.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.55 m.
2025-08-22T21:30:20.135Z,1755898220.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.554924 m,
nav range: 116.669037 m,
bearing: 232.383279 deg,
approach rate: -0.704497 m/s,
LOS rate: 0.021748 deg/s,
cmd heading: 221.623793 deg,
new cmd heading: 221.642851 deg.
2025-08-22T21:30:20.136Z,1755898220.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.868397 target range: 119.554924 and range: 120.30 m.
2025-08-22T21:30:20.180Z,1755898220.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761299
2025-08-22T21:30:20.431Z,1755898220.431 [DAT](INFO): DAT read: Rx Time:21:30:21.0018
2025-08-22T21:30:20.432Z,1755898220.432 [DAT](INFO): Rx dataTimestamp_ set to:1755898220.431433
2025-08-22T21:30:20.432Z,1755898220.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014023
2025-08-22T21:30:20.515Z,1755898220.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:20.517Z,1755898220.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.55 m.
2025-08-22T21:30:20.520Z,1755898220.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.554924 m,
nav range: 116.398972 m,
bearing: 232.391492 deg,
approach rate: -0.702532 m/s,
LOS rate: 0.021415 deg/s,
cmd heading: 221.642849 deg,
new cmd heading: 221.659313 deg.
2025-08-22T21:30:20.521Z,1755898220.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.868685 target range: 119.554924 and range: 120.30 m.
2025-08-22T21:30:20.683Z,1755898220.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264294
2025-08-22T21:30:20.995Z,1755898220.995 [DAT](INFO): DAT read: 21:30:21.0018 LVL= 31216, 32753, 32754, 32755, AGC= 67, IDX= 404,-0.20,-0.107,-2.019,-0.326,-0.509, PHS= 0.505,-1.465, 0.139, RAW= 140.0, 9.1, CAL= 139.5, 10.0, ROT= 10.5, -10.0
2025-08-22T21:30:20.996Z,1755898220.996 [DAT](INFO): got valid direction response:
21:30:21.0018 LVL= 31216, 32753, 32754, 32755, AGC= 67, IDX= 404,-0.20,-0.107,-2.019,-0.326,-0.509, PHS= 0.505,-1.465, 0.139, RAW= 140.0, 9.1, CAL= 139.5, 10.0, ROT= 10.5, -10.0
2025-08-22T21:30:20.997Z,1755898220.997 [DAT](INFO): DAT read: Bearing 359.4, 9.1 (Local)
2025-08-22T21:30:21.014Z,1755898221.014 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.4, 9.1 (Local)
2025-08-22T21:30:21.015Z,1755898221.015 [DAT](INFO): DAT read: Range 11 to 50 : 117.7 m (Round-trip 157.0 ms) speed 0.1 m/s
2025-08-22T21:30:21.016Z,1755898221.016 [DAT](INFO): DAT read: user:2279>
2025-08-22T21:30:21.017Z,1755898221.017 [DAT](INFO): DAT read: Tx time:21:30:22.0907
2025-08-22T21:30:21.017Z,1755898221.017 [DAT](INFO): Ping request sent.
2025-08-22T21:30:21.017Z,1755898221.017 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:21.021Z,1755898221.021 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:21.022Z,1755898221.022 [DAT](INFO): direction in FSK: [0.968317,0.179467,0.173648]
2025-08-22T21:30:21.023Z,1755898221.023 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:21.023Z,1755898221.023 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:21.025Z,1755898221.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.55 m.
2025-08-22T21:30:21.032Z,1755898221.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.554924 m,
nav range: 116.049995 m,
bearing: 232.402152 deg,
approach rate: -0.693979 m/s,
LOS rate: 0.021261 deg/s,
cmd heading: 221.659310 deg,
new cmd heading: 221.680692 deg.
2025-08-22T21:30:21.034Z,1755898221.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.869058 target range: 119.554924 and range: 120.30 m.
2025-08-22T21:30:21.039Z,1755898221.039 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:21.040Z,1755898221.040 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:21.363Z,1755898221.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 117.699997 m,
deltaT: 3.529119 s,
deltaX: -2.600006 m,
approachRate: -0.736730 m/s,
rangeRepo size: 4
2025-08-22T21:30:21.365Z,1755898221.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 116.972466 m,
bearing: 231.354727 deg,
lat: 36.779481 deg,
lon: -121.859622 deg,
deltaT: 3.529119 s,
deltaX: -2.582458 m,
approachRate: -0.731757 m/s,
posRepo size: 4
2025-08-22T21:30:21.367Z,1755898221.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.97 m.
2025-08-22T21:30:21.378Z,1755898221.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.972466 m,
nav range: 115.760117 m,
bearing: 232.076511 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021261 deg/s,
cmd heading: 221.680688 deg,
new cmd heading: 221.695254 deg.
2025-08-22T21:30:21.379Z,1755898221.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.869312 target range: 116.972466 and range: 117.70 m.
2025-08-22T21:30:21.728Z,1755898221.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.97 m.
2025-08-22T21:30:21.731Z,1755898221.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.972466 m,
nav range: 115.494537 m,
bearing: 232.084899 deg,
approach rate: -0.725307 m/s,
LOS rate: 0.022959 deg/s,
cmd heading: 221.695250 deg,
new cmd heading: 221.712063 deg.
2025-08-22T21:30:21.732Z,1755898221.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.869606 target range: 116.972466 and range: 117.70 m.
2025-08-22T21:30:22.133Z,1755898222.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.97 m.
2025-08-22T21:30:22.157Z,1755898222.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.972466 m,
nav range: 115.213722 m,
bearing: 232.092506 deg,
approach rate: -0.694181 m/s,
LOS rate: 0.018851 deg/s,
cmd heading: 221.712066 deg,
new cmd heading: 221.727317 deg.
2025-08-22T21:30:22.158Z,1755898222.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.869872 target range: 116.972466 and range: 117.70 m.
2025-08-22T21:30:22.580Z,1755898222.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:22.586Z,1755898222.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.97 m.
2025-08-22T21:30:22.588Z,1755898222.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.972466 m,
nav range: 114.919678 m,
bearing: 232.100403 deg,
approach rate: -0.655303 m/s,
LOS rate: 0.017645 deg/s,
cmd heading: 221.727311 deg,
new cmd heading: 221.743146 deg.
2025-08-22T21:30:22.594Z,1755898222.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.870148 target range: 116.972466 and range: 117.70 m.
2025-08-22T21:30:22.699Z,1755898222.699 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:22.699Z,1755898222.699 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:22.699Z,1755898222.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:22.939Z,1755898222.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.97 m.
2025-08-22T21:30:22.942Z,1755898222.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.972466 m,
nav range: 114.665092 m,
bearing: 232.107207 deg,
approach rate: -0.712836 m/s,
LOS rate: 0.019093 deg/s,
cmd heading: 221.743143 deg,
new cmd heading: 221.756781 deg.
2025-08-22T21:30:22.945Z,1755898222.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.870386 target range: 116.972466 and range: 117.70 m.
2025-08-22T21:30:22.951Z,1755898222.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.933727
2025-08-22T21:30:23.203Z,1755898223.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.186153
2025-08-22T21:30:23.411Z,1755898223.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.97 m.
2025-08-22T21:30:23.414Z,1755898223.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.972466 m,
nav range: 114.326950 m,
bearing: 232.116140 deg,
approach rate: -0.716048 m/s,
LOS rate: 0.018973 deg/s,
cmd heading: 221.756776 deg,
new cmd heading: 221.774695 deg.
2025-08-22T21:30:23.415Z,1755898223.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.870699 target range: 116.972466 and range: 117.70 m.
2025-08-22T21:30:23.455Z,1755898223.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.438021
2025-08-22T21:30:23.707Z,1755898223.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.689638
2025-08-22T21:30:23.746Z,1755898223.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.97 m.
2025-08-22T21:30:23.749Z,1755898223.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.972466 m,
nav range: 114.095169 m,
bearing: 232.122248 deg,
approach rate: -0.691557 m/s,
LOS rate: 0.018263 deg/s,
cmd heading: 221.774699 deg,
new cmd heading: 221.786940 deg.
2025-08-22T21:30:23.750Z,1755898223.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.870912 target range: 116.972466 and range: 117.70 m.
2025-08-22T21:30:23.962Z,1755898223.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.944248
2025-08-22T21:30:24.199Z,1755898224.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.97 m.
2025-08-22T21:30:24.201Z,1755898224.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.972466 m,
nav range: 113.784973 m,
bearing: 232.130540 deg,
approach rate: -0.685645 m/s,
LOS rate: 0.018376 deg/s,
cmd heading: 221.786938 deg,
new cmd heading: 221.803566 deg.
2025-08-22T21:30:24.202Z,1755898224.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.871202 target range: 116.972466 and range: 117.70 m.
2025-08-22T21:30:24.211Z,1755898224.211 [DAT](INFO): DAT read: Rx Time:21:30:24.6468
2025-08-22T21:30:24.211Z,1755898224.211 [DAT](INFO): Rx dataTimestamp_ set to:1755898224.210802
2025-08-22T21:30:24.212Z,1755898224.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.194637
2025-08-22T21:30:24.463Z,1755898224.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.445530
2025-08-22T21:30:24.618Z,1755898224.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:24.620Z,1755898224.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.97 m.
2025-08-22T21:30:24.623Z,1755898224.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.972466 m,
nav range: 113.494255 m,
bearing: 232.138245 deg,
approach rate: -0.689903 m/s,
LOS rate: 0.018333 deg/s,
cmd heading: 221.803563 deg,
new cmd heading: 221.819014 deg.
2025-08-22T21:30:24.624Z,1755898224.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.871472 target range: 116.972466 and range: 117.70 m.
2025-08-22T21:30:24.721Z,1755898224.721 [DAT](INFO): DAT read: 21:30:24.6484 LVL= 25680, 32753, 27442, 32755, AGC= 67, IDX= 402,-0.25,-1.400, 2.951,-1.631,-1.807, PHS= 0.509,-1.480, 0.132, RAW= 139.7, 9.2, CAL= 139.3, 10.1, ROT= 10.7, -10.1
2025-08-22T21:30:24.722Z,1755898224.722 [DAT](INFO): got valid direction response:
21:30:24.6484 LVL= 25680, 32753, 27442, 32755, AGC= 67, IDX= 402,-0.25,-1.400, 2.951,-1.631,-1.807, PHS= 0.509,-1.480, 0.132, RAW= 139.7, 9.2, CAL= 139.3, 10.1, ROT= 10.7, -10.1
2025-08-22T21:30:24.723Z,1755898224.723 [DAT](INFO): DAT read: Bearing 359.6, 9.6 (Local)
2025-08-22T21:30:24.724Z,1755898224.724 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.6, 9.6 (Local)
2025-08-22T21:30:24.725Z,1755898224.725 [DAT](INFO): DAT read: Range 11 to 50 : 115.2 m (Round-trip 153.7 ms) speed 0.5 m/s
2025-08-22T21:30:24.726Z,1755898224.726 [DAT](INFO): DAT read: user:2280>
2025-08-22T21:30:24.727Z,1755898224.727 [DAT](INFO): DAT read: Tx time:21:30:25.7406
2025-08-22T21:30:24.727Z,1755898224.727 [DAT](INFO): Ping request sent.
2025-08-22T21:30:24.727Z,1755898224.727 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:24.727Z,1755898224.727 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:24.728Z,1755898224.728 [DAT](INFO): direction in FSK: [0.967385,0.182789,0.175367]
2025-08-22T21:30:24.728Z,1755898224.728 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:24.729Z,1755898224.729 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:24.733Z,1755898224.733 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:24.733Z,1755898224.733 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:24.960Z,1755898224.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 115.199997 m,
deltaT: 3.779710 s,
deltaX: -2.500000 m,
approachRate: -0.661426 m/s,
rangeRepo size: 4
2025-08-22T21:30:24.968Z,1755898224.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 114.488075 m,
bearing: 231.847411 deg,
lat: 36.779479 deg,
lon: -121.859616 deg,
deltaT: 3.779710 s,
deltaX: -2.484390 m,
approachRate: -0.657297 m/s,
posRepo size: 4
2025-08-22T21:30:24.968Z,1755898224.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-22T21:30:24.983Z,1755898224.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.488075 m,
nav range: 113.039513 m,
bearing: 231.847826 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.018333 deg/s,
cmd heading: 221.819013 deg,
new cmd heading: 221.831472 deg.
2025-08-22T21:30:24.984Z,1755898224.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.871690 target range: 114.488075 and range: 115.20 m.
2025-08-22T21:30:25.429Z,1755898225.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-22T21:30:25.432Z,1755898225.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.488075 m,
nav range: 112.701248 m,
bearing: 231.856065 deg,
approach rate: -0.720781 m/s,
LOS rate: 0.017608 deg/s,
cmd heading: 221.831471 deg,
new cmd heading: 221.847998 deg.
2025-08-22T21:30:25.433Z,1755898225.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.871978 target range: 114.488075 and range: 115.20 m.
2025-08-22T21:30:25.800Z,1755898225.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-22T21:30:25.803Z,1755898225.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.488075 m,
nav range: 112.440575 m,
bearing: 231.862430 deg,
approach rate: -0.702944 m/s,
LOS rate: 0.017203 deg/s,
cmd heading: 221.848000 deg,
new cmd heading: 221.860759 deg.
2025-08-22T21:30:25.804Z,1755898225.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.872201 target range: 114.488075 and range: 115.20 m.
2025-08-22T21:30:26.247Z,1755898226.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-22T21:30:26.250Z,1755898226.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.488075 m,
nav range: 112.125046 m,
bearing: 231.868623 deg,
approach rate: -0.705042 m/s,
LOS rate: 0.013877 deg/s,
cmd heading: 221.860759 deg,
new cmd heading: 221.873180 deg.
2025-08-22T21:30:26.251Z,1755898226.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.872417 target range: 114.488075 and range: 115.20 m.
2025-08-22T21:30:26.618Z,1755898226.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-22T21:30:26.621Z,1755898226.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.488075 m,
nav range: 111.863380 m,
bearing: 231.873779 deg,
approach rate: -0.705265 m/s,
LOS rate: 0.013929 deg/s,
cmd heading: 221.873176 deg,
new cmd heading: 221.883512 deg.
2025-08-22T21:30:26.622Z,1755898226.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.872598 target range: 114.488075 and range: 115.20 m.
2025-08-22T21:30:27.087Z,1755898227.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:27.089Z,1755898227.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-22T21:30:27.096Z,1755898227.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.488075 m,
nav range: 111.557549 m,
bearing: 231.879775 deg,
approach rate: -0.649621 m/s,
LOS rate: 0.012771 deg/s,
cmd heading: 221.883517 deg,
new cmd heading: 221.895542 deg.
2025-08-22T21:30:27.101Z,1755898227.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.872808 target range: 114.488075 and range: 115.20 m.
2025-08-22T21:30:27.235Z,1755898227.235 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:27.235Z,1755898227.235 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:27.235Z,1755898227.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:27.465Z,1755898227.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-22T21:30:27.468Z,1755898227.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.488075 m,
nav range: 111.272980 m,
bearing: 231.887574 deg,
approach rate: -0.757333 m/s,
LOS rate: 0.020809 deg/s,
cmd heading: 221.895538 deg,
new cmd heading: 221.911176 deg.
2025-08-22T21:30:27.469Z,1755898227.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.873081 target range: 114.488075 and range: 115.20 m.
2025-08-22T21:30:27.487Z,1755898227.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759580
2025-08-22T21:30:27.742Z,1755898227.742 [DAT](INFO): DAT read: Rx Time:21:30:28.2949
2025-08-22T21:30:27.743Z,1755898227.743 [DAT](INFO): Rx dataTimestamp_ set to:1755898227.742540
2025-08-22T21:30:27.744Z,1755898227.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016735
2025-08-22T21:30:27.848Z,1755898227.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-22T21:30:27.851Z,1755898227.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.488075 m,
nav range: 111.010239 m,
bearing: 231.894685 deg,
approach rate: -0.686600 m/s,
LOS rate: 0.018628 deg/s,
cmd heading: 221.911180 deg,
new cmd heading: 221.925436 deg.
2025-08-22T21:30:27.852Z,1755898227.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.873330 target range: 114.488075 and range: 115.20 m.
2025-08-22T21:30:27.991Z,1755898227.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263586
2025-08-22T21:30:28.248Z,1755898228.248 [DAT](INFO): DAT read: 21:30:28.2949 LVL= 26224, 32753, 26850, 32755, AGC= 69, IDX= 398, 0.31, 2.329, 0.312, 2.118, 1.875, PHS= 0.556,-1.518, 0.199, RAW= 140.7, 8.0, CAL= 140.3, 8.8, ROT= 9.7, -8.8
2025-08-22T21:30:28.250Z,1755898228.250 [DAT](INFO): got valid direction response:
21:30:28.2949 LVL= 26224, 32753, 26850, 32755, AGC= 69, IDX= 398, 0.31, 2.329, 0.312, 2.118, 1.875, PHS= 0.556,-1.518, 0.199, RAW= 140.7, 8.0, CAL= 140.3, 8.8, ROT= 9.7, -8.8
2025-08-22T21:30:28.251Z,1755898228.251 [DAT](INFO): DAT read: Bearing 358.6, 8.7 (Local)
2025-08-22T21:30:28.251Z,1755898228.251 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.6, 8.7 (Local)
2025-08-22T21:30:28.252Z,1755898228.252 [DAT](INFO): DAT read: Range 11 to 50 : 112.5 m (Round-trip 150.1 ms) speed 0.6 m/s
2025-08-22T21:30:28.253Z,1755898228.253 [DAT](INFO): DAT read: user:2281>
2025-08-22T21:30:28.254Z,1755898228.254 [DAT](INFO): DAT read: Tx time:21:30:29.3906
2025-08-22T21:30:28.254Z,1755898228.254 [DAT](INFO): Ping request sent.
2025-08-22T21:30:28.254Z,1755898228.254 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:28.254Z,1755898228.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:28.255Z,1755898228.255 [DAT](INFO): direction in FSK: [0.974100,0.166506,0.152986]
2025-08-22T21:30:28.256Z,1755898228.256 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:28.256Z,1755898228.256 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:28.271Z,1755898228.271 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:28.272Z,1755898228.272 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:28.391Z,1755898228.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 112.500000 m,
deltaT: 3.527364 s,
deltaX: -2.699997 m,
approachRate: -0.765443 m/s,
rangeRepo size: 4
2025-08-22T21:30:28.397Z,1755898228.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 111.805031 m,
bearing: 231.060016 deg,
lat: 36.779472 deg,
lon: -121.859611 deg,
deltaT: 3.527364 s,
deltaX: -2.683044 m,
approachRate: -0.760637 m/s,
posRepo size: 4
2025-08-22T21:30:28.398Z,1755898228.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.81 m.
2025-08-22T21:30:28.401Z,1755898228.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.805031 m,
nav range: 110.740425 m,
bearing: 231.453538 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.018628 deg/s,
cmd heading: 221.925441 deg,
new cmd heading: 221.945668 deg.
2025-08-22T21:30:28.414Z,1755898228.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.873683 target range: 111.805031 and range: 112.50 m.
2025-08-22T21:30:28.782Z,1755898228.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.81 m.
2025-08-22T21:30:28.785Z,1755898228.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.805031 m,
nav range: 110.450722 m,
bearing: 231.460217 deg,
approach rate: -0.742709 m/s,
LOS rate: 0.017166 deg/s,
cmd heading: 221.945672 deg,
new cmd heading: 221.959064 deg.
2025-08-22T21:30:28.786Z,1755898228.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.873916 target range: 111.805031 and range: 112.50 m.
2025-08-22T21:30:29.229Z,1755898229.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:29.232Z,1755898229.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.81 m.
2025-08-22T21:30:29.234Z,1755898229.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.805031 m,
nav range: 110.143692 m,
bearing: 231.468261 deg,
approach rate: -0.680874 m/s,
LOS rate: 0.017890 deg/s,
cmd heading: 221.959059 deg,
new cmd heading: 221.975194 deg.
2025-08-22T21:30:29.235Z,1755898229.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.874198 target range: 111.805031 and range: 112.50 m.
2025-08-22T21:30:29.250Z,1755898229.250 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:29.250Z,1755898229.250 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:29.251Z,1755898229.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:29.505Z,1755898229.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250402
2025-08-22T21:30:29.599Z,1755898229.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.81 m.
2025-08-22T21:30:29.602Z,1755898229.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.805031 m,
nav range: 109.872810 m,
bearing: 231.475135 deg,
approach rate: -0.737733 m/s,
LOS rate: 0.018766 deg/s,
cmd heading: 221.975192 deg,
new cmd heading: 221.988973 deg.
2025-08-22T21:30:29.603Z,1755898229.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.874439 target range: 111.805031 and range: 112.50 m.
2025-08-22T21:30:29.755Z,1755898229.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500320
2025-08-22T21:30:29.988Z,1755898229.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.81 m.
2025-08-22T21:30:29.991Z,1755898229.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.805031 m,
nav range: 109.602936 m,
bearing: 231.481945 deg,
approach rate: -0.692785 m/s,
LOS rate: 0.017525 deg/s,
cmd heading: 221.988975 deg,
new cmd heading: 222.002629 deg.
2025-08-22T21:30:29.992Z,1755898229.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.874677 target range: 111.805031 and range: 112.50 m.
2025-08-22T21:30:30.007Z,1755898230.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752315
2025-08-22T21:30:30.258Z,1755898230.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004211
2025-08-22T21:30:30.430Z,1755898230.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.81 m.
2025-08-22T21:30:30.432Z,1755898230.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.805031 m,
nav range: 109.293716 m,
bearing: 231.489214 deg,
approach rate: -0.704167 m/s,
LOS rate: 0.016600 deg/s,
cmd heading: 222.002636 deg,
new cmd heading: 222.017215 deg.
2025-08-22T21:30:30.434Z,1755898230.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.874931 target range: 111.805031 and range: 112.50 m.
2025-08-22T21:30:30.511Z,1755898230.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257163
2025-08-22T21:30:30.767Z,1755898230.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512430
2025-08-22T21:30:30.802Z,1755898230.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.81 m.
2025-08-22T21:30:30.804Z,1755898230.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.805031 m,
nav range: 109.026276 m,
bearing: 231.495556 deg,
approach rate: -0.715222 m/s,
LOS rate: 0.017000 deg/s,
cmd heading: 222.017211 deg,
new cmd heading: 222.029925 deg.
2025-08-22T21:30:30.805Z,1755898230.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.875153 target range: 111.805031 and range: 112.50 m.
2025-08-22T21:30:31.020Z,1755898231.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765487
2025-08-22T21:30:31.271Z,1755898231.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016470
2025-08-22T21:30:31.274Z,1755898231.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:31.277Z,1755898231.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.81 m.
2025-08-22T21:30:31.280Z,1755898231.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.805031 m,
nav range: 108.692993 m,
bearing: 231.504479 deg,
approach rate: -0.701259 m/s,
LOS rate: 0.018833 deg/s,
cmd heading: 222.029929 deg,
new cmd heading: 222.047831 deg.
2025-08-22T21:30:31.281Z,1755898231.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.875466 target range: 111.805031 and range: 112.50 m.
2025-08-22T21:30:31.524Z,1755898231.524 [DAT](INFO): DAT read: Rx Time:21:30:31.9416
2025-08-22T21:30:31.524Z,1755898231.524 [DAT](INFO): Rx dataTimestamp_ set to:1755898231.523817
2025-08-22T21:30:31.526Z,1755898231.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270851
2025-08-22T21:30:31.658Z,1755898231.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.81 m.
2025-08-22T21:30:31.661Z,1755898231.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.805031 m,
nav range: 108.423080 m,
bearing: 231.511648 deg,
approach rate: -0.708451 m/s,
LOS rate: 0.018862 deg/s,
cmd heading: 222.047824 deg,
new cmd heading: 222.062197 deg.
2025-08-22T21:30:31.662Z,1755898231.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.875716 target range: 111.805031 and range: 112.50 m.
2025-08-22T21:30:31.775Z,1755898231.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520410
2025-08-22T21:30:31.890Z,1755898231.890 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:30:32.041Z,1755898232.041 [DAT](INFO): DAT read: 21:30:31.9416 LVL= 27632, 32753, 28578, 32755, AGC= 67, IDX= 412,-0.28,-1.546, 2.865,-1.738,-1.941, PHS= 0.497,-1.432, 0.159, RAW= 140.6, 8.7, CAL= 140.1, 9.6, ROT= 9.9, -9.6
2025-08-22T21:30:32.046Z,1755898232.046 [DAT](INFO): got valid direction response:
21:30:31.9416 LVL= 27632, 32753, 28578, 32755, AGC= 67, IDX= 412,-0.28,-1.546, 2.865,-1.738,-1.941, PHS= 0.497,-1.432, 0.159, RAW= 140.6, 8.7, CAL= 140.1, 9.6, ROT= 9.9, -9.6
2025-08-22T21:30:32.047Z,1755898232.047 [DAT](INFO): DAT read: Bearing 359.4, 9.1 (Local)
2025-08-22T21:30:32.048Z,1755898232.048 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.4, 9.1 (Local)
2025-08-22T21:30:32.049Z,1755898232.049 [DAT](INFO): DAT read: Range 11 to 50 : 110.1 m (Round-trip 146.8 ms) speed 0.7 m/s
2025-08-22T21:30:32.054Z,1755898232.054 [DAT](INFO): DAT read: user:2282>
2025-08-22T21:30:32.055Z,1755898232.055 [DAT](INFO): DAT read: Tx time:21:30:33.0406
2025-08-22T21:30:32.055Z,1755898232.055 [DAT](INFO): Ping request sent.
2025-08-22T21:30:32.055Z,1755898232.055 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:32.055Z,1755898232.055 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:32.056Z,1755898232.056 [DAT](INFO): direction in FSK: [0.971314,0.169521,0.166769]
2025-08-22T21:30:32.057Z,1755898232.057 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:32.057Z,1755898232.057 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:32.124Z,1755898232.124 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:32.125Z,1755898232.125 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:32.272Z,1755898232.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 110.099998 m,
deltaT: 3.785560 s,
deltaX: -2.400002 m,
approachRate: -0.633988 m/s,
rangeRepo size: 4
2025-08-22T21:30:32.283Z,1755898232.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 109.420120 m,
bearing: 231.474054 deg,
lat: 36.779471 deg,
lon: -121.859611 deg,
deltaT: 3.785560 s,
deltaX: -2.384911 m,
approachRate: -0.630002 m/s,
posRepo size: 4
2025-08-22T21:30:32.283Z,1755898232.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.42 m.
2025-08-22T21:30:32.291Z,1755898232.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.420120 m,
nav range: 108.072388 m,
bearing: 231.469828 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.018862 deg/s,
cmd heading: 222.062195 deg,
new cmd heading: 222.085363 deg.
2025-08-22T21:30:32.293Z,1755898232.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.876121 target range: 109.420120 and range: 110.10 m.
2025-08-22T21:30:32.639Z,1755898232.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.42 m.
2025-08-22T21:30:32.642Z,1755898232.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.420120 m,
nav range: 107.804161 m,
bearing: 231.477557 deg,
approach rate: -0.729499 m/s,
LOS rate: 0.021073 deg/s,
cmd heading: 222.085363 deg,
new cmd heading: 222.100859 deg.
2025-08-22T21:30:32.643Z,1755898232.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.876391 target range: 109.420120 and range: 110.10 m.
2025-08-22T21:30:32.894Z,1755898232.894 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:30:33.042Z,1755898233.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.42 m.
2025-08-22T21:30:33.044Z,1755898233.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.420120 m,
nav range: 107.516235 m,
bearing: 231.485950 deg,
approach rate: -0.716502 m/s,
LOS rate: 0.020943 deg/s,
cmd heading: 222.100854 deg,
new cmd heading: 222.117686 deg.
2025-08-22T21:30:33.045Z,1755898233.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.876685 target range: 109.420120 and range: 110.10 m.
2025-08-22T21:30:33.456Z,1755898233.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:33.458Z,1755898233.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.42 m.
2025-08-22T21:30:33.461Z,1755898233.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.420120 m,
nav range: 107.218040 m,
bearing: 231.492885 deg,
approach rate: -0.716000 m/s,
LOS rate: 0.016699 deg/s,
cmd heading: 222.117684 deg,
new cmd heading: 222.131592 deg.
2025-08-22T21:30:33.462Z,1755898233.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.876928 target range: 109.420120 and range: 110.10 m.
2025-08-22T21:30:33.540Z,1755898233.540 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:33.540Z,1755898233.540 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:33.540Z,1755898233.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:33.791Z,1755898233.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735393
2025-08-22T21:30:33.838Z,1755898233.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.42 m.
2025-08-22T21:30:33.842Z,1755898233.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.420120 m,
nav range: 106.950317 m,
bearing: 231.499043 deg,
approach rate: -0.703137 m/s,
LOS rate: 0.016214 deg/s,
cmd heading: 222.131590 deg,
new cmd heading: 222.143937 deg.
2025-08-22T21:30:33.843Z,1755898233.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.877143 target range: 109.420120 and range: 110.10 m.
2025-08-22T21:30:34.043Z,1755898234.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987458
2025-08-22T21:30:34.269Z,1755898234.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.42 m.
2025-08-22T21:30:34.272Z,1755898234.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.420120 m,
nav range: 106.647888 m,
bearing: 231.506948 deg,
approach rate: -0.702507 m/s,
LOS rate: 0.018414 deg/s,
cmd heading: 222.143939 deg,
new cmd heading: 222.159793 deg.
2025-08-22T21:30:34.273Z,1755898234.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.877420 target range: 109.420120 and range: 110.10 m.
2025-08-22T21:30:34.295Z,1755898234.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239410
2025-08-22T21:30:34.547Z,1755898234.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491421
2025-08-22T21:30:34.654Z,1755898234.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.42 m.
2025-08-22T21:30:34.656Z,1755898234.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.420120 m,
nav range: 106.377792 m,
bearing: 231.514101 deg,
approach rate: -0.702729 m/s,
LOS rate: 0.018656 deg/s,
cmd heading: 222.159798 deg,
new cmd heading: 222.174140 deg.
2025-08-22T21:30:34.657Z,1755898234.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.877670 target range: 109.420120 and range: 110.10 m.
2025-08-22T21:30:34.799Z,1755898234.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743450
2025-08-22T21:30:35.051Z,1755898235.051 [DAT](INFO): DAT read: Rx Time:21:30:35.5880
2025-08-22T21:30:35.051Z,1755898235.051 [DAT](INFO): Rx dataTimestamp_ set to:1755898235.050846
2025-08-22T21:30:35.052Z,1755898235.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996563
2025-08-22T21:30:35.064Z,1755898235.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.42 m.
2025-08-22T21:30:35.067Z,1755898235.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.420120 m,
nav range: 106.088913 m,
bearing: 231.521783 deg,
approach rate: -0.702681 m/s,
LOS rate: 0.018737 deg/s,
cmd heading: 222.174142 deg,
new cmd heading: 222.189548 deg.
2025-08-22T21:30:35.068Z,1755898235.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.877939 target range: 109.420120 and range: 110.10 m.
2025-08-22T21:30:35.303Z,1755898235.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247774
2025-08-22T21:30:35.552Z,1755898235.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:35.565Z,1755898235.565 [DAT](INFO): DAT read: 21:30:35.5880 LVL= 24048, 28001, 25074, 32755, AGC= 67, IDX= 408, 0.25, 3.082, 1.153, 2.928, 2.673, PHS= 0.511,-1.475, 0.211, RAW= 141.9, 8.2, CAL= 141.5, 9.0, ROT= 8.5, -9.0
2025-08-22T21:30:35.566Z,1755898235.566 [DAT](INFO): got valid direction response:
21:30:35.5880 LVL= 24048, 28001, 25074, 32755, AGC= 67, IDX= 408, 0.25, 3.082, 1.153, 2.928, 2.673, PHS= 0.511,-1.475, 0.211, RAW= 141.9, 8.2, CAL= 141.5, 9.0, ROT= 8.5, -9.0
2025-08-22T21:30:35.567Z,1755898235.567 [DAT](INFO): DAT read: Bearing 359.1, 8.3 (Local)
2025-08-22T21:30:35.568Z,1755898235.568 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.1, 8.3 (Local)
2025-08-22T21:30:35.569Z,1755898235.569 [DAT](INFO): DAT read: Range 11 to 50 : 107.4 m (Round-trip 143.3 ms) speed 0.7 m/s
2025-08-22T21:30:35.571Z,1755898235.571 [DAT](INFO): DAT read: user:2283>
2025-08-22T21:30:35.571Z,1755898235.571 [DAT](INFO): DAT read: Tx time:21:30:36.6906
2025-08-22T21:30:35.572Z,1755898235.572 [DAT](INFO): Ping request sent.
2025-08-22T21:30:35.572Z,1755898235.572 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:35.572Z,1755898235.572 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:35.573Z,1755898235.573 [DAT](INFO): direction in FSK: [0.976839,0.145990,0.156434]
2025-08-22T21:30:35.573Z,1755898235.573 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:35.574Z,1755898235.574 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:35.577Z,1755898235.577 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:35.578Z,1755898235.578 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:35.582Z,1755898235.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.42 m.
2025-08-22T21:30:35.585Z,1755898235.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.420120 m,
nav range: 105.757553 m,
bearing: 231.529514 deg,
approach rate: -0.677265 m/s,
LOS rate: 0.015851 deg/s,
cmd heading: 222.189551 deg,
new cmd heading: 222.205061 deg.
2025-08-22T21:30:35.590Z,1755898235.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878210 target range: 109.420120 and range: 110.10 m.
2025-08-22T21:30:35.938Z,1755898235.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 107.400002 m,
deltaT: 3.526190 s,
deltaX: -2.699997 m,
approachRate: -0.765698 m/s,
rangeRepo size: 4
2025-08-22T21:30:35.940Z,1755898235.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 106.736977 m,
bearing: 230.209055 deg,
lat: 36.779471 deg,
lon: -121.859611 deg,
deltaT: 3.526190 s,
deltaX: -2.683144 m,
approachRate: -0.760919 m/s,
posRepo size: 4
2025-08-22T21:30:35.941Z,1755898235.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T21:30:35.943Z,1755898235.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.736977 m,
nav range: 105.489548 m,
bearing: 231.535797 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.015851 deg/s,
cmd heading: 222.205055 deg,
new cmd heading: 222.217207 deg.
2025-08-22T21:30:35.944Z,1755898235.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878422 target range: 106.736977 and range: 107.40 m.
2025-08-22T21:30:36.357Z,1755898236.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T21:30:36.364Z,1755898236.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.736977 m,
nav range: 105.184975 m,
bearing: 231.543066 deg,
approach rate: -0.725329 m/s,
LOS rate: 0.017362 deg/s,
cmd heading: 222.217213 deg,
new cmd heading: 222.231794 deg.
2025-08-22T21:30:36.365Z,1755898236.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878676 target range: 106.736977 and range: 107.40 m.
2025-08-22T21:30:36.789Z,1755898236.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T21:30:36.792Z,1755898236.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.736977 m,
nav range: 104.869484 m,
bearing: 231.550682 deg,
approach rate: -0.730690 m/s,
LOS rate: 0.017692 deg/s,
cmd heading: 222.231789 deg,
new cmd heading: 222.247067 deg.
2025-08-22T21:30:36.793Z,1755898236.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878943 target range: 106.736977 and range: 107.40 m.
2025-08-22T21:30:37.129Z,1755898237.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T21:30:37.135Z,1755898237.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.736977 m,
nav range: 104.616104 m,
bearing: 231.556853 deg,
approach rate: -0.745033 m/s,
LOS rate: 0.018189 deg/s,
cmd heading: 222.247061 deg,
new cmd heading: 222.259432 deg.
2025-08-22T21:30:37.136Z,1755898237.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879159 target range: 106.736977 and range: 107.40 m.
2025-08-22T21:30:37.594Z,1755898237.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:37.596Z,1755898237.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T21:30:37.599Z,1755898237.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.736977 m,
nav range: 104.288361 m,
bearing: 231.562157 deg,
approach rate: -0.700853 m/s,
LOS rate: 0.011378 deg/s,
cmd heading: 222.259437 deg,
new cmd heading: 222.270079 deg.
2025-08-22T21:30:37.600Z,1755898237.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879345 target range: 106.736977 and range: 107.40 m.
2025-08-22T21:30:37.822Z,1755898237.822 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:37.822Z,1755898237.822 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:37.823Z,1755898237.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:37.961Z,1755898237.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T21:30:37.964Z,1755898237.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.736977 m,
nav range: 104.031998 m,
bearing: 231.566413 deg,
approach rate: -0.704002 m/s,
LOS rate: 0.011715 deg/s,
cmd heading: 222.270079 deg,
new cmd heading: 222.278611 deg.
2025-08-22T21:30:37.965Z,1755898237.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879494 target range: 106.736977 and range: 107.40 m.
2025-08-22T21:30:38.075Z,1755898238.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503577
2025-08-22T21:30:38.331Z,1755898238.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759106
2025-08-22T21:30:38.372Z,1755898238.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T21:30:38.375Z,1755898238.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.736977 m,
nav range: 103.747963 m,
bearing: 231.570998 deg,
approach rate: -0.690075 m/s,
LOS rate: 0.011170 deg/s,
cmd heading: 222.278616 deg,
new cmd heading: 222.287812 deg.
2025-08-22T21:30:38.376Z,1755898238.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879654 target range: 106.736977 and range: 107.40 m.
2025-08-22T21:30:38.583Z,1755898238.583 [DAT](INFO): DAT read: Rx Time:21:30:39.2346
2025-08-22T21:30:38.583Z,1755898238.583 [DAT](INFO): Rx dataTimestamp_ set to:1755898238.582753
2025-08-22T21:30:38.584Z,1755898238.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011929
2025-08-22T21:30:38.758Z,1755898238.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T21:30:38.761Z,1755898238.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.736977 m,
nav range: 103.481895 m,
bearing: 231.575316 deg,
approach rate: -0.690109 m/s,
LOS rate: 0.011228 deg/s,
cmd heading: 222.287810 deg,
new cmd heading: 222.296468 deg.
2025-08-22T21:30:38.762Z,1755898238.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879805 target range: 106.736977 and range: 107.40 m.
2025-08-22T21:30:38.838Z,1755898238.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266560
2025-08-22T21:30:39.087Z,1755898239.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515658
2025-08-22T21:30:39.267Z,1755898239.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T21:30:39.274Z,1755898239.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.736977 m,
nav range: 103.160576 m,
bearing: 231.580517 deg,
approach rate: -0.630685 m/s,
LOS rate: 0.010241 deg/s,
cmd heading: 222.296471 deg,
new cmd heading: 222.306905 deg.
2025-08-22T21:30:39.275Z,1755898239.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879987 target range: 106.736977 and range: 107.40 m.
2025-08-22T21:30:39.347Z,1755898239.347 [DAT](INFO): DAT read: 21:30:39.2346 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 405,-0.10,-2.265, 2.085,-2.402,-2.666, PHS= 0.503,-1.487, 0.220, RAW= 142.4, 8.2, CAL= 142.0, 9.0, ROT= 8.0, -9.0
2025-08-22T21:30:39.349Z,1755898239.349 [DAT](INFO): got valid direction response:
21:30:39.2346 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 405,-0.10,-2.265, 2.085,-2.402,-2.666, PHS= 0.503,-1.487, 0.220, RAW= 142.4, 8.2, CAL= 142.0, 9.0, ROT= 8.0, -9.0
2025-08-22T21:30:39.350Z,1755898239.350 [DAT](INFO): DAT read: Bearing 359.3, 8.5 (Local)
2025-08-22T21:30:39.350Z,1755898239.350 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.3, 8.5 (Local)
2025-08-22T21:30:39.352Z,1755898239.352 [DAT](INFO): DAT read: Range 11 to 50 : 104.9 m (Round-trip 139.9 ms) speed 0.3 m/s
2025-08-22T21:30:39.352Z,1755898239.352 [DAT](INFO): DAT read: user:2284>
2025-08-22T21:30:39.353Z,1755898239.353 [DAT](INFO): DAT read: Tx time:21:30:40.3406
2025-08-22T21:30:39.354Z,1755898239.354 [DAT](INFO): Ping request sent.
2025-08-22T21:30:39.354Z,1755898239.354 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:39.354Z,1755898239.354 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:39.355Z,1755898239.355 [DAT](INFO): direction in FSK: [0.978076,0.137460,0.156434]
2025-08-22T21:30:39.355Z,1755898239.355 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:39.356Z,1755898239.356 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:39.359Z,1755898239.359 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:39.359Z,1755898239.359 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:39.612Z,1755898239.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 104.900002 m,
deltaT: 3.784406 s,
deltaX: -2.500000 m,
approachRate: -0.660606 m/s,
rangeRepo size: 4
2025-08-22T21:30:39.615Z,1755898239.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 104.252403 m,
bearing: 229.652354 deg,
lat: 36.779467 deg,
lon: -121.859605 deg,
deltaT: 3.784406 s,
deltaX: -2.484573 m,
approachRate: -0.656529 m/s,
posRepo size: 4
2025-08-22T21:30:39.615Z,1755898239.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-08-22T21:30:39.619Z,1755898239.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.252403 m,
nav range: 102.814613 m,
bearing: 231.219546 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.010241 deg/s,
cmd heading: 222.306907 deg,
new cmd heading: 222.313953 deg.
2025-08-22T21:30:39.620Z,1755898239.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880111 target range: 104.252403 and range: 104.90 m.
2025-08-22T21:30:39.956Z,1755898239.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:39.959Z,1755898239.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-08-22T21:30:39.962Z,1755898239.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.252403 m,
nav range: 102.573494 m,
bearing: 231.223394 deg,
approach rate: -0.693563 m/s,
LOS rate: 0.011095 deg/s,
cmd heading: 222.313956 deg,
new cmd heading: 222.321670 deg.
2025-08-22T21:30:39.963Z,1755898239.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880245 target range: 104.252403 and range: 104.90 m.
2025-08-22T21:30:40.094Z,1755898240.094 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:40.094Z,1755898240.094 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:40.095Z,1755898240.095 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:40.347Z,1755898240.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993506
2025-08-22T21:30:40.411Z,1755898240.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-08-22T21:30:40.414Z,1755898240.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.252403 m,
nav range: 102.260651 m,
bearing: 231.229160 deg,
approach rate: -0.691917 m/s,
LOS rate: 0.012791 deg/s,
cmd heading: 222.321674 deg,
new cmd heading: 222.333241 deg.
2025-08-22T21:30:40.415Z,1755898240.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880447 target range: 104.252403 and range: 104.90 m.
2025-08-22T21:30:40.598Z,1755898240.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244764
2025-08-22T21:30:40.762Z,1755898240.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-08-22T21:30:40.765Z,1755898240.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.252403 m,
nav range: 102.018478 m,
bearing: 231.233631 deg,
approach rate: -0.690445 m/s,
LOS rate: 0.012778 deg/s,
cmd heading: 222.333244 deg,
new cmd heading: 222.342208 deg.
2025-08-22T21:30:40.766Z,1755898240.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880604 target range: 104.252403 and range: 104.90 m.
2025-08-22T21:30:40.856Z,1755898240.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501475
2025-08-22T21:30:41.103Z,1755898241.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748810
2025-08-22T21:30:41.199Z,1755898241.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-08-22T21:30:41.202Z,1755898241.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.252403 m,
nav range: 101.718018 m,
bearing: 231.239208 deg,
approach rate: -0.687545 m/s,
LOS rate: 0.012800 deg/s,
cmd heading: 222.342205 deg,
new cmd heading: 222.353393 deg.
2025-08-22T21:30:41.203Z,1755898241.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880799 target range: 104.252403 and range: 104.90 m.
2025-08-22T21:30:41.356Z,1755898241.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001896
2025-08-22T21:30:41.607Z,1755898241.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252819
2025-08-22T21:30:41.621Z,1755898241.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-08-22T21:30:41.624Z,1755898241.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.252403 m,
nav range: 101.428986 m,
bearing: 231.243920 deg,
approach rate: -0.684952 m/s,
LOS rate: 0.011198 deg/s,
cmd heading: 222.353393 deg,
new cmd heading: 222.362844 deg.
2025-08-22T21:30:41.625Z,1755898241.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880964 target range: 104.252403 and range: 104.90 m.
2025-08-22T21:30:41.859Z,1755898241.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505197
2025-08-22T21:30:41.969Z,1755898241.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:41.971Z,1755898241.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-08-22T21:30:41.992Z,1755898241.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.252403 m,
nav range: 101.189957 m,
bearing: 231.247846 deg,
approach rate: -0.681827 m/s,
LOS rate: 0.011224 deg/s,
cmd heading: 222.362846 deg,
new cmd heading: 222.370716 deg.
2025-08-22T21:30:41.999Z,1755898241.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881101 target range: 104.252403 and range: 104.90 m.
2025-08-22T21:30:42.111Z,1755898242.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757136
2025-08-22T21:30:42.363Z,1755898242.363 [DAT](INFO): DAT read: Rx Time:21:30:42.8811
2025-08-22T21:30:42.363Z,1755898242.363 [DAT](INFO): Rx dataTimestamp_ set to:1755898242.362763
2025-08-22T21:30:42.364Z,1755898242.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009859
2025-08-22T21:30:42.420Z,1755898242.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-08-22T21:30:42.427Z,1755898242.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.252403 m,
nav range: 100.885353 m,
bearing: 231.254986 deg,
approach rate: -0.678543 m/s,
LOS rate: 0.015954 deg/s,
cmd heading: 222.370715 deg,
new cmd heading: 222.385039 deg.
2025-08-22T21:30:42.428Z,1755898242.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881351 target range: 104.252403 and range: 104.90 m.
2025-08-22T21:30:42.615Z,1755898242.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260811
2025-08-22T21:30:42.829Z,1755898242.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-08-22T21:30:42.831Z,1755898242.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.252403 m,
nav range: 100.575417 m,
bearing: 231.262274 deg,
approach rate: -0.758845 m/s,
LOS rate: 0.017899 deg/s,
cmd heading: 222.385044 deg,
new cmd heading: 222.399665 deg.
2025-08-22T21:30:42.832Z,1755898242.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881606 target range: 104.252403 and range: 104.90 m.
2025-08-22T21:30:42.875Z,1755898242.875 [DAT](INFO): DAT read: 21:30:42.8810 LVL= 25584, 32753, 27634, 32755, AGC= 68, IDX= 402,-0.41, 0.502,-1.446, 0.381, 0.116, PHS= 0.488,-1.517, 0.222, RAW= 143.0, 8.6, CAL= 142.5, 9.4, ROT= 7.5, -9.4
2025-08-22T21:30:42.877Z,1755898242.877 [DAT](INFO): got valid direction response:
21:30:42.8810 LVL= 25584, 32753, 27634, 32755, AGC= 68, IDX= 402,-0.41, 0.502,-1.446, 0.381, 0.116, PHS= 0.488,-1.517, 0.222, RAW= 143.0, 8.6, CAL= 142.5, 9.4, ROT= 7.5, -9.4
2025-08-22T21:30:42.879Z,1755898242.879 [DAT](INFO): DAT read: Bearing 359.6, 8.5 (Local)
2025-08-22T21:30:42.879Z,1755898242.879 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.6, 8.5 (Local)
2025-08-22T21:30:42.881Z,1755898242.881 [DAT](INFO): DAT read: Range 11 to 50 : 102.3 m (Round-trip 136.4 ms) speed 0.8 m/s
2025-08-22T21:30:42.882Z,1755898242.882 [DAT](INFO): DAT read: user:2285>
2025-08-22T21:30:42.883Z,1755898242.883 [DAT](INFO): DAT read: Tx time:21:30:43.9905
2025-08-22T21:30:42.884Z,1755898242.884 [DAT](INFO): Ping request sent.
2025-08-22T21:30:42.884Z,1755898242.884 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:42.884Z,1755898242.884 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:42.891Z,1755898242.891 [DAT](INFO): direction in FSK: [0.978132,0.128774,0.163326]
2025-08-22T21:30:42.892Z,1755898242.892 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:42.892Z,1755898242.892 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:42.896Z,1755898242.896 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:42.897Z,1755898242.897 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:43.217Z,1755898243.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 102.300003 m,
deltaT: 3.527860 s,
deltaX: -2.599998 m,
approachRate: -0.736990 m/s,
rangeRepo size: 4
2025-08-22T21:30:43.219Z,1755898243.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 101.668419 m,
bearing: 229.155539 deg,
lat: 36.779454 deg,
lon: -121.859593 deg,
deltaT: 3.527860 s,
deltaX: -2.583984 m,
approachRate: -0.732451 m/s,
posRepo size: 4
2025-08-22T21:30:43.220Z,1755898243.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T21:30:43.223Z,1755898243.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.668419 m,
nav range: 100.350349 m,
bearing: 230.250149 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017899 deg/s,
cmd heading: 222.399661 deg,
new cmd heading: 222.413527 deg.
2025-08-22T21:30:43.224Z,1755898243.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881848 target range: 101.668419 and range: 102.30 m.
2025-08-22T21:30:43.631Z,1755898243.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T21:30:43.640Z,1755898243.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.668419 m,
nav range: 100.070648 m,
bearing: 230.252914 deg,
approach rate: -0.673698 m/s,
LOS rate: 0.006680 deg/s,
cmd heading: 222.413526 deg,
new cmd heading: 222.419073 deg.
2025-08-22T21:30:43.644Z,1755898243.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881945 target range: 101.668419 and range: 102.30 m.
2025-08-22T21:30:43.996Z,1755898243.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:44.001Z,1755898244.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T21:30:44.006Z,1755898244.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.668419 m,
nav range: 99.801086 m,
bearing: 230.255606 deg,
approach rate: -0.730377 m/s,
LOS rate: 0.007312 deg/s,
cmd heading: 222.419072 deg,
new cmd heading: 222.424470 deg.
2025-08-22T21:30:44.008Z,1755898244.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882039 target range: 101.668419 and range: 102.30 m.
2025-08-22T21:30:44.126Z,1755898244.126 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:44.127Z,1755898244.127 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:44.127Z,1755898244.127 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:44.379Z,1755898244.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495119
2025-08-22T21:30:44.450Z,1755898244.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T21:30:44.453Z,1755898244.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.668419 m,
nav range: 99.487076 m,
bearing: 230.258086 deg,
approach rate: -0.704719 m/s,
LOS rate: 0.005585 deg/s,
cmd heading: 222.424468 deg,
new cmd heading: 222.429446 deg.
2025-08-22T21:30:44.458Z,1755898244.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882126 target range: 101.668419 and range: 102.30 m.
2025-08-22T21:30:44.630Z,1755898244.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746565
2025-08-22T21:30:44.804Z,1755898244.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T21:30:44.807Z,1755898244.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.668419 m,
nav range: 99.226250 m,
bearing: 230.260083 deg,
approach rate: -0.727792 m/s,
LOS rate: 0.005585 deg/s,
cmd heading: 222.429441 deg,
new cmd heading: 222.433444 deg.
2025-08-22T21:30:44.808Z,1755898244.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882196 target range: 101.668419 and range: 102.30 m.
2025-08-22T21:30:44.883Z,1755898244.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998890
2025-08-22T21:30:45.134Z,1755898245.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250568
2025-08-22T21:30:45.224Z,1755898245.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T21:30:45.227Z,1755898245.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.668419 m,
nav range: 98.928848 m,
bearing: 230.262396 deg,
approach rate: -0.707748 m/s,
LOS rate: 0.005520 deg/s,
cmd heading: 222.433443 deg,
new cmd heading: 222.438083 deg.
2025-08-22T21:30:45.228Z,1755898245.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882277 target range: 101.668419 and range: 102.30 m.
2025-08-22T21:30:45.387Z,1755898245.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502976
2025-08-22T21:30:45.613Z,1755898245.613 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +187.34, , -17.67, .00
2025-08-22T21:30:45.629Z,1755898245.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T21:30:45.632Z,1755898245.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.668419 m,
nav range: 98.642540 m,
bearing: 230.264683 deg,
approach rate: -0.707635 m/s,
LOS rate: 0.005670 deg/s,
cmd heading: 222.438088 deg,
new cmd heading: 222.442676 deg.
2025-08-22T21:30:45.633Z,1755898245.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882357 target range: 101.668419 and range: 102.30 m.
2025-08-22T21:30:45.639Z,1755898245.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754760
2025-08-22T21:30:45.897Z,1755898245.897 [DAT](INFO): DAT read: Rx Time:21:30:46.5276
2025-08-22T21:30:45.897Z,1755898245.897 [DAT](INFO): Rx dataTimestamp_ set to:1755898245.896786
2025-08-22T21:30:45.898Z,1755898245.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014156
2025-08-22T21:30:46.030Z,1755898246.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:46.032Z,1755898246.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T21:30:46.035Z,1755898246.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.668419 m,
nav range: 98.357613 m,
bearing: 230.266981 deg,
approach rate: -0.706893 m/s,
LOS rate: 0.005717 deg/s,
cmd heading: 222.442678 deg,
new cmd heading: 222.447286 deg.
2025-08-22T21:30:46.036Z,1755898246.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882437 target range: 101.668419 and range: 102.30 m.
2025-08-22T21:30:46.143Z,1755898246.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258672
2025-08-22T21:30:46.398Z,1755898246.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512798
2025-08-22T21:30:46.525Z,1755898246.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T21:30:46.532Z,1755898246.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.668419 m,
nav range: 98.015129 m,
bearing: 230.269938 deg,
approach rate: -0.695363 m/s,
LOS rate: 0.006027 deg/s,
cmd heading: 222.447281 deg,
new cmd heading: 222.453218 deg.
2025-08-22T21:30:46.532Z,1755898246.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882541 target range: 101.668419 and range: 102.30 m.
2025-08-22T21:30:46.652Z,1755898246.652 [DAT](INFO): DAT read: 21:30:46.5276 LVL= 28800, 32753, 32754, 32755, AGC= 65, IDX= 414,-0.15,-2.615, 1.855,-2.708,-2.953, PHS= 0.441,-1.429, 0.201, RAW= 143.2, 9.0, CAL= 142.8, 9.8, ROT= 7.2, -9.8
2025-08-22T21:30:46.653Z,1755898246.653 [DAT](INFO): got valid direction response:
21:30:46.5276 LVL= 28800, 32753, 32754, 32755, AGC= 65, IDX= 414,-0.15,-2.615, 1.855,-2.708,-2.953, PHS= 0.441,-1.429, 0.201, RAW= 143.2, 9.0, CAL= 142.8, 9.8, ROT= 7.2, -9.8
2025-08-22T21:30:46.654Z,1755898246.654 [DAT](INFO): DAT read: Bearing 360.0, 8.9 (Local)
2025-08-22T21:30:46.655Z,1755898246.655 [DAT](INFO): Local bearing/azimuth received:
Bearing 360.0, 8.9 (Local)
2025-08-22T21:30:46.656Z,1755898246.656 [DAT](INFO): DAT read: Range 11 to 50 : 99.7 m (Round-trip 133.0 ms) speed 0.7 m/s
2025-08-22T21:30:46.657Z,1755898246.657 [DAT](INFO): DAT read: user:2286>
2025-08-22T21:30:46.658Z,1755898246.658 [DAT](INFO): DAT read: Tx time:21:30:47.6405
2025-08-22T21:30:46.658Z,1755898246.658 [DAT](INFO): Ping request sent.
2025-08-22T21:30:46.658Z,1755898246.658 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:46.658Z,1755898246.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:46.659Z,1755898246.659 [DAT](INFO): direction in FSK: [0.977638,0.123504,0.170209]
2025-08-22T21:30:46.659Z,1755898246.659 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:46.660Z,1755898246.660 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:46.663Z,1755898246.663 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:46.664Z,1755898246.664 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:46.905Z,1755898246.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 99.699997 m,
deltaT: 3.779878 s,
deltaX: -2.600006 m,
approachRate: -0.687855 m/s,
rangeRepo size: 4
2025-08-22T21:30:46.907Z,1755898246.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 99.084518 m,
bearing: 228.721469 deg,
lat: 36.779447 deg,
lon: -121.859586 deg,
deltaT: 3.779878 s,
deltaX: -2.583900 m,
approachRate: -0.683594 m/s,
posRepo size: 4
2025-08-22T21:30:46.908Z,1755898246.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-08-22T21:30:46.910Z,1755898246.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.084518 m,
nav range: 97.753532 m,
bearing: 229.669358 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.006027 deg/s,
cmd heading: 222.453223 deg,
new cmd heading: 222.457796 deg.
2025-08-22T21:30:46.911Z,1755898246.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882621 target range: 99.084518 and range: 99.70 m.
2025-08-22T21:30:47.294Z,1755898247.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-08-22T21:30:47.296Z,1755898247.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.084518 m,
nav range: 97.464783 m,
bearing: 229.670419 deg,
approach rate: -0.741346 m/s,
LOS rate: 0.002733 deg/s,
cmd heading: 222.457800 deg,
new cmd heading: 222.459929 deg.
2025-08-22T21:30:47.313Z,1755898247.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882658 target range: 99.084518 and range: 99.70 m.
2025-08-22T21:30:47.721Z,1755898247.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-08-22T21:30:47.724Z,1755898247.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.084518 m,
nav range: 97.167435 m,
bearing: 229.671193 deg,
approach rate: -0.695559 m/s,
LOS rate: 0.001816 deg/s,
cmd heading: 222.459931 deg,
new cmd heading: 222.461483 deg.
2025-08-22T21:30:47.725Z,1755898247.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882685 target range: 99.084518 and range: 99.70 m.
2025-08-22T21:30:48.095Z,1755898248.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:48.098Z,1755898248.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-08-22T21:30:48.101Z,1755898248.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.084518 m,
nav range: 96.899757 m,
bearing: 229.671971 deg,
approach rate: -0.711361 m/s,
LOS rate: 0.002074 deg/s,
cmd heading: 222.461488 deg,
new cmd heading: 222.463048 deg.
2025-08-22T21:30:48.103Z,1755898248.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882713 target range: 99.084518 and range: 99.70 m.
2025-08-22T21:30:48.159Z,1755898248.159 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:48.159Z,1755898248.159 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:48.160Z,1755898248.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:48.411Z,1755898248.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752687
2025-08-22T21:30:48.539Z,1755898248.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-08-22T21:30:48.542Z,1755898248.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.084518 m,
nav range: 96.583893 m,
bearing: 229.675518 deg,
approach rate: -0.715109 m/s,
LOS rate: 0.008057 deg/s,
cmd heading: 222.463045 deg,
new cmd heading: 222.470163 deg.
2025-08-22T21:30:48.543Z,1755898248.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882837 target range: 99.084518 and range: 99.70 m.
2025-08-22T21:30:48.663Z,1755898248.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004508
2025-08-22T21:30:48.909Z,1755898248.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-08-22T21:30:48.912Z,1755898248.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.084518 m,
nav range: 96.320091 m,
bearing: 229.678504 deg,
approach rate: -0.713531 m/s,
LOS rate: 0.008098 deg/s,
cmd heading: 222.470162 deg,
new cmd heading: 222.476150 deg.
2025-08-22T21:30:48.912Z,1755898248.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882941 target range: 99.084518 and range: 99.70 m.
2025-08-22T21:30:48.915Z,1755898248.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256566
2025-08-22T21:30:49.167Z,1755898249.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509192
2025-08-22T21:30:49.308Z,1755898249.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-08-22T21:30:49.312Z,1755898249.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.084518 m,
nav range: 96.034340 m,
bearing: 229.681742 deg,
approach rate: -0.715400 m/s,
LOS rate: 0.008131 deg/s,
cmd heading: 222.476145 deg,
new cmd heading: 222.482641 deg.
2025-08-22T21:30:49.312Z,1755898249.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883054 target range: 99.084518 and range: 99.70 m.
2025-08-22T21:30:49.419Z,1755898249.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760671
2025-08-22T21:30:49.670Z,1755898249.670 [DAT](INFO): DAT read: Rx Time:21:30:50.1741
2025-08-22T21:30:49.671Z,1755898249.671 [DAT](INFO): Rx dataTimestamp_ set to:1755898249.670684
2025-08-22T21:30:49.671Z,1755898249.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013473
2025-08-22T21:30:49.822Z,1755898249.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-08-22T21:30:49.824Z,1755898249.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.084518 m,
nav range: 95.678970 m,
bearing: 229.686024 deg,
approach rate: -0.714291 m/s,
LOS rate: 0.008637 deg/s,
cmd heading: 222.482634 deg,
new cmd heading: 222.491229 deg.
2025-08-22T21:30:49.830Z,1755898249.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883204 target range: 99.084518 and range: 99.70 m.
2025-08-22T21:30:49.923Z,1755898249.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264528
2025-08-22T21:30:50.132Z,1755898250.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:50.134Z,1755898250.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-08-22T21:30:50.137Z,1755898250.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.084518 m,
nav range: 95.444504 m,
bearing: 229.688854 deg,
approach rate: -0.713044 m/s,
LOS rate: 0.008630 deg/s,
cmd heading: 222.491227 deg,
new cmd heading: 222.496902 deg.
2025-08-22T21:30:50.154Z,1755898250.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883303 target range: 99.084518 and range: 99.70 m.
2025-08-22T21:30:50.184Z,1755898250.184 [DAT](INFO): DAT read: 21:30:50.1741 LVL= 28576, 32753, 30706, 32755, AGC= 66, IDX= 410, 0.09, 1.523,-0.343, 1.425, 1.145, PHS= 0.480,-1.443, 0.236, RAW= 143.3, 8.1, CAL= 142.9, 8.8, ROT= 7.1, -8.8
2025-08-22T21:30:50.185Z,1755898250.185 [DAT](INFO): got valid direction response:
21:30:50.1741 LVL= 28576, 32753, 30706, 32755, AGC= 66, IDX= 410, 0.09, 1.523,-0.343, 1.425, 1.145, PHS= 0.480,-1.443, 0.236, RAW= 143.3, 8.1, CAL= 142.9, 8.8, ROT= 7.1, -8.8
2025-08-22T21:30:50.187Z,1755898250.187 [DAT](INFO): DAT read: Bearing 359.1, 9.2 (Local)
2025-08-22T21:30:50.187Z,1755898250.187 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.1, 9.2 (Local)
2025-08-22T21:30:50.189Z,1755898250.189 [DAT](INFO): DAT read: Range 11 to 50 : 97.0 m (Round-trip 129.4 ms) speed 0.4 m/s
2025-08-22T21:30:50.191Z,1755898250.191 [DAT](INFO): DAT read: user:2287>
2025-08-22T21:30:50.193Z,1755898250.193 [DAT](INFO): DAT read: Tx time:21:30:51.2905
2025-08-22T21:30:50.193Z,1755898250.193 [DAT](INFO): Ping request sent.
2025-08-22T21:30:50.193Z,1755898250.193 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:50.193Z,1755898250.193 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:50.195Z,1755898250.195 [DAT](INFO): direction in FSK: [0.980651,0.122146,0.152986]
2025-08-22T21:30:50.195Z,1755898250.195 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:50.195Z,1755898250.195 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:50.198Z,1755898250.198 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:50.199Z,1755898250.199 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:50.555Z,1755898250.555 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022801181046,35.0, 0.0,1491.3, 0
2025-08-22T21:30:50.600Z,1755898250.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 97.000000 m,
deltaT: 3.528313 s,
deltaX: -2.699997 m,
approachRate: -0.765237 m/s,
rangeRepo size: 4
2025-08-22T21:30:50.607Z,1755898250.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 96.401161 m,
bearing: 228.603214 deg,
lat: 36.779443 deg,
lon: -121.859576 deg,
deltaT: 3.528313 s,
deltaX: -2.683357 m,
approachRate: -0.760521 m/s,
posRepo size: 4
2025-08-22T21:30:50.608Z,1755898250.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T21:30:50.615Z,1755898250.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.401161 m,
nav range: 94.815987 m,
bearing: 229.158107 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.008630 deg/s,
cmd heading: 222.496896 deg,
new cmd heading: 222.504918 deg.
2025-08-22T21:30:50.616Z,1755898250.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883443 target range: 96.401161 and range: 97.00 m.
2025-08-22T21:30:51.001Z,1755898251.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T21:30:51.008Z,1755898251.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.401161 m,
nav range: 94.536980 m,
bearing: 229.159889 deg,
approach rate: -0.694462 m/s,
LOS rate: 0.004448 deg/s,
cmd heading: 222.504914 deg,
new cmd heading: 222.508489 deg.
2025-08-22T21:30:51.009Z,1755898251.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883506 target range: 96.401161 and range: 97.00 m.
2025-08-22T21:30:51.353Z,1755898251.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T21:30:51.356Z,1755898251.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.401161 m,
nav range: 94.262886 m,
bearing: 229.161632 deg,
approach rate: -0.778140 m/s,
LOS rate: 0.004961 deg/s,
cmd heading: 222.508493 deg,
new cmd heading: 222.511989 deg.
2025-08-22T21:30:51.357Z,1755898251.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883567 target range: 96.401161 and range: 97.00 m.
2025-08-22T21:30:51.810Z,1755898251.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T21:30:51.813Z,1755898251.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.401161 m,
nav range: 93.953758 m,
bearing: 229.162393 deg,
approach rate: -0.683084 m/s,
LOS rate: 0.001688 deg/s,
cmd heading: 222.511990 deg,
new cmd heading: 222.513518 deg.
2025-08-22T21:30:51.819Z,1755898251.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883594 target range: 96.401161 and range: 97.00 m.
2025-08-22T21:30:52.168Z,1755898252.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:52.171Z,1755898252.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T21:30:52.176Z,1755898252.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.401161 m,
nav range: 93.698326 m,
bearing: 229.162949 deg,
approach rate: -0.699364 m/s,
LOS rate: 0.001526 deg/s,
cmd heading: 222.513520 deg,
new cmd heading: 222.514635 deg.
2025-08-22T21:30:52.177Z,1755898252.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883613 target range: 96.401161 and range: 97.00 m.
2025-08-22T21:30:52.191Z,1755898252.191 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:52.191Z,1755898252.191 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:52.191Z,1755898252.191 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:52.445Z,1755898252.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251928
2025-08-22T21:30:52.595Z,1755898252.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T21:30:52.598Z,1755898252.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.401161 m,
nav range: 93.396378 m,
bearing: 229.166557 deg,
approach rate: -0.711988 m/s,
LOS rate: 0.008534 deg/s,
cmd heading: 222.514640 deg,
new cmd heading: 222.521879 deg.
2025-08-22T21:30:52.599Z,1755898252.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883739 target range: 96.401161 and range: 97.00 m.
2025-08-22T21:30:52.695Z,1755898252.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501635
2025-08-22T21:30:52.947Z,1755898252.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753710
2025-08-22T21:30:52.978Z,1755898252.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T21:30:52.982Z,1755898252.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.401161 m,
nav range: 93.133873 m,
bearing: 229.169590 deg,
approach rate: -0.687945 m/s,
LOS rate: 0.007972 deg/s,
cmd heading: 222.521880 deg,
new cmd heading: 222.527964 deg.
2025-08-22T21:30:52.984Z,1755898252.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883846 target range: 96.401161 and range: 97.00 m.
2025-08-22T21:30:53.199Z,1755898253.199 [DAT](INFO): DAT read: Rx Time:21:30:53.8208
2025-08-22T21:30:53.199Z,1755898253.199 [DAT](INFO): Rx dataTimestamp_ set to:1755898253.198775
2025-08-22T21:30:53.200Z,1755898253.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006666
2025-08-22T21:30:53.371Z,1755898253.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T21:30:53.374Z,1755898253.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.401161 m,
nav range: 92.852074 m,
bearing: 229.172803 deg,
approach rate: -0.714657 m/s,
LOS rate: 0.008172 deg/s,
cmd heading: 222.527959 deg,
new cmd heading: 222.534404 deg.
2025-08-22T21:30:53.375Z,1755898253.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883958 target range: 96.401161 and range: 97.00 m.
2025-08-22T21:30:53.454Z,1755898253.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259933
2025-08-22T21:30:53.706Z,1755898253.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512092
2025-08-22T21:30:53.817Z,1755898253.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T21:30:53.819Z,1755898253.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.401161 m,
nav range: 92.545479 m,
bearing: 229.171729 deg,
approach rate: -0.687992 m/s,
LOS rate: -0.002418 deg/s,
cmd heading: 222.534407 deg,
new cmd heading: 222.532252 deg.
2025-08-22T21:30:53.820Z,1755898253.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883920 target range: 96.401161 and range: 97.00 m.
2025-08-22T21:30:53.960Z,1755898253.960 [DAT](INFO): DAT read: 21:30:53.8208 LVL= 28224, 32753, 29746, 32755, AGC= 67, IDX= 408, 0.16,-0.883,-2.759,-0.962,-1.251, PHS= 0.471,-1.463, 0.245, RAW= 143.9, 8.2, CAL= 143.5, 9.0, ROT= 6.5, -9.0
2025-08-22T21:30:53.962Z,1755898253.962 [DAT](INFO): got valid direction response:
21:30:53.8208 LVL= 28224, 32753, 29746, 32755, AGC= 67, IDX= 408, 0.16,-0.883,-2.759,-0.962,-1.251, PHS= 0.471,-1.463, 0.245, RAW= 143.9, 8.2, CAL= 143.5, 9.0, ROT= 6.5, -9.0
2025-08-22T21:30:53.965Z,1755898253.964 [DAT](INFO): DAT read: Bearing 359.6, 8.8 (Local)
2025-08-22T21:30:53.965Z,1755898253.965 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.6, 8.8 (Local)
2025-08-22T21:30:53.968Z,1755898253.968 [DAT](INFO): DAT read: Range 11 to 50 : 94.5 m (Round-trip 126.1 ms) speed 0.6 m/s
2025-08-22T21:30:53.970Z,1755898253.970 [DAT](INFO): DAT read: user:2288>
2025-08-22T21:30:53.971Z,1755898253.971 [DAT](INFO): DAT read: Tx time:21:30:54.9405
2025-08-22T21:30:53.971Z,1755898253.971 [DAT](INFO): Ping request sent.
2025-08-22T21:30:53.971Z,1755898253.971 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:53.972Z,1755898253.972 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:53.991Z,1755898253.991 [DAT](INFO): direction in FSK: [0.981339,0.111809,0.156434]
2025-08-22T21:30:53.991Z,1755898253.991 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:53.991Z,1755898253.991 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:54.040Z,1755898254.040 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:54.041Z,1755898254.041 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:54.226Z,1755898254.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 94.500000 m,
deltaT: 3.779414 s,
deltaX: -2.500000 m,
approachRate: -0.661478 m/s,
rangeRepo size: 4
2025-08-22T21:30:54.228Z,1755898254.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 93.916664 m,
bearing: 228.198716 deg,
lat: 36.779439 deg,
lon: -121.859569 deg,
deltaT: 3.779414 s,
deltaX: -2.484497 m,
approachRate: -0.657376 m/s,
posRepo size: 4
2025-08-22T21:30:54.228Z,1755898254.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-22T21:30:54.235Z,1755898254.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.916664 m,
nav range: 92.053696 m,
bearing: 228.725867 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002418 deg/s,
cmd heading: 222.532249 deg,
new cmd heading: 222.530295 deg.
2025-08-22T21:30:54.236Z,1755898254.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883886 target range: 93.916664 and range: 94.50 m.
2025-08-22T21:30:54.615Z,1755898254.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:54.617Z,1755898254.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-22T21:30:54.620Z,1755898254.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.916664 m,
nav range: 91.767761 m,
bearing: 228.723719 deg,
approach rate: -0.720861 m/s,
LOS rate: -0.005433 deg/s,
cmd heading: 222.530295 deg,
new cmd heading: 222.525985 deg.
2025-08-22T21:30:54.621Z,1755898254.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883811 target range: 93.916664 and range: 94.50 m.
2025-08-22T21:30:54.711Z,1755898254.711 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:54.711Z,1755898254.711 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:54.712Z,1755898254.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:54.964Z,1755898254.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992031
2025-08-22T21:30:55.011Z,1755898255.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-22T21:30:55.014Z,1755898255.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.916664 m,
nav range: 91.494682 m,
bearing: 228.721697 deg,
approach rate: -0.694063 m/s,
LOS rate: -0.005154 deg/s,
cmd heading: 222.525979 deg,
new cmd heading: 222.521923 deg.
2025-08-22T21:30:55.015Z,1755898255.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883740 target range: 93.916664 and range: 94.50 m.
2025-08-22T21:30:55.214Z,1755898255.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243216
2025-08-22T21:30:55.415Z,1755898255.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-22T21:30:55.418Z,1755898255.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.916664 m,
nav range: 91.214546 m,
bearing: 228.719623 deg,
approach rate: -0.693031 m/s,
LOS rate: -0.005147 deg/s,
cmd heading: 222.521921 deg,
new cmd heading: 222.517761 deg.
2025-08-22T21:30:55.419Z,1755898255.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883667 target range: 93.916664 and range: 94.50 m.
2025-08-22T21:30:55.471Z,1755898255.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498588
2025-08-22T21:30:55.719Z,1755898255.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747237
2025-08-22T21:30:55.837Z,1755898255.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-22T21:30:55.840Z,1755898255.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.916664 m,
nav range: 90.914948 m,
bearing: 228.717610 deg,
approach rate: -0.710013 m/s,
LOS rate: -0.004784 deg/s,
cmd heading: 222.517755 deg,
new cmd heading: 222.513717 deg.
2025-08-22T21:30:55.841Z,1755898255.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883597 target range: 93.916664 and range: 94.50 m.
2025-08-22T21:30:55.972Z,1755898255.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999999
2025-08-22T21:30:56.209Z,1755898256.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-22T21:30:56.212Z,1755898256.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.916664 m,
nav range: 90.650513 m,
bearing: 228.715731 deg,
approach rate: -0.710440 m/s,
LOS rate: -0.005064 deg/s,
cmd heading: 222.513712 deg,
new cmd heading: 222.509942 deg.
2025-08-22T21:30:56.213Z,1755898256.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883531 target range: 93.916664 and range: 94.50 m.
2025-08-22T21:30:56.223Z,1755898256.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251363
2025-08-22T21:30:56.479Z,1755898256.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506717
2025-08-22T21:30:56.720Z,1755898256.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:56.722Z,1755898256.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-22T21:30:56.725Z,1755898256.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.916664 m,
nav range: 90.293724 m,
bearing: 228.714097 deg,
approach rate: -0.695517 m/s,
LOS rate: -0.003198 deg/s,
cmd heading: 222.509941 deg,
new cmd heading: 222.506661 deg.
2025-08-22T21:30:56.727Z,1755898256.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755376
2025-08-22T21:30:56.728Z,1755898256.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883474 target range: 93.916664 and range: 94.50 m.
2025-08-22T21:30:56.979Z,1755898256.979 [DAT](INFO): DAT read: Rx Time:21:30:57.4672
2025-08-22T21:30:56.980Z,1755898256.980 [DAT](INFO): Rx dataTimestamp_ set to:1755898256.979764
2025-08-22T21:30:56.981Z,1755898256.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009656
2025-08-22T21:30:57.171Z,1755898257.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-22T21:30:57.177Z,1755898257.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.916664 m,
nav range: 89.984093 m,
bearing: 228.712474 deg,
approach rate: -0.689567 m/s,
LOS rate: -0.003628 deg/s,
cmd heading: 222.506663 deg,
new cmd heading: 222.503404 deg.
2025-08-22T21:30:57.194Z,1755898257.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883417 target range: 93.916664 and range: 94.50 m.
2025-08-22T21:30:57.231Z,1755898257.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259371
2025-08-22T21:30:57.504Z,1755898257.504 [DAT](INFO): DAT read: 21:30:57.4672 LVL= 26512, 32561, 26498, 32755, AGC= 66, IDX= 404, 0.35, 2.568, 0.680, 2.503, 2.189, PHS= 0.481,-1.464, 0.269, RAW= 144.3, 7.8, CAL= 143.9, 8.5, ROT= 6.1, -8.5
2025-08-22T21:30:57.508Z,1755898257.508 [DAT](INFO): got valid direction response:
21:30:57.4672 LVL= 26512, 32561, 26498, 32755, AGC= 66, IDX= 404, 0.35, 2.568, 0.680, 2.503, 2.189, PHS= 0.481,-1.464, 0.269, RAW= 144.3, 7.8, CAL= 143.9, 8.5, ROT= 6.1, -8.5
2025-08-22T21:30:57.547Z,1755898257.547 [DAT](INFO): DAT read: Bearing 359.6, 8.7 (Local)
2025-08-22T21:30:57.547Z,1755898257.547 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.6, 8.7 (Local)
2025-08-22T21:30:57.549Z,1755898257.549 [DAT](INFO): DAT read: Range 11 to 50 : 91.9 m (Round-trip 122.6 ms) speed 0.6 m/s
2025-08-22T21:30:57.562Z,1755898257.562 [DAT](INFO): DAT read: user:2289>
2025-08-22T21:30:57.563Z,1755898257.563 [DAT](INFO): DAT read: Tx time:21:30:58.5905
2025-08-22T21:30:57.563Z,1755898257.563 [DAT](INFO): Ping request sent.
2025-08-22T21:30:57.563Z,1755898257.563 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:30:57.564Z,1755898257.564 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:30:57.565Z,1755898257.565 [DAT](INFO): direction in FSK: [0.983416,0.105097,0.147809]
2025-08-22T21:30:57.565Z,1755898257.565 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:57.565Z,1755898257.565 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:57.572Z,1755898257.572 [DAT](INFO): publishing transmit ping time
2025-08-22T21:30:57.573Z,1755898257.573 [DAT](INFO): publishing direction and range info
2025-08-22T21:30:57.756Z,1755898257.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 91.900002 m,
deltaT: 3.529393 s,
deltaX: -2.599998 m,
approachRate: -0.736670 m/s,
rangeRepo size: 4
2025-08-22T21:30:57.763Z,1755898257.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 91.332642 m,
bearing: 227.988765 deg,
lat: 36.779437 deg,
lon: -121.859569 deg,
deltaT: 3.529393 s,
deltaX: -2.584023 m,
approachRate: -0.732144 m/s,
posRepo size: 4
2025-08-22T21:30:57.763Z,1755898257.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.33 m.
2025-08-22T21:30:57.770Z,1755898257.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.332642 m,
nav range: 89.740379 m,
bearing: 228.576686 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003628 deg/s,
cmd heading: 222.503398 deg,
new cmd heading: 222.499155 deg.
2025-08-22T21:30:57.771Z,1755898257.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883343 target range: 91.332642 and range: 91.90 m.
2025-08-22T21:30:58.103Z,1755898258.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.33 m.
2025-08-22T21:30:58.106Z,1755898258.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.332642 m,
nav range: 89.480568 m,
bearing: 228.575718 deg,
approach rate: -0.747859 m/s,
LOS rate: -0.002794 deg/s,
cmd heading: 222.499150 deg,
new cmd heading: 222.497208 deg.
2025-08-22T21:30:58.107Z,1755898258.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883309 target range: 91.332642 and range: 91.90 m.
2025-08-22T21:30:58.575Z,1755898258.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.33 m.
2025-08-22T21:30:58.578Z,1755898258.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.332642 m,
nav range: 89.144905 m,
bearing: 228.575592 deg,
approach rate: -0.711522 m/s,
LOS rate: -0.000268 deg/s,
cmd heading: 222.497210 deg,
new cmd heading: 222.496957 deg.
2025-08-22T21:30:58.579Z,1755898258.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883305 target range: 91.332642 and range: 91.90 m.
2025-08-22T21:30:58.924Z,1755898258.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:30:58.926Z,1755898258.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.33 m.
2025-08-22T21:30:58.929Z,1755898258.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.332642 m,
nav range: 88.895363 m,
bearing: 228.575498 deg,
approach rate: -0.711437 m/s,
LOS rate: -0.000269 deg/s,
cmd heading: 222.496964 deg,
new cmd heading: 222.496775 deg.
2025-08-22T21:30:58.951Z,1755898258.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883301 target range: 91.332642 and range: 91.90 m.
2025-08-22T21:30:58.995Z,1755898258.995 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:30:58.995Z,1755898258.995 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:30:58.995Z,1755898258.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:30:59.247Z,1755898259.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.683504
2025-08-22T21:30:59.353Z,1755898259.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.33 m.
2025-08-22T21:30:59.356Z,1755898259.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.332642 m,
nav range: 88.604790 m,
bearing: 228.575388 deg,
approach rate: -0.685639 m/s,
LOS rate: -0.000261 deg/s,
cmd heading: 222.496773 deg,
new cmd heading: 222.496551 deg.
2025-08-22T21:30:59.356Z,1755898259.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883297 target range: 91.332642 and range: 91.90 m.
2025-08-22T21:30:59.501Z,1755898259.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.936907
2025-08-22T21:30:59.742Z,1755898259.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.33 m.
2025-08-22T21:30:59.745Z,1755898259.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.332642 m,
nav range: 88.310471 m,
bearing: 228.574220 deg,
approach rate: -0.750343 m/s,
LOS rate: -0.002987 deg/s,
cmd heading: 222.496554 deg,
new cmd heading: 222.494211 deg.
2025-08-22T21:30:59.751Z,1755898259.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.187131
2025-08-22T21:30:59.766Z,1755898259.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883256 target range: 91.332642 and range: 91.90 m.
2025-08-22T21:31:00.003Z,1755898260.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.439362
2025-08-22T21:31:00.124Z,1755898260.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.33 m.
2025-08-22T21:31:00.127Z,1755898260.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.332642 m,
nav range: 88.034416 m,
bearing: 228.573022 deg,
approach rate: -0.721294 m/s,
LOS rate: -0.003141 deg/s,
cmd heading: 222.494205 deg,
new cmd heading: 222.491800 deg.
2025-08-22T21:31:00.128Z,1755898260.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883214 target range: 91.332642 and range: 91.90 m.
2025-08-22T21:31:00.254Z,1755898260.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.691035
2025-08-22T21:31:00.511Z,1755898260.511 [DAT](INFO): DAT read: Rx Time:21:31:01.1137
2025-08-22T21:31:00.512Z,1755898260.512 [DAT](INFO): Rx dataTimestamp_ set to:1755898260.511149
2025-08-22T21:31:00.516Z,1755898260.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949903
2025-08-22T21:31:00.643Z,1755898260.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.33 m.
2025-08-22T21:31:00.646Z,1755898260.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.332642 m,
nav range: 87.677628 m,
bearing: 228.570673 deg,
approach rate: -0.688270 m/s,
LOS rate: -0.004550 deg/s,
cmd heading: 222.491800 deg,
new cmd heading: 222.487082 deg.
2025-08-22T21:31:00.647Z,1755898260.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883132 target range: 91.332642 and range: 91.90 m.
2025-08-22T21:31:00.759Z,1755898260.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195180
2025-08-22T21:31:01.028Z,1755898261.028 [DAT](INFO): DAT read: 21:31:01.1137 LVL= 25120, 30273, 27362, 32755, AGC= 66, IDX= 400, 0.22,-0.705,-2.574,-0.754,-1.091, PHS= 0.487,-1.438, 0.293, RAW= 144.7, 7.2, CAL= 144.3, 7.9, ROT= 5.7, -7.9
2025-08-22T21:31:01.029Z,1755898261.029 [DAT](INFO): got valid direction response:
21:31:01.1137 LVL= 25120, 30273, 27362, 32755, AGC= 66, IDX= 400, 0.22,-0.705,-2.574,-0.754,-1.091, PHS= 0.487,-1.438, 0.293, RAW= 144.7, 7.2, CAL= 144.3, 7.9, ROT= 5.7, -7.9
2025-08-22T21:31:01.031Z,1755898261.031 [DAT](INFO): DAT read: Bearing 359.3, 8.4 (Local)
2025-08-22T21:31:01.031Z,1755898261.031 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.3, 8.4 (Local)
2025-08-22T21:31:01.033Z,1755898261.033 [DAT](INFO): DAT read: Range 11 to 50 : 89.3 m (Round-trip 119.1 ms) speed 0.7 m/s
2025-08-22T21:31:01.034Z,1755898261.034 [DAT](INFO): DAT read: user:2290>
2025-08-22T21:31:01.035Z,1755898261.035 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:01.036Z,1755898261.036 [DAT](INFO): direction in FSK: [0.985612,0.098377,0.137445]
2025-08-22T21:31:01.036Z,1755898261.036 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:01.039Z,1755898261.039 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:01.039Z,1755898261.039 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:01.039Z,1755898261.039 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:01.088Z,1755898261.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 89.300003 m,
deltaT: 3.528525 s,
deltaX: -2.599998 m,
approachRate: -0.736851 m/s,
rangeRepo size: 4
2025-08-22T21:31:01.094Z,1755898261.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 88.748756 m,
bearing: 227.769755 deg,
lat: 36.779433 deg,
lon: -121.859564 deg,
deltaT: 3.528525 s,
deltaX: -2.583885 m,
approachRate: -0.732285 m/s,
posRepo size: 4
2025-08-22T21:31:01.095Z,1755898261.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.75 m.
2025-08-22T21:31:01.106Z,1755898261.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.748756 m,
nav range: 87.349388 m,
bearing: 228.151196 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004550 deg/s,
cmd heading: 222.487087 deg,
new cmd heading: 222.483041 deg.
2025-08-22T21:31:01.107Z,1755898261.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883062 target range: 88.748756 and range: 89.30 m.
2025-08-22T21:31:01.263Z,1755898261.263 [DAT](INFO): DAT read: T ie:21:31:02.2405
2025-08-22T21:31:01.263Z,1755898261.263 [DAT](INFO): unknown deviceResponse_: T ie:21:31:02.2405
2025-08-22T21:31:01.264Z,1755898261.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.700177
2025-08-22T21:31:01.423Z,1755898261.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:01.425Z,1755898261.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.75 m.
2025-08-22T21:31:01.427Z,1755898261.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.748756 m,
nav range: 87.088005 m,
bearing: 228.148168 deg,
approach rate: -0.775300 m/s,
LOS rate: -0.009010 deg/s,
cmd heading: 222.483044 deg,
new cmd heading: 222.476969 deg.
2025-08-22T21:31:01.428Z,1755898261.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882956 target range: 88.748756 and range: 89.30 m.
2025-08-22T21:31:01.517Z,1755898261.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.953800
2025-08-22T21:31:01.767Z,1755898261.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.203181
2025-08-22T21:31:01.873Z,1755898261.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.75 m.
2025-08-22T21:31:01.875Z,1755898261.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.748756 m,
nav range: 86.770767 m,
bearing: 228.144851 deg,
approach rate: -0.708247 m/s,
LOS rate: -0.007432 deg/s,
cmd heading: 222.476965 deg,
new cmd heading: 222.470307 deg.
2025-08-22T21:31:01.876Z,1755898261.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882839 target range: 88.748756 and range: 89.30 m.
2025-08-22T21:31:02.018Z,1755898262.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.455024
2025-08-22T21:31:02.246Z,1755898262.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.75 m.
2025-08-22T21:31:02.249Z,1755898262.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.748756 m,
nav range: 86.505898 m,
bearing: 228.142063 deg,
approach rate: -0.709076 m/s,
LOS rate: -0.007486 deg/s,
cmd heading: 222.470313 deg,
new cmd heading: 222.464720 deg.
2025-08-22T21:31:02.250Z,1755898262.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882742 target range: 88.748756 and range: 89.30 m.
2025-08-22T21:31:02.271Z,1755898262.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.707572
2025-08-22T21:31:02.523Z,1755898262.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.959091
2025-08-22T21:31:02.722Z,1755898262.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.75 m.
2025-08-22T21:31:02.725Z,1755898262.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.748756 m,
nav range: 86.166183 m,
bearing: 228.139188 deg,
approach rate: -0.713396 m/s,
LOS rate: -0.006062 deg/s,
cmd heading: 222.464725 deg,
new cmd heading: 222.458952 deg.
2025-08-22T21:31:02.726Z,1755898262.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882641 target range: 88.748756 and range: 89.30 m.
2025-08-22T21:31:02.775Z,1755898262.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.211825
2025-08-22T21:31:03.027Z,1755898263.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.463127
2025-08-22T21:31:03.030Z,1755898263.030 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:31:03.058Z,1755898263.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.75 m.
2025-08-22T21:31:03.061Z,1755898263.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.748756 m,
nav range: 85.926888 m,
bearing: 228.137149 deg,
approach rate: -0.712046 m/s,
LOS rate: -0.006084 deg/s,
cmd heading: 222.458947 deg,
new cmd heading: 222.454858 deg.
2025-08-22T21:31:03.062Z,1755898263.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882570 target range: 88.748756 and range: 89.30 m.
2025-08-22T21:31:03.278Z,1755898263.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.715019
2025-08-22T21:31:03.476Z,1755898263.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:03.478Z,1755898263.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.75 m.
2025-08-22T21:31:03.481Z,1755898263.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.748756 m,
nav range: 85.630249 m,
bearing: 228.134448 deg,
approach rate: -0.706385 m/s,
LOS rate: -0.006455 deg/s,
cmd heading: 222.454863 deg,
new cmd heading: 222.449441 deg.
2025-08-22T21:31:03.482Z,1755898263.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882475 target range: 88.748756 and range: 89.30 m.
2025-08-22T21:31:03.535Z,1755898263.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.971423
2025-08-22T21:31:03.787Z,1755898263.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.223069
2025-08-22T21:31:03.898Z,1755898263.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.75 m.
2025-08-22T21:31:03.900Z,1755898263.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.748756 m,
nav range: 85.328850 m,
bearing: 228.133330 deg,
approach rate: -0.718947 m/s,
LOS rate: -0.002675 deg/s,
cmd heading: 222.449439 deg,
new cmd heading: 222.447197 deg.
2025-08-22T21:31:03.902Z,1755898263.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882436 target range: 88.748756 and range: 89.30 m.
2025-08-22T21:31:04.034Z,1755898264.034 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:31:04.039Z,1755898264.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.475203
2025-08-22T21:31:04.250Z,1755898264.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.75 m.
2025-08-22T21:31:04.253Z,1755898264.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.748756 m,
nav range: 85.077431 m,
bearing: 228.132351 deg,
approach rate: -0.713007 m/s,
LOS rate: -0.002784 deg/s,
cmd heading: 222.447199 deg,
new cmd heading: 222.445236 deg.
2025-08-22T21:31:04.286Z,1755898264.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882402 target range: 88.748756 and range: 89.30 m.
2025-08-22T21:31:04.291Z,1755898264.291 [DAT](INFO): DAT read: Rx Time:21:31:04.7601
2025-08-22T21:31:04.291Z,1755898264.291 [DAT](INFO): Rx dataTimestamp_ set to:1755898264.290846
2025-08-22T21:31:04.292Z,1755898264.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.728206
2025-08-22T21:31:04.545Z,1755898264.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.981191
2025-08-22T21:31:04.725Z,1755898264.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.75 m.
2025-08-22T21:31:04.744Z,1755898264.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.748756 m,
nav range: 84.745445 m,
bearing: 228.131960 deg,
approach rate: -0.698967 m/s,
LOS rate: -0.000828 deg/s,
cmd heading: 222.445232 deg,
new cmd heading: 222.444446 deg.
2025-08-22T21:31:04.745Z,1755898264.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882388 target range: 88.748756 and range: 89.30 m.
2025-08-22T21:31:04.803Z,1755898264.803 [DAT](INFO): DAT read: 21:31:04.7601 LVL= 26144, 32753, 27730, 32755, AGC= 67, IDX= 412, 0.25,-0.202,-2.086,-0.237,-0.573, PHS= 0.474,-1.468, 0.293, RAW= 145.2, 7.6, CAL= 144.7, 8.3, ROT= 5.3, -8.3
2025-08-22T21:31:04.805Z,1755898264.805 [DAT](INFO): got valid direction response:
21:31:04.7601 LVL= 26144, 32753, 27730, 32755, AGC= 67, IDX= 412, 0.25,-0.202,-2.086,-0.237,-0.573, PHS= 0.474,-1.468, 0.293, RAW= 145.2, 7.6, CAL= 144.7, 8.3, ROT= 5.3, -8.3
2025-08-22T21:31:04.807Z,1755898264.807 [DAT](INFO): DAT read: Bearing 359.9, 7.9 (Local)
2025-08-22T21:31:04.807Z,1755898264.807 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.9, 7.9 (Local)
2025-08-22T21:31:04.809Z,1755898264.809 [DAT](INFO): DAT read: Range 11 to 50 : 86.7 m (Round-trip 115.6 ms) speed 0.7 m/s
2025-08-22T21:31:04.810Z,1755898264.810 [DAT](INFO): DAT read: user:2291>
2025-08-22T21:31:04.812Z,1755898264.812 [DAT](INFO): DAT read: Tx time:21:31:05.8904
2025-08-22T21:31:04.812Z,1755898264.812 [DAT](INFO): Ping request sent.
2025-08-22T21:31:04.812Z,1755898264.812 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:04.812Z,1755898264.812 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:04.834Z,1755898264.834 [DAT](INFO): direction in FSK: [0.985295,0.091403,0.144356]
2025-08-22T21:31:04.834Z,1755898264.834 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:04.834Z,1755898264.834 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:04.841Z,1755898264.841 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:04.843Z,1755898264.843 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:05.115Z,1755898265.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 86.699997 m,
deltaT: 3.783079 s,
deltaX: -2.600006 m,
approachRate: -0.687272 m/s,
rangeRepo size: 4
2025-08-22T21:31:05.117Z,1755898265.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 86.164925 m,
bearing: 227.527079 deg,
lat: 36.779430 deg,
lon: -121.859562 deg,
deltaT: 3.783079 s,
deltaX: -2.583832 m,
approachRate: -0.682997 m/s,
posRepo size: 4
2025-08-22T21:31:05.121Z,1755898265.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T21:31:05.132Z,1755898265.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.164925 m,
nav range: 84.507133 m,
bearing: 227.939057 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000828 deg/s,
cmd heading: 222.444440 deg,
new cmd heading: 222.443795 deg.
2025-08-22T21:31:05.133Z,1755898265.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882377 target range: 86.164925 and range: 86.70 m.
2025-08-22T21:31:05.504Z,1755898265.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:05.506Z,1755898265.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T21:31:05.509Z,1755898265.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.164925 m,
nav range: 84.222588 m,
bearing: 227.937838 deg,
approach rate: -0.726527 m/s,
LOS rate: -0.003122 deg/s,
cmd heading: 222.443798 deg,
new cmd heading: 222.441352 deg.
2025-08-22T21:31:05.531Z,1755898265.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882334 target range: 86.164925 and range: 86.70 m.
2025-08-22T21:31:05.550Z,1755898265.550 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:05.550Z,1755898265.550 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:05.551Z,1755898265.551 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:05.803Z,1755898265.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990708
2025-08-22T21:31:05.962Z,1755898265.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T21:31:05.971Z,1755898265.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.164925 m,
nav range: 83.925880 m,
bearing: 227.934866 deg,
approach rate: -0.657261 m/s,
LOS rate: -0.006608 deg/s,
cmd heading: 222.441353 deg,
new cmd heading: 222.435386 deg.
2025-08-22T21:31:05.972Z,1755898265.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882230 target range: 86.164925 and range: 86.70 m.
2025-08-22T21:31:06.055Z,1755898266.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243042
2025-08-22T21:31:06.307Z,1755898266.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494331
2025-08-22T21:31:06.311Z,1755898266.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T21:31:06.314Z,1755898266.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.164925 m,
nav range: 83.669502 m,
bearing: 227.932269 deg,
approach rate: -0.726021 m/s,
LOS rate: -0.007376 deg/s,
cmd heading: 222.435383 deg,
new cmd heading: 222.430173 deg.
2025-08-22T21:31:06.315Z,1755898266.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882139 target range: 86.164925 and range: 86.70 m.
2025-08-22T21:31:06.561Z,1755898266.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748590
2025-08-22T21:31:06.753Z,1755898266.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T21:31:06.755Z,1755898266.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.164925 m,
nav range: 83.359398 m,
bearing: 227.927622 deg,
approach rate: -0.702022 m/s,
LOS rate: -0.010560 deg/s,
cmd heading: 222.430178 deg,
new cmd heading: 222.420849 deg.
2025-08-22T21:31:06.756Z,1755898266.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881976 target range: 86.164925 and range: 86.70 m.
2025-08-22T21:31:06.816Z,1755898266.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003317
2025-08-22T21:31:07.066Z,1755898267.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254228
2025-08-22T21:31:07.125Z,1755898267.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T21:31:07.128Z,1755898267.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.164925 m,
nav range: 83.098053 m,
bearing: 227.923749 deg,
approach rate: -0.701151 m/s,
LOS rate: -0.010422 deg/s,
cmd heading: 222.420848 deg,
new cmd heading: 222.413079 deg.
2025-08-22T21:31:07.129Z,1755898267.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881840 target range: 86.164925 and range: 86.70 m.
2025-08-22T21:31:07.319Z,1755898267.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506882
2025-08-22T21:31:07.524Z,1755898267.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:07.542Z,1755898267.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T21:31:07.545Z,1755898267.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.164925 m,
nav range: 82.817726 m,
bearing: 227.919671 deg,
approach rate: -0.672102 m/s,
LOS rate: -0.009810 deg/s,
cmd heading: 222.413076 deg,
new cmd heading: 222.404892 deg.
2025-08-22T21:31:07.554Z,1755898267.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881698 target range: 86.164925 and range: 86.70 m.
2025-08-22T21:31:07.571Z,1755898267.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758478
2025-08-22T21:31:07.823Z,1755898267.823 [DAT](INFO): DAT read: Rx Time:21:31:08.4068
2025-08-22T21:31:07.824Z,1755898267.824 [DAT](INFO): Rx dataTimestamp_ set to:1755898267.823464
2025-08-22T21:31:07.825Z,1755898267.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012382
2025-08-22T21:31:07.986Z,1755898267.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T21:31:07.989Z,1755898267.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.164925 m,
nav range: 82.502937 m,
bearing: 227.916081 deg,
approach rate: -0.709080 m/s,
LOS rate: -0.008118 deg/s,
cmd heading: 222.404893 deg,
new cmd heading: 222.397685 deg.
2025-08-22T21:31:07.990Z,1755898267.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881572 target range: 86.164925 and range: 86.70 m.
2025-08-22T21:31:08.076Z,1755898268.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263269
2025-08-22T21:31:08.335Z,1755898268.335 [DAT](INFO): DAT read: 21:31:08.4068 LVL= 26064, 31121, 26450, 32755, AGC= 67, IDX= 410, 0.15,-2.314, 2.103,-2.352,-2.684, PHS= 0.472,-1.451, 0.288, RAW= 145.0, 7.6, CAL= 144.6, 8.2, ROT= 5.4, -8.2
2025-08-22T21:31:08.336Z,1755898268.336 [DAT](INFO): got valid direction response:
21:31:08.4068 LVL= 26064, 31121, 26450, 32755, AGC= 67, IDX= 410, 0.15,-2.314, 2.103,-2.352,-2.684, PHS= 0.472,-1.451, 0.288, RAW= 145.0, 7.6, CAL= 144.6, 8.2, ROT= 5.4, -8.2
2025-08-22T21:31:08.337Z,1755898268.337 [DAT](INFO): DAT read: Bearing 359.8, 7.9 (Local)
2025-08-22T21:31:08.337Z,1755898268.337 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.8, 7.9 (Local)
2025-08-22T21:31:08.339Z,1755898268.339 [DAT](INFO): DAT read: Range 11 to 50 : 84.2 m (Round-trip 112.3 ms) speed 0.7 m/s
2025-08-22T21:31:08.339Z,1755898268.339 [DAT](INFO): DAT read: user:2292>
2025-08-22T21:31:08.340Z,1755898268.340 [DAT](INFO): DAT read: Tx time:21:31:09.4904
2025-08-22T21:31:08.340Z,1755898268.340 [DAT](INFO): Ping request sent.
2025-08-22T21:31:08.340Z,1755898268.340 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:08.341Z,1755898268.341 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:08.350Z,1755898268.350 [DAT](INFO): direction in FSK: [0.985384,0.093146,0.142629]
2025-08-22T21:31:08.350Z,1755898268.350 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:08.350Z,1755898268.350 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:08.353Z,1755898268.353 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:08.353Z,1755898268.353 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:08.423Z,1755898268.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 84.199997 m,
deltaT: 3.532661 s,
deltaX: -2.500000 m,
approachRate: -0.707682 m/s,
rangeRepo size: 4
2025-08-22T21:31:08.428Z,1755898268.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 83.680313 m,
bearing: 227.696075 deg,
lat: 36.779429 deg,
lon: -121.859561 deg,
deltaT: 3.532661 s,
deltaX: -2.484612 m,
approachRate: -0.703326 m/s,
posRepo size: 4
2025-08-22T21:31:08.429Z,1755898268.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.68 m.
2025-08-22T21:31:08.455Z,1755898268.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.680313 m,
nav range: 82.245522 m,
bearing: 227.746947 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008118 deg/s,
cmd heading: 222.397680 deg,
new cmd heading: 222.390596 deg.
2025-08-22T21:31:08.462Z,1755898268.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881448 target range: 83.680313 and range: 84.20 m.
2025-08-22T21:31:08.810Z,1755898268.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.68 m.
2025-08-22T21:31:08.813Z,1755898268.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.680313 m,
nav range: 81.956650 m,
bearing: 227.741903 deg,
approach rate: -0.746271 m/s,
LOS rate: -0.013077 deg/s,
cmd heading: 222.390591 deg,
new cmd heading: 222.380467 deg.
2025-08-22T21:31:08.814Z,1755898268.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881271 target range: 83.680313 and range: 84.20 m.
2025-08-22T21:31:09.194Z,1755898269.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.68 m.
2025-08-22T21:31:09.197Z,1755898269.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.680313 m,
nav range: 81.690147 m,
bearing: 227.737312 deg,
approach rate: -0.693912 m/s,
LOS rate: -0.011994 deg/s,
cmd heading: 222.380468 deg,
new cmd heading: 222.371256 deg.
2025-08-22T21:31:09.198Z,1755898269.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881111 target range: 83.680313 and range: 84.20 m.
2025-08-22T21:31:09.588Z,1755898269.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:09.591Z,1755898269.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.68 m.
2025-08-22T21:31:09.594Z,1755898269.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.680313 m,
nav range: 81.410309 m,
bearing: 227.732586 deg,
approach rate: -0.704085 m/s,
LOS rate: -0.011932 deg/s,
cmd heading: 222.371261 deg,
new cmd heading: 222.361777 deg.
2025-08-22T21:31:09.595Z,1755898269.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880945 target range: 83.680313 and range: 84.20 m.
2025-08-22T21:31:09.839Z,1755898269.839 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:09.839Z,1755898269.839 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:09.839Z,1755898269.839 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:10.025Z,1755898270.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.68 m.
2025-08-22T21:31:10.028Z,1755898270.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.680313 m,
nav range: 81.102936 m,
bearing: 227.728428 deg,
approach rate: -0.708514 m/s,
LOS rate: -0.009621 deg/s,
cmd heading: 222.361781 deg,
new cmd heading: 222.353433 deg.
2025-08-22T21:31:10.029Z,1755898270.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880800 target range: 83.680313 and range: 84.20 m.
2025-08-22T21:31:10.092Z,1755898270.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751141
2025-08-22T21:31:10.343Z,1755898270.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002154
2025-08-22T21:31:10.453Z,1755898270.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.68 m.
2025-08-22T21:31:10.460Z,1755898270.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.680313 m,
nav range: 80.818398 m,
bearing: 227.724867 deg,
approach rate: -0.666096 m/s,
LOS rate: -0.008366 deg/s,
cmd heading: 222.353434 deg,
new cmd heading: 222.346287 deg.
2025-08-22T21:31:10.461Z,1755898270.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880675 target range: 83.680313 and range: 84.20 m.
2025-08-22T21:31:10.595Z,1755898270.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254100
2025-08-22T21:31:10.847Z,1755898270.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506605
2025-08-22T21:31:11.038Z,1755898271.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.68 m.
2025-08-22T21:31:11.041Z,1755898271.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.680313 m,
nav range: 80.409286 m,
bearing: 227.722597 deg,
approach rate: -0.698057 m/s,
LOS rate: -0.003892 deg/s,
cmd heading: 222.346290 deg,
new cmd heading: 222.341728 deg.
2025-08-22T21:31:11.042Z,1755898271.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880595 target range: 83.680313 and range: 84.20 m.
2025-08-22T21:31:11.099Z,1755898271.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758330
2025-08-22T21:31:11.351Z,1755898271.351 [DAT](INFO): DAT read: Rx Time:21:31:12.0034
2025-08-22T21:31:11.351Z,1755898271.351 [DAT](INFO): Rx dataTimestamp_ set to:1755898271.350883
2025-08-22T21:31:11.352Z,1755898271.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011297
2025-08-22T21:31:11.514Z,1755898271.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.68 m.
2025-08-22T21:31:11.516Z,1755898271.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.680313 m,
nav range: 80.059959 m,
bearing: 227.720641 deg,
approach rate: -0.735066 m/s,
LOS rate: -0.004134 deg/s,
cmd heading: 222.341727 deg,
new cmd heading: 222.337798 deg.
2025-08-22T21:31:11.517Z,1755898271.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880527 target range: 83.680313 and range: 84.20 m.
2025-08-22T21:31:11.603Z,1755898271.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262090
2025-08-22T21:31:11.856Z,1755898271.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515498
2025-08-22T21:31:12.008Z,1755898272.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:12.022Z,1755898272.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.68 m.
2025-08-22T21:31:12.025Z,1755898272.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.680313 m,
nav range: 79.709167 m,
bearing: 227.717715 deg,
approach rate: -0.706777 m/s,
LOS rate: -0.005921 deg/s,
cmd heading: 222.337793 deg,
new cmd heading: 222.331915 deg.
2025-08-22T21:31:12.030Z,1755898272.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880424 target range: 83.680313 and range: 84.20 m.
2025-08-22T21:31:12.114Z,1755898272.114 [DAT](INFO): DAT read: 21:31:12.0034 LVL= 25072, 31729, 28354, 32755, AGC= 66, IDX= 407, 0.20, 2.329, 0.427, 2.274, 1.941, PHS= 0.489,-1.469, 0.289, RAW= 144.7, 7.5, CAL= 144.2, 8.1, ROT= 5.8, -8.1
2025-08-22T21:31:12.115Z,1755898272.115 [DAT](INFO): got valid direction response:
21:31:12.0034 LVL= 25072, 31729, 28354, 32755, AGC= 66, IDX= 407, 0.20, 2.329, 0.427, 2.274, 1.941, PHS= 0.489,-1.469, 0.289, RAW= 144.7, 7.5, CAL= 144.2, 8.1, ROT= 5.8, -8.1
2025-08-22T21:31:12.117Z,1755898272.117 [DAT](INFO): DAT read: Bearing 359.5, 8.1 (Local)
2025-08-22T21:31:12.118Z,1755898272.118 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.5, 8.1 (Local)
2025-08-22T21:31:12.120Z,1755898272.120 [DAT](INFO): DAT read: Range 11 to 50 : 81.6 m (Round-trip 108.8 ms) speed 0.7 m/s
2025-08-22T21:31:12.121Z,1755898272.121 [DAT](INFO): DAT read: user:2293>
2025-08-22T21:31:12.123Z,1755898272.123 [DAT](INFO): DAT read: Tx time:21:31:13.0904
2025-08-22T21:31:12.124Z,1755898272.124 [DAT](INFO): Ping request sent.
2025-08-22T21:31:12.124Z,1755898272.124 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:12.125Z,1755898272.125 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:12.126Z,1755898272.126 [DAT](INFO): direction in FSK: [0.984955,0.100048,0.140901]
2025-08-22T21:31:12.127Z,1755898272.127 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:12.127Z,1755898272.127 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:12.135Z,1755898272.135 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:12.135Z,1755898272.135 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:12.386Z,1755898272.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 81.599998 m,
deltaT: 3.780460 s,
deltaX: -2.599998 m,
approachRate: -0.687747 m/s,
rangeRepo size: 4
2025-08-22T21:31:12.388Z,1755898272.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.095337 m,
bearing: 227.738885 deg,
lat: 36.779428 deg,
lon: -121.859561 deg,
deltaT: 3.780460 s,
deltaX: -2.584976 m,
approachRate: -0.683773 m/s,
posRepo size: 4
2025-08-22T21:31:12.388Z,1755898272.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.10 m.
2025-08-22T21:31:12.391Z,1755898272.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.095337 m,
nav range: 79.512947 m,
bearing: 227.663312 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005921 deg/s,
cmd heading: 222.331919 deg,
new cmd heading: 222.327479 deg.
2025-08-22T21:31:12.392Z,1755898272.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880347 target range: 81.095337 and range: 81.60 m.
2025-08-22T21:31:12.804Z,1755898272.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.10 m.
2025-08-22T21:31:12.807Z,1755898272.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.095337 m,
nav range: 79.214836 m,
bearing: 227.661468 deg,
approach rate: -0.711234 m/s,
LOS rate: -0.004417 deg/s,
cmd heading: 222.327480 deg,
new cmd heading: 222.323777 deg.
2025-08-22T21:31:12.808Z,1755898272.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880282 target range: 81.095337 and range: 81.60 m.
2025-08-22T21:31:13.213Z,1755898273.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.10 m.
2025-08-22T21:31:13.215Z,1755898273.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.095337 m,
nav range: 78.927307 m,
bearing: 227.659676 deg,
approach rate: -0.703576 m/s,
LOS rate: -0.004401 deg/s,
cmd heading: 222.323778 deg,
new cmd heading: 222.320181 deg.
2025-08-22T21:31:13.216Z,1755898273.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880219 target range: 81.095337 and range: 81.60 m.
2025-08-22T21:31:13.593Z,1755898273.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.10 m.
2025-08-22T21:31:13.596Z,1755898273.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.095337 m,
nav range: 78.659492 m,
bearing: 227.658290 deg,
approach rate: -0.703973 m/s,
LOS rate: -0.003655 deg/s,
cmd heading: 222.320185 deg,
new cmd heading: 222.317404 deg.
2025-08-22T21:31:13.597Z,1755898273.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880171 target range: 81.095337 and range: 81.60 m.
2025-08-22T21:31:14.034Z,1755898274.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:14.036Z,1755898274.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.10 m.
2025-08-22T21:31:14.039Z,1755898274.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.095337 m,
nav range: 78.340714 m,
bearing: 227.657556 deg,
approach rate: -0.718806 m/s,
LOS rate: -0.001662 deg/s,
cmd heading: 222.317398 deg,
new cmd heading: 222.315924 deg.
2025-08-22T21:31:14.040Z,1755898274.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880145 target range: 81.095337 and range: 81.60 m.
2025-08-22T21:31:14.128Z,1755898274.128 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:14.128Z,1755898274.128 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:14.128Z,1755898274.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:14.379Z,1755898274.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255124
2025-08-22T21:31:14.421Z,1755898274.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.10 m.
2025-08-22T21:31:14.436Z,1755898274.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.095337 m,
nav range: 78.066246 m,
bearing: 227.656988 deg,
approach rate: -0.714915 m/s,
LOS rate: -0.001484 deg/s,
cmd heading: 222.315923 deg,
new cmd heading: 222.314784 deg.
2025-08-22T21:31:14.438Z,1755898274.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880125 target range: 81.095337 and range: 81.60 m.
2025-08-22T21:31:14.630Z,1755898274.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506499
2025-08-22T21:31:14.832Z,1755898274.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.10 m.
2025-08-22T21:31:14.835Z,1755898274.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.095337 m,
nav range: 77.770454 m,
bearing: 227.655614 deg,
approach rate: -0.718415 m/s,
LOS rate: -0.003352 deg/s,
cmd heading: 222.314789 deg,
new cmd heading: 222.312029 deg.
2025-08-22T21:31:14.836Z,1755898274.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880077 target range: 81.095337 and range: 81.60 m.
2025-08-22T21:31:14.884Z,1755898274.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760449
2025-08-22T21:31:15.135Z,1755898275.135 [DAT](INFO): DAT read: Rx Time:21:31:15.6000
2025-08-22T21:31:15.135Z,1755898275.135 [DAT](INFO): Rx dataTimestamp_ set to:1755898275.134767
2025-08-22T21:31:15.136Z,1755898275.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011684
2025-08-22T21:31:15.227Z,1755898275.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.10 m.
2025-08-22T21:31:15.237Z,1755898275.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.095337 m,
nav range: 77.489937 m,
bearing: 227.654394 deg,
approach rate: -0.711120 m/s,
LOS rate: -0.003102 deg/s,
cmd heading: 222.312030 deg,
new cmd heading: 222.309582 deg.
2025-08-22T21:31:15.238Z,1755898275.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880034 target range: 81.095337 and range: 81.60 m.
2025-08-22T21:31:15.387Z,1755898275.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262667
2025-08-22T21:31:15.644Z,1755898275.644 [DAT](INFO): DAT read: 21:31:15.6000 LVL= 24880, 30769, 27458, 32755, AGC= 66, IDX= 404, 0.27,-2.087, 2.309,-2.148,-2.474, PHS= 0.489,-1.455, 0.282, RAW= 144.4, 7.5, CAL= 144.0, 8.1, ROT= 6.0, -8.1
2025-08-22T21:31:15.645Z,1755898275.645 [DAT](INFO): got valid direction response:
21:31:15.6000 LVL= 24880, 30769, 27458, 32755, AGC= 66, IDX= 404, 0.27,-2.087, 2.309,-2.148,-2.474, PHS= 0.489,-1.455, 0.282, RAW= 144.4, 7.5, CAL= 144.0, 8.1, ROT= 6.0, -8.1
2025-08-22T21:31:15.646Z,1755898275.646 [DAT](INFO): DAT read: Bearing 359.1, 7.9 (Local)
2025-08-22T21:31:15.647Z,1755898275.647 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.1, 7.9 (Local)
2025-08-22T21:31:15.648Z,1755898275.648 [DAT](INFO): DAT read: Range 11 to 50 : 79.0 m (Round-trip 105.4 ms) speed 1.0 m/s
2025-08-22T21:31:15.649Z,1755898275.649 [DAT](INFO): DAT read: user:2294>
2025-08-22T21:31:15.649Z,1755898275.649 [DAT](INFO): DAT read: Tx time:21:31:16.6904
2025-08-22T21:31:15.650Z,1755898275.650 [DAT](INFO): Ping request sent.
2025-08-22T21:31:15.650Z,1755898275.650 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:15.650Z,1755898275.650 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:15.651Z,1755898275.651 [DAT](INFO): direction in FSK: [0.984600,0.103486,0.140901]
2025-08-22T21:31:15.651Z,1755898275.651 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:15.652Z,1755898275.652 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:15.656Z,1755898275.656 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:15.656Z,1755898275.656 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:15.840Z,1755898275.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 79.000000 m,
deltaT: 3.529903 s,
deltaX: -2.599998 m,
approachRate: -0.736564 m/s,
rangeRepo size: 4
2025-08-22T21:31:15.846Z,1755898275.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 78.510910 m,
bearing: 227.658753 deg,
lat: 36.779427 deg,
lon: -121.859561 deg,
deltaT: 3.529903 s,
deltaX: -2.584427 m,
approachRate: -0.732152 m/s,
posRepo size: 4
2025-08-22T21:31:15.847Z,1755898275.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.51 m.
2025-08-22T21:31:15.854Z,1755898275.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.510910 m,
nav range: 77.223778 m,
bearing: 227.577258 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003102 deg/s,
cmd heading: 222.309585 deg,
new cmd heading: 222.305783 deg.
2025-08-22T21:31:15.855Z,1755898275.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879968 target range: 78.510910 and range: 79.00 m.
2025-08-22T21:31:16.247Z,1755898276.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:16.249Z,1755898276.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.51 m.
2025-08-22T21:31:16.256Z,1755898276.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.510910 m,
nav range: 76.879417 m,
bearing: 227.575491 deg,
approach rate: -0.840067 m/s,
LOS rate: -0.004331 deg/s,
cmd heading: 222.305787 deg,
new cmd heading: 222.302236 deg.
2025-08-22T21:31:16.257Z,1755898276.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879906 target range: 78.510910 and range: 79.00 m.
2025-08-22T21:31:16.394Z,1755898276.394 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:16.394Z,1755898276.394 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:16.395Z,1755898276.395 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:16.618Z,1755898276.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.51 m.
2025-08-22T21:31:16.620Z,1755898276.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.510910 m,
nav range: 76.610649 m,
bearing: 227.574100 deg,
approach rate: -0.729405 m/s,
LOS rate: -0.003787 deg/s,
cmd heading: 222.302235 deg,
new cmd heading: 222.299444 deg.
2025-08-22T21:31:16.622Z,1755898276.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879857 target range: 78.510910 and range: 79.00 m.
2025-08-22T21:31:16.647Z,1755898276.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996602
2025-08-22T21:31:16.898Z,1755898276.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248579
2025-08-22T21:31:17.046Z,1755898277.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.51 m.
2025-08-22T21:31:17.049Z,1755898277.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.510910 m,
nav range: 76.318054 m,
bearing: 227.572028 deg,
approach rate: -0.689892 m/s,
LOS rate: -0.004904 deg/s,
cmd heading: 222.299449 deg,
new cmd heading: 222.295289 deg.
2025-08-22T21:31:17.054Z,1755898277.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879785 target range: 78.510910 and range: 79.00 m.
2025-08-22T21:31:17.155Z,1755898277.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505269
2025-08-22T21:31:17.399Z,1755898277.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.51 m.
2025-08-22T21:31:17.402Z,1755898277.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.510910 m,
nav range: 76.056015 m,
bearing: 227.570092 deg,
approach rate: -0.733765 m/s,
LOS rate: -0.005439 deg/s,
cmd heading: 222.295282 deg,
new cmd heading: 222.291397 deg.
2025-08-22T21:31:17.403Z,1755898277.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879717 target range: 78.510910 and range: 79.00 m.
2025-08-22T21:31:17.407Z,1755898277.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756862
2025-08-22T21:31:17.659Z,1755898277.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008995
2025-08-22T21:31:17.875Z,1755898277.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.51 m.
2025-08-22T21:31:17.878Z,1755898277.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.510910 m,
nav range: 75.731880 m,
bearing: 227.566680 deg,
approach rate: -0.680830 m/s,
LOS rate: -0.007198 deg/s,
cmd heading: 222.291403 deg,
new cmd heading: 222.284549 deg.
2025-08-22T21:31:17.879Z,1755898277.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879597 target range: 78.510910 and range: 79.00 m.
2025-08-22T21:31:17.912Z,1755898277.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262079
2025-08-22T21:31:18.164Z,1755898278.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513706
2025-08-22T21:31:18.244Z,1755898278.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.51 m.
2025-08-22T21:31:18.247Z,1755898278.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.510910 m,
nav range: 75.480545 m,
bearing: 227.564016 deg,
approach rate: -0.681598 m/s,
LOS rate: -0.007248 deg/s,
cmd heading: 222.284545 deg,
new cmd heading: 222.279200 deg.
2025-08-22T21:31:18.248Z,1755898278.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879504 target range: 78.510910 and range: 79.00 m.
2025-08-22T21:31:18.416Z,1755898278.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765609
2025-08-22T21:31:18.667Z,1755898278.667 [DAT](INFO): DAT read: Rx Time:21:31:19.1967
2025-08-22T21:31:18.667Z,1755898278.667 [DAT](INFO): Rx dataTimestamp_ set to:1755898278.666775
2025-08-22T21:31:18.668Z,1755898278.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017703
2025-08-22T21:31:18.672Z,1755898278.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:18.703Z,1755898278.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.51 m.
2025-08-22T21:31:18.706Z,1755898278.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.510910 m,
nav range: 75.189995 m,
bearing: 227.560881 deg,
approach rate: -0.632785 m/s,
LOS rate: -0.006853 deg/s,
cmd heading: 222.279204 deg,
new cmd heading: 222.272910 deg.
2025-08-22T21:31:18.707Z,1755898278.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879394 target range: 78.510910 and range: 79.00 m.
2025-08-22T21:31:18.919Z,1755898278.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269284
2025-08-22T21:31:19.140Z,1755898279.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.51 m.
2025-08-22T21:31:19.151Z,1755898279.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.510910 m,
nav range: 74.865532 m,
bearing: 227.558598 deg,
approach rate: -0.742177 m/s,
LOS rate: -0.005245 deg/s,
cmd heading: 222.272906 deg,
new cmd heading: 222.268320 deg.
2025-08-22T21:31:19.152Z,1755898279.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879314 target range: 78.510910 and range: 79.00 m.
2025-08-22T21:31:19.179Z,1755898279.179 [DAT](INFO): DAT read: 21:31:19.1967 LVL= 24800, 32753, 27634, 32755, AGC= 66, IDX= 403,-0.11, 0.002,-1.918,-0.085,-0.382, PHS= 0.485,-1.492, 0.253, RAW= 143.8, 8.1, CAL= 143.4, 8.9, ROT= 6.6, -8.9
2025-08-22T21:31:19.181Z,1755898279.181 [DAT](INFO): got valid direction response:
21:31:19.1967 LVL= 24800, 32753, 27634, 32755, AGC= 66, IDX= 403,-0.11, 0.002,-1.918,-0.085,-0.382, PHS= 0.485,-1.492, 0.253, RAW= 143.8, 8.1, CAL= 143.4, 8.9, ROT= 6.6, -8.9
2025-08-22T21:31:19.182Z,1755898279.182 [DAT](INFO): DAT read: Bearing 359.7, 8.0 (Local)
2025-08-22T21:31:19.183Z,1755898279.183 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.7, 8.0 (Local)
2025-08-22T21:31:19.184Z,1755898279.184 [DAT](INFO): DAT read: Range 11 to 50 : 76.6 m (Round-trip 102.2 ms) speed 0.6 m/s
2025-08-22T21:31:19.192Z,1755898279.192 [DAT](INFO): DAT read: user:2295>
2025-08-22T21:31:19.193Z,1755898279.193 [DAT](INFO): DAT read: Tx time:21:31:20.2904
2025-08-22T21:31:19.202Z,1755898279.202 [DAT](INFO): Ping request sent.
2025-08-22T21:31:19.202Z,1755898279.202 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:19.203Z,1755898279.203 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:19.203Z,1755898279.203 [DAT](INFO): direction in FSK: [0.981412,0.113553,0.154710]
2025-08-22T21:31:19.204Z,1755898279.204 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:19.204Z,1755898279.204 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:19.211Z,1755898279.211 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:19.212Z,1755898279.212 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:19.531Z,1755898279.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 76.599998 m,
deltaT: 3.532425 s,
deltaX: -2.400002 m,
approachRate: -0.679420 m/s,
rangeRepo size: 4
2025-08-22T21:31:19.533Z,1755898279.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 76.125122 m,
bearing: 228.109343 deg,
lat: 36.779427 deg,
lon: -121.859563 deg,
deltaT: 3.532425 s,
deltaX: -2.385788 m,
approachRate: -0.675397 m/s,
posRepo size: 4
2025-08-22T21:31:19.534Z,1755898279.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.13 m.
2025-08-22T21:31:19.536Z,1755898279.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.125122 m,
nav range: 74.748962 m,
bearing: 227.654126 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005245 deg/s,
cmd heading: 222.268316 deg,
new cmd heading: 222.264222 deg.
2025-08-22T21:31:19.542Z,1755898279.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879242 target range: 76.125122 and range: 76.60 m.
2025-08-22T21:31:19.955Z,1755898279.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.13 m.
2025-08-22T21:31:19.970Z,1755898279.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.125122 m,
nav range: 74.435242 m,
bearing: 227.654156 deg,
approach rate: -0.737927 m/s,
LOS rate: 0.000073 deg/s,
cmd heading: 222.264218 deg,
new cmd heading: 222.264280 deg.
2025-08-22T21:31:19.971Z,1755898279.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879244 target range: 76.125122 and range: 76.60 m.
2025-08-22T21:31:20.320Z,1755898280.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.13 m.
2025-08-22T21:31:20.323Z,1755898280.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.125122 m,
nav range: 74.178864 m,
bearing: 227.654172 deg,
approach rate: -0.703698 m/s,
LOS rate: 0.000044 deg/s,
cmd heading: 222.264287 deg,
new cmd heading: 222.264319 deg.
2025-08-22T21:31:20.324Z,1755898280.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879244 target range: 76.125122 and range: 76.60 m.
2025-08-22T21:31:20.728Z,1755898280.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:20.734Z,1755898280.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.13 m.
2025-08-22T21:31:20.737Z,1755898280.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.125122 m,
nav range: 73.896210 m,
bearing: 227.654058 deg,
approach rate: -0.681701 m/s,
LOS rate: -0.000277 deg/s,
cmd heading: 222.264314 deg,
new cmd heading: 222.264084 deg.
2025-08-22T21:31:20.742Z,1755898280.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879240 target range: 76.125122 and range: 76.60 m.
2025-08-22T21:31:20.934Z,1755898280.934 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:20.935Z,1755898280.935 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:20.935Z,1755898280.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:21.152Z,1755898281.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.13 m.
2025-08-22T21:31:21.156Z,1755898281.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.125122 m,
nav range: 73.589073 m,
bearing: 227.649924 deg,
approach rate: -0.735443 m/s,
LOS rate: -0.009939 deg/s,
cmd heading: 222.264082 deg,
new cmd heading: 222.255780 deg.
2025-08-22T21:31:21.157Z,1755898281.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879095 target range: 76.125122 and range: 76.60 m.
2025-08-22T21:31:21.187Z,1755898281.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985053
2025-08-22T21:31:21.439Z,1755898281.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237090
2025-08-22T21:31:21.538Z,1755898281.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.13 m.
2025-08-22T21:31:21.541Z,1755898281.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.125122 m,
nav range: 73.313713 m,
bearing: 227.646294 deg,
approach rate: -0.714116 m/s,
LOS rate: -0.009450 deg/s,
cmd heading: 222.255776 deg,
new cmd heading: 222.248488 deg.
2025-08-22T21:31:21.542Z,1755898281.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878968 target range: 76.125122 and range: 76.60 m.
2025-08-22T21:31:21.690Z,1755898281.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488212
2025-08-22T21:31:21.943Z,1755898281.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740372
2025-08-22T21:31:21.974Z,1755898281.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.13 m.
2025-08-22T21:31:21.976Z,1755898281.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.125122 m,
nav range: 73.009178 m,
bearing: 227.650770 deg,
approach rate: -0.698943 m/s,
LOS rate: 0.010316 deg/s,
cmd heading: 222.248482 deg,
new cmd heading: 222.257471 deg.
2025-08-22T21:31:21.977Z,1755898281.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879125 target range: 76.125122 and range: 76.60 m.
2025-08-22T21:31:22.199Z,1755898282.199 [DAT](INFO): DAT read: Rx Time:21:31:22.7931
2025-08-22T21:31:22.200Z,1755898282.200 [DAT](INFO): Rx dataTimestamp_ set to:1755898282.199342
2025-08-22T21:31:22.200Z,1755898282.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998267
2025-08-22T21:31:22.360Z,1755898282.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.13 m.
2025-08-22T21:31:22.363Z,1755898282.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.125122 m,
nav range: 72.738823 m,
bearing: 227.654775 deg,
approach rate: -0.699626 m/s,
LOS rate: 0.010403 deg/s,
cmd heading: 222.257470 deg,
new cmd heading: 222.265510 deg.
2025-08-22T21:31:22.364Z,1755898282.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879265 target range: 76.125122 and range: 76.60 m.
2025-08-22T21:31:22.447Z,1755898282.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245220
2025-08-22T21:31:22.721Z,1755898282.721 [DAT](INFO): DAT read: 21:31:22.7931 LVL= 25328, 32753, 27586, 32755, AGC= 66, IDX= 399, 0.27,-1.173,-3.077,-1.256,-1.567, PHS= 0.496,-1.465, 0.267, RAW= 143.9, 7.6, CAL= 143.4, 8.3, ROT= 6.6, -8.3
2025-08-22T21:31:22.726Z,1755898282.726 [DAT](INFO): got valid direction response:
21:31:22.7931 LVL= 25328, 32753, 27586, 32755, AGC= 66, IDX= 399, 0.27,-1.173,-3.077,-1.256,-1.567, PHS= 0.496,-1.465, 0.267, RAW= 143.9, 7.6, CAL= 143.4, 8.3, ROT= 6.6, -8.3
2025-08-22T21:31:22.727Z,1755898282.727 [DAT](INFO): DAT read: Bearing 359.4, 7.6 (Local)
2025-08-22T21:31:22.727Z,1755898282.727 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.4, 7.6 (Local)
2025-08-22T21:31:22.729Z,1755898282.729 [DAT](INFO): DAT read: Range 11 to 50 : 74.0 m (Round-trip 98.7 ms) speed 0.8 m/s
2025-08-22T21:31:22.734Z,1755898282.734 [DAT](INFO): DAT read: user:2296>
2025-08-22T21:31:22.735Z,1755898282.735 [DAT](INFO): DAT read: Tx time:21:31:23.8903
2025-08-22T21:31:22.735Z,1755898282.735 [DAT](INFO): Ping request sent.
2025-08-22T21:31:22.735Z,1755898282.735 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:22.736Z,1755898282.736 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:22.737Z,1755898282.737 [DAT](INFO): direction in FSK: [0.982968,0.113733,0.144356]
2025-08-22T21:31:22.737Z,1755898282.737 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:22.738Z,1755898282.738 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:22.741Z,1755898282.741 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:22.741Z,1755898282.741 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:22.952Z,1755898282.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 74.000000 m,
deltaT: 3.529450 s,
deltaX: -2.599998 m,
approachRate: -0.736658 m/s,
rangeRepo size: 4
2025-08-22T21:31:22.958Z,1755898282.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 73.540947 m,
bearing: 228.229880 deg,
lat: 36.779428 deg,
lon: -121.859564 deg,
deltaT: 3.529450 s,
deltaX: -2.584175 m,
approachRate: -0.732175 m/s,
posRepo size: 4
2025-08-22T21:31:22.959Z,1755898282.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.54 m.
2025-08-22T21:31:22.974Z,1755898282.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.540947 m,
nav range: 72.360100 m,
bearing: 227.805310 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.010403 deg/s,
cmd heading: 222.265516 deg,
new cmd heading: 222.277825 deg.
2025-08-22T21:31:22.975Z,1755898282.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879480 target range: 73.540947 and range: 74.00 m.
2025-08-22T21:31:23.338Z,1755898283.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:23.341Z,1755898283.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.54 m.
2025-08-22T21:31:23.344Z,1755898283.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.540947 m,
nav range: 72.047798 m,
bearing: 227.804399 deg,
approach rate: -0.802454 m/s,
LOS rate: -0.002352 deg/s,
cmd heading: 222.277824 deg,
new cmd heading: 222.275994 deg.
2025-08-22T21:31:23.344Z,1755898283.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879448 target range: 73.540947 and range: 74.00 m.
2025-08-22T21:31:23.454Z,1755898283.454 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:23.455Z,1755898283.455 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:23.455Z,1755898283.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:23.707Z,1755898283.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.971225
2025-08-22T21:31:23.725Z,1755898283.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.54 m.
2025-08-22T21:31:23.736Z,1755898283.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.540947 m,
nav range: 71.788338 m,
bearing: 227.803544 deg,
approach rate: -0.675499 m/s,
LOS rate: -0.002233 deg/s,
cmd heading: 222.275994 deg,
new cmd heading: 222.274278 deg.
2025-08-22T21:31:23.737Z,1755898283.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879418 target range: 73.540947 and range: 74.00 m.
2025-08-22T21:31:23.959Z,1755898283.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223875
2025-08-22T21:31:24.148Z,1755898284.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.54 m.
2025-08-22T21:31:24.168Z,1755898284.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.540947 m,
nav range: 71.469337 m,
bearing: 227.801875 deg,
approach rate: -0.753194 m/s,
LOS rate: -0.003957 deg/s,
cmd heading: 222.274272 deg,
new cmd heading: 222.270920 deg.
2025-08-22T21:31:24.171Z,1755898284.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879359 target range: 73.540947 and range: 74.00 m.
2025-08-22T21:31:24.211Z,1755898284.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475871
2025-08-22T21:31:24.462Z,1755898284.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727074
2025-08-22T21:31:24.584Z,1755898284.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.54 m.
2025-08-22T21:31:24.587Z,1755898284.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.540947 m,
nav range: 71.152565 m,
bearing: 227.800207 deg,
approach rate: -0.726522 m/s,
LOS rate: -0.003843 deg/s,
cmd heading: 222.270926 deg,
new cmd heading: 222.267575 deg.
2025-08-22T21:31:24.588Z,1755898284.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879301 target range: 73.540947 and range: 74.00 m.
2025-08-22T21:31:24.714Z,1755898284.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979079
2025-08-22T21:31:24.967Z,1755898284.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231279
2025-08-22T21:31:24.980Z,1755898284.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.54 m.
2025-08-22T21:31:24.999Z,1755898284.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.540947 m,
nav range: 70.871613 m,
bearing: 227.797526 deg,
approach rate: -0.709173 m/s,
LOS rate: -0.006795 deg/s,
cmd heading: 222.267579 deg,
new cmd heading: 222.262195 deg.
2025-08-22T21:31:25.000Z,1755898285.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879207 target range: 73.540947 and range: 74.00 m.
2025-08-22T21:31:25.219Z,1755898285.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483615
2025-08-22T21:31:25.376Z,1755898285.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:25.387Z,1755898285.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.54 m.
2025-08-22T21:31:25.411Z,1755898285.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.540947 m,
nav range: 70.598389 m,
bearing: 227.794898 deg,
approach rate: -0.677311 m/s,
LOS rate: -0.006540 deg/s,
cmd heading: 222.262197 deg,
new cmd heading: 222.256920 deg.
2025-08-22T21:31:25.413Z,1755898285.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879115 target range: 73.540947 and range: 74.00 m.
2025-08-22T21:31:25.473Z,1755898285.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737405
2025-08-22T21:31:25.723Z,1755898285.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987249
2025-08-22T21:31:25.804Z,1755898285.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.54 m.
2025-08-22T21:31:25.811Z,1755898285.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.540947 m,
nav range: 70.301575 m,
bearing: 227.791997 deg,
approach rate: -0.706496 m/s,
LOS rate: -0.006934 deg/s,
cmd heading: 222.256924 deg,
new cmd heading: 222.251097 deg.
2025-08-22T21:31:25.812Z,1755898285.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879013 target range: 73.540947 and range: 74.00 m.
2025-08-22T21:31:25.975Z,1755898285.975 [DAT](INFO): DAT read: Rx Time:21:31:26.3897
2025-08-22T21:31:25.975Z,1755898285.975 [DAT](INFO): Rx dataTimestamp_ set to:1755898285.974706
2025-08-22T21:31:25.976Z,1755898285.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240178
2025-08-22T21:31:26.195Z,1755898286.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.54 m.
2025-08-22T21:31:26.198Z,1755898286.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.540947 m,
nav range: 70.007507 m,
bearing: 227.791828 deg,
approach rate: -0.750982 m/s,
LOS rate: -0.000432 deg/s,
cmd heading: 222.251091 deg,
new cmd heading: 222.250752 deg.
2025-08-22T21:31:26.199Z,1755898286.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879007 target range: 73.540947 and range: 74.00 m.
2025-08-22T21:31:26.226Z,1755898286.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491043
2025-08-22T21:31:26.489Z,1755898286.489 [DAT](INFO): DAT read: 21:31:26.3897 LVL= 22512, 31473, 26434, 32755, AGC= 63, IDX= 412,-0.31,-1.319, 3.094,-1.414,-1.685, PHS= 0.468,-1.459, 0.227, RAW= 143.4, 8.4, CAL= 143.0, 9.2, ROT= 7.0, -9.2
2025-08-22T21:31:26.490Z,1755898286.490 [DAT](INFO): got valid direction response:
21:31:26.3897 LVL= 22512, 31473, 26434, 32755, AGC= 63, IDX= 412,-0.31,-1.319, 3.094,-1.414,-1.685, PHS= 0.468,-1.459, 0.227, RAW= 143.4, 8.4, CAL= 143.0, 9.2, ROT= 7.0, -9.2
2025-08-22T21:31:26.491Z,1755898286.491 [DAT](INFO): DAT read: Bearing 0.5, 7.6 (Local)
2025-08-22T21:31:26.491Z,1755898286.491 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.5, 7.6 (Local)
2025-08-22T21:31:26.492Z,1755898286.492 [DAT](INFO): DAT read: Range 11 to 50 : 71.4 m (Round-trip 95.3 ms) speed 0.6 m/s
2025-08-22T21:31:26.493Z,1755898286.493 [DAT](INFO): DAT read: user:2297>
2025-08-22T21:31:26.494Z,1755898286.494 [DAT](INFO): DAT read: Tx time:21:31:27.4918
2025-08-22T21:31:26.494Z,1755898286.494 [DAT](INFO): Ping request sent.
2025-08-22T21:31:26.494Z,1755898286.494 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:26.495Z,1755898286.495 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:26.496Z,1755898286.496 [DAT](INFO): direction in FSK: [0.979778,0.120302,0.159881]
2025-08-22T21:31:26.496Z,1755898286.496 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:26.496Z,1755898286.496 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:26.504Z,1755898286.504 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:26.504Z,1755898286.504 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:26.604Z,1755898286.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 71.400002 m,
deltaT: 3.778055 s,
deltaX: -2.599998 m,
approachRate: -0.688184 m/s,
rangeRepo size: 4
2025-08-22T21:31:26.611Z,1755898286.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 70.957397 m,
bearing: 228.681900 deg,
lat: 36.779429 deg,
lon: -121.859569 deg,
deltaT: 3.778055 s,
deltaX: -2.583549 m,
approachRate: -0.683831 m/s,
posRepo size: 4
2025-08-22T21:31:26.611Z,1755898286.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.96 m.
2025-08-22T21:31:26.619Z,1755898286.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.957397 m,
nav range: 69.939743 m,
bearing: 228.129062 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000432 deg/s,
cmd heading: 222.250749 deg,
new cmd heading: 222.250396 deg.
2025-08-22T21:31:26.620Z,1755898286.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879001 target range: 70.957397 and range: 71.40 m.
2025-08-22T21:31:27.012Z,1755898287.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.96 m.
2025-08-22T21:31:27.016Z,1755898287.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.957397 m,
nav range: 69.631302 m,
bearing: 228.127637 deg,
approach rate: -0.754882 m/s,
LOS rate: -0.003503 deg/s,
cmd heading: 222.250394 deg,
new cmd heading: 222.247532 deg.
2025-08-22T21:31:27.017Z,1755898287.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878951 target range: 70.957397 and range: 71.40 m.
2025-08-22T21:31:27.377Z,1755898287.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.96 m.
2025-08-22T21:31:27.380Z,1755898287.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.957397 m,
nav range: 69.371796 m,
bearing: 228.126419 deg,
approach rate: -0.711500 m/s,
LOS rate: -0.003351 deg/s,
cmd heading: 222.247525 deg,
new cmd heading: 222.245081 deg.
2025-08-22T21:31:27.382Z,1755898287.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878908 target range: 70.957397 and range: 71.40 m.
2025-08-22T21:31:27.770Z,1755898287.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:27.772Z,1755898287.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.96 m.
2025-08-22T21:31:27.779Z,1755898287.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.957397 m,
nav range: 69.090508 m,
bearing: 228.125143 deg,
approach rate: -0.711886 m/s,
LOS rate: -0.003242 deg/s,
cmd heading: 222.245080 deg,
new cmd heading: 222.242518 deg.
2025-08-22T21:31:27.780Z,1755898287.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878864 target range: 70.957397 and range: 71.40 m.
2025-08-22T21:31:27.993Z,1755898287.993 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:27.993Z,1755898287.993 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:27.994Z,1755898287.994 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:28.212Z,1755898288.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.96 m.
2025-08-22T21:31:28.215Z,1755898288.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.957397 m,
nav range: 68.776512 m,
bearing: 228.122155 deg,
approach rate: -0.713464 m/s,
LOS rate: -0.006822 deg/s,
cmd heading: 222.242512 deg,
new cmd heading: 222.236508 deg.
2025-08-22T21:31:28.216Z,1755898288.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878759 target range: 70.957397 and range: 71.40 m.
2025-08-22T21:31:28.243Z,1755898288.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748136
2025-08-22T21:31:28.495Z,1755898288.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000111
2025-08-22T21:31:28.591Z,1755898288.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.96 m.
2025-08-22T21:31:28.594Z,1755898288.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.957397 m,
nav range: 68.506683 m,
bearing: 228.119490 deg,
approach rate: -0.713067 m/s,
LOS rate: -0.007069 deg/s,
cmd heading: 222.236501 deg,
new cmd heading: 222.231152 deg.
2025-08-22T21:31:28.595Z,1755898288.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878665 target range: 70.957397 and range: 71.40 m.
2025-08-22T21:31:28.747Z,1755898288.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252088
2025-08-22T21:31:28.999Z,1755898288.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504072
2025-08-22T21:31:29.109Z,1755898289.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.96 m.
2025-08-22T21:31:29.112Z,1755898289.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.957397 m,
nav range: 68.140572 m,
bearing: 228.118356 deg,
approach rate: -0.705993 m/s,
LOS rate: -0.002199 deg/s,
cmd heading: 222.231147 deg,
new cmd heading: 222.228866 deg.
2025-08-22T21:31:29.113Z,1755898289.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878625 target range: 70.957397 and range: 71.40 m.
2025-08-22T21:31:29.250Z,1755898289.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755988
2025-08-22T21:31:29.446Z,1755898289.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.96 m.
2025-08-22T21:31:29.448Z,1755898289.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.957397 m,
nav range: 67.903046 m,
bearing: 228.117614 deg,
approach rate: -0.706430 m/s,
LOS rate: -0.002216 deg/s,
cmd heading: 222.228865 deg,
new cmd heading: 222.227375 deg.
2025-08-22T21:31:29.450Z,1755898289.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878599 target range: 70.957397 and range: 71.40 m.
2025-08-22T21:31:29.504Z,1755898289.504 [DAT](INFO): DAT read: Rx Time:21:31:29.9879
2025-08-22T21:31:29.504Z,1755898289.504 [DAT](INFO): Rx dataTimestamp_ set to:1755898289.504100
2025-08-22T21:31:29.506Z,1755898289.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010815
2025-08-22T21:31:29.754Z,1755898289.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260027
2025-08-22T21:31:29.845Z,1755898289.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:29.879Z,1755898289.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.96 m.
2025-08-22T21:31:29.904Z,1755898289.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.957397 m,
nav range: 67.619652 m,
bearing: 228.116574 deg,
approach rate: -0.662953 m/s,
LOS rate: -0.002442 deg/s,
cmd heading: 222.227376 deg,
new cmd heading: 222.225289 deg.
2025-08-22T21:31:29.912Z,1755898289.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878563 target range: 70.957397 and range: 71.40 m.
2025-08-22T21:31:30.020Z,1755898290.020 [DAT](INFO): DAT read: 21:31:29.9879 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410,-0.23, 2.798, 0.836, 2.698, 2.427, PHS= 0.473,-1.547, 0.226, RAW= 143.6, 8.9, CAL= 143.1, 9.8, ROT= 6.9, -9.8
2025-08-22T21:31:30.022Z,1755898290.022 [DAT](INFO): got valid direction response:
21:31:29.9879 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410,-0.23, 2.798, 0.836, 2.698, 2.427, PHS= 0.473,-1.547, 0.226, RAW= 143.6, 8.9, CAL= 143.1, 9.8, ROT= 6.9, -9.8
2025-08-22T21:31:30.023Z,1755898290.023 [DAT](INFO): DAT read: Bearing 1.2, 7.1 (Local)
2025-08-22T21:31:30.024Z,1755898290.024 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.2, 7.1 (Local)
2025-08-22T21:31:30.025Z,1755898290.025 [DAT](INFO): DAT read: Range 11 to 50 : 68.9 m (Round-trip 91.9 ms) speed 0.6 m/s
2025-08-22T21:31:30.026Z,1755898290.026 [DAT](INFO): DAT read: user:2298>
2025-08-22T21:31:30.027Z,1755898290.027 [DAT](INFO): DAT read: Tx time:21:31:31.0903
2025-08-22T21:31:30.027Z,1755898290.027 [DAT](INFO): Ping request sent.
2025-08-22T21:31:30.027Z,1755898290.027 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:30.027Z,1755898290.027 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:30.028Z,1755898290.028 [DAT](INFO): direction in FSK: [0.978271,0.118384,0.170209]
2025-08-22T21:31:30.028Z,1755898290.028 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:30.029Z,1755898290.029 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:30.053Z,1755898290.053 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:30.053Z,1755898290.053 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:30.302Z,1755898290.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.900002 m,
deltaT: 3.530589 s,
deltaX: -2.500000 m,
approachRate: -0.708097 m/s,
rangeRepo size: 4
2025-08-22T21:31:30.304Z,1755898290.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 68.472565 m,
bearing: 228.640142 deg,
lat: 36.779430 deg,
lon: -121.859570 deg,
deltaT: 3.530589 s,
deltaX: -2.484833 m,
approachRate: -0.703801 m/s,
posRepo size: 4
2025-08-22T21:31:30.305Z,1755898290.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.47 m.
2025-08-22T21:31:30.312Z,1755898290.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.472565 m,
nav range: 67.363968 m,
bearing: 228.219992 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002442 deg/s,
cmd heading: 222.225286 deg,
new cmd heading: 222.223215 deg.
2025-08-22T21:31:30.313Z,1755898290.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878527 target range: 68.472565 and range: 68.90 m.
2025-08-22T21:31:30.626Z,1755898290.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.47 m.
2025-08-22T21:31:30.628Z,1755898290.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.472565 m,
nav range: 67.125885 m,
bearing: 228.217196 deg,
approach rate: -0.724738 m/s,
LOS rate: -0.008541 deg/s,
cmd heading: 222.223210 deg,
new cmd heading: 222.217598 deg.
2025-08-22T21:31:30.630Z,1755898290.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878429 target range: 68.472565 and range: 68.90 m.
2025-08-22T21:31:31.082Z,1755898291.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.47 m.
2025-08-22T21:31:31.085Z,1755898291.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.472565 m,
nav range: 66.821014 m,
bearing: 228.219458 deg,
approach rate: -0.667431 m/s,
LOS rate: 0.004975 deg/s,
cmd heading: 222.217596 deg,
new cmd heading: 222.222140 deg.
2025-08-22T21:31:31.090Z,1755898291.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878508 target range: 68.472565 and range: 68.90 m.
2025-08-22T21:31:31.446Z,1755898291.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.47 m.
2025-08-22T21:31:31.449Z,1755898291.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.472565 m,
nav range: 66.553154 m,
bearing: 228.221333 deg,
approach rate: -0.737081 m/s,
LOS rate: 0.005179 deg/s,
cmd heading: 222.222144 deg,
new cmd heading: 222.225908 deg.
2025-08-22T21:31:31.450Z,1755898291.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878574 target range: 68.472565 and range: 68.90 m.
2025-08-22T21:31:31.835Z,1755898291.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.47 m.
2025-08-22T21:31:31.838Z,1755898291.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.472565 m,
nav range: 66.281410 m,
bearing: 228.223234 deg,
approach rate: -0.698064 m/s,
LOS rate: 0.004905 deg/s,
cmd heading: 222.225915 deg,
new cmd heading: 222.229734 deg.
2025-08-22T21:31:31.839Z,1755898291.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878641 target range: 68.472565 and range: 68.90 m.
2025-08-22T21:31:32.269Z,1755898292.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:32.271Z,1755898292.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.47 m.
2025-08-22T21:31:32.274Z,1755898292.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.472565 m,
nav range: 65.984703 m,
bearing: 228.223665 deg,
approach rate: -0.680005 m/s,
LOS rate: 0.000993 deg/s,
cmd heading: 222.229740 deg,
new cmd heading: 222.230606 deg.
2025-08-22T21:31:32.275Z,1755898292.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878656 target range: 68.472565 and range: 68.90 m.
2025-08-22T21:31:32.278Z,1755898292.278 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:32.279Z,1755898292.279 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:32.279Z,1755898292.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:32.532Z,1755898292.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504779
2025-08-22T21:31:32.650Z,1755898292.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.47 m.
2025-08-22T21:31:32.653Z,1755898292.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.472565 m,
nav range: 65.725571 m,
bearing: 228.223932 deg,
approach rate: -0.683442 m/s,
LOS rate: 0.000706 deg/s,
cmd heading: 222.230600 deg,
new cmd heading: 222.231135 deg.
2025-08-22T21:31:32.654Z,1755898292.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878665 target range: 68.472565 and range: 68.90 m.
2025-08-22T21:31:32.783Z,1755898292.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755450
2025-08-22T21:31:33.038Z,1755898293.038 [DAT](INFO): DAT read: Rx Time:21:31:33.5831
2025-08-22T21:31:33.040Z,1755898293.040 [DAT](INFO): Rx dataTimestamp_ set to:1755898293.038740
2025-08-22T21:31:33.042Z,1755898293.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013981
2025-08-22T21:31:33.134Z,1755898293.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.47 m.
2025-08-22T21:31:33.136Z,1755898293.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.472565 m,
nav range: 65.411224 m,
bearing: 228.222810 deg,
approach rate: -0.656165 m/s,
LOS rate: -0.002353 deg/s,
cmd heading: 222.231133 deg,
new cmd heading: 222.228878 deg.
2025-08-22T21:31:33.142Z,1755898293.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878626 target range: 68.472565 and range: 68.90 m.
2025-08-22T21:31:33.287Z,1755898293.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259443
2025-08-22T21:31:33.529Z,1755898293.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.47 m.
2025-08-22T21:31:33.532Z,1755898293.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.472565 m,
nav range: 65.129181 m,
bearing: 228.221659 deg,
approach rate: -0.705857 m/s,
LOS rate: -0.002894 deg/s,
cmd heading: 222.228879 deg,
new cmd heading: 222.226567 deg.
2025-08-22T21:31:33.533Z,1755898293.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878585 target range: 68.472565 and range: 68.90 m.
2025-08-22T21:31:33.544Z,1755898293.544 [DAT](INFO): DAT read: 21:31:33.5830 LVL= 22512, 29713, 24178, 32755, AGC= 65, IDX= 408,-0.10, 1.160,-0.784, 1.051, 0.751, PHS= 0.511,-1.490, 0.256, RAW= 143.3, 7.7, CAL= 142.8, 8.5, ROT= 7.2, -8.5
2025-08-22T21:31:33.545Z,1755898293.545 [DAT](INFO): got valid direction response:
21:31:33.5830 LVL= 22512, 29713, 24178, 32755, AGC= 65, IDX= 408,-0.10, 1.160,-0.784, 1.051, 0.751, PHS= 0.511,-1.490, 0.256, RAW= 143.3, 7.7, CAL= 142.8, 8.5, ROT= 7.2, -8.5
2025-08-22T21:31:33.546Z,1755898293.546 [DAT](INFO): DAT read: Bearing 0.1, 7.4 (Local)
2025-08-22T21:31:33.547Z,1755898293.547 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.1, 7.4 (Local)
2025-08-22T21:31:33.548Z,1755898293.548 [DAT](INFO): DAT read: Range 11 to 50 : 66.4 m (Round-trip 88.6 ms) speed 0.5 m/s
2025-08-22T21:31:33.549Z,1755898293.549 [DAT](INFO): DAT read: user:2299>
2025-08-22T21:31:33.574Z,1755898293.574 [DAT](INFO): DAT read: Tx time:21:31:34.6902
2025-08-22T21:31:33.575Z,1755898293.575 [DAT](INFO): Ping request sent.
2025-08-22T21:31:33.575Z,1755898293.575 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:33.575Z,1755898293.575 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:33.576Z,1755898293.576 [DAT](INFO): direction in FSK: [0.981217,0.123957,0.147809]
2025-08-22T21:31:33.576Z,1755898293.576 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:33.576Z,1755898293.576 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:33.616Z,1755898293.616 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:33.616Z,1755898293.616 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:33.928Z,1755898293.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 66.400002 m,
deltaT: 3.529535 s,
deltaX: -2.500000 m,
approachRate: -0.708309 m/s,
rangeRepo size: 4
2025-08-22T21:31:33.930Z,1755898293.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 65.988983 m,
bearing: 229.114016 deg,
lat: 36.779433 deg,
lon: -121.859574 deg,
deltaT: 3.529535 s,
deltaX: -2.483582 m,
approachRate: -0.703657 m/s,
posRepo size: 4
2025-08-22T21:31:33.931Z,1755898293.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:31:33.933Z,1755898293.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.988983 m,
nav range: 64.905731 m,
bearing: 228.633713 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002894 deg/s,
cmd heading: 222.226570 deg,
new cmd heading: 222.224267 deg.
2025-08-22T21:31:33.935Z,1755898293.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878545 target range: 65.988983 and range: 66.40 m.
2025-08-22T21:31:34.162Z,1755898294.162 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:31:34.352Z,1755898294.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:34.355Z,1755898294.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:31:34.358Z,1755898294.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.988983 m,
nav range: 64.625565 m,
bearing: 228.635281 deg,
approach rate: -0.655235 m/s,
LOS rate: 0.003683 deg/s,
cmd heading: 222.224262 deg,
new cmd heading: 222.227411 deg.
2025-08-22T21:31:34.359Z,1755898294.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878600 target range: 65.988983 and range: 66.40 m.
2025-08-22T21:31:34.546Z,1755898294.546 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:34.546Z,1755898294.546 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:34.547Z,1755898294.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:34.725Z,1755898294.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:31:34.728Z,1755898294.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.988983 m,
nav range: 64.354004 m,
bearing: 228.636773 deg,
approach rate: -0.733094 m/s,
LOS rate: 0.004044 deg/s,
cmd heading: 222.227417 deg,
new cmd heading: 222.230413 deg.
2025-08-22T21:31:34.729Z,1755898294.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878652 target range: 65.988983 and range: 66.40 m.
2025-08-22T21:31:34.801Z,1755898294.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226086
2025-08-22T21:31:35.057Z,1755898295.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481924
2025-08-22T21:31:35.164Z,1755898295.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:31:35.166Z,1755898295.166 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:31:35.173Z,1755898295.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.988983 m,
nav range: 64.062485 m,
bearing: 228.638499 deg,
approach rate: -0.664619 m/s,
LOS rate: 0.003952 deg/s,
cmd heading: 222.230409 deg,
new cmd heading: 222.233876 deg.
2025-08-22T21:31:35.179Z,1755898295.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878713 target range: 65.988983 and range: 66.40 m.
2025-08-22T21:31:35.306Z,1755898295.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731838
2025-08-22T21:31:35.559Z,1755898295.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984449
2025-08-22T21:31:35.654Z,1755898295.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:31:35.657Z,1755898295.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.988983 m,
nav range: 63.705666 m,
bearing: 228.640570 deg,
approach rate: -0.728689 m/s,
LOS rate: 0.004254 deg/s,
cmd heading: 222.233879 deg,
new cmd heading: 222.238045 deg.
2025-08-22T21:31:35.658Z,1755898295.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878786 target range: 65.988983 and range: 66.40 m.
2025-08-22T21:31:35.810Z,1755898295.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235776
2025-08-22T21:31:36.066Z,1755898296.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490552
2025-08-22T21:31:36.133Z,1755898296.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:31:36.140Z,1755898296.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.988983 m,
nav range: 63.376823 m,
bearing: 228.642335 deg,
approach rate: -0.686008 m/s,
LOS rate: 0.003701 deg/s,
cmd heading: 222.238045 deg,
new cmd heading: 222.241593 deg.
2025-08-22T21:31:36.140Z,1755898296.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878848 target range: 65.988983 and range: 66.40 m.
2025-08-22T21:31:36.315Z,1755898296.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739947
2025-08-22T21:31:36.559Z,1755898296.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:36.562Z,1755898296.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:31:36.564Z,1755898296.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.988983 m,
nav range: 63.071896 m,
bearing: 228.642533 deg,
approach rate: -0.711484 m/s,
LOS rate: 0.000464 deg/s,
cmd heading: 222.241597 deg,
new cmd heading: 222.241994 deg.
2025-08-22T21:31:36.567Z,1755898296.567 [DAT](INFO): DAT read: Rx Time:21:31:37.1794
2025-08-22T21:31:36.567Z,1755898296.567 [DAT](INFO): Rx dataTimestamp_ set to:1755898296.566811
2025-08-22T21:31:36.568Z,1755898296.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992976
2025-08-22T21:31:36.565Z,1755898296.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878855 target range: 65.988983 and range: 66.40 m.
2025-08-22T21:31:36.819Z,1755898296.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243936
2025-08-22T21:31:36.925Z,1755898296.925 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-08-22T21:31:36.974Z,1755898296.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:31:36.977Z,1755898296.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.988983 m,
nav range: 62.791069 m,
bearing: 228.642516 deg,
approach rate: -0.688159 m/s,
LOS rate: -0.000042 deg/s,
cmd heading: 222.241993 deg,
new cmd heading: 222.241959 deg.
2025-08-22T21:31:36.979Z,1755898296.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878854 target range: 65.988983 and range: 66.40 m.
2025-08-22T21:31:37.111Z,1755898297.111 [DAT](INFO): DAT read: 21:31:37.1794 LVL= 22256, 27521, 23778, 32211, AGC= 65, IDX= 404, 0.41,-1.141,-3.067,-1.234,-1.555, PHS= 0.516,-1.467, 0.277, RAW= 143.7, 7.2, CAL= 143.2, 7.9, ROT= 6.8, -7.9
2025-08-22T21:31:37.113Z,1755898297.113 [DAT](INFO): got valid direction response:
21:31:37.1794 LVL= 22256, 27521, 23778, 32211, AGC= 65, IDX= 404, 0.41,-1.141,-3.067,-1.234,-1.555, PHS= 0.516,-1.467, 0.277, RAW= 143.7, 7.2, CAL= 143.2, 7.9, ROT= 6.8, -7.9
2025-08-22T21:31:37.118Z,1755898297.118 [DAT](INFO): DAT read: Bearing 359.7, 6.7 (Local)
2025-08-22T21:31:37.118Z,1755898297.118 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.7, 6.7 (Local)
2025-08-22T21:31:37.120Z,1755898297.120 [DAT](INFO): DAT read: Range 11 to 50 : 63.8 m (Round-trip 85.1 ms) speed 0.6 m/s
2025-08-22T21:31:37.120Z,1755898297.120 [DAT](INFO): DAT read: user:2300>
2025-08-22T21:31:37.121Z,1755898297.121 [DAT](INFO): DAT read: Tx time:21:31:38.2902
2025-08-22T21:31:37.122Z,1755898297.122 [DAT](INFO): Ping request sent.
2025-08-22T21:31:37.122Z,1755898297.122 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:37.122Z,1755898297.122 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:37.123Z,1755898297.123 [DAT](INFO): direction in FSK: [0.983542,0.117280,0.137445]
2025-08-22T21:31:37.123Z,1755898297.123 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:37.123Z,1755898297.123 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:37.127Z,1755898297.127 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:37.127Z,1755898297.127 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:37.130Z,1755898297.130 [DockingStepper](ERROR): getADC uart error serial timeout
2025-08-22T21:31:37.130Z,1755898297.130 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-08-22T21:31:37.130Z,1755898297.130 [DockingStepper] Communications Fault, FailCount= 1
2025-08-22T21:31:37.130Z,1755898297.130 [DockingStepper](ERROR): Communications Fault
2025-08-22T21:31:37.317Z,1755898297.317 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-08-22T21:31:37.422Z,1755898297.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 63.799999 m,
deltaT: 3.567377 s,
deltaX: -2.600002 m,
approachRate: -0.728827 m/s,
rangeRepo size: 4
2025-08-22T21:31:37.424Z,1755898297.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 63.405243 m,
bearing: 228.854469 deg,
lat: 36.779433 deg,
lon: -121.859575 deg,
deltaT: 3.567377 s,
deltaX: -2.583740 m,
approachRate: -0.724269 m/s,
posRepo size: 4
2025-08-22T21:31:37.424Z,1755898297.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.41 m.
2025-08-22T21:31:37.427Z,1755898297.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.405243 m,
nav range: 62.499569 m,
bearing: 228.666892 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000042 deg/s,
cmd heading: 222.241952 deg,
new cmd heading: 222.241914 deg.
2025-08-22T21:31:37.428Z,1755898297.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878853 target range: 63.405243 and range: 63.80 m.
2025-08-22T21:31:37.466Z,1755898297.466 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-22T21:31:37.466Z,1755898297.466 [DockingStepper](INFO): Powering down
2025-08-22T21:31:37.813Z,1755898297.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.41 m.
2025-08-22T21:31:37.842Z,1755898297.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.405243 m,
nav range: 62.219097 m,
bearing: 228.666947 deg,
approach rate: -0.715539 m/s,
LOS rate: 0.000142 deg/s,
cmd heading: 222.241911 deg,
new cmd heading: 222.242022 deg.
2025-08-22T21:31:37.843Z,1755898297.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878855 target range: 63.405243 and range: 63.80 m.
2025-08-22T21:31:38.236Z,1755898298.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.41 m.
2025-08-22T21:31:38.239Z,1755898298.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.405243 m,
nav range: 61.924450 m,
bearing: 228.669352 deg,
approach rate: -0.696177 m/s,
LOS rate: 0.005710 deg/s,
cmd heading: 222.242020 deg,
new cmd heading: 222.246853 deg.
2025-08-22T21:31:38.240Z,1755898298.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878939 target range: 63.405243 and range: 63.80 m.
2025-08-22T21:31:38.585Z,1755898298.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:38.587Z,1755898298.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.41 m.
2025-08-22T21:31:38.590Z,1755898298.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.405243 m,
nav range: 61.680218 m,
bearing: 228.671329 deg,
approach rate: -0.695782 m/s,
LOS rate: 0.005654 deg/s,
cmd heading: 222.246856 deg,
new cmd heading: 222.250825 deg.
2025-08-22T21:31:38.591Z,1755898298.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879009 target range: 63.405243 and range: 63.80 m.
2025-08-22T21:31:38.619Z,1755898298.619 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:38.619Z,1755898298.619 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:38.619Z,1755898298.619 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:38.871Z,1755898298.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749405
2025-08-22T21:31:39.011Z,1755898299.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.41 m.
2025-08-22T21:31:39.013Z,1755898299.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.405243 m,
nav range: 61.394272 m,
bearing: 228.673663 deg,
approach rate: -0.675092 m/s,
LOS rate: 0.005537 deg/s,
cmd heading: 222.250831 deg,
new cmd heading: 222.255522 deg.
2025-08-22T21:31:39.014Z,1755898299.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879091 target range: 63.405243 and range: 63.80 m.
2025-08-22T21:31:39.127Z,1755898299.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004535
2025-08-22T21:31:39.376Z,1755898299.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254066
2025-08-22T21:31:39.427Z,1755898299.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.41 m.
2025-08-22T21:31:39.430Z,1755898299.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.405243 m,
nav range: 61.095139 m,
bearing: 228.679875 deg,
approach rate: -0.718407 m/s,
LOS rate: 0.014991 deg/s,
cmd heading: 222.255517 deg,
new cmd heading: 222.268001 deg.
2025-08-22T21:31:39.431Z,1755898299.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879308 target range: 63.405243 and range: 63.80 m.
2025-08-22T21:31:39.627Z,1755898299.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505115
2025-08-22T21:31:39.781Z,1755898299.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.41 m.
2025-08-22T21:31:39.784Z,1755898299.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.405243 m,
nav range: 60.848797 m,
bearing: 228.685029 deg,
approach rate: -0.696447 m/s,
LOS rate: 0.014631 deg/s,
cmd heading: 222.268002 deg,
new cmd heading: 222.278353 deg.
2025-08-22T21:31:39.785Z,1755898299.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879489 target range: 63.405243 and range: 63.80 m.
2025-08-22T21:31:39.880Z,1755898299.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757773
2025-08-22T21:31:40.134Z,1755898300.134 [DAT](INFO): DAT read: Rx Time:21:31:40.7762
2025-08-22T21:31:40.135Z,1755898300.135 [DAT](INFO): Rx dataTimestamp_ set to:1755898300.134262
2025-08-22T21:31:40.137Z,1755898300.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014684
2025-08-22T21:31:40.252Z,1755898300.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.41 m.
2025-08-22T21:31:40.255Z,1755898300.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.405243 m,
nav range: 60.514248 m,
bearing: 228.690238 deg,
approach rate: -0.709485 m/s,
LOS rate: 0.011108 deg/s,
cmd heading: 222.278357 deg,
new cmd heading: 222.288832 deg.
2025-08-22T21:31:40.256Z,1755898300.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879672 target range: 63.405243 and range: 63.80 m.
2025-08-22T21:31:40.384Z,1755898300.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262155
2025-08-22T21:31:40.601Z,1755898300.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:40.604Z,1755898300.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.41 m.
2025-08-22T21:31:40.615Z,1755898300.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.405243 m,
nav range: 60.275730 m,
bearing: 228.693967 deg,
approach rate: -0.678959 m/s,
LOS rate: 0.010656 deg/s,
cmd heading: 222.288834 deg,
new cmd heading: 222.296321 deg.
2025-08-22T21:31:40.616Z,1755898300.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879803 target range: 63.405243 and range: 63.80 m.
2025-08-22T21:31:40.638Z,1755898300.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515240
2025-08-22T21:31:40.895Z,1755898300.895 [DAT](INFO): DAT read: 21:31:40.7762 LVL= 23360, 32497, 25586, 32755, AGC= 65, IDX= 403,-0.40, 1.099,-0.867, 0.972, 0.676, PHS= 0.525,-1.498, 0.252, RAW= 142.9, 7.6, CAL= 142.4, 8.4, ROT= 7.6, -8.4
2025-08-22T21:31:40.896Z,1755898300.896 [DAT](INFO): got valid direction response:
21:31:40.7762 LVL= 23360, 32497, 25586, 32755, AGC= 65, IDX= 403,-0.40, 1.099,-0.867, 0.972, 0.676, PHS= 0.525,-1.498, 0.252, RAW= 142.9, 7.6, CAL= 142.4, 8.4, ROT= 7.6, -8.4
2025-08-22T21:31:40.897Z,1755898300.897 [DAT](INFO): DAT read: Bearing 360.0, 6.7 (Local)
2025-08-22T21:31:40.898Z,1755898300.898 [DAT](INFO): Local bearing/azimuth received:
Bearing 360.0, 6.7 (Local)
2025-08-22T21:31:40.903Z,1755898300.903 [DAT](INFO): DAT read: Range 11 to 50 : 61.4 m (Round-trip 81.9 ms) speed 0.5 m/s
2025-08-22T21:31:40.904Z,1755898300.904 [DAT](INFO): DAT read: user:2301>
2025-08-22T21:31:40.905Z,1755898300.905 [DAT](INFO): DAT read: Tx time:21:31:41.8902
2025-08-22T21:31:40.905Z,1755898300.905 [DAT](INFO): Ping request sent.
2025-08-22T21:31:40.905Z,1755898300.905 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:40.906Z,1755898300.906 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:40.906Z,1755898300.906 [DAT](INFO): direction in FSK: [0.980582,0.130838,0.146083]
2025-08-22T21:31:40.907Z,1755898300.907 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:40.907Z,1755898300.907 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:40.910Z,1755898300.910 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:40.910Z,1755898300.910 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:41.044Z,1755898301.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 61.400002 m,
deltaT: 3.780959 s,
deltaX: -2.399998 m,
approachRate: -0.634759 m/s,
rangeRepo size: 4
2025-08-22T21:31:41.051Z,1755898301.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 61.020241 m,
bearing: 229.744613 deg,
lat: 36.779434 deg,
lon: -121.859579 deg,
deltaT: 3.780959 s,
deltaX: -2.385002 m,
approachRate: -0.630793 m/s,
posRepo size: 4
2025-08-22T21:31:41.051Z,1755898301.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.02 m.
2025-08-22T21:31:41.058Z,1755898301.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.020241 m,
nav range: 60.184761 m,
bearing: 229.021137 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.010656 deg/s,
cmd heading: 222.296320 deg,
new cmd heading: 222.305688 deg.
2025-08-22T21:31:41.059Z,1755898301.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879966 target range: 61.020241 and range: 61.40 m.
2025-08-22T21:31:41.439Z,1755898301.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.02 m.
2025-08-22T21:31:41.442Z,1755898301.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.020241 m,
nav range: 59.896572 m,
bearing: 229.025772 deg,
approach rate: -0.727930 m/s,
LOS rate: 0.011764 deg/s,
cmd heading: 222.305691 deg,
new cmd heading: 222.315006 deg.
2025-08-22T21:31:41.443Z,1755898301.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880129 target range: 61.020241 and range: 61.40 m.
2025-08-22T21:31:41.800Z,1755898301.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.02 m.
2025-08-22T21:31:41.803Z,1755898301.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.020241 m,
nav range: 59.643768 m,
bearing: 229.029836 deg,
approach rate: -0.699989 m/s,
LOS rate: 0.011300 deg/s,
cmd heading: 222.315008 deg,
new cmd heading: 222.323170 deg.
2025-08-22T21:31:41.804Z,1755898301.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880271 target range: 61.020241 and range: 61.40 m.
2025-08-22T21:31:42.304Z,1755898302.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.02 m.
2025-08-22T21:31:42.307Z,1755898302.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.020241 m,
nav range: 59.288635 m,
bearing: 229.033757 deg,
approach rate: -0.704221 m/s,
LOS rate: 0.007822 deg/s,
cmd heading: 222.323163 deg,
new cmd heading: 222.331052 deg.
2025-08-22T21:31:42.308Z,1755898302.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880409 target range: 61.020241 and range: 61.40 m.
2025-08-22T21:31:42.627Z,1755898302.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:42.634Z,1755898302.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.02 m.
2025-08-22T21:31:42.636Z,1755898302.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.020241 m,
nav range: 59.065544 m,
bearing: 229.036293 deg,
approach rate: -0.686301 m/s,
LOS rate: 0.007834 deg/s,
cmd heading: 222.331059 deg,
new cmd heading: 222.336151 deg.
2025-08-22T21:31:42.641Z,1755898302.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880498 target range: 61.020241 and range: 61.40 m.
2025-08-22T21:31:42.650Z,1755898302.650 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:42.650Z,1755898302.650 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:42.651Z,1755898302.651 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:42.905Z,1755898302.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000124
2025-08-22T21:31:43.042Z,1755898303.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.02 m.
2025-08-22T21:31:43.045Z,1755898303.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.020241 m,
nav range: 58.779129 m,
bearing: 229.039576 deg,
approach rate: -0.693739 m/s,
LOS rate: 0.007991 deg/s,
cmd heading: 222.336154 deg,
new cmd heading: 222.342752 deg.
2025-08-22T21:31:43.046Z,1755898303.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880613 target range: 61.020241 and range: 61.40 m.
2025-08-22T21:31:43.157Z,1755898303.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251469
2025-08-22T21:31:43.406Z,1755898303.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501440
2025-08-22T21:31:43.471Z,1755898303.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.02 m.
2025-08-22T21:31:43.474Z,1755898303.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.020241 m,
nav range: 58.464764 m,
bearing: 229.041709 deg,
approach rate: -0.733422 m/s,
LOS rate: 0.005001 deg/s,
cmd heading: 222.342752 deg,
new cmd heading: 222.347039 deg.
2025-08-22T21:31:43.475Z,1755898303.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880688 target range: 61.020241 and range: 61.40 m.
2025-08-22T21:31:43.659Z,1755898303.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753476
2025-08-22T21:31:43.830Z,1755898303.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.02 m.
2025-08-22T21:31:43.832Z,1755898303.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.020241 m,
nav range: 58.210258 m,
bearing: 229.043517 deg,
approach rate: -0.709721 m/s,
LOS rate: 0.005065 deg/s,
cmd heading: 222.347041 deg,
new cmd heading: 222.350674 deg.
2025-08-22T21:31:43.834Z,1755898303.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880751 target range: 61.020241 and range: 61.40 m.
2025-08-22T21:31:43.911Z,1755898303.911 [DAT](INFO): DAT read: Rx Time:21:31:44.3729
2025-08-22T21:31:43.911Z,1755898303.911 [DAT](INFO): Rx dataTimestamp_ set to:1755898303.910873
2025-08-22T21:31:43.912Z,1755898303.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006670
2025-08-22T21:31:44.166Z,1755898304.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260220
2025-08-22T21:31:44.337Z,1755898304.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.02 m.
2025-08-22T21:31:44.339Z,1755898304.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.020241 m,
nav range: 57.850037 m,
bearing: 229.045051 deg,
approach rate: -0.710600 m/s,
LOS rate: 0.003046 deg/s,
cmd heading: 222.350675 deg,
new cmd heading: 222.353763 deg.
2025-08-22T21:31:44.340Z,1755898304.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880805 target range: 61.020241 and range: 61.40 m.
2025-08-22T21:31:44.421Z,1755898304.421 [DAT](INFO): DAT read: 21:31:44.3729 LVL= 22464, 32753, 24514, 32755, AGC= 63, IDX= 401,-0.44,-1.255, 3.110,-1.421,-1.698, PHS= 0.545,-1.430, 0.232, RAW= 141.5, 7.2, CAL= 141.2, 7.9, ROT= 8.8, -7.9
2025-08-22T21:31:44.422Z,1755898304.422 [DAT](INFO): got valid direction response:
21:31:44.3729 LVL= 22464, 32753, 24514, 32755, AGC= 63, IDX= 401,-0.44,-1.255, 3.110,-1.421,-1.698, PHS= 0.545,-1.430, 0.232, RAW= 141.5, 7.2, CAL= 141.2, 7.9, ROT= 8.8, -7.9
2025-08-22T21:31:44.423Z,1755898304.423 [DAT](INFO): DAT read: Bearing 359.4, 7.4 (Local)
2025-08-22T21:31:44.424Z,1755898304.424 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.4, 7.4 (Local)
2025-08-22T21:31:44.425Z,1755898304.425 [DAT](INFO): DAT read: Range 11 to 50 : 58.9 m (Round-trip 78.6 ms) speed 0.6 m/s
2025-08-22T21:31:44.426Z,1755898304.426 [DAT](INFO): DAT read: user:2302>
2025-08-22T21:31:44.426Z,1755898304.426 [DAT](INFO): DAT read: Tx time:21:31:45.4902
2025-08-22T21:31:44.427Z,1755898304.427 [DAT](INFO): Ping request sent.
2025-08-22T21:31:44.427Z,1755898304.427 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:44.427Z,1755898304.427 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:44.428Z,1755898304.428 [DAT](INFO): direction in FSK: [0.978850,0.151534,0.137445]
2025-08-22T21:31:44.428Z,1755898304.428 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:44.429Z,1755898304.429 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:44.432Z,1755898304.432 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:44.432Z,1755898304.432 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:44.689Z,1755898304.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 58.900002 m,
deltaT: 3.528191 s,
deltaX: -2.500000 m,
approachRate: -0.708578 m/s,
rangeRepo size: 4
2025-08-22T21:31:44.691Z,1755898304.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 58.535343 m,
bearing: 230.859339 deg,
lat: 36.779434 deg,
lon: -121.859581 deg,
deltaT: 3.528191 s,
deltaX: -2.484898 m,
approachRate: -0.704298 m/s,
posRepo size: 4
2025-08-22T21:31:44.692Z,1755898304.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.54 m.
2025-08-22T21:31:44.693Z,1755898304.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-22T21:31:44.699Z,1755898304.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.535343 m,
nav range: 57.707291 m,
bearing: 229.226158 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003046 deg/s,
cmd heading: 222.353762 deg,
new cmd heading: 222.355811 deg.
2025-08-22T21:31:44.700Z,1755898304.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880841 target range: 58.535343 and range: 58.90 m.
2025-08-22T21:31:45.063Z,1755898305.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:45.074Z,1755898305.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.54 m.
2025-08-22T21:31:45.074Z,1755898305.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-22T21:31:45.077Z,1755898305.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.535343 m,
nav range: 57.424824 m,
bearing: 229.228322 deg,
approach rate: -0.719417 m/s,
LOS rate: 0.005537 deg/s,
cmd heading: 222.355811 deg,
new cmd heading: 222.360159 deg.
2025-08-22T21:31:45.082Z,1755898305.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880917 target range: 58.535343 and range: 58.90 m.
2025-08-22T21:31:45.173Z,1755898305.173 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:45.174Z,1755898305.174 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:45.175Z,1755898305.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:45.424Z,1755898305.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996700
2025-08-22T21:31:45.504Z,1755898305.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.54 m.
2025-08-22T21:31:45.505Z,1755898305.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-22T21:31:45.512Z,1755898305.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.535343 m,
nav range: 57.123619 m,
bearing: 229.232949 deg,
approach rate: -0.686572 m/s,
LOS rate: 0.010604 deg/s,
cmd heading: 222.360155 deg,
new cmd heading: 222.369460 deg.
2025-08-22T21:31:45.518Z,1755898305.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881079 target range: 58.535343 and range: 58.90 m.
2025-08-22T21:31:45.674Z,1755898305.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247604
2025-08-22T21:31:45.897Z,1755898305.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.54 m.
2025-08-22T21:31:45.897Z,1755898305.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-22T21:31:45.900Z,1755898305.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.535343 m,
nav range: 56.843464 m,
bearing: 229.237298 deg,
approach rate: -0.713653 m/s,
LOS rate: 0.011132 deg/s,
cmd heading: 222.369458 deg,
new cmd heading: 222.378198 deg.
2025-08-22T21:31:45.901Z,1755898305.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881232 target range: 58.535343 and range: 58.90 m.
2025-08-22T21:31:45.940Z,1755898305.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512963
2025-08-22T21:31:46.194Z,1755898306.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766125
2025-08-22T21:31:46.322Z,1755898306.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.54 m.
2025-08-22T21:31:46.322Z,1755898306.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-22T21:31:46.325Z,1755898306.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.535343 m,
nav range: 56.567261 m,
bearing: 229.236975 deg,
approach rate: -0.650690 m/s,
LOS rate: -0.000764 deg/s,
cmd heading: 222.378201 deg,
new cmd heading: 222.377552 deg.
2025-08-22T21:31:46.326Z,1755898306.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881220 target range: 58.535343 and range: 58.90 m.
2025-08-22T21:31:46.442Z,1755898306.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015607
2025-08-22T21:31:46.688Z,1755898306.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.54 m.
2025-08-22T21:31:46.688Z,1755898306.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-22T21:31:46.691Z,1755898306.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.535343 m,
nav range: 56.320404 m,
bearing: 229.236904 deg,
approach rate: -0.673309 m/s,
LOS rate: -0.000195 deg/s,
cmd heading: 222.377545 deg,
new cmd heading: 222.377402 deg.
2025-08-22T21:31:46.692Z,1755898306.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881218 target range: 58.535343 and range: 58.90 m.
2025-08-22T21:31:46.695Z,1755898306.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267768
2025-08-22T21:31:46.947Z,1755898306.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519662
2025-08-22T21:31:47.068Z,1755898307.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:47.071Z,1755898307.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.54 m.
2025-08-22T21:31:47.071Z,1755898307.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-22T21:31:47.074Z,1755898307.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.535343 m,
nav range: 56.050270 m,
bearing: 229.236862 deg,
approach rate: -0.705086 m/s,
LOS rate: -0.000108 deg/s,
cmd heading: 222.377408 deg,
new cmd heading: 222.377325 deg.
2025-08-22T21:31:47.075Z,1755898307.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881217 target range: 58.535343 and range: 58.90 m.
2025-08-22T21:31:47.226Z,1755898307.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774084
2025-08-22T21:31:47.451Z,1755898307.451 [DAT](INFO): DAT read: Rx Time:21:31:47.9694
2025-08-22T21:31:47.451Z,1755898307.451 [DAT](INFO): Rx dataTimestamp_ set to:1755898307.450822
2025-08-22T21:31:47.452Z,1755898307.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024784
2025-08-22T21:31:47.519Z,1755898307.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.54 m.
2025-08-22T21:31:47.519Z,1755898307.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-22T21:31:47.522Z,1755898307.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.535343 m,
nav range: 55.741287 m,
bearing: 229.246065 deg,
approach rate: -0.690431 m/s,
LOS rate: 0.020678 deg/s,
cmd heading: 222.377326 deg,
new cmd heading: 222.395834 deg.
2025-08-22T21:31:47.523Z,1755898307.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881540 target range: 58.535343 and range: 58.90 m.
2025-08-22T21:31:47.703Z,1755898307.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275753
2025-08-22T21:31:47.928Z,1755898307.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.54 m.
2025-08-22T21:31:47.928Z,1755898307.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-22T21:31:47.931Z,1755898307.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.535343 m,
nav range: 55.459419 m,
bearing: 229.254670 deg,
approach rate: -0.689243 m/s,
LOS rate: 0.021149 deg/s,
cmd heading: 222.395836 deg,
new cmd heading: 222.413134 deg.
2025-08-22T21:31:47.932Z,1755898307.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881841 target range: 58.535343 and range: 58.90 m.
2025-08-22T21:31:47.969Z,1755898307.969 [DAT](INFO): DAT read: 21:31:47.9694 LVL= 22672, 32753, 21874, 32755, AGC= 62, IDX= 413,-0.03, 1.433,-0.483, 1.232, 0.986, PHS= 0.549,-1.424, 0.202, RAW= 140.5, 7.4, CAL= 140.1, 8.2, ROT= 9.9, -8.2
2025-08-22T21:31:47.970Z,1755898307.970 [DAT](INFO): got valid direction response:
21:31:47.9694 LVL= 22672, 32753, 21874, 32755, AGC= 62, IDX= 413,-0.03, 1.433,-0.483, 1.232, 0.986, PHS= 0.549,-1.424, 0.202, RAW= 140.5, 7.4, CAL= 140.1, 8.2, ROT= 9.9, -8.2
2025-08-22T21:31:47.971Z,1755898307.971 [DAT](INFO): DAT read: Bearing 359.6, 8.1 (Local)
2025-08-22T21:31:47.972Z,1755898307.972 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.6, 8.1 (Local)
2025-08-22T21:31:47.973Z,1755898307.973 [DAT](INFO): DAT read: Range 11 to 50 : 56.2 m (Round-trip 75.0 ms) speed 0.6 m/s
2025-08-22T21:31:47.982Z,1755898307.982 [DAT](INFO): DAT read: user:2303>
2025-08-22T21:31:47.983Z,1755898307.983 [DAT](INFO): DAT read: Tx time:21:31:49.0902
2025-08-22T21:31:47.983Z,1755898307.983 [DAT](INFO): Ping request sent.
2025-08-22T21:31:47.983Z,1755898307.983 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:47.983Z,1755898307.983 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:47.984Z,1755898307.984 [DAT](INFO): direction in FSK: [0.975038,0.170171,0.142629]
2025-08-22T21:31:47.985Z,1755898307.985 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:47.985Z,1755898307.985 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:47.988Z,1755898307.988 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:47.989Z,1755898307.989 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:48.372Z,1755898308.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.200001 m,
deltaT: 3.539434 s,
deltaX: -2.700001 m,
approachRate: -0.762834 m/s,
rangeRepo size: 4
2025-08-22T21:31:48.379Z,1755898308.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 55.852264 m,
bearing: 231.774225 deg,
lat: 36.779437 deg,
lon: -121.859587 deg,
deltaT: 3.539434 s,
deltaX: -2.683079 m,
approachRate: -0.758053 m/s,
posRepo size: 4
2025-08-22T21:31:48.380Z,1755898308.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m.
2025-08-22T21:31:48.380Z,1755898308.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T21:31:48.387Z,1755898308.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.852264 m,
nav range: 55.390293 m,
bearing: 229.862579 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021149 deg/s,
cmd heading: 222.413130 deg,
new cmd heading: 222.431864 deg.
2025-08-22T21:31:48.388Z,1755898308.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882168 target range: 55.852264 and range: 56.20 m.
2025-08-22T21:31:48.689Z,1755898308.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m.
2025-08-22T21:31:48.690Z,1755898308.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T21:31:48.693Z,1755898308.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.852264 m,
nav range: 55.158058 m,
bearing: 229.870363 deg,
approach rate: -0.728571 m/s,
LOS rate: 0.024524 deg/s,
cmd heading: 222.431859 deg,
new cmd heading: 222.447493 deg.
2025-08-22T21:31:48.694Z,1755898308.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882441 target range: 55.852264 and range: 56.20 m.
2025-08-22T21:31:49.099Z,1755898309.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:49.102Z,1755898309.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m.
2025-08-22T21:31:49.102Z,1755898309.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T21:31:49.105Z,1755898309.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.852264 m,
nav range: 54.882469 m,
bearing: 229.879853 deg,
approach rate: -0.668707 m/s,
LOS rate: 0.023143 deg/s,
cmd heading: 222.447486 deg,
new cmd heading: 222.466562 deg.
2025-08-22T21:31:49.106Z,1755898309.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882774 target range: 55.852264 and range: 56.20 m.
2025-08-22T21:31:49.214Z,1755898309.214 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:49.215Z,1755898309.215 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:49.215Z,1755898309.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:49.467Z,1755898309.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483387
2025-08-22T21:31:49.535Z,1755898309.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m.
2025-08-22T21:31:49.535Z,1755898309.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T21:31:49.542Z,1755898309.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.852264 m,
nav range: 54.592014 m,
bearing: 229.889516 deg,
approach rate: -0.670447 m/s,
LOS rate: 0.022423 deg/s,
cmd heading: 222.466556 deg,
new cmd heading: 222.485984 deg.
2025-08-22T21:31:49.543Z,1755898309.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883113 target range: 55.852264 and range: 56.20 m.
2025-08-22T21:31:49.719Z,1755898309.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735659
2025-08-22T21:31:49.909Z,1755898309.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m.
2025-08-22T21:31:49.910Z,1755898309.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T21:31:49.912Z,1755898309.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.852264 m,
nav range: 54.314964 m,
bearing: 229.898937 deg,
approach rate: -0.739881 m/s,
LOS rate: 0.025287 deg/s,
cmd heading: 222.485981 deg,
new cmd heading: 222.504918 deg.
2025-08-22T21:31:49.914Z,1755898309.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883443 target range: 55.852264 and range: 56.20 m.
2025-08-22T21:31:49.971Z,1755898309.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987598
2025-08-22T21:31:50.222Z,1755898310.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239316
2025-08-22T21:31:50.396Z,1755898310.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m.
2025-08-22T21:31:50.397Z,1755898310.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T21:31:50.430Z,1755898310.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.852264 m,
nav range: 53.985287 m,
bearing: 229.913630 deg,
approach rate: -0.676591 m/s,
LOS rate: 0.030338 deg/s,
cmd heading: 222.504914 deg,
new cmd heading: 222.534480 deg.
2025-08-22T21:31:50.431Z,1755898310.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883959 target range: 55.852264 and range: 56.20 m.
2025-08-22T21:31:50.475Z,1755898310.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491523
2025-08-22T21:31:50.712Z,1755898310.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m.
2025-08-22T21:31:50.713Z,1755898310.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T21:31:50.716Z,1755898310.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.852264 m,
nav range: 53.762730 m,
bearing: 229.923668 deg,
approach rate: -0.704607 m/s,
LOS rate: 0.031911 deg/s,
cmd heading: 222.534475 deg,
new cmd heading: 222.554634 deg.
2025-08-22T21:31:50.716Z,1755898310.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.884311 target range: 55.852264 and range: 56.20 m.
2025-08-22T21:31:50.727Z,1755898310.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743503
2025-08-22T21:31:50.978Z,1755898310.978 [DAT](INFO): DAT read: Rx Time:21:31:51.5660
2025-08-22T21:31:50.979Z,1755898310.979 [DAT](INFO): Rx dataTimestamp_ set to:1755898310.978680
2025-08-22T21:31:50.979Z,1755898310.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996361
2025-08-22T21:31:51.188Z,1755898311.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:51.192Z,1755898311.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m.
2025-08-22T21:31:51.192Z,1755898311.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T21:31:51.195Z,1755898311.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.852264 m,
nav range: 53.450180 m,
bearing: 229.937975 deg,
approach rate: -0.651850 m/s,
LOS rate: 0.030015 deg/s,
cmd heading: 222.554638 deg,
new cmd heading: 222.583421 deg.
2025-08-22T21:31:51.196Z,1755898311.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.884814 target range: 55.852264 and range: 56.20 m.
2025-08-22T21:31:51.234Z,1755898311.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250249
2025-08-22T21:31:51.488Z,1755898311.488 [DAT](INFO): DAT read: 21:31:51.5660 LVL= 26592, 29489, 25138, 31331, AGC= 65, IDX= 411,-0.22,-2.985, 1.317, 3.071, 2.842, PHS= 0.558,-1.480, 0.185, RAW= 140.1, 7.9, CAL= 139.7, 8.7, ROT= 10.3, -8.7
2025-08-22T21:31:51.489Z,1755898311.489 [DAT](INFO): got valid direction response:
21:31:51.5660 LVL= 26592, 29489, 25138, 31331, AGC= 65, IDX= 411,-0.22,-2.985, 1.317, 3.071, 2.842, PHS= 0.558,-1.480, 0.185, RAW= 140.1, 7.9, CAL= 139.7, 8.7, ROT= 10.3, -8.7
2025-08-22T21:31:51.490Z,1755898311.490 [DAT](INFO): DAT read: Bearing 359.9, 8.2 (Local)
2025-08-22T21:31:51.490Z,1755898311.490 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.9, 8.2 (Local)
2025-08-22T21:31:51.491Z,1755898311.491 [DAT](INFO): DAT read: Range 11 to 50 : 53.7 m (Round-trip 71.7 ms) speed 0.6 m/s
2025-08-22T21:31:51.492Z,1755898311.492 [DAT](INFO): DAT read: user:2304>
2025-08-22T21:31:51.492Z,1755898311.492 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:51.494Z,1755898311.494 [DAT](INFO): direction in FSK: [0.972564,0.176745,0.151261]
2025-08-22T21:31:51.496Z,1755898311.496 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:51.501Z,1755898311.501 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:51.501Z,1755898311.501 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:51.501Z,1755898311.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:51.672Z,1755898311.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 53.700001 m,
deltaT: 3.527952 s,
deltaX: -2.500000 m,
approachRate: -0.708626 m/s,
rangeRepo size: 4
2025-08-22T21:31:51.683Z,1755898311.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 53.368046 m,
bearing: 232.018746 deg,
lat: 36.779443 deg,
lon: -121.859597 deg,
deltaT: 3.527952 s,
deltaX: -2.484219 m,
approachRate: -0.704153 m/s,
posRepo size: 4
2025-08-22T21:31:51.683Z,1755898311.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.37 m.
2025-08-22T21:31:51.684Z,1755898311.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-08-22T21:31:51.691Z,1755898311.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.368046 m,
nav range: 53.365559 m,
bearing: 231.106913 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.030015 deg/s,
cmd heading: 222.583420 deg,
new cmd heading: 222.612240 deg.
2025-08-22T21:31:51.692Z,1755898311.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.885317 target range: 53.368046 and range: 53.70 m.
2025-08-22T21:31:51.735Z,1755898311.735 [DAT](INFO): DAT read: Tx time:21:31:52.6901
2025-08-22T21:31:51.735Z,1755898311.735 [DAT](INFO): Ping request sent.
2025-08-22T21:31:51.735Z,1755898311.735 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:51.735Z,1755898311.735 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:51.736Z,1755898311.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-22T21:31:51.987Z,1755898311.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251717
2025-08-22T21:31:52.026Z,1755898312.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.37 m.
2025-08-22T21:31:52.026Z,1755898312.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-08-22T21:31:52.029Z,1755898312.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.368046 m,
nav range: 53.100403 m,
bearing: 231.125712 deg,
approach rate: -0.749438 m/s,
LOS rate: 0.053400 deg/s,
cmd heading: 222.612244 deg,
new cmd heading: 222.650030 deg.
2025-08-22T21:31:52.030Z,1755898312.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.885976 target range: 53.368046 and range: 53.70 m.
2025-08-22T21:31:52.239Z,1755898312.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503555
2025-08-22T21:31:52.437Z,1755898312.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.37 m.
2025-08-22T21:31:52.438Z,1755898312.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-08-22T21:31:52.441Z,1755898312.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.368046 m,
nav range: 52.811371 m,
bearing: 231.142508 deg,
approach rate: -0.701992 m/s,
LOS rate: 0.041016 deg/s,
cmd heading: 222.650028 deg,
new cmd heading: 222.683804 deg.
2025-08-22T21:31:52.442Z,1755898312.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.886565 target range: 53.368046 and range: 53.70 m.
2025-08-22T21:31:52.491Z,1755898312.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755589
2025-08-22T21:31:52.742Z,1755898312.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007476
2025-08-22T21:31:52.817Z,1755898312.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.37 m.
2025-08-22T21:31:52.817Z,1755898312.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-08-22T21:31:52.820Z,1755898312.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.368046 m,
nav range: 52.544762 m,
bearing: 231.158248 deg,
approach rate: -0.702774 m/s,
LOS rate: 0.041702 deg/s,
cmd heading: 222.683797 deg,
new cmd heading: 222.715437 deg.
2025-08-22T21:31:52.821Z,1755898312.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.887118 target range: 53.368046 and range: 53.70 m.
2025-08-22T21:31:52.995Z,1755898312.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259711
2025-08-22T21:31:53.212Z,1755898313.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:53.215Z,1755898313.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.37 m.
2025-08-22T21:31:53.215Z,1755898313.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-08-22T21:31:53.218Z,1755898313.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.368046 m,
nav range: 52.266113 m,
bearing: 231.174833 deg,
approach rate: -0.699831 m/s,
LOS rate: 0.041875 deg/s,
cmd heading: 222.715434 deg,
new cmd heading: 222.748780 deg.
2025-08-22T21:31:53.219Z,1755898313.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.887700 target range: 53.368046 and range: 53.70 m.
2025-08-22T21:31:53.247Z,1755898313.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511596
2025-08-22T21:31:53.499Z,1755898313.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763504
2025-08-22T21:31:53.638Z,1755898313.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.37 m.
2025-08-22T21:31:53.639Z,1755898313.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-08-22T21:31:53.642Z,1755898313.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.368046 m,
nav range: 51.972946 m,
bearing: 231.192574 deg,
approach rate: -0.691915 m/s,
LOS rate: 0.042108 deg/s,
cmd heading: 222.748779 deg,
new cmd heading: 222.784462 deg.
2025-08-22T21:31:53.643Z,1755898313.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.888322 target range: 53.368046 and range: 53.70 m.
2025-08-22T21:31:53.751Z,1755898313.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015499
2025-08-22T21:31:54.003Z,1755898314.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268062
2025-08-22T21:31:54.062Z,1755898314.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.37 m.
2025-08-22T21:31:54.063Z,1755898314.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-08-22T21:31:54.066Z,1755898314.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.368046 m,
nav range: 51.690586 m,
bearing: 231.209693 deg,
approach rate: -0.666027 m/s,
LOS rate: 0.040600 deg/s,
cmd heading: 222.784460 deg,
new cmd heading: 222.818885 deg.
2025-08-22T21:31:54.067Z,1755898314.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.888923 target range: 53.368046 and range: 53.70 m.
2025-08-22T21:31:54.256Z,1755898314.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520590
2025-08-22T21:31:54.482Z,1755898314.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.37 m.
2025-08-22T21:31:54.483Z,1755898314.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-08-22T21:31:54.490Z,1755898314.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.368046 m,
nav range: 51.399269 m,
bearing: 231.236566 deg,
approach rate: -0.693860 m/s,
LOS rate: 0.064370 deg/s,
cmd heading: 222.818884 deg,
new cmd heading: 222.872936 deg.
2025-08-22T21:31:54.491Z,1755898314.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.889867 target range: 53.368046 and range: 53.70 m.
2025-08-22T21:31:54.507Z,1755898314.507 [DAT](INFO): DAT read: Rx Time:21:31:55.1627
2025-08-22T21:31:54.507Z,1755898314.507 [DAT](INFO): Rx dataTimestamp_ set to:1755898314.507002
2025-08-22T21:31:54.508Z,1755898314.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772807
2025-08-22T21:31:54.758Z,1755898314.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023479
2025-08-22T21:31:54.954Z,1755898314.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.37 m.
2025-08-22T21:31:54.954Z,1755898314.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-08-22T21:31:54.957Z,1755898314.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.368046 m,
nav range: 51.071461 m,
bearing: 231.266832 deg,
approach rate: -0.694969 m/s,
LOS rate: 0.064575 deg/s,
cmd heading: 222.872939 deg,
new cmd heading: 222.933857 deg.
2025-08-22T21:31:54.962Z,1755898314.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.890930 target range: 53.368046 and range: 53.70 m.
2025-08-22T21:31:55.011Z,1755898315.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275640
2025-08-22T21:31:55.268Z,1755898315.268 [DAT](INFO): DAT read: 21:31:55.1627 LVL= 23872, 32753, 25586, 31827, AGC= 64, IDX= 410,-0.33, 2.373, 0.399, 2.142, 1.925, PHS= 0.550,-1.481, 0.173, RAW= 140.0, 8.2, CAL= 139.6, 9.0, ROT= 10.4, -9.0
2025-08-22T21:31:55.269Z,1755898315.269 [DAT](INFO): got valid direction response:
21:31:55.1627 LVL= 23872, 32753, 25586, 31827, AGC= 64, IDX= 410,-0.33, 2.373, 0.399, 2.142, 1.925, PHS= 0.550,-1.481, 0.173, RAW= 140.0, 8.2, CAL= 139.6, 9.0, ROT= 10.4, -9.0
2025-08-22T21:31:55.270Z,1755898315.270 [DAT](INFO): DAT read: Bearing 0.2, 8.0 (Local)
2025-08-22T21:31:55.271Z,1755898315.271 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.2, 8.0 (Local)
2025-08-22T21:31:55.272Z,1755898315.272 [DAT](INFO): DAT read: Range 11 to 50 : 51.3 m (Round-trip 68.5 ms) speed 0.7 m/s
2025-08-22T21:31:55.273Z,1755898315.273 [DAT](INFO): DAT read: user:2305>
2025-08-22T21:31:55.273Z,1755898315.273 [DAT](INFO): DAT read: Tx time:21:31:56.2901
2025-08-22T21:31:55.274Z,1755898315.274 [DAT](INFO): Ping request sent.
2025-08-22T21:31:55.274Z,1755898315.274 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:55.274Z,1755898315.274 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:55.275Z,1755898315.275 [DAT](INFO): direction in FSK: [0.971462,0.178297,0.156434]
2025-08-22T21:31:55.275Z,1755898315.275 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:55.275Z,1755898315.275 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:55.322Z,1755898315.322 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:55.323Z,1755898315.323 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:55.619Z,1755898315.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.299999 m,
deltaT: 3.780006 s,
deltaX: -2.400002 m,
approachRate: -0.634920 m/s,
rangeRepo size: 4
2025-08-22T21:31:55.625Z,1755898315.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 50.982243 m,
bearing: 232.068670 deg,
lat: 36.779448 deg,
lon: -121.859600 deg,
deltaT: 3.780006 s,
deltaX: -2.385803 m,
approachRate: -0.631164 m/s,
posRepo size: 4
2025-08-22T21:31:55.626Z,1755898315.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-08-22T21:31:55.627Z,1755898315.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.30 m.
2025-08-22T21:31:55.633Z,1755898315.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.982243 m,
nav range: 50.492710 m,
bearing: 231.929613 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.064575 deg/s,
cmd heading: 222.933864 deg,
new cmd heading: 223.019701 deg.
2025-08-22T21:31:55.634Z,1755898315.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.892428 target range: 50.982243 and range: 51.30 m.
2025-08-22T21:31:55.971Z,1755898315.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:55.974Z,1755898315.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-08-22T21:31:55.974Z,1755898315.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.30 m.
2025-08-22T21:31:55.977Z,1755898315.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.982243 m,
nav range: 50.232330 m,
bearing: 231.953568 deg,
approach rate: -0.733673 m/s,
LOS rate: 0.067848 deg/s,
cmd heading: 223.019706 deg,
new cmd heading: 223.067864 deg.
2025-08-22T21:31:55.978Z,1755898315.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.893269 target range: 50.982243 and range: 51.30 m.
2025-08-22T21:31:56.019Z,1755898316.019 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:31:56.019Z,1755898316.019 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:31:56.020Z,1755898316.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:31:56.270Z,1755898316.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996659
2025-08-22T21:31:56.416Z,1755898316.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-08-22T21:31:56.416Z,1755898316.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.30 m.
2025-08-22T21:31:56.444Z,1755898316.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.982243 m,
nav range: 49.924625 m,
bearing: 231.981908 deg,
approach rate: -0.695727 m/s,
LOS rate: 0.064472 deg/s,
cmd heading: 223.067858 deg,
new cmd heading: 223.124888 deg.
2025-08-22T21:31:56.445Z,1755898316.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.894264 target range: 50.982243 and range: 51.30 m.
2025-08-22T21:31:56.523Z,1755898316.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249190
2025-08-22T21:31:56.775Z,1755898316.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500835
2025-08-22T21:31:56.778Z,1755898316.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-08-22T21:31:56.779Z,1755898316.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.30 m.
2025-08-22T21:31:56.801Z,1755898316.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.982243 m,
nav range: 49.673115 m,
bearing: 232.007031 deg,
approach rate: -0.693348 m/s,
LOS rate: 0.069608 deg/s,
cmd heading: 223.124891 deg,
new cmd heading: 223.175391 deg.
2025-08-22T21:31:56.806Z,1755898316.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.895145 target range: 50.982243 and range: 51.30 m.
2025-08-22T21:31:57.027Z,1755898317.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753449
2025-08-22T21:31:57.146Z,1755898317.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-08-22T21:31:57.147Z,1755898317.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.30 m.
2025-08-22T21:31:57.150Z,1755898317.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.982243 m,
nav range: 49.415470 m,
bearing: 232.032865 deg,
approach rate: -0.700672 m/s,
LOS rate: 0.070623 deg/s,
cmd heading: 223.175393 deg,
new cmd heading: 223.227331 deg.
2025-08-22T21:31:57.151Z,1755898317.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.896052 target range: 50.982243 and range: 51.30 m.
2025-08-22T21:31:57.279Z,1755898317.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004762
2025-08-22T21:31:57.531Z,1755898317.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256705
2025-08-22T21:31:57.578Z,1755898317.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-08-22T21:31:57.579Z,1755898317.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.30 m.
2025-08-22T21:31:57.582Z,1755898317.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.982243 m,
nav range: 49.114582 m,
bearing: 232.057546 deg,
approach rate: -0.696524 m/s,
LOS rate: 0.057484 deg/s,
cmd heading: 223.227330 deg,
new cmd heading: 223.276994 deg.
2025-08-22T21:31:57.583Z,1755898317.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.896919 target range: 50.982243 and range: 51.30 m.
2025-08-22T21:31:57.783Z,1755898317.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508732
2025-08-22T21:31:57.983Z,1755898317.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-08-22T21:31:57.983Z,1755898317.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.30 m.
2025-08-22T21:31:57.986Z,1755898317.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.982243 m,
nav range: 48.841766 m,
bearing: 232.080188 deg,
approach rate: -0.697309 m/s,
LOS rate: 0.058196 deg/s,
cmd heading: 223.276999 deg,
new cmd heading: 223.322536 deg.
2025-08-22T21:31:57.987Z,1755898317.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.897714 target range: 50.982243 and range: 51.30 m.
2025-08-22T21:31:58.034Z,1755898318.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760636
2025-08-22T21:31:58.153Z,1755898318.153 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-22T21:31:58.153Z,1755898318.153 [DockingStepper] No Fault, FailCount= 1
2025-08-22T21:31:58.287Z,1755898318.287 [DAT](INFO): DAT read: Rx Time:21:31:58.7592
2025-08-22T21:31:58.287Z,1755898318.287 [DAT](INFO): Rx dataTimestamp_ set to:1755898318.286733
2025-08-22T21:31:58.288Z,1755898318.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013757
2025-08-22T21:31:58.449Z,1755898318.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:31:58.452Z,1755898318.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-08-22T21:31:58.452Z,1755898318.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.30 m.
2025-08-22T21:31:58.460Z,1755898318.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.982243 m,
nav range: 48.511589 m,
bearing: 232.107518 deg,
approach rate: -0.684762 m/s,
LOS rate: 0.057066 deg/s,
cmd heading: 223.322543 deg,
new cmd heading: 223.377574 deg.
2025-08-22T21:31:58.461Z,1755898318.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.898674 target range: 50.982243 and range: 51.30 m.
2025-08-22T21:31:58.490Z,1755898318.490 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T21:31:58.490Z,1755898318.490 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T21:31:58.539Z,1755898318.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264783
2025-08-22T21:31:58.786Z,1755898318.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-08-22T21:31:58.787Z,1755898318.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.30 m.
2025-08-22T21:31:58.796Z,1755898318.796 [DAT](INFO): DAT read: 21:31:58.7592 LVL= 26224, 31473, 22770, 32755, AGC= 62, IDX= 406, 0.44,-0.592,-2.488,-0.817,-1.044, PHS= 0.553,-1.399, 0.183, RAW= 139.7, 7.4, CAL= 139.4, 8.3, ROT= 10.6, -8.3
2025-08-22T21:31:58.797Z,1755898318.797 [DAT](INFO): got valid direction response:
21:31:58.7592 LVL= 26224, 31473, 22770, 32755, AGC= 62, IDX= 406, 0.44,-0.592,-2.488,-0.817,-1.044, PHS= 0.553,-1.399, 0.183, RAW= 139.7, 7.4, CAL= 139.4, 8.3, ROT= 10.6, -8.3
2025-08-22T21:31:58.798Z,1755898318.798 [DAT](INFO): DAT read: Bearing 359.8, 8.0 (Local)
2025-08-22T21:31:58.799Z,1755898318.799 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.8, 8.0 (Local)
2025-08-22T21:31:58.800Z,1755898318.800 [DAT](INFO): DAT read: Range 11 to 50 : 48.7 m (Round-trip 65.0 ms) speed 0.6 m/s
2025-08-22T21:31:58.801Z,1755898318.801 [DAT](INFO): DAT read: user:2306>
2025-08-22T21:31:58.818Z,1755898318.818 [DAT](INFO): DAT read: Tx time:21:31:59.8901
2025-08-22T21:31:58.819Z,1755898318.819 [DAT](INFO): Ping request sent.
2025-08-22T21:31:58.819Z,1755898318.819 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:31:58.820Z,1755898318.820 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:31:58.826Z,1755898318.826 [DAT](INFO): direction in FSK: [0.972640,0.182025,0.144356]
2025-08-22T21:31:58.826Z,1755898318.826 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:58.826Z,1755898318.826 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:58.830Z,1755898318.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.982243 m,
nav range: 48.276974 m,
bearing: 232.125716 deg,
approach rate: -0.701425 m/s,
LOS rate: 0.054672 deg/s,
cmd heading: 223.377580 deg,
new cmd heading: 223.414154 deg.
2025-08-22T21:31:58.832Z,1755898318.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.899312 target range: 50.982243 and range: 51.30 m.
2025-08-22T21:31:58.840Z,1755898318.840 [DAT](INFO): publishing transmit ping time
2025-08-22T21:31:58.840Z,1755898318.840 [DAT](INFO): publishing direction and range info
2025-08-22T21:31:59.209Z,1755898319.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.700001 m,
deltaT: 3.528152 s,
deltaX: -2.599998 m,
approachRate: -0.736929 m/s,
rangeRepo size: 4
2025-08-22T21:31:59.215Z,1755898319.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.399094 m,
bearing: 232.627529 deg,
lat: 36.779449 deg,
lon: -121.859601 deg,
deltaT: 3.528152 s,
deltaX: -2.583149 m,
approachRate: -0.732154 m/s,
posRepo size: 4
2025-08-22T21:31:59.216Z,1755898319.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T21:31:59.216Z,1755898319.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 48.70 m.
2025-08-22T21:31:59.223Z,1755898319.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.399094 m,
nav range: 47.999027 m,
bearing: 232.421432 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.054672 deg/s,
cmd heading: 223.414149 deg,
new cmd heading: 223.460321 deg.
2025-08-22T21:31:59.224Z,1755898319.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.900118 target range: 48.399094 and range: 48.70 m.
2025-08-22T21:31:59.609Z,1755898319.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T21:31:59.610Z,1755898319.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 48.70 m.
2025-08-22T21:31:59.613Z,1755898319.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.399094 m,
nav range: 47.704079 m,
bearing: 232.444785 deg,
approach rate: -0.735905 m/s,
LOS rate: 0.058627 deg/s,
cmd heading: 223.460321 deg,
new cmd heading: 223.507316 deg.
2025-08-22T21:31:59.614Z,1755898319.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.900939 target range: 48.399094 and range: 48.70 m.
2025-08-22T21:31:59.995Z,1755898319.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T21:31:59.995Z,1755898319.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 48.70 m.
2025-08-22T21:31:59.999Z,1755898319.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.399094 m,
nav range: 47.440132 m,
bearing: 232.465930 deg,
approach rate: -0.684115 m/s,
LOS rate: 0.055110 deg/s,
cmd heading: 223.507313 deg,
new cmd heading: 223.549838 deg.
2025-08-22T21:31:59.000Z,1755898320.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.901681 target range: 48.399094 and range: 48.70 m.
2025-08-22T21:32:00.453Z,1755898320.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T21:32:00.460Z,1755898320.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 48.70 m.
2025-08-22T21:32:00.468Z,1755898320.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.399094 m,
nav range: 47.175465 m,
bearing: 232.486506 deg,
approach rate: -0.612943 m/s,
LOS rate: 0.047919 deg/s,
cmd heading: 223.549838 deg,
new cmd heading: 223.591220 deg.
2025-08-22T21:32:00.469Z,1755898320.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.902403 target range: 48.399094 and range: 48.70 m.
2025-08-22T21:32:00.791Z,1755898320.791 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3278,V
2025-08-22T21:32:00.804Z,1755898320.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:00.806Z,1755898320.806 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:32:00.806Z,1755898320.806 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:32:00.807Z,1755898320.807 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:32:00.811Z,1755898320.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T21:32:00.811Z,1755898320.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 48.70 m.
2025-08-22T21:32:00.817Z,1755898320.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.399094 m,
nav range: 46.885403 m,
bearing: 232.509323 deg,
approach rate: -0.755519 m/s,
LOS rate: 0.059799 deg/s,
cmd heading: 223.591215 deg,
new cmd heading: 223.637132 deg.
2025-08-22T21:32:00.838Z,1755898320.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.903204 target range: 48.399094 and range: 48.70 m.
2025-08-22T21:32:01.058Z,1755898321.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239614
2025-08-22T21:32:01.201Z,1755898321.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T21:32:01.201Z,1755898321.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 48.70 m.
2025-08-22T21:32:01.204Z,1755898321.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.399094 m,
nav range: 46.615681 m,
bearing: 232.530412 deg,
approach rate: -0.691442 m/s,
LOS rate: 0.054376 deg/s,
cmd heading: 223.637127 deg,
new cmd heading: 223.679550 deg.
2025-08-22T21:32:01.205Z,1755898321.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.903945 target range: 48.399094 and range: 48.70 m.
2025-08-22T21:32:01.311Z,1755898321.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491827
2025-08-22T21:32:01.563Z,1755898321.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743782
2025-08-22T21:32:01.623Z,1755898321.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T21:32:01.623Z,1755898321.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 48.70 m.
2025-08-22T21:32:01.626Z,1755898321.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.399094 m,
nav range: 46.324665 m,
bearing: 232.546498 deg,
approach rate: -0.690037 m/s,
LOS rate: 0.038382 deg/s,
cmd heading: 223.679557 deg,
new cmd heading: 223.711931 deg.
2025-08-22T21:32:01.627Z,1755898321.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.904510 target range: 48.399094 and range: 48.70 m.
2025-08-22T21:32:01.816Z,1755898321.816 [DAT](INFO): DAT read: Rx Time:21:32:02.3560
2025-08-22T21:32:01.817Z,1755898321.817 [DAT](INFO): Rx dataTimestamp_ set to:1755898321.816413
2025-08-22T21:32:01.819Z,1755898321.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999493
2025-08-22T21:32:02.006Z,1755898322.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T21:32:02.007Z,1755898322.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 48.70 m.
2025-08-22T21:32:02.010Z,1755898322.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.399094 m,
nav range: 46.060211 m,
bearing: 232.560875 deg,
approach rate: -0.688924 m/s,
LOS rate: 0.037668 deg/s,
cmd heading: 223.711932 deg,
new cmd heading: 223.740850 deg.
2025-08-22T21:32:02.011Z,1755898322.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.905015 target range: 48.399094 and range: 48.70 m.
2025-08-22T21:32:02.048Z,1755898322.048 [DockingStepper](INFO): Changing to mode: 2
2025-08-22T21:32:02.068Z,1755898322.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248612
2025-08-22T21:32:02.329Z,1755898322.329 [DAT](INFO): DAT read: 21:32:02.3560 LVL= 22864, 28017, 24306, 31187, AGC= 63, IDX= 405,-0.04, 2.377, 0.420, 2.197, 1.962, PHS= 0.517,-1.497, 0.191, RAW= 141.3, 8.5, CAL= 140.9, 9.3, ROT= 9.1, -9.3
2025-08-22T21:32:02.332Z,1755898322.332 [DAT](INFO): got valid direction response:
21:32:02.3560 LVL= 22864, 28017, 24306, 31187, AGC= 63, IDX= 405,-0.04, 2.377, 0.420, 2.197, 1.962, PHS= 0.517,-1.497, 0.191, RAW= 141.3, 8.5, CAL= 140.9, 9.3, ROT= 9.1, -9.3
2025-08-22T21:32:02.334Z,1755898322.334 [DAT](INFO): DAT read: Bearing 1.2, 6.6 (Local)
2025-08-22T21:32:02.334Z,1755898322.334 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.2, 6.6 (Local)
2025-08-22T21:32:02.337Z,1755898322.337 [DAT](INFO): DAT read: Range 11 to 50 : 46.3 m (Round-trip 61.8 ms) speed 0.6 m/s
2025-08-22T21:32:02.338Z,1755898322.338 [DAT](INFO): DAT read: user:2307>
2025-08-22T21:32:02.339Z,1755898322.339 [DAT](INFO): DAT read: Tx time:21:32:03.4401
2025-08-22T21:32:02.340Z,1755898322.340 [DAT](INFO): Ping request sent.
2025-08-22T21:32:02.340Z,1755898322.340 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:02.341Z,1755898322.341 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:32:02.383Z,1755898322.383 [DAT](INFO): direction in FSK: [0.974435,0.156079,0.161604]
2025-08-22T21:32:02.383Z,1755898322.383 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:02.383Z,1755898322.383 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:02.411Z,1755898322.411 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:02.411Z,1755898322.411 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:02.543Z,1755898322.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.299999 m,
deltaT: 3.528664 s,
deltaX: -2.400002 m,
approachRate: -0.680145 m/s,
rangeRepo size: 4
2025-08-22T21:32:02.545Z,1755898322.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.014126 m,
bearing: 231.451403 deg,
lat: 36.779449 deg,
lon: -121.859601 deg,
deltaT: 3.528664 s,
deltaX: -2.384968 m,
approachRate: -0.675884 m/s,
posRepo size: 4
2025-08-22T21:32:02.550Z,1755898322.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:32:02.550Z,1755898322.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.30 m.
2025-08-22T21:32:02.553Z,1755898322.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.014126 m,
nav range: 45.711281 m,
bearing: 232.579838 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.037668 deg/s,
cmd heading: 223.740851 deg,
new cmd heading: 223.780877 deg.
2025-08-22T21:32:02.566Z,1755898322.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.905713 target range: 46.014126 and range: 46.30 m.
2025-08-22T21:32:02.916Z,1755898322.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:02.919Z,1755898322.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:32:02.919Z,1755898322.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.30 m.
2025-08-22T21:32:02.932Z,1755898322.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.014126 m,
nav range: 45.420815 m,
bearing: 232.604673 deg,
approach rate: -0.762177 m/s,
LOS rate: 0.065583 deg/s,
cmd heading: 223.780876 deg,
new cmd heading: 223.830863 deg.
2025-08-22T21:32:02.933Z,1755898322.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.906585 target range: 46.014126 and range: 46.30 m.
2025-08-22T21:32:03.074Z,1755898323.074 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:32:03.074Z,1755898323.074 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:32:03.075Z,1755898323.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:32:03.289Z,1755898323.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:32:03.290Z,1755898323.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.30 m.
2025-08-22T21:32:03.293Z,1755898323.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.014126 m,
nav range: 45.155796 m,
bearing: 232.627558 deg,
approach rate: -0.715742 m/s,
LOS rate: 0.062168 deg/s,
cmd heading: 223.830859 deg,
new cmd heading: 223.876897 deg.
2025-08-22T21:32:03.294Z,1755898323.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.907389 target range: 46.014126 and range: 46.30 m.
2025-08-22T21:32:03.329Z,1755898323.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988344
2025-08-22T21:32:03.579Z,1755898323.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239602
2025-08-22T21:32:03.710Z,1755898323.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:32:03.711Z,1755898323.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.30 m.
2025-08-22T21:32:03.714Z,1755898323.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.014126 m,
nav range: 44.860668 m,
bearing: 232.650630 deg,
approach rate: -0.700815 m/s,
LOS rate: 0.055149 deg/s,
cmd heading: 223.876894 deg,
new cmd heading: 223.923343 deg.
2025-08-22T21:32:03.715Z,1755898323.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.908200 target range: 46.014126 and range: 46.30 m.
2025-08-22T21:32:03.832Z,1755898323.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491677
2025-08-22T21:32:04.083Z,1755898324.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742841
2025-08-22T21:32:04.109Z,1755898324.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:32:04.110Z,1755898324.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.30 m.
2025-08-22T21:32:04.113Z,1755898324.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.014126 m,
nav range: 44.580387 m,
bearing: 232.672673 deg,
approach rate: -0.702661 m/s,
LOS rate: 0.055609 deg/s,
cmd heading: 223.923340 deg,
new cmd heading: 223.967703 deg.
2025-08-22T21:32:04.114Z,1755898324.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.908974 target range: 46.014126 and range: 46.30 m.
2025-08-22T21:32:04.336Z,1755898324.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995393
2025-08-22T21:32:04.586Z,1755898324.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246632
2025-08-22T21:32:04.639Z,1755898324.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:32:04.640Z,1755898324.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.30 m.
2025-08-22T21:32:04.647Z,1755898324.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.014126 m,
nav range: 44.225456 m,
bearing: 232.712264 deg,
approach rate: -0.669753 m/s,
LOS rate: 0.075307 deg/s,
cmd heading: 223.967709 deg,
new cmd heading: 224.047525 deg.
2025-08-22T21:32:04.648Z,1755898324.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.910367 target range: 46.014126 and range: 46.30 m.
2025-08-22T21:32:04.839Z,1755898324.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498706
2025-08-22T21:32:04.983Z,1755898324.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:05.002Z,1755898325.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:32:05.002Z,1755898325.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.30 m.
2025-08-22T21:32:05.005Z,1755898325.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.014126 m,
nav range: 43.975700 m,
bearing: 232.739863 deg,
approach rate: -0.721092 m/s,
LOS rate: 0.080136 deg/s,
cmd heading: 224.047526 deg,
new cmd heading: 224.103037 deg.
2025-08-22T21:32:05.010Z,1755898325.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.911336 target range: 46.014126 and range: 46.30 m.
2025-08-22T21:32:05.091Z,1755898325.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750761
2025-08-22T21:32:05.286Z,1755898325.286 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:32:05.343Z,1755898325.343 [DAT](INFO): DAT read: Rx Time:21:32:05.9027
2025-08-22T21:32:05.343Z,1755898325.343 [DAT](INFO): Rx dataTimestamp_ set to:1755898325.342692
2025-08-22T21:32:05.343Z,1755898325.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003666
2025-08-22T21:32:05.510Z,1755898325.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:32:05.512Z,1755898325.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.30 m.
2025-08-22T21:32:05.534Z,1755898325.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.014126 m,
nav range: 43.652878 m,
bearing: 232.775477 deg,
approach rate: -0.646768 m/s,
LOS rate: 0.071881 deg/s,
cmd heading: 224.103042 deg,
new cmd heading: 224.174798 deg.
2025-08-22T21:32:05.535Z,1755898325.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.912588 target range: 46.014126 and range: 46.30 m.
2025-08-22T21:32:05.596Z,1755898325.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255887
2025-08-22T21:32:05.852Z,1755898325.852 [DAT](INFO): DAT read: 21:32:05.9027 LVL= 23152, 28577, 24674, 27699, AGC= 59, IDX= 403, 0.12, 2.244, 0.240, 2.051, 1.789, PHS= 0.557,-1.504, 0.218, RAW= 141.2, 7.7, CAL= 140.8, 8.5, ROT= 9.2, -8.5
2025-08-22T21:32:05.853Z,1755898325.853 [DAT](INFO): got valid direction response:
21:32:05.9027 LVL= 23152, 28577, 24674, 27699, AGC= 59, IDX= 403, 0.12, 2.244, 0.240, 2.051, 1.789, PHS= 0.557,-1.504, 0.218, RAW= 141.2, 7.7, CAL= 140.8, 8.5, ROT= 9.2, -8.5
2025-08-22T21:32:05.854Z,1755898325.854 [DAT](INFO): DAT read: Bearing 1.0, 6.6 (Local)
2025-08-22T21:32:05.855Z,1755898325.855 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.0, 6.6 (Local)
2025-08-22T21:32:05.856Z,1755898325.856 [DAT](INFO): DAT read: Range 11 to 50 : 43.8 m (Round-trip 58.4 ms) speed 0.6 m/s
2025-08-22T21:32:05.857Z,1755898325.857 [DAT](INFO): DAT read: user:2308>
2025-08-22T21:32:05.857Z,1755898325.857 [DAT](INFO): DAT read: Tx time:21:32:06.9901
2025-08-22T21:32:05.858Z,1755898325.858 [DAT](INFO): Ping request sent.
2025-08-22T21:32:05.858Z,1755898325.858 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:05.858Z,1755898325.858 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:32:05.859Z,1755898325.859 [DAT](INFO): direction in FSK: [0.976293,0.158125,0.147809]
2025-08-22T21:32:05.859Z,1755898325.859 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:05.860Z,1755898325.860 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:05.863Z,1755898325.863 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:05.863Z,1755898325.863 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:06.135Z,1755898326.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.799999 m,
deltaT: 3.527215 s,
deltaX: -2.500000 m,
approachRate: -0.708775 m/s,
rangeRepo size: 4
2025-08-22T21:32:06.142Z,1755898326.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.529621 m,
bearing: 231.953091 deg,
lat: 36.779448 deg,
lon: -121.859600 deg,
deltaT: 3.527215 s,
deltaX: -2.484505 m,
approachRate: -0.704381 m/s,
posRepo size: 4
2025-08-22T21:32:06.142Z,1755898326.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.53 m.
2025-08-22T21:32:06.143Z,1755898326.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.80 m.
2025-08-22T21:32:06.150Z,1755898326.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.529621 m,
nav range: 43.214939 m,
bearing: 232.517775 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.071881 deg/s,
cmd heading: 224.174800 deg,
new cmd heading: 224.268276 deg.
2025-08-22T21:32:06.151Z,1755898326.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.914220 target range: 43.529621 and range: 43.80 m.
2025-08-22T21:32:06.290Z,1755898326.290 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:32:06.657Z,1755898326.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.53 m.
2025-08-22T21:32:06.673Z,1755898326.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.80 m.
2025-08-22T21:32:06.676Z,1755898326.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.529621 m,
nav range: 42.844959 m,
bearing: 232.552226 deg,
approach rate: -0.708691 m/s,
LOS rate: 0.066559 deg/s,
cmd heading: 224.268278 deg,
new cmd heading: 224.337773 deg.
2025-08-22T21:32:06.681Z,1755898326.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.915433 target range: 43.529621 and range: 43.80 m.
2025-08-22T21:32:07.183Z,1755898327.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:07.186Z,1755898327.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.53 m.
2025-08-22T21:32:07.187Z,1755898327.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.80 m.
2025-08-22T21:32:07.192Z,1755898327.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.529621 m,
nav range: 42.489212 m,
bearing: 232.584202 deg,
approach rate: -0.672889 m/s,
LOS rate: 0.060989 deg/s,
cmd heading: 224.337768 deg,
new cmd heading: 224.402256 deg.
2025-08-22T21:32:07.193Z,1755898327.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.916558 target range: 43.529621 and range: 43.80 m.
2025-08-22T21:32:07.358Z,1755898327.358 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:32:07.358Z,1755898327.358 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:32:07.359Z,1755898327.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:32:07.611Z,1755898327.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752677
2025-08-22T21:32:07.613Z,1755898327.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.53 m.
2025-08-22T21:32:07.614Z,1755898327.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.80 m.
2025-08-22T21:32:07.616Z,1755898327.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.529621 m,
nav range: 42.188595 m,
bearing: 232.608311 deg,
approach rate: -0.703494 m/s,
LOS rate: 0.056822 deg/s,
cmd heading: 224.402259 deg,
new cmd heading: 224.450821 deg.
2025-08-22T21:32:07.617Z,1755898327.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917406 target range: 43.529621 and range: 43.80 m.
2025-08-22T21:32:07.866Z,1755898327.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008335
2025-08-22T21:32:07.971Z,1755898327.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.53 m.
2025-08-22T21:32:07.971Z,1755898327.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.80 m.
2025-08-22T21:32:07.972Z,1755898327.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 43.80 m.
2025-08-22T21:32:07.972Z,1755898327.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-22T21:32:07.975Z,1755898327.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.529621 m,
nav range: 41.937828 m,
bearing: 232.627606 deg,
approach rate: -0.700499 m/s,
LOS rate: 0.054221 deg/s,
cmd heading: 224.450821 deg,
new cmd heading: 224.489642 deg.
2025-08-22T21:32:07.976Z,1755898327.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.918083 target range: 43.529621 and range: 43.80 m.
2025-08-22T21:32:08.011Z,1755898328.011 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-08-22T21:32:08.011Z,1755898328.011 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-22T21:32:08.115Z,1755898328.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256647
2025-08-22T21:32:08.367Z,1755898328.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508695
2025-08-22T21:32:08.374Z,1755898328.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.53 m.
2025-08-22T21:32:08.376Z,1755898328.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.529621 m,
nav range: 41.657871 m,
bearing: 232.648540 deg,
approach rate: -0.695139 m/s,
LOS rate: 0.052329 deg/s,
cmd heading: 224.489644 deg,
new cmd heading: 224.531794 deg.
2025-08-22T21:32:08.378Z,1755898328.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.918819 target range: 43.529621 and range: 43.80 m.
2025-08-22T21:32:08.618Z,1755898328.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760564
2025-08-22T21:32:08.871Z,1755898328.871 [DAT](INFO): DAT read: Rx Time:21:32:09.4494
2025-08-22T21:32:08.871Z,1755898328.871 [DAT](INFO): Rx dataTimestamp_ set to:1755898328.870851
2025-08-22T21:32:08.872Z,1755898328.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013788
2025-08-22T21:32:08.876Z,1755898328.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.53 m.
2025-08-22T21:32:08.879Z,1755898328.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.529621 m,
nav range: 41.314796 m,
bearing: 232.664208 deg,
approach rate: -0.683348 m/s,
LOS rate: 0.031466 deg/s,
cmd heading: 224.531800 deg,
new cmd heading: 224.563395 deg.
2025-08-22T21:32:08.880Z,1755898328.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919371 target range: 43.529621 and range: 43.80 m.
2025-08-22T21:32:09.123Z,1755898329.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264651
2025-08-22T21:32:09.248Z,1755898329.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:09.255Z,1755898329.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.53 m.
2025-08-22T21:32:09.262Z,1755898329.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.529621 m,
nav range: 41.062008 m,
bearing: 232.674375 deg,
approach rate: -0.666534 m/s,
LOS rate: 0.026974 deg/s,
cmd heading: 224.563397 deg,
new cmd heading: 224.583857 deg.
2025-08-22T21:32:09.263Z,1755898329.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919728 target range: 43.529621 and range: 43.80 m.
2025-08-22T21:32:09.381Z,1755898329.381 [DAT](INFO): DAT read: 21:32:09.4494 LVL= 23248, 30865, 25138, 30579, AGC= 61, IDX= 402,-0.04,-2.478, 1.938,-2.582,-2.833, PHS= 0.457,-1.467, 0.207, RAW= 143.1, 8.9, CAL= 142.7, 9.7, ROT= 7.3, -9.7
2025-08-22T21:32:09.383Z,1755898329.383 [DAT](INFO): got valid direction response:
21:32:09.4494 LVL= 23248, 30865, 25138, 30579, AGC= 61, IDX= 402,-0.04,-2.478, 1.938,-2.582,-2.833, PHS= 0.457,-1.467, 0.207, RAW= 143.1, 8.9, CAL= 142.7, 9.7, ROT= 7.3, -9.7
2025-08-22T21:32:09.384Z,1755898329.384 [DAT](INFO): DAT read: Bearing 3.3, 4.8 (Local)
2025-08-22T21:32:09.385Z,1755898329.385 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.3, 4.8 (Local)
2025-08-22T21:32:09.387Z,1755898329.387 [DAT](INFO): DAT read: Range 11 to 50 : 41.4 m (Round-trip 55.2 ms) speed 0.7 m/s
2025-08-22T21:32:09.388Z,1755898329.388 [DAT](INFO): DAT read: user:2309>
2025-08-22T21:32:09.389Z,1755898329.389 [DAT](INFO): DAT read: Tx time:21:32:10.5400
2025-08-22T21:32:09.390Z,1755898329.390 [DAT](INFO): Ping request sent.
2025-08-22T21:32:09.390Z,1755898329.390 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:09.390Z,1755898329.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:32:09.392Z,1755898329.392 [DAT](INFO): direction in FSK: [0.977714,0.125248,0.168489]
2025-08-22T21:32:09.392Z,1755898329.392 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:09.392Z,1755898329.392 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:09.400Z,1755898329.400 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:09.400Z,1755898329.400 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:09.695Z,1755898329.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.400002 m,
deltaT: 3.528146 s,
deltaX: -2.399998 m,
approachRate: -0.680243 m/s,
rangeRepo size: 4
2025-08-22T21:32:09.697Z,1755898329.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.144524 m,
bearing: 230.977958 deg,
lat: 36.779444 deg,
lon: -121.859598 deg,
deltaT: 3.528146 s,
deltaX: -2.385098 m,
approachRate: -0.676020 m/s,
posRepo size: 4
2025-08-22T21:32:09.698Z,1755898329.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-22T21:32:09.700Z,1755898329.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144524 m,
nav range: 40.824234 m,
bearing: 232.086455 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.026974 deg/s,
cmd heading: 224.583860 deg,
new cmd heading: 224.607566 deg.
2025-08-22T21:32:09.702Z,1755898329.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.920141 target range: 41.144524 and range: 41.40 m.
2025-08-22T21:32:10.050Z,1755898330.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-22T21:32:10.053Z,1755898330.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144524 m,
nav range: 40.576721 m,
bearing: 232.090781 deg,
approach rate: -0.695278 m/s,
LOS rate: 0.012224 deg/s,
cmd heading: 224.607561 deg,
new cmd heading: 224.616264 deg.
2025-08-22T21:32:10.079Z,1755898330.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.920293 target range: 41.144524 and range: 41.40 m.
2025-08-22T21:32:10.468Z,1755898330.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-22T21:32:10.475Z,1755898330.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144524 m,
nav range: 40.294437 m,
bearing: 232.094718 deg,
approach rate: -0.675563 m/s,
LOS rate: 0.009489 deg/s,
cmd heading: 224.616262 deg,
new cmd heading: 224.624192 deg.
2025-08-22T21:32:10.476Z,1755898330.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.920432 target range: 41.144524 and range: 41.40 m.
2025-08-22T21:32:10.883Z,1755898330.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-22T21:32:10.890Z,1755898330.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144524 m,
nav range: 40.018028 m,
bearing: 232.091389 deg,
approach rate: -0.666361 m/s,
LOS rate: -0.008082 deg/s,
cmd heading: 224.624199 deg,
new cmd heading: 224.617494 deg.
2025-08-22T21:32:10.891Z,1755898330.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.920315 target range: 41.144524 and range: 41.40 m.
2025-08-22T21:32:11.236Z,1755898331.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-22T21:32:11.255Z,1755898331.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144524 m,
nav range: 39.761696 m,
bearing: 232.087399 deg,
approach rate: -0.725798 m/s,
LOS rate: -0.011368 deg/s,
cmd heading: 224.617492 deg,
new cmd heading: 224.609462 deg.
2025-08-22T21:32:11.256Z,1755898331.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.920175 target range: 41.144524 and range: 41.40 m.
2025-08-22T21:32:11.668Z,1755898331.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:11.670Z,1755898331.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-22T21:32:11.673Z,1755898331.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144524 m,
nav range: 39.459854 m,
bearing: 232.086503 deg,
approach rate: -0.695999 m/s,
LOS rate: -0.002082 deg/s,
cmd heading: 224.609459 deg,
new cmd heading: 224.607654 deg.
2025-08-22T21:32:11.674Z,1755898331.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.920143 target range: 41.144524 and range: 41.40 m.
2025-08-22T21:32:11.895Z,1755898331.895 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:32:11.895Z,1755898331.895 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:32:11.896Z,1755898331.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:32:12.050Z,1755898332.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-22T21:32:12.052Z,1755898332.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144524 m,
nav range: 39.194870 m,
bearing: 232.085060 deg,
approach rate: -0.697731 m/s,
LOS rate: -0.003827 deg/s,
cmd heading: 224.607656 deg,
new cmd heading: 224.604749 deg.
2025-08-22T21:32:12.054Z,1755898332.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.920092 target range: 41.144524 and range: 41.40 m.
2025-08-22T21:32:12.147Z,1755898332.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757294
2025-08-22T21:32:12.399Z,1755898332.399 [DAT](INFO): DAT read: Rx Time:21:32:12.9960
2025-08-22T21:32:12.399Z,1755898332.399 [DAT](INFO): Rx dataTimestamp_ set to:1755898332.398851
2025-08-22T21:32:12.400Z,1755898332.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009819
2025-08-22T21:32:12.446Z,1755898332.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-22T21:32:12.449Z,1755898332.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144524 m,
nav range: 38.918354 m,
bearing: 232.082743 deg,
approach rate: -0.696858 m/s,
LOS rate: -0.005881 deg/s,
cmd heading: 224.604747 deg,
new cmd heading: 224.600080 deg.
2025-08-22T21:32:12.450Z,1755898332.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.920011 target range: 41.144524 and range: 41.40 m.
2025-08-22T21:32:12.653Z,1755898332.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263475
2025-08-22T21:32:12.916Z,1755898332.916 [DAT](INFO): DAT read: 21:32:12.9960 LVL= 21952, 26145, 23522, 32755, AGC= 62, IDX= 400, 0.45, 2.419, 0.607, 2.512, 2.139, PHS= 0.382,-1.487, 0.329, RAW= 148.6, 8.5, CAL= 148.1, 9.2, ROT= 1.9, -9.2
2025-08-22T21:32:12.918Z,1755898332.918 [DAT](INFO): got valid direction response:
21:32:12.9960 LVL= 21952, 26145, 23522, 32755, AGC= 62, IDX= 400, 0.45, 2.419, 0.607, 2.512, 2.139, PHS= 0.382,-1.487, 0.329, RAW= 148.6, 8.5, CAL= 148.1, 9.2, ROT= 1.9, -9.2
2025-08-22T21:32:12.919Z,1755898332.919 [DAT](INFO): DAT read: Bearing 4.2, -0.1 (Local)
2025-08-22T21:32:12.919Z,1755898332.919 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.2, -0.1 (Local)
2025-08-22T21:32:12.920Z,1755898332.920 [DAT](INFO): DAT read: Range 11 to 50 : 38.9 m (Round-trip 51.9 ms) speed 0.6 m/s
2025-08-22T21:32:12.921Z,1755898332.921 [DAT](INFO): DAT read: user:2310>
2025-08-22T21:32:12.930Z,1755898332.930 [DAT](INFO): DAT read: Tx time:21:32:14.0900
2025-08-22T21:32:12.932Z,1755898332.932 [DAT](INFO): Ping request sent.
2025-08-22T21:32:12.932Z,1755898332.932 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:12.958Z,1755898332.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:32:12.958Z,1755898332.958 [DAT](INFO): direction in FSK: [0.986594,0.032729,0.159881]
2025-08-22T21:32:12.959Z,1755898332.959 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:12.960Z,1755898332.960 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:12.971Z,1755898332.971 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:12.971Z,1755898332.971 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:13.031Z,1755898333.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.900002 m,
deltaT: 3.529372 s,
deltaX: -2.500000 m,
approachRate: -0.708341 m/s,
rangeRepo size: 4
2025-08-22T21:32:13.033Z,1755898333.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.659996 m,
bearing: 226.716372 deg,
lat: 36.779443 deg,
lon: -121.859595 deg,
deltaT: 3.529372 s,
deltaX: -2.484528 m,
approachRate: -0.703957 m/s,
posRepo size: 4
2025-08-22T21:32:13.034Z,1755898333.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.66 m.
2025-08-22T21:32:13.036Z,1755898333.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.659996 m,
nav range: 38.427139 m,
bearing: 231.717961 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005881 deg/s,
cmd heading: 224.600075 deg,
new cmd heading: 224.593311 deg.
2025-08-22T21:32:13.042Z,1755898333.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919893 target range: 38.659996 and range: 38.90 m.
2025-08-22T21:32:13.361Z,1755898333.361 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-22T21:32:13.361Z,1755898333.361 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T21:32:13.361Z,1755898333.361 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-22T21:32:13.379Z,1755898333.379 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 38.900002 m (mode 2.000000 count ).
2025-08-22T21:32:13.379Z,1755898333.379 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-22T21:32:13.379Z,1755898333.379 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-22T21:32:13.386Z,1755898333.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.66 m.
2025-08-22T21:32:13.388Z,1755898333.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.659996 m,
nav range: 38.167339 m,
bearing: 231.712585 deg,
approach rate: -0.721751 m/s,
LOS rate: -0.015036 deg/s,
cmd heading: 224.593313 deg,
new cmd heading: 224.582488 deg.
2025-08-22T21:32:13.394Z,1755898333.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919704 target range: 38.659996 and range: 38.90 m.
2025-08-22T21:32:13.783Z,1755898333.783 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-22T21:32:13.784Z,1755898333.784 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-22T21:32:13.785Z,1755898333.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:13.806Z,1755898333.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.66 m.
2025-08-22T21:32:13.816Z,1755898333.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.659996 m,
nav range: 37.877903 m,
bearing: 231.706609 deg,
approach rate: -0.709596 m/s,
LOS rate: -0.014763 deg/s,
cmd heading: 224.582494 deg,
new cmd heading: 224.570450 deg.
2025-08-22T21:32:13.817Z,1755898333.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919494 target range: 38.659996 and range: 38.90 m.
2025-08-22T21:32:13.910Z,1755898333.910 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:32:13.910Z,1755898333.910 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:32:13.911Z,1755898333.911 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T21:32:14.163Z,1755898334.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231624
2025-08-22T21:32:14.192Z,1755898334.192 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-22T21:32:14.193Z,1755898334.193 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-22T21:32:14.195Z,1755898334.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.66 m.
2025-08-22T21:32:14.198Z,1755898334.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.659996 m,
nav range: 37.599056 m,
bearing: 231.699737 deg,
approach rate: -0.687060 m/s,
LOS rate: -0.017057 deg/s,
cmd heading: 224.570445 deg,
new cmd heading: 224.556600 deg.
2025-08-22T21:32:14.199Z,1755898334.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919252 target range: 38.659996 and range: 38.90 m.
2025-08-22T21:32:14.414Z,1755898334.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482943
2025-08-22T21:32:14.584Z,1755898334.584 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-22T21:32:14.584Z,1755898334.584 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T21:32:14.584Z,1755898334.584 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-22T21:32:14.584Z,1755898334.584 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T21:32:14.586Z,1755898334.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.66 m.
2025-08-22T21:32:14.589Z,1755898334.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.659996 m,
nav range: 37.328060 m,
bearing: 231.692961 deg,
approach rate: -0.692436 m/s,
LOS rate: -0.017441 deg/s,
cmd heading: 224.556594 deg,
new cmd heading: 224.542942 deg.
2025-08-22T21:32:14.591Z,1755898334.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919014 target range: 38.659996 and range: 38.90 m.
2025-08-22T21:32:14.675Z,1755898334.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743122
2025-08-22T21:32:14.927Z,1755898334.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995027
2025-08-22T21:32:15.036Z,1755898335.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.66 m.
2025-08-22T21:32:15.043Z,1755898335.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.659996 m,
nav range: 37.030029 m,
bearing: 231.685221 deg,
approach rate: -0.663253 m/s,
LOS rate: -0.017364 deg/s,
cmd heading: 224.542947 deg,
new cmd heading: 224.527342 deg.
2025-08-22T21:32:15.044Z,1755898335.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.918741 target range: 38.659996 and range: 38.90 m.
2025-08-22T21:32:15.179Z,1755898335.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247473
2025-08-22T21:32:15.386Z,1755898335.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.66 m.
2025-08-22T21:32:15.389Z,1755898335.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.659996 m,
nav range: 36.789696 m,
bearing: 231.678173 deg,
approach rate: -0.685508 m/s,
LOS rate: -0.020233 deg/s,
cmd heading: 224.527347 deg,
new cmd heading: 224.513160 deg.
2025-08-22T21:32:15.390Z,1755898335.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.918494 target range: 38.659996 and range: 38.90 m.
2025-08-22T21:32:15.432Z,1755898335.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500514
2025-08-22T21:32:15.683Z,1755898335.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751053
2025-08-22T21:32:15.824Z,1755898335.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:15.826Z,1755898335.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.66 m.
2025-08-22T21:32:15.829Z,1755898335.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.659996 m,
nav range: 36.492722 m,
bearing: 231.664595 deg,
approach rate: -0.675466 m/s,
LOS rate: -0.031134 deg/s,
cmd heading: 224.513154 deg,
new cmd heading: 224.485777 deg.
2025-08-22T21:32:15.830Z,1755898335.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.918016 target range: 38.659996 and range: 38.90 m.
2025-08-22T21:32:15.936Z,1755898335.936 [DAT](INFO): DAT read: Rx Time:21:32:16.5428
2025-08-22T21:32:15.936Z,1755898335.936 [DAT](INFO): Rx dataTimestamp_ set to:1755898335.935710
2025-08-22T21:32:15.937Z,1755898335.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005421
2025-08-22T21:32:16.187Z,1755898336.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255780
2025-08-22T21:32:16.213Z,1755898336.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.66 m.
2025-08-22T21:32:16.237Z,1755898336.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.659996 m,
nav range: 36.230095 m,
bearing: 231.651872 deg,
approach rate: -0.678590 m/s,
LOS rate: -0.033112 deg/s,
cmd heading: 224.485778 deg,
new cmd heading: 224.460149 deg.
2025-08-22T21:32:16.246Z,1755898336.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917569 target range: 38.659996 and range: 38.90 m.
2025-08-22T21:32:16.460Z,1755898336.460 [DAT](INFO): DAT read: 21:32:16.5428 LVL= 22512, 26577, 23138, 31923, AGC= 60, IDX= 415, 0.12, 1.138,-0.593, 1.429, 0.938, PHS= 0.302,-1.487, 0.447, RAW= 153.9, 8.0, CAL= 153.4, 8.4, ROT= 356.6, -8.4
2025-08-22T21:32:16.463Z,1755898336.463 [DAT](INFO): got valid direction response:
21:32:16.5428 LVL= 22512, 26577, 23138, 31923, AGC= 60, IDX= 415, 0.12, 1.138,-0.593, 1.429, 0.938, PHS= 0.302,-1.487, 0.447, RAW= 153.9, 8.0, CAL= 153.4, 8.4, ROT= 356.6, -8.4
2025-08-22T21:32:16.464Z,1755898336.464 [DAT](INFO): DAT read: Bearing 4.9, -4.8 (Local)
2025-08-22T21:32:16.465Z,1755898336.465 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.9, -4.8 (Local)
2025-08-22T21:32:16.466Z,1755898336.466 [DAT](INFO): DAT read: Range 11 to 50 : 36.5 m (Round-trip 48.7 ms) speed 0.5 m/s
2025-08-22T21:32:16.467Z,1755898336.467 [DAT](INFO): DAT read: user:2311>
2025-08-22T21:32:16.468Z,1755898336.468 [DAT](INFO): DAT read: Tx time:21:32:17.6400
2025-08-22T21:32:16.468Z,1755898336.468 [DAT](INFO): Ping request sent.
2025-08-22T21:32:16.468Z,1755898336.468 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:16.468Z,1755898336.468 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:32:16.471Z,1755898336.471 [DAT](INFO): direction in FSK: [0.987531,-0.058670,0.146083]
2025-08-22T21:32:16.472Z,1755898336.472 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:16.474Z,1755898336.474 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:16.480Z,1755898336.480 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:16.481Z,1755898336.481 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:16.518Z,1755898336.518 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.049840
2025-08-22T21:32:16.694Z,1755898336.694 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.225067
2025-08-22T21:32:16.704Z,1755898336.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.500000 m,
deltaT: 3.535585 s,
deltaX: -2.400002 m,
approachRate: -0.678813 m/s,
rangeRepo size: 4
2025-08-22T21:32:16.711Z,1755898336.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.274834 m,
bearing: 222.687876 deg,
lat: 36.779439 deg,
lon: -121.859592 deg,
deltaT: 3.535585 s,
deltaX: -2.385162 m,
approachRate: -0.674616 m/s,
posRepo size: 4
2025-08-22T21:32:16.711Z,1755898336.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.27 m.
2025-08-22T21:32:16.722Z,1755898336.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.274834 m,
nav range: 36.050652 m,
bearing: 230.770871 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.033112 deg/s,
cmd heading: 224.460152 deg,
new cmd heading: 224.427732 deg.
2025-08-22T21:32:16.723Z,1755898336.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917003 target range: 36.274834 and range: 36.50 m.
2025-08-22T21:32:16.943Z,1755898336.943 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.474713
2025-08-22T21:32:17.195Z,1755898337.195 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.726468
2025-08-22T21:32:17.201Z,1755898337.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.27 m.
2025-08-22T21:32:17.208Z,1755898337.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.274834 m,
nav range: 35.674671 m,
bearing: 230.739318 deg,
approach rate: -0.754130 m/s,
LOS rate: -0.063954 deg/s,
cmd heading: 224.427735 deg,
new cmd heading: 224.363966 deg.
2025-08-22T21:32:17.213Z,1755898337.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.915890 target range: 36.274834 and range: 36.50 m.
2025-08-22T21:32:17.447Z,1755898337.447 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.978209
2025-08-22T21:32:17.572Z,1755898337.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.27 m.
2025-08-22T21:32:17.575Z,1755898337.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.274834 m,
nav range: 35.404922 m,
bearing: 230.716140 deg,
approach rate: -0.727330 m/s,
LOS rate: -0.062971 deg/s,
cmd heading: 224.363969 deg,
new cmd heading: 224.317260 deg.
2025-08-22T21:32:17.576Z,1755898337.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.915075 target range: 36.274834 and range: 36.50 m.
2025-08-22T21:32:17.706Z,1755898337.706 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.232774
2025-08-22T21:32:17.950Z,1755898337.950 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.482209
2025-08-22T21:32:17.987Z,1755898337.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:17.990Z,1755898337.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.27 m.
2025-08-22T21:32:17.992Z,1755898337.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.274834 m,
nav range: 35.119576 m,
bearing: 230.687763 deg,
approach rate: -0.683782 m/s,
LOS rate: -0.068553 deg/s,
cmd heading: 224.317264 deg,
new cmd heading: 224.260048 deg.
2025-08-22T21:32:18.014Z,1755898338.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.914076 target range: 36.274834 and range: 36.50 m.
2025-08-22T21:32:18.202Z,1755898338.202 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.734199
2025-08-22T21:32:18.437Z,1755898338.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.27 m.
2025-08-22T21:32:18.440Z,1755898338.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.274834 m,
nav range: 34.815117 m,
bearing: 230.656568 deg,
approach rate: -0.680148 m/s,
LOS rate: -0.070298 deg/s,
cmd heading: 224.260054 deg,
new cmd heading: 224.197119 deg.
2025-08-22T21:32:18.441Z,1755898338.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.912978 target range: 36.274834 and range: 36.50 m.
2025-08-22T21:32:18.455Z,1755898338.455 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.986346
2025-08-22T21:32:18.709Z,1755898338.709 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.240582
2025-08-22T21:32:18.857Z,1755898338.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.27 m.
2025-08-22T21:32:18.864Z,1755898338.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.274834 m,
nav range: 34.545689 m,
bearing: 230.630953 deg,
approach rate: -0.641413 m/s,
LOS rate: -0.061456 deg/s,
cmd heading: 224.197121 deg,
new cmd heading: 224.145491 deg.
2025-08-22T21:32:18.865Z,1755898338.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.912077 target range: 36.274834 and range: 36.50 m.
2025-08-22T21:32:18.959Z,1755898338.959 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.490421
2025-08-22T21:32:19.211Z,1755898339.211 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.742709
2025-08-22T21:32:19.224Z,1755898339.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.27 m.
2025-08-22T21:32:19.227Z,1755898339.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.274834 m,
nav range: 34.282005 m,
bearing: 230.605115 deg,
approach rate: -0.719122 m/s,
LOS rate: -0.071009 deg/s,
cmd heading: 224.145485 deg,
new cmd heading: 224.093410 deg.
2025-08-22T21:32:19.228Z,1755898339.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.911168 target range: 36.274834 and range: 36.50 m.
2025-08-22T21:32:19.463Z,1755898339.463 [DAT](INFO): DAT read: Rx Time:21:32:20.0897
2025-08-22T21:32:19.464Z,1755898339.464 [DAT](INFO): Rx dataTimestamp_ set to:1755898339.463429
2025-08-22T21:32:19.465Z,1755898339.465 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.996278
2025-08-22T21:32:19.666Z,1755898339.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.27 m.
2025-08-22T21:32:19.692Z,1755898339.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.274834 m,
nav range: 34.013424 m,
bearing: 230.578384 deg,
approach rate: -0.607984 m/s,
LOS rate: -0.060989 deg/s,
cmd heading: 224.093411 deg,
new cmd heading: 224.039527 deg.
2025-08-22T21:32:19.704Z,1755898339.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.910227 target range: 36.274834 and range: 36.50 m.
2025-08-22T21:32:19.717Z,1755898339.717 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.248500
2025-08-22T21:32:19.970Z,1755898339.970 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.501094
2025-08-22T21:32:20.104Z,1755898340.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:20.107Z,1755898340.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.27 m.
2025-08-22T21:32:20.111Z,1755898340.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.274834 m,
nav range: 33.694965 m,
bearing: 230.543797 deg,
approach rate: -0.721621 m/s,
LOS rate: -0.079113 deg/s,
cmd heading: 224.039521 deg,
new cmd heading: 223.969695 deg.
2025-08-22T21:32:20.111Z,1755898340.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.909009 target range: 36.274834 and range: 36.50 m.
2025-08-22T21:32:20.224Z,1755898340.224 [DAT](INFO): DAT read: 21:32:20.0897 LVL= 22192, 29633, 22482, 32755, AGC= 60, IDX= 415, 0.33,-0.326,-1.971, 0.110,-0.464, PHS= 0.240,-1.462, 0.530, RAW= 157.8, 7.5, CAL= 157.3, 7.6, ROT= 352.7, -7.6
2025-08-22T21:32:20.225Z,1755898340.225 [DAT](INFO): got valid direction response:
21:32:20.0897 LVL= 22192, 29633, 22482, 32755, AGC= 60, IDX= 415, 0.33,-0.326,-1.971, 0.110,-0.464, PHS= 0.240,-1.462, 0.530, RAW= 157.8, 7.5, CAL= 157.3, 7.6, ROT= 352.7, -7.6
2025-08-22T21:32:20.226Z,1755898340.226 [DAT](INFO): DAT read: Bearing 4.9, -8.1 (Local)
2025-08-22T21:32:20.227Z,1755898340.227 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.9, -8.1 (Local)
2025-08-22T21:32:20.228Z,1755898340.228 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m (Round-trip 45.6 ms) speed 0.5 m/s
2025-08-22T21:32:20.229Z,1755898340.229 [DAT](INFO): DAT read: user:2312>
2025-08-22T21:32:20.230Z,1755898340.230 [DAT](INFO): DAT read: Tx time:21:32:21.1900
2025-08-22T21:32:20.230Z,1755898340.230 [DAT](INFO): Ping request sent.
2025-08-22T21:32:20.230Z,1755898340.230 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:20.231Z,1755898340.231 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T21:32:20.232Z,1755898340.232 [DAT](INFO): direction in FSK: [0.983181,-0.125948,0.132256]
2025-08-22T21:32:20.232Z,1755898340.232 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:20.232Z,1755898340.232 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:20.236Z,1755898340.236 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:20.236Z,1755898340.236 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:20.239Z,1755898340.239 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.008602
2025-08-22T21:32:20.470Z,1755898340.470 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.239882
2025-08-22T21:32:20.551Z,1755898340.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.200001 m,
deltaT: 3.779025 s,
deltaX: -2.299999 m,
approachRate: -0.608622 m/s,
rangeRepo size: 4
2025-08-22T21:32:20.553Z,1755898340.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.989014 m,
bearing: 219.153676 deg,
lat: 36.779421 deg,
lon: -121.859570 deg,
deltaT: 3.779025 s,
deltaX: -2.285820 m,
approachRate: -0.604870 m/s,
posRepo size: 4
2025-08-22T21:32:20.554Z,1755898340.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-08-22T21:32:20.556Z,1755898340.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.989014 m,
nav range: 33.301041 m,
bearing: 225.678588 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.079113 deg/s,
cmd heading: 223.969689 deg,
new cmd heading: 223.899515 deg.
2025-08-22T21:32:20.558Z,1755898340.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.907784 target range: 33.989014 and range: 34.20 m.
2025-08-22T21:32:20.725Z,1755898340.725 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.494124
2025-08-22T21:32:20.911Z,1755898340.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-08-22T21:32:20.918Z,1755898340.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.989014 m,
nav range: 33.060066 m,
bearing: 225.628693 deg,
approach rate: -0.667911 m/s,
LOS rate: -0.139301 deg/s,
cmd heading: 223.899516 deg,
new cmd heading: 223.798999 deg.
2025-08-22T21:32:20.919Z,1755898340.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.906029 target range: 33.989014 and range: 34.20 m.
2025-08-22T21:32:20.975Z,1755898340.975 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.744259
2025-08-22T21:32:21.227Z,1755898341.227 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.996827
2025-08-22T21:32:21.305Z,1755898341.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-08-22T21:32:21.312Z,1755898341.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.989014 m,
nav range: 32.799770 m,
bearing: 225.573834 deg,
approach rate: -0.660995 m/s,
LOS rate: -0.140414 deg/s,
cmd heading: 223.799003 deg,
new cmd heading: 223.688415 deg.
2025-08-22T21:32:21.313Z,1755898341.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.904099 target range: 33.989014 and range: 34.20 m.
2025-08-22T21:32:21.479Z,1755898341.479 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.248155
2025-08-22T21:32:21.689Z,1755898341.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-08-22T21:32:21.692Z,1755898341.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.989014 m,
nav range: 32.530506 m,
bearing: 225.515882 deg,
approach rate: -0.701441 m/s,
LOS rate: -0.152216 deg/s,
cmd heading: 223.688408 deg,
new cmd heading: 223.571546 deg.
2025-08-22T21:32:21.694Z,1755898341.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.902060 target range: 33.989014 and range: 34.20 m.
2025-08-22T21:32:21.734Z,1755898341.734 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.502768
2025-08-22T21:32:21.983Z,1755898341.983 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.752992
2025-08-22T21:32:22.183Z,1755898342.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:22.202Z,1755898342.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-08-22T21:32:22.205Z,1755898342.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.989014 m,
nav range: 32.213482 m,
bearing: 225.437826 deg,
approach rate: -0.617435 m/s,
LOS rate: -0.153518 deg/s,
cmd heading: 223.571544 deg,
new cmd heading: 223.413895 deg.
2025-08-22T21:32:22.211Z,1755898342.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.899308 target range: 33.989014 and range: 34.20 m.
2025-08-22T21:32:22.235Z,1755898342.235 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.004105
2025-08-22T21:32:22.487Z,1755898342.487 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.256145
2025-08-22T21:32:22.504Z,1755898342.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-08-22T21:32:22.507Z,1755898342.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.989014 m,
nav range: 32.007252 m,
bearing: 225.385984 deg,
approach rate: -0.682802 m/s,
LOS rate: -0.172747 deg/s,
cmd heading: 223.413889 deg,
new cmd heading: 223.309538 deg.
2025-08-22T21:32:22.508Z,1755898342.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.897487 target range: 33.989014 and range: 34.20 m.
2025-08-22T21:32:22.741Z,1755898342.741 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.510236
2025-08-22T21:32:22.937Z,1755898342.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-08-22T21:32:22.940Z,1755898342.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.989014 m,
nav range: 31.726301 m,
bearing: 225.315743 deg,
approach rate: -0.649694 m/s,
LOS rate: -0.163870 deg/s,
cmd heading: 223.309538 deg,
new cmd heading: 223.167812 deg.
2025-08-22T21:32:22.945Z,1755898342.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.895013 target range: 33.989014 and range: 34.20 m.
2025-08-22T21:32:22.991Z,1755898342.991 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.760171
2025-08-22T21:32:23.243Z,1755898343.243 [DAT](INFO): DAT read: Rx Time:21:32:23.6366
2025-08-22T21:32:23.243Z,1755898343.243 [DAT](INFO): Rx dataTimestamp_ set to:1755898343.242779
2025-08-22T21:32:23.244Z,1755898343.244 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.013130
2025-08-22T21:32:23.364Z,1755898343.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-08-22T21:32:23.367Z,1755898343.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.989014 m,
nav range: 31.448765 m,
bearing: 225.245112 deg,
approach rate: -0.649014 m/s,
LOS rate: -0.166628 deg/s,
cmd heading: 223.167811 deg,
new cmd heading: 223.025302 deg.
2025-08-22T21:32:23.368Z,1755898343.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.892526 target range: 33.989014 and range: 34.20 m.
2025-08-22T21:32:23.498Z,1755898343.498 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.267139
2025-08-22T21:32:23.791Z,1755898343.791 [DAT](INFO): DAT read: 21:32:23.6366 LVL= 24032, 30417, 21938, 28435, AGC= 59, IDX= 416, 0.07,-1.470,-3.125,-0.951,-1.562, PHS= 0.193,-1.518, 0.567, RAW= 159.7, 7.9, CAL= 159.3, 8.1, ROT= 350.7, -8.1
2025-08-22T21:32:23.795Z,1755898343.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-08-22T21:32:23.806Z,1755898343.806 [DAT](INFO): got valid direction response:
21:32:23.6366 LVL= 24032, 30417, 21938, 28435, AGC= 59, IDX= 416, 0.07,-1.470,-3.125,-0.951,-1.562, PHS= 0.193,-1.518, 0.567, RAW= 159.7, 7.9, CAL= 159.3, 8.1, ROT= 350.7, -8.1
2025-08-22T21:32:23.807Z,1755898343.807 [DAT](INFO): DAT read: Bearing 5.5, -9.2 (Local)
2025-08-22T21:32:23.807Z,1755898343.807 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.5, -9.2 (Local)
2025-08-22T21:32:23.809Z,1755898343.809 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m (Round-trip 42.5 ms) speed 0.7 m/s
2025-08-22T21:32:23.810Z,1755898343.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.989014 m,
nav range: 31.218960 m,
bearing: 225.185668 deg,
approach rate: -0.533922 m/s,
LOS rate: -0.139126 deg/s,
cmd heading: 223.025306 deg,
new cmd heading: 222.905544 deg.
2025-08-22T21:32:23.811Z,1755898343.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.890436 target range: 33.989014 and range: 34.20 m.
2025-08-22T21:32:23.809Z,1755898343.809 [DAT](INFO): DAT read: user:2313>
2025-08-22T21:32:23.818Z,1755898343.818 [DAT](INFO): DAT read: Tx time:21:32:24.7399
2025-08-22T21:32:23.819Z,1755898343.819 [DAT](INFO): Ping request sent.
2025-08-22T21:32:23.819Z,1755898343.819 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:23.819Z,1755898343.819 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T21:32:23.820Z,1755898343.820 [DAT](INFO): direction in FSK: [0.977011,-0.159991,0.140901]
2025-08-22T21:32:23.820Z,1755898343.820 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:23.820Z,1755898343.820 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:23.832Z,1755898343.832 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:23.832Z,1755898343.832 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:23.844Z,1755898343.844 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.024820
2025-08-22T21:32:23.999Z,1755898343.999 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.179982
2025-08-22T21:32:24.219Z,1755898344.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.799999 m,
deltaT: 3.530251 s,
deltaX: -2.400002 m,
approachRate: -0.679839 m/s,
rangeRepo size: 4
2025-08-22T21:32:24.221Z,1755898344.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.603790 m,
bearing: 217.241095 deg,
lat: 36.779406 deg,
lon: -121.859553 deg,
deltaT: 3.530251 s,
deltaX: -2.385223 m,
approachRate: -0.675653 m/s,
posRepo size: 4
2025-08-22T21:32:24.226Z,1755898344.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.60 m.
2025-08-22T21:32:24.229Z,1755898344.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.603790 m,
nav range: 31.107321 m,
bearing: 220.936876 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.139126 deg/s,
cmd heading: 222.905546 deg,
new cmd heading: 222.787630 deg.
2025-08-22T21:32:24.234Z,1755898344.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.888378 target range: 31.603790 and range: 31.80 m.
2025-08-22T21:32:24.251Z,1755898344.251 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.431953
2025-08-22T21:32:24.503Z,1755898344.503 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.684352
2025-08-22T21:32:24.588Z,1755898344.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:24.590Z,1755898344.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.60 m.
2025-08-22T21:32:24.593Z,1755898344.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.603790 m,
nav range: 30.855076 m,
bearing: 220.840336 deg,
approach rate: -0.679484 m/s,
LOS rate: -0.262181 deg/s,
cmd heading: 222.787629 deg,
new cmd heading: 222.592972 deg.
2025-08-22T21:32:24.594Z,1755898344.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.884980 target range: 31.603790 and range: 31.80 m.
2025-08-22T21:32:24.755Z,1755898344.755 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.935941
2025-08-22T21:32:25.007Z,1755898345.007 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.187831
2025-08-22T21:32:25.008Z,1755898345.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.60 m.
2025-08-22T21:32:25.015Z,1755898345.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.603790 m,
nav range: 30.597775 m,
bearing: 220.735430 deg,
approach rate: -0.615424 m/s,
LOS rate: -0.253028 deg/s,
cmd heading: 222.592969 deg,
new cmd heading: 222.381394 deg.
2025-08-22T21:32:25.016Z,1755898345.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881288 target range: 31.603790 and range: 31.80 m.
2025-08-22T21:32:25.262Z,1755898345.262 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.442936
2025-08-22T21:32:25.380Z,1755898345.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.60 m.
2025-08-22T21:32:25.383Z,1755898345.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.603790 m,
nav range: 30.346416 m,
bearing: 220.631644 deg,
approach rate: -0.675674 m/s,
LOS rate: -0.281297 deg/s,
cmd heading: 222.381397 deg,
new cmd heading: 222.172107 deg.
2025-08-22T21:32:25.384Z,1755898345.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.877635 target range: 31.603790 and range: 31.80 m.
2025-08-22T21:32:25.511Z,1755898345.511 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.691847
2025-08-22T21:32:25.767Z,1755898345.767 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.947230
2025-08-22T21:32:25.848Z,1755898345.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.60 m.
2025-08-22T21:32:25.859Z,1755898345.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.603790 m,
nav range: 30.052364 m,
bearing: 220.507971 deg,
approach rate: -0.627784 m/s,
LOS rate: -0.266617 deg/s,
cmd heading: 222.172106 deg,
new cmd heading: 221.922343 deg.
2025-08-22T21:32:25.860Z,1755898345.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.873276 target range: 31.603790 and range: 31.80 m.
2025-08-22T21:32:26.014Z,1755898346.014 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.195693
2025-08-22T21:32:26.222Z,1755898346.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.60 m.
2025-08-22T21:32:26.224Z,1755898346.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.603790 m,
nav range: 29.798717 m,
bearing: 220.394863 deg,
approach rate: -0.679590 m/s,
LOS rate: -0.305628 deg/s,
cmd heading: 221.922340 deg,
new cmd heading: 221.694199 deg.
2025-08-22T21:32:26.226Z,1755898346.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.869294 target range: 31.603790 and range: 31.80 m.
2025-08-22T21:32:26.268Z,1755898346.268 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.448866
2025-08-22T21:32:26.518Z,1755898346.518 [DAT](INFO): DAT read: Rx Time:21:32:27.1835
2025-08-22T21:32:26.519Z,1755898346.519 [DAT](INFO): Rx dataTimestamp_ set to:1755898346.518679
2025-08-22T21:32:26.519Z,1755898346.519 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.700758
2025-08-22T21:32:26.607Z,1755898346.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:26.609Z,1755898346.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.60 m.
2025-08-22T21:32:26.616Z,1755898346.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.603790 m,
nav range: 29.556852 m,
bearing: 220.286199 deg,
approach rate: -0.623911 m/s,
LOS rate: -0.282599 deg/s,
cmd heading: 221.694198 deg,
new cmd heading: 221.475094 deg.
2025-08-22T21:32:26.617Z,1755898346.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.865470 target range: 31.603790 and range: 31.80 m.
2025-08-22T21:32:26.774Z,1755898346.774 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.954304
2025-08-22T21:32:27.012Z,1755898347.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.60 m.
2025-08-22T21:32:27.023Z,1755898347.023 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.203880
2025-08-22T21:32:27.039Z,1755898347.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.603790 m,
nav range: 29.288649 m,
bearing: 220.154389 deg,
approach rate: -0.665262 m/s,
LOS rate: -0.329941 deg/s,
cmd heading: 221.475099 deg,
new cmd heading: 221.209067 deg.
2025-08-22T21:32:27.040Z,1755898347.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.860826 target range: 31.603790 and range: 31.80 m.
2025-08-22T21:32:27.285Z,1755898347.285 [DAT](INFO): DAT read: 21:32:27.1835 LVL= 25072, 29873, 21602, 32755, AGC= 59, IDX= 417,-0.39, 2.966, 1.352,-2.783, 2.887, PHS= 0.180,-1.491, 0.569, RAW= 160.2, 7.9, CAL= 159.8, 8.0, ROT= 350.2, -8.0
2025-08-22T21:32:27.286Z,1755898347.286 [DAT](INFO): got valid direction response:
21:32:27.1835 LVL= 25072, 29873, 21602, 32755, AGC= 59, IDX= 417,-0.39, 2.966, 1.352,-2.783, 2.887, PHS= 0.180,-1.491, 0.569, RAW= 160.2, 7.9, CAL= 159.8, 8.0, ROT= 350.2, -8.0
2025-08-22T21:32:27.287Z,1755898347.287 [DAT](INFO): DAT read: Bearing 4.7, -8.9 (Local)
2025-08-22T21:32:27.287Z,1755898347.287 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.7, -8.9 (Local)
2025-08-22T21:32:27.289Z,1755898347.289 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (Round-trip 39.5 ms) speed 0.6 m/s
2025-08-22T21:32:27.290Z,1755898347.290 [DAT](INFO): DAT read: user:2314>
2025-08-22T21:32:27.291Z,1755898347.291 [DAT](INFO): DAT read: Tx time:21:32:28.2899
2025-08-22T21:32:27.291Z,1755898347.291 [DAT](INFO): Ping request sent.
2025-08-22T21:32:27.291Z,1755898347.291 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:27.291Z,1755898347.291 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T21:32:27.292Z,1755898347.292 [DAT](INFO): direction in FSK: [0.975818,-0.168553,0.139173]
2025-08-22T21:32:27.293Z,1755898347.293 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:27.293Z,1755898347.293 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:27.296Z,1755898347.296 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:27.296Z,1755898347.296 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:27.299Z,1755898347.299 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.008370
2025-08-22T21:32:27.486Z,1755898347.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.600000 m,
deltaT: 3.526180 s,
deltaX: -2.199999 m,
approachRate: -0.623904 m/s,
rangeRepo size: 4
2025-08-22T21:32:27.488Z,1755898347.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.417368 m,
bearing: 216.077831 deg,
lat: 36.779394 deg,
lon: -121.859542 deg,
deltaT: 3.526180 s,
deltaX: -2.186422 m,
approachRate: -0.620054 m/s,
posRepo size: 4
2025-08-22T21:32:27.489Z,1755898347.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.42 m.
2025-08-22T21:32:27.496Z,1755898347.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.417368 m,
nav range: 29.375494 m,
bearing: 216.982508 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.329941 deg/s,
cmd heading: 221.209063 deg,
new cmd heading: 220.899544 deg.
2025-08-22T21:32:27.497Z,1755898347.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.855424 target range: 29.417368 and range: 29.60 m.
2025-08-22T21:32:27.527Z,1755898347.527 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.235451
2025-08-22T21:32:27.780Z,1755898347.780 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.488826
2025-08-22T21:32:27.904Z,1755898347.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.42 m.
2025-08-22T21:32:27.907Z,1755898347.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.417368 m,
nav range: 29.092249 m,
bearing: 216.810865 deg,
approach rate: -0.670304 m/s,
LOS rate: -0.410150 deg/s,
cmd heading: 220.899547 deg,
new cmd heading: 220.552923 deg.
2025-08-22T21:32:27.908Z,1755898347.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.849375 target range: 29.417368 and range: 29.60 m.
2025-08-22T21:32:28.031Z,1755898348.031 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.739436
2025-08-22T21:32:28.283Z,1755898348.283 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.991861
2025-08-22T21:32:28.300Z,1755898348.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.42 m.
2025-08-22T21:32:28.303Z,1755898348.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.417368 m,
nav range: 28.836626 m,
bearing: 216.654480 deg,
approach rate: -0.645747 m/s,
LOS rate: -0.398557 deg/s,
cmd heading: 220.552928 deg,
new cmd heading: 220.237389 deg.
2025-08-22T21:32:28.304Z,1755898348.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843868 target range: 29.417368 and range: 29.60 m.
2025-08-22T21:32:28.536Z,1755898348.536 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.244711
2025-08-22T21:32:28.681Z,1755898348.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:28.684Z,1755898348.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.42 m.
2025-08-22T21:32:28.687Z,1755898348.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.417368 m,
nav range: 28.589195 m,
bearing: 216.501998 deg,
approach rate: -0.644442 m/s,
LOS rate: -0.400581 deg/s,
cmd heading: 220.237387 deg,
new cmd heading: 219.929787 deg.
2025-08-22T21:32:28.688Z,1755898348.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838499 target range: 29.417368 and range: 29.60 m.
2025-08-22T21:32:28.788Z,1755898348.788 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.496277
2025-08-22T21:32:29.039Z,1755898349.039 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.747462
2025-08-22T21:32:29.134Z,1755898349.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.42 m.
2025-08-22T21:32:29.136Z,1755898349.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.417368 m,
nav range: 28.310814 m,
bearing: 216.330071 deg,
approach rate: -0.624623 m/s,
LOS rate: -0.389558 deg/s,
cmd heading: 219.929783 deg,
new cmd heading: 219.582551 deg.
2025-08-22T21:32:29.142Z,1755898349.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.832438 target range: 29.417368 and range: 29.60 m.
2025-08-22T21:32:29.291Z,1755898349.291 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.999730
2025-08-22T21:32:29.512Z,1755898349.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.42 m.
2025-08-22T21:32:29.515Z,1755898349.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.417368 m,
nav range: 28.063034 m,
bearing: 216.174036 deg,
approach rate: -0.648333 m/s,
LOS rate: -0.411881 deg/s,
cmd heading: 219.582550 deg,
new cmd heading: 219.267727 deg.
2025-08-22T21:32:29.516Z,1755898349.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.826944 target range: 29.417368 and range: 29.60 m.
2025-08-22T21:32:29.543Z,1755898349.543 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.251565
2025-08-22T21:32:29.795Z,1755898349.795 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.504309
2025-08-22T21:32:29.936Z,1755898349.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.42 m.
2025-08-22T21:32:29.939Z,1755898349.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.417368 m,
nav range: 27.792147 m,
bearing: 216.008848 deg,
approach rate: -0.637931 m/s,
LOS rate: -0.392803 deg/s,
cmd heading: 219.267732 deg,
new cmd heading: 218.934141 deg.
2025-08-22T21:32:29.940Z,1755898349.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.821122 target range: 29.417368 and range: 29.60 m.
2025-08-22T21:32:30.049Z,1755898350.049 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.757504
2025-08-22T21:32:30.299Z,1755898350.299 [DAT](INFO): DAT read: Rx Time:21:32:30.7304
2025-08-22T21:32:30.299Z,1755898350.299 [DAT](INFO): Rx dataTimestamp_ set to:1755898350.298733
2025-08-22T21:32:30.300Z,1755898350.300 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.008498
2025-08-22T21:32:30.335Z,1755898350.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.42 m.
2025-08-22T21:32:30.337Z,1755898350.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.417368 m,
nav range: 27.538589 m,
bearing: 215.851152 deg,
approach rate: -0.637889 m/s,
LOS rate: -0.400379 deg/s,
cmd heading: 218.934146 deg,
new cmd heading: 218.615853 deg.
2025-08-22T21:32:30.338Z,1755898350.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.815567 target range: 29.417368 and range: 29.60 m.
2025-08-22T21:32:30.554Z,1755898350.554 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.262496
2025-08-22T21:32:30.728Z,1755898350.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:30.731Z,1755898350.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.42 m.
2025-08-22T21:32:30.734Z,1755898350.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.417368 m,
nav range: 27.285706 m,
bearing: 215.694780 deg,
approach rate: -0.637010 m/s,
LOS rate: -0.397547 deg/s,
cmd heading: 218.615859 deg,
new cmd heading: 218.300221 deg.
2025-08-22T21:32:30.735Z,1755898350.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810058 target range: 29.417368 and range: 29.60 m.
2025-08-22T21:32:30.811Z,1755898350.811 [DAT](INFO): DAT read: 21:32:30.7304 LVL= 27504, 29137, 23490, 32755, AGC= 58, IDX= 417,-0.48, 1.069,-0.551, 1.584, 0.983, PHS= 0.188,-1.490, 0.557, RAW= 159.8, 7.9, CAL= 159.3, 8.1, ROT= 350.7, -8.1
2025-08-22T21:32:30.812Z,1755898350.812 [DAT](INFO): got valid direction response:
21:32:30.7304 LVL= 27504, 29137, 23490, 32755, AGC= 58, IDX= 417,-0.48, 1.069,-0.551, 1.584, 0.983, PHS= 0.188,-1.490, 0.557, RAW= 159.8, 7.9, CAL= 159.3, 8.1, ROT= 350.7, -8.1
2025-08-22T21:32:30.814Z,1755898350.814 [DAT](INFO): DAT read: Bearing 3.5, -7.6 (Local)
2025-08-22T21:32:30.815Z,1755898350.815 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.5, -7.6 (Local)
2025-08-22T21:32:30.817Z,1755898350.817 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (Round-trip 36.4 ms) speed 0.5 m/s
2025-08-22T21:32:30.818Z,1755898350.818 [DAT](INFO): DAT read: user:2315>
2025-08-22T21:32:30.819Z,1755898350.819 [DAT](INFO): DAT read: Tx time:21:32:31.8399
2025-08-22T21:32:30.819Z,1755898350.819 [DAT](INFO): Ping request sent.
2025-08-22T21:32:30.820Z,1755898350.820 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:30.820Z,1755898350.820 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T21:32:30.822Z,1755898350.822 [DAT](INFO): direction in FSK: [0.977011,-0.159991,0.140901]
2025-08-22T21:32:30.822Z,1755898350.822 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:30.823Z,1755898350.823 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:30.828Z,1755898350.828 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:30.828Z,1755898350.828 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:30.837Z,1755898350.837 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.017418
2025-08-22T21:32:31.055Z,1755898351.055 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.235023
2025-08-22T21:32:31.204Z,1755898351.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.299999 m,
deltaT: 3.527595 s,
deltaX: -2.300001 m,
approachRate: -0.652003 m/s,
rangeRepo size: 4
2025-08-22T21:32:31.206Z,1755898351.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.131380 m,
bearing: 215.216932 deg,
lat: 36.779394 deg,
lon: -121.859539 deg,
deltaT: 3.527595 s,
deltaX: -2.285988 m,
approachRate: -0.648030 m/s,
posRepo size: 4
2025-08-22T21:32:31.207Z,1755898351.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T21:32:31.210Z,1755898351.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.131380 m,
nav range: 26.850784 m,
bearing: 215.117044 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.397547 deg/s,
cmd heading: 218.300222 deg,
new cmd heading: 217.924615 deg.
2025-08-22T21:32:31.211Z,1755898351.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803502 target range: 27.131380 and range: 27.30 m.
2025-08-22T21:32:31.307Z,1755898351.307 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.487798
2025-08-22T21:32:31.559Z,1755898351.559 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.738909
2025-08-22T21:32:31.615Z,1755898351.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T21:32:31.618Z,1755898351.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.131380 m,
nav range: 26.581633 m,
bearing: 214.949970 deg,
approach rate: -0.653149 m/s,
LOS rate: -0.409543 deg/s,
cmd heading: 217.924617 deg,
new cmd heading: 217.587089 deg.
2025-08-22T21:32:31.619Z,1755898351.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797611 target range: 27.131380 and range: 27.30 m.
2025-08-22T21:32:31.811Z,1755898351.811 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.990919
2025-08-22T21:32:32.005Z,1755898352.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T21:32:32.008Z,1755898352.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.131380 m,
nav range: 26.339968 m,
bearing: 214.809406 deg,
approach rate: -0.620256 m/s,
LOS rate: -0.364080 deg/s,
cmd heading: 217.587096 deg,
new cmd heading: 217.303392 deg.
2025-08-22T21:32:32.009Z,1755898352.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792660 target range: 27.131380 and range: 27.30 m.
2025-08-22T21:32:32.064Z,1755898352.064 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.243622
2025-08-22T21:32:32.315Z,1755898352.315 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.494877
2025-08-22T21:32:32.478Z,1755898352.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T21:32:32.481Z,1755898352.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.131380 m,
nav range: 26.042936 m,
bearing: 214.636145 deg,
approach rate: -0.627027 m/s,
LOS rate: -0.369923 deg/s,
cmd heading: 217.303397 deg,
new cmd heading: 216.952927 deg.
2025-08-22T21:32:32.482Z,1755898352.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786543 target range: 27.131380 and range: 27.30 m.
2025-08-22T21:32:32.567Z,1755898352.567 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.747006
2025-08-22T21:32:32.796Z,1755898352.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:32.798Z,1755898352.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T21:32:32.801Z,1755898352.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.131380 m,
nav range: 25.831059 m,
bearing: 214.511816 deg,
approach rate: -0.663821 m/s,
LOS rate: -0.392720 deg/s,
cmd heading: 216.952927 deg,
new cmd heading: 216.702232 deg.
2025-08-22T21:32:32.802Z,1755898352.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782167 target range: 27.131380 and range: 27.30 m.
2025-08-22T21:32:32.820Z,1755898352.820 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.000456
2025-08-22T21:32:33.071Z,1755898353.071 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.250922
2025-08-22T21:32:33.226Z,1755898353.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T21:32:33.229Z,1755898353.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.131380 m,
nav range: 25.576025 m,
bearing: 214.357778 deg,
approach rate: -0.596164 m/s,
LOS rate: -0.363669 deg/s,
cmd heading: 216.702231 deg,
new cmd heading: 216.391086 deg.
2025-08-22T21:32:33.230Z,1755898353.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776737 target range: 27.131380 and range: 27.30 m.
2025-08-22T21:32:33.324Z,1755898353.324 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.503918
2025-08-22T21:32:33.567Z,1755898353.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T21:32:33.570Z,1755898353.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.131380 m,
nav range: 25.359175 m,
bearing: 214.226613 deg,
approach rate: -0.634666 m/s,
LOS rate: -0.387167 deg/s,
cmd heading: 216.391089 deg,
new cmd heading: 216.126519 deg.
2025-08-22T21:32:33.571Z,1755898353.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.772119 target range: 27.131380 and range: 27.30 m.
2025-08-22T21:32:33.575Z,1755898353.575 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.755005
2025-08-22T21:32:33.828Z,1755898353.828 [DAT](INFO): DAT read: Rx Time:21:32:34.2772
2025-08-22T21:32:33.828Z,1755898353.828 [DAT](INFO): Rx dataTimestamp_ set to:1755898353.827980
2025-08-22T21:32:33.829Z,1755898353.829 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.009397
2025-08-22T21:32:33.999Z,1755898353.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T21:32:34.002Z,1755898354.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.131380 m,
nav range: 25.084452 m,
bearing: 214.067557 deg,
approach rate: -0.636603 m/s,
LOS rate: -0.372610 deg/s,
cmd heading: 216.126515 deg,
new cmd heading: 215.804922 deg.
2025-08-22T21:32:34.003Z,1755898354.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766506 target range: 27.131380 and range: 27.30 m.
2025-08-22T21:32:34.079Z,1755898354.079 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.259775
2025-08-22T21:32:34.336Z,1755898354.336 [DAT](INFO): DAT read: 21:32:34.2772 LVL= 23376, 30593, 20178, 32755, AGC= 57, IDX= 417, 0.45, 1.676, 0.055, 2.127, 1.550, PHS= 0.228,-1.451, 0.533, RAW= 158.2, 7.5, CAL= 157.7, 7.7, ROT= 352.3, -7.7
2025-08-22T21:32:34.337Z,1755898354.337 [DAT](INFO): got valid direction response:
21:32:34.2772 LVL= 23376, 30593, 20178, 32755, AGC= 57, IDX= 417, 0.45, 1.676, 0.055, 2.127, 1.550, PHS= 0.228,-1.451, 0.533, RAW= 158.2, 7.5, CAL= 157.7, 7.7, ROT= 352.3, -7.7
2025-08-22T21:32:34.338Z,1755898354.338 [DAT](INFO): DAT read: Bearing 0.8, -5.1 (Local)
2025-08-22T21:32:34.339Z,1755898354.339 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.8, -5.1 (Local)
2025-08-22T21:32:34.340Z,1755898354.340 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (Round-trip 33.3 ms) speed 0.5 m/s
2025-08-22T21:32:34.341Z,1755898354.341 [DAT](INFO): DAT read: user:2316>
2025-08-22T21:32:34.346Z,1755898354.346 [DAT](INFO): DAT read: Tx time:21:32:35.3898
2025-08-22T21:32:34.346Z,1755898354.346 [DAT](INFO): Ping request sent.
2025-08-22T21:32:34.346Z,1755898354.346 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:34.346Z,1755898354.346 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T21:32:34.347Z,1755898354.347 [DAT](INFO): direction in FSK: [0.982048,-0.132778,0.133986]
2025-08-22T21:32:34.348Z,1755898354.348 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:34.348Z,1755898354.348 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:34.351Z,1755898354.351 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:34.351Z,1755898354.351 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:34.355Z,1755898354.355 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.008657
2025-08-22T21:32:34.474Z,1755898354.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.900000 m,
deltaT: 3.527842 s,
deltaX: -2.400000 m,
approachRate: -0.680302 m/s,
rangeRepo size: 4
2025-08-22T21:32:34.476Z,1755898354.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.746288 m,
bearing: 215.086534 deg,
lat: 36.779394 deg,
lon: -121.859539 deg,
deltaT: 3.527842 s,
deltaX: -2.385092 m,
approachRate: -0.676077 m/s,
posRepo size: 4
2025-08-22T21:32:34.477Z,1755898354.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T21:32:34.488Z,1755898354.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.746288 m,
nav range: 24.806110 m,
bearing: 213.902694 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.372610 deg/s,
cmd heading: 215.804922 deg,
new cmd heading: 215.454425 deg.
2025-08-22T21:32:34.489Z,1755898354.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.760389 target range: 24.746288 and range: 24.90 m.
2025-08-22T21:32:34.583Z,1755898354.583 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.236650
2025-08-22T21:32:34.822Z,1755898354.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:34.825Z,1755898354.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T21:32:34.835Z,1755898354.835 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.488514
2025-08-22T21:32:34.848Z,1755898354.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.746288 m,
nav range: 24.558479 m,
bearing: 213.758539 deg,
approach rate: -0.696463 m/s,
LOS rate: -0.409524 deg/s,
cmd heading: 215.454424 deg,
new cmd heading: 215.163210 deg.
2025-08-22T21:32:34.849Z,1755898354.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.755306 target range: 24.746288 and range: 24.90 m.
2025-08-22T21:32:35.087Z,1755898355.087 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.740477
2025-08-22T21:32:35.338Z,1755898355.338 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.992414
2025-08-22T21:32:35.346Z,1755898355.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T21:32:35.349Z,1755898355.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.746288 m,
nav range: 24.240849 m,
bearing: 213.566634 deg,
approach rate: -0.614201 m/s,
LOS rate: -0.375946 deg/s,
cmd heading: 215.163212 deg,
new cmd heading: 214.774381 deg.
2025-08-22T21:32:35.357Z,1755898355.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748520 target range: 24.746288 and range: 24.90 m.
2025-08-22T21:32:35.592Z,1755898355.592 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.245534
2025-08-22T21:32:35.843Z,1755898355.843 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.496553
2025-08-22T21:32:35.845Z,1755898355.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T21:32:35.848Z,1755898355.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.746288 m,
nav range: 23.910011 m,
bearing: 213.373521 deg,
approach rate: -0.657494 m/s,
LOS rate: -0.389095 deg/s,
cmd heading: 214.774383 deg,
new cmd heading: 214.382820 deg.
2025-08-22T21:32:35.849Z,1755898355.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.741686 target range: 24.746288 and range: 24.90 m.
2025-08-22T21:32:36.095Z,1755898356.095 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.749138
2025-08-22T21:32:36.290Z,1755898356.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T21:32:36.293Z,1755898356.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.746288 m,
nav range: 23.628443 m,
bearing: 213.202158 deg,
approach rate: -0.632447 m/s,
LOS rate: -0.389495 deg/s,
cmd heading: 214.382822 deg,
new cmd heading: 214.036016 deg.
2025-08-22T21:32:36.294Z,1755898356.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.735633 target range: 24.746288 and range: 24.90 m.
2025-08-22T21:32:36.347Z,1755898356.347 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.000666
2025-08-22T21:32:36.410Z,1755898356.410 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:32:36.599Z,1755898356.599 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.253062
2025-08-22T21:32:36.767Z,1755898356.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T21:32:36.770Z,1755898356.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.746288 m,
nav range: 23.329447 m,
bearing: 213.019864 deg,
approach rate: -0.626642 m/s,
LOS rate: -0.386951 deg/s,
cmd heading: 214.036012 deg,
new cmd heading: 213.666758 deg.
2025-08-22T21:32:36.771Z,1755898356.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.729188 target range: 24.746288 and range: 24.90 m.
2025-08-22T21:32:36.852Z,1755898356.852 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.505451
2025-08-22T21:32:37.103Z,1755898357.103 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.756507
2025-08-22T21:32:37.192Z,1755898357.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:37.195Z,1755898357.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T21:32:37.198Z,1755898357.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.746288 m,
nav range: 23.055220 m,
bearing: 212.847785 deg,
approach rate: -0.641463 m/s,
LOS rate: -0.407310 deg/s,
cmd heading: 213.666759 deg,
new cmd heading: 213.318511 deg.
2025-08-22T21:32:37.199Z,1755898357.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723110 target range: 24.746288 and range: 24.90 m.
2025-08-22T21:32:37.355Z,1755898357.355 [DAT](INFO): DAT read: Rx Time:21:32:37.8244
2025-08-22T21:32:37.355Z,1755898357.355 [DAT](INFO): Rx dataTimestamp_ set to:1755898357.354792
2025-08-22T21:32:37.356Z,1755898357.356 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.009571
2025-08-22T21:32:37.415Z,1755898357.415 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:32:37.532Z,1755898357.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T21:32:37.535Z,1755898357.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.746288 m,
nav range: 22.834837 m,
bearing: 212.712812 deg,
approach rate: -0.653832 m/s,
LOS rate: -0.404303 deg/s,
cmd heading: 213.318515 deg,
new cmd heading: 213.045966 deg.
2025-08-22T21:32:37.536Z,1755898357.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.718354 target range: 24.746288 and range: 24.90 m.
2025-08-22T21:32:37.609Z,1755898357.609 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.262584
2025-08-22T21:32:37.868Z,1755898357.868 [DAT](INFO): DAT read: 21:32:37.8244 LVL= 23488, 28833, 21938, 32755, AGC= 57, IDX= 420,-0.41, 0.599,-1.092, 0.987, 0.426, PHS= 0.275,-1.473, 0.518, RAW= 156.4, 7.3, CAL= 155.9, 7.5, ROT= 354.1, -7.5
2025-08-22T21:32:37.869Z,1755898357.869 [DAT](INFO): got valid direction response:
21:32:37.8244 LVL= 23488, 28833, 21938, 32755, AGC= 57, IDX= 420,-0.41, 0.599,-1.092, 0.987, 0.426, PHS= 0.275,-1.473, 0.518, RAW= 156.4, 7.3, CAL= 155.9, 7.5, ROT= 354.1, -7.5
2025-08-22T21:32:37.870Z,1755898357.870 [DAT](INFO): DAT read: Bearing 357.9, -2.4 (Local)
2025-08-22T21:32:37.870Z,1755898357.870 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.9, -2.4 (Local)
2025-08-22T21:32:37.872Z,1755898357.872 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (Round-trip 30.4 ms) speed 0.6 m/s
2025-08-22T21:32:37.872Z,1755898357.872 [DAT](INFO): DAT read: user:2317>
2025-08-22T21:32:37.873Z,1755898357.873 [DAT](INFO): DAT read: Tx time:21:32:38.9398
2025-08-22T21:32:37.874Z,1755898357.874 [DAT](INFO): Ping request sent.
2025-08-22T21:32:37.874Z,1755898357.874 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:37.874Z,1755898357.874 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T21:32:37.875Z,1755898357.875 [DAT](INFO): direction in FSK: [0.986193,-0.101913,0.130526]
2025-08-22T21:32:37.875Z,1755898357.875 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:37.876Z,1755898357.876 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:37.879Z,1755898357.879 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:37.879Z,1755898357.879 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:37.882Z,1755898357.882 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.008486
2025-08-22T21:32:38.045Z,1755898358.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.799999 m,
deltaT: 3.531930 s,
deltaX: -2.100000 m,
approachRate: -0.594576 m/s,
rangeRepo size: 4
2025-08-22T21:32:38.052Z,1755898358.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.659155 m,
bearing: 213.976252 deg,
lat: 36.779395 deg,
lon: -121.859539 deg,
deltaT: 3.531930 s,
deltaX: -2.087133 m,
approachRate: -0.590933 m/s,
posRepo size: 4
2025-08-22T21:32:38.052Z,1755898358.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:32:38.059Z,1755898358.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.659155 m,
nav range: 22.454393 m,
bearing: 212.633466 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.404303 deg/s,
cmd heading: 213.045963 deg,
new cmd heading: 212.631388 deg.
2025-08-22T21:32:38.060Z,1755898358.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.711118 target range: 22.659155 and range: 22.80 m.
2025-08-22T21:32:38.115Z,1755898358.115 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.240643
2025-08-22T21:32:38.367Z,1755898358.367 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.492648
2025-08-22T21:32:38.392Z,1755898358.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:32:38.395Z,1755898358.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.659155 m,
nav range: 22.210730 m,
bearing: 212.472729 deg,
approach rate: -0.701892 m/s,
LOS rate: -0.468094 deg/s,
cmd heading: 212.631384 deg,
new cmd heading: 212.306387 deg.
2025-08-22T21:32:38.396Z,1755898358.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.705446 target range: 22.659155 and range: 22.80 m.
2025-08-22T21:32:38.618Z,1755898358.618 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.744498
2025-08-22T21:32:38.771Z,1755898358.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:32:38.774Z,1755898358.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.659155 m,
nav range: 21.964676 m,
bearing: 212.310627 deg,
approach rate: -0.648117 m/s,
LOS rate: -0.431769 deg/s,
cmd heading: 212.306390 deg,
new cmd heading: 211.978557 deg.
2025-08-22T21:32:38.775Z,1755898358.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.699724 target range: 22.659155 and range: 22.80 m.
2025-08-22T21:32:38.871Z,1755898358.871 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.996678
2025-08-22T21:32:39.123Z,1755898359.123 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.248632
2025-08-22T21:32:39.215Z,1755898359.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:39.217Z,1755898359.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:32:39.231Z,1755898359.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.659155 m,
nav range: 21.689163 m,
bearing: 212.129485 deg,
approach rate: -0.617888 m/s,
LOS rate: -0.411403 deg/s,
cmd heading: 211.978555 deg,
new cmd heading: 211.611675 deg.
2025-08-22T21:32:39.233Z,1755898359.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693321 target range: 22.659155 and range: 22.80 m.
2025-08-22T21:32:39.374Z,1755898359.374 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.500526
2025-08-22T21:32:39.570Z,1755898359.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:32:39.572Z,1755898359.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.659155 m,
nav range: 21.461914 m,
bearing: 211.980129 deg,
approach rate: -0.644951 m/s,
LOS rate: -0.428371 deg/s,
cmd heading: 211.611678 deg,
new cmd heading: 211.309806 deg.
2025-08-22T21:32:39.574Z,1755898359.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.688052 target range: 22.659155 and range: 22.80 m.
2025-08-22T21:32:39.628Z,1755898359.628 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.753823
2025-08-22T21:32:39.879Z,1755898359.879 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.004565
2025-08-22T21:32:40.035Z,1755898360.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:32:40.042Z,1755898360.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.659155 m,
nav range: 21.194016 m,
bearing: 211.804208 deg,
approach rate: -0.575259 m/s,
LOS rate: -0.382530 deg/s,
cmd heading: 211.309811 deg,
new cmd heading: 210.953526 deg.
2025-08-22T21:32:40.043Z,1755898360.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.681834 target range: 22.659155 and range: 22.80 m.
2025-08-22T21:32:40.131Z,1755898360.131 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.256902
2025-08-22T21:32:40.383Z,1755898360.383 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.508678
2025-08-22T21:32:40.424Z,1755898360.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:32:40.427Z,1755898360.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.659155 m,
nav range: 20.923061 m,
bearing: 211.617088 deg,
approach rate: -0.697789 m/s,
LOS rate: -0.488131 deg/s,
cmd heading: 210.953521 deg,
new cmd heading: 210.574440 deg.
2025-08-22T21:32:40.428Z,1755898360.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.675217 target range: 22.659155 and range: 22.80 m.
2025-08-22T21:32:40.635Z,1755898360.635 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.761388
2025-08-22T21:32:40.804Z,1755898360.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:32:40.807Z,1755898360.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.659155 m,
nav range: 20.681927 m,
bearing: 211.450322 deg,
approach rate: -0.633806 m/s,
LOS rate: -0.443442 deg/s,
cmd heading: 210.574445 deg,
new cmd heading: 210.237029 deg.
2025-08-22T21:32:40.808Z,1755898360.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.669328 target range: 22.659155 and range: 22.80 m.
2025-08-22T21:32:40.887Z,1755898360.887 [DAT](INFO): DAT read: Rx Time:21:32:41.3712
2025-08-22T21:32:40.887Z,1755898360.887 [DAT](INFO): Rx dataTimestamp_ set to:1755898360.886923
2025-08-22T21:32:40.888Z,1755898360.888 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.014185
2025-08-22T21:32:41.138Z,1755898361.138 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.264510
2025-08-22T21:32:41.305Z,1755898361.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:41.311Z,1755898361.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:32:41.318Z,1755898361.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.659155 m,
nav range: 20.376757 m,
bearing: 211.253675 deg,
approach rate: -0.601878 m/s,
LOS rate: -0.393649 deg/s,
cmd heading: 210.237034 deg,
new cmd heading: 209.837857 deg.
2025-08-22T21:32:41.319Z,1755898361.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.662361 target range: 22.659155 and range: 22.80 m.
2025-08-22T21:32:41.396Z,1755898361.396 [DAT](INFO): DAT read: 21:32:41.3712 LVL= 21872, 28657, 21954, 32755, AGC= 55, IDX= 404,-0.23,-1.434, 3.140,-1.135,-1.663, PHS= 0.331,-1.435, 0.484, RAW= 154.1, 6.8, CAL= 153.5, 7.0, ROT= 356.5, -7.0
2025-08-22T21:32:41.397Z,1755898361.397 [DAT](INFO): got valid direction response:
21:32:41.3712 LVL= 21872, 28657, 21954, 32755, AGC= 55, IDX= 404,-0.23,-1.434, 3.140,-1.135,-1.663, PHS= 0.331,-1.435, 0.484, RAW= 154.1, 6.8, CAL= 153.5, 7.0, ROT= 356.5, -7.0
2025-08-22T21:32:41.398Z,1755898361.398 [DAT](INFO): DAT read: Bearing 354.6, 0.4 (Local)
2025-08-22T21:32:41.399Z,1755898361.399 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.6, 0.4 (Local)
2025-08-22T21:32:41.400Z,1755898361.400 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (Round-trip 27.3 ms) speed 0.6 m/s
2025-08-22T21:32:41.401Z,1755898361.401 [DAT](INFO): DAT read: user:2318>
2025-08-22T21:32:41.402Z,1755898361.402 [DAT](INFO): DAT read: Tx time:21:32:42.4898
2025-08-22T21:32:41.402Z,1755898361.402 [DAT](INFO): Ping request sent.
2025-08-22T21:32:41.402Z,1755898361.402 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:41.402Z,1755898361.402 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T21:32:41.403Z,1755898361.403 [DAT](INFO): direction in FSK: [0.990695,-0.060593,0.121869]
2025-08-22T21:32:41.403Z,1755898361.403 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:41.404Z,1755898361.404 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:41.408Z,1755898361.408 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:41.408Z,1755898361.408 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:41.417Z,1755898361.417 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.014630
2025-08-22T21:32:41.643Z,1755898361.643 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.240496
2025-08-22T21:32:41.671Z,1755898361.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.400000 m,
deltaT: 3.528250 s,
deltaX: -2.400000 m,
approachRate: -0.680224 m/s,
rangeRepo size: 4
2025-08-22T21:32:41.672Z,1755898361.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.273767 m,
bearing: 213.488656 deg,
lat: 36.779399 deg,
lon: -121.859541 deg,
deltaT: 3.528250 s,
deltaX: -2.385387 m,
approachRate: -0.676082 m/s,
posRepo size: 4
2025-08-22T21:32:41.673Z,1755898361.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:32:41.676Z,1755898361.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.273767 m,
nav range: 19.883137 m,
bearing: 212.194691 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.393649 deg/s,
cmd heading: 209.837850 deg,
new cmd heading: 209.555526 deg.
2025-08-22T21:32:41.677Z,1755898361.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.657434 target range: 20.273767 and range: 20.40 m.
2025-08-22T21:32:41.895Z,1755898361.895 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.492671
2025-08-22T21:32:42.119Z,1755898362.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:32:42.122Z,1755898362.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.273767 m,
nav range: 19.597296 m,
bearing: 212.026951 deg,
approach rate: -0.636314 m/s,
LOS rate: -0.378852 deg/s,
cmd heading: 209.555531 deg,
new cmd heading: 209.215164 deg.
2025-08-22T21:32:42.123Z,1755898362.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.651494 target range: 20.273767 and range: 20.40 m.
2025-08-22T21:32:42.147Z,1755898362.147 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.744561
2025-08-22T21:32:42.399Z,1755898362.399 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.996773
2025-08-22T21:32:42.474Z,1755898362.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:32:42.477Z,1755898362.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.273767 m,
nav range: 19.373308 m,
bearing: 211.895547 deg,
approach rate: -0.631301 m/s,
LOS rate: -0.374639 deg/s,
cmd heading: 209.215169 deg,
new cmd heading: 208.949325 deg.
2025-08-22T21:32:42.478Z,1755898362.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.646854 target range: 20.273767 and range: 20.40 m.
2025-08-22T21:32:42.650Z,1755898362.650 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.248421
2025-08-22T21:32:42.881Z,1755898362.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:32:42.884Z,1755898362.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.273767 m,
nav range: 19.115911 m,
bearing: 211.744924 deg,
approach rate: -0.631591 m/s,
LOS rate: -0.374570 deg/s,
cmd heading: 208.949325 deg,
new cmd heading: 208.644025 deg.
2025-08-22T21:32:42.885Z,1755898362.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.641525 target range: 20.273767 and range: 20.40 m.
2025-08-22T21:32:42.904Z,1755898362.904 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.502132
2025-08-22T21:32:43.156Z,1755898363.156 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.753799
2025-08-22T21:32:43.322Z,1755898363.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:32:43.325Z,1755898363.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.273767 m,
nav range: 18.856480 m,
bearing: 211.596476 deg,
approach rate: -0.588218 m/s,
LOS rate: -0.341211 deg/s,
cmd heading: 208.644029 deg,
new cmd heading: 208.343051 deg.
2025-08-22T21:32:43.330Z,1755898363.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.636272 target range: 20.273767 and range: 20.40 m.
2025-08-22T21:32:43.407Z,1755898363.407 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.005297
2025-08-22T21:32:43.658Z,1755898363.658 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.256408
2025-08-22T21:32:43.680Z,1755898363.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:43.682Z,1755898363.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:32:43.685Z,1755898363.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.273767 m,
nav range: 18.626715 m,
bearing: 211.465264 deg,
approach rate: -0.638197 m/s,
LOS rate: -0.368950 deg/s,
cmd heading: 208.343050 deg,
new cmd heading: 208.077391 deg.
2025-08-22T21:32:43.686Z,1755898363.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.631636 target range: 20.273767 and range: 20.40 m.
2025-08-22T21:32:43.911Z,1755898363.911 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.508983
2025-08-22T21:32:44.165Z,1755898364.165 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.761964
2025-08-22T21:32:44.239Z,1755898364.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:32:44.248Z,1755898364.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.273767 m,
nav range: 18.295771 m,
bearing: 211.281988 deg,
approach rate: -0.609439 m/s,
LOS rate: -0.343611 deg/s,
cmd heading: 208.077396 deg,
new cmd heading: 207.704219 deg.
2025-08-22T21:32:44.249Z,1755898364.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.625123 target range: 20.273767 and range: 20.40 m.
2025-08-22T21:32:44.415Z,1755898364.415 [DAT](INFO): DAT read: Rx Time:21:32:44.9182
2025-08-22T21:32:44.415Z,1755898364.415 [DAT](INFO): Rx dataTimestamp_ set to:1755898364.414766
2025-08-22T21:32:44.416Z,1755898364.416 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.013549
2025-08-22T21:32:44.611Z,1755898364.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:32:44.614Z,1755898364.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.273767 m,
nav range: 18.061047 m,
bearing: 211.155133 deg,
approach rate: -0.608480 m/s,
LOS rate: -0.333121 deg/s,
cmd heading: 207.704222 deg,
new cmd heading: 207.447218 deg.
2025-08-22T21:32:44.615Z,1755898364.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.620637 target range: 20.273767 and range: 20.40 m.
2025-08-22T21:32:44.667Z,1755898364.667 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.264588
2025-08-22T21:32:44.924Z,1755898364.924 [DAT](INFO): DAT read: 21:32:44.9182 LVL= 21360, 29873, 20658, 32131, AGC= 54, IDX= 405,-0.19,-2.580, 1.948,-2.369,-2.853, PHS= 0.375,-1.437, 0.440, RAW= 151.7, 6.8, CAL= 151.1, 7.1, ROT= 358.9, -7.1
2025-08-22T21:32:44.925Z,1755898364.925 [DAT](INFO): got valid direction response:
21:32:44.9182 LVL= 21360, 29873, 20658, 32131, AGC= 54, IDX= 405,-0.19,-2.580, 1.948,-2.369,-2.853, PHS= 0.375,-1.437, 0.440, RAW= 151.7, 6.8, CAL= 151.1, 7.1, ROT= 358.9, -7.1
2025-08-22T21:32:44.926Z,1755898364.926 [DAT](INFO): DAT read: Bearing 352.1, 3.2 (Local)
2025-08-22T21:32:44.926Z,1755898364.926 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.1, 3.2 (Local)
2025-08-22T21:32:44.928Z,1755898364.928 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (Round-trip 24.3 ms) speed 0.5 m/s
2025-08-22T21:32:44.928Z,1755898364.928 [DAT](INFO): DAT read: user:2319>
2025-08-22T21:32:44.929Z,1755898364.929 [DAT](INFO): DAT read: Tx time:21:32:46.0398
2025-08-22T21:32:44.930Z,1755898364.930 [DAT](INFO): Ping request sent.
2025-08-22T21:32:44.930Z,1755898364.930 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:44.930Z,1755898364.930 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T21:32:44.931Z,1755898364.931 [DAT](INFO): direction in FSK: [0.992149,-0.019050,0.123601]
2025-08-22T21:32:44.931Z,1755898364.931 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:44.932Z,1755898364.932 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:44.935Z,1755898364.935 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:44.935Z,1755898364.935 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:44.947Z,1755898364.947 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.017282
2025-08-22T21:32:45.171Z,1755898365.171 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.241554
2025-08-22T21:32:45.310Z,1755898365.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 3.527768 s,
deltaX: -2.199999 m,
approachRate: -0.623623 m/s,
rangeRepo size: 4
2025-08-22T21:32:45.312Z,1755898365.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.087313 m,
bearing: 213.270242 deg,
lat: 36.779400 deg,
lon: -121.859543 deg,
deltaT: 3.527768 s,
deltaX: -2.186455 m,
approachRate: -0.619784 m/s,
posRepo size: 4
2025-08-22T21:32:45.313Z,1755898365.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-08-22T21:32:45.316Z,1755898365.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.087313 m,
nav range: 17.605890 m,
bearing: 211.573478 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.333121 deg/s,
cmd heading: 207.447216 deg,
new cmd heading: 206.982132 deg.
2025-08-22T21:32:45.317Z,1755898365.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612520 target range: 18.087313 and range: 18.20 m.
2025-08-22T21:32:45.424Z,1755898365.424 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.494229
2025-08-22T21:32:45.674Z,1755898365.674 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.744628
2025-08-22T21:32:45.703Z,1755898365.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:45.706Z,1755898365.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-08-22T21:32:45.723Z,1755898365.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.087313 m,
nav range: 17.360168 m,
bearing: 211.445154 deg,
approach rate: -0.619801 m/s,
LOS rate: -0.328263 deg/s,
cmd heading: 206.982135 deg,
new cmd heading: 206.721855 deg.
2025-08-22T21:32:45.725Z,1755898365.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607977 target range: 18.087313 and range: 18.20 m.
2025-08-22T21:32:45.927Z,1755898365.927 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.996693
2025-08-22T21:32:46.175Z,1755898366.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-08-22T21:32:46.179Z,1755898366.179 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.249360
2025-08-22T21:32:46.182Z,1755898366.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.087313 m,
nav range: 17.070284 m,
bearing: 211.296584 deg,
approach rate: -0.618328 m/s,
LOS rate: -0.322284 deg/s,
cmd heading: 206.721850 deg,
new cmd heading: 206.419667 deg.
2025-08-22T21:32:46.183Z,1755898366.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602703 target range: 18.087313 and range: 18.20 m.
2025-08-22T21:32:46.432Z,1755898366.432 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.501777
2025-08-22T21:32:46.550Z,1755898366.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-08-22T21:32:46.553Z,1755898366.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.087313 m,
nav range: 16.827085 m,
bearing: 211.172256 deg,
approach rate: -0.647905 m/s,
LOS rate: -0.336009 deg/s,
cmd heading: 206.419668 deg,
new cmd heading: 206.167421 deg.
2025-08-22T21:32:46.571Z,1755898366.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598300 target range: 18.087313 and range: 18.20 m.
2025-08-22T21:32:46.683Z,1755898366.683 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.752722
2025-08-22T21:32:46.931Z,1755898366.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-08-22T21:32:46.935Z,1755898366.935 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.004828
2025-08-22T21:32:46.935Z,1755898366.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.087313 m,
nav range: 16.586479 m,
bearing: 211.049618 deg,
approach rate: -0.631532 m/s,
LOS rate: -0.326564 deg/s,
cmd heading: 206.167416 deg,
new cmd heading: 205.918583 deg.
2025-08-22T21:32:46.936Z,1755898366.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593957 target range: 18.087313 and range: 18.20 m.
2025-08-22T21:32:47.187Z,1755898367.187 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.257400
2025-08-22T21:32:47.360Z,1755898367.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-08-22T21:32:47.363Z,1755898367.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.087313 m,
nav range: 16.316612 m,
bearing: 210.901447 deg,
approach rate: -0.628180 m/s,
LOS rate: -0.350607 deg/s,
cmd heading: 205.918578 deg,
new cmd heading: 205.617339 deg.
2025-08-22T21:32:47.364Z,1755898367.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588700 target range: 18.087313 and range: 18.20 m.
2025-08-22T21:32:47.439Z,1755898367.439 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.509487
2025-08-22T21:32:47.691Z,1755898367.691 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.760690
2025-08-22T21:32:47.778Z,1755898367.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:47.780Z,1755898367.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-08-22T21:32:47.783Z,1755898367.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.087313 m,
nav range: 16.062887 m,
bearing: 210.761669 deg,
approach rate: -0.603932 m/s,
LOS rate: -0.337962 deg/s,
cmd heading: 205.617340 deg,
new cmd heading: 205.333371 deg.
2025-08-22T21:32:47.784Z,1755898367.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583743 target range: 18.087313 and range: 18.20 m.
2025-08-22T21:32:47.942Z,1755898367.942 [DAT](INFO): DAT read: Rx Time:21:32:48.4653
2025-08-22T21:32:47.943Z,1755898367.943 [DAT](INFO): Rx dataTimestamp_ set to:1755898367.942618
2025-08-22T21:32:47.943Z,1755898367.943 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.013639
2025-08-22T21:32:48.195Z,1755898368.195 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.264773
2025-08-22T21:32:48.258Z,1755898368.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-08-22T21:32:48.261Z,1755898368.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.087313 m,
nav range: 15.769769 m,
bearing: 210.617330 deg,
approach rate: -0.641675 m/s,
LOS rate: -0.321852 deg/s,
cmd heading: 205.333368 deg,
new cmd heading: 205.039325 deg.
2025-08-22T21:32:48.266Z,1755898368.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578611 target range: 18.087313 and range: 18.20 m.
2025-08-22T21:32:48.452Z,1755898368.452 [DAT](INFO): DAT read: 21:32:48.4653 LVL= 21392, 29889, 21810, 31331, AGC= 53, IDX= 407, 0.23,-0.785,-2.562,-0.675,-1.102, PHS= 0.418,-1.415, 0.383, RAW= 149.0, 6.8, CAL= 148.5, 7.3, ROT= 1.5, -7.3
2025-08-22T21:32:48.453Z,1755898368.453 [DAT](INFO): got valid direction response:
21:32:48.4653 LVL= 21392, 29889, 21810, 31331, AGC= 53, IDX= 407, 0.23,-0.785,-2.562,-0.675,-1.102, PHS= 0.418,-1.415, 0.383, RAW= 149.0, 6.8, CAL= 148.5, 7.3, ROT= 1.5, -7.3
2025-08-22T21:32:48.454Z,1755898368.454 [DAT](INFO): DAT read: Bearing 349.6, 5.7 (Local)
2025-08-22T21:32:48.455Z,1755898368.455 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.6, 5.7 (Local)
2025-08-22T21:32:48.456Z,1755898368.456 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (Round-trip 21.3 ms) speed 0.5 m/s
2025-08-22T21:32:48.457Z,1755898368.457 [DAT](INFO): DAT read: user:2320>
2025-08-22T21:32:48.458Z,1755898368.458 [DAT](INFO): DAT read: Tx time:21:32:49.5898
2025-08-22T21:32:48.458Z,1755898368.458 [DAT](INFO): Ping request sent.
2025-08-22T21:32:48.458Z,1755898368.458 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:48.458Z,1755898368.458 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T21:32:48.459Z,1755898368.459 [DAT](INFO): direction in FSK: [0.991555,0.025965,0.127065]
2025-08-22T21:32:48.460Z,1755898368.460 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:48.460Z,1755898368.460 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:48.464Z,1755898368.464 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:48.465Z,1755898368.465 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:48.468Z,1755898368.468 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.009730
2025-08-22T21:32:48.699Z,1755898368.699 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.240568
2025-08-22T21:32:48.776Z,1755898368.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 3.528223 s,
deltaX: -2.300001 m,
approachRate: -0.651887 m/s,
rangeRepo size: 4
2025-08-22T21:32:48.778Z,1755898368.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.801601 m,
bearing: 213.363105 deg,
lat: 36.779400 deg,
lon: -121.859546 deg,
deltaT: 3.528223 s,
deltaX: -2.285711 m,
approachRate: -0.647836 m/s,
posRepo size: 4
2025-08-22T21:32:48.779Z,1755898368.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T21:32:48.789Z,1755898368.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.801601 m,
nav range: 15.523813 m,
bearing: 211.388574 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.321852 deg/s,
cmd heading: 205.039328 deg,
new cmd heading: 204.693285 deg.
2025-08-22T21:32:48.790Z,1755898368.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.572572 target range: 15.801601 and range: 15.90 m.
2025-08-22T21:32:48.951Z,1755898368.951 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.492333
2025-08-22T21:32:49.204Z,1755898369.204 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.745668
2025-08-22T21:32:49.261Z,1755898369.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T21:32:49.268Z,1755898369.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.801601 m,
nav range: 15.181065 m,
bearing: 211.249965 deg,
approach rate: -0.705013 m/s,
LOS rate: -0.291546 deg/s,
cmd heading: 204.693284 deg,
new cmd heading: 204.409810 deg.
2025-08-22T21:32:49.269Z,1755898369.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567624 target range: 15.801601 and range: 15.90 m.
2025-08-22T21:32:49.454Z,1755898369.454 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.996287
2025-08-22T21:32:49.628Z,1755898369.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T21:32:49.631Z,1755898369.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.801601 m,
nav range: 14.943822 m,
bearing: 211.155122 deg,
approach rate: -0.645829 m/s,
LOS rate: -0.262283 deg/s,
cmd heading: 204.409817 deg,
new cmd heading: 204.217121 deg.
2025-08-22T21:32:49.632Z,1755898369.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.564261 target range: 15.801601 and range: 15.90 m.
2025-08-22T21:32:49.708Z,1755898369.708 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.250019
2025-08-22T21:32:49.959Z,1755898369.959 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.500485
2025-08-22T21:32:50.040Z,1755898370.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:50.043Z,1755898370.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T21:32:50.046Z,1755898370.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.801601 m,
nav range: 14.687331 m,
bearing: 211.054500 deg,
approach rate: -0.619042 m/s,
LOS rate: -0.247094 deg/s,
cmd heading: 204.217124 deg,
new cmd heading: 204.012365 deg.
2025-08-22T21:32:50.047Z,1755898370.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560688 target range: 15.801601 and range: 15.90 m.
2025-08-22T21:32:50.211Z,1755898370.211 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.753068
2025-08-22T21:32:50.434Z,1755898370.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T21:32:50.437Z,1755898370.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.801601 m,
nav range: 14.429792 m,
bearing: 210.948968 deg,
approach rate: -0.657599 m/s,
LOS rate: -0.274273 deg/s,
cmd heading: 204.012368 deg,
new cmd heading: 203.797539 deg.
2025-08-22T21:32:50.438Z,1755898370.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.556938 target range: 15.801601 and range: 15.90 m.
2025-08-22T21:32:50.463Z,1755898370.463 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.004446
2025-08-22T21:32:50.715Z,1755898370.715 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.257023
2025-08-22T21:32:50.830Z,1755898370.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T21:32:50.833Z,1755898370.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.801601 m,
nav range: 14.190084 m,
bearing: 210.852575 deg,
approach rate: -0.605683 m/s,
LOS rate: -0.247674 deg/s,
cmd heading: 203.797545 deg,
new cmd heading: 203.601504 deg.
2025-08-22T21:32:50.838Z,1755898370.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.553517 target range: 15.801601 and range: 15.90 m.
2025-08-22T21:32:50.966Z,1755898370.966 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.508311
2025-08-22T21:32:51.219Z,1755898371.219 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.761170
2025-08-22T21:32:51.289Z,1755898371.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T21:32:51.293Z,1755898371.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.801601 m,
nav range: 13.892400 m,
bearing: 210.728058 deg,
approach rate: -0.648397 m/s,
LOS rate: -0.277027 deg/s,
cmd heading: 203.601505 deg,
new cmd heading: 203.347136 deg.
2025-08-22T21:32:51.294Z,1755898371.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.549077 target range: 15.801601 and range: 15.90 m.
2025-08-22T21:32:51.470Z,1755898371.470 [DAT](INFO): DAT read: Rx Time:21:32:52.0123
2025-08-22T21:32:51.471Z,1755898371.471 [DAT](INFO): Rx dataTimestamp_ set to:1755898371.470673
2025-08-22T21:32:51.471Z,1755898371.471 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.013338
2025-08-22T21:32:51.625Z,1755898371.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T21:32:51.628Z,1755898371.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.801601 m,
nav range: 13.677260 m,
bearing: 210.638888 deg,
approach rate: -0.640256 m/s,
LOS rate: -0.269547 deg/s,
cmd heading: 203.347135 deg,
new cmd heading: 203.165989 deg.
2025-08-22T21:32:51.629Z,1755898371.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.545915 target range: 15.801601 and range: 15.90 m.
2025-08-22T21:32:51.724Z,1755898371.724 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.265358
2025-08-22T21:32:51.980Z,1755898371.980 [DAT](INFO): DAT read: 21:32:52.0123 LVL= 24928, 32337, 24514, 31251, AGC= 52, IDX= 409,-0.21, 3.046, 1.228, 3.013, 2.690, PHS= 0.458,-1.417, 0.279, RAW= 145.0, 7.6, CAL= 144.6, 8.3, ROT= 5.4, -8.3
2025-08-22T21:32:51.982Z,1755898371.982 [DAT](INFO): got valid direction response:
21:32:52.0123 LVL= 24928, 32337, 24514, 31251, AGC= 52, IDX= 409,-0.21, 3.046, 1.228, 3.013, 2.690, PHS= 0.458,-1.417, 0.279, RAW= 145.0, 7.6, CAL= 144.6, 8.3, ROT= 5.4, -8.3
2025-08-22T21:32:51.983Z,1755898371.983 [DAT](INFO): DAT read: Bearing 348.4, 8.9 (Local)
2025-08-22T21:32:51.983Z,1755898371.983 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.4, 8.9 (Local)
2025-08-22T21:32:51.984Z,1755898371.984 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (Round-trip 18.4 ms) speed 0.6 m/s
2025-08-22T21:32:51.985Z,1755898371.985 [DAT](INFO): DAT read: user:2321>
2025-08-22T21:32:52.011Z,1755898372.011 [DAT](INFO): DAT read: Tx time:21:32:53.1397
2025-08-22T21:32:52.011Z,1755898372.011 [DAT](INFO): Ping request sent.
2025-08-22T21:32:52.011Z,1755898372.011 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:52.011Z,1755898372.011 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T21:32:52.012Z,1755898372.012 [DAT](INFO): direction in FSK: [0.985134,0.093123,0.144356]
2025-08-22T21:32:52.013Z,1755898372.013 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:52.013Z,1755898372.013 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:52.016Z,1755898372.016 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:52.016Z,1755898372.016 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:52.044Z,1755898372.044 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.032653
2025-08-22T21:32:52.107Z,1755898372.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 3.527980 s,
deltaX: -2.099999 m,
approachRate: -0.595241 m/s,
rangeRepo size: 4
2025-08-22T21:32:52.109Z,1755898372.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.714549 m,
bearing: 215.091542 deg,
lat: 36.779401 deg,
lon: -121.859549 deg,
deltaT: 3.527980 s,
deltaX: -2.087052 m,
approachRate: -0.591571 m/s,
posRepo size: 4
2025-08-22T21:32:52.115Z,1755898372.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T21:32:52.122Z,1755898372.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.714549 m,
nav range: 13.482018 m,
bearing: 211.712407 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.269547 deg/s,
cmd heading: 203.165985 deg,
new cmd heading: 202.906691 deg.
2025-08-22T21:32:52.123Z,1755898372.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541390 target range: 13.714549 and range: 13.80 m.
2025-08-22T21:32:52.227Z,1755898372.227 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.216238
2025-08-22T21:32:52.479Z,1755898372.479 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.467490
2025-08-22T21:32:52.507Z,1755898372.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:52.509Z,1755898372.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T21:32:52.512Z,1755898372.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.714549 m,
nav range: 13.203783 m,
bearing: 211.619260 deg,
approach rate: -0.690477 m/s,
LOS rate: -0.236027 deg/s,
cmd heading: 202.906697 deg,
new cmd heading: 202.716479 deg.
2025-08-22T21:32:52.513Z,1755898372.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538070 target range: 13.714549 and range: 13.80 m.
2025-08-22T21:32:52.731Z,1755898372.731 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.719943
2025-08-22T21:32:52.887Z,1755898372.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T21:32:52.895Z,1755898372.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.714549 m,
nav range: 12.974012 m,
bearing: 211.547998 deg,
approach rate: -0.607889 m/s,
LOS rate: -0.191873 deg/s,
cmd heading: 202.716477 deg,
new cmd heading: 202.571428 deg.
2025-08-22T21:32:52.896Z,1755898372.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535538 target range: 13.714549 and range: 13.80 m.
2025-08-22T21:32:52.983Z,1755898372.983 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.971443
2025-08-22T21:32:53.124Z,1755898373.124 [CTD_Seabird](ERROR): Failed to parse device response: 66.06,10.3169,3.778.16
2025-08-22T21:32:53.238Z,1755898373.238 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.225687
2025-08-22T21:32:53.304Z,1755898373.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T21:32:53.323Z,1755898373.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.714549 m,
nav range: 12.708576 m,
bearing: 211.479278 deg,
approach rate: -0.637260 m/s,
LOS rate: -0.168431 deg/s,
cmd heading: 202.571431 deg,
new cmd heading: 202.431119 deg.
2025-08-22T21:32:53.324Z,1755898373.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533090 target range: 13.714549 and range: 13.80 m.
2025-08-22T21:32:53.487Z,1755898373.487 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.475336
2025-08-22T21:32:53.689Z,1755898373.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T21:32:53.694Z,1755898373.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.714549 m,
nav range: 12.475516 m,
bearing: 211.421046 deg,
approach rate: -0.605174 m/s,
LOS rate: -0.154031 deg/s,
cmd heading: 202.431125 deg,
new cmd heading: 202.312487 deg.
2025-08-22T21:32:53.696Z,1755898373.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531019 target range: 13.714549 and range: 13.80 m.
2025-08-22T21:32:53.739Z,1755898373.739 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.728093
2025-08-22T21:32:53.991Z,1755898373.991 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.979516
2025-08-22T21:32:54.083Z,1755898374.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T21:32:54.102Z,1755898374.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.714549 m,
nav range: 12.225362 m,
bearing: 211.361219 deg,
approach rate: -0.635144 m/s,
LOS rate: -0.155010 deg/s,
cmd heading: 202.312484 deg,
new cmd heading: 202.190382 deg.
2025-08-22T21:32:54.103Z,1755898374.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528888 target range: 13.714549 and range: 13.80 m.
2025-08-22T21:32:54.245Z,1755898374.245 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.233032
2025-08-22T21:32:54.495Z,1755898374.495 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.483324
2025-08-22T21:32:54.531Z,1755898374.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T21:32:54.538Z,1755898374.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.714549 m,
nav range: 11.961428 m,
bearing: 211.288613 deg,
approach rate: -0.588435 m/s,
LOS rate: -0.165446 deg/s,
cmd heading: 202.190388 deg,
new cmd heading: 202.041971 deg.
2025-08-22T21:32:54.539Z,1755898374.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.526298 target range: 13.714549 and range: 13.80 m.
2025-08-22T21:32:54.746Z,1755898374.746 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.735238
2025-08-22T21:32:54.907Z,1755898374.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:54.910Z,1755898374.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T21:32:54.912Z,1755898374.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.714549 m,
nav range: 11.711545 m,
bearing: 211.216850 deg,
approach rate: -0.660564 m/s,
LOS rate: -0.193750 deg/s,
cmd heading: 202.041968 deg,
new cmd heading: 201.895382 deg.
2025-08-22T21:32:54.914Z,1755898374.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.523739 target range: 13.714549 and range: 13.80 m.
2025-08-22T21:32:54.000Z,1755898375.000 [DAT](INFO): DAT read: Rx Time:21:32:55.5592
2025-08-22T21:32:55.000Z,1755898375.000 [DAT](INFO): Rx dataTimestamp_ set to:1755898375.000097
2025-08-22T21:32:55.001Z,1755898375.001 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.990048
2025-08-22T21:32:55.253Z,1755898375.253 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.241366
2025-08-22T21:32:55.352Z,1755898375.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T21:32:55.359Z,1755898375.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.714549 m,
nav range: 11.439405 m,
bearing: 211.143177 deg,
approach rate: -0.615642 m/s,
LOS rate: -0.170631 deg/s,
cmd heading: 201.895379 deg,
new cmd heading: 201.744526 deg.
2025-08-22T21:32:55.360Z,1755898375.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521106 target range: 13.714549 and range: 13.80 m.
2025-08-22T21:32:55.508Z,1755898375.508 [DAT](INFO): DAT read: 21:32:55.5592 LVL= 22384, 32433, 21490, 31331, AGC= 52, IDX= 410,-0.31, 1.291,-0.604, 1.090, 0.901, PHS= 0.492,-1.460, 0.145, RAW= 140.4, 9.2, CAL= 140.0, 10.0, ROT= 10.0, -10.0
2025-08-22T21:32:55.509Z,1755898375.509 [DAT](INFO): got valid direction response:
21:32:55.5592 LVL= 22384, 32433, 21490, 31331, AGC= 52, IDX= 410,-0.31, 1.291,-0.604, 1.090, 0.901, PHS= 0.492,-1.460, 0.145, RAW= 140.4, 9.2, CAL= 140.0, 10.0, ROT= 10.0, -10.0
2025-08-22T21:32:55.510Z,1755898375.510 [DAT](INFO): DAT read: Bearing 348.1, 12.8 (Local)
2025-08-22T21:32:55.510Z,1755898375.510 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.1, 12.8 (Local)
2025-08-22T21:32:55.512Z,1755898375.512 [DAT](INFO): DAT read: Range 11 to 50 : 11.5 m (Round-trip 15.4 ms) speed 0.5 m/s
2025-08-22T21:32:55.512Z,1755898375.512 [DAT](INFO): DAT read: user:2322>
2025-08-22T21:32:55.513Z,1755898375.513 [DAT](INFO): DAT read: Tx time:21:32:56.6897
2025-08-22T21:32:55.514Z,1755898375.514 [DAT](INFO): Ping request sent.
2025-08-22T21:32:55.514Z,1755898375.514 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:55.514Z,1755898375.514 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T21:32:55.515Z,1755898375.515 [DAT](INFO): direction in FSK: [0.969846,0.171010,0.173648]
2025-08-22T21:32:55.515Z,1755898375.515 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:55.515Z,1755898375.515 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:55.567Z,1755898375.567 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:55.568Z,1755898375.568 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:55.601Z,1755898375.601 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.087124
2025-08-22T21:32:55.749Z,1755898375.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.500000 m,
deltaT: 3.527866 s,
deltaX: -2.300000 m,
approachRate: -0.651952 m/s,
rangeRepo size: 4
2025-08-22T21:32:55.755Z,1755898375.755 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.240889
2025-08-22T21:32:55.759Z,1755898375.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.428681 m,
bearing: 217.621532 deg,
lat: 36.779403 deg,
lon: -121.859551 deg,
deltaT: 3.527866 s,
deltaX: -2.285868 m,
approachRate: -0.647946 m/s,
posRepo size: 4
2025-08-22T21:32:55.760Z,1755898375.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.43 m.
2025-08-22T21:32:55.767Z,1755898375.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.428681 m,
nav range: 11.115862 m,
bearing: 212.401945 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.170631 deg/s,
cmd heading: 201.744527 deg,
new cmd heading: 201.610250 deg.
2025-08-22T21:32:55.768Z,1755898375.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.518763 target range: 11.428681 and range: 11.50 m.
2025-08-22T21:32:56.007Z,1755898376.007 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.493287
2025-08-22T21:32:56.110Z,1755898376.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.43 m.
2025-08-22T21:32:56.113Z,1755898376.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.428681 m,
nav range: 10.875706 m,
bearing: 212.369668 deg,
approach rate: -0.658621 m/s,
LOS rate: -0.090474 deg/s,
cmd heading: 201.610245 deg,
new cmd heading: 201.544266 deg.
2025-08-22T21:32:56.114Z,1755898376.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517611 target range: 11.428681 and range: 11.50 m.
2025-08-22T21:32:56.267Z,1755898376.267 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.750759
2025-08-22T21:32:56.516Z,1755898376.516 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.002121
2025-08-22T21:32:56.627Z,1755898376.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.43 m.
2025-08-22T21:32:56.630Z,1755898376.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.428681 m,
nav range: 10.551320 m,
bearing: 212.354403 deg,
approach rate: -0.627115 m/s,
LOS rate: -0.030416 deg/s,
cmd heading: 201.544266 deg,
new cmd heading: 201.512799 deg.
2025-08-22T21:32:56.631Z,1755898376.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517062 target range: 11.428681 and range: 11.50 m.
2025-08-22T21:32:56.767Z,1755898376.767 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.252760
2025-08-22T21:32:57.019Z,1755898377.019 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.504835
2025-08-22T21:32:57.040Z,1755898377.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:57.043Z,1755898377.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.43 m.
2025-08-22T21:32:57.046Z,1755898377.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.428681 m,
nav range: 10.303617 m,
bearing: 212.342100 deg,
approach rate: -0.595761 m/s,
LOS rate: -0.030302 deg/s,
cmd heading: 201.512792 deg,
new cmd heading: 201.487595 deg.
2025-08-22T21:32:57.047Z,1755898377.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516622 target range: 11.428681 and range: 11.50 m.
2025-08-22T21:32:57.287Z,1755898377.287 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.771337
2025-08-22T21:32:57.527Z,1755898377.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.43 m.
2025-08-22T21:32:57.531Z,1755898377.531 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.016819
2025-08-22T21:32:57.531Z,1755898377.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.428681 m,
nav range: 9.995896 m,
bearing: 212.279949 deg,
approach rate: -0.635480 m/s,
LOS rate: -0.132300 deg/s,
cmd heading: 201.487589 deg,
new cmd heading: 201.359460 deg.
2025-08-22T21:32:57.532Z,1755898377.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.514385 target range: 11.428681 and range: 11.50 m.
2025-08-22T21:32:57.783Z,1755898377.783 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.269513
2025-08-22T21:32:57.911Z,1755898377.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.43 m.
2025-08-22T21:32:57.914Z,1755898377.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.428681 m,
nav range: 9.762025 m,
bearing: 212.234446 deg,
approach rate: -0.608879 m/s,
LOS rate: -0.121305 deg/s,
cmd heading: 201.359455 deg,
new cmd heading: 201.266268 deg.
2025-08-22T21:32:57.915Z,1755898377.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512759 target range: 11.428681 and range: 11.50 m.
2025-08-22T21:32:58.034Z,1755898378.034 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.520663
2025-08-22T21:32:58.290Z,1755898378.290 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.775329
2025-08-22T21:32:58.384Z,1755898378.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.43 m.
2025-08-22T21:32:58.391Z,1755898378.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.428681 m,
nav range: 9.465031 m,
bearing: 212.202479 deg,
approach rate: -0.628479 m/s,
LOS rate: -0.069770 deg/s,
cmd heading: 201.266263 deg,
new cmd heading: 201.200322 deg.
2025-08-22T21:32:58.392Z,1755898378.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.511608 target range: 11.428681 and range: 11.50 m.
2025-08-22T21:32:58.538Z,1755898378.538 [DAT](INFO): DAT read: Rx Time:21:32:59.1064
2025-08-22T21:32:58.539Z,1755898378.539 [DAT](INFO): Rx dataTimestamp_ set to:1755898378.538684
2025-08-22T21:32:58.539Z,1755898378.539 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.025728
2025-08-22T21:32:58.791Z,1755898378.791 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.276821
2025-08-22T21:32:58.800Z,1755898378.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.43 m.
2025-08-22T21:32:58.803Z,1755898378.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.428681 m,
nav range: 9.193618 m,
bearing: 212.176915 deg,
approach rate: -0.651630 m/s,
LOS rate: -0.063186 deg/s,
cmd heading: 201.200325 deg,
new cmd heading: 201.147689 deg.
2025-08-22T21:32:58.804Z,1755898378.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510689 target range: 11.428681 and range: 11.50 m.
2025-08-22T21:32:59.051Z,1755898379.051 [DAT](INFO): DAT read: 21:32:59.1064 LVL= 23168, 32753, 21170, 32755, AGC= 50, IDX= 413,-0.16, 0.632,-1.244, 0.362, 0.251, PHS= 0.483,-1.451, 0.066, RAW= 138.2, 10.2, CAL= 137.7, 11.2, ROT= 12.3, -11.2
2025-08-22T21:32:59.052Z,1755898379.052 [DAT](INFO): got valid direction response:
21:32:59.1064 LVL= 23168, 32753, 21170, 32755, AGC= 50, IDX= 413,-0.16, 0.632,-1.244, 0.362, 0.251, PHS= 0.483,-1.451, 0.066, RAW= 138.2, 10.2, CAL= 137.7, 11.2, ROT= 12.3, -11.2
2025-08-22T21:32:59.053Z,1755898379.053 [DAT](INFO): DAT read: Bearing 347.5, 14.4 (Local)
2025-08-22T21:32:59.053Z,1755898379.053 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.5, 14.4 (Local)
2025-08-22T21:32:59.055Z,1755898379.055 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (Round-trip 12.5 ms) speed 0.5 m/s
2025-08-22T21:32:59.055Z,1755898379.055 [DAT](INFO): DAT read: user:2323>
2025-08-22T21:32:59.056Z,1755898379.056 [DAT](INFO): DAT read: Tx time:21:33:00.1897
2025-08-22T21:32:59.056Z,1755898379.056 [DAT](INFO): Ping request sent.
2025-08-22T21:32:59.056Z,1755898379.056 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:32:59.057Z,1755898379.057 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T21:32:59.058Z,1755898379.058 [DAT](INFO): direction in FSK: [0.958438,0.208973,0.194234]
2025-08-22T21:32:59.059Z,1755898379.059 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:59.059Z,1755898379.059 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:59.067Z,1755898379.067 [DAT](INFO): publishing transmit ping time
2025-08-22T21:32:59.067Z,1755898379.067 [DAT](INFO): publishing direction and range info
2025-08-22T21:32:59.074Z,1755898379.074 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.017849
2025-08-22T21:32:59.249Z,1755898379.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.300000 m,
deltaT: 3.540304 s,
deltaX: -2.200000 m,
approachRate: -0.621415 m/s,
rangeRepo size: 4
2025-08-22T21:32:59.263Z,1755898379.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.242247 m,
bearing: 218.085321 deg,
lat: 36.779405 deg,
lon: -121.859557 deg,
deltaT: 3.540304 s,
deltaX: -2.186435 m,
approachRate: -0.617584 m/s,
posRepo size: 4
2025-08-22T21:32:59.264Z,1755898379.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-22T21:32:59.264Z,1755898379.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.30 m.
2025-08-22T21:32:59.264Z,1755898379.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-22T21:32:59.280Z,1755898379.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 8.994197 m,
bearing: 215.569462 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.063186 deg/s,
cmd heading: 201.147691 deg,
new cmd heading: 201.091067 deg.
2025-08-22T21:32:59.297Z,1755898379.297 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.240105
2025-08-22T21:32:59.293Z,1755898379.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.509701 target range: 9.242247 and range: 9.30 m.
2025-08-22T21:32:59.548Z,1755898379.548 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.491369
2025-08-22T21:32:59.717Z,1755898379.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:32:59.720Z,1755898379.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:32:59.723Z,1755898379.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 8.668200 m,
bearing: 215.675273 deg,
approach rate: -0.691813 m/s,
LOS rate: 0.232991 deg/s,
cmd heading: 201.091069 deg,
new cmd heading: 201.310649 deg.
2025-08-22T21:32:59.723Z,1755898379.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513534 target range: 9.242247 and range: 9.30 m.
2025-08-22T21:32:59.799Z,1755898379.799 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.742289
2025-08-22T21:33:00.050Z,1755898380.050 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.993965
2025-08-22T21:33:00.091Z,1755898380.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:00.097Z,1755898380.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 8.442163 m,
bearing: 215.755966 deg,
approach rate: -0.609174 m/s,
LOS rate: 0.223290 deg/s,
cmd heading: 201.310646 deg,
new cmd heading: 201.476351 deg.
2025-08-22T21:33:00.098Z,1755898380.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516426 target range: 9.242247 and range: 9.30 m.
2025-08-22T21:33:00.307Z,1755898380.307 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.250086
2025-08-22T21:33:00.492Z,1755898380.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:00.495Z,1755898380.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 8.182829 m,
bearing: 215.875884 deg,
approach rate: -0.646251 m/s,
LOS rate: 0.308303 deg/s,
cmd heading: 201.476346 deg,
new cmd heading: 201.723782 deg.
2025-08-22T21:33:00.496Z,1755898380.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520744 target range: 9.242247 and range: 9.30 m.
2025-08-22T21:33:00.555Z,1755898380.555 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.498194
2025-08-22T21:33:00.806Z,1755898380.806 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.749976
2025-08-22T21:33:00.882Z,1755898380.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:00.884Z,1755898380.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 7.940865 m,
bearing: 215.997567 deg,
approach rate: -0.621569 m/s,
LOS rate: 0.322109 deg/s,
cmd heading: 201.723777 deg,
new cmd heading: 201.974556 deg.
2025-08-22T21:33:00.885Z,1755898380.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.525121 target range: 9.242247 and range: 9.30 m.
2025-08-22T21:33:01.059Z,1755898381.059 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.002096
2025-08-22T21:33:01.314Z,1755898381.314 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.256633
2025-08-22T21:33:01.348Z,1755898381.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:01.368Z,1755898381.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 7.685972 m,
bearing: 216.138066 deg,
approach rate: -0.558908 m/s,
LOS rate: 0.318291 deg/s,
cmd heading: 201.974554 deg,
new cmd heading: 202.264868 deg.
2025-08-22T21:33:01.369Z,1755898381.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530188 target range: 9.242247 and range: 9.30 m.
2025-08-22T21:33:01.562Z,1755898381.562 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.505922
2025-08-22T21:33:01.754Z,1755898381.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:01.756Z,1755898381.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:01.759Z,1755898381.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 7.394891 m,
bearing: 216.312208 deg,
approach rate: -0.694971 m/s,
LOS rate: 0.432139 deg/s,
cmd heading: 202.264864 deg,
new cmd heading: 202.626853 deg.
2025-08-22T21:33:01.760Z,1755898381.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536506 target range: 9.242247 and range: 9.30 m.
2025-08-22T21:33:01.816Z,1755898381.816 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.758802
2025-08-22T21:33:02.067Z,1755898382.067 [DAT](INFO): DAT read: Rx Time:21:33:02.6036
2025-08-22T21:33:02.067Z,1755898382.067 [DAT](INFO): Rx dataTimestamp_ set to:1755898382.066696
2025-08-22T21:33:02.068Z,1755898382.068 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.011046
2025-08-22T21:33:02.137Z,1755898382.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:02.140Z,1755898382.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 7.155676 m,
bearing: 216.465962 deg,
approach rate: -0.628004 m/s,
LOS rate: 0.417140 deg/s,
cmd heading: 202.626851 deg,
new cmd heading: 202.944636 deg.
2025-08-22T21:33:02.141Z,1755898382.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542052 target range: 9.242247 and range: 9.30 m.
2025-08-22T21:33:02.323Z,1755898382.323 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.265614
2025-08-22T21:33:02.576Z,1755898382.576 [DAT](INFO): DAT read: 21:33:02.6036 LVL= 27856, 27889, 22242, 32755, AGC= 49, IDX= 416, 0.13,-2.468, 2.012,-2.510,-2.669, PHS= 0.304,-1.557, 0.115, RAW= 144.7, 12.8, CAL= 144.3, 13.9, ROT= 5.7, -13.9
2025-08-22T21:33:02.577Z,1755898382.577 [DAT](INFO): got valid direction response:
21:33:02.6036 LVL= 27856, 27889, 22242, 32755, AGC= 49, IDX= 416, 0.13,-2.468, 2.012,-2.510,-2.669, PHS= 0.304,-1.557, 0.115, RAW= 144.7, 12.8, CAL= 144.3, 13.9, ROT= 5.7, -13.9
2025-08-22T21:33:02.578Z,1755898382.578 [DAT](INFO): DAT read: Bearing 348.9, 6.6 (Local)
2025-08-22T21:33:02.579Z,1755898382.579 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.9, 6.6 (Local)
2025-08-22T21:33:02.580Z,1755898382.580 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (Round-trip 9.7 ms) speed 0.6 m/s
2025-08-22T21:33:02.581Z,1755898382.581 [DAT](INFO): DAT read: user:2324>
2025-08-22T21:33:02.581Z,1755898382.581 [DAT](INFO): DAT read: Tx time:21:33:03.6897
2025-08-22T21:33:02.583Z,1755898382.583 [DAT](INFO): Ping request sent.
2025-08-22T21:33:02.583Z,1755898382.583 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:02.585Z,1755898382.585 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T21:33:02.589Z,1755898382.589 [DAT](INFO): direction in FSK: [0.965917,0.096411,0.240228]
2025-08-22T21:33:02.589Z,1755898382.589 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:02.589Z,1755898382.589 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:02.593Z,1755898382.593 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:02.593Z,1755898382.593 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:02.596Z,1755898382.596 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.013541
2025-08-22T21:33:02.667Z,1755898382.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 3.527793 s,
deltaX: -2.100000 m,
approachRate: -0.595273 m/s,
rangeRepo size: 4
2025-08-22T21:33:02.686Z,1755898382.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.154730 m,
bearing: 210.574261 deg,
lat: 36.779405 deg,
lon: -121.859557 deg,
deltaT: 3.527793 s,
deltaX: -2.087516 m,
approachRate: -0.591734 m/s,
posRepo size: 4
2025-08-22T21:33:02.688Z,1755898382.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.15 m. 9.24 m.
2025-08-22T21:33:02.701Z,1755898382.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 6.879322 m,
bearing: 216.647765 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.063186 deg/s,
cmd heading: 202.944632 deg,
new cmd heading: 202.877650 deg.
2025-08-22T21:33:02.714Z,1755898382.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540883 target range: 9.242247 and range: 7.20 m.
2025-08-22T21:33:02.823Z,1755898382.823 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.240295
2025-08-22T21:33:02.987Z,1755898382.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:02.991Z,1755898382.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 6.625855 m,
bearing: 216.831236 deg,
approach rate: -0.802919 m/s,
LOS rate: 0.603419 deg/s,
cmd heading: 202.877655 deg,
new cmd heading: 203.258627 deg.
2025-08-22T21:33:02.992Z,1755898382.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547532 target range: 9.242247 and range: 7.20 m.
2025-08-22T21:33:03.075Z,1755898383.075 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.491811
2025-08-22T21:33:03.330Z,1755898383.330 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.746806
2025-08-22T21:33:03.468Z,1755898383.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:03.471Z,1755898383.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 6.312897 m,
bearing: 217.120037 deg,
approach rate: -0.645260 m/s,
LOS rate: 0.624972 deg/s,
cmd heading: 203.258630 deg,
new cmd heading: 203.864842 deg.
2025-08-22T21:33:03.472Z,1755898383.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558113 target range: 9.242247 and range: 7.20 m.
2025-08-22T21:33:03.579Z,1755898383.579 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.996511
2025-08-22T21:33:03.804Z,1755898383.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:03.807Z,1755898383.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:03.809Z,1755898383.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 6.094697 m,
bearing: 217.339047 deg,
approach rate: -0.643926 m/s,
LOS rate: 0.669452 deg/s,
cmd heading: 203.864836 deg,
new cmd heading: 204.318528 deg.
2025-08-22T21:33:03.810Z,1755898383.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.566031 target range: 9.242247 and range: 7.20 m.
2025-08-22T21:33:03.831Z,1755898383.831 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.247897
2025-08-22T21:33:04.083Z,1755898384.083 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.500039
2025-08-22T21:33:04.222Z,1755898384.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:04.225Z,1755898384.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 5.826825 m,
bearing: 217.639434 deg,
approach rate: -0.645155 m/s,
LOS rate: 0.756721 deg/s,
cmd heading: 204.318525 deg,
new cmd heading: 204.946888 deg.
2025-08-22T21:33:04.226Z,1755898384.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576998 target range: 9.242247 and range: 7.20 m.
2025-08-22T21:33:04.339Z,1755898384.339 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.755252
2025-08-22T21:33:04.590Z,1755898384.590 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.007038
2025-08-22T21:33:04.639Z,1755898384.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:04.642Z,1755898384.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 5.570944 m,
bearing: 217.935110 deg,
approach rate: -0.613905 m/s,
LOS rate: 0.741961 deg/s,
cmd heading: 204.946888 deg,
new cmd heading: 205.565376 deg.
2025-08-22T21:33:04.643Z,1755898384.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587793 target range: 9.242247 and range: 7.20 m.
2025-08-22T21:33:04.839Z,1755898384.839 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.256636
2025-08-22T21:33:05.016Z,1755898385.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:05.023Z,1755898385.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 5.346805 m,
bearing: 218.217483 deg,
approach rate: -0.594179 m/s,
LOS rate: 0.779932 deg/s,
cmd heading: 205.565376 deg,
new cmd heading: 206.153773 deg.
2025-08-22T21:33:05.024Z,1755898385.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598062 target range: 9.242247 and range: 7.20 m.
2025-08-22T21:33:05.091Z,1755898385.091 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.508495
2025-08-22T21:33:05.345Z,1755898385.345 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.761599
2025-08-22T21:33:05.509Z,1755898385.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:05.512Z,1755898385.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 5.035538 m,
bearing: 218.644551 deg,
approach rate: -0.631441 m/s,
LOS rate: 0.919899 deg/s,
cmd heading: 206.153769 deg,
new cmd heading: 207.060618 deg.
2025-08-22T21:33:05.513Z,1755898385.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613889 target range: 9.242247 and range: 7.20 m.
2025-08-22T21:33:05.595Z,1755898385.595 [DAT](INFO): DAT read: Rx Time:21:33:06.1006
2025-08-22T21:33:05.595Z,1755898385.595 [DAT](INFO): Rx dataTimestamp_ set to:1755898385.594764
2025-08-22T21:33:05.596Z,1755898385.596 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.012792
2025-08-22T21:33:05.844Z,1755898385.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:05.847Z,1755898385.847 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.263843
2025-08-22T21:33:05.848Z,1755898385.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:05.851Z,1755898385.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 4.810224 m,
bearing: 218.982032 deg,
approach rate: -0.664054 m/s,
LOS rate: 1.041221 deg/s,
cmd heading: 207.060613 deg,
new cmd heading: 207.767152 deg.
2025-08-22T21:33:05.852Z,1755898385.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.626221 target range: 9.242247 and range: 7.20 m.
2025-08-22T21:33:06.104Z,1755898386.104 [DAT](INFO): DAT read: 21:33:06.1006 LVL= 23936, 27793, 24802, 32755, AGC= 48, IDX= 418,-0.14,-1.386,-2.921,-0.956,-1.234, PHS=-0.050,-1.642, 0.234, RAW= 158.1, 16.4, CAL= 159.1, 19.2, ROT= 350.9, -19.2
2025-08-22T21:33:06.105Z,1755898386.105 [DAT](INFO): got valid direction response:
21:33:06.1006 LVL= 23936, 27793, 24802, 32755, AGC= 48, IDX= 418,-0.14,-1.386,-2.921,-0.956,-1.234, PHS=-0.050,-1.642, 0.234, RAW= 158.1, 16.4, CAL= 159.1, 19.2, ROT= 350.9, -19.2
2025-08-22T21:33:06.110Z,1755898386.110 [DAT](INFO): DAT read: Bearing 353.9, -8.1 (Local)
2025-08-22T21:33:06.110Z,1755898386.110 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.9, -8.1 (Local)
2025-08-22T21:33:06.111Z,1755898386.111 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (Round-trip 6.9 ms) speed 0.5 m/s
2025-08-22T21:33:06.112Z,1755898386.112 [DAT](INFO): DAT read: user:2325>
2025-08-22T21:33:06.113Z,1755898386.113 [DAT](INFO): DAT read: Tx time:21:33:07.1896
2025-08-22T21:33:06.113Z,1755898386.113 [DAT](INFO): Ping request sent.
2025-08-22T21:33:06.113Z,1755898386.113 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:06.114Z,1755898386.114 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T21:33:06.115Z,1755898386.115 [DAT](INFO): direction in FSK: [0.932490,-0.149361,0.328867]
2025-08-22T21:33:06.115Z,1755898386.115 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:06.115Z,1755898386.115 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:06.118Z,1755898386.118 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:06.118Z,1755898386.118 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:06.122Z,1755898386.122 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.008667
2025-08-22T21:33:06.300Z,1755898386.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.100000 m,
deltaT: 3.527853 s,
deltaX: -2.100000 m,
approachRate: -0.595263 m/s,
rangeRepo size: 4
2025-08-22T21:33:06.306Z,1755898386.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.068078 m,
bearing: 195.444835 deg,
lat: 36.779405 deg,
lon: -121.859557 deg,
deltaT: 7.055646 s,
deltaX: -4.174169 m,
approachRate: -0.591607 m/s,
posRepo size: 4
2025-08-22T21:33:06.307Z,1755898386.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.07 m. 9.24 m.
2025-08-22T21:33:06.314Z,1755898386.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 4.531877 m,
bearing: 219.435145 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.063186 deg/s,
cmd heading: 207.767156 deg,
new cmd heading: 207.710147 deg.
2025-08-22T21:33:06.315Z,1755898386.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.625226 target range: 9.242247 and range: 5.10 m.
2025-08-22T21:33:06.351Z,1755898386.351 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.237442
2025-08-22T21:33:06.603Z,1755898386.603 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.489794
2025-08-22T21:33:06.717Z,1755898386.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:06.720Z,1755898386.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 4.268847 m,
bearing: 219.886848 deg,
approach rate: -0.629690 m/s,
LOS rate: 1.147988 deg/s,
cmd heading: 207.710151 deg,
new cmd heading: 208.669120 deg.
2025-08-22T21:33:06.721Z,1755898386.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.641963 target range: 9.242247 and range: 5.10 m.
2025-08-22T21:33:06.855Z,1755898386.855 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.741684
2025-08-22T21:33:07.080Z,1755898387.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:07.083Z,1755898387.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 4.046550 m,
bearing: 220.302329 deg,
approach rate: -0.612084 m/s,
LOS rate: 1.206842 deg/s,
cmd heading: 208.669123 deg,
new cmd heading: 209.545659 deg.
2025-08-22T21:33:07.084Z,1755898387.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.657262 target range: 9.242247 and range: 5.10 m.
2025-08-22T21:33:07.107Z,1755898387.107 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.993310
2025-08-22T21:33:07.359Z,1755898387.359 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.245296
2025-08-22T21:33:07.513Z,1755898387.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:07.516Z,1755898387.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 3.760610 m,
bearing: 220.829692 deg,
approach rate: -0.660898 m/s,
LOS rate: 1.311566 deg/s,
cmd heading: 209.545655 deg,
new cmd heading: 210.680413 deg.
2025-08-22T21:33:07.517Z,1755898387.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.677067 target range: 9.242247 and range: 5.10 m.
2025-08-22T21:33:07.542Z,1755898387.542 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:33:07.611Z,1755898387.611 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.497429
2025-08-22T21:33:07.863Z,1755898387.863 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.749648
2025-08-22T21:33:07.890Z,1755898387.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:07.892Z,1755898387.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:07.895Z,1755898387.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 3.533806 m,
bearing: 221.288588 deg,
approach rate: -0.597497 m/s,
LOS rate: 1.286497 deg/s,
cmd heading: 210.680409 deg,
new cmd heading: 211.657000 deg.
2025-08-22T21:33:07.896Z,1755898387.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.694112 target range: 9.242247 and range: 5.10 m.
2025-08-22T21:33:08.115Z,1755898388.115 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.001330
2025-08-22T21:33:08.274Z,1755898388.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:08.277Z,1755898388.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 3.277659 m,
bearing: 221.853332 deg,
approach rate: -0.671296 m/s,
LOS rate: 1.595692 deg/s,
cmd heading: 211.657003 deg,
new cmd heading: 212.874556 deg.
2025-08-22T21:33:08.278Z,1755898388.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.715362 target range: 9.242247 and range: 5.10 m.
2025-08-22T21:33:08.367Z,1755898388.367 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.253376
2025-08-22T21:33:08.546Z,1755898388.546 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:33:08.619Z,1755898388.619 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.505280
2025-08-22T21:33:08.741Z,1755898388.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:08.747Z,1755898388.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 2.999146 m,
bearing: 222.516957 deg,
approach rate: -0.596892 m/s,
LOS rate: 1.554281 deg/s,
cmd heading: 212.874552 deg,
new cmd heading: 214.324716 deg.
2025-08-22T21:33:08.748Z,1755898388.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740672 target range: 9.242247 and range: 5.10 m.
2025-08-22T21:33:08.871Z,1755898388.871 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.757869
2025-08-22T21:33:09.084Z,1755898389.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:09.087Z,1755898389.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 2.773105 m,
bearing: 223.119188 deg,
approach rate: -0.657649 m/s,
LOS rate: 1.894928 deg/s,
cmd heading: 214.324711 deg,
new cmd heading: 215.627101 deg.
2025-08-22T21:33:09.088Z,1755898389.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763403 target range: 9.242247 and range: 5.10 m.
2025-08-22T21:33:09.123Z,1755898389.123 [DAT](INFO): DAT read: Rx Time:21:33:09.5983
2025-08-22T21:33:09.124Z,1755898389.124 [DAT](INFO): Rx dataTimestamp_ set to:1755898389.123179
2025-08-22T21:33:09.125Z,1755898389.125 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.011127
2025-08-22T21:33:09.375Z,1755898389.375 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.261275
2025-08-22T21:33:09.583Z,1755898389.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:09.586Z,1755898389.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 2.466725 m,
bearing: 224.153391 deg,
approach rate: -0.614288 m/s,
LOS rate: 2.330986 deg/s,
cmd heading: 215.627105 deg,
new cmd heading: 217.951017 deg.
2025-08-22T21:33:09.587Z,1755898389.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803963 target range: 9.242247 and range: 5.10 m.
2025-08-22T21:33:09.636Z,1755898389.636 [DAT](INFO): DAT read: 21:33:09.5983 LVL= 19312, 22385, 15138, 29555, AGC= 46, IDX= 409,-0.16,-1.667,-2.457,-0.886,-0.856, PHS=-0.710,-1.556,-0.074, RAW= 175.3, 32.7, CAL= 175.7, 44.9, ROT= 334.3, -44.9
2025-08-22T21:33:09.637Z,1755898389.637 [DAT](INFO): got valid direction response:
21:33:09.5983 LVL= 19312, 22385, 15138, 29555, AGC= 46, IDX= 409,-0.16,-1.667,-2.457,-0.886,-0.856, PHS=-0.710,-1.556,-0.074, RAW= 175.3, 32.7, CAL= 175.7, 44.9, ROT= 334.3, -44.9
2025-08-22T21:33:09.639Z,1755898389.639 [DAT](INFO): DAT read: Bearing 25.2, -15.9 (Local)
2025-08-22T21:33:09.639Z,1755898389.639 [DAT](INFO): Local bearing/azimuth received:
Bearing 25.2, -15.9 (Local)
2025-08-22T21:33:09.641Z,1755898389.641 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (Round-trip 4.5 ms) speed 0.4 m/s
2025-08-22T21:33:09.651Z,1755898389.651 [DAT](INFO): DAT read: user:2326>
2025-08-22T21:33:09.652Z,1755898389.652 [DAT](INFO): DAT read: Tx time:21:33:10.6896
2025-08-22T21:33:09.652Z,1755898389.652 [DAT](INFO): Ping request sent.
2025-08-22T21:33:09.652Z,1755898389.652 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:09.653Z,1755898389.653 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T21:33:09.659Z,1755898389.659 [DAT](INFO): direction in FSK: [0.638269,-0.307178,0.705872]
2025-08-22T21:33:09.659Z,1755898389.659 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:09.660Z,1755898389.660 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:09.691Z,1755898389.691 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:09.691Z,1755898389.691 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:09.711Z,1755898389.711 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.059047
2025-08-22T21:33:09.878Z,1755898389.878 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.225950
2025-08-22T21:33:09.939Z,1755898389.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.300000 m,
deltaT: 3.528638 s,
deltaX: -1.800000 m,
approachRate: -0.510112 m/s,
rangeRepo size: 4
2025-08-22T21:33:09.950Z,1755898389.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.279127 m,
bearing: 178.941533 deg,
lat: 36.779401 deg,
lon: -121.859550 deg,
deltaT: 10.584284 s,
deltaX: -5.963120 m,
approachRate: -0.563394 m/s,
posRepo size: 4
2025-08-22T21:33:09.951Z,1755898389.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.28 m. 9.24 m.
2025-08-22T21:33:09.953Z,1755898389.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 2.264817 m,
bearing: 224.903046 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.063186 deg/s,
cmd heading: 217.951022 deg,
new cmd heading: 217.906028 deg.
2025-08-22T21:33:09.958Z,1755898389.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803178 target range: 9.242247 and range: 3.30 m.
2025-08-22T21:33:10.131Z,1755898390.131 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.478093
2025-08-22T21:33:10.295Z,1755898390.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:10.298Z,1755898390.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:10.300Z,1755898390.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 2.028357 m,
bearing: 225.909620 deg,
approach rate: -0.659378 m/s,
LOS rate: 3.133917 deg/s,
cmd heading: 217.906025 deg,
new cmd heading: 220.152593 deg.
2025-08-22T21:33:10.302Z,1755898390.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842388 target range: 9.242247 and range: 3.30 m.
2025-08-22T21:33:10.383Z,1755898390.383 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.730321
2025-08-22T21:33:10.635Z,1755898390.635 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.982080
2025-08-22T21:33:10.734Z,1755898390.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:10.736Z,1755898390.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 1.764254 m,
bearing: 227.393330 deg,
approach rate: -0.606276 m/s,
LOS rate: 3.915450 deg/s,
cmd heading: 220.152597 deg,
new cmd heading: 223.559824 deg.
2025-08-22T21:33:10.737Z,1755898390.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.901855 target range: 9.242247 and range: 3.30 m.
2025-08-22T21:33:10.887Z,1755898390.887 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.234099
2025-08-22T21:33:11.107Z,1755898391.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:11.110Z,1755898391.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 1.538807 m,
bearing: 228.971496 deg,
approach rate: -0.603443 m/s,
LOS rate: 4.842469 deg/s,
cmd heading: 223.559823 deg,
new cmd heading: 227.173327 deg.
2025-08-22T21:33:11.111Z,1755898391.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.964922 target range: 9.242247 and range: 3.30 m.
2025-08-22T21:33:11.151Z,1755898391.151 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.499010
2025-08-22T21:33:11.402Z,1755898391.402 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.750075
2025-08-22T21:33:11.568Z,1755898391.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:11.571Z,1755898391.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 1.254090 m,
bearing: 231.451141 deg,
approach rate: -0.617670 m/s,
LOS rate: 6.598601 deg/s,
cmd heading: 227.173321 deg,
new cmd heading: 233.233919 deg.
2025-08-22T21:33:11.572Z,1755898391.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.070700 target range: 9.242247 and range: 3.30 m.
2025-08-22T21:33:11.656Z,1755898391.656 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.003570
2025-08-22T21:33:11.907Z,1755898391.907 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.254215
2025-08-22T21:33:11.931Z,1755898391.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:11.938Z,1755898391.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.242247 m,
nav range: 1.043625 m,
bearing: 234.019732 deg,
approach rate: -0.579883 m/s,
LOS rate: 8.501474 deg/s,
cmd heading: 233.233912 deg,
new cmd heading: 239.381332 deg.
2025-08-22T21:33:11.939Z,1755898391.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177992 target range: 9.242247 and range: 3.30 m.
2025-08-22T21:33:12.162Z,1755898392.162 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.509494
2025-08-22T21:33:12.370Z,1755898392.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:12.372Z,1755898392.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:12.374Z,1755898392.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.545044 deg/s. Setting heading cmd to target acoustic bearing of 218.085321 deg.
2025-08-22T21:33:12.375Z,1755898392.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.806307 target range: 9.242247 and range: 3.30 m.
2025-08-22T21:33:12.412Z,1755898392.412 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.759046
2025-08-22T21:33:12.664Z,1755898392.664 [DAT](INFO): DAT read: Rx Time:21:33:13.0965
2025-08-22T21:33:12.664Z,1755898392.664 [DAT](INFO): Rx dataTimestamp_ set to:1755898392.663897
2025-08-22T21:33:12.665Z,1755898392.665 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.012657
2025-08-22T21:33:12.783Z,1755898392.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:12.784Z,1755898392.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 28.351034 deg/s. Setting heading cmd to target acoustic bearing of 218.085321 deg.
2025-08-22T21:33:12.785Z,1755898392.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.806307 target range: 9.242247 and range: 3.30 m.
2025-08-22T21:33:12.915Z,1755898392.915 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.262125
2025-08-22T21:33:13.177Z,1755898393.177 [DAT](INFO): DAT read: 21:33:13.0965 LVL= 32752, 32753, 29474, 32755, AGC= 44, IDX= 424, 0.20,-1.068, 0.267, 0.556, 1.444, PHS=-2.409,-1.132,-0.931, RAW= 262.8, 48.7, CAL= 264.5, 55.2, ROT= 245.5, -55.2
2025-08-22T21:33:13.179Z,1755898393.179 [DAT](INFO): got valid direction response:
21:33:13.0965 LVL= 32752, 32753, 29474, 32755, AGC= 44, IDX= 424, 0.20,-1.068, 0.267, 0.556, 1.444, PHS=-2.409,-1.132,-0.931, RAW= 262.8, 48.7, CAL= 264.5, 55.2, ROT= 245.5, -55.2
2025-08-22T21:33:13.181Z,1755898393.181 [DAT](INFO): DAT read: Bearing 87.7, -23.9 (Local)
2025-08-22T21:33:13.184Z,1755898393.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.24 m.
2025-08-22T21:33:13.181Z,1755898393.181 [DAT](INFO): Local bearing/azimuth received:
Bearing 87.7, -23.9 (Local)
2025-08-22T21:33:13.188Z,1755898393.188 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (Round-trip 2.8 ms) speed -0.1 m/s
2025-08-22T21:33:13.189Z,1755898393.189 [DAT](INFO): DAT read: user:2327>
2025-08-22T21:33:13.190Z,1755898393.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 73.959952 deg/s. Setting heading cmd to target acoustic bearing of 218.085321 deg.
2025-08-22T21:33:13.191Z,1755898393.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.806307 target range: 9.242247 and range: 3.30 m.
2025-08-22T21:33:13.226Z,1755898393.226 [DAT](INFO): DAT read: Tx time:21:33:14.1896
2025-08-22T21:33:13.227Z,1755898393.227 [DAT](INFO): Ping request sent.
2025-08-22T21:33:13.227Z,1755898393.227 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:13.227Z,1755898393.227 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T21:33:13.228Z,1755898393.228 [DAT](INFO): direction in FSK: [-0.236671,-0.519327,0.821149]
2025-08-22T21:33:13.228Z,1755898393.228 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:13.228Z,1755898393.228 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:13.244Z,1755898393.244 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:13.244Z,1755898393.244 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:13.264Z,1755898393.264 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.036851
2025-08-22T21:33:13.419Z,1755898393.419 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.191851
2025-08-22T21:33:13.610Z,1755898393.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.100000 m,
deltaT: 3.540208 s,
deltaX: -1.200000 m,
approachRate: -0.338963 m/s,
rangeRepo size: 4
2025-08-22T21:33:13.612Z,1755898393.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.086732 m,
bearing: 106.582939 deg,
lat: 36.779400 deg,
lon: -121.859540 deg,
deltaT: 14.124492 s,
deltaX: -7.155515 m,
approachRate: -0.506603 m/s,
posRepo size: 4
2025-08-22T21:33:13.613Z,1755898393.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.10 m.
2025-08-22T21:33:13.613Z,1755898393.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-22T21:33:13.672Z,1755898393.672 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.445597
2025-08-22T21:33:13.923Z,1755898393.923 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.696125
2025-08-22T21:33:14.176Z,1755898394.176 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.948816
2025-08-22T21:33:14.427Z,1755898394.427 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.200307
2025-08-22T21:33:14.680Z,1755898394.680 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.453027
2025-08-22T21:33:14.820Z,1755898394.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:14.931Z,1755898394.931 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.704066
2025-08-22T21:33:15.183Z,1755898395.183 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.956319
2025-08-22T21:33:15.434Z,1755898395.434 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.207720
2025-08-22T21:33:15.687Z,1755898395.687 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.460598
2025-08-22T21:33:15.938Z,1755898395.938 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.711634
2025-08-22T21:33:16.192Z,1755898396.192 [DAT](INFO): DAT read: Rx Time:21:33:16.5975
2025-08-22T21:33:16.192Z,1755898396.192 [DAT](INFO): Rx dataTimestamp_ set to:1755898396.192025
2025-08-22T21:33:16.193Z,1755898396.193 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.966142
2025-08-22T21:33:16.444Z,1755898396.444 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.217075
2025-08-22T21:33:16.700Z,1755898396.700 [DAT](INFO): DAT read: 21:33:16.5975 LVL= 32752, 26737, 32754, 32755, AGC= 42, IDX= 435,-0.09, 1.102,-3.050, 2.591, 2.892, PHS=-1.688, 0.387,-0.345, RAW= 290.3, 17.7, CAL= 289.1, 24.7, ROT= 220.9, -24.7
2025-08-22T21:33:16.701Z,1755898396.701 [DAT](INFO): got valid direction response:
21:33:16.5975 LVL= 32752, 26737, 32754, 32755, AGC= 42, IDX= 435,-0.09, 1.102,-3.050, 2.591, 2.892, PHS=-1.688, 0.387,-0.345, RAW= 290.3, 17.7, CAL= 289.1, 24.7, ROT= 220.9, -24.7
2025-08-22T21:33:16.703Z,1755898396.703 [DAT](INFO): DAT read: Bearing 134.5, -28.6 (Local)
2025-08-22T21:33:16.703Z,1755898396.703 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.5, -28.6 (Local)
2025-08-22T21:33:16.704Z,1755898396.704 [DAT](INFO): DAT read: Range 11 to 50 : 2.8 m (Round-trip 3.8 ms) speed -0.5 m/s
2025-08-22T21:33:16.705Z,1755898396.705 [DAT](INFO): DAT read: user:2328>
2025-08-22T21:33:16.724Z,1755898396.724 [DAT](INFO): DAT read: Tx time:21:33:17.6896
2025-08-22T21:33:16.724Z,1755898396.724 [DAT](INFO): Ping request sent.
2025-08-22T21:33:16.724Z,1755898396.724 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:16.724Z,1755898396.724 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-22T21:33:16.742Z,1755898396.742 [DAT](INFO): direction in FSK: [-0.686699,-0.594837,0.417867]
2025-08-22T21:33:16.742Z,1755898396.742 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:16.742Z,1755898396.742 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:16.745Z,1755898396.745 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:16.754Z,1755898396.754 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:16.757Z,1755898396.757 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.032808
2025-08-22T21:33:16.857Z,1755898396.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.800000 m,
deltaT: 3.527145 s,
deltaX: 0.700000 m,
approachRate: 0.198461 m/s,
rangeRepo size: 4
2025-08-22T21:33:16.860Z,1755898396.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.782330 m,
bearing: 88.675665 deg,
lat: 36.779398 deg,
lon: -121.859540 deg,
deltaT: 3.527145 s,
deltaX: 0.695598 m,
approachRate: 0.197213 m/s,
posRepo size: 4
2025-08-22T21:33:16.948Z,1755898396.948 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.223694
2025-08-22T21:33:17.193Z,1755898397.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:17.199Z,1755898397.199 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.474558
2025-08-22T21:33:17.450Z,1755898397.450 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.726366
2025-08-22T21:33:17.703Z,1755898397.703 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.978501
2025-08-22T21:33:17.954Z,1755898397.954 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.230352
2025-08-22T21:33:18.207Z,1755898398.207 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.482419
2025-08-22T21:33:18.459Z,1755898398.459 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.734728
2025-08-22T21:33:18.711Z,1755898398.711 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.986403
2025-08-22T21:33:18.962Z,1755898398.962 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.238364
2025-08-22T21:33:19.209Z,1755898399.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:19.215Z,1755898399.215 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.490509
2025-08-22T21:33:19.467Z,1755898399.467 [DAT](INFO): DAT read: Rx Time:21:33:20.1001
2025-08-22T21:33:19.467Z,1755898399.467 [DAT](INFO): Rx dataTimestamp_ set to:1755898399.466731
2025-08-22T21:33:19.468Z,1755898399.468 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.743469
2025-08-22T21:33:19.718Z,1755898399.718 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.994325
2025-08-22T21:33:19.972Z,1755898399.972 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (Round-trip 6.5 ms) speed -0.6 m/s
2025-08-22T21:33:19.973Z,1755898399.973 [DAT](INFO): DAT read: user:2329>
2025-08-22T21:33:19.973Z,1755898399.973 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-08-22T21:33:19.974Z,1755898399.974 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.250114
2025-08-22T21:33:20.067Z,1755898400.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 3.276434 s,
deltaX: 2.000000 m,
approachRate: 0.610420 m/s,
rangeRepo size: 4
2025-08-22T21:33:20.223Z,1755898400.223 [DAT](INFO): DAT read: Tx time:21:33:21.1895
2025-08-22T21:33:20.223Z,1755898400.223 [DAT](INFO): Ping request sent.
2025-08-22T21:33:20.223Z,1755898400.223 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:20.223Z,1755898400.223 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:20.224Z,1755898400.224 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.000749
2025-08-22T21:33:20.412Z,1755898400.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.80 m.
2025-08-22T21:33:20.476Z,1755898400.476 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.252906
2025-08-22T21:33:20.727Z,1755898400.727 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.503562
2025-08-22T21:33:20.798Z,1755898400.798 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022801204068,0.3, 0.0,1491.1, 0
2025-08-22T21:33:20.979Z,1755898400.979 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.755571
2025-08-22T21:33:21.230Z,1755898401.230 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.007407
2025-08-22T21:33:21.240Z,1755898401.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:21.483Z,1755898401.483 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.259605
2025-08-22T21:33:21.735Z,1755898401.735 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.512120
2025-08-22T21:33:21.987Z,1755898401.987 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.763612
2025-08-22T21:33:22.044Z,1755898402.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.80 m.
2025-08-22T21:33:22.239Z,1755898402.239 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.015542
2025-08-22T21:33:22.438Z,1755898402.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.80 m.
2025-08-22T21:33:22.491Z,1755898402.491 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.268398
2025-08-22T21:33:22.742Z,1755898402.742 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.519512
2025-08-22T21:33:22.995Z,1755898402.995 [DAT](INFO): DAT read: Rx Time:21:33:23.6029
2025-08-22T21:33:22.995Z,1755898402.995 [DAT](INFO): Rx dataTimestamp_ set to:1755898402.995192
2025-08-22T21:33:22.996Z,1755898402.996 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.773056
2025-08-22T21:33:23.249Z,1755898403.249 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.025941
2025-08-22T21:33:23.502Z,1755898403.502 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.278235
2025-08-22T21:33:23.687Z,1755898403.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:23.759Z,1755898403.759 [DAT](INFO): DAT read: 21:33:23.6029 LVL= 32752, 23361, 26450, 32755, AGC= 58, IDX= 459, 0.48, 2.810,-1.273,-2.472,-2.349, PHS=-1.023, 1.120,-0.168, RAW= 306.6, 0.8, CAL= 304.8, -2.8, ROT= 205.2, 2.8
2025-08-22T21:33:23.761Z,1755898403.761 [DAT](INFO): got valid direction response:
21:33:23.6029 LVL= 32752, 23361, 26450, 32755, AGC= 58, IDX= 459, 0.48, 2.810,-1.273,-2.472,-2.349, PHS=-1.023, 1.120,-0.168, RAW= 306.6, 0.8, CAL= 304.8, -2.8, ROT= 205.2, 2.8
2025-08-22T21:33:23.767Z,1755898403.767 [DAT](INFO): DAT read: Bearing 178.9, -23.8 (Local)
2025-08-22T21:33:23.768Z,1755898403.768 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.9, -23.8 (Local)
2025-08-22T21:33:23.769Z,1755898403.769 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (Round-trip 9.2 ms) speed -0.5 m/s
2025-08-22T21:33:23.770Z,1755898403.770 [DAT](INFO): DAT read: user:2330>
2025-08-22T21:33:23.771Z,1755898403.771 [DAT](INFO): DAT read: Tx time:21:33:24.6895
2025-08-22T21:33:23.771Z,1755898403.771 [DAT](INFO): Ping request sent.
2025-08-22T21:33:23.771Z,1755898403.771 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:23.771Z,1755898403.771 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T21:33:23.772Z,1755898403.772 [DAT](INFO): direction in FSK: [-0.903747,-0.425271,-0.048850]
2025-08-22T21:33:23.773Z,1755898403.773 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:23.773Z,1755898403.773 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:23.777Z,1755898403.777 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:23.777Z,1755898403.777 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:23.815Z,1755898403.815 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.043547
2025-08-22T21:33:24.003Z,1755898404.003 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.231334
2025-08-22T21:33:24.089Z,1755898404.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.900000 m,
deltaT: 3.780365 s,
deltaX: 2.100000 m,
approachRate: 0.555502 m/s,
rangeRepo size: 4
2025-08-22T21:33:24.095Z,1755898404.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.856450 m,
bearing: 69.571780 deg,
lat: 36.779395 deg,
lon: -121.859540 deg,
deltaT: 7.056799 s,
deltaX: 4.074120 m,
approachRate: 0.577332 m/s,
posRepo size: 4
2025-08-22T21:33:24.096Z,1755898404.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.90 m.
2025-08-22T21:33:24.254Z,1755898404.254 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.483275
2025-08-22T21:33:24.507Z,1755898404.507 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.736029
2025-08-22T21:33:24.759Z,1755898404.759 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.987355
2025-08-22T21:33:25.011Z,1755898405.011 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.240128
2025-08-22T21:33:25.265Z,1755898405.265 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.493415
2025-08-22T21:33:25.515Z,1755898405.515 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.743296
2025-08-22T21:33:25.767Z,1755898405.767 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.995332
2025-08-22T21:33:25.787Z,1755898405.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:26.020Z,1755898406.020 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.248544
2025-08-22T21:33:26.326Z,1755898406.326 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.554783
2025-08-22T21:33:26.523Z,1755898406.523 [DAT](INFO): DAT read: Rx Time:21:33:27.1058
2025-08-22T21:33:26.524Z,1755898406.524 [DAT](INFO): Rx dataTimestamp_ set to:1755898406.523635
2025-08-22T21:33:26.525Z,1755898406.525 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.753658
2025-08-22T21:33:26.775Z,1755898406.775 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.004000
2025-08-22T21:33:27.035Z,1755898407.035 [DAT](INFO): DAT read: 21:33:27.1058 LVL= 32752, 24305, 25522, 32755, AGC= 58, IDX= 457, 0.27,-1.321, 0.935,-0.497,-0.102, PHS=-1.117, 1.082,-0.439, RAW= 312.5, 4.9, CAL= 310.2, 3.3, ROT= 199.8, -3.3
2025-08-22T21:33:27.036Z,1755898407.036 [DAT](INFO): got valid direction response:
21:33:27.1058 LVL= 32752, 24305, 25522, 32755, AGC= 58, IDX= 457, 0.27,-1.321, 0.935,-0.497,-0.102, PHS=-1.117, 1.082,-0.439, RAW= 312.5, 4.9, CAL= 310.2, 3.3, ROT= 199.8, -3.3
2025-08-22T21:33:27.037Z,1755898407.037 [DAT](INFO): DAT read: Bearing 169.4, -17.9 (Local)
2025-08-22T21:33:27.037Z,1755898407.037 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.4, -17.9 (Local)
2025-08-22T21:33:27.038Z,1755898407.038 [DAT](INFO): DAT read: Range 11 to 50 : 9.1 m (Round-trip 12.2 ms) speed -0.6 m/s
2025-08-22T21:33:27.039Z,1755898407.039 [DAT](INFO): DAT read: user:2331>
2025-08-22T21:33:27.040Z,1755898407.040 [DAT](INFO): DAT read: Tx time:21:33:28.1895
2025-08-22T21:33:27.040Z,1755898407.040 [DAT](INFO): Ping request sent.
2025-08-22T21:33:27.040Z,1755898407.040 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:27.041Z,1755898407.041 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-22T21:33:27.058Z,1755898407.058 [DAT](INFO): direction in FSK: [-0.939321,-0.338176,0.057564]
2025-08-22T21:33:27.058Z,1755898407.058 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:27.058Z,1755898407.058 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:27.069Z,1755898407.069 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:27.070Z,1755898407.070 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:27.073Z,1755898407.073 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.032682
2025-08-22T21:33:27.262Z,1755898407.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.100000 m,
deltaT: 3.276713 s,
deltaX: 2.200000 m,
approachRate: 0.671405 m/s,
rangeRepo size: 4
2025-08-22T21:33:27.264Z,1755898407.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.042510 m,
bearing: 62.513466 deg,
lat: 36.779394 deg,
lon: -121.859542 deg,
deltaT: 3.276713 s,
deltaX: 2.186060 m,
approachRate: 0.667150 m/s,
posRepo size: 4
2025-08-22T21:33:27.279Z,1755898407.279 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.238377
2025-08-22T21:33:27.531Z,1755898407.531 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.490325
2025-08-22T21:33:27.783Z,1755898407.783 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.742300
2025-08-22T21:33:27.820Z,1755898407.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:28.035Z,1755898408.035 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.994353
2025-08-22T21:33:28.287Z,1755898408.287 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.246355
2025-08-22T21:33:28.539Z,1755898408.539 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.498282
2025-08-22T21:33:28.791Z,1755898408.791 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.750239
2025-08-22T21:33:29.042Z,1755898409.042 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.002171
2025-08-22T21:33:29.296Z,1755898409.296 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.255369
2025-08-22T21:33:29.548Z,1755898409.548 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.507026
2025-08-22T21:33:29.798Z,1755898409.798 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.758226
2025-08-22T21:33:29.919Z,1755898409.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:33:30.054Z,1755898410.054 [DAT](INFO): DAT read: Rx Time:21:33:30.6086
2025-08-22T21:33:30.055Z,1755898410.055 [DAT](INFO): Rx dataTimestamp_ set to:1755898410.054234
2025-08-22T21:33:30.055Z,1755898410.055 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.014819
2025-08-22T21:33:30.303Z,1755898410.303 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.262416
2025-08-22T21:33:30.564Z,1755898410.564 [DAT](INFO): DAT read: 21:33:30.6086 LVL= 32752, 27633, 30386, 32755, AGC= 61, IDX= 455,-0.02,-0.838, 1.425,-0.025, 0.411, PHS=-1.148, 1.059,-0.481, RAW= 312.9, 5.9, CAL= 310.7, 4.9, ROT= 199.3, -4.9
2025-08-22T21:33:30.565Z,1755898410.565 [DAT](INFO): got valid direction response:
21:33:30.6086 LVL= 32752, 27633, 30386, 32755, AGC= 61, IDX= 455,-0.02,-0.838, 1.425,-0.025, 0.411, PHS=-1.148, 1.059,-0.481, RAW= 312.9, 5.9, CAL= 310.7, 4.9, ROT= 199.3, -4.9
2025-08-22T21:33:30.567Z,1755898410.567 [DAT](INFO): DAT read: Bearing 165.6, -16.9 (Local)
2025-08-22T21:33:30.567Z,1755898410.567 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.6, -16.9 (Local)
2025-08-22T21:33:30.569Z,1755898410.569 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (Round-trip 15.1 ms) speed -0.8 m/s
2025-08-22T21:33:30.570Z,1755898410.570 [DAT](INFO): DAT read: user:2332>
2025-08-22T21:33:30.571Z,1755898410.571 [DAT](INFO): DAT read: Tx time:21:33:31.7394
2025-08-22T21:33:30.571Z,1755898410.571 [DAT](INFO): Ping request sent.
2025-08-22T21:33:30.571Z,1755898410.571 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:30.571Z,1755898410.571 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-22T21:33:30.572Z,1755898410.572 [DAT](INFO): direction in FSK: [-0.940352,-0.329306,0.085417]
2025-08-22T21:33:30.573Z,1755898410.573 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:30.573Z,1755898410.573 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:30.650Z,1755898410.650 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:30.651Z,1755898410.651 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:30.670Z,1755898410.670 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.098939
2025-08-22T21:33:30.807Z,1755898410.807 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.235729
2025-08-22T21:33:30.828Z,1755898410.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.300000 m,
deltaT: 3.527772 s,
deltaX: 2.200000 m,
approachRate: 0.623623 m/s,
rangeRepo size: 4
2025-08-22T21:33:30.838Z,1755898410.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.228661 m,
bearing: 59.795545 deg,
lat: 36.779393 deg,
lon: -121.859542 deg,
deltaT: 3.527772 s,
deltaX: 2.186151 m,
approachRate: 0.619697 m/s,
posRepo size: 4
2025-08-22T21:33:30.839Z,1755898410.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 11.30 m. Rolling out.
2025-08-22T21:33:30.840Z,1755898410.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-08-22T21:33:30.863Z,1755898410.863 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-22T21:33:30.863Z,1755898410.863 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-22T21:33:30.870Z,1755898410.870 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T21:33:31.059Z,1755898411.059 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.487857
2025-08-22T21:33:31.249Z,1755898411.249 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-08-22T21:33:31.249Z,1755898411.249 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-22T21:33:31.250Z,1755898411.250 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-08-22T21:33:31.251Z,1755898411.251 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 11.300000 m (mode 5.000000 count ).
2025-08-22T21:33:31.251Z,1755898411.251 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-08-22T21:33:31.251Z,1755898411.251 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-08-22T21:33:31.252Z,1755898411.252 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-08-22T21:33:31.252Z,1755898411.252 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-22T21:33:31.252Z,1755898411.252 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-08-22T21:33:31.253Z,1755898411.253 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 11.300000 m (mode 5.000000 count ).
2025-08-22T21:33:31.253Z,1755898411.253 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-08-22T21:33:31.254Z,1755898411.254 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-08-22T21:33:31.256Z,1755898411.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-22T21:33:31.258Z,1755898411.258 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-22T21:33:31.258Z,1755898411.258 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T21:33:31.258Z,1755898411.258 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-22T21:33:31.258Z,1755898411.258 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-22T21:33:31.311Z,1755898411.311 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.740207
2025-08-22T21:33:31.562Z,1755898411.562 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.991281
2025-08-22T21:33:31.670Z,1755898411.670 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-08-22T21:33:31.671Z,1755898411.671 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-08-22T21:33:31.671Z,1755898411.671 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-08-22T21:33:31.671Z,1755898411.671 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-08-22T21:33:31.673Z,1755898411.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-22T21:33:31.818Z,1755898411.818 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.246795
2025-08-22T21:33:32.067Z,1755898412.067 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.495404
2025-08-22T21:33:32.070Z,1755898412.070 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-08-22T21:33:32.070Z,1755898412.070 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-08-22T21:33:32.071Z,1755898412.071 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-08-22T21:33:32.071Z,1755898412.071 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-08-22T21:33:32.073Z,1755898412.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-22T21:33:32.319Z,1755898412.319 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.747385
2025-08-22T21:33:32.451Z,1755898412.451 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-08-22T21:33:32.451Z,1755898412.451 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-22T21:33:32.451Z,1755898412.451 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-08-22T21:33:32.451Z,1755898412.451 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-22T21:33:32.452Z,1755898412.452 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-08-22T21:33:32.452Z,1755898412.452 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-22T21:33:32.452Z,1755898412.452 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-08-22T21:33:32.452Z,1755898412.452 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-22T21:33:32.455Z,1755898412.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-22T21:33:32.571Z,1755898412.571 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.999390
2025-08-22T21:33:32.823Z,1755898412.823 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.251378
2025-08-22T21:33:32.884Z,1755898412.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-22T21:33:33.075Z,1755898413.075 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.503667
2025-08-22T21:33:33.280Z,1755898413.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-22T21:33:33.327Z,1755898413.327 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.755609
2025-08-22T21:33:33.578Z,1755898413.578 [DAT](INFO): DAT read: Rx Time:21:33:34.1617
2025-08-22T21:33:33.579Z,1755898413.579 [DAT](INFO): Rx dataTimestamp_ set to:1755898413.578948
2025-08-22T21:33:33.580Z,1755898413.580 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.008691
2025-08-22T21:33:33.842Z,1755898413.842 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.269651
2025-08-22T21:33:33.895Z,1755898413.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-22T21:33:34.099Z,1755898414.099 [DAT](INFO): DAT read: 21:33:34.1617 LVL= 31888, 25633, 30706, 31219, AGC= 59, IDX= 455,-0.46,-0.949, 1.259,-0.137, 0.229, PHS=-1.076, 1.074,-0.410, RAW= 312.4, 4.4, CAL= 310.1, 2.4, ROT= 199.9, -2.4
2025-08-22T21:33:34.100Z,1755898414.100 [DAT](INFO): got valid direction response:
21:33:34.1617 LVL= 31888, 25633, 30706, 31219, AGC= 59, IDX= 455,-0.46,-0.949, 1.259,-0.137, 0.229, PHS=-1.076, 1.074,-0.410, RAW= 312.4, 4.4, CAL= 310.1, 2.4, ROT= 199.9, -2.4
2025-08-22T21:33:34.101Z,1755898414.101 [DAT](INFO): DAT read: Bearing 166.2, -17.4 (Local)
2025-08-22T21:33:34.102Z,1755898414.102 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.2, -17.4 (Local)
2025-08-22T21:33:34.103Z,1755898414.103 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (Round-trip 18.1 ms) speed -0.5 m/s
2025-08-22T21:33:34.104Z,1755898414.104 [DAT](INFO): DAT read: user:2333>
2025-08-22T21:33:34.104Z,1755898414.104 [DAT](INFO): DAT read: Tx time:21:33:35.2894
2025-08-22T21:33:34.105Z,1755898414.105 [DAT](INFO): Ping request sent.
2025-08-22T21:33:34.105Z,1755898414.105 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:34.105Z,1755898414.105 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-22T21:33:34.109Z,1755898414.109 [DAT](INFO): direction in FSK: [-0.939463,-0.340081,0.041876]
2025-08-22T21:33:34.114Z,1755898414.114 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:34.115Z,1755898414.115 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:34.120Z,1755898414.120 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:34.120Z,1755898414.120 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:34.144Z,1755898414.144 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.039715
2025-08-22T21:33:34.326Z,1755898414.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.500000 m,
deltaT: 3.534689 s,
deltaX: 2.200000 m,
approachRate: 0.622403 m/s,
rangeRepo size: 4
2025-08-22T21:33:34.328Z,1755898414.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.415036 m,
bearing: 58.849104 deg,
lat: 36.779392 deg,
lon: -121.859542 deg,
deltaT: 3.534689 s,
deltaX: 2.186376 m,
approachRate: 0.618548 m/s,
posRepo size: 4
2025-08-22T21:33:34.329Z,1755898414.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-08-22T21:33:34.343Z,1755898414.343 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.237905
2025-08-22T21:33:34.595Z,1755898414.595 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.490010
2025-08-22T21:33:34.630Z,1755898414.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-08-22T21:33:34.847Z,1755898414.847 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.741958
2025-08-22T21:33:35.050Z,1755898415.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-08-22T21:33:35.099Z,1755898415.099 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.994461
2025-08-22T21:33:35.351Z,1755898415.351 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.245966
2025-08-22T21:33:35.425Z,1755898415.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-08-22T21:33:35.603Z,1755898415.603 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.498721
2025-08-22T21:33:35.858Z,1755898415.858 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.752352
2025-08-22T21:33:35.895Z,1755898415.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-08-22T21:33:36.108Z,1755898416.108 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.002721
2025-08-22T21:33:36.261Z,1755898416.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-08-22T21:33:36.359Z,1755898416.359 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.254021
2025-08-22T21:33:36.612Z,1755898416.612 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.507188
2025-08-22T21:33:36.667Z,1755898416.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-08-22T21:33:36.865Z,1755898416.865 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.759606
2025-08-22T21:33:37.073Z,1755898417.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-08-22T21:33:37.115Z,1755898417.115 [DAT](INFO): DAT read: Rx Time:21:33:37.7143
2025-08-22T21:33:37.116Z,1755898417.116 [DAT](INFO): Rx dataTimestamp_ set to:1755898417.115589
2025-08-22T21:33:37.117Z,1755898417.117 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.012386
2025-08-22T21:33:37.366Z,1755898417.366 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.261704
2025-08-22T21:33:37.447Z,1755898417.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-08-22T21:33:37.648Z,1755898417.648 [DAT](INFO): DAT read: 21:33:37.7143 LVL= 32752, 24113, 29218, 32755, AGC= 66, IDX= 450,-0.26, 2.818,-1.273,-2.653,-2.276, PHS=-1.087, 1.047,-0.422, RAW= 312.3, 4.9, CAL= 310.0, 3.3, ROT= 200.0, -3.3
2025-08-22T21:33:37.650Z,1755898417.650 [DAT](INFO): got valid direction response:
21:33:37.7143 LVL= 32752, 24113, 29218, 32755, AGC= 66, IDX= 450,-0.26, 2.818,-1.273,-2.653,-2.276, PHS=-1.087, 1.047,-0.422, RAW= 312.3, 4.9, CAL= 310.0, 3.3, ROT= 200.0, -3.3
2025-08-22T21:33:37.651Z,1755898417.651 [DAT](INFO): DAT read: Bearing 164.3, -17.5 (Local)
2025-08-22T21:33:37.651Z,1755898417.651 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.3, -17.5 (Local)
2025-08-22T21:33:37.653Z,1755898417.653 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (Round-trip 20.8 ms) speed -0.6 m/s
2025-08-22T21:33:37.659Z,1755898417.659 [DAT](INFO): DAT read: user:2334>
2025-08-22T21:33:37.660Z,1755898417.660 [DAT](INFO): DAT read: Tx time:21:33:38.8394
2025-08-22T21:33:37.660Z,1755898417.660 [DAT](INFO): Ping request sent.
2025-08-22T21:33:37.660Z,1755898417.660 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:37.661Z,1755898417.661 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-22T21:33:37.669Z,1755898417.669 [DAT](INFO): direction in FSK: [-0.938134,-0.341453,0.057564]
2025-08-22T21:33:37.669Z,1755898417.669 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:37.669Z,1755898417.670 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:37.672Z,1755898417.672 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:37.673Z,1755898417.673 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:37.676Z,1755898417.676 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.015546
2025-08-22T21:33:37.873Z,1755898417.873 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.212161
2025-08-22T21:33:37.935Z,1755898417.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.600000 m,
deltaT: 3.530179 s,
deltaX: 2.100000 m,
approachRate: 0.594871 m/s,
rangeRepo size: 4
2025-08-22T21:33:37.937Z,1755898417.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.502045 m,
bearing: 59.067054 deg,
lat: 36.779392 deg,
lon: -121.859542 deg,
deltaT: 3.530179 s,
deltaX: 2.087008 m,
approachRate: 0.591191 m/s,
posRepo size: 4
2025-08-22T21:33:37.941Z,1755898417.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T21:33:38.123Z,1755898418.123 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.462285
2025-08-22T21:33:38.271Z,1755898418.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T21:33:38.375Z,1755898418.375 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.714392
2025-08-22T21:33:38.628Z,1755898418.628 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.966961
2025-08-22T21:33:38.670Z,1755898418.670 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:33:38.672Z,1755898418.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T21:33:38.881Z,1755898418.881 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.220060
2025-08-22T21:33:39.131Z,1755898419.131 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.470578
2025-08-22T21:33:39.148Z,1755898419.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T21:33:39.383Z,1755898419.383 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.722222
2025-08-22T21:33:39.472Z,1755898419.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T21:33:39.634Z,1755898419.634 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.973896
2025-08-22T21:33:39.674Z,1755898419.674 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:33:39.889Z,1755898419.889 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.228504
2025-08-22T21:33:39.948Z,1755898419.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T21:33:40.139Z,1755898420.139 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.478121
2025-08-22T21:33:40.300Z,1755898420.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T21:33:40.391Z,1755898420.391 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.730289
2025-08-22T21:33:40.643Z,1755898420.643 [DAT](INFO): DAT read: Rx Time:21:33:41.2666
2025-08-22T21:33:40.643Z,1755898420.643 [DAT](INFO): Rx dataTimestamp_ set to:1755898420.642777
2025-08-22T21:33:40.644Z,1755898420.644 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.983059
2025-08-22T21:33:40.673Z,1755898420.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T21:33:40.897Z,1755898420.897 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.236111
2025-08-22T21:33:41.150Z,1755898421.150 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.488488
2025-08-22T21:33:41.175Z,1755898421.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T21:33:41.405Z,1755898421.405 [DAT](INFO): DAT read: 21:33:41.2666 LVL= 32752, 23025, 29682, 32755, AGC= 66, IDX= 457, 0.21, 0.045, 2.287, 0.878, 1.271, PHS=-1.125, 1.060,-0.437, RAW= 312.1, 5.2, CAL= 309.8, 3.8, ROT= 200.2, -3.8
2025-08-22T21:33:41.406Z,1755898421.406 [DAT](INFO): got valid direction response:
21:33:41.2666 LVL= 32752, 23025, 29682, 32755, AGC= 66, IDX= 457, 0.21, 0.045, 2.287, 0.878, 1.271, PHS=-1.125, 1.060,-0.437, RAW= 312.1, 5.2, CAL= 309.8, 3.8, ROT= 200.2, -3.8
2025-08-22T21:33:41.408Z,1755898421.408 [DAT](INFO): DAT read: Bearing 163.4, -18.2 (Local)
2025-08-22T21:33:41.408Z,1755898421.408 [DAT](INFO): Local bearing/azimuth received:
Bearing 163.4, -18.2 (Local)
2025-08-22T21:33:41.428Z,1755898421.428 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (Round-trip 23.1 ms) speed -0.4 m/s
2025-08-22T21:33:41.428Z,1755898421.428 [DAT](INFO): DAT read: user:2335>
2025-08-22T21:33:41.429Z,1755898421.429 [DAT](INFO): DAT read: Tx time:21:33:42.3894
2025-08-22T21:33:41.429Z,1755898421.429 [DAT](INFO): Ping request sent.
2025-08-22T21:33:41.430Z,1755898421.430 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:41.430Z,1755898421.430 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-22T21:33:41.431Z,1755898421.431 [DAT](INFO): direction in FSK: [-0.936430,-0.344539,0.066274]
2025-08-22T21:33:41.431Z,1755898421.431 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:41.431Z,1755898421.431 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:41.443Z,1755898421.443 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:41.443Z,1755898421.443 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:41.459Z,1755898421.459 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.029183
2025-08-22T21:33:41.550Z,1755898421.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 3.777991 s,
deltaX: 1.699999 m,
approachRate: 0.449974 m/s,
rangeRepo size: 4
2025-08-22T21:33:41.552Z,1755898421.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.191643 m,
bearing: 59.097353 deg,
lat: 36.779392 deg,
lon: -121.859541 deg,
deltaT: 3.777991 s,
deltaX: 1.689598 m,
approachRate: 0.447221 m/s,
posRepo size: 4
2025-08-22T21:33:41.553Z,1755898421.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:33:41.651Z,1755898421.651 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.221456
2025-08-22T21:33:41.887Z,1755898421.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:33:41.905Z,1755898421.905 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.474807
2025-08-22T21:33:42.155Z,1755898422.155 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.725030
2025-08-22T21:33:42.307Z,1755898422.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:33:42.407Z,1755898422.407 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.977076
2025-08-22T21:33:42.658Z,1755898422.658 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.228844
2025-08-22T21:33:42.708Z,1755898422.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:33:42.916Z,1755898422.916 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.485452
2025-08-22T21:33:43.132Z,1755898423.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:33:43.163Z,1755898423.163 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.733537
2025-08-22T21:33:43.415Z,1755898423.415 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.984951
2025-08-22T21:33:43.501Z,1755898423.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:33:43.667Z,1755898423.667 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.236929
2025-08-22T21:33:43.904Z,1755898423.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:33:43.919Z,1755898423.919 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.489139
2025-08-22T21:33:44.171Z,1755898424.171 [DAT](INFO): DAT read: Rx Time:21:33:44.8187
2025-08-22T21:33:44.172Z,1755898424.172 [DAT](INFO): Rx dataTimestamp_ set to:1755898424.171471
2025-08-22T21:33:44.173Z,1755898424.173 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.743054
2025-08-22T21:33:44.334Z,1755898424.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:33:44.423Z,1755898424.423 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.993626
2025-08-22T21:33:44.674Z,1755898424.674 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.244871
2025-08-22T21:33:44.772Z,1755898424.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:33:44.947Z,1755898424.947 [DAT](INFO): DAT read: 21:33:44.8187 LVL= 32752, 30577, 31970, 32755, AGC= 66, IDX= 447, 0.30,-1.874, 0.390,-1.029,-0.640, PHS=-1.132, 1.074,-0.434, RAW= 312.0, 5.1, CAL= 309.7, 3.5, ROT= 200.3, -3.5
2025-08-22T21:33:44.951Z,1755898424.951 [DAT](INFO): got valid direction response:
21:33:44.8187 LVL= 32752, 30577, 31970, 32755, AGC= 66, IDX= 447, 0.30,-1.874, 0.390,-1.029,-0.640, PHS=-1.132, 1.074,-0.434, RAW= 312.0, 5.1, CAL= 309.7, 3.5, ROT= 200.3, -3.5
2025-08-22T21:33:44.955Z,1755898424.955 [DAT](INFO): DAT read: Bearing 163.3, -19.2 (Local)
2025-08-22T21:33:44.957Z,1755898424.957 [DAT](INFO): Local bearing/azimuth received:
Bearing 163.3, -19.2 (Local)
2025-08-22T21:33:44.963Z,1755898424.963 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (Round-trip 25.2 ms) speed -0.8 m/s
2025-08-22T21:33:44.966Z,1755898424.966 [DAT](INFO): DAT read: user:2336>
2025-08-22T21:33:44.968Z,1755898424.968 [DAT](INFO): DAT read: Tx time:21:33:45.9393
2025-08-22T21:33:44.969Z,1755898424.969 [DAT](INFO): Ping request sent.
2025-08-22T21:33:44.970Z,1755898424.970 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:44.971Z,1755898424.971 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-22T21:33:44.975Z,1755898424.975 [DAT](INFO): direction in FSK: [-0.936140,-0.346288,0.061049]
2025-08-22T21:33:44.976Z,1755898424.976 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:44.977Z,1755898424.977 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:45.042Z,1755898425.042 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:45.042Z,1755898425.042 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:45.054Z,1755898425.054 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.084800
2025-08-22T21:33:45.179Z,1755898425.179 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.210244
2025-08-22T21:33:45.234Z,1755898425.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.900000 m,
deltaT: 3.528839 s,
deltaX: 1.600000 m,
approachRate: 0.453407 m/s,
rangeRepo size: 4
2025-08-22T21:33:45.236Z,1755898425.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.781832 m,
bearing: 58.773807 deg,
lat: 36.779389 deg,
lon: -121.859537 deg,
deltaT: 3.528839 s,
deltaX: 1.590189 m,
approachRate: 0.450627 m/s,
posRepo size: 4
2025-08-22T21:33:45.236Z,1755898425.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-22T21:33:45.432Z,1755898425.432 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.463220
2025-08-22T21:33:45.521Z,1755898425.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-22T21:33:45.683Z,1755898425.683 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.713668
2025-08-22T21:33:45.922Z,1755898425.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-22T21:33:45.935Z,1755898425.935 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.965751
2025-08-22T21:33:46.187Z,1755898426.187 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.218332
2025-08-22T21:33:46.346Z,1755898426.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-22T21:33:46.439Z,1755898426.439 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.470578
2025-08-22T21:33:46.691Z,1755898426.691 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.721712
2025-08-22T21:33:46.751Z,1755898426.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-22T21:33:46.946Z,1755898426.946 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.976090
2025-08-22T21:33:47.172Z,1755898427.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-22T21:33:47.194Z,1755898427.194 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.225555
2025-08-22T21:33:47.447Z,1755898427.447 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.478495
2025-08-22T21:33:47.546Z,1755898427.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-22T21:33:47.700Z,1755898427.700 [DAT](INFO): DAT read: Rx Time:21:33:48.3707
2025-08-22T21:33:47.700Z,1755898427.700 [DAT](INFO): Rx dataTimestamp_ set to:1755898427.699725
2025-08-22T21:33:47.701Z,1755898427.701 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.731745
2025-08-22T21:33:47.944Z,1755898427.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-22T21:33:47.951Z,1755898427.951 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.981775
2025-08-22T21:33:48.203Z,1755898428.203 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.233684
2025-08-22T21:33:48.380Z,1755898428.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-22T21:33:48.462Z,1755898428.462 [DAT](INFO): DAT read: 21:33:48.3707 LVL= 32752, 28465, 32722, 32755, AGC= 68, IDX= 451, 0.26,-2.145, 0.122,-1.288,-0.926, PHS=-1.117, 1.093,-0.406, RAW= 311.6, 4.5, CAL= 309.3, 2.4, ROT= 200.7, -2.4
2025-08-22T21:33:48.464Z,1755898428.464 [DAT](INFO): got valid direction response:
21:33:48.3707 LVL= 32752, 28465, 32722, 32755, AGC= 68, IDX= 451, 0.26,-2.145, 0.122,-1.288,-0.926, PHS=-1.117, 1.093,-0.406, RAW= 311.6, 4.5, CAL= 309.3, 2.4, ROT= 200.7, -2.4
2025-08-22T21:33:48.465Z,1755898428.465 [DAT](INFO): DAT read: Bearing 164.0, -20.5 (Local)
2025-08-22T21:33:48.466Z,1755898428.466 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.0, -20.5 (Local)
2025-08-22T21:33:48.467Z,1755898428.467 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (Round-trip 27.2 ms) speed -0.6 m/s
2025-08-22T21:33:48.468Z,1755898428.468 [DAT](INFO): DAT read: user:2337>
2025-08-22T21:33:48.469Z,1755898428.469 [DAT](INFO): DAT read: Tx time:21:33:49.4893
2025-08-22T21:33:48.469Z,1755898428.469 [DAT](INFO): Ping request sent.
2025-08-22T21:33:48.470Z,1755898428.470 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:48.470Z,1755898428.470 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-22T21:33:48.471Z,1755898428.471 [DAT](INFO): direction in FSK: [-0.934623,-0.353165,0.041876]
2025-08-22T21:33:48.471Z,1755898428.471 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:48.471Z,1755898428.471 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:48.475Z,1755898428.475 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:48.476Z,1755898428.476 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:48.479Z,1755898428.479 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.010008
2025-08-22T21:33:48.707Z,1755898428.707 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.237214
2025-08-22T21:33:48.788Z,1755898428.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.400000 m,
deltaT: 3.527276 s,
deltaX: 1.500000 m,
approachRate: 0.425257 m/s,
rangeRepo size: 4
2025-08-22T21:33:48.790Z,1755898428.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.272602 m,
bearing: 59.002242 deg,
lat: 36.779387 deg,
lon: -121.859535 deg,
deltaT: 3.527276 s,
deltaX: 1.490770 m,
approachRate: 0.422641 m/s,
posRepo size: 4
2025-08-22T21:33:48.790Z,1755898428.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:33:48.958Z,1755898428.958 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.489163
2025-08-22T21:33:49.201Z,1755898429.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:33:49.227Z,1755898429.227 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.757293
2025-08-22T21:33:49.478Z,1755898429.478 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.009190
2025-08-22T21:33:49.562Z,1755898429.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:33:49.731Z,1755898429.731 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.262088
2025-08-22T21:33:49.965Z,1755898429.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:33:49.984Z,1755898429.984 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.514363
2025-08-22T21:33:50.237Z,1755898430.237 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.767674
2025-08-22T21:33:50.395Z,1755898430.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:33:50.487Z,1755898430.487 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.017214
2025-08-22T21:33:50.738Z,1755898430.738 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.269197
2025-08-22T21:33:50.777Z,1755898430.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:33:50.991Z,1755898430.991 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.521312
2025-08-22T21:33:51.220Z,1755898431.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:33:51.243Z,1755898431.243 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.773293
2025-08-22T21:33:51.495Z,1755898431.495 [DAT](INFO): DAT read: Rx Time:21:33:51.9224
2025-08-22T21:33:51.495Z,1755898431.495 [DAT](INFO): Rx dataTimestamp_ set to:1755898431.494699
2025-08-22T21:33:51.496Z,1755898431.496 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.026246
2025-08-22T21:33:51.600Z,1755898431.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:33:51.747Z,1755898431.747 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.277341
2025-08-22T21:33:52.005Z,1755898432.005 [DAT](INFO): DAT read: 21:33:51.9224 LVL= 32752, 25201, 31426, 32755, AGC= 67, IDX= 437,-0.01, 2.405,-1.614,-3.022,-2.587, PHS=-1.189, 1.019,-0.479, RAW= 311.6, 6.7, CAL= 309.5, 6.3, ROT= 200.5, -6.3
2025-08-22T21:33:52.006Z,1755898432.006 [DAT](INFO): got valid direction response:
21:33:51.9224 LVL= 32752, 25201, 31426, 32755, AGC= 67, IDX= 437,-0.01, 2.405,-1.614,-3.022,-2.587, PHS=-1.189, 1.019,-0.479, RAW= 311.6, 6.7, CAL= 309.5, 6.3, ROT= 200.5, -6.3
2025-08-22T21:33:52.007Z,1755898432.007 [DAT](INFO): DAT read: Bearing 159.7, -20.5 (Local)
2025-08-22T21:33:52.007Z,1755898432.007 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.7, -20.5 (Local)
2025-08-22T21:33:52.009Z,1755898432.009 [DAT](INFO): DAT read: Range 11 to 50 : 21.7 m (Round-trip 29.0 ms) speed -0.3 m/s
2025-08-22T21:33:52.009Z,1755898432.009 [DAT](INFO): DAT read: user:2338>
2025-08-22T21:33:52.010Z,1755898432.010 [DAT](INFO): DAT read: Tx time:21:33:53.0393
2025-08-22T21:33:52.010Z,1755898432.010 [DAT](INFO): Ping request sent.
2025-08-22T21:33:52.010Z,1755898432.010 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:52.011Z,1755898432.011 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-22T21:33:52.012Z,1755898432.012 [DAT](INFO): direction in FSK: [-0.931016,-0.348092,0.109734]
2025-08-22T21:33:52.012Z,1755898432.012 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:52.012Z,1755898432.012 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:52.019Z,1755898432.019 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:52.020Z,1755898432.020 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:52.035Z,1755898432.035 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.025003
2025-08-22T21:33:52.036Z,1755898432.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T21:33:52.251Z,1755898432.251 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.240216
2025-08-22T21:33:52.498Z,1755898432.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.700001 m,
deltaT: 3.544279 s,
deltaX: 1.300001 m,
approachRate: 0.366789 m/s,
rangeRepo size: 4
2025-08-22T21:33:52.500Z,1755898432.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.564589 m,
bearing: 58.985925 deg,
lat: 36.779386 deg,
lon: -121.859534 deg,
deltaT: 3.544279 s,
deltaX: 1.291986 m,
approachRate: 0.364527 m/s,
posRepo size: 4
2025-08-22T21:33:52.501Z,1755898432.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-22T21:33:52.503Z,1755898432.503 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.492168
2025-08-22T21:33:52.755Z,1755898432.755 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.744218
2025-08-22T21:33:52.807Z,1755898432.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-22T21:33:53.007Z,1755898433.007 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.996101
2025-08-22T21:33:53.235Z,1755898433.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-22T21:33:53.259Z,1755898433.259 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.248175
2025-08-22T21:33:53.511Z,1755898433.511 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.500079
2025-08-22T21:33:53.630Z,1755898433.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-22T21:33:53.763Z,1755898433.763 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.752121
2025-08-22T21:33:54.006Z,1755898434.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-22T21:33:54.015Z,1755898434.015 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.004170
2025-08-22T21:33:54.267Z,1755898434.267 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.256070
2025-08-22T21:33:54.432Z,1755898434.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-22T21:33:54.519Z,1755898434.519 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.508689
2025-08-22T21:33:54.770Z,1755898434.770 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.760037
2025-08-22T21:33:54.843Z,1755898434.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-22T21:33:55.026Z,1755898435.026 [DAT](INFO): DAT read: Rx Time:21:33:55.4740
2025-08-22T21:33:55.026Z,1755898435.026 [DAT](INFO): Rx dataTimestamp_ set to:1755898435.025874
2025-08-22T21:33:55.027Z,1755898435.027 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.016284
2025-08-22T21:33:55.254Z,1755898435.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-22T21:33:55.275Z,1755898435.275 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.264249
2025-08-22T21:33:55.532Z,1755898435.532 [DAT](INFO): DAT read: 21:33:55.4740 LVL= 32752, 29169, 28306, 32755, AGC= 67, IDX= 438,-0.32, 1.125,-2.734, 2.032, 2.401, PHS=-1.175, 1.193,-0.413, RAW= 311.6, 3.8, CAL= 309.3, 1.4, ROT= 200.7, -1.4
2025-08-22T21:33:55.533Z,1755898435.533 [DAT](INFO): got valid direction response:
21:33:55.4740 LVL= 32752, 29169, 28306, 32755, AGC= 67, IDX= 438,-0.32, 1.125,-2.734, 2.032, 2.401, PHS=-1.175, 1.193,-0.413, RAW= 311.6, 3.8, CAL= 309.3, 1.4, ROT= 200.7, -1.4
2025-08-22T21:33:55.534Z,1755898435.534 [DAT](INFO): DAT read: Bearing 164.4, -22.0 (Local)
2025-08-22T21:33:55.534Z,1755898435.534 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.4, -22.0 (Local)
2025-08-22T21:33:55.536Z,1755898435.536 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (Round-trip 30.5 ms) speed -0.1 m/s
2025-08-22T21:33:55.537Z,1755898435.537 [DAT](INFO): DAT read: user:2339>
2025-08-22T21:33:55.537Z,1755898435.537 [DAT](INFO): DAT read: Tx time:21:33:56.5893
2025-08-22T21:33:55.538Z,1755898435.538 [DAT](INFO): Ping request sent.
2025-08-22T21:33:55.538Z,1755898435.538 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:55.538Z,1755898435.538 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-22T21:33:55.539Z,1755898435.539 [DAT](INFO): direction in FSK: [-0.935165,-0.353369,0.024432]
2025-08-22T21:33:55.539Z,1755898435.539 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:55.539Z,1755898435.539 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:55.568Z,1755898435.568 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:55.569Z,1755898435.569 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:55.628Z,1755898435.628 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.089750
2025-08-22T21:33:55.711Z,1755898435.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.799999 m,
deltaT: 3.527443 s,
deltaX: 1.099998 m,
approachRate: 0.311840 m/s,
rangeRepo size: 4
2025-08-22T21:33:55.713Z,1755898435.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.657158 m,
bearing: 58.805074 deg,
lat: 36.779384 deg,
lon: -121.859531 deg,
deltaT: 3.527443 s,
deltaX: 1.092569 m,
approachRate: 0.309734 m/s,
posRepo size: 4
2025-08-22T21:33:55.713Z,1755898435.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:33:55.779Z,1755898435.779 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.241363
2025-08-22T21:33:56.031Z,1755898436.031 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.492874
2025-08-22T21:33:56.039Z,1755898436.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:33:56.282Z,1755898436.282 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.744688
2025-08-22T21:33:56.472Z,1755898436.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:33:56.536Z,1755898436.536 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.997593
2025-08-22T21:33:56.787Z,1755898436.787 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.248777
2025-08-22T21:33:56.841Z,1755898436.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:33:57.043Z,1755898437.043 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.504241
2025-08-22T21:33:57.262Z,1755898437.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:33:57.291Z,1755898437.291 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.752729
2025-08-22T21:33:57.543Z,1755898437.543 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.004806
2025-08-22T21:33:57.638Z,1755898437.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:33:57.794Z,1755898437.794 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.256711
2025-08-22T21:33:58.043Z,1755898438.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:33:58.047Z,1755898438.047 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.508856
2025-08-22T21:33:58.299Z,1755898438.299 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.760796
2025-08-22T21:33:58.480Z,1755898438.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:33:58.551Z,1755898438.551 [DAT](INFO): DAT read: Rx Time:21:33:59.0254
2025-08-22T21:33:58.552Z,1755898438.552 [DAT](INFO): Rx dataTimestamp_ set to:1755898438.551345
2025-08-22T21:33:58.552Z,1755898438.552 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.014730
2025-08-22T21:33:58.802Z,1755898438.802 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.264735
2025-08-22T21:33:58.868Z,1755898438.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T21:33:59.063Z,1755898439.063 [DAT](INFO): DAT read: 21:33:59.0254 LVL= 32240, 25025, 28578, 31379, AGC= 68, IDX= 437,-0.06, 0.879, 3.014, 1.718, 2.115, PHS=-1.134, 0.944,-0.441, RAW= 310.9, 6.9, CAL= 308.7, 6.7, ROT= 201.3, -6.7
2025-08-22T21:33:59.066Z,1755898439.066 [DAT](INFO): got valid direction response:
21:33:59.0254 LVL= 32240, 25025, 28578, 31379, AGC= 68, IDX= 437,-0.06, 0.879, 3.014, 1.718, 2.115, PHS=-1.134, 0.944,-0.441, RAW= 310.9, 6.9, CAL= 308.7, 6.7, ROT= 201.3, -6.7
2025-08-22T21:33:59.067Z,1755898439.067 [DAT](INFO): DAT read: Bearing 158.6, -22.2 (Local)
2025-08-22T21:33:59.068Z,1755898439.068 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.6, -22.2 (Local)
2025-08-22T21:33:59.070Z,1755898439.070 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (Round-trip 32.1 ms) speed -0.2 m/s
2025-08-22T21:33:59.071Z,1755898439.071 [DAT](INFO): DAT read: user:2340>
2025-08-22T21:33:59.073Z,1755898439.073 [DAT](INFO): DAT read: Tx time:21:34:00.1408
2025-08-22T21:33:59.074Z,1755898439.074 [DAT](INFO): Ping request sent.
2025-08-22T21:33:59.074Z,1755898439.074 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:33:59.074Z,1755898439.074 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-22T21:33:59.076Z,1755898439.076 [DAT](INFO): direction in FSK: [-0.925328,-0.360771,0.116671]
2025-08-22T21:33:59.076Z,1755898439.076 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:59.077Z,1755898439.077 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:59.092Z,1755898439.092 [DAT](INFO): publishing transmit ping time
2025-08-22T21:33:59.092Z,1755898439.092 [DAT](INFO): publishing direction and range info
2025-08-22T21:33:59.108Z,1755898439.108 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.034370
2025-08-22T21:33:59.307Z,1755898439.307 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.233181
2025-08-22T21:33:59.342Z,1755898439.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.000000 m,
deltaT: 3.528119 s,
deltaX: 1.200001 m,
approachRate: 0.340125 m/s,
rangeRepo size: 4
2025-08-22T21:33:59.344Z,1755898439.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.848829 m,
bearing: 60.200414 deg,
lat: 36.779382 deg,
lon: -121.859531 deg,
deltaT: 3.528119 s,
deltaX: 1.191671 m,
approachRate: 0.337764 m/s,
posRepo size: 4
2025-08-22T21:33:59.345Z,1755898439.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T21:33:59.560Z,1755898439.560 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.486266
2025-08-22T21:33:59.674Z,1755898439.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T21:33:59.811Z,1755898439.811 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.737171
2025-08-22T21:34:00.064Z,1755898440.064 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.990496
2025-08-22T21:34:00.091Z,1755898440.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T21:34:00.315Z,1755898440.315 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.241765
2025-08-22T21:34:00.504Z,1755898440.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T21:34:00.568Z,1755898440.568 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.494169
2025-08-22T21:34:00.819Z,1755898440.819 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.745106
2025-08-22T21:34:00.901Z,1755898440.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T21:34:01.071Z,1755898441.071 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.997080
2025-08-22T21:34:01.323Z,1755898441.323 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.249241
2025-08-22T21:34:01.335Z,1755898441.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T21:34:01.575Z,1755898441.575 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.502039
2025-08-22T21:34:01.711Z,1755898441.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T21:34:01.827Z,1755898441.827 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.753124
2025-08-22T21:34:02.080Z,1755898442.080 [DAT](INFO): DAT read: Rx Time:21:34:02.5784
2025-08-22T21:34:02.081Z,1755898442.081 [DAT](INFO): Rx dataTimestamp_ set to:1755898442.080157
2025-08-22T21:34:02.089Z,1755898442.089 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.007905
2025-08-22T21:34:02.132Z,1755898442.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T21:34:02.330Z,1755898442.330 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.257068
2025-08-22T21:34:02.551Z,1755898442.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T21:34:02.590Z,1755898442.590 [DAT](INFO): DAT read: 21:34:02.5784 LVL= 32752, 26161, 32754, 32755, AGC= 67, IDX= 435, 0.18, 0.777, 3.049, 1.708, 1.996, PHS=-1.118, 1.097,-0.332, RAW= 309.5, 3.7, CAL= 307.1, 0.8, ROT= 202.9, -0.8
2025-08-22T21:34:02.591Z,1755898442.591 [DAT](INFO): got valid direction response:
21:34:02.5784 LVL= 32752, 26161, 32754, 32755, AGC= 67, IDX= 435, 0.18, 0.777, 3.049, 1.708, 1.996, PHS=-1.118, 1.097,-0.332, RAW= 309.5, 3.7, CAL= 307.1, 0.8, ROT= 202.9, -0.8
2025-08-22T21:34:02.592Z,1755898442.592 [DAT](INFO): DAT read: Bearing 164.7, -24.9 (Local)
2025-08-22T21:34:02.592Z,1755898442.592 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.7, -24.9 (Local)
2025-08-22T21:34:02.594Z,1755898442.594 [DAT](INFO): DAT read: Range 11 to 50 : 25.0 m (Round-trip 33.4 ms) speed -0.4 m/s
2025-08-22T21:34:02.595Z,1755898442.595 [DAT](INFO): DAT read: user:2341>
2025-08-22T21:34:02.596Z,1755898442.596 [DAT](INFO): DAT read: Tx time:21:34:03.6892
2025-08-22T21:34:02.596Z,1755898442.596 [DAT](INFO): Ping request sent.
2025-08-22T21:34:02.596Z,1755898442.596 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:34:02.596Z,1755898442.596 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-22T21:34:02.597Z,1755898442.597 [DAT](INFO): direction in FSK: [-0.921096,-0.389086,0.013962]
2025-08-22T21:34:02.598Z,1755898442.598 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:02.598Z,1755898442.598 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:02.601Z,1755898442.601 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:02.601Z,1755898442.601 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:02.616Z,1755898442.616 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.020522
2025-08-22T21:34:02.835Z,1755898442.835 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.239225
2025-08-22T21:34:02.944Z,1755898442.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.000000 m,
deltaT: 3.529258 s,
deltaX: 1.000000 m,
approachRate: 0.283346 m/s,
rangeRepo size: 4
2025-08-22T21:34:02.950Z,1755898442.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.842073 m,
bearing: 61.482663 deg,
lat: 36.779382 deg,
lon: -121.859530 deg,
deltaT: 3.529258 s,
deltaX: 0.993244 m,
approachRate: 0.281431 m/s,
posRepo size: 4
2025-08-22T21:34:02.951Z,1755898442.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.84 m.
2025-08-22T21:34:03.086Z,1755898443.086 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.490512
2025-08-22T21:34:03.339Z,1755898443.339 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.742647
2025-08-22T21:34:03.352Z,1755898443.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.84 m.
2025-08-22T21:34:03.591Z,1755898443.591 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.994696
2025-08-22T21:34:03.753Z,1755898443.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.84 m.
2025-08-22T21:34:03.843Z,1755898443.843 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.247169
2025-08-22T21:34:04.094Z,1755898444.094 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.498491
2025-08-22T21:34:04.136Z,1755898444.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.84 m.
2025-08-22T21:34:04.348Z,1755898444.348 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.751716
2025-08-22T21:34:04.589Z,1755898444.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.84 m.
2025-08-22T21:34:04.599Z,1755898444.599 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.002748
2025-08-22T21:34:04.851Z,1755898444.851 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.254558
2025-08-22T21:34:04.979Z,1755898444.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.84 m.
2025-08-22T21:34:05.103Z,1755898445.103 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.506662
2025-08-22T21:34:05.355Z,1755898445.355 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.758556
2025-08-22T21:34:05.416Z,1755898445.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.84 m.
2025-08-22T21:34:05.606Z,1755898445.606 [DAT](INFO): DAT read: Rx Time:21:34:06.1282
2025-08-22T21:34:05.607Z,1755898445.607 [DAT](INFO): Rx dataTimestamp_ set to:1755898445.606663
2025-08-22T21:34:05.607Z,1755898445.607 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.011544
2025-08-22T21:34:05.839Z,1755898445.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.84 m.
2025-08-22T21:34:05.859Z,1755898445.859 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.262640
2025-08-22T21:34:06.116Z,1755898446.116 [DAT](INFO): DAT read: 21:34:06.1282 LVL= 32752, 25937, 26226, 29619, AGC= 69, IDX= 450,-0.29,-1.221, 0.894,-0.363,-0.115, PHS=-1.004, 1.054,-0.292, RAW= 310.1, 2.7, CAL= 307.7, -0.5, ROT= 202.3, 0.5
2025-08-22T21:34:06.117Z,1755898446.117 [DAT](INFO): got valid direction response:
21:34:06.1282 LVL= 32752, 25937, 26226, 29619, AGC= 69, IDX= 450,-0.29,-1.221, 0.894,-0.363,-0.115, PHS=-1.004, 1.054,-0.292, RAW= 310.1, 2.7, CAL= 307.7, -0.5, ROT= 202.3, 0.5
2025-08-22T21:34:06.119Z,1755898446.119 [DAT](INFO): DAT read: Bearing 166.2, -24.6 (Local)
2025-08-22T21:34:06.119Z,1755898446.119 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.2, -24.6 (Local)
2025-08-22T21:34:06.120Z,1755898446.120 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (Round-trip 34.8 ms) speed 0.0 m/s
2025-08-22T21:34:06.121Z,1755898446.121 [DAT](INFO): DAT read: user:2342>
2025-08-22T21:34:06.122Z,1755898446.122 [DAT](INFO): DAT read: Tx time:21:34:07.2408
2025-08-22T21:34:06.122Z,1755898446.122 [DAT](INFO): Ping request sent.
2025-08-22T21:34:06.122Z,1755898446.122 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:34:06.123Z,1755898446.123 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-22T21:34:06.124Z,1755898446.124 [DAT](INFO): direction in FSK: [-0.925174,-0.379442,-0.008727]
2025-08-22T21:34:06.124Z,1755898446.124 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:06.124Z,1755898446.124 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:06.127Z,1755898446.127 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:06.127Z,1755898446.127 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:06.169Z,1755898446.169 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.046331
2025-08-22T21:34:06.300Z,1755898446.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.100000 m,
deltaT: 3.526631 s,
deltaX: 1.100000 m,
approachRate: 0.311913 m/s,
rangeRepo size: 4
2025-08-22T21:34:06.324Z,1755898446.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.935169 m,
bearing: 61.213707 deg,
lat: 36.779377 deg,
lon: -121.859526 deg,
deltaT: 3.526631 s,
deltaX: 1.093096 m,
approachRate: 0.309955 m/s,
posRepo size: 4
2025-08-22T21:34:06.324Z,1755898446.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T21:34:06.363Z,1755898446.363 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.240333
2025-08-22T21:34:06.615Z,1755898446.615 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.492310
2025-08-22T21:34:06.640Z,1755898446.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T21:34:06.866Z,1755898446.866 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.744120
2025-08-22T21:34:07.032Z,1755898447.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T21:34:07.121Z,1755898447.121 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.998561
2025-08-22T21:34:07.370Z,1755898447.370 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.248165
2025-08-22T21:34:07.460Z,1755898447.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T21:34:07.622Z,1755898447.622 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.500153
2025-08-22T21:34:07.812Z,1755898447.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T21:34:07.875Z,1755898447.875 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.752371
2025-08-22T21:34:08.127Z,1755898448.127 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.004220
2025-08-22T21:34:08.230Z,1755898448.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T21:34:08.379Z,1755898448.379 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.256763
2025-08-22T21:34:08.631Z,1755898448.631 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.508264
2025-08-22T21:34:08.665Z,1755898448.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T21:34:08.883Z,1755898448.883 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.760251
2025-08-22T21:34:09.023Z,1755898449.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T21:34:09.134Z,1755898449.134 [DAT](INFO): DAT read: Rx Time:21:34:09.6809
2025-08-22T21:34:09.135Z,1755898449.135 [DAT](INFO): Rx dataTimestamp_ set to:1755898449.134627
2025-08-22T21:34:09.135Z,1755898449.135 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.013141
2025-08-22T21:34:09.387Z,1755898449.387 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.264868
2025-08-22T21:34:09.498Z,1755898449.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T21:34:09.644Z,1755898449.644 [DAT](INFO): DAT read: 21:34:09.6809 LVL= 32752, 24369, 31938, 32755, AGC= 68, IDX= 461, 0.05, 0.929, 3.063, 1.876, 2.108, PHS=-1.076, 1.000,-0.276, RAW= 307.5, 3.9, CAL= 305.1, 1.0, ROT= 204.9, -1.0
2025-08-22T21:34:09.645Z,1755898449.645 [DAT](INFO): got valid direction response:
21:34:09.6809 LVL= 32752, 24369, 31938, 32755, AGC= 68, IDX= 461, 0.05, 0.929, 3.063, 1.876, 2.108, PHS=-1.076, 1.000,-0.276, RAW= 307.5, 3.9, CAL= 305.1, 1.0, ROT= 204.9, -1.0
2025-08-22T21:34:09.646Z,1755898449.646 [DAT](INFO): DAT read: Bearing 164.4, -27.1 (Local)
2025-08-22T21:34:09.646Z,1755898449.646 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.4, -27.1 (Local)
2025-08-22T21:34:09.648Z,1755898449.648 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (Round-trip 36.0 ms) speed -0.3 m/s
2025-08-22T21:34:09.648Z,1755898449.648 [DAT](INFO): DAT read: user:2343>
2025-08-22T21:34:09.649Z,1755898449.649 [DAT](INFO): DAT read: Tx time:21:34:10.7892
2025-08-22T21:34:09.649Z,1755898449.649 [DAT](INFO): Ping request sent.
2025-08-22T21:34:09.650Z,1755898449.650 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:34:09.650Z,1755898449.650 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-22T21:34:09.651Z,1755898449.651 [DAT](INFO): direction in FSK: [-0.906906,-0.420972,0.017452]
2025-08-22T21:34:09.651Z,1755898449.651 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:09.651Z,1755898449.651 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:09.662Z,1755898449.662 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:09.662Z,1755898449.662 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:09.666Z,1755898449.666 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.015757
2025-08-22T21:34:09.794Z,1755898449.794 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:34:09.850Z,1755898449.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.000000 m,
deltaT: 3.527979 s,
deltaX: 0.900000 m,
approachRate: 0.255103 m/s,
rangeRepo size: 4
2025-08-22T21:34:09.857Z,1755898449.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.830013 m,
bearing: 64.196172 deg,
lat: 36.779372 deg,
lon: -121.859523 deg,
deltaT: 3.527979 s,
deltaX: 0.894844 m,
approachRate: 0.253642 m/s,
posRepo size: 4
2025-08-22T21:34:09.858Z,1755898449.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T21:34:09.891Z,1755898449.891 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.240871
2025-08-22T21:34:10.143Z,1755898450.143 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.492869
2025-08-22T21:34:10.260Z,1755898450.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T21:34:10.395Z,1755898450.395 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.744927
2025-08-22T21:34:10.647Z,1755898450.647 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.996943
2025-08-22T21:34:10.715Z,1755898450.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T21:34:10.798Z,1755898450.798 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:34:10.898Z,1755898450.898 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.248859
2025-08-22T21:34:11.064Z,1755898451.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T21:34:11.151Z,1755898451.151 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.501344
2025-08-22T21:34:11.402Z,1755898451.402 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.752852
2025-08-22T21:34:11.510Z,1755898451.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T21:34:11.654Z,1755898451.654 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.004830
2025-08-22T21:34:11.872Z,1755898451.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T21:34:11.907Z,1755898451.907 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.257045
2025-08-22T21:34:12.159Z,1755898452.159 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.509434
2025-08-22T21:34:12.263Z,1755898452.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T21:34:12.413Z,1755898452.413 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.762942
2025-08-22T21:34:12.663Z,1755898452.663 [DAT](INFO): DAT read: Rx Time:21:34:13.2303
2025-08-22T21:34:12.663Z,1755898452.663 [DAT](INFO): Rx dataTimestamp_ set to:1755898452.662869
2025-08-22T21:34:12.664Z,1755898452.664 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.014085
2025-08-22T21:34:12.719Z,1755898452.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T21:34:12.915Z,1755898452.915 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.265423
2025-08-22T21:34:13.085Z,1755898453.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T21:34:13.175Z,1755898453.175 [DAT](INFO): DAT read: 21:34:13.2303 LVL= 32752, 32017, 29074, 26323, AGC= 69, IDX= 440, 0.17,-0.198, 2.182, 0.723, 1.114, PHS=-1.210, 1.113,-0.435, RAW= 310.9, 5.2, CAL= 308.6, 3.7, ROT= 201.4, -3.7
2025-08-22T21:34:13.177Z,1755898453.177 [DAT](INFO): got valid direction response:
21:34:13.2303 LVL= 32752, 32017, 29074, 26323, AGC= 69, IDX= 440, 0.17,-0.198, 2.182, 0.723, 1.114, PHS=-1.210, 1.113,-0.435, RAW= 310.9, 5.2, CAL= 308.6, 3.7, ROT= 201.4, -3.7
2025-08-22T21:34:13.178Z,1755898453.178 [DAT](INFO): DAT read: Bearing 162.0, -23.5 (Local)
2025-08-22T21:34:13.179Z,1755898453.179 [DAT](INFO): Local bearing/azimuth received:
Bearing 162.0, -23.5 (Local)
2025-08-22T21:34:13.180Z,1755898453.180 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (Round-trip 37.1 ms) speed -0.3 m/s
2025-08-22T21:34:13.182Z,1755898453.182 [DAT](INFO): DAT read: user:2344>
2025-08-22T21:34:13.183Z,1755898453.183 [DAT](INFO): DAT read: Tx time:21:34:14.3391
2025-08-22T21:34:13.184Z,1755898453.184 [DAT](INFO): Ping request sent.
2025-08-22T21:34:13.184Z,1755898453.184 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:34:13.184Z,1755898453.184 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-22T21:34:13.210Z,1755898453.210 [DAT](INFO): direction in FSK: [-0.929115,-0.364116,0.064532]
2025-08-22T21:34:13.211Z,1755898453.211 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:13.211Z,1755898453.211 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:13.218Z,1755898453.218 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:13.219Z,1755898453.219 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:13.239Z,1755898453.239 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.054974
2025-08-22T21:34:13.419Z,1755898453.419 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.234862
2025-08-22T21:34:13.570Z,1755898453.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.799999 m,
deltaT: 3.528599 s,
deltaX: 0.799999 m,
approachRate: 0.226719 m/s,
rangeRepo size: 4
2025-08-22T21:34:13.572Z,1755898453.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.624714 m,
bearing: 60.668684 deg,
lat: 36.779372 deg,
lon: -121.859523 deg,
deltaT: 3.528599 s,
deltaX: 0.794701 m,
approachRate: 0.225217 m/s,
posRepo size: 4
2025-08-22T21:34:13.572Z,1755898453.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.62 m.
2025-08-22T21:34:13.671Z,1755898453.671 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.487094
2025-08-22T21:34:13.889Z,1755898453.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.62 m.
2025-08-22T21:34:13.936Z,1755898453.936 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.751897
2025-08-22T21:34:14.187Z,1755898454.187 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.003277
2025-08-22T21:34:14.284Z,1755898454.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.62 m.
2025-08-22T21:34:14.442Z,1755898454.442 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.257161
2025-08-22T21:34:14.691Z,1755898454.691 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.506777
2025-08-22T21:34:14.732Z,1755898454.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.62 m.
2025-08-22T21:34:14.943Z,1755898454.943 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.758739
2025-08-22T21:34:15.094Z,1755898455.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.62 m.
2025-08-22T21:34:15.195Z,1755898455.195 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.010733
2025-08-22T21:34:15.447Z,1755898455.447 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.262740
2025-08-22T21:34:15.571Z,1755898455.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.62 m.
2025-08-22T21:34:15.699Z,1755898455.699 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.514750
2025-08-22T21:34:15.896Z,1755898455.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.62 m.
2025-08-22T21:34:15.951Z,1755898455.951 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.766930
2025-08-22T21:34:16.202Z,1755898456.202 [DAT](INFO): DAT read: Rx Time:21:34:16.7816
2025-08-22T21:34:16.203Z,1755898456.203 [DAT](INFO): Rx dataTimestamp_ set to:1755898456.202652
2025-08-22T21:34:16.203Z,1755898456.203 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.019665
2025-08-22T21:34:16.337Z,1755898456.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.62 m.
2025-08-22T21:34:16.457Z,1755898456.457 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.272952
2025-08-22T21:34:16.713Z,1755898456.713 [DAT](INFO): DAT read: 21:34:16.7816 LVL= 32752, 32753, 25874, 32755, AGC= 69, IDX= 437,-0.09, 2.841,-1.273,-2.508,-2.296, PHS=-1.044, 1.068,-0.256, RAW= 308.3, 2.5, CAL= 306.0, -0.8, ROT= 204.0, 0.8
2025-08-22T21:34:16.714Z,1755898456.714 [DAT](INFO): got valid direction response:
21:34:16.7816 LVL= 32752, 32753, 25874, 32755, AGC= 69, IDX= 437,-0.09, 2.841,-1.273,-2.508,-2.296, PHS=-1.044, 1.068,-0.256, RAW= 308.3, 2.5, CAL= 306.0, -0.8, ROT= 204.0, 0.8
2025-08-22T21:34:16.715Z,1755898456.715 [DAT](INFO): DAT read: Bearing 166.9, -26.9 (Local)
2025-08-22T21:34:16.716Z,1755898456.716 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.9, -26.9 (Local)
2025-08-22T21:34:16.717Z,1755898456.717 [DAT](INFO): DAT read: Range 11 to 50 : 28.7 m (Round-trip 38.3 ms) speed -0.3 m/s
2025-08-22T21:34:16.718Z,1755898456.718 [DAT](INFO): DAT read: user:2345>
2025-08-22T21:34:16.719Z,1755898456.719 [DAT](INFO): DAT read: Tx time:21:34:17.8891
2025-08-22T21:34:16.719Z,1755898456.719 [DAT](INFO): Ping request sent.
2025-08-22T21:34:16.719Z,1755898456.719 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:34:16.719Z,1755898456.719 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-22T21:34:16.720Z,1755898456.720 [DAT](INFO): direction in FSK: [-0.913456,-0.406697,-0.013962]
2025-08-22T21:34:16.720Z,1755898456.720 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:16.721Z,1755898456.721 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:16.728Z,1755898456.728 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:16.728Z,1755898456.728 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:16.736Z,1755898456.736 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.016744
2025-08-22T21:34:16.867Z,1755898456.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.700001 m,
deltaT: 3.540586 s,
deltaX: 0.900002 m,
approachRate: 0.254196 m/s,
rangeRepo size: 4
2025-08-22T21:34:16.869Z,1755898456.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.518909 m,
bearing: 63.086006 deg,
lat: 36.779371 deg,
lon: -121.859522 deg,
deltaT: 3.540586 s,
deltaX: 0.894196 m,
approachRate: 0.252556 m/s,
posRepo size: 4
2025-08-22T21:34:16.869Z,1755898456.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-08-22T21:34:16.959Z,1755898456.959 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.239648
2025-08-22T21:34:17.211Z,1755898457.211 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.492246
2025-08-22T21:34:17.271Z,1755898457.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-08-22T21:34:17.466Z,1755898457.466 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.746722
2025-08-22T21:34:17.694Z,1755898457.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-08-22T21:34:17.714Z,1755898457.714 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.995501
2025-08-22T21:34:17.967Z,1755898457.967 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.247744
2025-08-22T21:34:18.094Z,1755898458.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-08-22T21:34:18.218Z,1755898458.218 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.499528
2025-08-22T21:34:18.473Z,1755898458.473 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.753865
2025-08-22T21:34:18.583Z,1755898458.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-08-22T21:34:18.723Z,1755898458.723 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.003570
2025-08-22T21:34:18.939Z,1755898458.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-08-22T21:34:18.983Z,1755898458.983 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.264139
2025-08-22T21:34:19.235Z,1755898459.235 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.516329
2025-08-22T21:34:19.306Z,1755898459.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-08-22T21:34:19.491Z,1755898459.491 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.771276
2025-08-22T21:34:19.739Z,1755898459.739 [DAT](INFO): DAT read: Rx Time:21:34:20.3326
2025-08-22T21:34:19.739Z,1755898459.739 [DAT](INFO): Rx dataTimestamp_ set to:1755898459.738808
2025-08-22T21:34:19.740Z,1755898459.740 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.020692
2025-08-22T21:34:19.743Z,1755898459.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-08-22T21:34:19.990Z,1755898459.990 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.271480
2025-08-22T21:34:20.114Z,1755898460.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-08-22T21:34:20.255Z,1755898460.255 [DAT](INFO): DAT read: 21:34:20.3326 LVL= 31152, 25745, 30386, 31315, AGC= 71, IDX= 432,-0.43, 1.157,-3.041, 2.131, 2.272, PHS=-1.014, 1.015,-0.185, RAW= 306.0, 2.1, CAL= 303.9, -1.4, ROT= 206.1, 1.4
2025-08-22T21:34:20.257Z,1755898460.257 [DAT](INFO): got valid direction response:
21:34:20.3326 LVL= 31152, 25745, 30386, 31315, AGC= 71, IDX= 432,-0.43, 1.157,-3.041, 2.131, 2.272, PHS=-1.014, 1.015,-0.185, RAW= 306.0, 2.1, CAL= 303.9, -1.4, ROT= 206.1, 1.4
2025-08-22T21:34:20.258Z,1755898460.258 [DAT](INFO): DAT read: Bearing 168.1, -29.5 (Local)
2025-08-22T21:34:20.258Z,1755898460.258 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.1, -29.5 (Local)
2025-08-22T21:34:20.259Z,1755898460.259 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (Round-trip 39.3 ms) speed 0.2 m/s
2025-08-22T21:34:20.260Z,1755898460.260 [DAT](INFO): DAT read: user:2346>
2025-08-22T21:34:20.261Z,1755898460.261 [DAT](INFO): DAT read: Tx time:21:34:21.4391
2025-08-22T21:34:20.263Z,1755898460.263 [DAT](INFO): Ping request sent.
2025-08-22T21:34:20.264Z,1755898460.264 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:34:20.265Z,1755898460.265 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-22T21:34:20.268Z,1755898460.268 [DAT](INFO): direction in FSK: [-0.897759,-0.439808,-0.024432]
2025-08-22T21:34:20.268Z,1755898460.268 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:20.268Z,1755898460.268 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:20.272Z,1755898460.272 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:20.272Z,1755898460.272 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:20.292Z,1755898460.292 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.031037
2025-08-22T21:34:20.497Z,1755898460.497 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.235137
2025-08-22T21:34:20.617Z,1755898460.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.400000 m,
deltaT: 3.536582 s,
deltaX: 0.699999 m,
approachRate: 0.197931 m/s,
rangeRepo size: 4
2025-08-22T21:34:20.647Z,1755898460.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.214262 m,
bearing: 65.719069 deg,
lat: 36.779365 deg,
lon: -121.859517 deg,
deltaT: 3.536582 s,
deltaX: 0.695353 m,
approachRate: 0.196617 m/s,
posRepo size: 4
2025-08-22T21:34:20.647Z,1755898460.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.21 m.
2025-08-22T21:34:20.747Z,1755898460.747 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.485988
2025-08-22T21:34:20.902Z,1755898460.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.21 m.
2025-08-22T21:34:20.999Z,1755898460.999 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.737290
2025-08-22T21:34:21.251Z,1755898461.251 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.989214
2025-08-22T21:34:21.310Z,1755898461.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.21 m.
2025-08-22T21:34:21.505Z,1755898461.505 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.243551
2025-08-22T21:34:21.734Z,1755898461.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.21 m.
2025-08-22T21:34:21.754Z,1755898461.754 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.493196
2025-08-22T21:34:22.010Z,1755898462.010 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.748027
2025-08-22T21:34:22.132Z,1755898462.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.21 m.
2025-08-22T21:34:22.258Z,1755898462.258 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.997196
2025-08-22T21:34:22.514Z,1755898462.514 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.251841
2025-08-22T21:34:22.626Z,1755898462.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.21 m.
2025-08-22T21:34:22.762Z,1755898462.762 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.501216
2025-08-22T21:34:23.016Z,1755898463.016 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.754437
2025-08-22T21:34:23.092Z,1755898463.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.21 m.
2025-08-22T21:34:23.267Z,1755898463.267 [DAT](INFO): DAT read: Rx Time:21:34:23.8834
2025-08-22T21:34:23.268Z,1755898463.268 [DAT](INFO): Rx dataTimestamp_ set to:1755898463.267374
2025-08-22T21:34:23.269Z,1755898463.269 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.007278
2025-08-22T21:34:23.522Z,1755898463.522 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.260336
2025-08-22T21:34:23.570Z,1755898463.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.21 m.
2025-08-22T21:34:23.774Z,1755898463.774 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.511838
2025-08-22T21:34:23.996Z,1755898463.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.21 m.
2025-08-22T21:34:24.033Z,1755898464.033 [DAT](INFO): DAT read: 21:34:23.8834 LVL= 32752, 27361, 32434, 32755, AGC= 71, IDX= 457,-0.43, 1.571,-2.421, 2.504, 2.767, PHS=-1.094, 1.140,-0.307, RAW= 309.7, 2.7, CAL= 307.3, -0.5, ROT= 202.7, 0.5
2025-08-22T21:34:24.035Z,1755898464.035 [DAT](INFO): got valid direction response:
21:34:23.8834 LVL= 32752, 27361, 32434, 32755, AGC= 71, IDX= 457,-0.43, 1.571,-2.421, 2.504, 2.767, PHS=-1.094, 1.140,-0.307, RAW= 309.7, 2.7, CAL= 307.3, -0.5, ROT= 202.7, 0.5
2025-08-22T21:34:24.036Z,1755898464.036 [DAT](INFO): DAT read: Bearing 168.6, -26.0 (Local)
2025-08-22T21:34:24.037Z,1755898464.037 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.6, -26.0 (Local)
2025-08-22T21:34:24.043Z,1755898464.043 [DAT](INFO): DAT read: Range 11 to 50 : 30.1 m (Round-trip 40.2 ms) speed 0.3 m/s
2025-08-22T21:34:24.044Z,1755898464.044 [DAT](INFO): DAT read: user:2347>
2025-08-22T21:34:24.044Z,1755898464.044 [DAT](INFO): DAT read: Tx time:21:34:24.9891
2025-08-22T21:34:24.044Z,1755898464.044 [DAT](INFO): Ping request sent.
2025-08-22T21:34:24.045Z,1755898464.045 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:34:24.045Z,1755898464.045 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-22T21:34:24.054Z,1755898464.054 [DAT](INFO): direction in FSK: [-0.922503,-0.385891,-0.008727]
2025-08-22T21:34:24.054Z,1755898464.054 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:24.055Z,1755898464.055 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:24.069Z,1755898464.069 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:24.069Z,1755898464.069 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:24.084Z,1755898464.084 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.039501
2025-08-22T21:34:24.275Z,1755898464.275 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.230075
2025-08-22T21:34:24.375Z,1755898464.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.100000 m,
deltaT: 3.778787 s,
deltaX: 0.700001 m,
approachRate: 0.185245 m/s,
rangeRepo size: 4
2025-08-22T21:34:24.377Z,1755898464.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.909744 m,
bearing: 63.372823 deg,
lat: 36.779363 deg,
lon: -121.859517 deg,
deltaT: 3.778787 s,
deltaX: 0.695482 m,
approachRate: 0.184049 m/s,
posRepo size: 4
2025-08-22T21:34:24.378Z,1755898464.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.91 m.
2025-08-22T21:34:24.530Z,1755898464.530 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.483999
2025-08-22T21:34:24.779Z,1755898464.779 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.734019
2025-08-22T21:34:24.795Z,1755898464.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.91 m.
2025-08-22T21:34:25.031Z,1755898465.031 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.985983
2025-08-22T21:34:25.206Z,1755898465.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.91 m.
2025-08-22T21:34:25.283Z,1755898465.283 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.237881
2025-08-22T21:34:25.552Z,1755898465.552 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.506930
2025-08-22T21:34:25.691Z,1755898465.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.91 m.
2025-08-22T21:34:25.803Z,1755898465.803 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.757911
2025-08-22T21:34:26.055Z,1755898466.055 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.009967
2025-08-22T21:34:26.073Z,1755898466.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.91 m.
2025-08-22T21:34:26.307Z,1755898466.307 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.262319
2025-08-22T21:34:26.527Z,1755898466.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.91 m.
2025-08-22T21:34:26.561Z,1755898466.561 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.516003
2025-08-22T21:34:26.812Z,1755898466.812 [DAT](INFO): DAT read: Rx Time:21:34:27.4344
2025-08-22T21:34:26.812Z,1755898466.812 [DAT](INFO): Rx dataTimestamp_ set to:1755898466.811854
2025-08-22T21:34:26.813Z,1755898466.813 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.768069
2025-08-22T21:34:27.016Z,1755898467.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.91 m.
2025-08-22T21:34:27.063Z,1755898467.063 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.018224
2025-08-22T21:34:27.318Z,1755898467.318 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.273049
2025-08-22T21:34:27.456Z,1755898467.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.91 m.
2025-08-22T21:34:27.591Z,1755898467.591 [DAT](INFO): DAT read: 21:34:27.4344 LVL= 32752, 32753, 32754, 31091, AGC= 71, IDX= 451,-0.28,-3.090,-1.005,-2.159,-2.023, PHS=-0.964, 1.064,-0.180, RAW= 307.4, 0.9, CAL= 305.5, -2.6, ROT= 204.5, 2.6
2025-08-22T21:34:27.619Z,1755898467.619 [DAT](INFO): got valid direction response:
21:34:27.4344 LVL= 32752, 32753, 32754, 31091, AGC= 71, IDX= 451,-0.28,-3.090,-1.005,-2.159,-2.023, PHS=-0.964, 1.064,-0.180, RAW= 307.4, 0.9, CAL= 305.5, -2.6, ROT= 204.5, 2.6
2025-08-22T21:34:27.626Z,1755898467.626 [DAT](INFO): DAT read: Bearing 171.7, -28.0 (Local)
2025-08-22T21:34:27.626Z,1755898467.626 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.7, -28.0 (Local)
2025-08-22T21:34:27.627Z,1755898467.627 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (Round-trip 41.3 ms) speed 0.0 m/s
2025-08-22T21:34:27.628Z,1755898467.628 [DAT](INFO): DAT read: user:2348>
2025-08-22T21:34:27.629Z,1755898467.629 [DAT](INFO): DAT read: Tx time:21:34:28.5390
2025-08-22T21:34:27.629Z,1755898467.629 [DAT](INFO): Ping request sent.
2025-08-22T21:34:27.629Z,1755898467.629 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:34:27.634Z,1755898467.634 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-22T21:34:27.635Z,1755898467.635 [DAT](INFO): direction in FSK: [-0.909025,-0.414266,-0.045363]
2025-08-22T21:34:27.635Z,1755898467.635 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:27.635Z,1755898467.635 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:27.647Z,1755898467.647 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:27.647Z,1755898467.647 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:27.654Z,1755898467.654 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.025120
2025-08-22T21:34:27.818Z,1755898467.818 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.189377
2025-08-22T21:34:27.893Z,1755898467.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.900000 m,
deltaT: 3.544805 s,
deltaX: 0.799999 m,
approachRate: 0.225682 m/s,
rangeRepo size: 4
2025-08-22T21:34:27.899Z,1755898467.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.704540 m,
bearing: 65.419070 deg,
lat: 36.779363 deg,
lon: -121.859517 deg,
deltaT: 3.544805 s,
deltaX: 0.794796 m,
approachRate: 0.224214 m/s,
posRepo size: 4
2025-08-22T21:34:27.900Z,1755898467.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:28.070Z,1755898468.070 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.441368
2025-08-22T21:34:28.307Z,1755898468.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:28.325Z,1755898468.325 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.695523
2025-08-22T21:34:28.576Z,1755898468.576 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.946471
2025-08-22T21:34:28.737Z,1755898468.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:28.827Z,1755898468.827 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.198078
2025-08-22T21:34:29.078Z,1755898469.078 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.449412
2025-08-22T21:34:29.108Z,1755898469.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:29.331Z,1755898469.331 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.701511
2025-08-22T21:34:29.491Z,1755898469.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:29.583Z,1755898469.583 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.953806
2025-08-22T21:34:29.834Z,1755898469.834 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.205407
2025-08-22T21:34:29.933Z,1755898469.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:34:29.935Z,1755898469.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:30.087Z,1755898470.087 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.457493
2025-08-22T21:34:30.305Z,1755898470.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:30.339Z,1755898470.339 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.710284
2025-08-22T21:34:30.590Z,1755898470.590 [DAT](INFO): DAT read: Rx Time:21:34:30.9854
2025-08-22T21:34:30.591Z,1755898470.591 [DAT](INFO): Rx dataTimestamp_ set to:1755898470.590595
2025-08-22T21:34:30.591Z,1755898470.591 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.962372
2025-08-22T21:34:30.754Z,1755898470.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:30.843Z,1755898470.843 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.214139
2025-08-22T21:34:31.100Z,1755898471.100 [DAT](INFO): DAT read: 21:34:30.9854 LVL= 32752, 29729, 32754, 28819, AGC= 68, IDX= 445, 0.19,-1.008, 0.847,-0.225, 0.061, PHS=-0.966, 0.831,-0.330, RAW= 309.6, 5.9, CAL= 307.3, 4.9, ROT= 202.7, -4.9
2025-08-22T21:34:31.101Z,1755898471.101 [DAT](INFO): got valid direction response:
21:34:30.9854 LVL= 32752, 29729, 32754, 28819, AGC= 68, IDX= 445, 0.19,-1.008, 0.847,-0.225, 0.061, PHS=-0.966, 0.831,-0.330, RAW= 309.6, 5.9, CAL= 307.3, 4.9, ROT= 202.7, -4.9
2025-08-22T21:34:31.102Z,1755898471.102 [DAT](INFO): DAT read: $Error in header
2025-08-22T21:34:31.102Z,1755898471.102 [DAT](INFO): Received a bad header
2025-08-22T21:34:31.114Z,1755898471.114 [DAT](INFO): #Rx 39: Read direction message, but no range.
2025-08-22T21:34:31.115Z,1755898471.115 [DAT](INFO): direction in FSK: [-0.919166,-0.384496,0.085417]
2025-08-22T21:34:31.118Z,1755898471.118 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.488937
2025-08-22T21:34:31.130Z,1755898471.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:31.346Z,1755898471.346 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.717395
2025-08-22T21:34:31.532Z,1755898471.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:31.601Z,1755898471.601 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.971335
2025-08-22T21:34:31.850Z,1755898471.850 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=4.221391
2025-08-22T21:34:31.991Z,1755898471.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:32.103Z,1755898472.103 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=4.473468
2025-08-22T21:34:32.326Z,1755898472.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:32.355Z,1755898472.355 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=4.725570
2025-08-22T21:34:32.606Z,1755898472.606 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=4.977324
2025-08-22T21:34:32.790Z,1755898472.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:32.859Z,1755898472.859 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=5.229952
2025-08-22T21:34:33.111Z,1755898473.111 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=5.481486
2025-08-22T21:34:33.235Z,1755898473.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:33.362Z,1755898473.362 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=5.733405
2025-08-22T21:34:33.609Z,1755898473.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:33.615Z,1755898473.615 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=5.985556
2025-08-22T21:34:33.867Z,1755898473.867 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=6.237644
2025-08-22T21:34:34.042Z,1755898474.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:34.118Z,1755898474.118 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=6.489388
2025-08-22T21:34:34.371Z,1755898474.371 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=6.741501
2025-08-22T21:34:34.404Z,1755898474.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:34.623Z,1755898474.623 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=6.993493
2025-08-22T21:34:34.822Z,1755898474.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:34.875Z,1755898474.875 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=7.246195
2025-08-22T21:34:35.126Z,1755898475.126 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=7.497432
2025-08-22T21:34:35.229Z,1755898475.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:35.379Z,1755898475.379 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=7.750132
2025-08-22T21:34:35.612Z,1755898475.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:35.631Z,1755898475.631 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=8.002123
2025-08-22T21:34:35.884Z,1755898475.884 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=8.254775
2025-08-22T21:34:36.045Z,1755898476.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:36.135Z,1755898476.135 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=8.505933
2025-08-22T21:34:36.387Z,1755898476.387 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=8.757485
2025-08-22T21:34:36.416Z,1755898476.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:36.638Z,1755898476.638 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=9.009333
2025-08-22T21:34:36.844Z,1755898476.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:36.891Z,1755898476.891 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=9.261627
2025-08-22T21:34:37.142Z,1755898477.142 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=9.513414
2025-08-22T21:34:37.260Z,1755898477.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:37.395Z,1755898477.395 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=9.765499
2025-08-22T21:34:37.647Z,1755898477.647 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=10.017475
2025-08-22T21:34:37.676Z,1755898477.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:37.899Z,1755898477.899 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=10.270340
2025-08-22T21:34:38.135Z,1755898478.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:38.152Z,1755898478.152 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=10.523094
2025-08-22T21:34:38.403Z,1755898478.403 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=10.773493
2025-08-22T21:34:38.553Z,1755898478.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:38.655Z,1755898478.655 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=11.025411
2025-08-22T21:34:38.907Z,1755898478.907 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=11.277673
2025-08-22T21:34:38.968Z,1755898478.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:39.159Z,1755898479.159 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=11.530093
2025-08-22T21:34:39.376Z,1755898479.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:39.411Z,1755898479.411 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=11.782010
2025-08-22T21:34:39.662Z,1755898479.662 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=12.033366
2025-08-22T21:34:39.844Z,1755898479.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:39.915Z,1755898479.915 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:34:39.915Z,1755898479.915 [DAT](INFO): response not received
2025-08-22T21:34:39.915Z,1755898479.915 [DAT](INFO): DAT read: user:2350>
2025-08-22T21:34:39.916Z,1755898479.916 [DAT](INFO): DAT read: Tx time:21:34:40.9889
2025-08-22T21:34:39.916Z,1755898479.916 [DAT](INFO): Ping request sent.
2025-08-22T21:34:39.916Z,1755898479.916 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:34:39.917Z,1755898479.917 [DAT](INFO): publishing transmit ping time
2025-08-22T21:34:39.917Z,1755898479.917 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.000736
2025-08-22T21:34:40.167Z,1755898480.167 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.250693
2025-08-22T21:34:40.190Z,1755898480.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:40.419Z,1755898480.419 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.501965
2025-08-22T21:34:40.580Z,1755898480.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:40.671Z,1755898480.671 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.754145
2025-08-22T21:34:40.922Z,1755898480.922 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.005931
2025-08-22T21:34:40.935Z,1755898480.935 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:34:41.032Z,1755898481.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:41.175Z,1755898481.175 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.258357
2025-08-22T21:34:41.394Z,1755898481.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:41.427Z,1755898481.427 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.510140
2025-08-22T21:34:41.679Z,1755898481.679 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.761976
2025-08-22T21:34:41.879Z,1755898481.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:41.930Z,1755898481.930 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.013928
2025-08-22T21:34:41.934Z,1755898481.934 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:34:42.184Z,1755898482.184 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.266834
2025-08-22T21:34:42.221Z,1755898482.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T21:34:42.436Z,1755898482.436 [DAT](INFO): DAT read: Rx Time:21:34:43.1632
2025-08-22T21:34:42.436Z,1755898482.436 [DAT](INFO): Rx dataTimestamp_ set to:1755898482.435762
2025-08-22T21:34:42.438Z,1755898482.438 [DAT](INFO): DAT read: Bearing 170.7, -26.9 (Local)
2025-08-22T21:34:42.438Z,1755898482.438 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.7, -26.9 (Local)
2025-08-22T21:34:42.441Z,1755898482.441 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.0
2025-08-22T21:34:42.445Z,1755898482.445 [DAT](INFO): DAT read: 21:34:43.1632 LVL= 32752, 32753, 32754, 32643, AGC= 72, IDX= 203, 0.02,-0.969, 1.287,-0.031, 0.229, PHS=-1.096, 1.102,-0.305, RAW= 309.2, 3.1, CAL= 306.8, -0.1, ROT= 203.2, 0.1
2025-08-22T21:34:42.446Z,1755898482.446 [DAT](INFO): got valid direction response:
21:34:43.1632 LVL= 32752, 32753, 32754, 32643, AGC= 72, IDX= 203, 0.02,-0.969, 1.287,-0.031, 0.229, PHS=-1.096, 1.102,-0.305, RAW= 309.2, 3.1, CAL= 306.8, -0.1, ROT= 203.2, 0.1
2025-08-22T21:34:42.447Z,1755898482.447 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-22T21:34:42.447Z,1755898482.447 [DAT](INFO): direction in FSK: [-0.919134,-0.393941,-0.001745]
2025-08-22T21:34:42.448Z,1755898482.448 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:42.451Z,1755898482.451 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.534779
2025-08-22T21:34:42.612Z,1755898482.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.900002 m,
deltaT: 14.868486 s,
deltaX: 3.000002 m,
approachRate: 0.201769 m/s,
rangeRepo size: 4
2025-08-22T21:34:42.627Z,1755898482.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.685772 m,
bearing: 64.583022 deg,
lat: 36.779362 deg,
lon: -121.859515 deg,
deltaT: 14.868486 s,
deltaX: 2.981232 m,
approachRate: 0.200507 m/s,
posRepo size: 4
2025-08-22T21:34:42.627Z,1755898482.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-08-22T21:34:42.691Z,1755898482.691 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.774144
2025-08-22T21:34:42.943Z,1755898482.943 [DAT](INFO): DAT read: Rx Time:21:34:43.6632
2025-08-22T21:34:42.944Z,1755898482.944 [DAT](INFO): Rx dataTimestamp_ set to:1755898482.943378
2025-08-22T21:34:42.945Z,1755898482.945 [DAT](INFO): DAT read: Bearing 170.6, -27.1 (Local)
2025-08-22T21:34:42.945Z,1755898482.945 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.6, -27.1 (Local)
2025-08-22T21:34:42.947Z,1755898482.947 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed -0.3
2025-08-22T21:34:42.952Z,1755898482.952 [DAT](INFO): DAT read: 21:34:43.6632 LVL= 30160, 18081, 25058, 31379, AGC= 73, IDX= 507,-0.07,-3.107,-0.929,-2.190,-1.943, PHS=-1.062, 1.059,-0.291, RAW= 309.0, 3.2, CAL= 306.5, -0.1, ROT= 203.5, 0.1
2025-08-22T21:34:42.953Z,1755898482.953 [DAT](INFO): got valid direction response:
21:34:43.6632 LVL= 30160, 18081, 25058, 31379, AGC= 73, IDX= 507,-0.07,-3.107,-0.929,-2.190,-1.943, PHS=-1.062, 1.059,-0.291, RAW= 309.0, 3.2, CAL= 306.5, -0.1, ROT= 203.5, 0.1
2025-08-22T21:34:42.953Z,1755898482.953 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-22T21:34:42.954Z,1755898482.954 [DAT](INFO): direction in FSK: [-0.917059,-0.398748,-0.001745]
2025-08-22T21:34:42.955Z,1755898482.955 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:42.958Z,1755898482.958 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.041647
2025-08-22T21:34:43.100Z,1755898483.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.900002 m,
deltaT: 0.507616 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:43.119Z,1755898483.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.685822 m,
bearing: 64.868699 deg,
lat: 36.779360 deg,
lon: -121.859515 deg,
deltaT: 0.507616 s,
deltaX: 0.000050 m,
approachRate: 0.000098 m/s,
posRepo size: 4
2025-08-22T21:34:43.119Z,1755898483.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-08-22T21:34:43.195Z,1755898483.195 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.278107
2025-08-22T21:34:43.447Z,1755898483.447 [DAT](INFO): DAT read: Rx Time:21:34:44.1632
2025-08-22T21:34:43.448Z,1755898483.448 [DAT](INFO): Rx dataTimestamp_ set to:1755898483.447302
2025-08-22T21:34:43.449Z,1755898483.449 [DAT](INFO): DAT read: Bearing 171.0, -26.0 (Local)
2025-08-22T21:34:43.449Z,1755898483.449 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.0, -26.0 (Local)
2025-08-22T21:34:43.452Z,1755898483.452 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.0
2025-08-22T21:34:43.456Z,1755898483.456 [DAT](INFO): DAT read: 21:34:44.1632 LVL= 30560, 22641, 26226, 29139, AGC= 72, IDX= 507,-0.23, 1.604,-2.377, 2.526, 2.808, PHS=-1.102, 1.143,-0.326, RAW= 310.1, 2.9, CAL= 307.7, -0.2, ROT= 202.3, 0.2
2025-08-22T21:34:43.458Z,1755898483.458 [DAT](INFO): got valid direction response:
21:34:44.1632 LVL= 30560, 22641, 26226, 29139, AGC= 72, IDX= 507,-0.23, 1.604,-2.377, 2.526, 2.808, PHS=-1.102, 1.143,-0.326, RAW= 310.1, 2.9, CAL= 307.7, -0.2, ROT= 202.3, 0.2
2025-08-22T21:34:43.458Z,1755898483.458 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-22T21:34:43.459Z,1755898483.459 [DAT](INFO): direction in FSK: [-0.925204,-0.379454,-0.003491]
2025-08-22T21:34:43.459Z,1755898483.459 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:43.463Z,1755898483.463 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.546241
2025-08-22T21:34:43.633Z,1755898483.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.900002 m,
deltaT: 0.503924 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:43.643Z,1755898483.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.685848 m,
bearing: 63.625893 deg,
lat: 36.779362 deg,
lon: -121.859515 deg,
deltaT: 0.503924 s,
deltaX: 0.000027 m,
approachRate: 0.000053 m/s,
posRepo size: 4
2025-08-22T21:34:43.644Z,1755898483.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-08-22T21:34:43.699Z,1755898483.699 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.782706
2025-08-22T21:34:43.951Z,1755898483.951 [DAT](INFO): DAT read: Rx Time:21:34:44.6633
2025-08-22T21:34:43.952Z,1755898483.952 [DAT](INFO): Rx dataTimestamp_ set to:1755898483.951333
2025-08-22T21:34:43.953Z,1755898483.953 [DAT](INFO): DAT read: Bearing 170.7, -26.7 (Local)
2025-08-22T21:34:43.953Z,1755898483.953 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.7, -26.7 (Local)
2025-08-22T21:34:43.955Z,1755898483.955 [DAT](INFO): DAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed -0.4
2025-08-22T21:34:43.960Z,1755898483.960 [DAT](INFO): DAT read: 21:34:44.6633 LVL= 32240, 23345, 26738, 32243, AGC= 73, IDX= 509,-0.42, 3.047,-1.054,-2.332,-2.076, PHS=-1.058, 1.066,-0.301, RAW= 309.4, 3.2, CAL= 307.0, -0.0, ROT= 203.0, 0.0
2025-08-22T21:34:43.961Z,1755898483.961 [DAT](INFO): got valid direction response:
21:34:44.6633 LVL= 32240, 23345, 26738, 32243, AGC= 73, IDX= 509,-0.42, 3.047,-1.054,-2.332,-2.076, PHS=-1.058, 1.066,-0.301, RAW= 309.4, 3.2, CAL= 307.0, -0.0, ROT= 203.0, 0.0
2025-08-22T21:34:43.962Z,1755898483.962 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-22T21:34:43.963Z,1755898483.963 [DAT](INFO): direction in FSK: [-0.920505,-0.390731,-0.000000]
2025-08-22T21:34:43.963Z,1755898483.963 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:43.967Z,1755898483.967 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.050362
2025-08-22T21:34:44.081Z,1755898484.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.099998 m,
deltaT: 0.504031 s,
deltaX: 0.199997 m,
approachRate: 0.396795 m/s,
rangeRepo size: 4
2025-08-22T21:34:44.087Z,1755898484.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.884583 m,
bearing: 64.334690 deg,
lat: 36.779362 deg,
lon: -121.859515 deg,
deltaT: 0.504031 s,
deltaX: 0.198734 m,
approachRate: 0.394290 m/s,
posRepo size: 4
2025-08-22T21:34:44.088Z,1755898484.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.88 m.
2025-08-22T21:34:44.203Z,1755898484.203 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.286060
2025-08-22T21:34:44.413Z,1755898484.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.88 m.
2025-08-22T21:34:44.456Z,1755898484.456 [DAT](INFO): DAT read: Rx Time:21:34:45.1633
2025-08-22T21:34:44.457Z,1755898484.457 [DAT](INFO): Rx dataTimestamp_ set to:1755898484.456230
2025-08-22T21:34:44.458Z,1755898484.458 [DAT](INFO): DAT read: Bearing 171.0, -27.0 (Local)
2025-08-22T21:34:44.459Z,1755898484.459 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.0, -27.0 (Local)
2025-08-22T21:34:44.462Z,1755898484.462 [DAT](INFO): DAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed -0.3
2025-08-22T21:34:44.469Z,1755898484.469 [DAT](INFO): DAT read: 21:34:45.1633 LVL= 32752, 18321, 26610, 32755, AGC= 71, IDX= 508, 0.34,-2.866,-0.665,-1.945,-1.699, PHS=-1.065, 1.079,-0.290, RAW= 309.1, 3.0, CAL= 306.7, -0.3, ROT= 203.3, 0.3
2025-08-22T21:34:44.479Z,1755898484.479 [DAT](INFO): got valid direction response:
21:34:45.1633 LVL= 32752, 18321, 26610, 32755, AGC= 71, IDX= 508, 0.34,-2.866,-0.665,-1.945,-1.699, PHS=-1.065, 1.079,-0.290, RAW= 309.1, 3.0, CAL= 306.7, -0.3, ROT= 203.3, 0.3
2025-08-22T21:34:44.479Z,1755898484.479 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-22T21:34:44.481Z,1755898484.481 [DAT](INFO): direction in FSK: [-0.918434,-0.395540,-0.005236]
2025-08-22T21:34:44.481Z,1755898484.481 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:44.530Z,1755898484.530 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=4.592775
2025-08-22T21:34:44.706Z,1755898484.706 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=4.789942
2025-08-22T21:34:44.772Z,1755898484.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.099998 m,
deltaT: 0.504897 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:44.775Z,1755898484.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.884602 m,
bearing: 64.612850 deg,
lat: 36.779362 deg,
lon: -121.859517 deg,
deltaT: 0.504897 s,
deltaX: 0.000019 m,
approachRate: 0.000038 m/s,
posRepo size: 4
2025-08-22T21:34:44.775Z,1755898484.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.88 m.
2025-08-22T21:34:44.959Z,1755898484.959 [DAT](INFO): DAT read: Rx Time:21:34:45.6635
2025-08-22T21:34:44.960Z,1755898484.960 [DAT](INFO): Rx dataTimestamp_ set to:1755898484.959262
2025-08-22T21:34:44.961Z,1755898484.961 [DAT](INFO): DAT read: Bearing 170.5, -26.7 (Local)
2025-08-22T21:34:44.961Z,1755898484.961 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.5, -26.7 (Local)
2025-08-22T21:34:44.963Z,1755898484.963 [DAT](INFO): DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.0
2025-08-22T21:34:44.968Z,1755898484.968 [DAT](INFO): DAT read: 21:34:45.6635 LVL= 29888, 22817, 25970, 31027, AGC= 72, IDX= 510, 0.15,-1.843, 0.402,-0.916,-0.646, PHS=-1.095, 1.093,-0.314, RAW= 309.4, 3.3, CAL= 307.0, 0.2, ROT= 203.0, -0.2
2025-08-22T21:34:44.971Z,1755898484.971 [DAT](INFO): got valid direction response:
21:34:45.6635 LVL= 29888, 22817, 25970, 31027, AGC= 72, IDX= 510, 0.15,-1.843, 0.402,-0.916,-0.646, PHS=-1.095, 1.093,-0.314, RAW= 309.4, 3.3, CAL= 307.0, 0.2, ROT= 203.0, -0.2
2025-08-22T21:34:44.972Z,1755898484.972 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-22T21:34:44.974Z,1755898484.974 [DAT](INFO): direction in FSK: [-0.920499,-0.390729,0.003491]
2025-08-22T21:34:44.974Z,1755898484.974 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:44.980Z,1755898484.980 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.063795
2025-08-22T21:34:45.211Z,1755898485.211 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.294149
2025-08-22T21:34:45.335Z,1755898485.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.400002 m,
deltaT: 0.503032 s,
deltaX: 0.300003 m,
approachRate: 0.596390 m/s,
rangeRepo size: 4
2025-08-22T21:34:45.343Z,1755898485.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.182713 m,
bearing: 64.342476 deg,
lat: 36.779363 deg,
lon: -121.859517 deg,
deltaT: 0.503032 s,
deltaX: 0.298111 m,
approachRate: 0.592628 m/s,
posRepo size: 4
2025-08-22T21:34:45.345Z,1755898485.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-08-22T21:34:45.464Z,1755898485.464 [DAT](INFO): DAT read: Rx Time:21:34:46.1635
2025-08-22T21:34:45.465Z,1755898485.465 [DAT](INFO): Rx dataTimestamp_ set to:1755898485.464316
2025-08-22T21:34:45.467Z,1755898485.467 [DAT](INFO): DAT read: Bearing 170.2, -27.1 (Local)
2025-08-22T21:34:45.468Z,1755898485.468 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.2, -27.1 (Local)
2025-08-22T21:34:45.472Z,1755898485.472 [DAT](INFO): DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed -0.1
2025-08-22T21:34:45.484Z,1755898485.484 [DAT](INFO): DAT read: 21:34:46.1635 LVL= 32752, 22513, 29602, 32755, AGC= 72, IDX= 510,-0.01, 2.227,-1.922, 3.127,-2.905, PHS=-1.049, 1.028,-0.295, RAW= 309.0, 3.5, CAL= 306.6, 0.5, ROT= 203.4, -0.5
2025-08-22T21:34:45.486Z,1755898485.486 [DAT](INFO): got valid direction response:
21:34:46.1635 LVL= 32752, 22513, 29602, 32755, AGC= 72, IDX= 510,-0.01, 2.227,-1.922, 3.127,-2.905, PHS=-1.049, 1.028,-0.295, RAW= 309.0, 3.5, CAL= 306.6, 0.5, ROT= 203.4, -0.5
2025-08-22T21:34:45.486Z,1755898485.486 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-22T21:34:45.511Z,1755898485.511 [DAT](INFO): direction in FSK: [-0.917720,-0.397133,0.008727]
2025-08-22T21:34:45.511Z,1755898485.511 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:45.517Z,1755898485.517 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.600254
2025-08-22T21:34:45.715Z,1755898485.715 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.798078
2025-08-22T21:34:45.730Z,1755898485.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.400002 m,
deltaT: 0.505054 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:45.732Z,1755898485.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.182568 m,
bearing: 64.767832 deg,
lat: 36.779363 deg,
lon: -121.859517 deg,
deltaT: 0.505054 s,
deltaX: -0.000145 m,
approachRate: -0.000287 m/s,
posRepo size: 4
2025-08-22T21:34:45.732Z,1755898485.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-08-22T21:34:45.969Z,1755898485.969 [DAT](INFO): DAT read: Rx Time:21:34:46.6636
2025-08-22T21:34:45.971Z,1755898485.971 [DAT](INFO): Rx dataTimestamp_ set to:1755898485.970188
2025-08-22T21:34:45.973Z,1755898485.973 [DAT](INFO): DAT read: Bearing 168.2, -27.0 (Local)
2025-08-22T21:34:45.974Z,1755898485.974 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.2, -27.0 (Local)
2025-08-22T21:34:45.977Z,1755898485.977 [DAT](INFO): DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed 0.0
2025-08-22T21:34:45.995Z,1755898485.995 [DAT](INFO): DAT read: 21:34:46.6636 LVL= 29040, 18161, 23522, 29459, AGC= 72, IDX= 511,-0.29, 2.033,-2.040, 2.967,-3.026, PHS=-1.122, 1.032,-0.334, RAW= 308.8, 4.5, CAL= 306.5, 2.3, ROT= 203.5, -2.3
2025-08-22T21:34:46.010Z,1755898486.010 [DAT](INFO): got valid direction response:
21:34:46.6636 LVL= 29040, 18161, 23522, 29459, AGC= 72, IDX= 511,-0.29, 2.033,-2.040, 2.967,-3.026, PHS=-1.122, 1.032,-0.334, RAW= 308.8, 4.5, CAL= 306.5, 2.3, ROT= 203.5, -2.3
2025-08-22T21:34:46.011Z,1755898486.011 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-22T21:34:46.012Z,1755898486.012 [DAT](INFO): direction in FSK: [-0.916321,-0.398428,0.040132]
2025-08-22T21:34:46.012Z,1755898486.012 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:46.024Z,1755898486.024 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=6.107279
2025-08-22T21:34:46.149Z,1755898486.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.500000 m,
deltaT: 0.505872 s,
deltaX: 0.099998 m,
approachRate: 0.197675 m/s,
rangeRepo size: 4
2025-08-22T21:34:46.156Z,1755898486.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.281933 m,
bearing: 65.014724 deg,
lat: 36.779361 deg,
lon: -121.859516 deg,
deltaT: 0.505872 s,
deltaX: 0.099365 m,
approachRate: 0.196424 m/s,
posRepo size: 4
2025-08-22T21:34:46.156Z,1755898486.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.28 m.
2025-08-22T21:34:46.222Z,1755898486.222 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=6.305618
2025-08-22T21:34:46.477Z,1755898486.477 [DAT](INFO): DAT read: Rx Time:21:34:47.1635
2025-08-22T21:34:46.477Z,1755898486.477 [DAT](INFO): Rx dataTimestamp_ set to:1755898486.476913
2025-08-22T21:34:46.480Z,1755898486.480 [DAT](INFO): DAT read: Bearing 169.9, -27.8 (Local)
2025-08-22T21:34:46.480Z,1755898486.480 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.9, -27.8 (Local)
2025-08-22T21:34:46.484Z,1755898486.484 [DAT](INFO): DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed -0.2
2025-08-22T21:34:46.491Z,1755898486.491 [DAT](INFO): DAT read: 21:34:47.1635 LVL= 32752, 32689, 32754, 32755, AGC= 73, IDX= 510, 0.31, 2.558,-1.527,-2.782,-2.530, PHS=-1.093, 1.048,-0.295, RAW= 308.4, 3.7, CAL= 306.0, 0.7, ROT= 204.0, -0.7
2025-08-22T21:34:46.493Z,1755898486.493 [DAT](INFO): got valid direction response:
21:34:47.1635 LVL= 32752, 32689, 32754, 32755, AGC= 73, IDX= 510, 0.31, 2.558,-1.527,-2.782,-2.530, PHS=-1.093, 1.048,-0.295, RAW= 308.4, 3.7, CAL= 306.0, 0.7, ROT= 204.0, -0.7
2025-08-22T21:34:46.494Z,1755898486.494 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-22T21:34:46.495Z,1755898486.495 [DAT](INFO): direction in FSK: [-0.913477,-0.406706,0.012217]
2025-08-22T21:34:46.496Z,1755898486.496 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:46.501Z,1755898486.501 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.584297
2025-08-22T21:34:46.567Z,1755898486.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.400002 m,
deltaT: 0.506725 s,
deltaX: -0.099998 m,
approachRate: -0.197343 m/s,
rangeRepo size: 4
2025-08-22T21:34:46.570Z,1755898486.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.182568 m,
bearing: 65.342356 deg,
lat: 36.779361 deg,
lon: -121.859516 deg,
deltaT: 0.506725 s,
deltaX: -0.099365 m,
approachRate: -0.196093 m/s,
posRepo size: 4
2025-08-22T21:34:46.570Z,1755898486.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-08-22T21:34:46.727Z,1755898486.727 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.810076
2025-08-22T21:34:46.942Z,1755898486.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-08-22T21:34:46.980Z,1755898486.980 [DAT](INFO): DAT read: Rx Time:21:34:47.6637
2025-08-22T21:34:46.981Z,1755898486.981 [DAT](INFO): Rx dataTimestamp_ set to:1755898486.980491
2025-08-22T21:34:46.983Z,1755898486.983 [DAT](INFO): DAT read: Range 11 to 50 : 34.7 m (trip time 23.1 ms) speed 0.0
2025-08-22T21:34:46.984Z,1755898486.984 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-08-22T21:34:46.987Z,1755898486.987 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.070039
2025-08-22T21:34:47.231Z,1755898487.231 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.313992
2025-08-22T21:34:47.318Z,1755898487.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.700001 m,
deltaT: 0.503578 s,
deltaX: 0.299999 m,
approachRate: 0.595735 m/s,
rangeRepo size: 4
2025-08-22T21:34:47.319Z,1755898487.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-08-22T21:34:47.484Z,1755898487.484 [DAT](INFO): DAT read: Rx Time:21:34:48.1636
2025-08-22T21:34:47.484Z,1755898487.484 [DAT](INFO): Rx dataTimestamp_ set to:1755898487.483812
2025-08-22T21:34:47.486Z,1755898487.486 [DAT](INFO): DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed -0.1
2025-08-22T21:34:47.487Z,1755898487.487 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-08-22T21:34:47.489Z,1755898487.489 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=7.572244
2025-08-22T21:34:47.698Z,1755898487.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.500000 m,
deltaT: 0.503321 s,
deltaX: -0.200001 m,
approachRate: -0.397362 m/s,
rangeRepo size: 4
2025-08-22T21:34:47.699Z,1755898487.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-08-22T21:34:47.751Z,1755898487.751 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=7.834968
2025-08-22T21:34:48.003Z,1755898488.003 [DAT](INFO): DAT read: Rx Time:21:34:48.6638
2025-08-22T21:34:48.003Z,1755898488.003 [DAT](INFO): Rx dataTimestamp_ set to:1755898488.003130
2025-08-22T21:34:48.005Z,1755898488.005 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed -0.1
2025-08-22T21:34:48.005Z,1755898488.005 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-08-22T21:34:48.006Z,1755898488.006 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=8.089615
2025-08-22T21:34:48.139Z,1755898488.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.799999 m,
deltaT: 0.519318 s,
deltaX: 0.299999 m,
approachRate: 0.577679 m/s,
rangeRepo size: 4
2025-08-22T21:34:48.139Z,1755898488.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-08-22T21:34:48.254Z,1755898488.254 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=8.337959
2025-08-22T21:34:48.507Z,1755898488.507 [DAT](INFO): DAT read: Rx Time:21:34:49.1638
2025-08-22T21:34:48.507Z,1755898488.507 [DAT](INFO): Rx dataTimestamp_ set to:1755898488.506775
2025-08-22T21:34:48.508Z,1755898488.508 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.0
2025-08-22T21:34:48.509Z,1755898488.509 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-08-22T21:34:48.510Z,1755898488.510 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=8.593256
2025-08-22T21:34:48.575Z,1755898488.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.799999 m,
deltaT: 0.503645 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:48.575Z,1755898488.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-08-22T21:34:48.758Z,1755898488.758 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=8.841900
2025-08-22T21:34:49.008Z,1755898489.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-08-22T21:34:49.019Z,1755898489.019 [DAT](INFO): DAT read: Rx Time:21:34:49.6639
2025-08-22T21:34:49.020Z,1755898489.020 [DAT](INFO): Rx dataTimestamp_ set to:1755898489.019349
2025-08-22T21:34:49.021Z,1755898489.021 [DAT](INFO): DAT read: Bearing 170.2, -27.0 (Local)
2025-08-22T21:34:49.021Z,1755898489.021 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.2, -27.0 (Local)
2025-08-22T21:34:49.023Z,1755898489.023 [DAT](INFO): DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed -0.2
2025-08-22T21:34:49.028Z,1755898489.028 [DAT](INFO): DAT read: 21:34:49.6639 LVL= 32752, 32753, 32754, 28963, AGC= 73, IDX= 2, 0.33,-1.060, 1.205,-0.127, 0.155, PHS=-1.112, 1.095,-0.326, RAW= 309.4, 3.6, CAL= 307.0, 0.7, ROT= 203.0, -0.7
2025-08-22T21:34:49.029Z,1755898489.029 [DAT](INFO): got valid direction response:
21:34:49.6639 LVL= 32752, 32753, 32754, 28963, AGC= 73, IDX= 2, 0.33,-1.060, 1.205,-0.127, 0.155, PHS=-1.112, 1.095,-0.326, RAW= 309.4, 3.6, CAL= 307.0, 0.7, ROT= 203.0, -0.7
2025-08-22T21:34:49.029Z,1755898489.029 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-22T21:34:49.030Z,1755898489.030 [DAT](INFO): direction in FSK: [-0.920436,-0.390702,0.012217]
2025-08-22T21:34:49.031Z,1755898489.031 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:49.034Z,1755898489.034 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=9.117530
2025-08-22T21:34:49.270Z,1755898489.270 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=9.353909
2025-08-22T21:34:49.410Z,1755898489.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.000000 m,
deltaT: 0.512574 s,
deltaX: 0.200001 m,
approachRate: 0.390189 m/s,
rangeRepo size: 4
2025-08-22T21:34:49.412Z,1755898489.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.778755 m,
bearing: 64.521649 deg,
lat: 36.779361 deg,
lon: -121.859516 deg,
deltaT: 2.542436 s,
deltaX: 0.596188 m,
approachRate: 0.234495 m/s,
posRepo size: 4
2025-08-22T21:34:49.413Z,1755898489.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.78 m.
2025-08-22T21:34:49.524Z,1755898489.524 [DAT](INFO): DAT read: Rx Time:21:34:50.1638
2025-08-22T21:34:49.524Z,1755898489.524 [DAT](INFO): Rx dataTimestamp_ set to:1755898489.523766
2025-08-22T21:34:49.525Z,1755898489.525 [DAT](INFO): DAT read: Bearing 169.8, -27.6 (Local)
2025-08-22T21:34:49.526Z,1755898489.526 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.8, -27.6 (Local)
2025-08-22T21:34:49.528Z,1755898489.528 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed -0.1
2025-08-22T21:34:49.533Z,1755898489.533 [DAT](INFO): DAT read: 21:34:50.1638 LVL= 32752, 29969, 30834, 32755, AGC= 73, IDX= 498,-0.04, 2.695,-1.415,-2.666,-2.407, PHS=-1.080, 1.037,-0.303, RAW= 308.7, 3.8, CAL= 306.3, 0.9, ROT= 203.7, -0.9
2025-08-22T21:34:49.534Z,1755898489.534 [DAT](INFO): got valid direction response:
21:34:50.1638 LVL= 32752, 29969, 30834, 32755, AGC= 73, IDX= 498,-0.04, 2.695,-1.415,-2.666,-2.407, PHS=-1.080, 1.037,-0.303, RAW= 308.7, 3.8, CAL= 306.3, 0.9, ROT= 203.7, -0.9
2025-08-22T21:34:49.534Z,1755898489.534 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-22T21:34:49.535Z,1755898489.535 [DAT](INFO): direction in FSK: [-0.915550,-0.401898,0.015707]
2025-08-22T21:34:49.535Z,1755898489.535 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:49.540Z,1755898489.540 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=9.623055
2025-08-22T21:34:49.774Z,1755898489.774 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=9.857933
2025-08-22T21:34:49.792Z,1755898489.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.799999 m,
deltaT: 0.504417 s,
deltaX: -0.200001 m,
approachRate: -0.396499 m/s,
rangeRepo size: 4
2025-08-22T21:34:49.799Z,1755898489.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.580040 m,
bearing: 65.279795 deg,
lat: 36.779361 deg,
lon: -121.859516 deg,
deltaT: 0.504417 s,
deltaX: -0.198715 m,
approachRate: -0.393950 m/s,
posRepo size: 4
2025-08-22T21:34:49.799Z,1755898489.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T21:34:50.027Z,1755898490.027 [DAT](INFO): DAT read: Rx Time:21:34:50.6638
2025-08-22T21:34:50.028Z,1755898490.028 [DAT](INFO): Rx dataTimestamp_ set to:1755898490.027245
2025-08-22T21:34:50.029Z,1755898490.029 [DAT](INFO): DAT read: Bearing 168.9, -27.1 (Local)
2025-08-22T21:34:50.029Z,1755898490.029 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.9, -27.1 (Local)
2025-08-22T21:34:50.031Z,1755898490.031 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.0
2025-08-22T21:34:50.041Z,1755898490.041 [DAT](INFO): DAT read: 21:34:50.6638 LVL= 32752, 29425, 31874, 30643, AGC= 72, IDX= 498, 0.45,-2.221, 0.006,-1.293,-1.002, PHS=-1.117, 1.053,-0.335, RAW= 309.2, 4.2, CAL= 306.8, 1.8, ROT= 203.2, -1.8
2025-08-22T21:34:50.050Z,1755898490.050 [DAT](INFO): got valid direction response:
21:34:50.6638 LVL= 32752, 29425, 31874, 30643, AGC= 72, IDX= 498, 0.45,-2.221, 0.006,-1.293,-1.002, PHS=-1.117, 1.053,-0.335, RAW= 309.2, 4.2, CAL= 306.8, 1.8, ROT= 203.2, -1.8
2025-08-22T21:34:50.051Z,1755898490.051 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-22T21:34:50.051Z,1755898490.051 [DAT](INFO): direction in FSK: [-0.918682,-0.393748,0.031411]
2025-08-22T21:34:50.052Z,1755898490.052 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:50.055Z,1755898490.055 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=10.138735
2025-08-22T21:34:50.217Z,1755898490.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.799999 m,
deltaT: 0.503479 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:50.223Z,1755898490.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.580040 m,
bearing: 64.851315 deg,
lat: 36.779361 deg,
lon: -121.859516 deg,
deltaT: 0.503479 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:34:50.224Z,1755898490.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T21:34:50.279Z,1755898490.279 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=10.362229
2025-08-22T21:34:50.531Z,1755898490.531 [DAT](INFO): DAT read: Rx Time:21:34:51.1638
2025-08-22T21:34:50.531Z,1755898490.531 [DAT](INFO): Rx dataTimestamp_ set to:1755898490.531205
2025-08-22T21:34:50.533Z,1755898490.533 [DAT](INFO): DAT read: Bearing 169.5, -26.5 (Local)
2025-08-22T21:34:50.533Z,1755898490.533 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.5, -26.5 (Local)
2025-08-22T21:34:50.535Z,1755898490.535 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed -0.2
2025-08-22T21:34:50.540Z,1755898490.540 [DAT](INFO): DAT read: 21:34:51.1638 LVL= 32128, 21137, 25266, 32755, AGC= 74, IDX= 498, 0.01, 2.777,-1.234,-2.586,-2.281, PHS=-1.123, 1.092,-0.349, RAW= 309.9, 3.9, CAL= 307.5, 1.4, ROT= 202.5, -1.4
2025-08-22T21:34:50.541Z,1755898490.541 [DAT](INFO): got valid direction response:
21:34:51.1638 LVL= 32128, 21137, 25266, 32755, AGC= 74, IDX= 498, 0.01, 2.777,-1.234,-2.586,-2.281, PHS=-1.123, 1.092,-0.349, RAW= 309.9, 3.9, CAL= 307.5, 1.4, ROT= 202.5, -1.4
2025-08-22T21:34:50.541Z,1755898490.541 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-22T21:34:50.542Z,1755898490.542 [DAT](INFO): direction in FSK: [-0.923604,-0.382569,0.024432]
2025-08-22T21:34:50.542Z,1755898490.542 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:50.553Z,1755898490.553 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=10.632767
2025-08-22T21:34:50.632Z,1755898490.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.799999 m,
deltaT: 0.503960 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:50.643Z,1755898490.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.580040 m,
bearing: 64.173328 deg,
lat: 36.779362 deg,
lon: -121.859516 deg,
deltaT: 0.503960 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:34:50.643Z,1755898490.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T21:34:50.783Z,1755898490.783 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=10.866101
2025-08-22T21:34:51.026Z,1755898491.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T21:34:51.035Z,1755898491.035 [DAT](INFO): DAT read: Rx Time:21:34:51.6639
2025-08-22T21:34:51.036Z,1755898491.036 [DAT](INFO): Rx dataTimestamp_ set to:1755898491.035374
2025-08-22T21:34:51.037Z,1755898491.037 [DAT](INFO): DAT read: Bearing 169.4, -26.8 (Local)
2025-08-22T21:34:51.037Z,1755898491.037 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.4, -26.8 (Local)
2025-08-22T21:34:51.039Z,1755898491.039 [DAT](INFO): DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed -0.1
2025-08-22T21:34:51.044Z,1755898491.044 [DAT](INFO): DAT read: 21:34:51.6639 LVL= 32752, 27633, 30386, 32755, AGC= 73, IDX= 500,-0.36, 2.441,-1.601,-2.922,-2.626, PHS=-1.114, 1.070,-0.340, RAW= 309.5, 4.0, CAL= 307.1, 1.5, ROT= 202.9, -1.5
2025-08-22T21:34:51.045Z,1755898491.045 [DAT](INFO): got valid direction response:
21:34:51.6639 LVL= 32752, 27633, 30386, 32755, AGC= 73, IDX= 500,-0.36, 2.441,-1.601,-2.922,-2.626, PHS=-1.114, 1.070,-0.340, RAW= 309.5, 4.0, CAL= 307.1, 1.5, ROT= 202.9, -1.5
2025-08-22T21:34:51.045Z,1755898491.045 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-22T21:34:51.046Z,1755898491.046 [DAT](INFO): direction in FSK: [-0.920870,-0.388990,0.026177]
2025-08-22T21:34:51.047Z,1755898491.047 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:51.070Z,1755898491.070 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=11.153742
2025-08-22T21:34:51.287Z,1755898491.287 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=11.370018
2025-08-22T21:34:51.414Z,1755898491.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.000000 m,
deltaT: 0.504169 s,
deltaX: 0.200001 m,
approachRate: 0.396694 m/s,
rangeRepo size: 4
2025-08-22T21:34:51.416Z,1755898491.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.778790 m,
bearing: 64.652209 deg,
lat: 36.779363 deg,
lon: -121.859518 deg,
deltaT: 0.504169 s,
deltaX: 0.198750 m,
approachRate: 0.394212 m/s,
posRepo size: 4
2025-08-22T21:34:51.417Z,1755898491.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.78 m.
2025-08-22T21:34:51.539Z,1755898491.539 [DAT](INFO): DAT read: Rx Time:21:34:52.1639
2025-08-22T21:34:51.540Z,1755898491.540 [DAT](INFO): Rx dataTimestamp_ set to:1755898491.539302
2025-08-22T21:34:51.541Z,1755898491.541 [DAT](INFO): DAT read: Bearing 169.4, -26.5 (Local)
2025-08-22T21:34:51.541Z,1755898491.541 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.4, -26.5 (Local)
2025-08-22T21:34:51.543Z,1755898491.543 [DAT](INFO): DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed 0.0
2025-08-22T21:34:51.548Z,1755898491.548 [DAT](INFO): DAT read: 21:34:52.1639 LVL= 32752, 24017, 32754, 30355, AGC= 72, IDX= 499, 0.09,-2.913,-0.709,-2.016,-1.719, PHS=-1.092, 1.055,-0.341, RAW= 309.8, 4.1, CAL= 307.5, 1.6, ROT= 202.5, -1.6
2025-08-22T21:34:51.549Z,1755898491.549 [DAT](INFO): got valid direction response:
21:34:52.1639 LVL= 32752, 24017, 32754, 30355, AGC= 72, IDX= 499, 0.09,-2.913,-0.709,-2.016,-1.719, PHS=-1.092, 1.055,-0.341, RAW= 309.8, 4.1, CAL= 307.5, 1.6, ROT= 202.5, -1.6
2025-08-22T21:34:51.550Z,1755898491.550 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-22T21:34:51.551Z,1755898491.551 [DAT](INFO): direction in FSK: [-0.923519,-0.382534,0.027922]
2025-08-22T21:34:51.551Z,1755898491.551 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:51.555Z,1755898491.555 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=11.638375
2025-08-22T21:34:51.791Z,1755898491.791 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=11.874112
2025-08-22T21:34:51.792Z,1755898491.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.000000 m,
deltaT: 0.503928 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:51.794Z,1755898491.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.778709 m,
bearing: 64.260316 deg,
lat: 36.779363 deg,
lon: -121.859518 deg,
deltaT: 0.503928 s,
deltaX: -0.000080 m,
approachRate: -0.000159 m/s,
posRepo size: 4
2025-08-22T21:34:51.795Z,1755898491.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.78 m.
2025-08-22T21:34:52.043Z,1755898492.043 [DAT](INFO): DAT read: Rx Time:21:34:52.6641
2025-08-22T21:34:52.044Z,1755898492.044 [DAT](INFO): Rx dataTimestamp_ set to:1755898492.043307
2025-08-22T21:34:52.045Z,1755898492.045 [DAT](INFO): DAT read: Bearing 169.8, -26.5 (Local)
2025-08-22T21:34:52.045Z,1755898492.045 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.8, -26.5 (Local)
2025-08-22T21:34:52.047Z,1755898492.047 [DAT](INFO): DAT read: Range 11 to 50 : 35.3 m (trip time 23.5 ms) speed -0.2
2025-08-22T21:34:52.052Z,1755898492.052 [DAT](INFO): DAT read: 21:34:52.6641 LVL= 32752, 27089, 32754, 32755, AGC= 73, IDX= 501,-0.22, 2.672,-1.392,-2.713,-2.415, PHS=-1.094, 1.068,-0.342, RAW= 310.0, 3.9, CAL= 307.6, 1.3, ROT= 202.4, -1.3
2025-08-22T21:34:52.053Z,1755898492.053 [DAT](INFO): got valid direction response:
21:34:52.6641 LVL= 32752, 27089, 32754, 32755, AGC= 73, IDX= 501,-0.22, 2.672,-1.392,-2.713,-2.415, PHS=-1.094, 1.068,-0.342, RAW= 310.0, 3.9, CAL= 307.6, 1.3, ROT= 202.4, -1.3
2025-08-22T21:34:52.053Z,1755898492.053 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-22T21:34:52.054Z,1755898492.054 [DAT](INFO): direction in FSK: [-0.924308,-0.380972,0.022687]
2025-08-22T21:34:52.054Z,1755898492.054 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:52.058Z,1755898492.058 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=12.141619
2025-08-22T21:34:52.214Z,1755898492.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.299999 m,
deltaT: 0.504005 s,
deltaX: 0.299999 m,
approachRate: 0.595231 m/s,
rangeRepo size: 4
2025-08-22T21:34:52.216Z,1755898492.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.076813 m,
bearing: 64.135776 deg,
lat: 36.779365 deg,
lon: -121.859518 deg,
deltaT: 0.504005 s,
deltaX: 0.298103 m,
approachRate: 0.591469 m/s,
posRepo size: 4
2025-08-22T21:34:52.216Z,1755898492.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.08 m.
2025-08-22T21:34:52.300Z,1755898492.300 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=12.383494
2025-08-22T21:34:52.551Z,1755898492.551 [DAT](INFO): DAT read: Rx Time:21:34:53.1640
2025-08-22T21:34:52.552Z,1755898492.552 [DAT](INFO): Rx dataTimestamp_ set to:1755898492.551359
2025-08-22T21:34:52.553Z,1755898492.553 [DAT](INFO): DAT read: Bearing 167.8, -27.2 (Local)
2025-08-22T21:34:52.553Z,1755898492.553 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.8, -27.2 (Local)
2025-08-22T21:34:52.555Z,1755898492.555 [DAT](INFO): DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed -0.1
2025-08-22T21:34:52.560Z,1755898492.560 [DAT](INFO): DAT read: 21:34:53.1640 LVL= 30752, 22897, 31986, 32755, AGC= 73, IDX= 500, 0.21,-2.302,-0.144,-1.393,-1.096, PHS=-1.104, 0.998,-0.340, RAW= 309.0, 4.9, CAL= 306.6, 2.9, ROT= 203.4, -2.9
2025-08-22T21:34:52.561Z,1755898492.561 [DAT](INFO): got valid direction response:
21:34:53.1640 LVL= 30752, 22897, 31986, 32755, AGC= 73, IDX= 500, 0.21,-2.302,-0.144,-1.393,-1.096, PHS=-1.104, 0.998,-0.340, RAW= 309.0, 4.9, CAL= 306.6, 2.9, ROT= 203.4, -2.9
2025-08-22T21:34:52.561Z,1755898492.561 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-22T21:34:52.562Z,1755898492.562 [DAT](INFO): direction in FSK: [-0.916579,-0.396639,0.050593]
2025-08-22T21:34:52.563Z,1755898492.563 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:52.570Z,1755898492.570 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=12.653771
2025-08-22T21:34:52.659Z,1755898492.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.099998 m,
deltaT: 0.508052 s,
deltaX: -0.200001 m,
approachRate: -0.393662 m/s,
rangeRepo size: 4
2025-08-22T21:34:52.661Z,1755898492.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.878075 m,
bearing: 65.263891 deg,
lat: 36.779365 deg,
lon: -121.859518 deg,
deltaT: 0.508052 s,
deltaX: -0.198738 m,
approachRate: -0.391177 m/s,
posRepo size: 4
2025-08-22T21:34:52.667Z,1755898492.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-22T21:34:52.803Z,1755898492.803 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=12.886011
2025-08-22T21:34:53.055Z,1755898493.055 [DAT](INFO): DAT read: Rx Time:21:34:53.6642
2025-08-22T21:34:53.055Z,1755898493.055 [DAT](INFO): Rx dataTimestamp_ set to:1755898493.055211
2025-08-22T21:34:53.057Z,1755898493.057 [DAT](INFO): DAT read: Bearing 168.0, -26.8 (Local)
2025-08-22T21:34:53.057Z,1755898493.057 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.0, -26.8 (Local)
2025-08-22T21:34:53.059Z,1755898493.059 [DAT](INFO): DAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed -0.1
2025-08-22T21:34:53.064Z,1755898493.064 [DAT](INFO): DAT read: 21:34:53.6642 LVL= 32752, 23185, 32354, 32755, AGC= 73, IDX= 502,-0.10,-2.681,-0.485,-1.776,-1.465, PHS=-1.115, 1.024,-0.355, RAW= 309.5, 4.8, CAL= 307.2, 2.8, ROT= 202.8, -2.8
2025-08-22T21:34:53.065Z,1755898493.065 [DAT](INFO): got valid direction response:
21:34:53.6642 LVL= 32752, 23185, 32354, 32755, AGC= 73, IDX= 502,-0.10,-2.681,-0.485,-1.776,-1.465, PHS=-1.115, 1.024,-0.355, RAW= 309.5, 4.8, CAL= 307.2, 2.8, ROT= 202.8, -2.8
2025-08-22T21:34:53.065Z,1755898493.065 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-22T21:34:53.066Z,1755898493.066 [DAT](INFO): direction in FSK: [-0.920763,-0.387053,0.048850]
2025-08-22T21:34:53.066Z,1755898493.066 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:53.071Z,1755898493.071 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=13.153953
2025-08-22T21:34:53.216Z,1755898493.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.400002 m,
deltaT: 0.503852 s,
deltaX: 0.300003 m,
approachRate: 0.595419 m/s,
rangeRepo size: 4
2025-08-22T21:34:53.222Z,1755898493.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.176285 m,
bearing: 64.772866 deg,
lat: 36.779364 deg,
lon: -121.859518 deg,
deltaT: 0.503852 s,
deltaX: 0.298210 m,
approachRate: 0.591861 m/s,
posRepo size: 4
2025-08-22T21:34:53.223Z,1755898493.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m.
2025-08-22T21:34:53.307Z,1755898493.307 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=13.390155
2025-08-22T21:34:53.563Z,1755898493.563 [DAT](INFO): DAT read: Rx Time:21:34:54.1642
2025-08-22T21:34:53.563Z,1755898493.563 [DAT](INFO): Rx dataTimestamp_ set to:1755898493.562852
2025-08-22T21:34:53.564Z,1755898493.564 [DAT](INFO): DAT read: Bearing 168.9, -27.2 (Local)
2025-08-22T21:34:53.565Z,1755898493.565 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.9, -27.2 (Local)
2025-08-22T21:34:53.567Z,1755898493.567 [DAT](INFO): DAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed 0.0
2025-08-22T21:34:53.573Z,1755898493.573 [DAT](INFO): DAT read: 21:34:54.1642 LVL= 20400, 15985, 18162, 21683, AGC= 69, IDX= 502,-0.39, 1.787,-2.292, 2.703, 2.998, PHS=-1.109, 1.039,-0.338, RAW= 309.3, 4.4, CAL= 306.9, 2.1, ROT= 203.1, -2.1
2025-08-22T21:34:53.574Z,1755898493.574 [DAT](INFO): got valid direction response:
21:34:54.1642 LVL= 20400, 15985, 18162, 21683, AGC= 69, IDX= 502,-0.39, 1.787,-2.292, 2.703, 2.998, PHS=-1.109, 1.039,-0.338, RAW= 309.3, 4.4, CAL= 306.9, 2.1, ROT= 203.1, -2.1
2025-08-22T21:34:53.575Z,1755898493.575 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-22T21:34:53.576Z,1755898493.576 [DAT](INFO): direction in FSK: [-0.919204,-0.392074,0.036644]
2025-08-22T21:34:53.577Z,1755898493.577 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:53.590Z,1755898493.590 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=13.673736
2025-08-22T21:34:53.708Z,1755898493.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.400002 m,
deltaT: 0.507641 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:53.714Z,1755898493.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.176201 m,
bearing: 65.001064 deg,
lat: 36.779364 deg,
lon: -121.859517 deg,
deltaT: 0.507641 s,
deltaX: -0.000084 m,
approachRate: -0.000165 m/s,
posRepo size: 4
2025-08-22T21:34:53.714Z,1755898493.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m.
2025-08-22T21:34:53.811Z,1755898493.811 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=13.894046
2025-08-22T21:34:54.064Z,1755898494.064 [DAT](INFO): DAT read: Rx Time:21:34:54.6642
2025-08-22T21:34:54.065Z,1755898494.065 [DAT](INFO): Rx dataTimestamp_ set to:1755898494.064081
2025-08-22T21:34:54.066Z,1755898494.066 [DAT](INFO): DAT read: Bearing 169.7, -27.0 (Local)
2025-08-22T21:34:54.066Z,1755898494.066 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.7, -27.0 (Local)
2025-08-22T21:34:54.068Z,1755898494.068 [DAT](INFO): DAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed -0.3
2025-08-22T21:34:54.073Z,1755898494.073 [DAT](INFO): DAT read: 21:34:54.6642 LVL= 32752, 23073, 32754, 32755, AGC= 73, IDX= 502, 0.15,-2.882,-0.673,-1.977,-1.685, PHS=-1.095, 1.057,-0.336, RAW= 309.6, 4.0, CAL= 307.3, 1.4, ROT= 202.7, -1.4
2025-08-22T21:34:54.074Z,1755898494.074 [DAT](INFO): got valid direction response:
21:34:54.6642 LVL= 32752, 23073, 32754, 32755, AGC= 73, IDX= 502, 0.15,-2.882,-0.673,-1.977,-1.685, PHS=-1.095, 1.057,-0.336, RAW= 309.6, 4.0, CAL= 307.3, 1.4, ROT= 202.7, -1.4
2025-08-22T21:34:54.074Z,1755898494.074 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-22T21:34:54.075Z,1755898494.075 [DAT](INFO): direction in FSK: [-0.922263,-0.385791,0.024432]
2025-08-22T21:34:54.076Z,1755898494.076 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:54.091Z,1755898494.091 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=14.174817
2025-08-22T21:34:54.230Z,1755898494.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.400002 m,
deltaT: 0.501229 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:54.232Z,1755898494.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.176201 m,
bearing: 64.560439 deg,
lat: 36.779364 deg,
lon: -121.859517 deg,
deltaT: 0.501229 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:34:54.233Z,1755898494.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m.
2025-08-22T21:34:54.316Z,1755898494.316 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=14.398798
2025-08-22T21:34:54.538Z,1755898494.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m.
2025-08-22T21:34:54.568Z,1755898494.568 [DAT](INFO): DAT read: Rx Time:21:34:55.1642
2025-08-22T21:34:54.568Z,1755898494.568 [DAT](INFO): Rx dataTimestamp_ set to:1755898494.567737
2025-08-22T21:34:54.570Z,1755898494.570 [DAT](INFO): DAT read: Bearing 169.1, -27.5 (Local)
2025-08-22T21:34:54.571Z,1755898494.571 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.1, -27.5 (Local)
2025-08-22T21:34:54.573Z,1755898494.573 [DAT](INFO): DAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed -0.1
2025-08-22T21:34:54.578Z,1755898494.578 [DAT](INFO): DAT read: 21:34:55.1642 LVL= 30704, 22065, 26018, 32755, AGC= 73, IDX= 502,-0.04,-0.064, 2.151, 0.866, 1.152, PHS=-1.115, 1.044,-0.331, RAW= 309.0, 4.3, CAL= 306.6, 1.9, ROT= 203.4, -1.9
2025-08-22T21:34:54.579Z,1755898494.579 [DAT](INFO): got valid direction response:
21:34:55.1642 LVL= 30704, 22065, 26018, 32755, AGC= 73, IDX= 502,-0.04,-0.064, 2.151, 0.866, 1.152, PHS=-1.115, 1.044,-0.331, RAW= 309.0, 4.3, CAL= 306.6, 1.9, ROT= 203.4, -1.9
2025-08-22T21:34:54.579Z,1755898494.579 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-22T21:34:54.580Z,1755898494.580 [DAT](INFO): direction in FSK: [-0.917250,-0.396929,0.033155]
2025-08-22T21:34:54.581Z,1755898494.581 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:54.584Z,1755898494.584 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=14.667605
2025-08-22T21:34:54.818Z,1755898494.818 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=14.901921
2025-08-22T21:34:54.958Z,1755898494.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.400002 m,
deltaT: 0.503656 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:54.967Z,1755898494.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.176228 m,
bearing: 65.308262 deg,
lat: 36.779363 deg,
lon: -121.859517 deg,
deltaT: 0.503656 s,
deltaX: 0.000027 m,
approachRate: 0.000053 m/s,
posRepo size: 4
2025-08-22T21:34:54.967Z,1755898494.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m.
2025-08-22T21:34:55.071Z,1755898495.071 [DAT](INFO): DAT read: Rx Time:21:34:55.6644
2025-08-22T21:34:55.072Z,1755898495.072 [DAT](INFO): Rx dataTimestamp_ set to:1755898495.071528
2025-08-22T21:34:55.073Z,1755898495.073 [DAT](INFO): DAT read: Bearing 170.1, -26.8 (Local)
2025-08-22T21:34:55.074Z,1755898495.074 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.1, -26.8 (Local)
2025-08-22T21:34:55.076Z,1755898495.076 [DAT](INFO): DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed -0.3
2025-08-22T21:34:55.080Z,1755898495.080 [DAT](INFO): DAT read: 21:34:55.6644 LVL= 30064, 22065, 22322, 32755, AGC= 73, IDX= 504,-0.22,-0.153, 2.057, 0.745, 1.037, PHS=-1.088, 1.065,-0.336, RAW= 309.9, 3.8, CAL= 307.5, 1.2, ROT= 202.5, -1.2
2025-08-22T21:34:55.081Z,1755898495.081 [DAT](INFO): got valid direction response:
21:34:55.6644 LVL= 30064, 22065, 22322, 32755, AGC= 73, IDX= 504,-0.22,-0.153, 2.057, 0.745, 1.037, PHS=-1.088, 1.065,-0.336, RAW= 309.9, 3.8, CAL= 307.5, 1.2, ROT= 202.5, -1.2
2025-08-22T21:34:55.082Z,1755898495.082 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-22T21:34:55.083Z,1755898495.083 [DAT](INFO): direction in FSK: [-0.923677,-0.382600,0.020942]
2025-08-22T21:34:55.083Z,1755898495.083 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:55.087Z,1755898495.087 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=15.169972
2025-08-22T21:34:55.322Z,1755898495.322 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=15.405821
2025-08-22T21:34:55.441Z,1755898495.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.700001 m,
deltaT: 0.503791 s,
deltaX: 0.299999 m,
approachRate: 0.595484 m/s,
rangeRepo size: 4
2025-08-22T21:34:55.447Z,1755898495.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.474331 m,
bearing: 64.368236 deg,
lat: 36.779364 deg,
lon: -121.859519 deg,
deltaT: 0.503791 s,
deltaX: 0.298103 m,
approachRate: 0.591720 m/s,
posRepo size: 4
2025-08-22T21:34:55.448Z,1755898495.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.47 m.
2025-08-22T21:34:55.576Z,1755898495.576 [DAT](INFO): DAT read: Rx Time:21:34:56.1643
2025-08-22T21:34:55.577Z,1755898495.577 [DAT](INFO): Rx dataTimestamp_ set to:1755898495.576363
2025-08-22T21:34:55.579Z,1755898495.579 [DAT](INFO): DAT read: Bearing 169.6, -27.8 (Local)
2025-08-22T21:34:55.580Z,1755898495.580 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.6, -27.8 (Local)
2025-08-22T21:34:55.582Z,1755898495.582 [DAT](INFO): DAT read: Range 11 to 50 : 35.6 m (trip time 23.7 ms) speed 0.0
2025-08-22T21:34:55.587Z,1755898495.587 [DAT](INFO): DAT read: 21:34:56.1643 LVL= 26912, 16369, 24226, 31667, AGC= 72, IDX= 503, 0.41, 0.297, 2.480, 1.221, 1.493, PHS=-1.094, 1.032,-0.316, RAW= 308.8, 4.1, CAL= 306.4, 1.5, ROT= 203.6, -1.5
2025-08-22T21:34:55.588Z,1755898495.588 [DAT](INFO): got valid direction response:
21:34:56.1643 LVL= 26912, 16369, 24226, 31667, AGC= 72, IDX= 503, 0.41, 0.297, 2.480, 1.221, 1.493, PHS=-1.094, 1.032,-0.316, RAW= 308.8, 4.1, CAL= 306.4, 1.5, ROT= 203.6, -1.5
2025-08-22T21:34:55.588Z,1755898495.588 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-22T21:34:55.589Z,1755898495.589 [DAT](INFO): direction in FSK: [-0.916049,-0.400212,0.026177]
2025-08-22T21:34:55.589Z,1755898495.589 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:55.594Z,1755898495.594 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=15.676797
2025-08-22T21:34:55.807Z,1755898495.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.599998 m,
deltaT: 0.504835 s,
deltaX: -0.100002 m,
approachRate: -0.198089 m/s,
rangeRepo size: 4
2025-08-22T21:34:55.809Z,1755898495.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.374943 m,
bearing: 65.506961 deg,
lat: 36.779363 deg,
lon: -121.859519 deg,
deltaT: 0.504835 s,
deltaX: -0.099388 m,
approachRate: -0.196872 m/s,
posRepo size: 4
2025-08-22T21:34:55.809Z,1755898495.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.37 m.
2025-08-22T21:34:55.827Z,1755898495.827 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=15.910104
2025-08-22T21:34:56.079Z,1755898496.079 [DAT](INFO): DAT read: Rx Time:21:34:56.6645
2025-08-22T21:34:56.080Z,1755898496.080 [DAT](INFO): Rx dataTimestamp_ set to:1755898496.079274
2025-08-22T21:34:56.081Z,1755898496.081 [DAT](INFO): DAT read: Bearing 170.7, -27.2 (Local)
2025-08-22T21:34:56.081Z,1755898496.081 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.7, -27.2 (Local)
2025-08-22T21:34:56.083Z,1755898496.083 [DAT](INFO): DAT read: Range 11 to 50 : 35.9 m (trip time 23.9 ms) speed 0.0
2025-08-22T21:34:56.088Z,1755898496.088 [DAT](INFO): DAT read: 21:34:56.6645 LVL= 32752, 27697, 30770, 32755, AGC= 72, IDX= 505, 0.19, 0.512, 2.740, 1.429, 1.707, PHS=-1.093, 1.078,-0.322, RAW= 309.5, 3.6, CAL= 307.1, 0.7, ROT= 202.9, -0.7
2025-08-22T21:34:56.089Z,1755898496.089 [DAT](INFO): got valid direction response:
21:34:56.6645 LVL= 32752, 27697, 30770, 32755, AGC= 72, IDX= 505, 0.19, 0.512, 2.740, 1.429, 1.707, PHS=-1.093, 1.078,-0.322, RAW= 309.5, 3.6, CAL= 307.1, 0.7, ROT= 202.9, -0.7
2025-08-22T21:34:56.089Z,1755898496.089 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-22T21:34:56.090Z,1755898496.090 [DAT](INFO): direction in FSK: [-0.921117,-0.389095,0.012217]
2025-08-22T21:34:56.090Z,1755898496.090 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:56.097Z,1755898496.097 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=16.180334
2025-08-22T21:34:56.279Z,1755898496.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.900002 m,
deltaT: 0.502911 s,
deltaX: 0.300003 m,
approachRate: 0.596533 m/s,
rangeRepo size: 4
2025-08-22T21:34:56.281Z,1755898496.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.673050 m,
bearing: 64.728752 deg,
lat: 36.779365 deg,
lon: -121.859519 deg,
deltaT: 0.502911 s,
deltaX: 0.298107 m,
approachRate: 0.592763 m/s,
posRepo size: 4
2025-08-22T21:34:56.281Z,1755898496.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.67 m.
2025-08-22T21:34:56.331Z,1755898496.331 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=16.414745
2025-08-22T21:34:56.583Z,1755898496.583 [DAT](INFO): DAT read: Rx Time:21:34:57.1645
2025-08-22T21:34:56.584Z,1755898496.584 [DAT](INFO): Rx dataTimestamp_ set to:1755898496.583332
2025-08-22T21:34:56.585Z,1755898496.585 [DAT](INFO): DAT read: Bearing 171.1, -27.2 (Local)
2025-08-22T21:34:56.585Z,1755898496.585 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.1, -27.2 (Local)
2025-08-22T21:34:56.587Z,1755898496.587 [DAT](INFO): DAT read: Range 11 to 50 : 35.9 m (trip time 23.9 ms) speed -0.1
2025-08-22T21:34:56.592Z,1755898496.592 [DAT](INFO): DAT read: 21:34:57.1645 LVL= 30816, 18625, 24290, 28403, AGC= 72, IDX= 505, 0.00,-1.424, 0.770,-0.519,-0.252, PHS=-1.070, 1.067,-0.311, RAW= 309.5, 3.4, CAL= 307.1, 0.3, ROT= 202.9, -0.3
2025-08-22T21:34:56.593Z,1755898496.593 [DAT](INFO): got valid direction response:
21:34:57.1645 LVL= 30816, 18625, 24290, 28403, AGC= 72, IDX= 505, 0.00,-1.424, 0.770,-0.519,-0.252, PHS=-1.070, 1.067,-0.311, RAW= 309.5, 3.4, CAL= 307.1, 0.3, ROT= 202.9, -0.3
2025-08-22T21:34:56.593Z,1755898496.593 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-22T21:34:56.594Z,1755898496.594 [DAT](INFO): direction in FSK: [-0.921173,-0.389118,0.005236]
2025-08-22T21:34:56.594Z,1755898496.594 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:56.598Z,1755898496.598 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=16.681404
2025-08-22T21:34:56.744Z,1755898496.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.900002 m,
deltaT: 0.504058 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:56.751Z,1755898496.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.673122 m,
bearing: 64.709109 deg,
lat: 36.779365 deg,
lon: -121.859519 deg,
deltaT: 0.504058 s,
deltaX: 0.000072 m,
approachRate: 0.000144 m/s,
posRepo size: 4
2025-08-22T21:34:56.751Z,1755898496.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.67 m.
2025-08-22T21:34:56.836Z,1755898496.836 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=16.919098
2025-08-22T21:34:57.107Z,1755898497.107 [DAT](INFO): DAT read: Rx Time:21:34:57.6647
2025-08-22T21:34:57.108Z,1755898497.108 [DAT](INFO): Rx dataTimestamp_ set to:1755898497.107436
2025-08-22T21:34:57.109Z,1755898497.109 [DAT](INFO): DAT read: Bearing 171.2, -25.9 (Local)
2025-08-22T21:34:57.109Z,1755898497.109 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.2, -25.9 (Local)
2025-08-22T21:34:57.111Z,1755898497.111 [DAT](INFO): DAT read: Range 11 to 50 : 36.2 m (trip time 24.1 ms) speed -0.2
2025-08-22T21:34:57.116Z,1755898497.116 [DAT](INFO): DAT read: 21:34:57.6647 LVL= 32752, 24913, 27938, 32755, AGC= 72, IDX= 507,-0.17,-1.486, 0.790,-0.596,-0.289, PHS=-1.095, 1.124,-0.351, RAW= 310.8, 3.3, CAL= 308.4, 0.4, ROT= 201.6, -0.4
2025-08-22T21:34:57.117Z,1755898497.117 [DAT](INFO): got valid direction response:
21:34:57.6647 LVL= 32752, 24913, 27938, 32755, AGC= 72, IDX= 507,-0.17,-1.486, 0.790,-0.596,-0.289, PHS=-1.095, 1.124,-0.351, RAW= 310.8, 3.3, CAL= 308.4, 0.4, ROT= 201.6, -0.4
2025-08-22T21:34:57.117Z,1755898497.117 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-22T21:34:57.118Z,1755898497.118 [DAT](INFO): direction in FSK: [-0.929754,-0.368116,0.006981]
2025-08-22T21:34:57.118Z,1755898497.118 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:57.126Z,1755898497.126 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=17.209503
2025-08-22T21:34:57.256Z,1755898497.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.200001 m,
deltaT: 0.524104 s,
deltaX: 0.299999 m,
approachRate: 0.572404 m/s,
rangeRepo size: 4
2025-08-22T21:34:57.262Z,1755898497.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.971226 m,
bearing: 63.415699 deg,
lat: 36.779365 deg,
lon: -121.859520 deg,
deltaT: 0.524104 s,
deltaX: 0.298103 m,
approachRate: 0.568787 m/s,
posRepo size: 4
2025-08-22T21:34:57.262Z,1755898497.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.97 m.
2025-08-22T21:34:57.362Z,1755898497.362 [DAT](INFO): DAT read: Rx Time:21:34:58.1646
2025-08-22T21:34:57.363Z,1755898497.363 [DAT](INFO): Rx dataTimestamp_ set to:1755898497.362237
2025-08-22T21:34:57.366Z,1755898497.366 [DAT](INFO): DAT read: Bearing 171.1, -27.2 (Local)
2025-08-22T21:34:57.367Z,1755898497.367 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.1, -27.2 (Local)
2025-08-22T21:34:57.372Z,1755898497.372 [DAT](INFO): DAT read: Range 11 to 50 : 36.0 m (trip time 24.0 ms) speed -0.1
2025-08-22T21:34:57.374Z,1755898497.374 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-08-22T21:34:57.380Z,1755898497.380 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=17.462685
2025-08-22T21:34:57.614Z,1755898497.614 [DAT](INFO): DAT read: 21:34:58.1646 LVL= 27984, 22097, 23778, 29043, AGC= 72, IDX= 506, 0.46,-0.319, 1.895, 0.594, 0.865, PHS=-1.082, 1.076,-0.315, RAW= 309.5, 3.4, CAL= 307.0, 0.4, ROT= 203.0, -0.4
2025-08-22T21:34:57.615Z,1755898497.615 [DAT](INFO): got valid direction response:
21:34:58.1646 LVL= 27984, 22097, 23778, 29043, AGC= 72, IDX= 506, 0.46,-0.319, 1.895, 0.594, 0.865, PHS=-1.082, 1.076,-0.315, RAW= 309.5, 3.4, CAL= 307.0, 0.4, ROT= 203.0, -0.4
2025-08-22T21:34:57.616Z,1755898497.616 [DAT](INFO): #Rx 71: Read direction message, but no range.
2025-08-22T21:34:57.617Z,1755898497.617 [DAT](INFO): direction in FSK: [-0.920482,-0.390722,0.006981]
2025-08-22T21:34:57.620Z,1755898497.620 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=17.703468
2025-08-22T21:34:57.715Z,1755898497.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.000000 m,
deltaT: 0.254801 s,
deltaX: -0.200001 m,
approachRate: -0.784929 m/s,
rangeRepo size: 4
2025-08-22T21:34:57.717Z,1755898497.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.772491 m,
bearing: 64.833171 deg,
lat: 36.779365 deg,
lon: -121.859520 deg,
deltaT: 0.254801 s,
deltaX: -0.198734 m,
approachRate: -0.779959 m/s,
posRepo size: 4
2025-08-22T21:34:57.717Z,1755898497.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.77 m.
2025-08-22T21:34:57.866Z,1755898497.866 [DAT](INFO): DAT read: Rx Time:21:34:58.6647
2025-08-22T21:34:57.867Z,1755898497.867 [DAT](INFO): Rx dataTimestamp_ set to:1755898497.866455
2025-08-22T21:34:57.870Z,1755898497.870 [DAT](INFO): DAT read: Bearing 171.8, -25.7 (Local)
2025-08-22T21:34:57.872Z,1755898497.872 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.8, -25.7 (Local)
2025-08-22T21:34:57.877Z,1755898497.877 [DAT](INFO): DAT read: Range 11 to 50 : 36.2 m (trip time 24.1 ms) speed -0.2
2025-08-22T21:34:57.879Z,1755898497.879 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-08-22T21:34:57.888Z,1755898497.888 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=17.970945
2025-08-22T21:34:58.118Z,1755898498.118 [DAT](INFO): DAT read: 21:34:58.6647 LVL= 32752, 24625, 32754, 32755, AGC= 73, IDX= 507, 0.29,-0.582, 1.704, 0.300, 0.609, PHS=-1.088, 1.141,-0.353, RAW= 311.1, 3.1, CAL= 308.7, 0.0, ROT= 201.3, -0.0
2025-08-22T21:34:58.119Z,1755898498.119 [DAT](INFO): got valid direction response:
21:34:58.6647 LVL= 32752, 24625, 32754, 32755, AGC= 73, IDX= 507, 0.29,-0.582, 1.704, 0.300, 0.609, PHS=-1.088, 1.141,-0.353, RAW= 311.1, 3.1, CAL= 308.7, 0.0, ROT= 201.3, -0.0
2025-08-22T21:34:58.120Z,1755898498.120 [DAT](INFO): #Rx 73: Read direction message, but no range.
2025-08-22T21:34:58.121Z,1755898498.121 [DAT](INFO): direction in FSK: [-0.931691,-0.363251,0.000000]
2025-08-22T21:34:58.124Z,1755898498.124 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=18.207674
2025-08-22T21:34:58.317Z,1755898498.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.200001 m,
deltaT: 0.504218 s,
deltaX: 0.200001 m,
approachRate: 0.396655 m/s,
rangeRepo size: 4
2025-08-22T21:34:58.327Z,1755898498.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.971230 m,
bearing: 63.101519 deg,
lat: 36.779365 deg,
lon: -121.859521 deg,
deltaT: 0.504218 s,
deltaX: 0.198738 m,
approachRate: 0.394151 m/s,
posRepo size: 4
2025-08-22T21:34:58.328Z,1755898498.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.97 m.
2025-08-22T21:34:58.371Z,1755898498.371 [DAT](INFO): DAT read: Rx Time:21:34:59.1647
2025-08-22T21:34:58.372Z,1755898498.372 [DAT](INFO): Rx dataTimestamp_ set to:1755898498.371388
2025-08-22T21:34:58.376Z,1755898498.376 [DAT](INFO): DAT read: Bearing 171.7, -26.1 (Local)
2025-08-22T21:34:58.380Z,1755898498.380 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.7, -26.1 (Local)
2025-08-22T21:34:58.386Z,1755898498.386 [DAT](INFO): DAT read: Range 11 to 50 : 36.2 m (trip time 24.1 ms) speed -0.2
2025-08-22T21:34:58.388Z,1755898498.388 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-08-22T21:34:58.396Z,1755898498.396 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=18.478977
2025-08-22T21:34:58.623Z,1755898498.623 [DAT](INFO): DAT read: 21:34:59.1647 LVL= 32752, 21841, 24978, 32755, AGC= 70, IDX= 507, 0.09,-1.853, 0.310,-1.000,-0.717, PHS=-1.034, 1.072,-0.327, RAW= 310.7, 3.2, CAL= 308.3, 0.1, ROT= 201.7, -0.1
2025-08-22T21:34:58.624Z,1755898498.624 [DAT](INFO): got valid direction response:
21:34:59.1647 LVL= 32752, 21841, 24978, 32755, AGC= 70, IDX= 507, 0.09,-1.853, 0.310,-1.000,-0.717, PHS=-1.034, 1.072,-0.327, RAW= 310.7, 3.2, CAL= 308.3, 0.1, ROT= 201.7, -0.1
2025-08-22T21:34:58.624Z,1755898498.624 [DAT](INFO): #Rx 75: Read direction message, but no range.
2025-08-22T21:34:58.625Z,1755898498.625 [DAT](INFO): direction in FSK: [-0.929131,-0.369746,0.001745]
2025-08-22T21:34:58.628Z,1755898498.628 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=18.711803
2025-08-22T21:34:58.826Z,1755898498.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.200001 m,
deltaT: 0.504933 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:34:58.828Z,1755898498.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.971416 m,
bearing: 63.557241 deg,
lat: 36.779371 deg,
lon: -121.859522 deg,
deltaT: 0.504933 s,
deltaX: 0.000187 m,
approachRate: 0.000370 m/s,
posRepo size: 4
2025-08-22T21:34:58.828Z,1755898498.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.97 m.
2025-08-22T21:34:58.879Z,1755898498.879 [DAT](INFO): DAT read: Rx Time:21:34:59.6649
2025-08-22T21:34:58.880Z,1755898498.880 [DAT](INFO): Rx dataTimestamp_ set to:1755898498.879389
2025-08-22T21:34:58.889Z,1755898498.889 [DAT](INFO): DAT read: Bearing 172.2, -26.1 (Local)
2025-08-22T21:34:58.891Z,1755898498.891 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.2, -26.1 (Local)
2025-08-22T21:34:58.899Z,1755898498.899 [DAT](INFO): DAT read: Range 11 to 50 : 36.5 m (trip time 24.3 ms) speed -0.2
2025-08-22T21:34:58.903Z,1755898498.903 [DAT](INFO): DAT read: 21:34:59.6649 LVL= 32752, 22897, 26930, 32755, AGC= 71, IDX= 509,-0.10,-1.612, 0.640,-0.729,-0.441, PHS=-1.069, 1.126,-0.332, RAW= 310.7, 2.9, CAL= 308.3, -0.2, ROT= 201.7, 0.2
2025-08-22T21:34:58.904Z,1755898498.904 [DAT](INFO): got valid direction response:
21:34:59.6649 LVL= 32752, 22897, 26930, 32755, AGC= 71, IDX= 509,-0.10,-1.612, 0.640,-0.729,-0.441, PHS=-1.069, 1.126,-0.332, RAW= 310.7, 2.9, CAL= 308.3, -0.2, ROT= 201.7, 0.2
2025-08-22T21:34:58.905Z,1755898498.905 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-22T21:34:58.914Z,1755898498.914 [DAT](INFO): direction in FSK: [-0.929127,-0.369744,-0.003491]
2025-08-22T21:34:58.914Z,1755898498.914 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:58.918Z,1755898498.918 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=19.001852
2025-08-22T21:34:59.127Z,1755898499.127 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=19.210064
2025-08-22T21:34:59.304Z,1755898499.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.500000 m,
deltaT: 0.508001 s,
deltaX: 0.299999 m,
approachRate: 0.590549 m/s,
rangeRepo size: 4
2025-08-22T21:34:59.310Z,1755898499.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.269524 m,
bearing: 63.543839 deg,
lat: 36.779372 deg,
lon: -121.859523 deg,
deltaT: 0.508001 s,
deltaX: 0.298107 m,
approachRate: 0.586824 m/s,
posRepo size: 4
2025-08-22T21:34:59.311Z,1755898499.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.27 m.
2025-08-22T21:34:59.386Z,1755898499.386 [DAT](INFO): DAT read: Rx Time:21:35:00.1648
2025-08-22T21:34:59.387Z,1755898499.387 [DAT](INFO): Rx dataTimestamp_ set to:1755898499.386351
2025-08-22T21:34:59.391Z,1755898499.391 [DAT](INFO): DAT read: Bearing 171.9, -26.0 (Local)
2025-08-22T21:34:59.392Z,1755898499.392 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, -26.0 (Local)
2025-08-22T21:34:59.400Z,1755898499.400 [DAT](INFO): DAT read: Range 11 to 50 : 36.3 m (trip time 24.2 ms) speed -0.2
2025-08-22T21:34:59.404Z,1755898499.404 [DAT](INFO): DAT read: 21:35:00.1648 LVL= 32752, 25137, 26898, 32755, AGC= 70, IDX= 509,-0.30,-3.119,-0.881,-2.245,-1.948, PHS=-1.069, 1.112,-0.341, RAW= 310.9, 3.1, CAL= 308.4, 0.1, ROT= 201.6, -0.1
2025-08-22T21:34:59.414Z,1755898499.414 [DAT](INFO): got valid direction response:
21:35:00.1648 LVL= 32752, 25137, 26898, 32755, AGC= 70, IDX= 509,-0.30,-3.119,-0.881,-2.245,-1.948, PHS=-1.069, 1.112,-0.341, RAW= 310.9, 3.1, CAL= 308.4, 0.1, ROT= 201.6, -0.1
2025-08-22T21:34:59.414Z,1755898499.414 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-22T21:34:59.415Z,1755898499.415 [DAT](INFO): direction in FSK: [-0.929775,-0.368124,0.001745]
2025-08-22T21:34:59.415Z,1755898499.415 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:59.425Z,1755898499.425 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=19.507915
2025-08-22T21:34:59.635Z,1755898499.635 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=19.718170
2025-08-22T21:34:59.659Z,1755898499.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.299999 m,
deltaT: 0.506962 s,
deltaX: -0.200001 m,
approachRate: -0.394508 m/s,
rangeRepo size: 4
2025-08-22T21:34:59.678Z,1755898499.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.070786 m,
bearing: 63.495281 deg,
lat: 36.779372 deg,
lon: -121.859525 deg,
deltaT: 0.506962 s,
deltaX: -0.198738 m,
approachRate: -0.392018 m/s,
posRepo size: 4
2025-08-22T21:34:59.678Z,1755898499.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m.
2025-08-22T21:34:59.891Z,1755898499.891 [DAT](INFO): DAT read: Rx Time:21:35:00.6650
2025-08-22T21:34:59.894Z,1755898499.894 [DAT](INFO): Rx dataTimestamp_ set to:1755898499.893013
2025-08-22T21:34:59.897Z,1755898499.897 [DAT](INFO): DAT read: Bearing 171.1, -26.9 (Local)
2025-08-22T21:34:59.912Z,1755898499.912 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.1, -26.9 (Local)
2025-08-22T21:34:59.914Z,1755898499.914 [DAT](INFO): DAT read: Range 11 to 50 : 36.6 m (trip time 24.4 ms) speed 0.0
2025-08-22T21:34:59.944Z,1755898499.944 [DAT](INFO): DAT read: 21:35:00.6650 LVL= 32752, 21985, 25842, 32755, AGC= 73, IDX= 510, 0.32, 0.208, 2.469, 1.122, 1.415, PHS=-1.105, 1.099,-0.337, RAW= 309.9, 3.6, CAL= 307.5, 0.7, ROT= 202.5, -0.7
2025-08-22T21:34:59.951Z,1755898499.951 [DAT](INFO): got valid direction response:
21:35:00.6650 LVL= 32752, 21985, 25842, 32755, AGC= 73, IDX= 510, 0.32, 0.208, 2.469, 1.122, 1.415, PHS=-1.105, 1.099,-0.337, RAW= 309.9, 3.6, CAL= 307.5, 0.7, ROT= 202.5, -0.7
2025-08-22T21:34:59.951Z,1755898499.951 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-22T21:34:59.952Z,1755898499.952 [DAT](INFO): direction in FSK: [-0.923811,-0.382655,0.012217]
2025-08-22T21:34:59.953Z,1755898499.953 [DAT](INFO): publishing direction and range info
2025-08-22T21:34:59.979Z,1755898499.979 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=20.062429
2025-08-22T21:35:00.123Z,1755898500.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.599998 m,
deltaT: 0.506662 s,
deltaX: 0.299999 m,
approachRate: 0.592109 m/s,
rangeRepo size: 4
2025-08-22T21:35:00.134Z,1755898500.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.368893 m,
bearing: 64.456580 deg,
lat: 36.779372 deg,
lon: -121.859525 deg,
deltaT: 0.506662 s,
deltaX: 0.298107 m,
approachRate: 0.588375 m/s,
posRepo size: 4
2025-08-22T21:35:00.134Z,1755898500.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-22T21:35:00.139Z,1755898500.139 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=20.222115
2025-08-22T21:35:00.395Z,1755898500.395 [DAT](INFO): DAT read: Rx Time:21:35:01.1650
2025-08-22T21:35:00.397Z,1755898500.397 [DAT](INFO): Rx dataTimestamp_ set to:1755898500.395790
2025-08-22T21:35:00.398Z,1755898500.398 [DAT](INFO): DAT read: Bearing 172.5, -25.4 (Local)
2025-08-22T21:35:00.399Z,1755898500.399 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.5, -25.4 (Local)
2025-08-22T21:35:00.401Z,1755898500.401 [DAT](INFO): DAT read: Range 11 to 50 : 36.6 m (trip time 24.4 ms) speed -0.2
2025-08-22T21:35:00.405Z,1755898500.405 [DAT](INFO): DAT read: 21:35:01.1650 LVL= 32352, 18545, 26850, 32467, AGC= 70, IDX= 510, 0.19,-2.399,-0.105,-1.529,-1.222, PHS=-1.075, 1.161,-0.351, RAW= 311.5, 2.7, CAL= 309.1, -0.3, ROT= 200.9, 0.3
2025-08-22T21:35:00.406Z,1755898500.406 [DAT](INFO): got valid direction response:
21:35:01.1650 LVL= 32352, 18545, 26850, 32467, AGC= 70, IDX= 510, 0.19,-2.399,-0.105,-1.529,-1.222, PHS=-1.075, 1.161,-0.351, RAW= 311.5, 2.7, CAL= 309.1, -0.3, ROT= 200.9, 0.3
2025-08-22T21:35:00.407Z,1755898500.407 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-22T21:35:00.408Z,1755898500.408 [DAT](INFO): direction in FSK: [-0.934192,-0.356733,-0.005236]
2025-08-22T21:35:00.408Z,1755898500.408 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:00.412Z,1755898500.412 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=20.495037
2025-08-22T21:35:00.584Z,1755898500.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.599998 m,
deltaT: 0.502777 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:00.586Z,1755898500.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.368893 m,
bearing: 62.781756 deg,
lat: 36.779372 deg,
lon: -121.859525 deg,
deltaT: 0.502777 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:00.587Z,1755898500.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-22T21:35:00.643Z,1755898500.643 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=20.726469
2025-08-22T21:35:00.895Z,1755898500.895 [DAT](INFO): DAT read: Rx Time:21:35:01.6652
2025-08-22T21:35:00.895Z,1755898500.895 [DAT](INFO): Rx dataTimestamp_ set to:1755898500.894943
2025-08-22T21:35:00.896Z,1755898500.896 [DAT](INFO): DAT read: Range 11 to 50 : 36.9 m (trip time 24.6 ms) speed -0.2
2025-08-22T21:35:00.897Z,1755898500.897 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-08-22T21:35:00.898Z,1755898500.898 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=20.981468
2025-08-22T21:35:00.917Z,1755898500.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.900002 m,
deltaT: 0.499153 s,
deltaX: 0.300003 m,
approachRate: 0.601024 m/s,
rangeRepo size: 4
2025-08-22T21:35:00.917Z,1755898500.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-22T21:35:01.148Z,1755898501.148 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=21.230927
2025-08-22T21:35:01.309Z,1755898501.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-22T21:35:01.400Z,1755898501.400 [DAT](INFO): DAT read: Rx Time:21:35:02.1651
2025-08-22T21:35:01.400Z,1755898501.400 [DAT](INFO): Rx dataTimestamp_ set to:1755898501.400012
2025-08-22T21:35:01.402Z,1755898501.402 [DAT](INFO): DAT read: Range 11 to 50 : 36.8 m (trip time 24.5 ms) speed -0.2
2025-08-22T21:35:01.403Z,1755898501.403 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-08-22T21:35:01.404Z,1755898501.404 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=21.487717
2025-08-22T21:35:01.651Z,1755898501.651 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=21.734240
2025-08-22T21:35:01.706Z,1755898501.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.799999 m,
deltaT: 0.505069 s,
deltaX: -0.100002 m,
approachRate: -0.197997 m/s,
rangeRepo size: 4
2025-08-22T21:35:01.707Z,1755898501.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-22T21:35:01.903Z,1755898501.903 [DAT](INFO): DAT read: Rx Time:21:35:02.6652
2025-08-22T21:35:01.903Z,1755898501.903 [DAT](INFO): Rx dataTimestamp_ set to:1755898501.902895
2025-08-22T21:35:01.908Z,1755898501.908 [DAT](INFO): DAT read: Range 11 to 50 : 36.9 m (trip time 24.6 ms) speed -0.2
2025-08-22T21:35:01.910Z,1755898501.910 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-08-22T21:35:01.911Z,1755898501.911 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=21.994499
2025-08-22T21:35:02.155Z,1755898502.155 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=22.238251
2025-08-22T21:35:02.181Z,1755898502.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.900002 m,
deltaT: 0.502883 s,
deltaX: 0.100002 m,
approachRate: 0.198858 m/s,
rangeRepo size: 4
2025-08-22T21:35:02.182Z,1755898502.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-22T21:35:02.407Z,1755898502.407 [DAT](INFO): DAT read: Rx Time:21:35:03.1651
2025-08-22T21:35:02.408Z,1755898502.408 [DAT](INFO): Rx dataTimestamp_ set to:1755898502.407507
2025-08-22T21:35:02.409Z,1755898502.409 [DAT](INFO): DAT read: Range 11 to 50 : 36.8 m (trip time 24.5 ms) speed -0.1
2025-08-22T21:35:02.410Z,1755898502.410 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-08-22T21:35:02.411Z,1755898502.411 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=22.494034
2025-08-22T21:35:02.520Z,1755898502.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.799999 m,
deltaT: 0.504612 s,
deltaX: -0.100002 m,
approachRate: -0.198177 m/s,
rangeRepo size: 4
2025-08-22T21:35:02.521Z,1755898502.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-22T21:35:02.662Z,1755898502.662 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=22.744841
2025-08-22T21:35:02.913Z,1755898502.913 [DAT](INFO): DAT read: Rx Time:21:35:03.6652
2025-08-22T21:35:02.913Z,1755898502.913 [DAT](INFO): Rx dataTimestamp_ set to:1755898502.913028
2025-08-22T21:35:02.915Z,1755898502.915 [DAT](INFO): DAT read: Bearing 57.7, 1.5 (Local)
2025-08-22T21:35:02.915Z,1755898502.915 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.7, 1.5 (Local)
2025-08-22T21:35:02.917Z,1755898502.917 [DAT](INFO): DAT read: Range 11 to 50 : 36.9 m (trip time 24.6 ms) speed -0.1
2025-08-22T21:35:02.922Z,1755898502.922 [DAT](INFO): DAT read: 21:35:03.6652 LVL= 30864, 19441, 24178, 29875, AGC= 72, IDX= 513, 0.19,-1.734,-2.390,-1.391,-0.724, PHS=-0.908,-1.621,-0.711, RAW= 161.9, 54.1, CAL= 163.6, 61.8, ROT= 346.4, -61.8
2025-08-22T21:35:02.923Z,1755898502.923 [DAT](INFO): got valid direction response:
21:35:03.6652 LVL= 30864, 19441, 24178, 29875, AGC= 72, IDX= 513, 0.19,-1.734,-2.390,-1.391,-0.724, PHS=-0.908,-1.621,-0.711, RAW= 161.9, 54.1, CAL= 163.6, 61.8, ROT= 346.4, -61.8
2025-08-22T21:35:02.924Z,1755898502.924 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-22T21:35:02.925Z,1755898502.925 [DAT](INFO): direction in FSK: [0.459301,-0.111117,0.881303]
2025-08-22T21:35:02.925Z,1755898502.925 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:02.944Z,1755898502.944 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=23.027172
2025-08-22T21:35:03.054Z,1755898503.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.900002 m,
deltaT: 0.505521 s,
deltaX: 0.100002 m,
approachRate: 0.197820 m/s,
rangeRepo size: 4
2025-08-22T21:35:03.056Z,1755898503.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.666840 m,
bearing: 193.193940 deg,
lat: 36.779372 deg,
lon: -121.859525 deg,
deltaT: 2.517238 s,
deltaX: 0.297947 m,
approachRate: 0.118363 m/s,
posRepo size: 4
2025-08-22T21:35:03.057Z,1755898503.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.67 m.
2025-08-22T21:35:03.164Z,1755898503.164 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=23.247082
2025-08-22T21:35:03.386Z,1755898503.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.67 m.
2025-08-22T21:35:03.415Z,1755898503.415 [DAT](INFO): DAT read: Rx Time:21:35:04.1652
2025-08-22T21:35:03.416Z,1755898503.416 [DAT](INFO): Rx dataTimestamp_ set to:1755898503.415406
2025-08-22T21:35:03.418Z,1755898503.418 [DAT](INFO): DAT read: Range 11 to 50 : 36.9 m (trip time 24.6 ms) speed 0.0
2025-08-22T21:35:03.418Z,1755898503.418 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-08-22T21:35:03.420Z,1755898503.420 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=23.503138
2025-08-22T21:35:03.667Z,1755898503.667 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=23.749966
2025-08-22T21:35:03.767Z,1755898503.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.900002 m,
deltaT: 0.502378 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:03.768Z,1755898503.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.67 m.
2025-08-22T21:35:03.919Z,1755898503.919 [DAT](INFO): DAT read: Rx Time:21:35:04.6653
2025-08-22T21:35:03.920Z,1755898503.920 [DAT](INFO): Rx dataTimestamp_ set to:1755898503.919368
2025-08-22T21:35:03.921Z,1755898503.921 [DAT](INFO): DAT read: Bearing 170.5, -26.7 (Local)
2025-08-22T21:35:03.921Z,1755898503.921 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.5, -26.7 (Local)
2025-08-22T21:35:03.923Z,1755898503.923 [DAT](INFO): DAT read: Range 11 to 50 : 37.1 m (trip time 24.7 ms) speed -0.2
2025-08-22T21:35:03.928Z,1755898503.928 [DAT](INFO): DAT read: 21:35:04.6653 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 2, 0.28,-0.637, 1.591, 0.262, 0.569, PHS=-1.103, 1.067,-0.351, RAW= 310.0, 4.1, CAL= 307.7, 1.7, ROT= 202.3, -1.7
2025-08-22T21:35:03.929Z,1755898503.929 [DAT](INFO): got valid direction response:
21:35:04.6653 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 2, 0.28,-0.637, 1.591, 0.262, 0.569, PHS=-1.103, 1.067,-0.351, RAW= 310.0, 4.1, CAL= 307.7, 1.7, ROT= 202.3, -1.7
2025-08-22T21:35:03.929Z,1755898503.929 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-22T21:35:03.930Z,1755898503.930 [DAT](INFO): direction in FSK: [-0.924803,-0.379289,0.029666]
2025-08-22T21:35:03.931Z,1755898503.931 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:03.947Z,1755898503.947 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=24.030109
2025-08-22T21:35:04.171Z,1755898504.171 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=24.254827
2025-08-22T21:35:04.243Z,1755898504.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.099998 m,
deltaT: 0.503962 s,
deltaX: 0.199997 m,
approachRate: 0.396849 m/s,
rangeRepo size: 4
2025-08-22T21:35:04.245Z,1755898504.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.865444 m,
bearing: 64.555496 deg,
lat: 36.779369 deg,
lon: -121.859525 deg,
deltaT: 1.006340 s,
deltaX: 0.198605 m,
approachRate: 0.197353 m/s,
posRepo size: 4
2025-08-22T21:35:04.245Z,1755898504.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.87 m.
2025-08-22T21:35:04.423Z,1755898504.423 [DAT](INFO): DAT read: Rx Time:21:35:05.1653
2025-08-22T21:35:04.423Z,1755898504.423 [DAT](INFO): Rx dataTimestamp_ set to:1755898504.423186
2025-08-22T21:35:04.425Z,1755898504.425 [DAT](INFO): DAT read: Bearing 168.8, -26.5 (Local)
2025-08-22T21:35:04.425Z,1755898504.425 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.8, -26.5 (Local)
2025-08-22T21:35:04.427Z,1755898504.427 [DAT](INFO): DAT read: Range 11 to 50 : 37.1 m (trip time 24.7 ms) speed -0.1
2025-08-22T21:35:04.433Z,1755898504.433 [DAT](INFO): DAT read: 21:35:05.1653 LVL= 32752, 23713, 32482, 32755, AGC= 73, IDX= 498,-0.22,-2.636,-0.374,-1.724,-1.384, PHS=-1.149, 1.055,-0.384, RAW= 310.0, 5.0, CAL= 307.7, 3.2, ROT= 202.3, -3.2
2025-08-22T21:35:04.435Z,1755898504.435 [DAT](INFO): got valid direction response:
21:35:05.1653 LVL= 32752, 23713, 32482, 32755, AGC= 73, IDX= 498,-0.22,-2.636,-0.374,-1.724,-1.384, PHS=-1.149, 1.055,-0.384, RAW= 310.0, 5.0, CAL= 307.7, 3.2, ROT= 202.3, -3.2
2025-08-22T21:35:04.436Z,1755898504.436 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-22T21:35:04.442Z,1755898504.442 [DAT](INFO): direction in FSK: [-0.923767,-0.378864,0.055822]
2025-08-22T21:35:04.443Z,1755898504.443 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:04.449Z,1755898504.449 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=24.531902
2025-08-22T21:35:04.586Z,1755898504.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.099998 m,
deltaT: 0.503818 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:04.588Z,1755898504.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.865444 m,
bearing: 64.711605 deg,
lat: 36.779369 deg,
lon: -121.859520 deg,
deltaT: 0.503818 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:04.589Z,1755898504.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.87 m.
2025-08-22T21:35:04.677Z,1755898504.677 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=24.760052
2025-08-22T21:35:04.937Z,1755898504.937 [DAT](INFO): DAT read: Rx Time:21:35:05.6654
2025-08-22T21:35:04.938Z,1755898504.938 [DAT](INFO): Rx dataTimestamp_ set to:1755898504.937071
2025-08-22T21:35:04.940Z,1755898504.940 [DAT](INFO): DAT read: Bearing 169.6, -27.2 (Local)
2025-08-22T21:35:04.940Z,1755898504.940 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.6, -27.2 (Local)
2025-08-22T21:35:04.944Z,1755898504.944 [DAT](INFO): DAT read: Range 11 to 50 : 37.2 m (trip time 24.8 ms) speed 0.0
2025-08-22T21:35:04.951Z,1755898504.951 [DAT](INFO): DAT read: 21:35:05.6654 LVL= 32752, 22337, 29378, 32755, AGC= 73, IDX= 499, 0.17, 0.442, 2.598, 1.333, 1.631, PHS=-1.088, 1.012,-0.342, RAW= 309.5, 4.6, CAL= 307.1, 2.4, ROT= 202.9, -2.4
2025-08-22T21:35:04.953Z,1755898504.953 [DAT](INFO): got valid direction response:
21:35:05.6654 LVL= 32752, 22337, 29378, 32755, AGC= 73, IDX= 499, 0.17, 0.442, 2.598, 1.333, 1.631, PHS=-1.088, 1.012,-0.342, RAW= 309.5, 4.6, CAL= 307.1, 2.4, ROT= 202.9, -2.4
2025-08-22T21:35:04.953Z,1755898504.953 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-22T21:35:04.955Z,1755898504.955 [DAT](INFO): direction in FSK: [-0.920377,-0.388782,0.041876]
2025-08-22T21:35:04.956Z,1755898504.956 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:04.986Z,1755898504.986 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=25.069296
2025-08-22T21:35:05.060Z,1755898505.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.200001 m,
deltaT: 0.513885 s,
deltaX: 0.100002 m,
approachRate: 0.194601 m/s,
rangeRepo size: 4
2025-08-22T21:35:05.066Z,1755898505.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.964737 m,
bearing: 65.292433 deg,
lat: 36.779369 deg,
lon: -121.859520 deg,
deltaT: 0.513885 s,
deltaX: 0.099293 m,
approachRate: 0.193220 m/s,
posRepo size: 4
2025-08-22T21:35:05.067Z,1755898505.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.96 m.
2025-08-22T21:35:05.190Z,1755898505.190 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=25.272655
2025-08-22T21:35:05.440Z,1755898505.440 [DAT](INFO): DAT read: Rx Time:21:35:06.1654
2025-08-22T21:35:05.441Z,1755898505.441 [DAT](INFO): Rx dataTimestamp_ set to:1755898505.440601
2025-08-22T21:35:05.459Z,1755898505.459 [DAT](INFO): DAT read: Bearing 170.1, -26.0 (Local)
2025-08-22T21:35:05.459Z,1755898505.459 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.1, -26.0 (Local)
2025-08-22T21:35:05.462Z,1755898505.462 [DAT](INFO): DAT read: Range 11 to 50 : 37.2 m (trip time 24.8 ms) speed 0.0
2025-08-22T21:35:05.471Z,1755898505.471 [DAT](INFO): DAT read: 21:35:06.1654 LVL= 32752, 23393, 32754, 32755, AGC= 73, IDX= 499,-0.24,-3.063,-0.856,-2.197,-1.867, PHS=-1.093, 1.057,-0.374, RAW= 310.8, 4.4, CAL= 308.5, 2.2, ROT= 201.5, -2.2
2025-08-22T21:35:05.472Z,1755898505.472 [DAT](INFO): got valid direction response:
21:35:06.1654 LVL= 32752, 23393, 32754, 32755, AGC= 73, IDX= 499,-0.24,-3.063,-0.856,-2.197,-1.867, PHS=-1.093, 1.057,-0.374, RAW= 310.8, 4.4, CAL= 308.5, 2.2, ROT= 201.5, -2.2
2025-08-22T21:35:05.472Z,1755898505.472 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-22T21:35:05.481Z,1755898505.481 [DAT](INFO): direction in FSK: [-0.929732,-0.366231,0.038388]
2025-08-22T21:35:05.482Z,1755898505.482 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:05.485Z,1755898505.485 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=25.568588
2025-08-22T21:35:05.502Z,1755898505.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.200001 m,
deltaT: 0.503530 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:05.504Z,1755898505.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.964737 m,
bearing: 63.877707 deg,
lat: 36.779369 deg,
lon: -121.859520 deg,
deltaT: 0.503530 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:05.505Z,1755898505.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.96 m.
2025-08-22T21:35:05.691Z,1755898505.691 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=25.774189
2025-08-22T21:35:05.806Z,1755898505.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.96 m.
2025-08-22T21:35:05.944Z,1755898505.944 [DAT](INFO): DAT read: Rx Time:21:35:06.6655
2025-08-22T21:35:05.945Z,1755898505.945 [DAT](INFO): Rx dataTimestamp_ set to:1755898505.944205
2025-08-22T21:35:05.947Z,1755898505.947 [DAT](INFO): DAT read: Bearing 169.8, -26.9 (Local)
2025-08-22T21:35:05.947Z,1755898505.947 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.8, -26.9 (Local)
2025-08-22T21:35:05.951Z,1755898505.951 [DAT](INFO): DAT read: Range 11 to 50 : 37.4 m (trip time 24.9 ms) speed -0.2
2025-08-22T21:35:05.957Z,1755898505.957 [DAT](INFO): DAT read: 21:35:06.6655 LVL= 32752, 21857, 27970, 32755, AGC= 74, IDX= 500, 0.13, 0.083, 2.314, 0.989, 1.306, PHS=-1.121, 1.053,-0.361, RAW= 309.8, 4.5, CAL= 307.5, 2.4, ROT= 202.5, -2.4
2025-08-22T21:35:05.959Z,1755898505.959 [DAT](INFO): got valid direction response:
21:35:06.6655 LVL= 32752, 21857, 27970, 32755, AGC= 74, IDX= 500, 0.13, 0.083, 2.314, 0.989, 1.306, PHS=-1.121, 1.053,-0.361, RAW= 309.8, 4.5, CAL= 307.5, 2.4, ROT= 202.5, -2.4
2025-08-22T21:35:05.960Z,1755898505.960 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-22T21:35:05.961Z,1755898505.961 [DAT](INFO): direction in FSK: [-0.923069,-0.382348,0.041876]
2025-08-22T21:35:05.961Z,1755898505.961 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:05.965Z,1755898505.965 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=26.048166
2025-08-22T21:35:06.195Z,1755898506.195 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=26.278130
2025-08-22T21:35:06.244Z,1755898506.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.400002 m,
deltaT: 0.503604 s,
deltaX: 0.200001 m,
approachRate: 0.397139 m/s,
rangeRepo size: 4
2025-08-22T21:35:06.270Z,1755898506.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.163498 m,
bearing: 64.993521 deg,
lat: 36.779369 deg,
lon: -121.859520 deg,
deltaT: 0.503604 s,
deltaX: 0.198761 m,
approachRate: 0.394677 m/s,
posRepo size: 4
2025-08-22T21:35:06.271Z,1755898506.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.16 m.
2025-08-22T21:35:06.448Z,1755898506.448 [DAT](INFO): DAT read: Rx Time:21:35:07.1655
2025-08-22T21:35:06.449Z,1755898506.449 [DAT](INFO): Rx dataTimestamp_ set to:1755898506.448508
2025-08-22T21:35:06.451Z,1755898506.451 [DAT](INFO): DAT read: Bearing 170.0, -25.5 (Local)
2025-08-22T21:35:06.451Z,1755898506.451 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.0, -25.5 (Local)
2025-08-22T21:35:06.459Z,1755898506.459 [DAT](INFO): DAT read: Range 11 to 50 : 37.4 m (trip time 24.9 ms) speed -0.1
2025-08-22T21:35:06.481Z,1755898506.481 [DAT](INFO): DAT read: 21:35:07.1655 LVL= 32752, 20017, 25362, 32755, AGC= 72, IDX= 500,-0.22,-2.997,-0.792,-2.147,-1.804, PHS=-1.091, 1.057,-0.387, RAW= 311.2, 4.5, CAL= 308.9, 2.5, ROT= 201.1, -2.5
2025-08-22T21:35:06.488Z,1755898506.488 [DAT](INFO): got valid direction response:
21:35:07.1655 LVL= 32752, 20017, 25362, 32755, AGC= 72, IDX= 500,-0.22,-2.997,-0.792,-2.147,-1.804, PHS=-1.091, 1.057,-0.387, RAW= 311.2, 4.5, CAL= 308.9, 2.5, ROT= 201.1, -2.5
2025-08-22T21:35:06.516Z,1755898506.516 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-22T21:35:06.522Z,1755898506.522 [DAT](INFO): direction in FSK: [-0.932066,-0.359654,0.043619]
2025-08-22T21:35:06.522Z,1755898506.522 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:06.530Z,1755898506.530 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=26.608770
2025-08-22T21:35:06.627Z,1755898506.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.400002 m,
deltaT: 0.504303 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:06.629Z,1755898506.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.163498 m,
bearing: 63.633095 deg,
lat: 36.779369 deg,
lon: -121.859520 deg,
deltaT: 0.504303 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:06.629Z,1755898506.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.16 m.
2025-08-22T21:35:06.700Z,1755898506.700 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=26.782803
2025-08-22T21:35:06.952Z,1755898506.952 [DAT](INFO): DAT read: Rx Time:21:35:07.6655
2025-08-22T21:35:06.985Z,1755898506.985 [DAT](INFO): Rx dataTimestamp_ set to:1755898506.952793
2025-08-22T21:35:06.987Z,1755898506.987 [DAT](INFO): DAT read: Bearing 171.2, -26.9 (Local)
2025-08-22T21:35:06.987Z,1755898506.987 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.2, -26.9 (Local)
2025-08-22T21:35:06.989Z,1755898506.989 [DAT](INFO): DAT read: Range 11 to 50 : 37.4 m (trip time 24.9 ms) speed -0.1
2025-08-22T21:35:07.022Z,1755898507.022 [DAT](INFO): DAT read: 21:35:07.6655 LVL= 32240, 24625, 32738, 32755, AGC= 73, IDX= 500, 0.21,-1.262, 1.026,-0.346,-0.035, PHS=-1.125, 1.106,-0.355, RAW= 310.1, 3.9, CAL= 307.7, 1.2, ROT= 202.3, -1.2
2025-08-22T21:35:07.023Z,1755898507.023 [DAT](INFO): got valid direction response:
21:35:07.6655 LVL= 32240, 24625, 32738, 32755, AGC= 73, IDX= 500, 0.21,-1.262, 1.026,-0.346,-0.035, PHS=-1.125, 1.106,-0.355, RAW= 310.1, 3.9, CAL= 307.7, 1.2, ROT= 202.3, -1.2
2025-08-22T21:35:07.023Z,1755898507.023 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-22T21:35:07.024Z,1755898507.024 [DAT](INFO): direction in FSK: [-0.925007,-0.379373,0.020942]
2025-08-22T21:35:07.025Z,1755898507.025 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:07.028Z,1755898507.028 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=27.111652
2025-08-22T21:35:07.107Z,1755898507.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.400002 m,
deltaT: 0.504285 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:07.118Z,1755898507.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.163395 m,
bearing: 64.729482 deg,
lat: 36.779369 deg,
lon: -121.859521 deg,
deltaT: 0.504285 s,
deltaX: -0.000103 m,
approachRate: -0.000204 m/s,
posRepo size: 4
2025-08-22T21:35:07.118Z,1755898507.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.16 m.
2025-08-22T21:35:07.206Z,1755898507.206 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=27.288622
2025-08-22T21:35:07.459Z,1755898507.459 [DAT](INFO): DAT read: Rx Time:21:35:08.1655
2025-08-22T21:35:07.459Z,1755898507.459 [DAT](INFO): Rx dataTimestamp_ set to:1755898507.458795
2025-08-22T21:35:07.460Z,1755898507.460 [DAT](INFO): DAT read: Bearing 170.9, -26.9 (Local)
2025-08-22T21:35:07.461Z,1755898507.461 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.9, -26.9 (Local)
2025-08-22T21:35:07.463Z,1755898507.463 [DAT](INFO): DAT read: Range 11 to 50 : 37.4 m (trip time 24.9 ms) speed 0.0
2025-08-22T21:35:07.468Z,1755898507.468 [DAT](INFO): DAT read: 21:35:08.1655 LVL= 32752, 22801, 23858, 32755, AGC= 73, IDX= 500,-0.12, 1.784,-2.238, 2.694, 3.004, PHS=-1.118, 1.086,-0.355, RAW= 310.1, 4.0, CAL= 307.7, 1.5, ROT= 202.3, -1.5
2025-08-22T21:35:07.470Z,1755898507.470 [DAT](INFO): got valid direction response:
21:35:08.1655 LVL= 32752, 22801, 23858, 32755, AGC= 73, IDX= 500,-0.12, 1.784,-2.238, 2.694, 3.004, PHS=-1.118, 1.086,-0.355, RAW= 310.1, 4.0, CAL= 307.7, 1.5, ROT= 202.3, -1.5
2025-08-22T21:35:07.470Z,1755898507.470 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-22T21:35:07.471Z,1755898507.471 [DAT](INFO): direction in FSK: [-0.924893,-0.379326,0.026177]
2025-08-22T21:35:07.472Z,1755898507.472 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:07.504Z,1755898507.504 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=27.587633
2025-08-22T21:35:07.642Z,1755898507.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.400002 m,
deltaT: 0.506002 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:07.644Z,1755898507.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.163395 m,
bearing: 64.869427 deg,
lat: 36.779369 deg,
lon: -121.859522 deg,
deltaT: 0.506002 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:07.644Z,1755898507.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.16 m.
2025-08-22T21:35:07.707Z,1755898507.707 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=27.790327
2025-08-22T21:35:07.962Z,1755898507.962 [DAT](INFO): DAT read: Rx Time:21:35:08.6656
2025-08-22T21:35:07.963Z,1755898507.963 [DAT](INFO): Rx dataTimestamp_ set to:1755898507.962501
2025-08-22T21:35:07.964Z,1755898507.964 [DAT](INFO): DAT read: Bearing 168.7, -27.0 (Local)
2025-08-22T21:35:07.964Z,1755898507.964 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.7, -27.0 (Local)
2025-08-22T21:35:07.967Z,1755898507.967 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m (trip time 25.0 ms) speed -0.2
2025-08-22T21:35:07.971Z,1755898507.971 [DAT](INFO): DAT read: 21:35:08.6656 LVL= 32752, 24961, 27858, 32755, AGC= 73, IDX= 501, 0.43,-1.668, 0.500,-0.775,-0.455, PHS=-1.111, 1.000,-0.364, RAW= 309.6, 5.2, CAL= 307.3, 3.5, ROT= 202.7, -3.5
2025-08-22T21:35:07.972Z,1755898507.972 [DAT](INFO): got valid direction response:
21:35:08.6656 LVL= 32752, 24961, 27858, 32755, AGC= 73, IDX= 501, 0.43,-1.668, 0.500,-0.775,-0.455, PHS=-1.111, 1.000,-0.364, RAW= 309.6, 5.2, CAL= 307.3, 3.5, ROT= 202.7, -3.5
2025-08-22T21:35:07.972Z,1755898507.972 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-22T21:35:07.974Z,1755898507.974 [DAT](INFO): direction in FSK: [-0.920817,-0.385186,0.061049]
2025-08-22T21:35:07.974Z,1755898507.974 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:07.977Z,1755898507.977 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=28.060816
2025-08-22T21:35:07.997Z,1755898507.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.500000 m,
deltaT: 0.503706 s,
deltaX: 0.099998 m,
approachRate: 0.198525 m/s,
rangeRepo size: 4
2025-08-22T21:35:08.003Z,1755898508.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.262821 m,
bearing: 65.468866 deg,
lat: 36.779369 deg,
lon: -121.859521 deg,
deltaT: 0.503706 s,
deltaX: 0.099426 m,
approachRate: 0.197389 m/s,
posRepo size: 4
2025-08-22T21:35:08.004Z,1755898508.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.26 m.
2025-08-22T21:35:08.217Z,1755898508.217 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=28.300081
2025-08-22T21:35:08.414Z,1755898508.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.26 m.
2025-08-22T21:35:08.467Z,1755898508.467 [DAT](INFO): DAT read: Rx Time:21:35:09.1656
2025-08-22T21:35:08.468Z,1755898508.468 [DAT](INFO): Rx dataTimestamp_ set to:1755898508.467372
2025-08-22T21:35:08.469Z,1755898508.469 [DAT](INFO): DAT read: Bearing 169.5, -27.1 (Local)
2025-08-22T21:35:08.469Z,1755898508.469 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.5, -27.1 (Local)
2025-08-22T21:35:08.471Z,1755898508.471 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m (trip time 25.0 ms) speed 0.0
2025-08-22T21:35:08.476Z,1755898508.476 [DAT](INFO): DAT read: 21:35:09.1656 LVL= 32752, 23665, 28210, 32755, AGC= 73, IDX= 501, 0.07, 2.634,-1.428,-2.740,-2.419, PHS=-1.128, 1.036,-0.365, RAW= 309.6, 4.9, CAL= 307.3, 3.0, ROT= 202.7, -3.0
2025-08-22T21:35:08.477Z,1755898508.477 [DAT](INFO): got valid direction response:
21:35:09.1656 LVL= 32752, 23665, 28210, 32755, AGC= 73, IDX= 501, 0.07, 2.634,-1.428,-2.740,-2.419, PHS=-1.128, 1.036,-0.365, RAW= 309.6, 4.9, CAL= 307.3, 3.0, ROT= 202.7, -3.0
2025-08-22T21:35:08.477Z,1755898508.477 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-22T21:35:08.478Z,1755898508.478 [DAT](INFO): direction in FSK: [-0.921274,-0.385377,0.052336]
2025-08-22T21:35:08.479Z,1755898508.479 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:08.490Z,1755898508.490 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=28.573647
2025-08-22T21:35:08.719Z,1755898508.719 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=28.801998
2025-08-22T21:35:08.774Z,1755898508.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.500000 m,
deltaT: 0.504871 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:08.776Z,1755898508.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.262779 m,
bearing: 65.471089 deg,
lat: 36.779369 deg,
lon: -121.859521 deg,
deltaT: 0.504871 s,
deltaX: -0.000042 m,
approachRate: -0.000083 m/s,
posRepo size: 4
2025-08-22T21:35:08.776Z,1755898508.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.26 m.
2025-08-22T21:35:08.974Z,1755898508.974 [DAT](INFO): DAT read: Rx Time:21:35:09.6658
2025-08-22T21:35:08.975Z,1755898508.975 [DAT](INFO): Rx dataTimestamp_ set to:1755898508.974605
2025-08-22T21:35:08.976Z,1755898508.976 [DAT](INFO): DAT read: Bearing 171.0, -26.1 (Local)
2025-08-22T21:35:08.976Z,1755898508.976 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.0, -26.1 (Local)
2025-08-22T21:35:08.980Z,1755898508.980 [DAT](INFO): DAT read: Range 11 to 50 : 37.7 m (trip time 25.1 ms) speed -0.2
2025-08-22T21:35:08.985Z,1755898508.985 [DAT](INFO): DAT read: 21:35:09.6658 LVL= 32752, 22865, 26434, 32755, AGC= 74, IDX= 503,-0.18, 1.940,-2.140, 2.804, 3.125, PHS=-1.083, 1.063,-0.365, RAW= 310.8, 4.1, CAL= 308.4, 1.8, ROT= 201.6, -1.8
2025-08-22T21:35:08.986Z,1755898508.986 [DAT](INFO): got valid direction response:
21:35:09.6658 LVL= 32752, 22865, 26434, 32755, AGC= 74, IDX= 503,-0.18, 1.940,-2.140, 2.804, 3.125, PHS=-1.083, 1.063,-0.365, RAW= 310.8, 4.1, CAL= 308.4, 1.8, ROT= 201.6, -1.8
2025-08-22T21:35:08.987Z,1755898508.987 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-22T21:35:08.988Z,1755898508.988 [DAT](INFO): direction in FSK: [-0.929318,-0.367943,0.031411]
2025-08-22T21:35:08.988Z,1755898508.988 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:08.992Z,1755898508.992 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=29.074986
2025-08-22T21:35:09.156Z,1755898509.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.700001 m,
deltaT: 0.507233 s,
deltaX: 0.200001 m,
approachRate: 0.394298 m/s,
rangeRepo size: 4
2025-08-22T21:35:09.159Z,1755898509.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.461514 m,
bearing: 64.297385 deg,
lat: 36.779369 deg,
lon: -121.859521 deg,
deltaT: 0.507233 s,
deltaX: 0.198734 m,
approachRate: 0.391801 m/s,
posRepo size: 4
2025-08-22T21:35:09.160Z,1755898509.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.46 m.
2025-08-22T21:35:09.226Z,1755898509.226 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=29.308546
2025-08-22T21:35:09.475Z,1755898509.475 [DAT](INFO): DAT read: Rx Time:21:35:10.1657
2025-08-22T21:35:09.476Z,1755898509.476 [DAT](INFO): Rx dataTimestamp_ set to:1755898509.475337
2025-08-22T21:35:09.477Z,1755898509.477 [DAT](INFO): DAT read: Bearing 171.4, -27.2 (Local)
2025-08-22T21:35:09.477Z,1755898509.477 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.4, -27.2 (Local)
2025-08-22T21:35:09.479Z,1755898509.479 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m (trip time 25.0 ms) speed 0.3
2025-08-22T21:35:09.484Z,1755898509.484 [DAT](INFO): DAT read: 21:35:10.1657 LVL= 31344, 25729, 28306, 32675, AGC= 72, IDX= 502, 0.47, 2.060,-2.007, 2.959,-3.028, PHS=-1.094, 1.066,-0.340, RAW= 309.9, 3.9, CAL= 307.5, 1.3, ROT= 202.5, -1.3
2025-08-22T21:35:09.485Z,1755898509.485 [DAT](INFO): got valid direction response:
21:35:10.1657 LVL= 31344, 25729, 28306, 32675, AGC= 72, IDX= 502, 0.47, 2.060,-2.007, 2.959,-3.028, PHS=-1.094, 1.066,-0.340, RAW= 309.9, 3.9, CAL= 307.5, 1.3, ROT= 202.5, -1.3
2025-08-22T21:35:09.485Z,1755898509.485 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-22T21:35:09.486Z,1755898509.486 [DAT](INFO): direction in FSK: [-0.923642,-0.382585,0.022687]
2025-08-22T21:35:09.486Z,1755898509.486 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:09.490Z,1755898509.490 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=29.573742
2025-08-22T21:35:09.672Z,1755898509.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.500000 m,
deltaT: 0.500732 s,
deltaX: -0.200001 m,
approachRate: -0.399417 m/s,
rangeRepo size: 4
2025-08-22T21:35:09.679Z,1755898509.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.262779 m,
bearing: 65.163623 deg,
lat: 36.779367 deg,
lon: -121.859522 deg,
deltaT: 0.500732 s,
deltaX: -0.198734 m,
approachRate: -0.396888 m/s,
posRepo size: 4
2025-08-22T21:35:09.679Z,1755898509.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.26 m.
2025-08-22T21:35:09.728Z,1755898509.728 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=29.810747
2025-08-22T21:35:09.979Z,1755898509.979 [DAT](INFO): DAT read: Rx Time:21:35:10.6659
2025-08-22T21:35:09.979Z,1755898509.979 [DAT](INFO): Rx dataTimestamp_ set to:1755898509.979166
2025-08-22T21:35:09.981Z,1755898509.981 [DAT](INFO): DAT read: Bearing 172.0, -27.0 (Local)
2025-08-22T21:35:09.981Z,1755898509.981 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.0, -27.0 (Local)
2025-08-22T21:35:09.983Z,1755898509.983 [DAT](INFO): DAT read: Range 11 to 50 : 37.8 m (trip time 25.2 ms) speed -0.2
2025-08-22T21:35:09.988Z,1755898509.988 [DAT](INFO): DAT read: 21:35:10.6659 LVL= 32752, 24849, 32034, 32755, AGC= 72, IDX= 504, 0.13,-3.083,-0.823,-2.179,-1.877, PHS=-1.104, 1.098,-0.346, RAW= 310.2, 3.7, CAL= 307.8, 0.9, ROT= 202.2, -0.9
2025-08-22T21:35:09.989Z,1755898509.989 [DAT](INFO): got valid direction response:
21:35:10.6659 LVL= 32752, 24849, 32034, 32755, AGC= 72, IDX= 504, 0.13,-3.083,-0.823,-2.179,-1.877, PHS=-1.104, 1.098,-0.346, RAW= 310.2, 3.7, CAL= 307.8, 0.9, ROT= 202.2, -0.9
2025-08-22T21:35:09.989Z,1755898509.989 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-22T21:35:09.990Z,1755898509.990 [DAT](INFO): direction in FSK: [-0.925756,-0.377794,0.015707]
2025-08-22T21:35:09.990Z,1755898509.990 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:09.994Z,1755898509.994 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=30.077198
2025-08-22T21:35:10.111Z,1755898510.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.799999 m,
deltaT: 0.503829 s,
deltaX: 0.299999 m,
approachRate: 0.595439 m/s,
rangeRepo size: 4
2025-08-22T21:35:10.113Z,1755898510.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.560814 m,
bearing: 64.848525 deg,
lat: 36.779367 deg,
lon: -121.859523 deg,
deltaT: 0.503829 s,
deltaX: 0.298035 m,
approachRate: 0.591539 m/s,
posRepo size: 4
2025-08-22T21:35:10.126Z,1755898510.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.56 m.
2025-08-22T21:35:10.235Z,1755898510.235 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=30.318083
2025-08-22T21:35:10.483Z,1755898510.483 [DAT](INFO): DAT read: Rx Time:21:35:11.1659
2025-08-22T21:35:10.484Z,1755898510.484 [DAT](INFO): Rx dataTimestamp_ set to:1755898510.483304
2025-08-22T21:35:10.485Z,1755898510.485 [DAT](INFO): DAT read: Bearing 172.0, -26.9 (Local)
2025-08-22T21:35:10.485Z,1755898510.485 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.0, -26.9 (Local)
2025-08-22T21:35:10.487Z,1755898510.487 [DAT](INFO): DAT read: Range 11 to 50 : 37.8 m (trip time 25.2 ms) speed 0.2
2025-08-22T21:35:10.492Z,1755898510.492 [DAT](INFO): DAT read: 21:35:11.1659 LVL= 32752, 21489, 25842, 32755, AGC= 74, IDX= 504,-0.06, 0.090, 2.323, 0.982, 1.283, PHS=-1.091, 1.085,-0.= 310.3, 3.7, CAL= 307.9, 1.0, ROT= 202.1, -1.0
2025-08-22T21:35:10.493Z,1755898510.493 [DAT](INFO): unknown deviceResponse_: 21:35:11.1659 LVL= 32752, 21489, 25842, 32755, AGC= 74, IDX= 504,-0.06, 0.090, 2.323, 0.982, 1.283, PHS=-1.091, 1.085,-0.= 310.3, 3.7, CAL= 307.9, 1.0, ROT= 202.1, -1.0
2025-08-22T21:35:10.493Z,1755898510.493 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-08-22T21:35:10.494Z,1755898510.494 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=30.577333
2025-08-22T21:35:10.568Z,1755898510.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.799999 m,
deltaT: 0.504138 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:10.569Z,1755898510.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.56 m.
2025-08-22T21:35:10.735Z,1755898510.735 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=30.818142
2025-08-22T21:35:10.967Z,1755898510.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.56 m.
2025-08-22T21:35:10.987Z,1755898510.987 [DAT](INFO): DAT read: Rx Time:21:35:11.6660
2025-08-22T21:35:10.988Z,1755898510.988 [DAT](INFO): Rx dataTimestamp_ set to:1755898510.987424
2025-08-22T21:35:10.989Z,1755898510.989 [DAT](INFO): DAT read: Bearing 172.8, -27.1 (Local)
2025-08-22T21:35:10.990Z,1755898510.990 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.8, -27.1 (Local)
2025-08-22T21:35:10.992Z,1755898510.992 [DAT](INFO): DAT read: Range 11 to 50 : 38.0 m (trip time 25.3 ms) speed -0.4
2025-08-22T21:35:10.996Z,1755898510.996 [DAT](INFO): DAT read: 21:35:11.6660 LVL= 31024, 20625, 24706, 32755, AGC= 72, IDX= 505,-0.28,-0.276, 2.013, 0.637, 0.932, PHS=-1.106, 1.126,-0.338, RAW= 310.2, 3.3, CAL= 307.8, 0.2, ROT= 202.2, -0.2
2025-08-22T21:35:10.997Z,1755898510.997 [DAT](INFO): got valid direction response:
21:35:11.6660 LVL= 31024, 20625, 24706, 32755, AGC= 72, IDX= 505,-0.28,-0.276, 2.013, 0.637, 0.932, PHS=-1.106, 1.126,-0.338, RAW= 310.2, 3.3, CAL= 307.8, 0.2, ROT= 202.2, -0.2
2025-08-22T21:35:10.998Z,1755898510.998 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-22T21:35:10.999Z,1755898510.999 [DAT](INFO): direction in FSK: [-0.925865,-0.377838,0.003491]
2025-08-22T21:35:10.000Z,1755898511.000 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:11.003Z,1755898511.003 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=31.086697
2025-08-22T21:35:11.241Z,1755898511.241 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=31.324257
2025-08-22T21:35:11.491Z,1755898511.491 [DAT](INFO): DAT read: Rx Time:21:35:12.1659
2025-08-22T21:35:11.492Z,1755898511.492 [DAT](INFO): Rx dataTimestamp_ set to:1755898511.491359
2025-08-22T21:35:11.493Z,1755898511.493 [DAT](INFO): DAT read: Bearing 172.4, -26.9 (Local)
2025-08-22T21:35:11.493Z,1755898511.493 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.4, -26.9 (Local)
2025-08-22T21:35:11.495Z,1755898511.495 [DAT](INFO): DAT read: Range 11 to 50 : 37.8 m (trip time 25.2 ms) speed 0.0
2025-08-22T21:35:11.500Z,1755898511.500 [DAT](INFO): DAT read: 21:35:12.1659 LVL= 32752, 19073, 30450, 32755, AGC= 72, IDX= 504, 0.31, 0.253, 2.523, 1.156, 1.458, PHS=-1.102, 1.111,-0.345, RAW= 310.3, 3.5, CAL= 307.9, 0.6, ROT= 202.1, -0.6
2025-08-22T21:35:11.501Z,1755898511.501 [DAT](INFO): got valid direction response:
21:35:12.1659 LVL= 32752, 19073, 30450, 32755, AGC= 72, IDX= 504, 0.31, 0.253, 2.523, 1.156, 1.458, PHS=-1.102, 1.111,-0.345, RAW= 310.3, 3.5, CAL= 307.9, 0.6, ROT= 202.1, -0.6
2025-08-22T21:35:11.501Z,1755898511.501 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-22T21:35:11.502Z,1755898511.502 [DAT](INFO): direction in FSK: [-0.926478,-0.376204,0.010472]
2025-08-22T21:35:11.503Z,1755898511.503 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:11.506Z,1755898511.506 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=31.589893
2025-08-22T21:35:11.531Z,1755898511.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.799999 m,
deltaT: 1.008055 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:11.533Z,1755898511.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.759521 m,
bearing: 64.869313 deg,
lat: 36.779370 deg,
lon: -121.859523 deg,
deltaT: 1.008258 s,
deltaX: 0.198708 m,
approachRate: 0.197080 m/s,
posRepo size: 4
2025-08-22T21:35:11.537Z,1755898511.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T21:35:11.743Z,1755898511.743 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=31.826748
2025-08-22T21:35:11.991Z,1755898511.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T21:35:11.995Z,1755898511.995 [DAT](INFO): DAT read: Rx Time:21:35:12.6661
2025-08-22T21:35:11.996Z,1755898511.996 [DAT](INFO): Rx dataTimestamp_ set to:1755898511.995376
2025-08-22T21:35:11.997Z,1755898511.997 [DAT](INFO): DAT read: Bearing 172.7, -26.4 (Local)
2025-08-22T21:35:11.997Z,1755898511.997 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.7, -26.4 (Local)
2025-08-22T21:35:11.999Z,1755898511.999 [DAT](INFO): DAT read: Range 11 to 50 : 38.1 m (trip time 25.4 ms) speed 0.0
2025-08-22T21:35:12.004Z,1755898512.004 [DAT](INFO): DAT read: 21:35:12.6661 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 506, 0.02, 1.827,-2.221, 2.700, 3.004, PHS=-1.074, 1.103,-0.348, RAW= 310.9, 3.4, CAL= 308.5, 0.5, ROT= 201.5, -0.5
2025-08-22T21:35:12.005Z,1755898512.005 [DAT](INFO): got valid direction response:
21:35:12.6661 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 506, 0.02, 1.827,-2.221, 2.700, 3.004, PHS=-1.074, 1.103,-0.348, RAW= 310.9, 3.4, CAL= 308.5, 0.5, ROT= 201.5, -0.5
2025-08-22T21:35:12.006Z,1755898512.006 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-22T21:35:12.007Z,1755898512.007 [DAT](INFO): direction in FSK: [-0.930382,-0.366487,0.008727]
2025-08-22T21:35:12.007Z,1755898512.007 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:12.011Z,1755898512.011 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=32.094238
2025-08-22T21:35:12.054Z,1755898512.054 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:35:12.251Z,1755898512.251 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=32.333385
2025-08-22T21:35:12.432Z,1755898512.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.099998 m,
deltaT: 0.504017 s,
deltaX: 0.299999 m,
approachRate: 0.595217 m/s,
rangeRepo size: 4
2025-08-22T21:35:12.451Z,1755898512.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.858826 m,
bearing: 64.257077 deg,
lat: 36.779370 deg,
lon: -121.859524 deg,
deltaT: 1.007952 s,
deltaX: 0.099304 m,
approachRate: 0.098521 m/s,
posRepo size: 4
2025-08-22T21:35:12.452Z,1755898512.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-22T21:35:12.501Z,1755898512.501 [DAT](INFO): DAT read: Rx Time:21:35:13.1661
2025-08-22T21:35:12.501Z,1755898512.501 [DAT](INFO): Rx dataTimestamp_ set to:1755898512.500828
2025-08-22T21:35:12.503Z,1755898512.503 [DAT](INFO): DAT read: Bearing 173.3, -26.2 (Local)
2025-08-22T21:35:12.504Z,1755898512.504 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.3, -26.2 (Local)
2025-08-22T21:35:12.507Z,1755898512.507 [DAT](INFO): DAT read: Range 11 to 50 : 38.1 m (trip time 25.4 ms) speed -0.2
2025-08-22T21:35:12.512Z,1755898512.512 [DAT](INFO): DAT read: 21:35:13.1661 LVL= 32752, 26721, 27746, 32755, AGC= 73, IDX= 506,-0.16,-1.165, 1.127,-0.283, 0.026, PHS=-1.089, 1.146,-0.353, RAW= 311.2, 3.0, CAL= 308.7, -0.0, ROT= 201.3, 0.0
2025-08-22T21:35:12.516Z,1755898512.516 [DAT](INFO): got valid direction response:
21:35:13.1661 LVL= 32752, 26721, 27746, 32755, AGC= 73, IDX= 506,-0.16,-1.165, 1.127,-0.283, 0.026, PHS=-1.089, 1.146,-0.353, RAW= 311.2, 3.0, CAL= 308.7, -0.0, ROT= 201.3, 0.0
2025-08-22T21:35:12.517Z,1755898512.517 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-22T21:35:12.519Z,1755898512.519 [DAT](INFO): direction in FSK: [-0.931691,-0.363251,-0.000000]
2025-08-22T21:35:12.519Z,1755898512.519 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:12.528Z,1755898512.528 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=32.611156
2025-08-22T21:35:12.750Z,1755898512.750 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=32.833862
2025-08-22T21:35:12.804Z,1755898512.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.099998 m,
deltaT: 0.505452 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:12.811Z,1755898512.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.858902 m,
bearing: 64.030541 deg,
lat: 36.779370 deg,
lon: -121.859526 deg,
deltaT: 0.505452 s,
deltaX: 0.000076 m,
approachRate: 0.000151 m/s,
posRepo size: 4
2025-08-22T21:35:12.811Z,1755898512.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-22T21:35:13.003Z,1755898513.003 [DAT](INFO): DAT read: Rx Time:21:35:13.6662
2025-08-22T21:35:13.004Z,1755898513.004 [DAT](INFO): Rx dataTimestamp_ set to:1755898513.003275
2025-08-22T21:35:13.005Z,1755898513.005 [DAT](INFO): DAT read: Bearing 171.8, -26.0 (Local)
2025-08-22T21:35:13.005Z,1755898513.005 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.8, -26.0 (Local)
2025-08-22T21:35:13.007Z,1755898513.007 [DAT](INFO): DAT read: Range 11 to 50 : 38.3 m (trip time 25.5 ms) speed -0.2
2025-08-22T21:35:13.012Z,1755898513.012 [DAT](INFO): DAT read: 21:35:13.6662 LVL= 32752, 27041, 31106, 32755, AGC= 73, IDX= 507, 0.43, 2.392,-1.584,-3.004,-2.667, PHS=-1.123, 1.128,-0.382, RAW= 311.2, 3.8, CAL= 308.8, 1.3, ROT= 201.2, -1.3
2025-08-22T21:35:13.013Z,1755898513.013 [DAT](INFO): got valid direction response:
21:35:13.6662 LVL= 32752, 27041, 31106, 32755, AGC= 73, IDX= 507, 0.43, 2.392,-1.584,-3.004,-2.667, PHS=-1.123, 1.128,-0.382, RAW= 311.2, 3.8, CAL= 308.8, 1.3, ROT= 201.2, -1.3
2025-08-22T21:35:13.013Z,1755898513.013 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-22T21:35:13.014Z,1755898513.014 [DAT](INFO): direction in FSK: [-0.932084,-0.361531,0.022687]
2025-08-22T21:35:13.015Z,1755898513.015 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:13.039Z,1755898513.039 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=33.112831
2025-08-22T21:35:13.058Z,1755898513.058 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:35:13.195Z,1755898513.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.299999 m,
deltaT: 0.502447 s,
deltaX: 0.200001 m,
approachRate: 0.398053 m/s,
rangeRepo size: 4
2025-08-22T21:35:13.202Z,1755898513.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.057640 m,
bearing: 64.040061 deg,
lat: 36.779374 deg,
lon: -121.859526 deg,
deltaT: 0.502447 s,
deltaX: 0.198738 m,
approachRate: 0.395540 m/s,
posRepo size: 4
2025-08-22T21:35:13.202Z,1755898513.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-08-22T21:35:13.258Z,1755898513.258 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=33.340832
2025-08-22T21:35:13.507Z,1755898513.507 [DAT](INFO): DAT read: Rx Time:21:35:14.1662
2025-08-22T21:35:13.508Z,1755898513.508 [DAT](INFO): Rx dataTimestamp_ set to:1755898513.507253
2025-08-22T21:35:13.509Z,1755898513.509 [DAT](INFO): DAT read: Bearing 170.8, -25.4 (Local)
2025-08-22T21:35:13.509Z,1755898513.509 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.8, -25.4 (Local)
2025-08-22T21:35:13.511Z,1755898513.511 [DAT](INFO): DAT read: Range 11 to 50 : 38.3 m (trip time 25.5 ms) speed -0.2
2025-08-22T21:35:13.536Z,1755898513.536 [DAT](INFO): DAT read: 21:35:14.1662 LVL= 32752, 22449, 29362, 32755, AGC= 71, IDX= 507, 0.12, 1.399,-2.678, 2.239, 2.587, PHS=-1.086, 1.063,-0.392, RAW= 311.6, 4.4, CAL= 309.2, 2.4, ROT= 200.8, -2.4
2025-08-22T21:35:13.550Z,1755898513.550 [DAT](INFO): got valid direction response:
21:35:14.1662 LVL= 32752, 22449, 29362, 32755, AGC= 71, IDX= 507, 0.12, 1.399,-2.678, 2.239, 2.587, PHS=-1.086, 1.063,-0.392, RAW= 311.6, 4.4, CAL= 309.2, 2.4, ROT= 200.8, -2.4
2025-08-22T21:35:13.550Z,1755898513.550 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-22T21:35:13.551Z,1755898513.551 [DAT](INFO): direction in FSK: [-0.934006,-0.354796,0.041876]
2025-08-22T21:35:13.551Z,1755898513.551 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:13.563Z,1755898513.563 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=33.646626
2025-08-22T21:35:13.675Z,1755898513.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.299999 m,
deltaT: 0.503978 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:13.677Z,1755898513.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.057640 m,
bearing: 63.758901 deg,
lat: 36.779375 deg,
lon: -121.859526 deg,
deltaT: 0.503978 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:13.681Z,1755898513.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-08-22T21:35:13.759Z,1755898513.759 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=33.842506
2025-08-22T21:35:13.979Z,1755898513.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-08-22T21:35:14.011Z,1755898514.011 [DAT](INFO): DAT read: Rx Time:21:35:14.6663
2025-08-22T21:35:14.012Z,1755898514.012 [DAT](INFO): Rx dataTimestamp_ set to:1755898514.011265
2025-08-22T21:35:14.014Z,1755898514.014 [DAT](INFO): DAT read: Bearing 174.8, -25.2 (Local)
2025-08-22T21:35:14.014Z,1755898514.014 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.8, -25.2 (Local)
2025-08-22T21:35:14.017Z,1755898514.017 [DAT](INFO): DAT read: Range 11 to 50 : 38.4 m (trip time 25.6 ms) speed -0.1
2025-08-22T21:35:14.023Z,1755898514.023 [DAT](INFO): DAT read: 21:35:14.6663 LVL= 32752, 24049, 25842, 32755, AGC= 71, IDX= 508,-0.06,-1.379, 0.909,-0.538,-0.238, PHS=-1.039, 1.192,-0.344, RAW= 312.3, 2.0, CAL= 310.0, -1.1, ROT= 200.0, 1.1
2025-08-22T21:35:14.024Z,1755898514.024 [DAT](INFO): got valid direction response:
21:35:14.6663 LVL= 32752, 24049, 25842, 32755, AGC= 71, IDX= 508,-0.06,-1.379, 0.909,-0.538,-0.238, PHS=-1.039, 1.192,-0.344, RAW= 312.3, 2.0, CAL= 310.0, -1.1, ROT= 200.0, 1.1
2025-08-22T21:35:14.025Z,1755898514.025 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-22T21:35:14.026Z,1755898514.026 [DAT](INFO): direction in FSK: [-0.939519,-0.341957,-0.019197]
2025-08-22T21:35:14.027Z,1755898514.027 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:14.044Z,1755898514.044 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=34.127502
2025-08-22T21:35:14.265Z,1755898514.265 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=34.348160
2025-08-22T21:35:14.472Z,1755898514.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.400002 m,
deltaT: 0.504012 s,
deltaX: 0.100002 m,
approachRate: 0.198413 m/s,
rangeRepo size: 4
2025-08-22T21:35:14.478Z,1755898514.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.156933 m,
bearing: 62.729216 deg,
lat: 36.779376 deg,
lon: -121.859527 deg,
deltaT: 0.504012 s,
deltaX: 0.099293 m,
approachRate: 0.197005 m/s,
posRepo size: 4
2025-08-22T21:35:14.478Z,1755898514.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.16 m.
2025-08-22T21:35:14.515Z,1755898514.515 [DAT](INFO): DAT read: Rx Time:21:35:15.1662
2025-08-22T21:35:14.516Z,1755898514.516 [DAT](INFO): Rx dataTimestamp_ set to:1755898514.515408
2025-08-22T21:35:14.517Z,1755898514.517 [DAT](INFO): DAT read: Bearing 173.6, -26.7 (Local)
2025-08-22T21:35:14.517Z,1755898514.517 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.6, -26.7 (Local)
2025-08-22T21:35:14.519Z,1755898514.519 [DAT](INFO): DAT read: Range 11 to 50 : 38.3 m (trip time 25.5 ms) speed -0.1
2025-08-22T21:35:14.524Z,1755898514.524 [DAT](INFO): DAT read: 21:35:15.1662 LVL= 32752, 26833, 28098, 32755, AGC= 72, IDX= 507, 0.50,-0.090, 2.178, 0.793, 1.090, PHS=-1.078, 1.134,-0.340, RAW= 310.9, 3.0, CAL= 308.5, -0.1, ROT= 201.5, 0.1
2025-08-22T21:35:14.525Z,1755898514.525 [DAT](INFO): got valid direction response:
21:35:15.1662 LVL= 32752, 26833, 28098, 32755, AGC= 72, IDX= 507, 0.50,-0.090, 2.178, 0.793, 1.090, PHS=-1.078, 1.134,-0.340, RAW= 310.9, 3.0, CAL= 308.5, -0.1, ROT= 201.5, 0.1
2025-08-22T21:35:14.525Z,1755898514.525 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-22T21:35:14.526Z,1755898514.526 [DAT](INFO): direction in FSK: [-0.930416,-0.366501,-0.001745]
2025-08-22T21:35:14.527Z,1755898514.527 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:14.534Z,1755898514.534 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=34.617771
2025-08-22T21:35:14.767Z,1755898514.767 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=34.850128
2025-08-22T21:35:14.791Z,1755898514.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.299999 m,
deltaT: 0.504143 s,
deltaX: -0.100002 m,
approachRate: -0.198361 m/s,
rangeRepo size: 4
2025-08-22T21:35:14.793Z,1755898514.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.057484 m,
bearing: 64.354164 deg,
lat: 36.779376 deg,
lon: -121.859528 deg,
deltaT: 0.504143 s,
deltaX: -0.099449 m,
approachRate: -0.197264 m/s,
posRepo size: 4
2025-08-22T21:35:14.793Z,1755898514.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-08-22T21:35:15.020Z,1755898515.020 [DAT](INFO): DAT read: Rx Time:21:35:15.6664
2025-08-22T21:35:15.021Z,1755898515.021 [DAT](INFO): Rx dataTimestamp_ set to:1755898515.020118
2025-08-22T21:35:15.023Z,1755898515.023 [DAT](INFO): DAT read: Bearing 171.2, -25.7 (Local)
2025-08-22T21:35:15.023Z,1755898515.023 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.2, -25.7 (Local)
2025-08-22T21:35:15.025Z,1755898515.025 [DAT](INFO): DAT read: Range 11 to 50 : 38.6 m (trip time 25.7 ms) speed 0.0
2025-08-22T21:35:15.046Z,1755898515.046 [DAT](INFO): DAT read: 21:35:15.6664 LVL= 32752, 22673, 25570, 32755, AGC= 71, IDX= 509, 0.13, 0.683, 2.910, 1.531, 1.878, PHS=-1.093, 1.077,-0.391, RAW= 311.5, 4.3, CAL= 309.2, 2.1, ROT= 200.8, -2.1
2025-08-22T21:35:15.047Z,1755898515.047 [DAT](INFO): got valid direction response:
21:35:15.6664 LVL= 32752, 22673, 25570, 32755, AGC= 71, IDX= 509, 0.13, 0.683, 2.910, 1.531, 1.878, PHS=-1.093, 1.077,-0.391, RAW= 311.5, 4.3, CAL= 309.2, 2.1, ROT= 200.8, -2.1
2025-08-22T21:35:15.047Z,1755898515.047 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-22T21:35:15.048Z,1755898515.048 [DAT](INFO): direction in FSK: [-0.934198,-0.354869,0.036644]
2025-08-22T21:35:15.049Z,1755898515.049 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:15.052Z,1755898515.052 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=35.135532
2025-08-22T21:35:15.198Z,1755898515.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.599998 m,
deltaT: 0.504710 s,
deltaX: 0.299999 m,
approachRate: 0.594399 m/s,
rangeRepo size: 4
2025-08-22T21:35:15.200Z,1755898515.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.355587 m,
bearing: 63.825987 deg,
lat: 36.779377 deg,
lon: -121.859527 deg,
deltaT: 0.504710 s,
deltaX: 0.298103 m,
approachRate: 0.590643 m/s,
posRepo size: 4
2025-08-22T21:35:15.200Z,1755898515.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-22T21:35:15.271Z,1755898515.271 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=35.354599
2025-08-22T21:35:15.525Z,1755898515.525 [DAT](INFO): DAT read: Rx Time:21:35:16.1664
2025-08-22T21:35:15.525Z,1755898515.525 [DAT](INFO): Rx dataTimestamp_ set to:1755898515.524844
2025-08-22T21:35:15.527Z,1755898515.527 [DAT](INFO): DAT read: Bearing 173.3, -26.8 (Local)
2025-08-22T21:35:15.527Z,1755898515.527 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.3, -26.8 (Local)
2025-08-22T21:35:15.529Z,1755898515.529 [DAT](INFO): DAT read: Range 11 to 50 : 38.6 m (trip time 25.7 ms) speed -0.2
2025-08-22T21:35:15.534Z,1755898515.534 [DAT](INFO): DAT read: 21:35:16.1664 LVL= 32752, 26257, 27426, 32755, AGC= 72, IDX= 509,-0.13,-1.812, 0.450,-0.925,-0.625, PHS=-1.085, 1.120,-0.344, RAW= 310.7, 3.2, CAL= 308.3, 0.2, ROT= 201.7, -0.2
2025-08-22T21:35:15.535Z,1755898515.535 [DAT](INFO): got valid direction response:
21:35:16.1664 LVL= 32752, 26257, 27426, 32755, AGC= 72, IDX= 509,-0.13,-1.812, 0.450,-0.925,-0.625, PHS=-1.085, 1.120,-0.344, RAW= 310.7, 3.2, CAL= 308.3, 0.2, ROT= 201.7, -0.2
2025-08-22T21:35:15.536Z,1755898515.536 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-22T21:35:15.537Z,1755898515.537 [DAT](INFO): direction in FSK: [-0.929127,-0.369744,0.003491]
2025-08-22T21:35:15.537Z,1755898515.537 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:15.547Z,1755898515.547 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=35.630413
2025-08-22T21:35:15.709Z,1755898515.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.599998 m,
deltaT: 0.504726 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:15.719Z,1755898515.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.355587 m,
bearing: 64.650217 deg,
lat: 36.779377 deg,
lon: -121.859527 deg,
deltaT: 0.504726 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:15.719Z,1755898515.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-22T21:35:15.775Z,1755898515.775 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=35.858761
2025-08-22T21:35:15.981Z,1755898515.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-22T21:35:16.028Z,1755898516.028 [DAT](INFO): DAT read: Rx Time:21:35:16.6665
2025-08-22T21:35:16.029Z,1755898516.029 [DAT](INFO): Rx dataTimestamp_ set to:1755898516.028017
2025-08-22T21:35:16.030Z,1755898516.030 [DAT](INFO): DAT read: Bearing 173.1, -27.1 (Local)
2025-08-22T21:35:16.031Z,1755898516.031 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.1, -27.1 (Local)
2025-08-22T21:35:16.034Z,1755898516.034 [DAT](INFO): DAT read: Range 11 to 50 : 38.7 m (trip time 25.8 ms) speed -0.1
2025-08-22T21:35:16.039Z,1755898516.039 [DAT](INFO): DAT read: 21:35:16.6665 LVL= 32752, 28785, 29762, 32755, AGC= 73, IDX= 510, 0.31, 1.859,-2.107, 2.773, 3.080, PHS=-1.119, 1.141,-0.351, RAW= 310.5, 3.3, CAL= 308.1, 0.4, ROT= 201.9, -0.4
2025-08-22T21:35:16.040Z,1755898516.040 [DAT](INFO): got valid direction response:
21:35:16.6665 LVL= 32752, 28785, 29762, 32755, AGC= 73, IDX= 510, 0.31, 1.859,-2.107, 2.773, 3.080, PHS=-1.119, 1.141,-0.351, RAW= 310.5, 3.3, CAL= 308.1, 0.4, ROT= 201.9, -0.4
2025-08-22T21:35:16.041Z,1755898516.041 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-22T21:35:16.043Z,1755898516.043 [DAT](INFO): direction in FSK: [-0.927814,-0.372979,0.006981]
2025-08-22T21:35:16.043Z,1755898516.043 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:16.047Z,1755898516.047 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=36.130024
2025-08-22T21:35:16.282Z,1755898516.282 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=36.364136
2025-08-22T21:35:16.463Z,1755898516.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.700001 m,
deltaT: 0.503173 s,
deltaX: 0.100002 m,
approachRate: 0.198743 m/s,
rangeRepo size: 4
2025-08-22T21:35:16.465Z,1755898516.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.455032 m,
bearing: 64.963698 deg,
lat: 36.779373 deg,
lon: -121.859526 deg,
deltaT: 0.503173 s,
deltaX: 0.099445 m,
approachRate: 0.197636 m/s,
posRepo size: 4
2025-08-22T21:35:16.481Z,1755898516.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.46 m.
2025-08-22T21:35:16.532Z,1755898516.532 [DAT](INFO): DAT read: Rx Time:21:35:17.1665
2025-08-22T21:35:16.532Z,1755898516.532 [DAT](INFO): Rx dataTimestamp_ set to:1755898516.532036
2025-08-22T21:35:16.534Z,1755898516.534 [DAT](INFO): DAT read: Bearing 173.9, -27.0 (Local)
2025-08-22T21:35:16.534Z,1755898516.534 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.9, -27.0 (Local)
2025-08-22T21:35:16.536Z,1755898516.536 [DAT](INFO): DAT read: Range 11 to 50 : 38.7 m (trip time 25.8 ms) speed 0.0
2025-08-22T21:35:16.541Z,1755898516.541 [DAT](INFO): DAT read: 21:35:17.1665 LVL= 32752, 26609, 28402, 32755, AGC= 72, IDX= 510,-0.02,-1.089, 1.215,-0.184, 0.107, PHS=-1.094, 1.153,-0.335, RAW= 310.6, 2.8, CAL= 308.2, -0.3, ROT= 201.8, 0.3
2025-08-22T21:35:16.542Z,1755898516.542 [DAT](INFO): got valid direction response:
21:35:17.1665 LVL= 32752, 26609, 28402, 32755, AGC= 72, IDX= 510,-0.02,-1.089, 1.215,-0.184, 0.107, PHS=-1.094, 1.153,-0.335, RAW= 310.6, 2.8, CAL= 308.2, -0.3, ROT= 201.8, 0.3
2025-08-22T21:35:16.542Z,1755898516.542 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-22T21:35:16.543Z,1755898516.543 [DAT](INFO): direction in FSK: [-0.928473,-0.371363,-0.005236]
2025-08-22T21:35:16.543Z,1755898516.543 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:16.555Z,1755898516.555 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=36.638592
2025-08-22T21:35:16.783Z,1755898516.783 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=36.866238
2025-08-22T21:35:16.816Z,1755898516.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.700001 m,
deltaT: 0.504019 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:16.818Z,1755898516.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.455208 m,
bearing: 64.834833 deg,
lat: 36.779373 deg,
lon: -121.859526 deg,
deltaT: 0.504019 s,
deltaX: 0.000175 m,
approachRate: 0.000348 m/s,
posRepo size: 4
2025-08-22T21:35:16.819Z,1755898516.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.46 m.
2025-08-22T21:35:17.039Z,1755898517.039 [DAT](INFO): DAT read: Rx Time:21:35:17.6666
2025-08-22T21:35:17.039Z,1755898517.039 [DAT](INFO): Rx dataTimestamp_ set to:1755898517.038894
2025-08-22T21:35:17.040Z,1755898517.040 [DAT](INFO): DAT read: Bearing 345.9, -14.7 (Local)
2025-08-22T21:35:17.041Z,1755898517.041 [DAT](INFO): Local bearing/azimuth received:
Bearing 345.9, -14.7 (Local)
2025-08-22T21:35:17.043Z,1755898517.043 [DAT](INFO): DAT read: Range 11 to 50 : 38.9 m (trip time 25.9 ms) speed -0.1
2025-08-22T21:35:17.048Z,1755898517.048 [DAT](INFO): DAT read: 21:35:17.6666 LVL= 32752, 26353, 28738, 32755, AGC= 73, IDX= 512,-0.45,-2.390, 2.595,-1.618,-2.850, PHS= 0.561,-0.794, 1.187, RAW= 168.0, -10.9, CAL= 169.1, -12.3, ROT= 340.9, 12.3
2025-08-22T21:35:17.066Z,1755898517.066 [DAT](INFO): got valid direction response:
21:35:17.6666 LVL= 32752, 26353, 28738, 32755, AGC= 73, IDX= 512,-0.45,-2.390, 2.595,-1.618,-2.850, PHS= 0.561,-0.794, 1.187, RAW= 168.0, -10.9, CAL= 169.1, -12.3, ROT= 340.9, 12.3
2025-08-22T21:35:17.066Z,1755898517.066 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-22T21:35:17.067Z,1755898517.067 [DAT](INFO): direction in FSK: [0.923258,-0.319707,-0.213030]
2025-08-22T21:35:17.067Z,1755898517.067 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:17.083Z,1755898517.083 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=37.166424
2025-08-22T21:35:17.236Z,1755898517.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.900002 m,
deltaT: 0.506858 s,
deltaX: 0.200001 m,
approachRate: 0.394589 m/s,
rangeRepo size: 4
2025-08-22T21:35:17.242Z,1755898517.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.653946 m,
bearing: 205.847144 deg,
lat: 36.779372 deg,
lon: -121.859526 deg,
deltaT: 0.506858 s,
deltaX: 0.198738 m,
approachRate: 0.392098 m/s,
posRepo size: 4
2025-08-22T21:35:17.242Z,1755898517.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.65 m.
2025-08-22T21:35:17.287Z,1755898517.287 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=37.370090
2025-08-22T21:35:17.539Z,1755898517.539 [DAT](INFO): DAT read: Rx Time:21:35:18.1666
2025-08-22T21:35:17.539Z,1755898517.539 [DAT](INFO): Rx dataTimestamp_ set to:1755898517.539152
2025-08-22T21:35:17.541Z,1755898517.541 [DAT](INFO): DAT read: Bearing 172.4, -27.3 (Local)
2025-08-22T21:35:17.541Z,1755898517.541 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.4, -27.3 (Local)
2025-08-22T21:35:17.543Z,1755898517.543 [DAT](INFO): DAT read: Range 11 to 50 : 38.9 m (trip time 25.9 ms) speed 0.0
2025-08-22T21:35:17.547Z,1755898517.547 [DAT](INFO): DAT read: 21:35:18.1666 LVL= 32752, 23009, 27122, 32755, AGC= 73, IDX= 511, 0.02,-0.059, 2.175, 0.835, 1.135, PHS=-1.092, 1.085,-0.344, RAW= 310.3, 3.7, CAL= 307.9, 1.0, ROT= 202.1, -1.0
2025-08-22T21:35:17.548Z,1755898517.548 [DAT](INFO): got valid direction response:
21:35:18.1666 LVL= 32752, 23009, 27122, 32755, AGC= 73, IDX= 511, 0.02,-0.059, 2.175, 0.835, 1.135, PHS=-1.092, 1.085,-0.344, RAW= 310.3, 3.7, CAL= 307.9, 1.0, ROT= 202.1, -1.0
2025-08-22T21:35:17.549Z,1755898517.549 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-22T21:35:17.550Z,1755898517.550 [DAT](INFO): direction in FSK: [-0.926387,-0.376167,0.017452]
2025-08-22T21:35:17.550Z,1755898517.550 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:17.554Z,1755898517.554 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=37.637074
2025-08-22T21:35:17.716Z,1755898517.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.900002 m,
deltaT: 0.500258 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:17.723Z,1755898517.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.653946 m,
bearing: 65.309937 deg,
lat: 36.779372 deg,
lon: -121.859526 deg,
deltaT: 0.500258 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:17.724Z,1755898517.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.65 m.
2025-08-22T21:35:17.791Z,1755898517.791 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=37.874195
2025-08-22T21:35:18.018Z,1755898518.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.65 m.
2025-08-22T21:35:18.043Z,1755898518.043 [DAT](INFO): DAT read: Rx Time:21:35:18.6666
2025-08-22T21:35:18.044Z,1755898518.044 [DAT](INFO): Rx dataTimestamp_ set to:1755898518.043321
2025-08-22T21:35:18.045Z,1755898518.045 [DAT](INFO): DAT read: Bearing 164.3, -22.5 (Local)
2025-08-22T21:35:18.045Z,1755898518.045 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.3, -22.5 (Local)
2025-08-22T21:35:18.047Z,1755898518.047 [DAT](INFO): DAT read: Range 11 to 50 : 38.9 m (trip time 25.9 ms) speed 0.0
2025-08-22T21:35:18.052Z,1755898518.052 [DAT](INFO): DAT read: 21:35:18.6666 LVL= 32752, 22513, 27954, 32755, AGC= 73, IDX= 512,-0.49,-2.126,-0.577,-1.540,-1.196, PHS=-0.829, 0.664,-0.388, RAW= 313.3, 8.4, CAL= 311.5, 9.1, ROT= 198.5, -9.1
2025-08-22T21:35:18.053Z,1755898518.053 [DAT](INFO): got valid direction response:
21:35:18.6666 LVL= 32752, 22513, 27954, 32755, AGC= 73, IDX= 512,-0.49,-2.126,-0.577,-1.540,-1.196, PHS=-0.829, 0.664,-0.388, RAW= 313.3, 8.4, CAL= 311.5, 9.1, ROT= 198.5, -9.1
2025-08-22T21:35:18.053Z,1755898518.053 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-22T21:35:18.054Z,1755898518.054 [DAT](INFO): direction in FSK: [-0.936388,-0.313311,0.158158]
2025-08-22T21:35:18.054Z,1755898518.054 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:18.066Z,1755898518.066 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=38.149681
2025-08-22T21:35:18.296Z,1755898518.296 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=38.379120
2025-08-22T21:35:18.476Z,1755898518.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.900002 m,
deltaT: 0.504169 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:18.478Z,1755898518.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.653984 m,
bearing: 62.466697 deg,
lat: 36.779372 deg,
lon: -121.859526 deg,
deltaT: 0.504169 s,
deltaX: 0.000038 m,
approachRate: 0.000076 m/s,
posRepo size: 4
2025-08-22T21:35:18.479Z,1755898518.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.65 m.
2025-08-22T21:35:18.549Z,1755898518.549 [DAT](INFO): DAT read: Rx Time:21:35:19.1665
2025-08-22T21:35:18.549Z,1755898518.549 [DAT](INFO): Rx dataTimestamp_ set to:1755898518.548730
2025-08-22T21:35:18.551Z,1755898518.551 [DAT](INFO): DAT read: Bearing 171.5, -26.3 (Local)
2025-08-22T21:35:18.552Z,1755898518.552 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.5, -26.3 (Local)
2025-08-22T21:35:18.556Z,1755898518.556 [DAT](INFO): DAT read: Range 11 to 50 : 38.7 m (trip time 25.8 ms) speed 0.0
2025-08-22T21:35:18.565Z,1755898518.565 [DAT](INFO): DAT read: 21:35:19.1665 LVL= 32752, 23121, 28130, 32755, AGC= 72, IDX= 511, 0.00,-0.908, 1.344,-0.039, 0.303, PHS=-1.108, 1.086,-0.386, RAW= 311.1, 4.3, CAL= 308.8, 2.1, ROT= 201.2, -2.1
2025-08-22T21:35:18.587Z,1755898518.587 [DAT](INFO): got valid direction response:
21:35:19.1665 LVL= 32752, 23121, 28130, 32755, AGC= 72, IDX= 511, 0.00,-0.908, 1.344,-0.039, 0.303, PHS=-1.108, 1.086,-0.386, RAW= 311.1, 4.3, CAL= 308.8, 2.1, ROT= 201.2, -2.1
2025-08-22T21:35:18.587Z,1755898518.587 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-22T21:35:18.588Z,1755898518.588 [DAT](INFO): direction in FSK: [-0.931698,-0.361382,0.036644]
2025-08-22T21:35:18.588Z,1755898518.588 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:18.596Z,1755898518.596 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=38.679623
2025-08-22T21:35:18.798Z,1755898518.798 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=38.881840
2025-08-22T21:35:18.869Z,1755898518.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.700001 m,
deltaT: 0.505409 s,
deltaX: -0.200001 m,
approachRate: -0.395721 m/s,
rangeRepo size: 4
2025-08-22T21:35:18.875Z,1755898518.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.455173 m,
bearing: 64.612887 deg,
lat: 36.779372 deg,
lon: -121.859528 deg,
deltaT: 0.505409 s,
deltaX: -0.198811 m,
approachRate: -0.393366 m/s,
posRepo size: 4
2025-08-22T21:35:18.876Z,1755898518.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.46 m.
2025-08-22T21:35:19.051Z,1755898519.051 [DAT](INFO): DAT read: Rx Time:21:35:19.6666
2025-08-22T21:35:19.051Z,1755898519.051 [DAT](INFO): Rx dataTimestamp_ set to:1755898519.050724
2025-08-22T21:35:19.052Z,1755898519.052 [DAT](INFO): DAT read: Range 11 to 50 : 39.0 m (trip time 26.0 ms) speed -0.2
2025-08-22T21:35:19.053Z,1755898519.053 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-08-22T21:35:19.054Z,1755898519.054 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=39.137245
2025-08-22T21:35:19.223Z,1755898519.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.000000 m,
deltaT: 0.501994 s,
deltaX: 0.299999 m,
approachRate: 0.597615 m/s,
rangeRepo size: 4
2025-08-22T21:35:19.223Z,1755898519.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.46 m.
2025-08-22T21:35:19.303Z,1755898519.303 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=39.386173
2025-08-22T21:35:19.555Z,1755898519.555 [DAT](INFO): DAT read: Rx Time:21:35:20.1666
2025-08-22T21:35:19.556Z,1755898519.556 [DAT](INFO): Rx dataTimestamp_ set to:1755898519.555251
2025-08-22T21:35:19.557Z,1755898519.557 [DAT](INFO): DAT read: Bearing 158.3, -24.6 (Local)
2025-08-22T21:35:19.557Z,1755898519.557 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.3, -24.6 (Local)
2025-08-22T21:35:19.559Z,1755898519.559 [DAT](INFO): DAT read: Range 11 to 50 : 38.9 m (trip time 25.9 ms) speed 0.0
2025-08-22T21:35:19.564Z,1755898519.564 [DAT](INFO): DAT read: 21:35:20.1666 LVL= 32752, 25441, 27970, 32755, AGC= 74, IDX= 512,-0.02,-2.342,-0.751,-1.661,-1.298, PHS=-0.942, 0.592,-0.406, RAW= 309.9, 11.2, CAL= 308.1, 14.1, ROT= 201.9, -14.1
2025-08-22T21:35:19.565Z,1755898519.565 [DAT](INFO): got valid direction response:
21:35:20.1666 LVL= 32752, 25441, 27970, 32755, AGC= 74, IDX= 512,-0.02,-2.342,-0.751,-1.661,-1.298, PHS=-0.942, 0.592,-0.406, RAW= 309.9, 11.2, CAL= 308.1, 14.1, ROT= 201.9, -14.1
2025-08-22T21:35:19.565Z,1755898519.565 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-22T21:35:19.566Z,1755898519.566 [DAT](INFO): direction in FSK: [-0.899882,-0.361750,0.243615]
2025-08-22T21:35:19.566Z,1755898519.566 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:19.602Z,1755898519.602 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=39.685612
2025-08-22T21:35:19.729Z,1755898519.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.900002 m,
deltaT: 0.504527 s,
deltaX: -0.099998 m,
approachRate: -0.198202 m/s,
rangeRepo size: 4
2025-08-22T21:35:19.747Z,1755898519.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.653912 m,
bearing: 66.269175 deg,
lat: 36.779371 deg,
lon: -121.859528 deg,
deltaT: 1.006521 s,
deltaX: 0.198738 m,
approachRate: 0.197451 m/s,
posRepo size: 4
2025-08-22T21:35:19.747Z,1755898519.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.65 m.
2025-08-22T21:35:19.807Z,1755898519.807 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=39.890129
2025-08-22T21:35:20.027Z,1755898520.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.65 m.
2025-08-22T21:35:20.059Z,1755898520.059 [DAT](INFO): DAT read: Rx Time:21:35:20.6666
2025-08-22T21:35:20.060Z,1755898520.060 [DAT](INFO): Rx dataTimestamp_ set to:1755898520.059434
2025-08-22T21:35:20.061Z,1755898520.061 [DAT](INFO): DAT read: Bearing 145.1, -39.1 (Local)
2025-08-22T21:35:20.061Z,1755898520.061 [DAT](INFO): Local bearing/azimuth received:
Bearing 145.1, -39.1 (Local)
2025-08-22T21:35:20.063Z,1755898520.063 [DAT](INFO): DAT read: Range 11 to 50 : 39.0 m (trip time 26.0 ms) speed 0.0
2025-08-22T21:35:20.068Z,1755898520.068 [DAT](INFO): DAT read: 21:35:20.6666 LVL= 32752, 26865, 32754, 32755, AGC= 75, IDX= 513, 0.48,-0.840, 1.284, 0.569, 0.757, PHS=-1.495, 0.571,-0.233, RAW= 292.7, 12.8, CAL= 289.8, 19.6, ROT= 220.2, -19.6
2025-08-22T21:35:20.069Z,1755898520.069 [DAT](INFO): got valid direction response:
21:35:20.6666 LVL= 32752, 26865, 32754, 32755, AGC= 75, IDX= 513, 0.48,-0.840, 1.284, 0.569, 0.757, PHS=-1.495, 0.571,-0.233, RAW= 292.7, 12.8, CAL= 289.8, 19.6, ROT= 220.2, -19.6
2025-08-22T21:35:20.069Z,1755898520.069 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-22T21:35:20.070Z,1755898520.070 [DAT](INFO): direction in FSK: [-0.719540,-0.608058,0.335452]
2025-08-22T21:35:20.071Z,1755898520.071 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:20.074Z,1755898520.074 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=40.157909
2025-08-22T21:35:20.311Z,1755898520.311 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=40.393932
2025-08-22T21:35:20.494Z,1755898520.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.000000 m,
deltaT: 0.504183 s,
deltaX: 0.099998 m,
approachRate: 0.198338 m/s,
rangeRepo size: 4
2025-08-22T21:35:20.496Z,1755898520.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.753330 m,
bearing: 84.312711 deg,
lat: 36.779371 deg,
lon: -121.859523 deg,
deltaT: 0.504183 s,
deltaX: 0.099419 m,
approachRate: 0.197188 m/s,
posRepo size: 4
2025-08-22T21:35:20.497Z,1755898520.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.75 m.
2025-08-22T21:35:20.563Z,1755898520.563 [DAT](INFO): DAT read: Rx Time:21:35:21.1666
2025-08-22T21:35:20.563Z,1755898520.563 [DAT](INFO): Rx dataTimestamp_ set to:1755898520.563190
2025-08-22T21:35:20.565Z,1755898520.565 [DAT](INFO): DAT read: Range 11 to 50 : 39.0 m (trip time 26.0 ms) speed -0.1
2025-08-22T21:35:20.565Z,1755898520.565 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-08-22T21:35:20.566Z,1755898520.566 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=40.649689
2025-08-22T21:35:20.815Z,1755898520.815 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=40.898380
2025-08-22T21:35:20.951Z,1755898520.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.000000 m,
deltaT: 0.503756 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:20.952Z,1755898520.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.75 m.
2025-08-22T21:35:21.068Z,1755898521.068 [DAT](INFO): DAT read: Rx Time:21:35:21.6668
2025-08-22T21:35:21.068Z,1755898521.068 [DAT](INFO): Rx dataTimestamp_ set to:1755898521.067727
2025-08-22T21:35:21.069Z,1755898521.069 [DAT](INFO): DAT read: Bearing 174.1, -27.6 (Local)
2025-08-22T21:35:21.070Z,1755898521.070 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.1, -27.6 (Local)
2025-08-22T21:35:21.072Z,1755898521.072 [DAT](INFO): DAT read: Range 11 to 50 : 39.3 m (trip time 26.2 ms) speed 0.0
2025-08-22T21:35:21.076Z,1755898521.076 [DAT](INFO): DAT read: 21:35:21.6668 LVL= 32752, 32753, 32754, 30243, AGC= 71, IDX= 3,-0.43,-0.763, 1.515, 0.145, 0.427, PHS=-1.088, 1.134,-0.326, RAW= 310.3, 2.9, CAL= 307.9, -0.3, ROT= 202.1, 0.3
2025-08-22T21:35:21.077Z,1755898521.077 [DAT](INFO): got valid direction response:
21:35:21.6668 LVL= 32752, 32753, 32754, 30243, AGC= 71, IDX= 3,-0.43,-0.763, 1.515, 0.145, 0.427, PHS=-1.088, 1.134,-0.326, RAW= 310.3, 2.9, CAL= 307.9, -0.3, ROT= 202.1, 0.3
2025-08-22T21:35:21.078Z,1755898521.078 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-22T21:35:21.079Z,1755898521.079 [DAT](INFO): direction in FSK: [-0.926516,-0.376219,-0.005236]
2025-08-22T21:35:21.079Z,1755898521.079 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:21.434Z,1755898521.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.299999 m,
deltaT: 0.504537 s,
deltaX: 0.299999 m,
approachRate: 0.594603 m/s,
rangeRepo size: 4
2025-08-22T21:35:21.436Z,1755898521.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.051491 m,
bearing: 65.500776 deg,
lat: 36.779371 deg,
lon: -121.859525 deg,
deltaT: 1.008293 s,
deltaX: 0.298161 m,
approachRate: 0.295708 m/s,
posRepo size: 4
2025-08-22T21:35:21.437Z,1755898521.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.05 m.
2025-08-22T21:35:21.572Z,1755898521.572 [DAT](INFO): DAT read: Rx Time:21:35:22.1667
2025-08-22T21:35:21.573Z,1755898521.573 [DAT](INFO): Rx dataTimestamp_ set to:1755898521.572620
2025-08-22T21:35:21.574Z,1755898521.574 [DAT](INFO): DAT read: Bearing 172.5, -27.3 (Local)
2025-08-22T21:35:21.575Z,1755898521.575 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.5, -27.3 (Local)
2025-08-22T21:35:21.577Z,1755898521.577 [DAT](INFO): DAT read: Range 11 to 50 : 39.2 m (trip time 26.1 ms) speed -0.2
2025-08-22T21:35:21.582Z,1755898521.582 [DAT](INFO): DAT read: 21:35:22.1667 LVL= 32752, 24081, 29506, 32755, AGC= 74, IDX= 498, 0.05,-0.224, 1.980, 0.653, 0.958, PHS=-1.080, 1.068,-0.349, RAW= 310.4, 3.9, CAL= 308.1, 1.3, ROT= 201.9, -1.3
2025-08-22T21:35:21.583Z,1755898521.583 [DAT](INFO): got valid direction response:
21:35:22.1667 LVL= 32752, 24081, 29506, 32755, AGC= 74, IDX= 498, 0.05,-0.224, 1.980, 0.653, 0.958, PHS=-1.080, 1.068,-0.349, RAW= 310.4, 3.9, CAL= 308.1, 1.3, ROT= 201.9, -1.3
2025-08-22T21:35:21.584Z,1755898521.584 [DAT](INFO): #Rx 121: Read range and direction messages.
2025-08-22T21:35:21.585Z,1755898521.585 [DAT](INFO): direction in FSK: [-0.927597,-0.372892,0.022687]
2025-08-22T21:35:21.585Z,1755898521.585 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:21.781Z,1755898521.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.200001 m,
deltaT: 0.504893 s,
deltaX: -0.099998 m,
approachRate: -0.198059 m/s,
rangeRepo size: 4
2025-08-22T21:35:21.783Z,1755898521.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.952145 m,
bearing: 65.421094 deg,
lat: 36.779371 deg,
lon: -121.859525 deg,
deltaT: 0.504893 s,
deltaX: -0.099346 m,
approachRate: -0.196767 m/s,
posRepo size: 4
2025-08-22T21:35:21.784Z,1755898521.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.95 m.
2025-08-22T21:35:22.075Z,1755898522.075 [DAT](INFO): DAT read: Rx Time:21:35:22.6668
2025-08-22T21:35:22.076Z,1755898522.076 [DAT](INFO): Rx dataTimestamp_ set to:1755898522.075276
2025-08-22T21:35:22.077Z,1755898522.077 [DAT](INFO): DAT read: Bearing 172.1, -27.5 (Local)
2025-08-22T21:35:22.077Z,1755898522.077 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.1, -27.5 (Local)
2025-08-22T21:35:22.079Z,1755898522.079 [DAT](INFO): DAT read: Range 11 to 50 : 39.3 m (trip time 26.2 ms) speed 0.0
2025-08-22T21:35:22.084Z,1755898522.084 [DAT](INFO): DAT read: 21:35:22.6668 LVL= 32752, 29921, 32754, 32499, AGC= 73, IDX= 499,-0.28,-2.355,-0.176,-1.479,-1.176, PHS=-1.077, 1.046,-0.347, RAW= 310.2, 4.1, CAL= 307.8, 1.7, ROT= 202.2, -1.7
2025-08-22T21:35:22.085Z,1755898522.085 [DAT](INFO): got valid direction response:
21:35:22.6668 LVL= 32752, 29921, 32754, 32499, AGC= 73, IDX= 499,-0.28,-2.355,-0.176,-1.479,-1.176, PHS=-1.077, 1.046,-0.347, RAW= 310.2, 4.1, CAL= 307.8, 1.7, ROT= 202.2, -1.7
2025-08-22T21:35:22.085Z,1755898522.085 [DAT](INFO): #Rx 122: Read range and direction messages.
2025-08-22T21:35:22.086Z,1755898522.086 [DAT](INFO): direction in FSK: [-0.925463,-0.377674,0.029666]
2025-08-22T21:35:22.087Z,1755898522.087 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:22.250Z,1755898522.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.299999 m,
deltaT: 0.502656 s,
deltaX: 0.099998 m,
approachRate: 0.198940 m/s,
rangeRepo size: 4
2025-08-22T21:35:22.252Z,1755898522.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.051514 m,
bearing: 65.795197 deg,
lat: 36.779370 deg,
lon: -121.859524 deg,
deltaT: 0.502656 s,
deltaX: 0.099369 m,
approachRate: 0.197688 m/s,
posRepo size: 4
2025-08-22T21:35:22.252Z,1755898522.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.05 m.
2025-08-22T21:35:22.579Z,1755898522.579 [DAT](INFO): DAT read: Rx Time:21:35:23.1667
2025-08-22T21:35:22.580Z,1755898522.580 [DAT](INFO): Rx dataTimestamp_ set to:1755898522.579270
2025-08-22T21:35:22.581Z,1755898522.581 [DAT](INFO): DAT read: Bearing 173.8, -27.4 (Local)
2025-08-22T21:35:22.581Z,1755898522.581 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.8, -27.4 (Local)
2025-08-22T21:35:22.583Z,1755898522.583 [DAT](INFO): DAT read: Range 11 to 50 : 39.2 m (trip time 26.1 ms) speed -0.1
2025-08-22T21:35:22.588Z,1755898522.588 [DAT](INFO): DAT read: 21:35:23.1667 LVL= 32752, 20977, 26210, 32755, AGC= 72, IDX= 498, 0.21,-1.892, 0.340,-1.011,-0.717, PHS=-1.073, 1.102,-0.338, RAW= 310.6, 3.3, CAL= 308.2, 0.3, ROT= 201.8, -0.3
2025-08-22T21:35:22.589Z,1755898522.589 [DAT](INFO): got valid direction response:
21:35:23.1667 LVL= 32752, 20977, 26210, 32755, AGC= 72, IDX= 498, 0.21,-1.892, 0.340,-1.011,-0.717, PHS=-1.073, 1.102,-0.338, RAW= 310.6, 3.3, CAL= 308.2, 0.3, ROT= 201.8, -0.3
2025-08-22T21:35:22.589Z,1755898522.589 [DAT](INFO): #Rx 123: Read range and direction messages.
2025-08-22T21:35:22.590Z,1755898522.590 [DAT](INFO): direction in FSK: [-0.928473,-0.371363,0.005236]
2025-08-22T21:35:22.590Z,1755898522.590 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:22.800Z,1755898522.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.200001 m,
deltaT: 0.503994 s,
deltaX: -0.099998 m,
approachRate: -0.198412 m/s,
rangeRepo size: 4
2025-08-22T21:35:22.806Z,1755898522.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.952106 m,
bearing: 65.317140 deg,
lat: 36.779371 deg,
lon: -121.859525 deg,
deltaT: 0.503994 s,
deltaX: -0.099407 m,
approachRate: -0.197239 m/s,
posRepo size: 4
2025-08-22T21:35:22.807Z,1755898522.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.95 m.
2025-08-22T21:35:23.083Z,1755898523.083 [DAT](INFO): DAT read: Rx Time:21:35:23.6669
2025-08-22T21:35:23.084Z,1755898523.084 [DAT](INFO): Rx dataTimestamp_ set to:1755898523.083389
2025-08-22T21:35:23.085Z,1755898523.085 [DAT](INFO): DAT read: Bearing 172.7, -28.3 (Local)
2025-08-22T21:35:23.085Z,1755898523.085 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.7, -28.3 (Local)
2025-08-22T21:35:23.087Z,1755898523.087 [DAT](INFO): DAT read: Range 11 to 50 : 39.5 m (trip time 26.3 ms) speed -0.1
2025-08-22T21:35:23.092Z,1755898523.092 [DAT](INFO): DAT read: 21:35:23.6669 LVL= 32752, 22689, 32530, 29091, AGC= 73, IDX= 500,-0.10,-2.501,-0.190,-1.555,-1.256, PHS=-1.142, 1.111,-0.343, RAW= 309.5, 3.8, CAL= 307.1, 1.1, ROT= 202.9, -1.1
2025-08-22T21:35:23.093Z,1755898523.093 [DAT](INFO): got valid direction response:
21:35:23.6669 LVL= 32752, 22689, 32530, 29091, AGC= 73, IDX= 500,-0.10,-2.501,-0.190,-1.555,-1.256, PHS=-1.142, 1.111,-0.343, RAW= 309.5, 3.8, CAL= 307.1, 1.1, ROT= 202.9, -1.1
2025-08-22T21:35:23.093Z,1755898523.093 [DAT](INFO): #Rx 124: Read range and direction messages.
2025-08-22T21:35:23.095Z,1755898523.095 [DAT](INFO): direction in FSK: [-0.921016,-0.389052,0.019197]
2025-08-22T21:35:23.095Z,1755898523.095 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:23.259Z,1755898523.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.500000 m,
deltaT: 0.504119 s,
deltaX: 0.299999 m,
approachRate: 0.595096 m/s,
rangeRepo size: 4
2025-08-22T21:35:23.261Z,1755898523.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.250210 m,
bearing: 66.536314 deg,
lat: 36.779371 deg,
lon: -121.859525 deg,
deltaT: 0.504119 s,
deltaX: 0.298103 m,
approachRate: 0.591335 m/s,
posRepo size: 4
2025-08-22T21:35:23.266Z,1755898523.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.25 m.
2025-08-22T21:35:23.588Z,1755898523.588 [DAT](INFO): DAT read: Rx Time:21:35:24.1669
2025-08-22T21:35:23.588Z,1755898523.588 [DAT](INFO): Rx dataTimestamp_ set to:1755898523.587895
2025-08-22T21:35:23.590Z,1755898523.590 [DAT](INFO): DAT read: Bearing 171.7, -27.4 (Local)
2025-08-22T21:35:23.591Z,1755898523.591 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.7, -27.4 (Local)
2025-08-22T21:35:23.598Z,1755898523.598 [DAT](INFO): DAT read: Range 11 to 50 : 39.5 m (trip time 26.3 ms) speed -0.1
2025-08-22T21:35:23.603Z,1755898523.603 [DAT](INFO): DAT read: 21:35:24.1669 LVL= 31728, 24097, 27634, 32755, AGC= 73, IDX= 499, 0.46,-2.290,-0.108,-1.413,-1.101, PHS=-1.087, 1.038,-0.356, RAW= 310.2, 4.4, CAL= 307.8, 2.2, ROT= 202.2, -2.2
2025-08-22T21:35:23.604Z,1755898523.604 [DAT](INFO): got valid direction response:
21:35:24.1669 LVL= 31728, 24097, 27634, 32755, AGC= 73, IDX= 499, 0.46,-2.290,-0.108,-1.413,-1.101, PHS=-1.087, 1.038,-0.356, RAW= 310.2, 4.4, CAL= 307.8, 2.2, ROT= 202.2, -2.2
2025-08-22T21:35:23.604Z,1755898523.604 [DAT](INFO): #Rx 125: Read range and direction messages.
2025-08-22T21:35:23.605Z,1755898523.605 [DAT](INFO): direction in FSK: [-0.925188,-0.377562,0.038388]
2025-08-22T21:35:23.605Z,1755898523.605 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:23.734Z,1755898523.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.500000 m,
deltaT: 0.504506 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:23.736Z,1755898523.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.250210 m,
bearing: 65.958264 deg,
lat: 36.779370 deg,
lon: -121.859524 deg,
deltaT: 0.504506 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:23.736Z,1755898523.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.25 m.
2025-08-22T21:35:23.840Z,1755898523.840 [DAT](INFO): DAT read: Rx Time:21:35:24.6670
2025-08-22T21:35:23.841Z,1755898523.841 [DAT](INFO): Rx dataTimestamp_ set to:1755898523.839942
2025-08-22T21:35:24.046Z,1755898524.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.25 m.
2025-08-22T21:35:24.094Z,1755898524.094 [DAT](INFO): DAT read: Bearing 174.6, -26.9 (Local)
2025-08-22T21:35:24.094Z,1755898524.094 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.6, -26.9 (Local)
2025-08-22T21:35:24.096Z,1755898524.096 [DAT](INFO): DAT read: Range 11 to 50 : 39.6 m (trip time 26.4 ms) speed -0.2
2025-08-22T21:35:24.101Z,1755898524.101 [DAT](INFO): DAT read: 21:35:24.6670 LVL= 32752, 22641, 30898, 32755, AGC= 73, IDX= 501, 0.14,-1.727, 0.557,-0.847,-0.547, PHS=-1.079, 1.148,-0.344, RAW= 311.1, 2.8, CAL= 308.7, -0.3, ROT= 201.3, 0.3
2025-08-22T21:35:24.103Z,1755898524.103 [DAT](INFO): got valid direction response:
21:35:24.6670 LVL= 32752, 22641, 30898, 32755, AGC= 73, IDX= 501, 0.14,-1.727, 0.557,-0.847,-0.547, PHS=-1.079, 1.148,-0.344, RAW= 311.1, 2.8, CAL= 308.7, -0.3, ROT= 201.3, 0.3
2025-08-22T21:35:24.103Z,1755898524.103 [DAT](INFO): #Rx 126: Read range and direction messages.
2025-08-22T21:35:24.105Z,1755898524.105 [DAT](INFO): direction in FSK: [-0.931678,-0.363246,-0.005236]
2025-08-22T21:35:24.105Z,1755898524.105 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:24.345Z,1755898524.345 [DAT](INFO): DAT read: Rx Time:21:35:25.1670
2025-08-22T21:35:24.351Z,1755898524.351 [DAT](INFO): Rx dataTimestamp_ set to:1755898524.350092
2025-08-22T21:35:24.358Z,1755898524.358 [DAT](INFO): DAT read: Bearing 174.1, -26.5 (Local)
2025-08-22T21:35:24.359Z,1755898524.359 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.1, -26.5 (Local)
2025-08-22T21:35:24.368Z,1755898524.368 [DAT](INFO): DAT read: Range 11 to 50 : 39.6 m (trip time 26.4 ms) speed -0.1
2025-08-22T21:35:24.375Z,1755898524.375 [DAT](ERROR): #Rx 127: Read range message, but no direction.
2025-08-22T21:35:24.543Z,1755898524.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.599998 m,
deltaT: 0.762197 s,
deltaX: 0.099998 m,
approachRate: 0.131198 m/s,
rangeRepo size: 4
2025-08-22T21:35:24.545Z,1755898524.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.349560 m,
bearing: 64.929557 deg,
lat: 36.779370 deg,
lon: -121.859524 deg,
deltaT: 0.762197 s,
deltaX: 0.099350 m,
approachRate: 0.130347 m/s,
posRepo size: 4
2025-08-22T21:35:24.546Z,1755898524.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.35 m.
2025-08-22T21:35:24.600Z,1755898524.600 [DAT](INFO): DAT read: 21:35:25.1670 LVL= 32752, 29585, 27122, 32755, AGC= 72, IDX= 501,-0.17, 2.274,-1.781, 3.126,-2.846, PHS=-1.062, 1.109,-0.355, RAW= 311.4, 3.3, CAL= 309.0, 0.3, ROT= 201.0, -0.3
2025-08-22T21:35:24.601Z,1755898524.601 [DAT](INFO): got valid direction response:
21:35:25.1670 LVL= 32752, 29585, 27122, 32755, AGC= 72, IDX= 501,-0.17, 2.274,-1.781, 3.126,-2.846, PHS=-1.062, 1.109,-0.355, RAW= 311.4, 3.3, CAL= 309.0, 0.3, ROT= 201.0, -0.3
2025-08-22T21:35:24.602Z,1755898524.602 [DAT](INFO): #Rx 128: Read direction message, but no range.
2025-08-22T21:35:24.603Z,1755898524.603 [DAT](INFO): direction in FSK: [-0.933568,-0.358363,0.005236]
2025-08-22T21:35:24.852Z,1755898524.852 [DAT](INFO): DAT read: Rx Time:21:35:25.6671
2025-08-22T21:35:24.854Z,1755898524.854 [DAT](INFO): Rx dataTimestamp_ set to:1755898524.852457
2025-08-22T21:35:24.856Z,1755898524.856 [DAT](INFO): DAT read: Bearing 172.6, -26.7 (Local)
2025-08-22T21:35:24.857Z,1755898524.857 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.6, -26.7 (Local)
2025-08-22T21:35:24.862Z,1755898524.862 [DAT](INFO): DAT read: Range 11 to 50 : 39.8 m (trip time 26.5 ms) speed -0.2
2025-08-22T21:35:24.864Z,1755898524.864 [DAT](ERROR): #Rx 129: Read range message, but no direction.
2025-08-22T21:35:25.019Z,1755898525.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.799999 m,
deltaT: 0.502365 s,
deltaX: 0.200001 m,
approachRate: 0.398118 m/s,
rangeRepo size: 4
2025-08-22T21:35:25.022Z,1755898525.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.548309 m,
bearing: 64.712365 deg,
lat: 36.779372 deg,
lon: -121.859528 deg,
deltaT: 0.502365 s,
deltaX: 0.198750 m,
approachRate: 0.395628 m/s,
posRepo size: 4
2025-08-22T21:35:25.023Z,1755898525.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-22T21:35:25.104Z,1755898525.104 [DAT](INFO): DAT read: 21:35:25.6671 LVL= 32752, 22065, 28946, 32755, AGC= 73, IDX= 502, 0.34,-0.382, 1.852, 0.486, 0.814, PHS=-1.094, 1.082,-0.372, RAW= 311.0, 4.0, CAL= 308.6, 1.7, ROT= 201.4, -1.7
2025-08-22T21:35:25.107Z,1755898525.107 [DAT](INFO): got valid direction response:
21:35:25.6671 LVL= 32752, 22065, 28946, 32755, AGC= 73, IDX= 502, 0.34,-0.382, 1.852, 0.486, 0.814, PHS=-1.094, 1.082,-0.372, RAW= 311.0, 4.0, CAL= 308.6, 1.7, ROT= 201.4, -1.7
2025-08-22T21:35:25.108Z,1755898525.108 [DAT](INFO): #Rx 130: Read direction message, but no range.
2025-08-22T21:35:25.109Z,1755898525.109 [DAT](INFO): direction in FSK: [-0.930646,-0.364716,0.029666]
2025-08-22T21:35:25.354Z,1755898525.354 [DAT](INFO): DAT read: Rx Time:21:35:26.1671
2025-08-22T21:35:25.355Z,1755898525.355 [DAT](INFO): Rx dataTimestamp_ set to:1755898525.354213
2025-08-22T21:35:25.359Z,1755898525.359 [DAT](INFO): DAT read: Bearing 173.5, -26.1 (Local)
2025-08-22T21:35:25.360Z,1755898525.360 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.5, -26.1 (Local)
2025-08-22T21:35:25.365Z,1755898525.365 [DAT](INFO): DAT read: Range 11 to 50 : 39.8 m (trip time 26.5 ms) speed -0.2
2025-08-22T21:35:25.367Z,1755898525.367 [DAT](ERROR): #Rx 131: Read range message, but no direction.
2025-08-22T21:35:25.375Z,1755898525.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-22T21:35:25.610Z,1755898525.610 [DAT](INFO): DAT read: 21:35:26.1671 LVL= 31408, 20193, 24306, 30035, AGC= 73, IDX= 502, 0.05,-1.648, 0.622,-0.792,-0.456, PHS=-1.090, 1.123,-0.381, RAW= 311.7, 3.6, CAL= 309.3, 1.0, ROT= 200.7, -1.0
2025-08-22T21:35:25.611Z,1755898525.611 [DAT](INFO): got valid direction response:
21:35:26.1671 LVL= 31408, 20193, 24306, 30035, AGC= 73, IDX= 502, 0.05,-1.648, 0.622,-0.792,-0.456, PHS=-1.090, 1.123,-0.381, RAW= 311.7, 3.6, CAL= 309.3, 1.0, ROT= 200.7, -1.0
2025-08-22T21:35:25.612Z,1755898525.612 [DAT](INFO): #Rx 132: Read direction message, but no range.
2025-08-22T21:35:25.613Z,1755898525.613 [DAT](INFO): direction in FSK: [-0.935302,-0.353421,0.017452]
2025-08-22T21:35:25.790Z,1755898525.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.799999 m,
deltaT: 0.501756 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:25.792Z,1755898525.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.548210 m,
bearing: 64.515087 deg,
lat: 36.779375 deg,
lon: -121.859528 deg,
deltaT: 0.501756 s,
deltaX: -0.000099 m,
approachRate: -0.000198 m/s,
posRepo size: 4
2025-08-22T21:35:25.793Z,1755898525.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-22T21:35:25.862Z,1755898525.862 [DAT](INFO): DAT read: Rx Time:21:35:26.6672
2025-08-22T21:35:25.864Z,1755898525.864 [DAT](INFO): Rx dataTimestamp_ set to:1755898525.863141
2025-08-22T21:35:25.868Z,1755898525.868 [DAT](INFO): DAT read: Bearing 174.1, -27.1 (Local)
2025-08-22T21:35:25.872Z,1755898525.872 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.1, -27.1 (Local)
2025-08-22T21:35:25.883Z,1755898525.883 [DAT](INFO): DAT read: Range 11 to 50 : 39.9 m (trip time 26.6 ms) speed 0.0
2025-08-22T21:35:25.898Z,1755898525.898 [DAT](ERROR): #Rx 133: Read range message, but no direction.
2025-08-22T21:35:26.114Z,1755898526.114 [DAT](INFO): DAT read: 21:35:26.6672 LVL= 32480, 27937, 29778, 32755, AGC= 74, IDX= 503,-0.20,-3.026,-0.762,-2.138,-1.836, PHS=-1.088, 1.118,-0.346, RAW= 310.7, 3.3, CAL= 308.3, 0.3, ROT= 201.7, -0.3
2025-08-22T21:35:26.115Z,1755898526.115 [DAT](INFO): got valid direction response:
21:35:26.6672 LVL= 32480, 27937, 29778, 32755, AGC= 74, IDX= 503,-0.20,-3.026,-0.762,-2.138,-1.836, PHS=-1.088, 1.118,-0.346, RAW= 310.7, 3.3, CAL= 308.3, 0.3, ROT= 201.7, -0.3
2025-08-22T21:35:26.116Z,1755898526.116 [DAT](INFO): #Rx 134: Read direction message, but no range.
2025-08-22T21:35:26.117Z,1755898526.117 [DAT](INFO): direction in FSK: [-0.929120,-0.369742,0.005236]
2025-08-22T21:35:26.144Z,1755898526.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.900002 m,
deltaT: 0.508928 s,
deltaX: 0.100002 m,
approachRate: 0.196496 m/s,
rangeRepo size: 4
2025-08-22T21:35:26.172Z,1755898526.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.647579 m,
bearing: 65.503315 deg,
lat: 36.779375 deg,
lon: -121.859528 deg,
deltaT: 0.508928 s,
deltaX: 0.099369 m,
approachRate: 0.195252 m/s,
posRepo size: 4
2025-08-22T21:35:26.173Z,1755898526.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-08-22T21:35:26.366Z,1755898526.366 [DAT](INFO): DAT read: Rx Time:21:35:27.1672
2025-08-22T21:35:26.368Z,1755898526.368 [DAT](INFO): Rx dataTimestamp_ set to:1755898526.366824
2025-08-22T21:35:26.371Z,1755898526.371 [DAT](INFO): DAT read: Bearing 173.7, -26.5 (Local)
2025-08-22T21:35:26.372Z,1755898526.372 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.7, -26.5 (Local)
2025-08-22T21:35:26.383Z,1755898526.383 [DAT](INFO): DAT read: Range 11 to 50 : 39.9 m (trip time 26.6 ms) speed -0.2
2025-08-22T21:35:26.389Z,1755898526.389 [DAT](ERROR): #Rx 135: Read range message, but no direction.
2025-08-22T21:35:26.618Z,1755898526.618 [DAT](INFO): DAT read: 21:35:27.1672 LVL= 32752, 21953, 27314, 32755, AGC= 73, IDX= 502, 0.41,-2.891,-0.662,-2.036,-1.718, PHS=-1.072, 1.100,-0.362, RAW= 311.3, 3.5, CAL= 308.9, 0.8, ROT= 201.1, -0.8
2025-08-22T21:35:26.619Z,1755898526.619 [DAT](INFO): got valid direction response:
21:35:27.1672 LVL= 32752, 21953, 27314, 32755, AGC= 73, IDX= 502, 0.41,-2.891,-0.662,-2.036,-1.718, PHS=-1.072, 1.100,-0.362, RAW= 311.3, 3.5, CAL= 308.9, 0.8, ROT= 201.1, -0.8
2025-08-22T21:35:26.620Z,1755898526.620 [DAT](INFO): #Rx 136: Read direction message, but no range.
2025-08-22T21:35:26.621Z,1755898526.621 [DAT](INFO): direction in FSK: [-0.932863,-0.359962,0.013962]
2025-08-22T21:35:26.646Z,1755898526.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.900002 m,
deltaT: 0.503683 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:26.648Z,1755898526.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.647579 m,
bearing: 64.965355 deg,
lat: 36.779377 deg,
lon: -121.859528 deg,
deltaT: 0.503683 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:26.649Z,1755898526.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-08-22T21:35:26.871Z,1755898526.871 [DAT](INFO): DAT read: Rx Time:21:35:27.6673
2025-08-22T21:35:26.873Z,1755898526.873 [DAT](INFO): Rx dataTimestamp_ set to:1755898526.871694
2025-08-22T21:35:26.876Z,1755898526.876 [DAT](INFO): DAT read: Bearing 174.8, -26.7 (Local)
2025-08-22T21:35:26.879Z,1755898526.879 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.8, -26.7 (Local)
2025-08-22T21:35:26.885Z,1755898526.885 [DAT](INFO): DAT read: Range 11 to 50 : 40.1 m (trip time 26.7 ms) speed -0.2
2025-08-22T21:35:26.927Z,1755898526.927 [DAT](INFO): DAT read: 21:35:27.6673 LVL= 32752, 23281, 27954, 32755, AGC= 73, IDX= 504, 0.14,-2.616,-0.342,-1.745,-1.441, PHS=-1.073, 1.144,-0.348, RAW= 311.3, 2.9, CAL= 308.9, -0.2, ROT= 201.1, 0.2
2025-08-22T21:35:26.928Z,1755898526.928 [DAT](INFO): got valid direction response:
21:35:27.6673 LVL= 32752, 23281, 27954, 32755, AGC= 73, IDX= 504, 0.14,-2.616,-0.342,-1.745,-1.441, PHS=-1.073, 1.144,-0.348, RAW= 311.3, 2.9, CAL= 308.9, -0.2, ROT= 201.1, 0.2
2025-08-22T21:35:26.929Z,1755898526.929 [DAT](INFO): #Rx 137: Read range and direction messages.
2025-08-22T21:35:26.934Z,1755898526.934 [DAT](INFO): direction in FSK: [-0.932948,-0.359995,-0.003491]
2025-08-22T21:35:26.934Z,1755898526.934 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:27.076Z,1755898527.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.099998 m,
deltaT: 0.504870 s,
deltaX: 0.199997 m,
approachRate: 0.396136 m/s,
rangeRepo size: 4
2025-08-22T21:35:27.079Z,1755898527.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.846203 m,
bearing: 64.953810 deg,
lat: 36.779377 deg,
lon: -121.859528 deg,
deltaT: 0.504870 s,
deltaX: 0.198624 m,
approachRate: 0.393415 m/s,
posRepo size: 4
2025-08-22T21:35:27.079Z,1755898527.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.85 m.
2025-08-22T21:35:27.375Z,1755898527.375 [DAT](INFO): DAT read: Rx Time:21:35:28.1673
2025-08-22T21:35:27.376Z,1755898527.376 [DAT](INFO): Rx dataTimestamp_ set to:1755898527.375346
2025-08-22T21:35:27.383Z,1755898527.383 [DAT](INFO): DAT read: Bearing 174.2, -26.9 (Local)
2025-08-22T21:35:27.385Z,1755898527.385 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.2, -26.9 (Local)
2025-08-22T21:35:27.393Z,1755898527.393 [DAT](INFO): DAT read: Range 11 to 50 : 40.1 m (trip time 26.7 ms) speed 0.0
2025-08-22T21:35:27.401Z,1755898527.401 [DAT](INFO): DAT read: 21:35:28.1673 LVL= 32752, 24545, 27346, 32755, AGC= 73, IDX= 504,-0.15, 1.354,-2.684, 2.225, 2.531, PHS=-1.074, 1.113,-0.350, RAW= 311.0, 3.3, CAL= 308.6, 0.3, ROT= 201.4, -0.3
2025-08-22T21:35:27.430Z,1755898527.430 [DAT](INFO): got valid direction response:
21:35:28.1673 LVL= 32752, 24545, 27346, 32755, AGC= 73, IDX= 504,-0.15, 1.354,-2.684, 2.225, 2.531, PHS=-1.074, 1.113,-0.350, RAW= 311.0, 3.3, CAL= 308.6, 0.3, ROT= 201.4, -0.3
2025-08-22T21:35:27.430Z,1755898527.430 [DAT](INFO): #Rx 138: Read range and direction messages.
2025-08-22T21:35:27.431Z,1755898527.431 [DAT](INFO): direction in FSK: [-0.931043,-0.364872,0.005236]
2025-08-22T21:35:27.432Z,1755898527.432 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:27.641Z,1755898527.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.099998 m,
deltaT: 0.503652 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:27.647Z,1755898527.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.846203 m,
bearing: 65.349447 deg,
lat: 36.779377 deg,
lon: -121.859528 deg,
deltaT: 0.503652 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:27.648Z,1755898527.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.85 m.
2025-08-22T21:35:27.879Z,1755898527.879 [DAT](INFO): DAT read: Rx Time:21:35:28.6674
2025-08-22T21:35:27.881Z,1755898527.881 [DAT](INFO): Rx dataTimestamp_ set to:1755898527.879521
2025-08-22T21:35:27.885Z,1755898527.885 [DAT](INFO): DAT read: Bearing 173.4, -28.7 (Local)
2025-08-22T21:35:27.887Z,1755898527.887 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.4, -28.7 (Local)
2025-08-22T21:35:27.900Z,1755898527.900 [DAT](INFO): DAT read: Range 11 to 50 : 40.2 m (trip time 26.8 ms) speed -0.2
2025-08-22T21:35:27.938Z,1755898527.938 [DAT](INFO): DAT read: 21:35:28.6674 LVL= 31328, 21825, 27378, 28883, AGC= 74, IDX= 505, 0.36,-1.691, 0.562,-0.754,-0.476, PHS=-1.114, 1.083,-0.323, RAW= 309.2, 3.7, CAL= 306.8, 0.9, ROT= 203.2, -0.9
2025-08-22T21:35:27.939Z,1755898527.939 [DAT](INFO): got valid direction response:
21:35:28.6674 LVL= 31328, 21825, 27378, 28883, AGC= 74, IDX= 505, 0.36,-1.691, 0.562,-0.754,-0.476, PHS=-1.114, 1.083,-0.323, RAW= 309.2, 3.7, CAL= 306.8, 0.9, ROT= 203.2, -0.9
2025-08-22T21:35:27.940Z,1755898527.940 [DAT](INFO): #Rx 139: Read range and direction messages.
2025-08-22T21:35:27.941Z,1755898527.941 [DAT](INFO): direction in FSK: [-0.919022,-0.393893,0.015707]
2025-08-22T21:35:27.941Z,1755898527.941 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:28.051Z,1755898528.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.200001 m,
deltaT: 0.504175 s,
deltaX: 0.100002 m,
approachRate: 0.198348 m/s,
rangeRepo size: 4
2025-08-22T21:35:28.053Z,1755898528.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.945587 m,
bearing: 67.237274 deg,
lat: 36.779375 deg,
lon: -121.859527 deg,
deltaT: 0.504175 s,
deltaX: 0.099384 m,
approachRate: 0.197123 m/s,
posRepo size: 4
2025-08-22T21:35:28.058Z,1755898528.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.95 m.
2025-08-22T21:35:28.384Z,1755898528.384 [DAT](INFO): DAT read: Rx Time:21:35:29.1674
2025-08-22T21:35:28.386Z,1755898528.386 [DAT](INFO): Rx dataTimestamp_ set to:1755898528.384245
2025-08-22T21:35:28.391Z,1755898528.391 [DAT](INFO): DAT read: Bearing 174.5, -27.2 (Local)
2025-08-22T21:35:28.392Z,1755898528.392 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.5, -27.2 (Local)
2025-08-22T21:35:28.396Z,1755898528.396 [DAT](INFO): DAT read: Range 11 to 50 : 40.2 m (trip time 26.8 ms) speed -0.1
2025-08-22T21:35:28.404Z,1755898528.404 [DAT](INFO): DAT read: 21:35:29.1674 LVL= 32752, 24097, 25794, 32755, AGC= 73, IDX= 505, 0.02, 2.444,-1.585,-2.957,-2.659, PHS=-1.078, 1.119,-0.342, RAW= 310.8, 3.1, CAL= 308.3, 0.1, ROT= 201.7, -0.1
2025-08-22T21:35:28.411Z,1755898528.411 [DAT](INFO): got valid direction response:
21:35:29.1674 LVL= 32752, 24097, 25794, 32755, AGC= 73, IDX= 505, 0.02, 2.444,-1.585,-2.957,-2.659, PHS=-1.078, 1.119,-0.342, RAW= 310.8, 3.1, CAL= 308.3, 0.1, ROT= 201.7, -0.1
2025-08-22T21:35:28.412Z,1755898528.412 [DAT](INFO): #Rx 140: Read range and direction messages.
2025-08-22T21:35:28.413Z,1755898528.413 [DAT](INFO): direction in FSK: [-0.929131,-0.369746,0.001745]
2025-08-22T21:35:28.418Z,1755898528.418 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:28.517Z,1755898528.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.200001 m,
deltaT: 0.504724 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:28.524Z,1755898528.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.945587 m,
bearing: 65.670476 deg,
lat: 36.779375 deg,
lon: -121.859527 deg,
deltaT: 0.504724 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:28.524Z,1755898528.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.95 m.
2025-08-22T21:35:28.860Z,1755898528.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.95 m.
2025-08-22T21:35:28.887Z,1755898528.887 [DAT](INFO): DAT read: Rx Time:21:35:29.6676
2025-08-22T21:35:28.889Z,1755898528.889 [DAT](INFO): Rx dataTimestamp_ set to:1755898528.887781
2025-08-22T21:35:28.895Z,1755898528.895 [DAT](INFO): DAT read: Bearing 174.4, -27.8 (Local)
2025-08-22T21:35:28.895Z,1755898528.895 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.4, -27.8 (Local)
2025-08-22T21:35:28.899Z,1755898528.899 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m (trip time 27.0 ms) speed -0.2
2025-08-22T21:35:28.906Z,1755898528.906 [DAT](INFO): DAT read: 21:35:29.6676 LVL= 32752, 23793, 25330, 32755, AGC= 72, IDX= 507,-0.36, 2.414,-1.661,-2.985,-2.704, PHS=-1.063, 1.088,-0.325, RAW= 310.3, 3.2, CAL= 307.8, 0.1, ROT= 202.2, -0.1
2025-08-22T21:35:28.907Z,1755898528.907 [DAT](INFO): got valid direction response:
21:35:29.6676 LVL= 32752, 23793, 25330, 32755, AGC= 72, IDX= 507,-0.36, 2.414,-1.661,-2.985,-2.704, PHS=-1.063, 1.088,-0.325, RAW= 310.3, 3.2, CAL= 307.8, 0.1, ROT= 202.2, -0.1
2025-08-22T21:35:28.908Z,1755898528.908 [DAT](INFO): #Rx 141: Read range and direction messages.
2025-08-22T21:35:28.910Z,1755898528.910 [DAT](INFO): direction in FSK: [-0.925869,-0.377840,0.001745]
2025-08-22T21:35:28.910Z,1755898528.910 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:29.234Z,1755898529.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.500000 m,
deltaT: 0.503536 s,
deltaX: 0.299999 m,
approachRate: 0.595785 m/s,
rangeRepo size: 4
2025-08-22T21:35:29.236Z,1755898529.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.243683 m,
bearing: 66.194386 deg,
lat: 36.779374 deg,
lon: -121.859526 deg,
deltaT: 0.503536 s,
deltaX: 0.298096 m,
approachRate: 0.592005 m/s,
posRepo size: 4
2025-08-22T21:35:29.237Z,1755898529.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T21:35:29.392Z,1755898529.392 [DAT](INFO): DAT read: Rx Time:21:35:30.1675
2025-08-22T21:35:29.395Z,1755898529.395 [DAT](INFO): Rx dataTimestamp_ set to:1755898529.392373
2025-08-22T21:35:29.397Z,1755898529.397 [DAT](INFO): DAT read: Bearing 173.6, -27.2 (Local)
2025-08-22T21:35:29.398Z,1755898529.398 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.6, -27.2 (Local)
2025-08-22T21:35:29.401Z,1755898529.401 [DAT](INFO): DAT read: Range 11 to 50 : 40.4 m (trip time 26.9 ms) speed -0.1
2025-08-22T21:35:29.415Z,1755898529.415 [DAT](INFO): DAT read: 21:35:30.1675 LVL= 32752, 25729, 27474, 32755, AGC= 72, IDX= 506, 0.06,-2.637,-0.449,-1.775,-1.473, PHS=-1.062, 1.069,-0.346, RAW= 310.7, 3.7, CAL= 308.3, 0.9, ROT= 201.7, -0.9
2025-08-22T21:35:29.416Z,1755898529.416 [DAT](INFO): got valid direction response:
21:35:30.1675 LVL= 32752, 25729, 27474, 32755, AGC= 72, IDX= 506, 0.06,-2.637,-0.449,-1.775,-1.473, PHS=-1.062, 1.069,-0.346, RAW= 310.7, 3.7, CAL= 308.3, 0.9, ROT= 201.7, -0.9
2025-08-22T21:35:29.417Z,1755898529.417 [DAT](INFO): #Rx 142: Read range and direction messages.
2025-08-22T21:35:29.424Z,1755898529.424 [DAT](INFO): direction in FSK: [-0.929018,-0.369701,0.015707]
2025-08-22T21:35:29.430Z,1755898529.430 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:29.702Z,1755898529.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.400002 m,
deltaT: 0.504592 s,
deltaX: -0.099998 m,
approachRate: -0.198177 m/s,
rangeRepo size: 4
2025-08-22T21:35:29.704Z,1755898529.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.144314 m,
bearing: 65.794153 deg,
lat: 36.779374 deg,
lon: -121.859526 deg,
deltaT: 0.504592 s,
deltaX: -0.099369 m,
approachRate: -0.196929 m/s,
posRepo size: 4
2025-08-22T21:35:29.705Z,1755898529.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.14 m.
2025-08-22T21:35:29.895Z,1755898529.895 [DAT](INFO): DAT read: Rx Time:21:35:30.6676
2025-08-22T21:35:29.896Z,1755898529.896 [DAT](INFO): Rx dataTimestamp_ set to:1755898529.895289
2025-08-22T21:35:29.897Z,1755898529.897 [DAT](INFO): DAT read: Bearing 173.8, -28.6 (Local)
2025-08-22T21:35:29.898Z,1755898529.898 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.8, -28.6 (Local)
2025-08-22T21:35:29.901Z,1755898529.901 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m (trip time 27.0 ms) speed -0.2
2025-08-22T21:35:29.908Z,1755898529.908 [DAT](INFO): DAT read: 21:35:30.6676 LVL= 32752, 20129, 22738, 29363, AGC= 73, IDX= 507,-0.39, 2.277,-1.740,-3.068,-2.790, PHS=-1.114, 1.095,-0.322, RAW= 309.3, 3.5, CAL= 306.9, 0.6, ROT= 203.1, -0.6
2025-08-22T21:35:29.910Z,1755898529.910 [DAT](INFO): got valid direction response:
21:35:30.6676 LVL= 32752, 20129, 22738, 29363, AGC= 73, IDX= 507,-0.39, 2.277,-1.740,-3.068,-2.790, PHS=-1.114, 1.095,-0.322, RAW= 309.3, 3.5, CAL= 306.9, 0.6, ROT= 203.1, -0.6
2025-08-22T21:35:29.911Z,1755898529.911 [DAT](INFO): #Rx 143: Read range and direction messages.
2025-08-22T21:35:29.913Z,1755898529.913 [DAT](INFO): direction in FSK: [-0.919771,-0.392316,0.010472]
2025-08-22T21:35:29.913Z,1755898529.913 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:30.064Z,1755898530.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.500000 m,
deltaT: 0.502916 s,
deltaX: 0.099998 m,
approachRate: 0.198837 m/s,
rangeRepo size: 4
2025-08-22T21:35:30.070Z,1755898530.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.243740 m,
bearing: 67.202672 deg,
lat: 36.779372 deg,
lon: -121.859523 deg,
deltaT: 0.502916 s,
deltaX: 0.099426 m,
approachRate: 0.197700 m/s,
posRepo size: 4
2025-08-22T21:35:30.071Z,1755898530.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T21:35:30.396Z,1755898530.396 [DAT](INFO): DAT read: Rx Time:21:35:31.1675
2025-08-22T21:35:30.397Z,1755898530.397 [DAT](INFO): Rx dataTimestamp_ set to:1755898530.396682
2025-08-22T21:35:30.399Z,1755898530.399 [DAT](INFO): DAT read: Bearing 172.2, -26.6 (Local)
2025-08-22T21:35:30.400Z,1755898530.400 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.2, -26.6 (Local)
2025-08-22T21:35:30.403Z,1755898530.403 [DAT](INFO): DAT read: Range 11 to 50 : 40.4 m (trip time 26.9 ms) speed -0.1
2025-08-22T21:35:30.415Z,1755898530.415 [DAT](INFO): DAT read: 21:35:31.1675 LVL= 32752, 28129, 25394, 32755, AGC= 73, IDX= 506, 0.04, 2.279,-1.777,-3.139,-2.799, PHS=-1.103, 1.067,-0.384, RAW= 311.0, 4.4, CAL= 308.7, 2.3, ROT= 201.3, -2.3
2025-08-22T21:35:30.416Z,1755898530.416 [DAT](INFO): got valid direction response:
21:35:31.1675 LVL= 32752, 28129, 25394, 32755, AGC= 73, IDX= 506, 0.04, 2.279,-1.777,-3.139,-2.799, PHS=-1.103, 1.067,-0.384, RAW= 311.0, 4.4, CAL= 308.7, 2.3, ROT= 201.3, -2.3
2025-08-22T21:35:30.416Z,1755898530.416 [DAT](INFO): #Rx 144: Read range and direction messages.
2025-08-22T21:35:30.417Z,1755898530.417 [DAT](INFO): direction in FSK: [-0.930941,-0.362959,0.040132]
2025-08-22T21:35:30.422Z,1755898530.422 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:30.596Z,1755898530.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.400002 m,
deltaT: 0.501393 s,
deltaX: -0.099998 m,
approachRate: -0.199441 m/s,
rangeRepo size: 4
2025-08-22T21:35:30.602Z,1755898530.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.144375 m,
bearing: 65.547851 deg,
lat: 36.779374 deg,
lon: -121.859526 deg,
deltaT: 0.501393 s,
deltaX: -0.099365 m,
approachRate: -0.198178 m/s,
posRepo size: 4
2025-08-22T21:35:30.602Z,1755898530.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.14 m.
2025-08-22T21:35:30.900Z,1755898530.900 [DAT](INFO): DAT read: Rx Time:21:35:31.6676
2025-08-22T21:35:30.901Z,1755898530.901 [DAT](INFO): Rx dataTimestamp_ set to:1755898530.900489
2025-08-22T21:35:30.903Z,1755898530.903 [DAT](INFO): DAT read: Bearing 172.8, -27.7 (Local)
2025-08-22T21:35:30.904Z,1755898530.904 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.8, -27.7 (Local)
2025-08-22T21:35:30.908Z,1755898530.908 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m (trip time 27.0 ms) speed -0.6
2025-08-22T21:35:30.916Z,1755898530.916 [DAT](INFO): DAT read: 21:35:31.6676 LVL= 30192, 17937, 20178, 26867, AGC= 72, IDX= 507, 0.48,-2.560,-0.386,-1.679,-1.380, PHS=-1.077, 1.039,-0.343, RAW= 310.0, 4.1, CAL= 307.6, 1.7, ROT= 202.4, -1.7
2025-08-22T21:35:30.917Z,1755898530.917 [DAT](INFO): got valid direction response:
21:35:31.6676 LVL= 30192, 17937, 20178, 26867, AGC= 72, IDX= 507, 0.48,-2.560,-0.386,-1.679,-1.380, PHS=-1.077, 1.039,-0.343, RAW= 310.0, 4.1, CAL= 307.6, 1.7, ROT= 202.4, -1.7
2025-08-22T21:35:30.917Z,1755898530.917 [DAT](INFO): #Rx 145: Read range and direction messages.
2025-08-22T21:35:30.918Z,1755898530.918 [DAT](INFO): direction in FSK: [-0.924139,-0.380903,0.029666]
2025-08-22T21:35:30.919Z,1755898530.919 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:31.050Z,1755898531.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.500000 m,
deltaT: 0.503807 s,
deltaX: 0.099998 m,
approachRate: 0.198486 m/s,
rangeRepo size: 4
2025-08-22T21:35:31.052Z,1755898531.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.243782 m,
bearing: 66.620768 deg,
lat: 36.779372 deg,
lon: -121.859523 deg,
deltaT: 0.503807 s,
deltaX: 0.099407 m,
approachRate: 0.197312 m/s,
posRepo size: 4
2025-08-22T21:35:31.052Z,1755898531.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T21:35:31.404Z,1755898531.404 [DAT](INFO): DAT read: Rx Time:21:35:32.1676
2025-08-22T21:35:31.405Z,1755898531.405 [DAT](INFO): Rx dataTimestamp_ set to:1755898531.404759
2025-08-22T21:35:31.407Z,1755898531.407 [DAT](INFO): DAT read: Bearing 173.8, -27.8 (Local)
2025-08-22T21:35:31.408Z,1755898531.408 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.8, -27.8 (Local)
2025-08-22T21:35:31.411Z,1755898531.411 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m (trip time 27.0 ms) speed -0.2
2025-08-22T21:35:31.415Z,1755898531.415 [DAT](INFO): DAT read: 21:35:32.1676 LVL= 32752, 23393, 25282, 32755, AGC= 74, IDX= 507,-0.01, 1.390,-2.631, 2.299, 2.598, PHS=-1.106, 1.099,-0.343, RAW= 310.1, 3.6, CAL= 307.7, 0.9, ROT= 202.3, -0.9
2025-08-22T21:35:31.416Z,1755898531.416 [DAT](INFO): got valid direction response:
21:35:32.1676 LVL= 32752, 23393, 25282, 32755, AGC= 74, IDX= 507,-0.01, 1.390,-2.631, 2.299, 2.598, PHS=-1.106, 1.099,-0.343, RAW= 310.1, 3.6, CAL= 307.7, 0.9, ROT= 202.3, -0.9
2025-08-22T21:35:31.417Z,1755898531.417 [DAT](INFO): #Rx 146: Read range and direction messages.
2025-08-22T21:35:31.419Z,1755898531.419 [DAT](INFO): direction in FSK: [-0.925096,-0.379409,0.015707]
2025-08-22T21:35:31.419Z,1755898531.419 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:31.607Z,1755898531.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.500000 m,
deltaT: 0.504270 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:31.609Z,1755898531.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.243782 m,
bearing: 66.473552 deg,
lat: 36.779371 deg,
lon: -121.859525 deg,
deltaT: 0.504270 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:31.609Z,1755898531.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T21:35:31.908Z,1755898531.908 [DAT](INFO): DAT read: Rx Time:21:35:32.6678
2025-08-22T21:35:31.909Z,1755898531.909 [DAT](INFO): Rx dataTimestamp_ set to:1755898531.908452
2025-08-22T21:35:31.910Z,1755898531.910 [DAT](INFO): DAT read: Bearing 171.2, -27.1 (Local)
2025-08-22T21:35:31.911Z,1755898531.911 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.2, -27.1 (Local)
2025-08-22T21:35:31.913Z,1755898531.913 [DAT](INFO): DAT read: Range 11 to 50 : 40.8 m (trip time 27.2 ms) speed -0.1
2025-08-22T21:35:31.921Z,1755898531.921 [DAT](INFO): DAT read: 21:35:32.6678 LVL= 29680, 16801, 21314, 28275, AGC= 71, IDX= 508, 0.41,-2.686,-0.486,-1.809,-1.469, PHS=-1.114, 1.029,-0.384, RAW= 310.4, 5.0, CAL= 308.1, 3.3, ROT= 201.9, -3.3
2025-08-22T21:35:31.922Z,1755898531.922 [DAT](INFO): got valid direction response:
21:35:32.6678 LVL= 29680, 16801, 21314, 28275, AGC= 71, IDX= 508, 0.41,-2.686,-0.486,-1.809,-1.469, PHS=-1.114, 1.029,-0.384, RAW= 310.4, 5.0, CAL= 308.1, 3.3, ROT= 201.9, -3.3
2025-08-22T21:35:31.923Z,1755898531.923 [DAT](INFO): #Rx 147: Read range and direction messages.
2025-08-22T21:35:31.924Z,1755898531.924 [DAT](INFO): direction in FSK: [-0.926298,-0.372369,0.057564]
2025-08-22T21:35:31.924Z,1755898531.924 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:32.019Z,1755898532.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.799999 m,
deltaT: 0.503693 s,
deltaX: 0.299999 m,
approachRate: 0.595599 m/s,
rangeRepo size: 4
2025-08-22T21:35:32.021Z,1755898532.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.541866 m,
bearing: 66.274846 deg,
lat: 36.779371 deg,
lon: -121.859523 deg,
deltaT: 0.503693 s,
deltaX: 0.298084 m,
approachRate: 0.591798 m/s,
posRepo size: 4
2025-08-22T21:35:32.030Z,1755898532.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-22T21:35:32.282Z,1755898532.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:35:32.284Z,1755898532.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-22T21:35:32.411Z,1755898532.411 [DAT](INFO): DAT read: Rx Time:21:35:33.1676
2025-08-22T21:35:32.411Z,1755898532.411 [DAT](INFO): Rx dataTimestamp_ set to:1755898532.411209
2025-08-22T21:35:32.413Z,1755898532.413 [DAT](INFO): DAT read: Bearing 172.5, -27.3 (Local)
2025-08-22T21:35:32.413Z,1755898532.413 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.5, -27.3 (Local)
2025-08-22T21:35:32.415Z,1755898532.415 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m (trip time 27.0 ms) speed -0.1
2025-08-22T21:35:32.420Z,1755898532.420 [DAT](INFO): DAT read: 21:35:33.1676 LVL= 32752, 23393, 30930, 32755, AGC= 73, IDX= 508,-0.04, 0.795, 3.023, 1.679, 2.004, PHS=-1.107, 1.064,-0.368, RAW= 310.5, 4.3, CAL= 308.1, 2.1, ROT= 201.9, -2.1
2025-08-22T21:35:32.421Z,1755898532.421 [DAT](INFO): got valid direction response:
21:35:33.1676 LVL= 32752, 23393, 30930, 32755, AGC= 73, IDX= 508,-0.04, 0.795, 3.023, 1.679, 2.004, PHS=-1.107, 1.064,-0.368, RAW= 310.5, 4.3, CAL= 308.1, 2.1, ROT= 201.9, -2.1
2025-08-22T21:35:32.421Z,1755898532.421 [DAT](INFO): #Rx 148: Read range and direction messages.
2025-08-22T21:35:32.422Z,1755898532.422 [DAT](INFO): direction in FSK: [-0.927213,-0.372737,0.036644]
2025-08-22T21:35:32.422Z,1755898532.422 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:32.426Z,1755898532.426 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:35:32.426Z,1755898532.426 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:35:32.426Z,1755898532.426 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:32.662Z,1755898532.662 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:32.662Z,1755898532.662 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:32.663Z,1755898532.663 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:32.746Z,1755898532.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.500000 m,
deltaT: 0.502757 s,
deltaX: -0.299999 m,
approachRate: -0.596708 m/s,
rangeRepo size: 4
2025-08-22T21:35:32.748Z,1755898532.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.243763 m,
bearing: 66.236208 deg,
lat: 36.779372 deg,
lon: -121.859525 deg,
deltaT: 0.502757 s,
deltaX: -0.298103 m,
approachRate: -0.592937 m/s,
posRepo size: 4
2025-08-22T21:35:32.748Z,1755898532.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T21:35:32.915Z,1755898532.915 [DAT](INFO): DAT read: Rx Time:21:35:33.6677
2025-08-22T21:35:32.916Z,1755898532.916 [DAT](INFO): Rx dataTimestamp_ set to:1755898532.915380
2025-08-22T21:35:32.917Z,1755898532.917 [DAT](INFO): DAT read: Bearing 171.8, -27.6 (Local)
2025-08-22T21:35:32.917Z,1755898532.917 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.8, -27.6 (Local)
2025-08-22T21:35:32.919Z,1755898532.919 [DAT](INFO): DAT read: Range 11 to 50 : 40.7 m (trip time 27.1 ms) speed -0.1
2025-08-22T21:35:32.924Z,1755898532.924 [DAT](INFO): DAT read: 21:35:33.6677 LVL= 29552, 16689, 24994, 31043, AGC= 71, IDX= 509, 0.43,-2.894,-0.676,-2.002,-1.676, PHS=-1.116, 1.045,-0.369, RAW= 310.1, 4.7, CAL= 307.8, 2.7, ROT= 202.2, -2.7
2025-08-22T21:35:32.925Z,1755898532.925 [DAT](INFO): got valid direction response:
21:35:33.6677 LVL= 29552, 16689, 24994, 31043, AGC= 71, IDX= 509, 0.43,-2.894,-0.676,-2.002,-1.676, PHS=-1.116, 1.045,-0.369, RAW= 310.1, 4.7, CAL= 307.8, 2.7, ROT= 202.2, -2.7
2025-08-22T21:35:32.926Z,1755898532.926 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:32.926Z,1755898532.926 [DAT](INFO): direction in FSK: [-0.924843,-0.377421,0.047106]
2025-08-22T21:35:32.927Z,1755898532.927 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:32.934Z,1755898532.934 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:32.935Z,1755898532.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:33.112Z,1755898533.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.700001 m,
deltaT: 0.504171 s,
deltaX: 0.200001 m,
approachRate: 0.396692 m/s,
rangeRepo size: 4
2025-08-22T21:35:33.114Z,1755898533.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.442417 m,
bearing: 66.631605 deg,
lat: 36.779371 deg,
lon: -121.859524 deg,
deltaT: 0.504171 s,
deltaX: 0.198654 m,
approachRate: 0.394021 m/s,
posRepo size: 4
2025-08-22T21:35:33.115Z,1755898533.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.44 m.
2025-08-22T21:35:33.167Z,1755898533.167 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:33.167Z,1755898533.167 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:33.168Z,1755898533.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:33.419Z,1755898533.419 [DAT](INFO): DAT read: Rx Time:21:35:34.1677
2025-08-22T21:35:33.420Z,1755898533.420 [DAT](INFO): Rx dataTimestamp_ set to:1755898533.419262
2025-08-22T21:35:33.421Z,1755898533.421 [DAT](INFO): DAT read: Bearing 174.6, -27.3 (Local)
2025-08-22T21:35:33.421Z,1755898533.421 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.6, -27.3 (Local)
2025-08-22T21:35:33.424Z,1755898533.424 [DAT](INFO): DAT read: Range 11 to 50 : 40.7 m (trip time 27.1 ms) speed 0.0
2025-08-22T21:35:33.428Z,1755898533.428 [DAT](INFO): DAT read: 21:35:34.1677 LVL= 32752, 22817, 30130, 32755, AGC= 73, IDX= 509, 0.01, 1.162,-2.821, 2.054, 2.368, PHS=-1.104, 1.139,-0.358, RAW= 310.9, 3.3, CAL= 308.5, 0.4, ROT= 201.5, -0.4
2025-08-22T21:35:33.429Z,1755898533.429 [DAT](INFO): got valid direction response:
21:35:34.1677 LVL= 32752, 22817, 30130, 32755, AGC= 73, IDX= 509, 0.01, 1.162,-2.821, 2.054, 2.368, PHS=-1.104, 1.139,-0.358, RAW= 310.9, 3.3, CAL= 308.5, 0.4, ROT= 201.5, -0.4
2025-08-22T21:35:33.430Z,1755898533.430 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:33.431Z,1755898533.431 [DAT](INFO): direction in FSK: [-0.930395,-0.366492,0.006981]
2025-08-22T21:35:33.431Z,1755898533.431 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:33.434Z,1755898533.434 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:33.435Z,1755898533.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:33.616Z,1755898533.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.700001 m,
deltaT: 0.503882 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:33.623Z,1755898533.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.442417 m,
bearing: 65.795606 deg,
lat: 36.779372 deg,
lon: -121.859525 deg,
deltaT: 0.503882 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:33.626Z,1755898533.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.44 m.
2025-08-22T21:35:33.670Z,1755898533.670 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:33.671Z,1755898533.671 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:33.671Z,1755898533.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:33.923Z,1755898533.923 [DAT](INFO): DAT read: Rx Time:21:35:34.6678
2025-08-22T21:35:33.924Z,1755898533.924 [DAT](INFO): Rx dataTimestamp_ set to:1755898533.923313
2025-08-22T21:35:33.925Z,1755898533.925 [DAT](INFO): DAT read: Bearing 173.1, -27.4 (Local)
2025-08-22T21:35:33.925Z,1755898533.925 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.1, -27.4 (Local)
2025-08-22T21:35:33.927Z,1755898533.927 [DAT](INFO): DAT read: Range 11 to 50 : 40.8 m (trip time 27.2 ms) speed -0.1
2025-08-22T21:35:33.932Z,1755898533.932 [DAT](INFO): DAT read: 21:35:34.6678 LVL= 31680, 20449, 28322, 32755, AGC= 71, IDX= 510,-0.44, 1.161,-2.831, 2.060, 2.390, PHS=-1.128, 1.107,-0.375, RAW= 310.7, 4.1, CAL= 308.3, 1.7, ROT= 201.7, -1.7
2025-08-22T21:35:33.933Z,1755898533.933 [DAT](INFO): got valid direction response:
21:35:34.6678 LVL= 31680, 20449, 28322, 32755, AGC= 71, IDX= 510,-0.44, 1.161,-2.831, 2.060, 2.390, PHS=-1.128, 1.107,-0.375, RAW= 310.7, 4.1, CAL= 308.3, 1.7, ROT= 201.7, -1.7
2025-08-22T21:35:33.933Z,1755898533.933 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:33.934Z,1755898533.934 [DAT](INFO): direction in FSK: [-0.928724,-0.369584,0.029666]
2025-08-22T21:35:33.934Z,1755898533.934 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:33.943Z,1755898533.943 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:33.943Z,1755898533.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:34.076Z,1755898534.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.799999 m,
deltaT: 0.504051 s,
deltaX: 0.099998 m,
approachRate: 0.198390 m/s,
rangeRepo size: 4
2025-08-22T21:35:34.082Z,1755898534.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.541630 m,
bearing: 66.135750 deg,
lat: 36.779373 deg,
lon: -121.859526 deg,
deltaT: 0.504051 s,
deltaX: 0.099213 m,
approachRate: 0.196831 m/s,
posRepo size: 4
2025-08-22T21:35:34.083Z,1755898534.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-22T21:35:34.175Z,1755898534.175 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:34.175Z,1755898534.175 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:34.176Z,1755898534.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:34.393Z,1755898534.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-22T21:35:34.430Z,1755898534.430 [DAT](INFO): DAT read: Rx Time:21:35:35.1677
2025-08-22T21:35:34.431Z,1755898534.431 [DAT](INFO): Rx dataTimestamp_ set to:1755898534.430295
2025-08-22T21:35:34.432Z,1755898534.432 [DAT](INFO): DAT read: Bearing 172.0, -27.8 (Local)
2025-08-22T21:35:34.432Z,1755898534.432 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.0, -27.8 (Local)
2025-08-22T21:35:34.434Z,1755898534.434 [DAT](INFO): DAT read: Range 11 to 50 : 40.7 m (trip time 27.1 ms) speed 0.0
2025-08-22T21:35:34.439Z,1755898534.439 [DAT](INFO): DAT read: 21:35:35.1677 LVL= 32752, 26225, 29106, 32755, AGC= 72, IDX= 509, 0.11, 0.995,-3.105, 1.876, 2.193, PHS=-1.096, 1.030,-0.361, RAW= 310.1, 4.6, CAL= 307.8, 2.6, ROT= 202.2, -2.6
2025-08-22T21:35:34.440Z,1755898534.440 [DAT](INFO): got valid direction response:
21:35:35.1677 LVL= 32752, 26225, 29106, 32755, AGC= 72, IDX= 509, 0.11, 0.995,-3.105, 1.876, 2.193, PHS=-1.096, 1.030,-0.361, RAW= 310.1, 4.6, CAL= 307.8, 2.6, ROT= 202.2, -2.6
2025-08-22T21:35:34.441Z,1755898534.441 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:34.445Z,1755898534.445 [DAT](INFO): direction in FSK: [-0.924918,-0.377452,0.045363]
2025-08-22T21:35:34.458Z,1755898534.458 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:34.468Z,1755898534.468 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:34.469Z,1755898534.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:34.682Z,1755898534.682 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:34.682Z,1755898534.682 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:34.683Z,1755898534.683 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:34.777Z,1755898534.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.700001 m,
deltaT: 0.506982 s,
deltaX: -0.099998 m,
approachRate: -0.197243 m/s,
rangeRepo size: 4
2025-08-22T21:35:34.780Z,1755898534.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.442265 m,
bearing: 66.761892 deg,
lat: 36.779372 deg,
lon: -121.859526 deg,
deltaT: 0.506982 s,
deltaX: -0.099365 m,
approachRate: -0.195994 m/s,
posRepo size: 4
2025-08-22T21:35:34.781Z,1755898534.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.44 m.
2025-08-22T21:35:34.935Z,1755898534.935 [DAT](INFO): DAT read: Rx Time:21:35:35.6679
2025-08-22T21:35:34.936Z,1755898534.936 [DAT](INFO): Rx dataTimestamp_ set to:1755898534.935507
2025-08-22T21:35:34.937Z,1755898534.937 [DAT](INFO): DAT read: Bearing 173.4, -27.2 (Local)
2025-08-22T21:35:34.937Z,1755898534.937 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.4, -27.2 (Local)
2025-08-22T21:35:34.939Z,1755898534.939 [DAT](INFO): DAT read: Range 11 to 50 : 41.0 m (trip time 27.3 ms) speed -0.3
2025-08-22T21:35:34.944Z,1755898534.944 [DAT](INFO): DAT read: 21:35:35.6679 LVL= 32752, 20657, 29122, 32755, AGC= 73, IDX= 511,-0.20, 0.531, 2.818, 1.418, 1.752, PHS=-1.119, 1.111,-0.378, RAW= 311.0, 4.0, CAL= 308.6, 1.5, ROT= 201.4, -1.5
2025-08-22T21:35:34.945Z,1755898534.945 [DAT](INFO): got valid direction response:
21:35:35.6679 LVL= 32752, 20657, 29122, 32755, AGC= 73, IDX= 511,-0.20, 0.531, 2.818, 1.418, 1.752, PHS=-1.119, 1.111,-0.378, RAW= 311.0, 4.0, CAL= 308.6, 1.5, ROT= 201.4, -1.5
2025-08-22T21:35:34.946Z,1755898534.946 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:34.947Z,1755898534.947 [DAT](INFO): direction in FSK: [-0.930737,-0.364752,0.026177]
2025-08-22T21:35:34.947Z,1755898534.947 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:34.950Z,1755898534.950 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:34.951Z,1755898534.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:35.187Z,1755898535.187 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:35.187Z,1755898535.187 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:35.188Z,1755898535.188 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:35.196Z,1755898535.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.000000 m,
deltaT: 0.505212 s,
deltaX: 0.299999 m,
approachRate: 0.593809 m/s,
rangeRepo size: 4
2025-08-22T21:35:35.203Z,1755898535.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.740334 m,
bearing: 65.935151 deg,
lat: 36.779374 deg,
lon: -121.859526 deg,
deltaT: 0.505212 s,
deltaX: 0.298069 m,
approachRate: 0.589988 m/s,
posRepo size: 4
2025-08-22T21:35:35.203Z,1755898535.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.74 m.
2025-08-22T21:35:35.439Z,1755898535.439 [DAT](INFO): DAT read: Rx Time:21:35:36.1678
2025-08-22T21:35:35.440Z,1755898535.440 [DAT](INFO): Rx dataTimestamp_ set to:1755898535.439244
2025-08-22T21:35:35.441Z,1755898535.441 [DAT](INFO): DAT read: Bearing 172.0, -26.7 (Local)
2025-08-22T21:35:35.441Z,1755898535.441 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.0, -26.7 (Local)
2025-08-22T21:35:35.443Z,1755898535.443 [DAT](INFO): DAT read: Range 11 to 50 : 40.8 m (trip time 27.2 ms) speed 0.0
2025-08-22T21:35:35.448Z,1755898535.448 [DAT](INFO): DAT read: 21:35:36.1678 LVL= 32752, 24161, 29266, 32755, AGC= 73, IDX= 510, 0.31, 1.253,-2.830, 2.103, 2.452, PHS=-1.097, 1.047,-0.392, RAW= 311.2, 4.7, CAL= 308.9, 2.9, ROT= 201.1, -2.9
2025-08-22T21:35:35.449Z,1755898535.449 [DAT](INFO): got valid direction response:
21:35:36.1678 LVL= 32752, 24161, 29266, 32755, AGC= 73, IDX= 510, 0.31, 1.253,-2.830, 2.103, 2.452, PHS=-1.097, 1.047,-0.392, RAW= 311.2, 4.7, CAL= 308.9, 2.9, ROT= 201.1, -2.9
2025-08-22T21:35:35.449Z,1755898535.449 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:35.450Z,1755898535.450 [DAT](INFO): direction in FSK: [-0.931759,-0.359536,0.050593]
2025-08-22T21:35:35.450Z,1755898535.450 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:35.454Z,1755898535.454 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:35.454Z,1755898535.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:35.655Z,1755898535.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.799999 m,
deltaT: 0.503737 s,
deltaX: -0.200001 m,
approachRate: -0.397034 m/s,
rangeRepo size: 4
2025-08-22T21:35:35.657Z,1755898535.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.541599 m,
bearing: 65.757658 deg,
lat: 36.779375 deg,
lon: -121.859527 deg,
deltaT: 0.503737 s,
deltaX: -0.198734 m,
approachRate: -0.394520 m/s,
posRepo size: 4
2025-08-22T21:35:35.664Z,1755898535.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-22T21:35:35.690Z,1755898535.690 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:35.690Z,1755898535.690 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:35.691Z,1755898535.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:35.945Z,1755898535.945 [DAT](INFO): DAT read: Rx Time:21:35:36.6680
2025-08-22T21:35:35.945Z,1755898535.945 [DAT](INFO): Rx dataTimestamp_ set to:1755898535.944756
2025-08-22T21:35:35.946Z,1755898535.946 [DAT](INFO): DAT read: Range 11 to 50 : 41.1 m (trip time 27.4 ms) speed -0.2
2025-08-22T21:35:35.947Z,1755898535.947 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:35:35.948Z,1755898535.948 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:35.948Z,1755898535.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:36.028Z,1755898536.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.099998 m,
deltaT: 0.505512 s,
deltaX: 0.299999 m,
approachRate: 0.593456 m/s,
rangeRepo size: 4
2025-08-22T21:35:36.028Z,1755898536.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-22T21:35:36.195Z,1755898536.195 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:36.195Z,1755898536.195 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:36.195Z,1755898536.195 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:36.440Z,1755898536.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-22T21:35:36.447Z,1755898536.447 [DAT](INFO): DAT read: Rx Time:21:35:37.1680
2025-08-22T21:35:36.448Z,1755898536.448 [DAT](INFO): Rx dataTimestamp_ set to:1755898536.447397
2025-08-22T21:35:36.449Z,1755898536.449 [DAT](INFO): DAT read: Bearing 191.0, -47.9 (Local)
2025-08-22T21:35:36.449Z,1755898536.449 [DAT](INFO): Local bearing/azimuth received:
Bearing 191.0, -47.9 (Local)
2025-08-22T21:35:36.451Z,1755898536.451 [DAT](INFO): DAT read: Range 11 to 50 : 41.1 m (trip time 27.4 ms) speed -0.1
2025-08-22T21:35:36.456Z,1755898536.456 [DAT](INFO): DAT read: 21:35:37.1680 LVL= 32752, 22257, 28018, 32755, AGC= 74, IDX= 512,-0.38,-2.179, 0.245,-0.424,-1.027, PHS=-1.050, 1.317, 0.559, RAW= 288.3, -7.9, CAL= 288.5, -13.1, ROT= 221.5, 13.1
2025-08-22T21:35:36.457Z,1755898536.457 [DAT](INFO): got valid direction response:
21:35:37.1680 LVL= 32752, 22257, 28018, 32755, AGC= 74, IDX= 512,-0.38,-2.179, 0.245,-0.424,-1.027, PHS=-1.050, 1.317, 0.559, RAW= 288.3, -7.9, CAL= 288.5, -13.1, ROT= 221.5, 13.1
2025-08-22T21:35:36.461Z,1755898536.461 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:36.462Z,1755898536.462 [DAT](INFO): direction in FSK: [-0.729465,-0.645376,-0.226651]
2025-08-22T21:35:36.463Z,1755898536.463 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:36.506Z,1755898536.506 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:36.506Z,1755898536.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:36.699Z,1755898536.699 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:36.699Z,1755898536.699 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:36.700Z,1755898536.700 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:36.931Z,1755898536.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.099998 m,
deltaT: 0.502641 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:36.933Z,1755898536.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.839878 m,
bearing: 86.033609 deg,
lat: 36.779374 deg,
lon: -121.859526 deg,
deltaT: 1.008153 s,
deltaX: 0.298279 m,
approachRate: 0.295867 m/s,
posRepo size: 4
2025-08-22T21:35:36.933Z,1755898536.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.84 m.
2025-08-22T21:35:36.951Z,1755898536.951 [DAT](INFO): DAT read: Rx Time:21:35:37.6680
2025-08-22T21:35:36.951Z,1755898536.951 [DAT](INFO): Rx dataTimestamp_ set to:1755898536.950903
2025-08-22T21:35:36.952Z,1755898536.952 [DAT](INFO): DAT read: Range 11 to 50 : 41.1 m (trip time 27.4 ms) speed -0.2
2025-08-22T21:35:36.953Z,1755898536.953 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:35:36.954Z,1755898536.954 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:36.954Z,1755898536.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:37.202Z,1755898537.202 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:37.202Z,1755898537.202 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:37.203Z,1755898537.203 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:37.285Z,1755898537.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.099998 m,
deltaT: 0.503506 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:37.286Z,1755898537.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.84 m.
2025-08-22T21:35:37.455Z,1755898537.455 [DAT](INFO): DAT read: Rx Time:21:35:38.1680
2025-08-22T21:35:37.456Z,1755898537.456 [DAT](INFO): Rx dataTimestamp_ set to:1755898537.455404
2025-08-22T21:35:37.457Z,1755898537.457 [DAT](INFO): DAT read: Bearing 152.6, -38.3 (Local)
2025-08-22T21:35:37.457Z,1755898537.457 [DAT](INFO): Local bearing/azimuth received:
Bearing 152.6, -38.3 (Local)
2025-08-22T21:35:37.459Z,1755898537.459 [DAT](INFO): DAT read: Range 11 to 50 : 41.1 m (trip time 27.4 ms) speed -0.2
2025-08-22T21:35:37.464Z,1755898537.464 [DAT](INFO): DAT read: 21:35:38.1680 LVL= 31696, 20337, 24514, 32755, AGC= 73, IDX= 512,-0.11, 1.761,-2.765, 2.863, 3.027, PHS=-1.164, 0.536,-0.208, RAW= 295.9, 11.3, CAL= 293.2, 15.8, ROT= 216.8, -15.8
2025-08-22T21:35:37.465Z,1755898537.465 [DAT](INFO): got valid direction response:
21:35:38.1680 LVL= 31696, 20337, 24514, 32755, AGC= 73, IDX= 512,-0.11, 1.761,-2.765, 2.863, 3.027, PHS=-1.164, 0.536,-0.208, RAW= 295.9, 11.3, CAL= 293.2, 15.8, ROT= 216.8, -15.8
2025-08-22T21:35:37.465Z,1755898537.465 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:37.466Z,1755898537.466 [DAT](INFO): direction in FSK: [-0.770478,-0.576391,0.272280]
2025-08-22T21:35:37.467Z,1755898537.467 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:37.470Z,1755898537.470 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:37.470Z,1755898537.470 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:37.706Z,1755898537.706 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:37.707Z,1755898537.707 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:37.707Z,1755898537.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:37.764Z,1755898537.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.099998 m,
deltaT: 0.504501 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:37.770Z,1755898537.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.839878 m,
bearing: 82.131429 deg,
lat: 36.779370 deg,
lon: -121.859526 deg,
deltaT: 1.008007 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:37.770Z,1755898537.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.84 m.
2025-08-22T21:35:37.959Z,1755898537.959 [DAT](INFO): DAT read: Rx Time:21:35:38.6681
2025-08-22T21:35:37.959Z,1755898537.959 [DAT](INFO): Rx dataTimestamp_ set to:1755898537.958954
2025-08-22T21:35:37.960Z,1755898537.960 [DAT](INFO): DAT read: Range 11 to 50 : 41.3 m (trip time 27.5 ms) speed -0.1
2025-08-22T21:35:37.961Z,1755898537.961 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:35:37.962Z,1755898537.962 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:37.962Z,1755898537.962 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:38.120Z,1755898538.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.299999 m,
deltaT: 0.503550 s,
deltaX: 0.200001 m,
approachRate: 0.397182 m/s,
rangeRepo size: 4
2025-08-22T21:35:38.121Z,1755898538.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.84 m.
2025-08-22T21:35:38.210Z,1755898538.210 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:38.211Z,1755898538.211 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:38.211Z,1755898538.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:38.463Z,1755898538.463 [DAT](INFO): DAT read: Rx Time:21:35:39.1681
2025-08-22T21:35:38.463Z,1755898538.463 [DAT](INFO): Rx dataTimestamp_ set to:1755898538.462873
2025-08-22T21:35:38.464Z,1755898538.464 [DAT](INFO): DAT read: Range 11 to 50 : 41.3 m (trip time 27.5 ms) speed 0.0
2025-08-22T21:35:38.465Z,1755898538.465 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:35:38.467Z,1755898538.467 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:38.467Z,1755898538.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:38.498Z,1755898538.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.299999 m,
deltaT: 0.503919 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:38.498Z,1755898538.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.84 m.
2025-08-22T21:35:38.714Z,1755898538.714 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:38.714Z,1755898538.714 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:38.715Z,1755898538.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:38.967Z,1755898538.967 [DAT](INFO): DAT read: Rx Time:21:35:39.6682
2025-08-22T21:35:38.968Z,1755898538.968 [DAT](INFO): Rx dataTimestamp_ set to:1755898538.967401
2025-08-22T21:35:38.969Z,1755898538.969 [DAT](INFO): DAT read: Bearing 172.8, -26.9 (Local)
2025-08-22T21:35:38.969Z,1755898538.969 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.8, -26.9 (Local)
2025-08-22T21:35:38.971Z,1755898538.971 [DAT](INFO): DAT read: Range 11 to 50 : 41.4 m (trip time 27.6 ms) speed -0.2
2025-08-22T21:35:38.976Z,1755898538.976 [DAT](INFO): DAT read: 21:35:39.6682 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 2, 0.35, 1.557,-2.423, 2.442, 2.802, PHS=-1.143, 1.103,-0.404, RAW= 311.2, 4.5, CAL= 308.8, 2.5, ROT= 201.2, -2.5
2025-08-22T21:35:38.977Z,1755898538.977 [DAT](INFO): got valid direction response:
21:35:39.6682 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 2, 0.35, 1.557,-2.423, 2.442, 2.802, PHS=-1.143, 1.103,-0.404, RAW= 311.2, 4.5, CAL= 308.8, 2.5, ROT= 201.2, -2.5
2025-08-22T21:35:38.977Z,1755898538.977 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:38.978Z,1755898538.978 [DAT](INFO): direction in FSK: [-0.931436,-0.361280,0.043619]
2025-08-22T21:35:38.979Z,1755898538.979 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:38.986Z,1755898538.986 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:38.986Z,1755898538.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:39.029Z,1755898539.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.400002 m,
deltaT: 0.504528 s,
deltaX: 0.100002 m,
approachRate: 0.198210 m/s,
rangeRepo size: 4
2025-08-22T21:35:39.039Z,1755898539.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.138004 m,
bearing: 66.154070 deg,
lat: 36.779376 deg,
lon: -121.859527 deg,
deltaT: 1.511997 s,
deltaX: 0.298126 m,
approachRate: 0.197174 m/s,
posRepo size: 4
2025-08-22T21:35:39.039Z,1755898539.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-22T21:35:39.218Z,1755898539.218 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:39.219Z,1755898539.219 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:39.219Z,1755898539.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:39.331Z,1755898539.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-22T21:35:39.472Z,1755898539.472 [DAT](INFO): DAT read: Rx Time:21:35:40.1682
2025-08-22T21:35:39.472Z,1755898539.472 [DAT](INFO): Rx dataTimestamp_ set to:1755898539.472080
2025-08-22T21:35:39.474Z,1755898539.474 [DAT](INFO): DAT read: Bearing 173.8, -27.7 (Local)
2025-08-22T21:35:39.475Z,1755898539.475 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.8, -27.7 (Local)
2025-08-22T21:35:39.477Z,1755898539.477 [DAT](INFO): DAT read: Range 11 to 50 : 41.4 m (trip time 27.6 ms) speed 0.0
2025-08-22T21:35:39.483Z,1755898539.483 [DAT](INFO): DAT read: 21:35:40.1682 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 498,-0.06,-1.541, 0.733,-0.644,-0.320, PHS=-1.119, 1.098,-0.367, RAW= 310.5, 4.0, CAL= 308.2, 1.6, ROT= 201.8, -1.6
2025-08-22T21:35:39.484Z,1755898539.484 [DAT](INFO): got valid direction response:
21:35:40.1682 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 498,-0.06,-1.541, 0.733,-0.644,-0.320, PHS=-1.119, 1.098,-0.367, RAW= 310.5, 4.0, CAL= 308.2, 1.6, ROT= 201.8, -1.6
2025-08-22T21:35:39.484Z,1755898539.484 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:39.486Z,1755898539.486 [DAT](INFO): direction in FSK: [-0.928124,-0.371223,0.027922]
2025-08-22T21:35:39.486Z,1755898539.486 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:39.489Z,1755898539.489 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:39.489Z,1755898539.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:39.722Z,1755898539.722 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:39.723Z,1755898539.723 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:39.723Z,1755898539.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:39.803Z,1755898539.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.400002 m,
deltaT: 0.504679 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:39.804Z,1755898539.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.138004 m,
bearing: 66.756292 deg,
lat: 36.779373 deg,
lon: -121.859527 deg,
deltaT: 0.504679 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:39.805Z,1755898539.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-22T21:35:39.976Z,1755898539.976 [DAT](INFO): DAT read: Rx Time:21:35:40.6683
2025-08-22T21:35:39.976Z,1755898539.976 [DAT](INFO): Rx dataTimestamp_ set to:1755898539.976079
2025-08-22T21:35:39.978Z,1755898539.978 [DAT](INFO): DAT read: Bearing 174.4, -28.9 (Local)
2025-08-22T21:35:39.979Z,1755898539.979 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.4, -28.9 (Local)
2025-08-22T21:35:39.982Z,1755898539.982 [DAT](INFO): DAT read: Range 11 to 50 : 41.6 m (trip time 27.7 ms) speed -0.2
2025-08-22T21:35:39.987Z,1755898539.987 [DAT](INFO): DAT read: 21:35:40.6683 LVL= 32752, 30577, 32754, 32755, AGC= 74, IDX= 499, 0.34, 1.662,-2.388, 2.581, 2.864, PHS=-1.101, 1.076,-0.327, RAW= 309.5, 3.7, CAL= 307.1, 0.9, ROT= 202.9, -0.9
2025-08-22T21:35:39.988Z,1755898539.988 [DAT](INFO): got valid direction response:
21:35:40.6683 LVL= 32752, 30577, 32754, 32755, AGC= 74, IDX= 499, 0.34, 1.662,-2.388, 2.581, 2.864, PHS=-1.101, 1.076,-0.327, RAW= 309.5, 3.7, CAL= 307.1, 0.9, ROT= 202.9, -0.9
2025-08-22T21:35:39.988Z,1755898539.988 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:39.989Z,1755898539.989 [DAT](INFO): direction in FSK: [-0.921072,-0.389076,0.015707]
2025-08-22T21:35:39.992Z,1755898539.992 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:40.020Z,1755898540.020 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:40.020Z,1755898540.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:40.226Z,1755898540.226 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:40.227Z,1755898540.227 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:40.227Z,1755898540.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:40.233Z,1755898540.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.599998 m,
deltaT: 0.503999 s,
deltaX: 0.199997 m,
approachRate: 0.396820 m/s,
rangeRepo size: 4
2025-08-22T21:35:40.239Z,1755898540.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.336720 m,
bearing: 67.812536 deg,
lat: 36.779367 deg,
lon: -121.859523 deg,
deltaT: 0.503999 s,
deltaX: 0.198715 m,
approachRate: 0.394277 m/s,
posRepo size: 4
2025-08-22T21:35:40.240Z,1755898540.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:40.479Z,1755898540.479 [DAT](INFO): DAT read: Rx Time:21:35:41.1683
2025-08-22T21:35:40.480Z,1755898540.480 [DAT](INFO): Rx dataTimestamp_ set to:1755898540.479331
2025-08-22T21:35:40.481Z,1755898540.481 [DAT](INFO): DAT read: Bearing 175.6, -29.3 (Local)
2025-08-22T21:35:40.481Z,1755898540.481 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.6, -29.3 (Local)
2025-08-22T21:35:40.483Z,1755898540.483 [DAT](INFO): DAT read: Range 11 to 50 : 41.6 m (trip time 27.7 ms) speed -0.1
2025-08-22T21:35:40.488Z,1755898540.488 [DAT](INFO): DAT read: 21:35:41.1683 LVL= 32368, 22769, 26450, 32755, AGC= 74, IDX= 499,-0.08,-0.992, 1.207,-0.076, 0.176, PHS=-1.065, 1.076,-0.296, RAW= 309.2, 3.1, CAL= 306.8, -0.2, ROT= 203.2, 0.2
2025-08-22T21:35:40.489Z,1755898540.489 [DAT](INFO): got valid direction response:
21:35:41.1683 LVL= 32368, 22769, 26450, 32755, AGC= 74, IDX= 499,-0.08,-0.992, 1.207,-0.076, 0.176, PHS=-1.065, 1.076,-0.296, RAW= 309.2, 3.1, CAL= 306.8, -0.2, ROT= 203.2, 0.2
2025-08-22T21:35:40.489Z,1755898540.489 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:40.490Z,1755898540.490 [DAT](INFO): direction in FSK: [-0.919130,-0.393939,-0.003491]
2025-08-22T21:35:40.491Z,1755898540.491 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:40.523Z,1755898540.523 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:40.523Z,1755898540.523 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:40.635Z,1755898540.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.599998 m,
deltaT: 0.503252 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:40.650Z,1755898540.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.336720 m,
bearing: 68.096970 deg,
lat: 36.779367 deg,
lon: -121.859524 deg,
deltaT: 0.503252 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-22T21:35:40.652Z,1755898540.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:40.730Z,1755898540.730 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:40.730Z,1755898540.730 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:40.731Z,1755898540.731 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:40.991Z,1755898540.991 [DAT](INFO): DAT read: Rx Time:21:35:41.6683
2025-08-22T21:35:40.992Z,1755898540.992 [DAT](INFO): Rx dataTimestamp_ set to:1755898540.991344
2025-08-22T21:35:40.993Z,1755898540.993 [DAT](INFO): DAT read: Bearing 175.3, -28.6 (Local)
2025-08-22T21:35:40.993Z,1755898540.993 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.3, -28.6 (Local)
2025-08-22T21:35:40.995Z,1755898540.995 [DAT](INFO): DAT read: Range 11 to 50 : 41.6 m (trip time 27.7 ms) speed 0.1
2025-08-22T21:35:40.000Z,1755898541.000 [DAT](INFO): DAT read: 21:35:41.6683 LVL= 32736, 21025, 30418, 32755, AGC= 73, IDX= 499, 0.31, 0.778, 2.993, 1.675, 1.953, PHS=-1.073, 1.085,-0.322, RAW= 310.0, 3.3, CAL= 307.5, 0.2, ROT= 202.5, -0.2
2025-08-22T21:35:41.001Z,1755898541.001 [DAT](INFO): got valid direction response:
21:35:41.6683 LVL= 32736, 21025, 30418, 32755, AGC= 73, IDX= 499, 0.31, 0.778, 2.993, 1.675, 1.953, PHS=-1.073, 1.085,-0.322, RAW= 310.0, 3.3, CAL= 307.5, 0.2, ROT= 202.5, -0.2
2025-08-22T21:35:41.001Z,1755898541.001 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:41.002Z,1755898541.002 [DAT](INFO): direction in FSK: [-0.923874,-0.382681,0.003491]
2025-08-22T21:35:41.002Z,1755898541.002 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:41.010Z,1755898541.010 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:41.010Z,1755898541.010 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:41.041Z,1755898541.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.599998 m,
deltaT: 0.512013 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-22T21:35:41.047Z,1755898541.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.336849 m,
bearing: 67.455760 deg,
lat: 36.779369 deg,
lon: -121.859526 deg,
deltaT: 0.512013 s,
deltaX: 0.000130 m,
approachRate: 0.000253 m/s,
posRepo size: 4
2025-08-22T21:35:41.048Z,1755898541.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:41.243Z,1755898541.243 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:41.243Z,1755898541.243 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:41.243Z,1755898541.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:41.459Z,1755898541.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:41.496Z,1755898541.496 [DAT](INFO): DAT read: Rx Time:21:35:42.1682
2025-08-22T21:35:41.496Z,1755898541.496 [DAT](INFO): Rx dataTimestamp_ set to:1755898541.495708
2025-08-22T21:35:41.497Z,1755898541.497 [DAT](INFO): DAT read: Bearing 176.5, -28.4 (Local)
2025-08-22T21:35:41.498Z,1755898541.498 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.5, -28.4 (Local)
2025-08-22T21:35:41.500Z,1755898541.500 [DAT](INFO): DAT read: Range 11 to 50 : 41.4 m (trip time 27.6 ms) speed 0.0
2025-08-22T21:35:41.504Z,1755898541.504 [DAT](INFO): DAT read: 21:35:42.1682 LVL= 32752, 27121, 28594, 32755, AGC= 75, IDX= 499,-0.09,-2.751,-0.475,-1.839,-1.575, PHS=-1.075, 1.144,-0.308, RAW= 310.1, 2.5, CAL= 307.8, -0.7, ROT= 202.2, 0.7
2025-08-22T21:35:41.505Z,1755898541.505 [DAT](INFO): got valid direction response:
21:35:42.1682 LVL= 32752, 27121, 28594, 32755, AGC= 75, IDX= 499,-0.09,-2.751,-0.475,-1.839,-1.575, PHS=-1.075, 1.144,-0.308, RAW= 310.1, 2.5, CAL= 307.8, -0.7, ROT= 202.2, 0.7
2025-08-22T21:35:41.505Z,1755898541.505 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:41.506Z,1755898541.506 [DAT](INFO): direction in FSK: [-0.925802,-0.377812,-0.012217]
2025-08-22T21:35:41.507Z,1755898541.507 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:41.510Z,1755898541.510 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:41.510Z,1755898541.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:41.746Z,1755898541.746 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:41.746Z,1755898541.746 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:41.747Z,1755898541.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:41.936Z,1755898541.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.400002 m,
deltaT: 0.504364 s,
deltaX: -0.199997 m,
approachRate: -0.396533 m/s,
rangeRepo size: 4
2025-08-22T21:35:41.938Z,1755898541.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.137939 m,
bearing: 67.184671 deg,
lat: 36.779369 deg,
lon: -121.859526 deg,
deltaT: 0.504364 s,
deltaX: -0.198910 m,
approachRate: -0.394377 m/s,
posRepo size: 4
2025-08-22T21:35:41.939Z,1755898541.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-22T21:35:42.001Z,1755898542.001 [DAT](INFO): DAT read: Rx Time:21:35:42.6683
2025-08-22T21:35:42.001Z,1755898542.001 [DAT](INFO): Rx dataTimestamp_ set to:1755898542.000891
2025-08-22T21:35:42.003Z,1755898542.003 [DAT](INFO): DAT read: Bearing 174.3, -28.8 (Local)
2025-08-22T21:35:42.003Z,1755898542.003 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.3, -28.8 (Local)
2025-08-22T21:35:42.005Z,1755898542.005 [DAT](INFO): DAT read: Range 11 to 50 : 41.6 m (trip time 27.7 ms) speed -0.1
2025-08-22T21:35:42.010Z,1755898542.010 [DAT](INFO): DAT read: 21:35:42.6683 LVL= 32752, 25569, 30578, 32755, AGC= 73, IDX= 500, 0.29, 0.236, 2.499, 1.165, 1.459, PHS=-1.121, 1.085,-0.338, RAW= 309.5, 3.9, CAL= 307.1, 1.2, ROT= 202.9, -1.2
2025-08-22T21:35:42.011Z,1755898542.011 [DAT](INFO): got valid direction response:
21:35:42.6683 LVL= 32752, 25569, 30578, 32755, AGC= 73, IDX= 500, 0.29, 0.236, 2.499, 1.165, 1.459, PHS=-1.121, 1.085,-0.338, RAW= 309.5, 3.9, CAL= 307.1, 1.2, ROT= 202.9, -1.2
2025-08-22T21:35:42.011Z,1755898542.011 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:35:42.012Z,1755898542.012 [DAT](INFO): direction in FSK: [-0.920983,-0.389038,0.020942]
2025-08-22T21:35:42.012Z,1755898542.012 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:42.033Z,1755898542.033 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:42.033Z,1755898542.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:42.250Z,1755898542.250 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:42.250Z,1755898542.250 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:35:42.250Z,1755898542.250 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:35:42.307Z,1755898542.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.599998 m,
deltaT: 0.505183 s,
deltaX: 0.199997 m,
approachRate: 0.395890 m/s,
rangeRepo size: 4
2025-08-22T21:35:42.309Z,1755898542.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.336670 m,
bearing: 68.064191 deg,
lat: 36.779367 deg,
lon: -121.859525 deg,
deltaT: 0.505183 s,
deltaX: 0.198730 m,
approachRate: 0.393383 m/s,
posRepo size: 4
2025-08-22T21:35:42.313Z,1755898542.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:42.503Z,1755898542.503 [DAT](INFO): DAT read: user:2351>
2025-08-22T21:35:42.503Z,1755898542.503 [DAT](INFO): DAT read: 50
2025-08-22T21:35:42.504Z,1755898542.504 [DAT](INFO): unknown deviceResponse_: 50
2025-08-22T21:35:42.504Z,1755898542.504 [DAT](INFO): DAT read: Ok
2025-08-22T21:35:42.504Z,1755898542.504 [DAT](INFO): unknown deviceResponse_: Ok
2025-08-22T21:35:42.504Z,1755898542.504 [DAT](INFO): DAT read: user:2352>
2025-08-22T21:35:42.505Z,1755898542.505 [DAT](INFO): DAT read: Tx time:21:35:43.6384
2025-08-22T21:35:42.506Z,1755898542.506 [DAT](INFO): Ping request sent.
2025-08-22T21:35:42.506Z,1755898542.506 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:35:42.506Z,1755898542.506 [DAT](INFO): publishing transmit ping time
2025-08-22T21:35:42.506Z,1755898542.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-08-22T21:35:42.751Z,1755898542.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:42.755Z,1755898542.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249047
2025-08-22T21:35:43.007Z,1755898543.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500864
2025-08-22T21:35:43.092Z,1755898543.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:43.199Z,1755898543.199 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:35:43.258Z,1755898543.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752820
2025-08-22T21:35:43.485Z,1755898543.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:43.511Z,1755898543.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004885
2025-08-22T21:35:43.763Z,1755898543.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257037
2025-08-22T21:35:43.979Z,1755898543.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:44.015Z,1755898544.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508968
2025-08-22T21:35:44.202Z,1755898544.202 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:35:44.267Z,1755898544.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760979
2025-08-22T21:35:44.291Z,1755898544.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:44.519Z,1755898544.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012958
2025-08-22T21:35:44.736Z,1755898544.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:44.771Z,1755898544.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264979
2025-08-22T21:35:45.023Z,1755898545.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516832
2025-08-22T21:35:45.116Z,1755898545.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:45.274Z,1755898545.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768805
2025-08-22T21:35:45.487Z,1755898545.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:45.529Z,1755898545.529 [DAT](INFO): DAT read: Rx Time:21:35:46.0989
2025-08-22T21:35:45.530Z,1755898545.530 [DAT](INFO): Rx dataTimestamp_ set to:1755898545.529543
2025-08-22T21:35:45.530Z,1755898545.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024732
2025-08-22T21:35:45.781Z,1755898545.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274781
2025-08-22T21:35:45.932Z,1755898545.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:46.036Z,1755898546.036 [DAT](INFO): DAT read: 21:35:46.0989 LVL= 27952, 23025, 28066, 32755, AGC= 73, IDX= 269, 0.14,-1.259, 1.037,-0.313,-0.059, PHS=-1.098, 1.141,-0.298, RAW= 309.4, 2.6, CAL= 307.0, -0.6, ROT= 203.0, 0.6
2025-08-22T21:35:46.038Z,1755898546.038 [DAT](INFO): got valid direction response:
21:35:46.0989 LVL= 27952, 23025, 28066, 32755, AGC= 73, IDX= 269, 0.14,-1.259, 1.037,-0.313,-0.059, PHS=-1.098, 1.141,-0.298, RAW= 309.4, 2.6, CAL= 307.0, -0.6, ROT= 203.0, 0.6
2025-08-22T21:35:46.038Z,1755898546.038 [DAT](INFO): DAT read: $Error in header
2025-08-22T21:35:46.039Z,1755898546.039 [DAT](INFO): Received a bad header
2025-08-22T21:35:46.050Z,1755898546.050 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T21:35:46.051Z,1755898546.051 [DAT](INFO): direction in FSK: [-0.920454,-0.390710,-0.010472]
2025-08-22T21:35:46.319Z,1755898546.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:46.832Z,1755898546.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:47.151Z,1755898547.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:47.561Z,1755898547.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:47.988Z,1755898547.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:48.387Z,1755898548.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:48.847Z,1755898548.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:49.221Z,1755898549.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:49.582Z,1755898549.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:50.010Z,1755898550.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:50.410Z,1755898550.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:50.875Z,1755898550.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:51.366Z,1755898551.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:51.697Z,1755898551.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:52.111Z,1755898552.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:52.489Z,1755898552.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:52.582Z,1755898552.582 [DAT](INFO): Reached modem response timeout
2025-08-22T21:35:52.944Z,1755898552.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:53.278Z,1755898553.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:53.716Z,1755898553.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:54.114Z,1755898554.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:54.509Z,1755898554.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:54.854Z,1755898554.854 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:35:54.855Z,1755898554.855 [DAT](INFO): response not received
2025-08-22T21:35:54.856Z,1755898554.856 [DAT](INFO): DAT read: user:2354>
2025-08-22T21:35:54.858Z,1755898554.858 [DAT](ERROR): No response from remote modem.
2025-08-22T21:35:55.002Z,1755898555.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:55.103Z,1755898555.103 [DAT](INFO): DAT read: Tx time:21:35:56.0884
2025-08-22T21:35:55.103Z,1755898555.103 [DAT](INFO): Ping request sent.
2025-08-22T21:35:55.103Z,1755898555.103 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:35:55.103Z,1755898555.103 [DAT](INFO): publishing transmit ping time
2025-08-22T21:35:55.314Z,1755898555.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:55.702Z,1755898555.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:56.135Z,1755898556.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:56.524Z,1755898556.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:56.000Z,1755898557.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:57.319Z,1755898557.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:57.738Z,1755898557.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:58.127Z,1755898558.127 [DAT](INFO): DAT read: Rx Time:21:35:58.5504
2025-08-22T21:35:58.127Z,1755898558.127 [DAT](INFO): Rx dataTimestamp_ set to:1755898558.126699
2025-08-22T21:35:58.252Z,1755898558.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:58.542Z,1755898558.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-08-22T21:35:58.637Z,1755898558.637 [DAT](INFO): DAT read: 21:35:58.5504 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 446, 0.20,-1.220, 1.223,-0.346, 0.051, PHS=-1.168, 1.218,-0.441, RAW= 312.7, 3.7, CAL= 310.3, 1.3, ROT= 199.7, -1.3
2025-08-22T21:35:58.638Z,1755898558.638 [DAT](INFO): got valid direction response:
21:35:58.5504 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 446, 0.20,-1.220, 1.223,-0.346, 0.051, PHS=-1.168, 1.218,-0.441, RAW= 312.7, 3.7, CAL= 310.3, 1.3, ROT= 199.7, -1.3
2025-08-22T21:35:58.639Z,1755898558.639 [DAT](INFO): DAT read: Bearing 176.0, -25.3 (Local)
2025-08-22T21:35:58.639Z,1755898558.639 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.0, -25.3 (Local)
2025-08-22T21:35:58.641Z,1755898558.641 [DAT](INFO): DAT read: Range 11 to 50 : 43.5 m (Round-trip 58.0 ms) speed 0.0 m/s
2025-08-22T21:35:58.641Z,1755898558.641 [DAT](INFO): DAT read: user:2355>
2025-08-22T21:35:58.647Z,1755898558.647 [DAT](INFO): DAT read: Tx time:21:35:59.6383
2025-08-22T21:35:58.648Z,1755898558.648 [DAT](INFO): Ping request sent.
2025-08-22T21:35:58.648Z,1755898558.648 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:35:58.648Z,1755898558.648 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T21:35:58.649Z,1755898558.649 [DAT](INFO): direction in FSK: [-0.941228,-0.337008,0.022687]
2025-08-22T21:35:58.686Z,1755898558.686 [DAT](INFO): publishing transmit ping time
2025-08-22T21:35:58.686Z,1755898558.686 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:58.689Z,1755898558.689 [DAT](INFO): publishing transmit ping time
2025-08-22T21:35:58.689Z,1755898558.689 [DAT](INFO): publishing direction and range info
2025-08-22T21:35:59.067Z,1755898559.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.500000 m,
deltaT: 16.629163 s,
deltaX: 1.900002 m,
approachRate: 0.114257 m/s,
rangeRepo size: 4
2025-08-22T21:35:59.069Z,1755898559.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.224884 m,
bearing: 66.599347 deg,
lat: 36.779369 deg,
lon: -121.859526 deg,
deltaT: 16.629163 s,
deltaX: 1.888214 m,
approachRate: 0.113548 m/s,
posRepo size: 4
2025-08-22T21:35:59.070Z,1755898559.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T21:35:59.380Z,1755898559.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T21:35:59.766Z,1755898559.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T21:36:00.185Z,1755898560.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T21:36:00.572Z,1755898560.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T21:36:01.043Z,1755898561.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T21:36:01.372Z,1755898561.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T21:36:01.655Z,1755898561.655 [DAT](INFO): DAT read: Rx Time:21:36:02.1010
2025-08-22T21:36:01.655Z,1755898561.655 [DAT](INFO): Rx dataTimestamp_ set to:1755898561.654780
2025-08-22T21:36:01.774Z,1755898561.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T21:36:02.167Z,1755898562.167 [DAT](INFO): DAT read: 21:36:02.1010 LVL= 32752, 25441, 32098, 32755, AGC= 72, IDX= 452, 0.11, 0.083, 2.321, 1.000, 1.310, PHS=-1.125, 1.055,-0.355, RAW= 309.6, 4.5, CAL= 307.3, 2.3, ROT= 202.7, -2.3
2025-08-22T21:36:02.168Z,1755898562.168 [DAT](INFO): got valid direction response:
21:36:02.1010 LVL= 32752, 25441, 32098, 32755, AGC= 72, IDX= 452, 0.11, 0.083, 2.321, 1.000, 1.310, PHS=-1.125, 1.055,-0.355, RAW= 309.6, 4.5, CAL= 307.3, 2.3, ROT= 202.7, -2.3
2025-08-22T21:36:02.169Z,1755898562.169 [DAT](INFO): DAT read: Bearing 174.3, -28.0 (Local)
2025-08-22T21:36:02.170Z,1755898562.170 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.3, -28.0 (Local)
2025-08-22T21:36:02.172Z,1755898562.172 [DAT](INFO): DAT read: Range 11 to 50 : 43.8 m (Round-trip 58.5 ms) speed 0.0 m/s
2025-08-22T21:36:02.173Z,1755898562.173 [DAT](INFO): DAT read: user:2356>
2025-08-22T21:36:02.206Z,1755898562.206 [DAT](INFO): DAT read: Tx time:21:36:03.1883
2025-08-22T21:36:02.206Z,1755898562.206 [DAT](INFO): Ping request sent.
2025-08-22T21:36:02.206Z,1755898562.206 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:02.207Z,1755898562.207 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T21:36:02.208Z,1755898562.208 [DAT](INFO): direction in FSK: [-0.921795,-0.385595,0.040132]
2025-08-22T21:36:02.208Z,1755898562.208 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:02.208Z,1755898562.208 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:02.216Z,1755898562.216 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022801232208,35.0, +10.4, 91.3, 0
2025-08-22T21:36:02.242Z,1755898562.242 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:02.242Z,1755898562.242 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:02.272Z,1755898562.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.799999 m,
deltaT: 3.528415 s,
deltaX: 0.299999 m,
approachRate: 0.085024 m/s,
rangeRepo size: 4
2025-08-22T21:36:02.279Z,1755898562.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.523201 m,
bearing: 70.092170 deg,
lat: 36.779369 deg,
lon: -121.859526 deg,
deltaT: 3.528415 s,
deltaX: 0.298317 m,
approachRate: 0.084547 m/s,
posRepo size: 4
2025-08-22T21:36:02.279Z,1755898562.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.52 m.
2025-08-22T21:36:02.584Z,1755898562.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.52 m.
2025-08-22T21:36:03.049Z,1755898563.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.52 m.
2025-08-22T21:36:03.480Z,1755898563.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.52 m.
2025-08-22T21:36:03.861Z,1755898563.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.52 m.
2025-08-22T21:36:04.276Z,1755898564.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.52 m.
2025-08-22T21:36:04.715Z,1755898564.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.52 m.
2025-08-22T21:36:05.134Z,1755898565.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.52 m.
2025-08-22T21:36:05.184Z,1755898565.184 [DAT](INFO): DAT read: Rx Time:21:36:05.6515
2025-08-22T21:36:05.184Z,1755898565.184 [DAT](INFO): Rx dataTimestamp_ set to:1755898565.183911
2025-08-22T21:36:05.493Z,1755898565.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.52 m.
2025-08-22T21:36:05.692Z,1755898565.692 [DAT](INFO): DAT read: 21:36:05.6515 LVL= 32752, 31345, 32754, 32755, AGC= 74, IDX= 441,-0.19, 1.128,-3.045, 2.052, 2.299, PHS=-1.069, 0.984,-0.291, RAW= 308.0, 4.2, CAL= 305.6, 1.7, ROT= 204.4, -1.7
2025-08-22T21:36:05.693Z,1755898565.693 [DAT](INFO): got valid direction response:
21:36:05.6515 LVL= 32752, 31345, 32754, 32755, AGC= 74, IDX= 441,-0.19, 1.128,-3.045, 2.052, 2.299, PHS=-1.069, 0.984,-0.291, RAW= 308.0, 4.2, CAL= 305.6, 1.7, ROT= 204.4, -1.7
2025-08-22T21:36:05.694Z,1755898565.694 [DAT](INFO): DAT read: Bearing 175.1, -29.7 (Local)
2025-08-22T21:36:05.694Z,1755898565.694 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.1, -29.7 (Local)
2025-08-22T21:36:05.696Z,1755898565.696 [DAT](INFO): DAT read: Range 11 to 50 : 44.2 m (Round-trip 59.0 ms) speed 0.0 m/s
2025-08-22T21:36:05.696Z,1755898565.696 [DAT](INFO): DAT read: user:2357>
2025-08-22T21:36:05.697Z,1755898565.697 [DAT](INFO): DAT read: Tx time:21:36:06.7383
2025-08-22T21:36:05.698Z,1755898565.698 [DAT](INFO): Ping request sent.
2025-08-22T21:36:05.698Z,1755898565.698 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:05.698Z,1755898565.698 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T21:36:05.699Z,1755898565.699 [DAT](INFO): direction in FSK: [-0.910283,-0.412923,0.029666]
2025-08-22T21:36:05.699Z,1755898565.699 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:05.700Z,1755898565.700 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:05.703Z,1755898565.703 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:05.703Z,1755898565.703 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:05.907Z,1755898565.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.200001 m,
deltaT: 3.527479 s,
deltaX: 0.400002 m,
approachRate: 0.113396 m/s,
rangeRepo size: 4
2025-08-22T21:36:05.914Z,1755898565.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.920589 m,
bearing: 72.092006 deg,
lat: 36.779366 deg,
lon: -121.859525 deg,
deltaT: 3.527479 s,
deltaX: 0.397388 m,
approachRate: 0.112655 m/s,
posRepo size: 4
2025-08-22T21:36:05.914Z,1755898565.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m.
2025-08-22T21:36:06.295Z,1755898566.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m.
2025-08-22T21:36:06.691Z,1755898566.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m.
2025-08-22T21:36:07.130Z,1755898567.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m.
2025-08-22T21:36:07.499Z,1755898567.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m.
2025-08-22T21:36:07.894Z,1755898567.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m.
2025-08-22T21:36:08.327Z,1755898568.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m.
2025-08-22T21:36:08.694Z,1755898568.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m.
2025-08-22T21:36:08.715Z,1755898568.715 [DAT](INFO): DAT read: Rx Time:21:36:09.2018
2025-08-22T21:36:08.715Z,1755898568.715 [DAT](INFO): Rx dataTimestamp_ set to:1755898568.714785
2025-08-22T21:36:09.224Z,1755898569.224 [DAT](INFO): DAT read: 21:36:09.2018 LVL= 32752, 32065, 27634, 31299, AGC= 72, IDX= 445, 0.05,-2.270,-0.030,-1.341,-1.096, PHS=-1.072, 1.111,-0.289, RAW= 309.3, 2.6, CAL= 306.9, -0.6, ROT= 203.1, 0.6
2025-08-22T21:36:09.226Z,1755898569.226 [DAT](INFO): got valid direction response:
21:36:09.2018 LVL= 32752, 32065, 27634, 31299, AGC= 72, IDX= 445, 0.05,-2.270,-0.030,-1.341,-1.096, PHS=-1.072, 1.111,-0.289, RAW= 309.3, 2.6, CAL= 306.9, -0.6, ROT= 203.1, 0.6
2025-08-22T21:36:09.226Z,1755898569.226 [DAT](INFO): DAT read: Bearing 178.6, -28.8 (Local)
2025-08-22T21:36:09.227Z,1755898569.227 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.6, -28.8 (Local)
2025-08-22T21:36:09.228Z,1755898569.228 [DAT](INFO): DAT read: Range 11 to 50 : 44.5 m (Round-trip 59.4 ms) speed 0.0 m/s
2025-08-22T21:36:09.229Z,1755898569.229 [DAT](INFO): DAT read: user:2358>
2025-08-22T21:36:09.230Z,1755898569.230 [DAT](INFO): DAT read: Tx time:21:36:10.2882
2025-08-22T21:36:09.230Z,1755898569.230 [DAT](INFO): Ping request sent.
2025-08-22T21:36:09.230Z,1755898569.230 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:09.230Z,1755898569.230 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T21:36:09.231Z,1755898569.231 [DAT](INFO): direction in FSK: [-0.919771,-0.392316,-0.010472]
2025-08-22T21:36:09.232Z,1755898569.232 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:09.232Z,1755898569.232 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:09.242Z,1755898569.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m.
2025-08-22T21:36:09.247Z,1755898569.247 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:09.247Z,1755898569.247 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:09.532Z,1755898569.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.500000 m,
deltaT: 3.532141 s,
deltaX: 0.299999 m,
approachRate: 0.084934 m/s,
rangeRepo size: 4
2025-08-22T21:36:09.534Z,1755898569.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.219181 m,
bearing: 71.004831 deg,
lat: 36.779365 deg,
lon: -121.859522 deg,
deltaT: 3.532141 s,
deltaX: 0.298592 m,
approachRate: 0.084536 m/s,
posRepo size: 4
2025-08-22T21:36:09.534Z,1755898569.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-08-22T21:36:09.913Z,1755898569.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-08-22T21:36:10.350Z,1755898570.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-08-22T21:36:10.715Z,1755898570.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-08-22T21:36:11.219Z,1755898571.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-08-22T21:36:11.534Z,1755898571.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-08-22T21:36:11.943Z,1755898571.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-08-22T21:36:12.243Z,1755898572.243 [DAT](INFO): DAT read: Rx Time:21:36:12.7523
2025-08-22T21:36:12.243Z,1755898572.243 [DAT](INFO): Rx dataTimestamp_ set to:1755898572.242790
2025-08-22T21:36:12.467Z,1755898572.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-08-22T21:36:12.753Z,1755898572.753 [DAT](INFO): DAT read: 21:36:12.7523 LVL= 32752, 30193, 32754, 32755, AGC= 73, IDX= 450,-0.26, 2.203,-1.869, 3.132,-2.910, PHS=-1.068, 1.086,-0.285, RAW= 309.0, 2.9, CAL= 306.6, -0.4, ROT= 203.4, 0.4
2025-08-22T21:36:12.754Z,1755898572.754 [DAT](INFO): got valid direction response:
21:36:12.7523 LVL= 32752, 30193, 32754, 32755, AGC= 73, IDX= 450,-0.26, 2.203,-1.869, 3.132,-2.910, PHS=-1.068, 1.086,-0.285, RAW= 309.0, 2.9, CAL= 306.6, -0.4, ROT= 203.4, 0.4
2025-08-22T21:36:12.755Z,1755898572.755 [DAT](INFO): DAT read: Bearing 178.6, -29.1 (Local)
2025-08-22T21:36:12.756Z,1755898572.756 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.6, -29.1 (Local)
2025-08-22T21:36:12.757Z,1755898572.757 [DAT](INFO): DAT read: Range 11 to 50 : 44.9 m (Round-trip 59.9 ms) speed -0.3 m/s
2025-08-22T21:36:12.758Z,1755898572.758 [DAT](INFO): DAT read: user:2359>
2025-08-22T21:36:12.759Z,1755898572.759 [DAT](INFO): DAT read: Tx time:21:36:13.8382
2025-08-22T21:36:12.759Z,1755898572.759 [DAT](INFO): Ping request sent.
2025-08-22T21:36:12.759Z,1755898572.759 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:12.759Z,1755898572.759 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T21:36:12.760Z,1755898572.760 [DAT](INFO): direction in FSK: [-0.917732,-0.397138,-0.006981]
2025-08-22T21:36:12.761Z,1755898572.761 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:12.761Z,1755898572.761 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:12.789Z,1755898572.789 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:12.789Z,1755898572.789 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:12.928Z,1755898572.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.900002 m,
deltaT: 3.528223 s,
deltaX: 0.400002 m,
approachRate: 0.113372 m/s,
rangeRepo size: 4
2025-08-22T21:36:12.934Z,1755898572.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.616528 m,
bearing: 71.943068 deg,
lat: 36.779363 deg,
lon: -121.859520 deg,
deltaT: 3.528223 s,
deltaX: 0.397346 m,
approachRate: 0.112619 m/s,
posRepo size: 4
2025-08-22T21:36:12.935Z,1755898572.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.62 m.
2025-08-22T21:36:13.276Z,1755898573.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.62 m.
2025-08-22T21:36:13.638Z,1755898573.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.62 m.
2025-08-22T21:36:14.024Z,1755898574.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.62 m.
2025-08-22T21:36:14.334Z,1755898574.334 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:36:14.467Z,1755898574.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.62 m.
2025-08-22T21:36:14.843Z,1755898574.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.62 m.
2025-08-22T21:36:15.307Z,1755898575.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.62 m.
2025-08-22T21:36:15.338Z,1755898575.338 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:36:15.639Z,1755898575.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.62 m.
2025-08-22T21:36:15.771Z,1755898575.771 [DAT](INFO): DAT read: Rx Time:21:36:16.3027
2025-08-22T21:36:15.771Z,1755898575.771 [DAT](INFO): Rx dataTimestamp_ set to:1755898575.770787
2025-08-22T21:36:16.080Z,1755898576.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.62 m.
2025-08-22T21:36:16.282Z,1755898576.282 [DAT](INFO): DAT read: 21:36:16.3027 LVL= 32752, 23793, 28338, 32755, AGC= 68, IDX= 422, 0.03,-1.181, 1.057,-0.323,-0.047, PHS=-1.032, 1.149,-0.320, RAW= 311.3, 2.1, CAL= 309.1, -1.0, ROT= 200.9, 1.0
2025-08-22T21:36:16.284Z,1755898576.284 [DAT](INFO): got valid direction response:
21:36:16.3027 LVL= 32752, 23793, 28338, 32755, AGC= 68, IDX= 422, 0.03,-1.181, 1.057,-0.323,-0.047, PHS=-1.032, 1.149,-0.320, RAW= 311.3, 2.1, CAL= 309.1, -1.0, ROT= 200.9, 1.0
2025-08-22T21:36:16.285Z,1755898576.285 [DAT](INFO): DAT read: Bearing 179.8, -26.7 (Local)
2025-08-22T21:36:16.286Z,1755898576.286 [DAT](INFO): Local bearing/azimuth received:
Bearing 179.8, -26.7 (Local)
2025-08-22T21:36:16.288Z,1755898576.288 [DAT](INFO): DAT read: Range 11 to 50 : 45.2 m (Round-trip 60.3 ms) speed 0.0 m/s
2025-08-22T21:36:16.290Z,1755898576.290 [DAT](INFO): DAT read: user:2360>
2025-08-22T21:36:16.291Z,1755898576.291 [DAT](INFO): DAT read: Tx time:21:36:17.3882
2025-08-22T21:36:16.292Z,1755898576.292 [DAT](INFO): Ping request sent.
2025-08-22T21:36:16.292Z,1755898576.292 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:16.293Z,1755898576.293 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T21:36:16.297Z,1755898576.297 [DAT](INFO): direction in FSK: [-0.934062,-0.356683,-0.017452]
2025-08-22T21:36:16.297Z,1755898576.297 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:16.297Z,1755898576.297 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:16.303Z,1755898576.303 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:16.303Z,1755898576.303 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:16.523Z,1755898576.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.200001 m,
deltaT: 3.527894 s,
deltaX: 0.299999 m,
approachRate: 0.085036 m/s,
rangeRepo size: 4
2025-08-22T21:36:16.525Z,1755898576.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.914970 m,
bearing: 69.853316 deg,
lat: 36.779363 deg,
lon: -121.859520 deg,
deltaT: 3.527894 s,
deltaX: 0.298443 m,
approachRate: 0.084595 m/s,
posRepo size: 4
2025-08-22T21:36:16.525Z,1755898576.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T21:36:16.888Z,1755898576.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T21:36:17.352Z,1755898577.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T21:36:17.694Z,1755898577.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T21:36:18.196Z,1755898578.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T21:36:18.626Z,1755898578.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T21:36:19.034Z,1755898579.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T21:36:19.304Z,1755898579.304 [DAT](INFO): DAT read: Rx Time:21:36:19.8532
2025-08-22T21:36:19.304Z,1755898579.304 [DAT](INFO): Rx dataTimestamp_ set to:1755898579.303872
2025-08-22T21:36:19.452Z,1755898579.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T21:36:19.815Z,1755898579.815 [DAT](INFO): DAT read: 21:36:19.8532 LVL= 22960, 18721, 22514, 21075, AGC= 71, IDX= 443,-0.29,-0.990, 1.264,-0.057, 0.150, PHS=-1.038, 1.159,-0.251, RAW= 309.3, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9
2025-08-22T21:36:19.816Z,1755898579.816 [DAT](INFO): got valid direction response:
21:36:19.8532 LVL= 22960, 18721, 22514, 21075, AGC= 71, IDX= 443,-0.29,-0.990, 1.264,-0.057, 0.150, PHS=-1.038, 1.159,-0.251, RAW= 309.3, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9
2025-08-22T21:36:19.817Z,1755898579.817 [DAT](INFO): DAT read: Bearing 181.1, -28.6 (Local)
2025-08-22T21:36:19.818Z,1755898579.818 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.1, -28.6 (Local)
2025-08-22T21:36:19.819Z,1755898579.819 [DAT](INFO): DAT read: Range 11 to 50 : 45.6 m (Round-trip 60.8 ms) speed 0.0 m/s
2025-08-22T21:36:19.820Z,1755898579.820 [DAT](INFO): DAT read: user:2361>
2025-08-22T21:36:19.820Z,1755898579.820 [DAT](INFO): DAT read: Tx time:21:36:20.9382
2025-08-22T21:36:19.821Z,1755898579.821 [DAT](INFO): Ping request sent.
2025-08-22T21:36:19.821Z,1755898579.821 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:19.821Z,1755898579.821 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T21:36:19.831Z,1755898579.831 [DAT](INFO): direction in FSK: [-0.921356,-0.387303,-0.033155]
2025-08-22T21:36:19.831Z,1755898579.831 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:19.831Z,1755898579.831 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:19.834Z,1755898579.834 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:19.835Z,1755898579.835 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:19.917Z,1755898579.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.599998 m,
deltaT: 3.532199 s,
deltaX: 0.399998 m,
approachRate: 0.113243 m/s,
rangeRepo size: 4
2025-08-22T21:36:19.923Z,1755898579.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.312229 m,
bearing: 72.210669 deg,
lat: 36.779360 deg,
lon: -121.859522 deg,
deltaT: 3.532199 s,
deltaX: 0.397259 m,
approachRate: 0.112468 m/s,
posRepo size: 4
2025-08-22T21:36:19.924Z,1755898579.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.31 m.
2025-08-22T21:36:20.307Z,1755898580.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.31 m.
2025-08-22T21:36:20.669Z,1755898580.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.31 m.
2025-08-22T21:36:21.040Z,1755898581.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.31 m.
2025-08-22T21:36:21.464Z,1755898581.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.31 m.
2025-08-22T21:36:21.862Z,1755898581.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.31 m.
2025-08-22T21:36:22.288Z,1755898582.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.31 m.
2025-08-22T21:36:22.670Z,1755898582.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.31 m.
2025-08-22T21:36:22.831Z,1755898582.831 [DAT](INFO): DAT read: Rx Time:21:36:23.4035
2025-08-22T21:36:22.831Z,1755898582.831 [DAT](INFO): Rx dataTimestamp_ set to:1755898582.830755
2025-08-22T21:36:23.078Z,1755898583.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.31 m.
2025-08-22T21:36:23.340Z,1755898583.340 [DAT](INFO): DAT read: 21:36:23.4035 LVL= 30128, 21713, 26354, 27219, AGC= 72, IDX= 447,-0.17,-0.028, 2.246, 0.825, 1.198, PHS=-1.124, 1.093,-0.417, RAW= 311.8, 4.6, CAL= 309.5, 2.7, ROT= 200.5, -2.7
2025-08-22T21:36:23.341Z,1755898583.341 [DAT](INFO): got valid direction response:
21:36:23.4035 LVL= 30128, 21713, 26354, 27219, AGC= 72, IDX= 447,-0.17,-0.028, 2.246, 0.825, 1.198, PHS=-1.124, 1.093,-0.417, RAW= 311.8, 4.6, CAL= 309.5, 2.7, ROT= 200.5, -2.7
2025-08-22T21:36:23.342Z,1755898583.342 [DAT](INFO): DAT read: Bearing 176.8, -25.2 (Local)
2025-08-22T21:36:23.343Z,1755898583.343 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.8, -25.2 (Local)
2025-08-22T21:36:23.344Z,1755898583.344 [DAT](INFO): DAT read: Range 11 to 50 : 45.9 m (Round-trip 61.2 ms) speed -0.1 m/s
2025-08-22T21:36:23.345Z,1755898583.345 [DAT](INFO): DAT read: user:2362>
2025-08-22T21:36:23.345Z,1755898583.345 [DAT](INFO): DAT read: Tx time:21:36:24.4881
2025-08-22T21:36:23.346Z,1755898583.346 [DAT](INFO): Ping request sent.
2025-08-22T21:36:23.346Z,1755898583.346 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:23.346Z,1755898583.346 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T21:36:23.347Z,1755898583.347 [DAT](INFO): direction in FSK: [-0.935632,-0.349819,0.047106]
2025-08-22T21:36:23.347Z,1755898583.347 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:23.348Z,1755898583.348 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:23.351Z,1755898583.351 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:23.351Z,1755898583.351 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:23.547Z,1755898583.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.900002 m,
deltaT: 3.527639 s,
deltaX: 0.300003 m,
approachRate: 0.085044 m/s,
rangeRepo size: 4
2025-08-22T21:36:23.554Z,1755898583.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.610306 m,
bearing: 70.781430 deg,
lat: 36.779363 deg,
lon: -121.859522 deg,
deltaT: 3.527639 s,
deltaX: 0.298077 m,
approachRate: 0.084497 m/s,
posRepo size: 4
2025-08-22T21:36:23.554Z,1755898583.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.61 m.
2025-08-22T21:36:23.878Z,1755898583.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.61 m.
2025-08-22T21:36:24.311Z,1755898584.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.61 m.
2025-08-22T21:36:24.710Z,1755898584.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.61 m.
2025-08-22T21:36:25.083Z,1755898585.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.61 m.
2025-08-22T21:36:25.510Z,1755898585.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.61 m.
2025-08-22T21:36:25.883Z,1755898585.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.61 m.
2025-08-22T21:36:26.319Z,1755898586.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.61 m.
2025-08-22T21:36:26.362Z,1755898586.362 [DAT](INFO): DAT read: Rx Time:21:36:26.9539
2025-08-22T21:36:26.364Z,1755898586.364 [DAT](INFO): Rx dataTimestamp_ set to:1755898586.362888
2025-08-22T21:36:26.787Z,1755898586.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.61 m.
2025-08-22T21:36:26.888Z,1755898586.888 [DAT](INFO): DAT read: 21:36:26.9539 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 435,-0.07, 1.398,-2.783, 2.312, 2.424, PHS=-0.924, 1.121,-0.156, RAW= 308.2, -0.5, CAL= 306.5, -4.0, ROT= 203.5, 4.0
2025-08-22T21:36:26.889Z,1755898586.889 [DAT](INFO): got valid direction response:
21:36:26.9539 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 435,-0.07, 1.398,-2.783, 2.312, 2.424, PHS=-0.924, 1.121,-0.156, RAW= 308.2, -0.5, CAL= 306.5, -4.0, ROT= 203.5, 4.0
2025-08-22T21:36:26.891Z,1755898586.891 [DAT](INFO): DAT read: Bearing 184.0, -28.0 (Local)
2025-08-22T21:36:26.892Z,1755898586.892 [DAT](INFO): Local bearing/azimuth received:
Bearing 184.0, -28.0 (Local)
2025-08-22T21:36:26.898Z,1755898586.898 [DAT](INFO): DAT read: Range 11 to 50 : 46.2 m (Round-trip 61.6 ms) speed 0.0 m/s
2025-08-22T21:36:26.899Z,1755898586.899 [DAT](INFO): DAT read: user:2363>
2025-08-22T21:36:26.899Z,1755898586.899 [DAT](INFO): DAT read: Tx time:21:36:28.0381
2025-08-22T21:36:26.900Z,1755898586.900 [DAT](INFO): Ping request sent.
2025-08-22T21:36:26.900Z,1755898586.900 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:26.900Z,1755898586.900 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T21:36:26.901Z,1755898586.901 [DAT](INFO): direction in FSK: [-0.914826,-0.397778,-0.069756]
2025-08-22T21:36:26.906Z,1755898586.906 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:26.907Z,1755898586.907 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:26.914Z,1755898586.914 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:26.914Z,1755898586.914 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:27.142Z,1755898587.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.200001 m,
deltaT: 3.529336 s,
deltaX: 0.299999 m,
approachRate: 0.085002 m/s,
rangeRepo size: 4
2025-08-22T21:36:27.145Z,1755898587.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.910416 m,
bearing: 73.634062 deg,
lat: 36.779360 deg,
lon: -121.859521 deg,
deltaT: 3.529336 s,
deltaX: 0.300110 m,
approachRate: 0.085033 m/s,
posRepo size: 4
2025-08-22T21:36:27.145Z,1755898587.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m.
2025-08-22T21:36:27.541Z,1755898587.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m.
2025-08-22T21:36:27.940Z,1755898587.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m.
2025-08-22T21:36:28.317Z,1755898588.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m.
2025-08-22T21:36:28.734Z,1755898588.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m.
2025-08-22T21:36:29.118Z,1755898589.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m.
2025-08-22T21:36:29.539Z,1755898589.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m.
2025-08-22T21:36:29.886Z,1755898589.886 [DAT](INFO): DAT read: Rx Time:21:36:30.5042
2025-08-22T21:36:29.887Z,1755898589.887 [DAT](INFO): Rx dataTimestamp_ set to:1755898589.886674
2025-08-22T21:36:29.938Z,1755898589.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m.
2025-08-22T21:36:30.343Z,1755898590.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m.
2025-08-22T21:36:30.651Z,1755898590.651 [DAT](INFO): DAT read: 21:36:30.5042 LVL= 32752, 25585, 29554, 30323, AGC= 72, IDX= 440,-0.46, 1.384,-2.535, 2.239, 2.675, PHS=-1.189, 1.119,-0.480, RAW= 312.6, 5.4, CAL= 310.3, 4.2, ROT= 199.7, -4.2
2025-08-22T21:36:30.652Z,1755898590.652 [DAT](INFO): got valid direction response:
21:36:30.5042 LVL= 32752, 25585, 29554, 30323, AGC= 72, IDX= 440,-0.46, 1.384,-2.535, 2.239, 2.675, PHS=-1.189, 1.119,-0.480, RAW= 312.6, 5.4, CAL= 310.3, 4.2, ROT= 199.7, -4.2
2025-08-22T21:36:30.653Z,1755898590.653 [DAT](INFO): DAT read: Bearing 175.7, -22.3 (Local)
2025-08-22T21:36:30.653Z,1755898590.653 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.7, -22.3 (Local)
2025-08-22T21:36:30.654Z,1755898590.654 [DAT](INFO): DAT read: Range 11 to 50 : 46.5 m (Round-trip 62.0 ms) speed 0.0 m/s
2025-08-22T21:36:30.655Z,1755898590.655 [DAT](INFO): DAT read: user:2364>
2025-08-22T21:36:30.656Z,1755898590.656 [DAT](INFO): DAT read: Tx time:21:36:31.5881
2025-08-22T21:36:30.656Z,1755898590.656 [DAT](INFO): Ping request sent.
2025-08-22T21:36:30.656Z,1755898590.656 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:30.656Z,1755898590.656 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T21:36:30.672Z,1755898590.672 [DAT](INFO): direction in FSK: [-0.938942,-0.336190,0.073238]
2025-08-22T21:36:30.672Z,1755898590.672 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:30.672Z,1755898590.672 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:30.675Z,1755898590.675 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:30.676Z,1755898590.676 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:30.785Z,1755898590.785 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 85.22, 83.86, 79.11
2025-08-22T21:36:30.831Z,1755898590.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.500000 m,
deltaT: 3.778713 s,
deltaX: 0.299999 m,
approachRate: 0.079392 m/s,
rangeRepo size: 4
2025-08-22T21:36:30.833Z,1755898590.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.209103 m,
bearing: 70.741128 deg,
lat: 36.779373 deg,
lon: -121.859522 deg,
deltaT: 3.778713 s,
deltaX: 0.298687 m,
approachRate: 0.079045 m/s,
posRepo size: 4
2025-08-22T21:36:30.833Z,1755898590.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.21 m.
2025-08-22T21:36:31.140Z,1755898591.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.21 m.
2025-08-22T21:36:31.564Z,1755898591.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.21 m.
2025-08-22T21:36:31.943Z,1755898591.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.21 m.
2025-08-22T21:36:32.344Z,1755898592.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:36:32.347Z,1755898592.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.21 m.
2025-08-22T21:36:32.407Z,1755898592.407 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:36:32.407Z,1755898592.407 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:36:32.407Z,1755898592.407 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:36:32.659Z,1755898592.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002410
2025-08-22T21:36:32.818Z,1755898592.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.21 m.
2025-08-22T21:36:32.911Z,1755898592.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255254
2025-08-22T21:36:33.163Z,1755898593.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506982
2025-08-22T21:36:33.194Z,1755898593.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.21 m.
2025-08-22T21:36:33.417Z,1755898593.417 [DAT](INFO): DAT read: Rx Time:21:36:34.0547
2025-08-22T21:36:33.418Z,1755898593.418 [DAT](INFO): Rx dataTimestamp_ set to:1755898593.417557
2025-08-22T21:36:33.420Z,1755898593.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763600
2025-08-22T21:36:33.590Z,1755898593.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.21 m.
2025-08-22T21:36:33.667Z,1755898593.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010486
2025-08-22T21:36:33.922Z,1755898593.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265163
2025-08-22T21:36:34.011Z,1755898594.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.21 m.
2025-08-22T21:36:34.178Z,1755898594.178 [DAT](INFO): DAT read: 21:36:34.0547 LVL= 32752, 32321, 32754, 32755, AGC= 73, IDX= 444,-0.19, 3.096,-0.916,-2.386,-1.944, PHS=-1.141, 1.073,-0.487, RAW= 313.3, 5.7, CAL= 311.1, 4.6, ROT= 198.9, -4.6
2025-08-22T21:36:34.180Z,1755898594.180 [DAT](INFO): got valid direction response:
21:36:34.0547 LVL= 32752, 32321, 32754, 32755, AGC= 73, IDX= 444,-0.19, 3.096,-0.916,-2.386,-1.944, PHS=-1.141, 1.073,-0.487, RAW= 313.3, 5.7, CAL= 311.1, 4.6, ROT= 198.9, -4.6
2025-08-22T21:36:34.181Z,1755898594.181 [DAT](INFO): DAT read: Bearing 175.4, -20.9 (Local)
2025-08-22T21:36:34.182Z,1755898594.182 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.4, -20.9 (Local)
2025-08-22T21:36:34.183Z,1755898594.183 [DAT](INFO): DAT read: Range 11 to 50 : 46.8 m (Round-trip 62.5 ms) speed 0.0 m/s
2025-08-22T21:36:34.184Z,1755898594.184 [DAT](INFO): DAT read: user:2365>
2025-08-22T21:36:34.186Z,1755898594.186 [DAT](INFO): DAT read: Tx time:21:36:35.1381
2025-08-22T21:36:34.186Z,1755898594.186 [DAT](INFO): Ping request sent.
2025-08-22T21:36:34.186Z,1755898594.186 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:34.187Z,1755898594.187 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:36:34.188Z,1755898594.188 [DAT](INFO): direction in FSK: [-0.943038,-0.322874,0.080199]
2025-08-22T21:36:34.188Z,1755898594.188 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:34.188Z,1755898594.188 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:34.193Z,1755898594.193 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:34.193Z,1755898594.193 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:34.411Z,1755898594.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.799999 m,
deltaT: 3.528186 s,
deltaX: 0.299999 m,
approachRate: 0.085029 m/s,
rangeRepo size: 4
2025-08-22T21:36:34.413Z,1755898594.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.509003 m,
bearing: 69.980221 deg,
lat: 36.779373 deg,
lon: -121.859522 deg,
deltaT: 3.528186 s,
deltaX: 0.299900 m,
approachRate: 0.085001 m/s,
posRepo size: 4
2025-08-22T21:36:34.418Z,1755898594.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.51 m.
2025-08-22T21:36:34.829Z,1755898594.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.51 m.
2025-08-22T21:36:35.240Z,1755898595.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.51 m.
2025-08-22T21:36:35.619Z,1755898595.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.51 m.
2025-08-22T21:36:35.991Z,1755898595.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.51 m.
2025-08-22T21:36:36.396Z,1755898596.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.51 m.
2025-08-22T21:36:36.829Z,1755898596.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.51 m.
2025-08-22T21:36:36.945Z,1755898596.945 [DAT](INFO): DAT read: Rx Time:21:36:37.6050
2025-08-22T21:36:36.946Z,1755898596.946 [DAT](INFO): Rx dataTimestamp_ set to:1755898596.945357
2025-08-22T21:36:37.239Z,1755898597.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.51 m.
2025-08-22T21:36:37.652Z,1755898597.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.51 m.
2025-08-22T21:36:37.706Z,1755898597.706 [DAT](INFO): DAT read: 21:36:37.6050 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 448,-0.17,-2.149,-0.150,-1.338,-1.054, PHS=-0.993, 0.949,-0.328, RAW= 310.3, 4.4, CAL= 308.0, 2.2, ROT= 202.0, -2.2
2025-08-22T21:36:37.708Z,1755898597.708 [DAT](INFO): got valid direction response:
21:36:37.6050 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 448,-0.17,-2.149,-0.150,-1.338,-1.054, PHS=-0.993, 0.949,-0.328, RAW= 310.3, 4.4, CAL= 308.0, 2.2, ROT= 202.0, -2.2
2025-08-22T21:36:37.709Z,1755898597.709 [DAT](INFO): DAT read: Bearing 177.3, -24.3 (Local)
2025-08-22T21:36:37.710Z,1755898597.710 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.3, -24.3 (Local)
2025-08-22T21:36:37.712Z,1755898597.712 [DAT](INFO): DAT read: Range 11 to 50 : 47.1 m (Round-trip 62.8 ms) speed -0.2 m/s
2025-08-22T21:36:37.712Z,1755898597.712 [DAT](INFO): DAT read: user:2366>
2025-08-22T21:36:37.713Z,1755898597.713 [DAT](INFO): DAT read: Tx time:21:36:38.6880
2025-08-22T21:36:37.713Z,1755898597.713 [DAT](INFO): Ping request sent.
2025-08-22T21:36:37.714Z,1755898597.714 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:37.714Z,1755898597.714 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T21:36:37.715Z,1755898597.715 [DAT](INFO): direction in FSK: [-0.926500,-0.374331,0.038388]
2025-08-22T21:36:37.715Z,1755898597.715 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:37.715Z,1755898597.715 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:37.718Z,1755898597.718 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:37.719Z,1755898597.719 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:38.031Z,1755898598.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.099998 m,
deltaT: 3.527971 s,
deltaX: 0.299999 m,
approachRate: 0.085034 m/s,
rangeRepo size: 4
2025-08-22T21:36:38.033Z,1755898598.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.806271 m,
bearing: 72.821490 deg,
lat: 36.779373 deg,
lon: -121.859521 deg,
deltaT: 3.527971 s,
deltaX: 0.297268 m,
approachRate: 0.084260 m/s,
posRepo size: 4
2025-08-22T21:36:38.033Z,1755898598.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T21:36:38.419Z,1755898598.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T21:36:38.862Z,1755898598.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T21:36:39.240Z,1755898599.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T21:36:39.655Z,1755898599.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T21:36:40.036Z,1755898600.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T21:36:40.441Z,1755898600.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T21:36:40.731Z,1755898600.731 [DAT](INFO): DAT read: Rx Time:21:36:41.1553
2025-08-22T21:36:40.731Z,1755898600.731 [DAT](INFO): Rx dataTimestamp_ set to:1755898600.730724
2025-08-22T21:36:40.872Z,1755898600.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T21:36:41.254Z,1755898601.254 [DAT](INFO): DAT read: 21:36:41.1553 LVL= 32752, 29889, 28946, 32387, AGC= 72, IDX= 435,-0.14,-1.256, 1.128,-0.381,-0.040, PHS=-1.114, 1.213,-0.384, RAW= 312.1, 2.8, CAL= 309.7, -0.2, ROT= 200.3, 0.2
2025-08-22T21:36:41.256Z,1755898601.256 [DAT](INFO): got valid direction response:
21:36:41.1553 LVL= 32752, 29889, 28946, 32387, AGC= 72, IDX= 435,-0.14,-1.256, 1.128,-0.381,-0.040, PHS=-1.114, 1.213,-0.384, RAW= 312.1, 2.8, CAL= 309.7, -0.2, ROT= 200.3, 0.2
2025-08-22T21:36:41.258Z,1755898601.258 [DAT](INFO): DAT read: Bearing 180.0, -23.2 (Local)
2025-08-22T21:36:41.258Z,1755898601.258 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.0, -23.2 (Local)
2025-08-22T21:36:41.260Z,1755898601.260 [DAT](INFO): DAT read: Range 11 to 50 : 47.3 m (Round-trip 63.1 ms) speed -0.2 m/s
2025-08-22T21:36:41.274Z,1755898601.274 [DAT](INFO): DAT read: user:2367>
2025-08-22T21:36:41.274Z,1755898601.274 [DAT](INFO): DAT read: Tx time:21:36:42.2880
2025-08-22T21:36:41.275Z,1755898601.275 [DAT](INFO): Ping request sent.
2025-08-22T21:36:41.275Z,1755898601.275 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:41.275Z,1755898601.275 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T21:36:41.276Z,1755898601.276 [DAT](INFO): direction in FSK: [-0.937883,-0.346933,-0.003491]
2025-08-22T21:36:41.276Z,1755898601.276 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:41.276Z,1755898601.276 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:41.288Z,1755898601.288 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:41.288Z,1755898601.288 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:41.476Z,1755898601.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.299999 m,
deltaT: 3.535744 s,
deltaX: 0.200001 m,
approachRate: 0.056565 m/s,
rangeRepo size: 4
2025-08-22T21:36:41.478Z,1755898601.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.005268 m,
bearing: 70.805548 deg,
lat: 36.779376 deg,
lon: -121.859522 deg,
deltaT: 3.535744 s,
deltaX: 0.198997 m,
approachRate: 0.056282 m/s,
posRepo size: 4
2025-08-22T21:36:41.479Z,1755898601.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m.
2025-08-22T21:36:41.809Z,1755898601.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m.
2025-08-22T21:36:42.166Z,1755898602.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m.
2025-08-22T21:36:42.595Z,1755898602.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m.
2025-08-22T21:36:42.970Z,1755898602.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m.
2025-08-22T21:36:43.371Z,1755898603.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m.
2025-08-22T21:36:43.801Z,1755898603.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m.
2025-08-22T21:36:44.170Z,1755898604.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m.
2025-08-22T21:36:44.259Z,1755898604.259 [DAT](INFO): DAT read: Rx Time:21:36:44.7557
2025-08-22T21:36:44.260Z,1755898604.260 [DAT](INFO): Rx dataTimestamp_ set to:1755898604.259573
2025-08-22T21:36:44.571Z,1755898604.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m.
2025-08-22T21:36:44.771Z,1755898604.771 [DAT](INFO): DAT read: 21:36:44.7557 LVL= 32752, 23585, 25522, 32755, AGC= 68, IDX= 423, 0.04, 2.399,-1.639,-3.047,-2.624, PHS=-1.158, 1.031,-0.467, RAW= 312.0, 6.2, CAL= 309.9, 5.4, ROT= 200.1, -5.4
2025-08-22T21:36:44.772Z,1755898604.772 [DAT](INFO): got valid direction response:
21:36:44.7557 LVL= 32752, 23585, 25522, 32755, AGC= 68, IDX= 423, 0.04, 2.399,-1.639,-3.047,-2.624, PHS=-1.158, 1.031,-0.467, RAW= 312.0, 6.2, CAL= 309.9, 5.4, ROT= 200.1, -5.4
2025-08-22T21:36:44.773Z,1755898604.773 [DAT](INFO): DAT read: Bearing 174.0, -22.8 (Local)
2025-08-22T21:36:44.774Z,1755898604.774 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.0, -22.8 (Local)
2025-08-22T21:36:44.775Z,1755898604.775 [DAT](INFO): DAT read: Range 11 to 50 : 47.6 m (Round-trip 63.5 ms) speed -0.2 m/s
2025-08-22T21:36:44.776Z,1755898604.776 [DAT](INFO): DAT read: user:2368>
2025-08-22T21:36:44.777Z,1755898604.777 [DAT](INFO): DAT read: Tx time:21:36:45.8880
2025-08-22T21:36:44.777Z,1755898604.777 [DAT](INFO): Ping request sent.
2025-08-22T21:36:44.777Z,1755898604.777 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:44.777Z,1755898604.777 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T21:36:44.778Z,1755898604.778 [DAT](INFO): direction in FSK: [-0.934926,-0.342135,0.094108]
2025-08-22T21:36:44.779Z,1755898604.779 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:44.779Z,1755898604.779 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:44.791Z,1755898604.791 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:44.791Z,1755898604.791 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:45.001Z,1755898605.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.599998 m,
deltaT: 3.530765 s,
deltaX: 0.299999 m,
approachRate: 0.084967 m/s,
rangeRepo size: 4
2025-08-22T21:36:45.003Z,1755898605.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.303719 m,
bearing: 71.216392 deg,
lat: 36.779380 deg,
lon: -121.859524 deg,
deltaT: 3.530765 s,
deltaX: 0.298450 m,
approachRate: 0.084529 m/s,
posRepo size: 4
2025-08-22T21:36:45.004Z,1755898605.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-08-22T21:36:45.371Z,1755898605.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-08-22T21:36:45.470Z,1755898605.470 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:36:45.852Z,1755898605.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-08-22T21:36:46.203Z,1755898606.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-08-22T21:36:46.474Z,1755898606.474 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:36:46.638Z,1755898606.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-08-22T21:36:47.042Z,1755898607.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-08-22T21:36:47.413Z,1755898607.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-08-22T21:36:47.787Z,1755898607.787 [DAT](INFO): DAT read: Rx Time:21:36:48.3560
2025-08-22T21:36:47.787Z,1755898607.787 [DAT](INFO): Rx dataTimestamp_ set to:1755898607.786724
2025-08-22T21:36:47.884Z,1755898607.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-08-22T21:36:48.281Z,1755898608.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-08-22T21:36:48.300Z,1755898608.300 [DAT](INFO): DAT read: 21:36:48.3560 LVL= 32752, 30305, 32754, 32755, AGC= 72, IDX= 427, 0.30, 2.854,-1.169,-2.479,-2.204, PHS=-1.123, 1.080,-0.319, RAW= 308.9, 3.8, CAL= 306.5, 1.0, ROT= 203.5, -1.0
2025-08-22T21:36:48.301Z,1755898608.301 [DAT](INFO): got valid direction response:
21:36:48.3560 LVL= 32752, 30305, 32754, 32755, AGC= 72, IDX= 427, 0.30, 2.854,-1.169,-2.479,-2.204, PHS=-1.123, 1.080,-0.319, RAW= 308.9, 3.8, CAL= 306.5, 1.0, ROT= 203.5, -1.0
2025-08-22T21:36:48.302Z,1755898608.302 [DAT](INFO): DAT read: Bearing 178.5, -27.5 (Local)
2025-08-22T21:36:48.302Z,1755898608.302 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.5, -27.5 (Local)
2025-08-22T21:36:48.304Z,1755898608.304 [DAT](INFO): DAT read: Range 11 to 50 : 47.9 m (Round-trip 63.9 ms) speed 0.0 m/s
2025-08-22T21:36:48.304Z,1755898608.304 [DAT](INFO): DAT read: user:2369>
2025-08-22T21:36:48.305Z,1755898608.305 [DAT](INFO): DAT read: Tx time:21:36:49.4879
2025-08-22T21:36:48.310Z,1755898608.310 [DAT](INFO): Ping request sent.
2025-08-22T21:36:48.310Z,1755898608.310 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:48.310Z,1755898608.310 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T21:36:48.311Z,1755898608.311 [DAT](INFO): direction in FSK: [-0.916920,-0.398688,0.017452]
2025-08-22T21:36:48.311Z,1755898608.311 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:48.312Z,1755898608.312 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:48.323Z,1755898608.323 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:48.323Z,1755898608.323 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:48.628Z,1755898608.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.900002 m,
deltaT: 3.525320 s,
deltaX: 0.300003 m,
approachRate: 0.085100 m/s,
rangeRepo size: 4
2025-08-22T21:36:48.646Z,1755898608.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.601177 m,
bearing: 74.436856 deg,
lat: 36.779380 deg,
lon: -121.859524 deg,
deltaT: 3.525320 s,
deltaX: 0.297459 m,
approachRate: 0.084378 m/s,
posRepo size: 4
2025-08-22T21:36:48.646Z,1755898608.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.60 m.
2025-08-22T21:36:49.051Z,1755898609.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.60 m.
2025-08-22T21:36:49.430Z,1755898609.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.60 m.
2025-08-22T21:36:49.859Z,1755898609.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.60 m.
2025-08-22T21:36:50.259Z,1755898610.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.60 m.
2025-08-22T21:36:50.642Z,1755898610.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.60 m.
2025-08-22T21:36:51.082Z,1755898611.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.60 m.
2025-08-22T21:36:51.315Z,1755898611.315 [DAT](INFO): DAT read: Rx Time:21:36:51.9564
2025-08-22T21:36:51.315Z,1755898611.315 [DAT](INFO): Rx dataTimestamp_ set to:1755898611.314730
2025-08-22T21:36:51.458Z,1755898611.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.60 m.
2025-08-22T21:36:51.927Z,1755898611.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.60 m.
2025-08-22T21:36:52.076Z,1755898612.076 [DAT](INFO): DAT read: 21:36:51.9564 LVL= 31936, 23825, 27074, 32755, AGC= 71, IDX= 447, 0.09,-1.370, 0.891,-0.524,-0.153, PHS=-1.115, 1.089,-0.415, RAW= 311.9, 4.6, CAL= 309.6, 2.7, ROT= 200.4, -2.7
2025-08-22T21:36:52.077Z,1755898612.077 [DAT](INFO): got valid direction response:
21:36:51.9564 LVL= 31936, 23825, 27074, 32755, AGC= 71, IDX= 447, 0.09,-1.370, 0.891,-0.524,-0.153, PHS=-1.115, 1.089,-0.415, RAW= 311.9, 4.6, CAL= 309.6, 2.7, ROT= 200.4, -2.7
2025-08-22T21:36:52.078Z,1755898612.078 [DAT](INFO): DAT read: Bearing 177.4, -24.4 (Local)
2025-08-22T21:36:52.079Z,1755898612.079 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.4, -24.4 (Local)
2025-08-22T21:36:52.080Z,1755898612.080 [DAT](INFO): DAT read: Range 11 to 50 : 48.2 m (Round-trip 64.3 ms) speed -0.3 m/s
2025-08-22T21:36:52.081Z,1755898612.081 [DAT](INFO): DAT read: user:2370>
2025-08-22T21:36:52.081Z,1755898612.081 [DAT](INFO): DAT read: Tx time:21:36:53.0879
2025-08-22T21:36:52.082Z,1755898612.082 [DAT](INFO): Ping request sent.
2025-08-22T21:36:52.082Z,1755898612.082 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:52.082Z,1755898612.082 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T21:36:52.083Z,1755898612.083 [DAT](INFO): direction in FSK: [-0.936242,-0.348185,0.047106]
2025-08-22T21:36:52.083Z,1755898612.083 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:52.084Z,1755898612.084 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:52.087Z,1755898612.087 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:52.087Z,1755898612.087 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:52.331Z,1755898612.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.200001 m,
deltaT: 3.779905 s,
deltaX: 0.299999 m,
approachRate: 0.079367 m/s,
rangeRepo size: 4
2025-08-22T21:36:52.338Z,1755898612.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.897861 m,
bearing: 71.575640 deg,
lat: 36.779380 deg,
lon: -121.859524 deg,
deltaT: 3.779905 s,
deltaX: 0.296684 m,
approachRate: 0.078490 m/s,
posRepo size: 4
2025-08-22T21:36:52.338Z,1755898612.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-22T21:36:52.668Z,1755898612.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-22T21:36:53.099Z,1755898613.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-22T21:36:53.489Z,1755898613.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-22T21:36:53.904Z,1755898613.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-22T21:36:54.290Z,1755898614.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-22T21:36:54.683Z,1755898614.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-22T21:36:55.117Z,1755898615.117 [DAT](INFO): DAT read: Rx Time:21:36:55.5568
2025-08-22T21:36:55.118Z,1755898615.118 [DAT](INFO): Rx dataTimestamp_ set to:1755898615.117426
2025-08-22T21:36:55.129Z,1755898615.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-22T21:36:55.532Z,1755898615.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-08-22T21:36:55.630Z,1755898615.630 [DAT](INFO): DAT read: 21:36:55.5568 LVL= 32752, 27297, 32754, 32755, AGC= 70, IDX= 435,-0.26,-0.667, 1.605, 0.290, 0.545, PHS=-1.110, 1.105,-0.299, RAW= 308.8, 3.2, CAL= 306.4, -0.1, ROT= 203.6, 0.1
2025-08-22T21:36:55.631Z,1755898615.631 [DAT](INFO): got valid direction response:
21:36:55.5568 LVL= 32752, 27297, 32754, 32755, AGC= 70, IDX= 435,-0.26,-0.667, 1.605, 0.290, 0.545, PHS=-1.110, 1.105,-0.299, RAW= 308.8, 3.2, CAL= 306.4, -0.1, ROT= 203.6, 0.1
2025-08-22T21:36:55.632Z,1755898615.632 [DAT](INFO): DAT read: Bearing 180.2, -27.8 (Local)
2025-08-22T21:36:55.632Z,1755898615.632 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.2, -27.8 (Local)
2025-08-22T21:36:55.634Z,1755898615.634 [DAT](INFO): DAT read: Range 11 to 50 : 48.5 m (Round-trip 64.7 ms) speed -0.2 m/s
2025-08-22T21:36:55.635Z,1755898615.635 [DAT](INFO): DAT read: user:2371>
2025-08-22T21:36:55.635Z,1755898615.635 [DAT](INFO): DAT read: Tx time:21:36:56.6879
2025-08-22T21:36:55.636Z,1755898615.636 [DAT](INFO): Ping request sent.
2025-08-22T21:36:55.636Z,1755898615.636 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:55.636Z,1755898615.636 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T21:36:55.637Z,1755898615.637 [DAT](INFO): direction in FSK: [-0.916361,-0.400348,-0.001745]
2025-08-22T21:36:55.637Z,1755898615.637 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:55.638Z,1755898615.638 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:55.641Z,1755898615.641 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:55.641Z,1755898615.641 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:55.979Z,1755898615.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.500000 m,
deltaT: 3.554022 s,
deltaX: 0.299999 m,
approachRate: 0.084411 m/s,
rangeRepo size: 4
2025-08-22T21:36:55.981Z,1755898615.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.196198 m,
bearing: 74.749752 deg,
lat: 36.779380 deg,
lon: -121.859524 deg,
deltaT: 3.554022 s,
deltaX: 0.298336 m,
approachRate: 0.083943 m/s,
posRepo size: 4
2025-08-22T21:36:55.982Z,1755898615.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-22T21:36:56.331Z,1755898616.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-22T21:36:56.751Z,1755898616.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-22T21:36:57.151Z,1755898617.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-22T21:36:57.511Z,1755898617.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-22T21:36:57.943Z,1755898617.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-22T21:36:58.341Z,1755898618.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-22T21:36:58.646Z,1755898618.646 [DAT](INFO): DAT read: Rx Time:21:36:59.1574
2025-08-22T21:36:58.647Z,1755898618.647 [DAT](INFO): Rx dataTimestamp_ set to:1755898618.646678
2025-08-22T21:36:58.750Z,1755898618.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-22T21:36:59.170Z,1755898619.170 [DAT](INFO): DAT read: 21:36:59.1574 LVL= 32752, 29137, 32754, 28835, AGC= 73, IDX= 425,-0.43,-1.826, 0.491,-0.905,-0.574, PHS=-1.150, 1.110,-0.374, RAW= 310.3, 4.2, CAL= 307.9, 1.9, ROT= 202.1, -1.9
2025-08-22T21:36:59.171Z,1755898619.171 [DAT](INFO): got valid direction response:
21:36:59.1574 LVL= 32752, 29137, 32754, 28835, AGC= 73, IDX= 425,-0.43,-1.826, 0.491,-0.905,-0.574, PHS=-1.150, 1.110,-0.374, RAW= 310.3, 4.2, CAL= 307.9, 1.9, ROT= 202.1, -1.9
2025-08-22T21:36:59.173Z,1755898619.173 [DAT](INFO): DAT read: Bearing 178.4, -25.6 (Local)
2025-08-22T21:36:59.173Z,1755898619.173 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.4, -25.6 (Local)
2025-08-22T21:36:59.175Z,1755898619.175 [DAT](INFO): DAT read: Range 11 to 50 : 48.9 m (Round-trip 65.3 ms) speed -0.3 m/s
2025-08-22T21:36:59.176Z,1755898619.176 [DAT](INFO): DAT read: user:2372>
2025-08-22T21:36:59.177Z,1755898619.177 [DAT](INFO): DAT read: Tx time:21:37:00.2879
2025-08-22T21:36:59.182Z,1755898619.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.20 m.
2025-08-22T21:36:59.190Z,1755898619.190 [DAT](INFO): Ping request sent.
2025-08-22T21:36:59.190Z,1755898619.190 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:36:59.190Z,1755898619.190 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T21:36:59.192Z,1755898619.192 [DAT](INFO): direction in FSK: [-0.926019,-0.376018,0.033155]
2025-08-22T21:36:59.192Z,1755898619.192 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:59.192Z,1755898619.192 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:59.205Z,1755898619.205 [DAT](INFO): publishing transmit ping time
2025-08-22T21:36:59.205Z,1755898619.205 [DAT](INFO): publishing direction and range info
2025-08-22T21:36:59.549Z,1755898619.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.900002 m,
deltaT: 3.529615 s,
deltaX: 0.400002 m,
approachRate: 0.113327 m/s,
rangeRepo size: 4
2025-08-22T21:36:59.551Z,1755898619.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.591846 m,
bearing: 73.664725 deg,
lat: 36.779370 deg,
lon: -121.859520 deg,
deltaT: 3.529615 s,
deltaX: 0.395649 m,
approachRate: 0.112094 m/s,
posRepo size: 4
2025-08-22T21:36:59.552Z,1755898619.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T21:36:59.974Z,1755898619.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T21:37:00.339Z,1755898620.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T21:37:00.756Z,1755898620.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T21:37:01.196Z,1755898621.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T21:37:01.557Z,1755898621.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T21:37:01.982Z,1755898621.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T21:37:02.179Z,1755898622.179 [DAT](INFO): DAT read: Rx Time:21:37:02.7575
2025-08-22T21:37:02.180Z,1755898622.180 [DAT](INFO): Rx dataTimestamp_ set to:1755898622.179571
2025-08-22T21:37:02.387Z,1755898622.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T21:37:02.691Z,1755898622.691 [DAT](INFO): DAT read: 21:37:02.7575 LVL= 32752, 23793, 27218, 22995, AGC= 69, IDX= 427, 0.06, 0.405, 2.531, 1.304, 1.572, PHS=-1.065, 1.004,-0.312, RAW= 308.9, 4.2, CAL= 306.5, 1.6, ROT= 203.5, -1.6
2025-08-22T21:37:02.693Z,1755898622.693 [DAT](INFO): got valid direction response:
21:37:02.7575 LVL= 32752, 23793, 27218, 22995, AGC= 69, IDX= 427, 0.06, 0.405, 2.531, 1.304, 1.572, PHS=-1.065, 1.004,-0.312, RAW= 308.9, 4.2, CAL= 306.5, 1.6, ROT= 203.5, -1.6
2025-08-22T21:37:02.694Z,1755898622.694 [DAT](INFO): DAT read: Bearing 178.3, -26.5 (Local)
2025-08-22T21:37:02.694Z,1755898622.694 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.3, -26.5 (Local)
2025-08-22T21:37:02.695Z,1755898622.695 [DAT](INFO): DAT read: Range 11 to 50 : 49.1 m (Round-trip 65.5 ms) speed 0.1 m/s
2025-08-22T21:37:02.696Z,1755898622.696 [DAT](INFO): DAT read: user:2373>
2025-08-22T21:37:02.697Z,1755898622.697 [DAT](INFO): DAT read: Tx time:21:37:03.8878
2025-08-22T21:37:02.698Z,1755898622.698 [DAT](INFO): Ping request sent.
2025-08-22T21:37:02.698Z,1755898622.698 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:37:02.699Z,1755898622.699 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T21:37:02.701Z,1755898622.701 [DAT](INFO): direction in FSK: [-0.916703,-0.398594,0.027922]
2025-08-22T21:37:02.702Z,1755898622.702 [DAT](INFO): publishing transmit ping time
2025-08-22T21:37:02.702Z,1755898622.702 [DAT](INFO): publishing direction and range info
2025-08-22T21:37:02.708Z,1755898622.708 [DAT](INFO): publishing transmit ping time
2025-08-22T21:37:02.709Z,1755898622.709 [DAT](INFO): publishing direction and range info
2025-08-22T21:37:02.879Z,1755898622.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.099998 m,
deltaT: 3.528788 s,
deltaX: 0.199997 m,
approachRate: 0.056676 m/s,
rangeRepo size: 4
2025-08-22T21:37:02.914Z,1755898622.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.790520 m,
bearing: 75.159459 deg,
lat: 36.779360 deg,
lon: -121.859520 deg,
deltaT: 3.528788 s,
deltaX: 0.198673 m,
approachRate: 0.056301 m/s,
posRepo size: 4
2025-08-22T21:37:02.915Z,1755898622.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.79 m.
2025-08-22T21:37:03.261Z,1755898623.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.79 m.
2025-08-22T21:37:03.614Z,1755898623.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.79 m.
2025-08-22T21:37:04.042Z,1755898624.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.79 m.
2025-08-22T21:37:04.412Z,1755898624.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.79 m.
2025-08-22T21:37:04.812Z,1755898624.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.79 m.
2025-08-22T21:37:05.282Z,1755898625.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.79 m.
2025-08-22T21:37:05.619Z,1755898625.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.79 m.
2025-08-22T21:37:05.708Z,1755898625.708 [DAT](INFO): DAT read: Rx Time:21:37:06.3578
2025-08-22T21:37:05.708Z,1755898625.708 [DAT](INFO): Rx dataTimestamp_ set to:1755898625.707867
2025-08-22T21:37:06.061Z,1755898626.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.79 m.
2025-08-22T21:37:06.439Z,1755898626.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.79 m.
2025-08-22T21:37:06.468Z,1755898626.468 [DAT](INFO): DAT read: 21:37:06.3578 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 446, 0.08, 1.005,-3.063, 1.925, 2.242, PHS=-1.136, 1.023,-0.361, RAW= 309.3, 5.1, CAL= 306.9, 3.3, ROT= 203.1, -3.3
2025-08-22T21:37:06.469Z,1755898626.469 [DAT](INFO): got valid direction response:
21:37:06.3578 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 446, 0.08, 1.005,-3.063, 1.925, 2.242, PHS=-1.136, 1.023,-0.361, RAW= 309.3, 5.1, CAL= 306.9, 3.3, ROT= 203.1, -3.3
2025-08-22T21:37:06.470Z,1755898626.470 [DAT](INFO): DAT read: Bearing 176.3, -25.7 (Local)
2025-08-22T21:37:06.471Z,1755898626.471 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.3, -25.7 (Local)
2025-08-22T21:37:06.472Z,1755898626.472 [DAT](INFO): DAT read: Range 11 to 50 : 49.3 m (Round-trip 65.8 ms) speed 0.0 m/s
2025-08-22T21:37:06.473Z,1755898626.473 [DAT](INFO): DAT read: user:2374>
2025-08-22T21:37:06.474Z,1755898626.474 [DAT](INFO): DAT read: Tx time:21:37:07.4878
2025-08-22T21:37:06.474Z,1755898626.474 [DAT](INFO): Ping request sent.
2025-08-22T21:37:06.474Z,1755898626.474 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:37:06.474Z,1755898626.474 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T21:37:06.475Z,1755898626.475 [DAT](INFO): direction in FSK: [-0.918296,-0.391687,0.057564]
2025-08-22T21:37:06.475Z,1755898626.475 [DAT](INFO): publishing transmit ping time
2025-08-22T21:37:06.476Z,1755898626.476 [DAT](INFO): publishing direction and range info
2025-08-22T21:37:06.479Z,1755898626.479 [DAT](INFO): publishing transmit ping time
2025-08-22T21:37:06.479Z,1755898626.479 [DAT](INFO): publishing direction and range info
2025-08-22T21:37:06.853Z,1755898626.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.299999 m,
deltaT: 3.779538 s,
deltaX: 0.200001 m,
approachRate: 0.052917 m/s,
rangeRepo size: 4
2025-08-22T21:37:06.856Z,1755898626.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.989326 m,
bearing: 74.950687 deg,
lat: 36.779364 deg,
lon: -121.859520 deg,
deltaT: 3.779538 s,
deltaX: 0.198807 m,
approachRate: 0.052601 m/s,
posRepo size: 4
2025-08-22T21:37:06.857Z,1755898626.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-08-22T21:37:07.277Z,1755898627.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-08-22T21:37:07.643Z,1755898627.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-08-22T21:37:08.070Z,1755898628.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-08-22T21:37:08.462Z,1755898628.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-08-22T21:37:08.873Z,1755898628.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-08-22T21:37:09.303Z,1755898629.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-08-22T21:37:09.486Z,1755898629.486 [DAT](INFO): DAT read: Rx Time:21:37:09.9583
2025-08-22T21:37:09.487Z,1755898629.487 [DAT](INFO): Rx dataTimestamp_ set to:1755898629.486641
2025-08-22T21:37:09.674Z,1755898629.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-08-22T21:37:10.009Z,1755898630.009 [DAT](INFO): DAT read: 21:37:09.9583 LVL= 32752, 29073, 32754, 32755, AGC= 69, IDX= 452,-0.06,-2.843,-0.452,-1.886,-1.539, PHS=-1.203, 1.132,-0.391, RAW= 310.0, 4.6, CAL= 307.6, 2.4, ROT= 202.4, -2.4
2025-08-22T21:37:10.020Z,1755898630.020 [DAT](INFO): got valid direction response:
21:37:09.9583 LVL= 32752, 29073, 32754, 32755, AGC= 69, IDX= 452,-0.06,-2.843,-0.452,-1.886,-1.539, PHS=-1.203, 1.132,-0.391, RAW= 310.0, 4.6, CAL= 307.6, 2.4, ROT= 202.4, -2.4
2025-08-22T21:37:10.026Z,1755898630.026 [DAT](INFO): DAT read: Bearing 176.9, -25.1 (Local)
2025-08-22T21:37:10.026Z,1755898630.026 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.9, -25.1 (Local)
2025-08-22T21:37:10.028Z,1755898630.028 [DAT](INFO): DAT read: Range 11 to 50 : 49.8 m (Round-trip 66.4 ms) speed 0.0 m/s
2025-08-22T21:37:10.028Z,1755898630.028 [DAT](INFO): DAT read: user:2375>
2025-08-22T21:37:10.029Z,1755898630.029 [DAT](INFO): DAT read: Tx time:21:37:11.0878
2025-08-22T21:37:10.029Z,1755898630.029 [DAT](INFO): Ping request sent.
2025-08-22T21:37:10.046Z,1755898630.046 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:37:10.046Z,1755898630.046 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T21:37:10.047Z,1755898630.047 [DAT](INFO): direction in FSK: [-0.923735,-0.380736,0.041876]
2025-08-22T21:37:10.047Z,1755898630.047 [DAT](INFO): publishing transmit ping time
2025-08-22T21:37:10.047Z,1755898630.047 [DAT](INFO): publishing direction and range info
2025-08-22T21:37:10.072Z,1755898630.072 [DAT](INFO): publishing transmit ping time
2025-08-22T21:37:10.073Z,1755898630.073 [DAT](INFO): publishing direction and range info
2025-08-22T21:37:10.324Z,1755898630.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.799999 m,
deltaT: 3.529425 s,
deltaX: 0.500000 m,
approachRate: 0.141666 m/s,
rangeRepo size: 4
2025-08-22T21:37:10.330Z,1755898630.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.486080 m,
bearing: 74.131599 deg,
lat: 36.779364 deg,
lon: -121.859520 deg,
deltaT: 3.529425 s,
deltaX: 0.496754 m,
approachRate: 0.140746 m/s,
posRepo size: 4
2025-08-22T21:37:10.331Z,1755898630.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.49 m.
2025-08-22T21:37:10.597Z,1755898630.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.49 m.
2025-08-22T21:37:11.072Z,1755898631.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.49 m.
2025-08-22T21:37:11.434Z,1755898631.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.49 m.
2025-08-22T21:37:11.797Z,1755898631.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.49 m.
2025-08-22T21:37:12.264Z,1755898632.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.49 m.
2025-08-22T21:37:12.620Z,1755898632.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.49 m.
2025-08-22T21:37:13.012Z,1755898633.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.49 m.
2025-08-22T21:37:13.017Z,1755898633.017 [DAT](INFO): DAT read: Rx Time:21:37:13.5587
2025-08-22T21:37:13.019Z,1755898633.019 [DAT](INFO): Rx dataTimestamp_ set to:1755898633.017811
2025-08-22T21:37:13.489Z,1755898633.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.49 m.
2025-08-22T21:37:13.524Z,1755898633.524 [DAT](INFO): DAT read: 21:37:13.5586 LVL= 32752, 30353, 32754, 32755, AGC= 71, IDX= 440, 0.31,-1.798, 0.549,-0.899,-0.506, PHS=-1.189, 1.100,-0.437, RAW= 311.2, 5.3, CAL= 308.9, 3.8, ROT= 201.1, -3.8
2025-08-22T21:37:13.525Z,1755898633.525 [DAT](INFO): got valid direction response:
21:37:13.5586 LVL= 32752, 30353, 32754, 32755, AGC= 71, IDX= 440, 0.31,-1.798, 0.549,-0.899,-0.506, PHS=-1.189, 1.100,-0.437, RAW= 311.2, 5.3, CAL= 308.9, 3.8, ROT= 201.1, -3.8
2025-08-22T21:37:13.526Z,1755898633.526 [DAT](INFO): DAT read: Bearing 175.4, -24.0 (Local)
2025-08-22T21:37:13.526Z,1755898633.526 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.4, -24.0 (Local)
2025-08-22T21:37:13.528Z,1755898633.528 [DAT](INFO): DAT read: Range 11 to 50 : 50.0 m (Round-trip 66.7 ms) speed 0.1 m/s
2025-08-22T21:37:13.528Z,1755898633.528 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T21:37:13.529Z,1755898633.529 [DAT](INFO): direction in FSK: [-0.930902,-0.359205,0.066274]
2025-08-22T21:37:13.529Z,1755898633.529 [DAT](INFO): publishing direction and range info
2025-08-22T21:37:13.832Z,1755898633.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.000000 m,
deltaT: 3.526718 s,
deltaX: 0.200001 m,
approachRate: 0.056710 m/s,
rangeRepo size: 4
2025-08-22T21:37:13.834Z,1755898633.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.685112 m,
bearing: 73.167025 deg,
lat: 36.779370 deg,
lon: -121.859520 deg,
deltaT: 3.526718 s,
deltaX: 0.199032 m,
approachRate: 0.056435 m/s,
posRepo size: 4
2025-08-22T21:37:13.834Z,1755898633.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:14.273Z,1755898634.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:14.628Z,1755898634.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:15.054Z,1755898635.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:15.470Z,1755898635.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:15.846Z,1755898635.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:16.281Z,1755898636.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:16.594Z,1755898636.594 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:37:16.647Z,1755898636.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:17.055Z,1755898637.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:17.475Z,1755898637.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:17.598Z,1755898637.598 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:37:17.878Z,1755898637.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:18.303Z,1755898638.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:18.682Z,1755898638.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:19.087Z,1755898639.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:19.505Z,1755898639.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:19.877Z,1755898639.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:20.311Z,1755898640.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:20.709Z,1755898640.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:21.097Z,1755898641.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:21.511Z,1755898641.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:21.899Z,1755898641.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:22.336Z,1755898642.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:22.713Z,1755898642.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:23.114Z,1755898643.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:23.535Z,1755898643.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:23.915Z,1755898643.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:24.358Z,1755898644.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:24.788Z,1755898644.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:25.188Z,1755898645.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:25.575Z,1755898645.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:25.971Z,1755898645.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:26.389Z,1755898646.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:26.759Z,1755898646.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:27.167Z,1755898647.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:27.589Z,1755898647.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:27.956Z,1755898647.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:28.385Z,1755898648.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:28.782Z,1755898648.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:29.201Z,1755898649.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:29.591Z,1755898649.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:29.984Z,1755898649.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:30.404Z,1755898650.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:30.784Z,1755898650.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:31.205Z,1755898651.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:31.632Z,1755898651.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:31.996Z,1755898651.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:32.421Z,1755898652.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:37:32.423Z,1755898652.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:32.434Z,1755898652.434 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:37:32.435Z,1755898652.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:37:32.686Z,1755898652.686 [DAT](INFO): DAT read: user:2376>
2025-08-22T21:37:32.687Z,1755898652.687 [DAT](INFO): DAT read: Tx time:21:37:33.6876
2025-08-22T21:37:32.687Z,1755898652.687 [DAT](INFO): Ping request sent.
2025-08-22T21:37:32.687Z,1755898652.687 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:37:32.688Z,1755898652.688 [DAT](INFO): publishing transmit ping time
2025-08-22T21:37:32.688Z,1755898652.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-08-22T21:37:32.824Z,1755898652.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:32.939Z,1755898652.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251054
2025-08-22T21:37:33.191Z,1755898653.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503726
2025-08-22T21:37:33.218Z,1755898653.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:33.443Z,1755898653.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755602
2025-08-22T21:37:33.631Z,1755898653.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:33.695Z,1755898653.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007027
2025-08-22T21:37:33.947Z,1755898653.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258972
2025-08-22T21:37:34.023Z,1755898654.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:34.198Z,1755898654.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510927
2025-08-22T21:37:34.442Z,1755898654.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:34.451Z,1755898654.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763084
2025-08-22T21:37:34.703Z,1755898654.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014977
2025-08-22T21:37:34.823Z,1755898654.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:34.954Z,1755898654.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266911
2025-08-22T21:37:35.207Z,1755898655.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519038
2025-08-22T21:37:35.252Z,1755898655.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:35.459Z,1755898655.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771610
2025-08-22T21:37:35.698Z,1755898655.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:35.711Z,1755898655.711 [DAT](INFO): DAT read: Rx Time:21:37:36.1609
2025-08-22T21:37:35.711Z,1755898655.711 [DAT](INFO): Rx dataTimestamp_ set to:1755898655.710832
2025-08-22T21:37:35.712Z,1755898655.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024108
2025-08-22T21:37:35.963Z,1755898655.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274957
2025-08-22T21:37:36.089Z,1755898656.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:36.215Z,1755898656.215 [DAT](INFO): DAT read: 21:37:36.1609 LVL= 32752, 36.3, -3.9
2025-08-22T21:37:36.216Z,1755898656.216 [DAT](INFO): unknown deviceResponse_: 21:37:36.1609 LVL= 32752, 36.3, -3.9
2025-08-22T21:37:36.217Z,1755898656.217 [DAT](INFO): DAT read: Bearing 175.4, -29.4 (Local)
2025-08-22T21:37:36.217Z,1755898656.217 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.4, -29.4 (Local)
2025-08-22T21:37:36.218Z,1755898656.218 [DAT](INFO): DAT read: Range 11 to 50 : 51.8 m (Round-trip 69.1 ms) speed -0.2 m/s
2025-08-22T21:37:36.219Z,1755898656.219 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:37:36.472Z,1755898656.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.799999 m,
deltaT: 22.695983 s,
deltaX: 1.799999 m,
approachRate: 0.079309 m/s,
rangeRepo size: 4
2025-08-22T21:37:36.473Z,1755898656.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:36.844Z,1755898656.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:37.255Z,1755898657.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:37.713Z,1755898657.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:38.055Z,1755898658.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:38.499Z,1755898658.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:38.932Z,1755898658.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:39.293Z,1755898659.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:39.754Z,1755898659.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:40.104Z,1755898660.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:40.535Z,1755898660.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:40.898Z,1755898660.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:41.309Z,1755898661.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:41.742Z,1755898661.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:42.158Z,1755898662.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:42.563Z,1755898662.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:42.921Z,1755898662.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:43.312Z,1755898663.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:43.765Z,1755898663.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:44.124Z,1755898664.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:44.571Z,1755898664.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:44.924Z,1755898664.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:45.336Z,1755898665.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:45.761Z,1755898665.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:46.167Z,1755898666.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:46.602Z,1755898666.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:46.953Z,1755898666.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:47.363Z,1755898667.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:47.726Z,1755898667.726 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:37:47.802Z,1755898667.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:48.172Z,1755898668.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:48.644Z,1755898668.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:48.731Z,1755898668.731 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:37:48.963Z,1755898668.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:49.372Z,1755898669.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:49.827Z,1755898669.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:50.205Z,1755898670.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:50.655Z,1755898670.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:51.002Z,1755898671.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:51.400Z,1755898671.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:51.829Z,1755898671.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:52.205Z,1755898672.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:52.668Z,1755898672.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:53.027Z,1755898673.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:53.480Z,1755898673.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:53.888Z,1755898673.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:54.255Z,1755898674.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:54.700Z,1755898674.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:55.051Z,1755898675.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:55.428Z,1755898675.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:55.891Z,1755898675.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:56.246Z,1755898676.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:56.716Z,1755898676.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:57.061Z,1755898677.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:57.455Z,1755898677.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:57.889Z,1755898677.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:58.277Z,1755898678.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:58.663Z,1755898678.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:59.086Z,1755898679.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:59.481Z,1755898679.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:37:59.910Z,1755898679.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:00.278Z,1755898680.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:00.683Z,1755898680.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:01.136Z,1755898681.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:01.488Z,1755898681.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:01.915Z,1755898681.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:02.304Z,1755898682.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:02.705Z,1755898682.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:03.140Z,1755898683.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:03.508Z,1755898683.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:03.944Z,1755898683.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:04.315Z,1755898684.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:04.722Z,1755898684.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:05.152Z,1755898685.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:05.555Z,1755898685.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:05.977Z,1755898685.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:06.346Z,1755898686.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:06.739Z,1755898686.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:07.186Z,1755898687.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:07.626Z,1755898687.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:08.021Z,1755898688.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:08.381Z,1755898688.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:08.776Z,1755898688.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:09.211Z,1755898689.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:09.584Z,1755898689.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:10.013Z,1755898690.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:10.375Z,1755898690.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:10.781Z,1755898690.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:11.212Z,1755898691.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:11.614Z,1755898691.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:12.015Z,1755898692.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:12.403Z,1755898692.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:12.816Z,1755898692.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:13.240Z,1755898693.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:13.626Z,1755898693.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:14.072Z,1755898694.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:14.436Z,1755898694.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:14.852Z,1755898694.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:15.270Z,1755898695.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:15.647Z,1755898695.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:16.118Z,1755898696.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:16.621Z,1755898696.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:16.965Z,1755898696.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:17.384Z,1755898697.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:17.767Z,1755898697.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:18.231Z,1755898698.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:18.612Z,1755898698.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:18.854Z,1755898698.854 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:38:19.017Z,1755898699.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:19.419Z,1755898699.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:19.782Z,1755898699.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:19.858Z,1755898699.858 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:38:20.217Z,1755898700.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:20.624Z,1755898700.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:21.141Z,1755898701.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:21.459Z,1755898701.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:21.925Z,1755898701.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:22.324Z,1755898702.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:22.697Z,1755898702.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:23.184Z,1755898703.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:23.483Z,1755898703.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:23.879Z,1755898703.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:24.322Z,1755898704.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:24.692Z,1755898704.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:25.183Z,1755898705.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:25.494Z,1755898705.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:25.910Z,1755898705.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:26.337Z,1755898706.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:26.747Z,1755898706.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:27.255Z,1755898707.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:27.644Z,1755898707.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:28.051Z,1755898708.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:28.471Z,1755898708.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:28.848Z,1755898708.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:29.298Z,1755898709.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:29.667Z,1755898709.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:30.082Z,1755898710.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:30.498Z,1755898710.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:30.907Z,1755898710.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:30.908Z,1755898710.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 51.80 m and bearing: 80.336002 deg. Not drifting fast enough.
2025-08-22T21:38:31.298Z,1755898711.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:31.300Z,1755898711.300 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-22T21:38:31.300Z,1755898711.300 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T21:38:31.300Z,1755898711.300 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-22T21:38:31.300Z,1755898711.300 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-22T21:38:31.702Z,1755898711.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:32.107Z,1755898712.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:32.536Z,1755898712.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:38:32.540Z,1755898712.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:32.726Z,1755898712.726 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:38:32.727Z,1755898712.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:38:32.903Z,1755898712.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:32.980Z,1755898712.980 [DAT](INFO): DAT read: user:2377>
2025-08-22T21:38:32.981Z,1755898712.981 [DAT](INFO): DAT read: Tx time:21:38:33.9872
2025-08-22T21:38:32.982Z,1755898712.982 [DAT](INFO): Ping request sent.
2025-08-22T21:38:32.982Z,1755898712.982 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:38:32.982Z,1755898712.982 [DAT](INFO): publishing transmit ping time
2025-08-22T21:38:32.983Z,1755898712.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001392
2025-08-22T21:38:33.233Z,1755898713.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251101
2025-08-22T21:38:33.335Z,1755898713.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:33.482Z,1755898713.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500624
2025-08-22T21:38:33.703Z,1755898713.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:33.735Z,1755898713.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752795
2025-08-22T21:38:33.986Z,1755898713.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004610
2025-08-22T21:38:34.110Z,1755898714.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:34.245Z,1755898714.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262615
2025-08-22T21:38:34.491Z,1755898714.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508675
2025-08-22T21:38:34.578Z,1755898714.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:34.742Z,1755898714.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760627
2025-08-22T21:38:34.932Z,1755898714.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:34.995Z,1755898714.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013074
2025-08-22T21:38:35.249Z,1755898715.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267077
2025-08-22T21:38:35.360Z,1755898715.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:35.499Z,1755898715.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517456
2025-08-22T21:38:35.750Z,1755898715.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768567
2025-08-22T21:38:35.769Z,1755898715.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:36.003Z,1755898716.003 [DAT](INFO): DAT read: Rx Time:21:38:36.4670
2025-08-22T21:38:36.003Z,1755898716.003 [DAT](INFO): Rx dataTimestamp_ set to:1755898716.002741
2025-08-22T21:38:36.004Z,1755898716.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021710
2025-08-22T21:38:36.258Z,1755898716.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275129
2025-08-22T21:38:36.300Z,1755898716.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T21:38:36.512Z,1755898716.512 [DAT](INFO): DAT read: 21:38:36.4670 LVL= 32752, 24753, 27506, 31123, AGC= 70, IDX= 500,-0.36,-2.624,-0.381,-1.665,-1.367, PHS=-1.155, 1.030,-0.342, RAW= 308.4, 4.9, CAL= 306.1, 3.0, ROT= 203.9, -3.0
2025-08-22T21:38:36.513Z,1755898716.513 [DAT](INFO): got valid direction response:
21:38:36.4670 LVL= 32752, 24753, 27506, 31123, AGC= 70, IDX= 500,-0.36,-2.624,-0.381,-1.665,-1.367, PHS=-1.155, 1.030,-0.342, RAW= 308.4, 4.9, CAL= 306.1, 3.0, ROT= 203.9, -3.0
2025-08-22T21:38:36.514Z,1755898716.514 [DAT](INFO): DAT read: Bearing 181.8, -27.5 (Local)
2025-08-22T21:38:36.514Z,1755898716.514 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.8, -27.5 (Local)
2025-08-22T21:38:36.515Z,1755898716.515 [DAT](INFO): DAT read: Range 11 to 50 : 56.7 m (Round-trip 75.7 ms) speed 0.0 m/s
2025-08-22T21:38:36.516Z,1755898716.516 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:38:36.517Z,1755898716.517 [DAT](INFO): direction in FSK: [-0.913001,-0.404586,0.052336]
2025-08-22T21:38:36.517Z,1755898716.517 [DAT](INFO): publishing direction and range info
2025-08-22T21:38:36.717Z,1755898716.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.700001 m,
deltaT: 60.291849 s,
deltaX: 4.900002 m,
approachRate: 0.081271 m/s,
rangeRepo size: 4
2025-08-22T21:38:36.723Z,1755898716.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 56.343124 m,
bearing: 82.160473 deg,
lat: 36.779364 deg,
lon: -121.859522 deg,
deltaT: 82.987832 s,
deltaX: 6.658012 m,
approachRate: 0.080229 m/s,
posRepo size: 4
2025-08-22T21:38:36.724Z,1755898716.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:37.048Z,1755898717.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:37.454Z,1755898717.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:37.816Z,1755898717.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:38.235Z,1755898718.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:38.661Z,1755898718.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:39.048Z,1755898719.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:39.457Z,1755898719.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:39.846Z,1755898719.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:40.242Z,1755898720.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:40.686Z,1755898720.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:41.064Z,1755898721.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:41.498Z,1755898721.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:41.873Z,1755898721.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:42.278Z,1755898722.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:42.702Z,1755898722.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:43.072Z,1755898723.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:43.494Z,1755898723.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:43.897Z,1755898723.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:44.282Z,1755898724.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:44.730Z,1755898724.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:45.093Z,1755898725.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:45.526Z,1755898725.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:45.932Z,1755898725.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:46.307Z,1755898726.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:46.726Z,1755898726.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:47.127Z,1755898727.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:47.555Z,1755898727.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:47.916Z,1755898727.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:48.330Z,1755898728.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:48.752Z,1755898728.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:49.128Z,1755898729.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:49.585Z,1755898729.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:49.941Z,1755898729.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:49.982Z,1755898729.982 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:38:50.354Z,1755898730.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:50.837Z,1755898730.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:50.986Z,1755898730.986 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:38:51.189Z,1755898731.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:51.588Z,1755898731.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:51.972Z,1755898731.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:52.390Z,1755898732.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:52.782Z,1755898732.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:53.183Z,1755898733.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:53.603Z,1755898733.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:53.975Z,1755898733.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:54.386Z,1755898734.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:54.819Z,1755898734.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:55.208Z,1755898735.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:55.638Z,1755898735.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:56.024Z,1755898736.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:56.420Z,1755898736.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:56.834Z,1755898736.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:57.214Z,1755898737.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:57.673Z,1755898737.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:58.032Z,1755898738.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:58.418Z,1755898738.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:58.866Z,1755898738.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:59.234Z,1755898739.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:38:59.702Z,1755898739.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:00.037Z,1755898740.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:00.444Z,1755898740.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:00.862Z,1755898740.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:01.254Z,1755898741.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:01.731Z,1755898741.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:02.053Z,1755898742.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:02.462Z,1755898742.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:02.882Z,1755898742.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:03.263Z,1755898743.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:03.765Z,1755898743.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:04.072Z,1755898744.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:04.503Z,1755898744.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:04.907Z,1755898744.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:05.344Z,1755898745.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:05.798Z,1755898745.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:06.162Z,1755898746.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:06.569Z,1755898746.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:06.968Z,1755898746.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:07.355Z,1755898747.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:07.813Z,1755898747.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:08.172Z,1755898748.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:08.641Z,1755898748.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:09.164Z,1755898749.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:09.628Z,1755898749.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:10.080Z,1755898750.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:10.441Z,1755898750.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:10.872Z,1755898750.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:11.242Z,1755898751.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:11.666Z,1755898751.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:12.081Z,1755898752.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:12.486Z,1755898752.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:12.912Z,1755898752.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:13.268Z,1755898753.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:13.681Z,1755898753.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:14.103Z,1755898754.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:14.495Z,1755898754.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:14.940Z,1755898754.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:15.423Z,1755898755.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:15.916Z,1755898755.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:16.402Z,1755898756.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:16.776Z,1755898756.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:17.208Z,1755898757.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:17.600Z,1755898757.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:18.017Z,1755898758.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:18.388Z,1755898758.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:18.803Z,1755898758.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:19.228Z,1755898759.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:19.676Z,1755898759.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:20.059Z,1755898760.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:20.542Z,1755898760.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:21.022Z,1755898761.022 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022801264102,35.0, +10.3, 01RA, 0.00, 85.89, 85.89, 79.78, 92I,-32768,-32768,-32768,-32:WS,-32768,-32768,-32768,V
2025-08-22T21:39:21.048Z,1755898761.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:21.106Z,1755898761.106 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:39:21.432Z,1755898761.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:21.833Z,1755898761.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:22.110Z,1755898762.110 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:39:22.259Z,1755898762.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:22.638Z,1755898762.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:23.079Z,1755898763.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:23.463Z,1755898763.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:23.857Z,1755898763.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:24.281Z,1755898764.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:24.713Z,1755898764.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:25.170Z,1755898765.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:25.582Z,1755898765.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:26.060Z,1755898766.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:26.411Z,1755898766.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:26.789Z,1755898766.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:27.241Z,1755898767.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:27.597Z,1755898767.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:28.085Z,1755898768.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:28.448Z,1755898768.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:28.821Z,1755898768.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:29.238Z,1755898769.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:29.610Z,1755898769.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:30.097Z,1755898770.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:30.597Z,1755898770.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:30.987Z,1755898770.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:31.489Z,1755898771.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:31.886Z,1755898771.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:32.284Z,1755898772.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:32.671Z,1755898772.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:39:32.673Z,1755898772.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:32.731Z,1755898772.731 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:39:32.732Z,1755898772.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:39:32.982Z,1755898772.982 [DAT](INFO): DAT read: user:2378>
2025-08-22T21:39:32.983Z,1755898772.983 [DAT](INFO): DAT read: Tx time:21:39:33.9868
2025-08-22T21:39:32.983Z,1755898772.983 [DAT](INFO): Ping request sent.
2025-08-22T21:39:32.984Z,1755898772.984 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:39:32.984Z,1755898772.984 [DAT](INFO): publishing transmit ping time
2025-08-22T21:39:32.984Z,1755898772.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-22T21:39:33.109Z,1755898773.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:33.235Z,1755898773.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250879
2025-08-22T21:39:33.487Z,1755898773.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503061
2025-08-22T21:39:33.496Z,1755898773.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:33.740Z,1755898773.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755872
2025-08-22T21:39:33.954Z,1755898773.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:33.992Z,1755898773.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008244
2025-08-22T21:39:34.243Z,1755898774.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258932
2025-08-22T21:39:34.351Z,1755898774.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:34.494Z,1755898774.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510780
2025-08-22T21:39:34.719Z,1755898774.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:34.760Z,1755898774.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775977
2025-08-22T21:39:35.011Z,1755898775.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026948
2025-08-22T21:39:35.192Z,1755898775.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:35.263Z,1755898775.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278897
2025-08-22T21:39:35.514Z,1755898775.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530816
2025-08-22T21:39:35.564Z,1755898775.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:35.768Z,1755898775.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.784075
2025-08-22T21:39:35.974Z,1755898775.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:36.019Z,1755898776.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035271
2025-08-22T21:39:36.271Z,1755898776.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286872
2025-08-22T21:39:36.357Z,1755898776.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:36.523Z,1755898776.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539833
2025-08-22T21:39:36.750Z,1755898776.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:36.775Z,1755898776.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790965
2025-08-22T21:39:37.026Z,1755898777.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042847
2025-08-22T21:39:37.184Z,1755898777.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:37.279Z,1755898777.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294949
2025-08-22T21:39:37.531Z,1755898777.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.546910
2025-08-22T21:39:37.560Z,1755898777.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:37.786Z,1755898777.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802587
2025-08-22T21:39:37.952Z,1755898777.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:38.035Z,1755898778.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.051605
2025-08-22T21:39:38.286Z,1755898778.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.302835
2025-08-22T21:39:38.386Z,1755898778.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:38.538Z,1755898778.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.554862
2025-08-22T21:39:38.758Z,1755898778.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:38.791Z,1755898778.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.807007
2025-08-22T21:39:39.043Z,1755898779.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.058886
2025-08-22T21:39:39.159Z,1755898779.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:39.168Z,1755898779.168 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-22T21:29:39.0Z
2025-08-22T21:39:39.168Z,1755898779.168 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T21:39:39.168Z,1755898779.168 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T21:39:39.168Z,1755898779.168 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T21:39:39.168Z,1755898779.168 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T21:39:39.168Z,1755898779.168 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-22T21:39:39.295Z,1755898779.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.311048
2025-08-22T21:39:39.547Z,1755898779.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.563032
2025-08-22T21:39:39.589Z,1755898779.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:39.593Z,1755898779.593 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T21:39:39.593Z,1755898779.593 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T21:39:39.593Z,1755898779.593 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T21:39:39.593Z,1755898779.593 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T21:39:39.593Z,1755898779.593 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T21:39:39.801Z,1755898779.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.817414
2025-08-22T21:39:40.051Z,1755898780.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.067166
2025-08-22T21:39:40.119Z,1755898780.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:40.302Z,1755898780.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318859
2025-08-22T21:39:40.563Z,1755898780.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.579450
2025-08-22T21:39:40.587Z,1755898780.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:40.815Z,1755898780.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.830974
2025-08-22T21:39:40.963Z,1755898780.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:41.067Z,1755898781.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.083171
2025-08-22T21:39:41.318Z,1755898781.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.334824
2025-08-22T21:39:41.371Z,1755898781.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:41.572Z,1755898781.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.588259
2025-08-22T21:39:41.753Z,1755898781.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:41.823Z,1755898781.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.838944
2025-08-22T21:39:42.074Z,1755898782.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.090824
2025-08-22T21:39:42.147Z,1755898782.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:42.327Z,1755898782.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.342998
2025-08-22T21:39:42.579Z,1755898782.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.595413
2025-08-22T21:39:42.672Z,1755898782.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:42.830Z,1755898782.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.846864
2025-08-22T21:39:43.083Z,1755898783.083 [DAT](INFO): Reached modem response timeout
2025-08-22T21:39:43.092Z,1755898783.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:43.553Z,1755898783.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:43.939Z,1755898783.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:44.362Z,1755898784.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:44.738Z,1755898784.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:45.143Z,1755898785.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:45.352Z,1755898785.352 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:39:45.352Z,1755898785.352 [DAT](INFO): response not received
2025-08-22T21:39:45.352Z,1755898785.352 [DAT](ERROR): No response from remote modem.
2025-08-22T21:39:45.572Z,1755898785.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:45.975Z,1755898785.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:46.412Z,1755898786.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:46.759Z,1755898786.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:47.169Z,1755898787.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:47.590Z,1755898787.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:47.993Z,1755898787.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:48.493Z,1755898788.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:48.854Z,1755898788.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:49.258Z,1755898789.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:49.675Z,1755898789.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:50.087Z,1755898790.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:50.473Z,1755898790.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:50.888Z,1755898790.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:51.263Z,1755898791.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:51.706Z,1755898791.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:52.082Z,1755898792.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:52.246Z,1755898792.246 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:39:52.502Z,1755898792.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:52.916Z,1755898792.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:53.256Z,1755898793.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:39:53.285Z,1755898793.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:53.709Z,1755898793.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:54.107Z,1755898794.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:54.527Z,1755898794.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:54.934Z,1755898794.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:55.321Z,1755898795.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:55.736Z,1755898795.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:56.111Z,1755898796.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:56.554Z,1755898796.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:56.931Z,1755898796.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:57.330Z,1755898797.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:57.751Z,1755898797.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:58.130Z,1755898798.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:58.560Z,1755898798.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:58.966Z,1755898798.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:59.380Z,1755898799.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:39:59.768Z,1755898799.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:00.218Z,1755898800.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:00.642Z,1755898800.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:01.100Z,1755898801.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:01.585Z,1755898801.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:01.990Z,1755898801.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:02.371Z,1755898802.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:02.764Z,1755898802.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:03.222Z,1755898803.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:03.653Z,1755898803.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:04.011Z,1755898804.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:04.401Z,1755898804.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:04.798Z,1755898804.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:05.187Z,1755898805.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:05.645Z,1755898805.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:06.122Z,1755898806.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:06.512Z,1755898806.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:06.914Z,1755898806.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:07.271Z,1755898807.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:07.731Z,1755898807.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:08.091Z,1755898808.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:08.556Z,1755898808.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:09.054Z,1755898809.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:09.407Z,1755898809.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:09.871Z,1755898809.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:10.234Z,1755898810.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:10.695Z,1755898810.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:11.072Z,1755898811.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:11.446Z,1755898811.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:11.891Z,1755898811.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:12.260Z,1755898812.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:12.647Z,1755898812.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:13.091Z,1755898813.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:13.458Z,1755898813.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:13.896Z,1755898813.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:14.256Z,1755898814.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:14.767Z,1755898814.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:15.133Z,1755898815.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:15.571Z,1755898815.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:16.034Z,1755898816.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:16.381Z,1755898816.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:16.898Z,1755898816.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:17.227Z,1755898817.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:17.639Z,1755898817.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:18.079Z,1755898818.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:18.428Z,1755898818.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:18.893Z,1755898818.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:19.230Z,1755898819.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:19.637Z,1755898819.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:20.082Z,1755898820.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:20.452Z,1755898820.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:20.889Z,1755898820.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:21.253Z,1755898821.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:21.661Z,1755898821.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:22.097Z,1755898822.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:22.463Z,1755898822.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:22.917Z,1755898822.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:23.277Z,1755898823.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:23.374Z,1755898823.374 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:40:23.691Z,1755898823.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:24.128Z,1755898824.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:24.379Z,1755898824.379 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:40:24.486Z,1755898824.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:24.950Z,1755898824.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:25.307Z,1755898825.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:25.702Z,1755898825.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:26.149Z,1755898826.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:26.513Z,1755898826.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:26.987Z,1755898826.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:27.329Z,1755898827.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:27.721Z,1755898827.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:28.153Z,1755898828.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:28.523Z,1755898828.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:29.026Z,1755898829.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:29.399Z,1755898829.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:29.905Z,1755898829.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:30.319Z,1755898830.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:30.662Z,1755898830.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:31.070Z,1755898831.070 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, 20.36
2025-08-22T21:40:31.085Z,1755898831.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:31.472Z,1755898831.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:31.861Z,1755898831.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:32.322Z,1755898832.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:32.671Z,1755898832.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:33.099Z,1755898833.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:40:33.100Z,1755898833.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:33.234Z,1755898833.234 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:40:33.235Z,1755898833.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:40:33.472Z,1755898833.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:33.486Z,1755898833.486 [DAT](INFO): DAT read: user:2379>
2025-08-22T21:40:33.487Z,1755898833.487 [DAT](INFO): DAT read: Tx time:21:40:34.4864
2025-08-22T21:40:33.487Z,1755898833.487 [DAT](INFO): Ping request sent.
2025-08-22T21:40:33.487Z,1755898833.487 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:40:33.488Z,1755898833.488 [DAT](INFO): publishing transmit ping time
2025-08-22T21:40:33.488Z,1755898833.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-08-22T21:40:33.738Z,1755898833.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251046
2025-08-22T21:40:33.875Z,1755898833.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:33.993Z,1755898833.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505526
2025-08-22T21:40:34.243Z,1755898834.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755186
2025-08-22T21:40:34.339Z,1755898834.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:34.495Z,1755898834.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007069
2025-08-22T21:40:34.698Z,1755898834.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:34.748Z,1755898834.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260181
2025-08-22T21:40:35.008Z,1755898835.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517779
2025-08-22T21:40:35.134Z,1755898835.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:35.251Z,1755898835.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763128
2025-08-22T21:40:35.490Z,1755898835.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:35.503Z,1755898835.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015209
2025-08-22T21:40:35.755Z,1755898835.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267086
2025-08-22T21:40:35.903Z,1755898835.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:36.007Z,1755898836.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519182
2025-08-22T21:40:36.259Z,1755898836.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771103
2025-08-22T21:40:36.340Z,1755898836.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:36.510Z,1755898836.510 [DAT](INFO): DAT read: Rx Time:21:40:37.1506
2025-08-22T21:40:36.511Z,1755898836.511 [DAT](INFO): Rx dataTimestamp_ set to:1755898836.510648
2025-08-22T21:40:36.511Z,1755898836.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024038
2025-08-22T21:40:36.712Z,1755898836.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:36.764Z,1755898836.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275871
2025-08-22T21:40:37.019Z,1755898837.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530825
2025-08-22T21:40:37.148Z,1755898837.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.34 m.
2025-08-22T21:40:37.280Z,1755898837.280 [DAT](INFO): DAT read: 21:40:37.1506 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 243,-0.14,-2.102,-1.009,-1.750,-2.426, PHS= 0.426, 1.461, 0.632, RAW= 319.2, -43.2, CAL= 316.8, -46.5, ROT= 193.2, 46.5
2025-08-22T21:40:37.290Z,1755898837.290 [DAT](INFO): got valid direction response:
21:40:37.1506 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 243,-0.14,-2.102,-1.009,-1.750,-2.426, PHS= 0.426, 1.461, 0.632, RAW= 319.2, -43.2, CAL= 316.8, -46.5, ROT= 193.2, 46.5
2025-08-22T21:40:37.292Z,1755898837.292 [DAT](INFO): DAT read: Bearing 257.3, -11.0 (Local)
2025-08-22T21:40:37.292Z,1755898837.292 [DAT](INFO): Local bearing/azimuth received:
Bearing 257.3, -11.0 (Local)
2025-08-22T21:40:37.294Z,1755898837.294 [DAT](INFO): DAT read: Range 11 to 50 : 195.0 m (Round-trip 260.1 ms) speed -0.5 m/s
2025-08-22T21:40:37.296Z,1755898837.296 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:40:37.297Z,1755898837.297 [DAT](INFO): direction in FSK: [-0.670167,-0.157186,-0.725374]
2025-08-22T21:40:37.334Z,1755898837.334 [DAT](INFO): publishing direction and range info
2025-08-22T21:40:37.540Z,1755898837.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 195.000000 m,
deltaT: 120.760292 s,
deltaX: 138.300003 m,
approachRate: 1.145244 m/s,
rangeRepo size: 4
2025-08-22T21:40:37.542Z,1755898837.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 193.767395 m,
bearing: 93.238681 deg,
lat: 36.779364 deg,
lon: -121.859523 deg,
deltaT: 120.760292 s,
deltaX: 137.424271 m,
approachRate: 1.137992 m/s,
posRepo size: 4
2025-08-22T21:40:37.543Z,1755898837.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.77 m.
2025-08-22T21:40:37.543Z,1755898837.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 195.00 m. Resuming terminal guidance.
2025-08-22T21:40:37.543Z,1755898837.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-22T21:40:37.927Z,1755898837.927 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-22T21:40:37.927Z,1755898837.927 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T21:40:37.927Z,1755898837.927 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-22T21:40:37.929Z,1755898837.929 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 195.000000 m (mode 1.000000 count ).
2025-08-22T21:40:37.929Z,1755898837.929 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-22T21:40:37.929Z,1755898837.929 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-22T21:40:38.351Z,1755898838.351 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-22T21:40:38.351Z,1755898838.351 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-22T21:40:38.352Z,1755898838.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:40:38.526Z,1755898838.526 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:40:38.527Z,1755898838.527 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:40:38.527Z,1755898838.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:40:38.767Z,1755898838.767 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-22T21:40:38.767Z,1755898838.767 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-22T21:40:38.779Z,1755898838.779 [DAT](INFO): DAT read: user:2380>
2025-08-22T21:40:38.780Z,1755898838.780 [DAT](INFO): DAT read: Tx time:21:40:39.7864
2025-08-22T21:40:38.781Z,1755898838.781 [DAT](INFO): Ping request sent.
2025-08-22T21:40:38.781Z,1755898838.781 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:40:38.783Z,1755898838.783 [DAT](INFO): publishing transmit ping time
2025-08-22T21:40:38.784Z,1755898838.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002692
2025-08-22T21:40:39.032Z,1755898839.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250930
2025-08-22T21:40:39.189Z,1755898839.189 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-22T21:40:39.189Z,1755898839.189 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T21:40:39.189Z,1755898839.189 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-22T21:40:39.193Z,1755898839.193 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T21:40:39.283Z,1755898839.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502159
2025-08-22T21:40:39.535Z,1755898839.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753657
2025-08-22T21:40:39.788Z,1755898839.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006854
2025-08-22T21:40:40.039Z,1755898840.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257622
2025-08-22T21:40:40.291Z,1755898840.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510459
2025-08-22T21:40:40.373Z,1755898840.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:40:40.543Z,1755898840.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761890
2025-08-22T21:40:40.796Z,1755898840.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015527
2025-08-22T21:40:41.049Z,1755898841.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268200
2025-08-22T21:40:41.302Z,1755898841.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520821
2025-08-22T21:40:41.555Z,1755898841.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773729
2025-08-22T21:40:41.807Z,1755898841.807 [DAT](INFO): DAT read: Rx Time:21:40:42.4541
2025-08-22T21:40:41.807Z,1755898841.807 [DAT](INFO): Rx dataTimestamp_ set to:1755898841.806708
2025-08-22T21:40:41.807Z,1755898841.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026632
2025-08-22T21:40:42.060Z,1755898842.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278614
2025-08-22T21:40:42.311Z,1755898842.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529643
2025-08-22T21:40:42.406Z,1755898842.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:40:42.563Z,1755898842.563 [DAT](INFO): DAT read: Range 11 to 50 : 197.7 m (Round-trip 263.6 ms) speed -0.3 m/s
2025-08-22T21:40:42.564Z,1755898842.564 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:40:42.565Z,1755898842.565 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:40:42.565Z,1755898842.565 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:40:42.565Z,1755898842.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:40:42.814Z,1755898842.814 [DAT](INFO): DAT read: user:2381>
2025-08-22T21:40:42.815Z,1755898842.815 [DAT](INFO): DAT read: Tx time:21:40:43.8364
2025-08-22T21:40:42.815Z,1755898842.815 [DAT](INFO): Ping request sent.
2025-08-22T21:40:42.816Z,1755898842.816 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:40:42.816Z,1755898842.816 [DAT](INFO): publishing transmit ping time
2025-08-22T21:40:42.816Z,1755898842.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719
2025-08-22T21:40:42.851Z,1755898842.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 197.699997 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-08-22T21:40:43.066Z,1755898843.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250916
2025-08-22T21:40:43.321Z,1755898843.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505335
2025-08-22T21:40:43.571Z,1755898843.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755026
2025-08-22T21:40:43.823Z,1755898843.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006974
2025-08-22T21:40:44.083Z,1755898844.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267317
2025-08-22T21:40:44.335Z,1755898844.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518955
2025-08-22T21:40:44.468Z,1755898844.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:40:44.587Z,1755898844.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770997
2025-08-22T21:40:44.839Z,1755898844.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023009
2025-08-22T21:40:45.092Z,1755898845.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275769
2025-08-22T21:40:45.343Z,1755898845.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527667
2025-08-22T21:40:45.595Z,1755898845.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778938
2025-08-22T21:40:45.847Z,1755898845.847 [DAT](INFO): DAT read: Rx Time:21:40:46.5077
2025-08-22T21:40:45.850Z,1755898845.850 [DAT](INFO): Rx dataTimestamp_ set to:1755898845.848336
2025-08-22T21:40:45.852Z,1755898845.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036068
2025-08-22T21:40:46.099Z,1755898846.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283782
2025-08-22T21:40:46.350Z,1755898846.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534915
2025-08-22T21:40:46.478Z,1755898846.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:40:46.608Z,1755898846.608 [DAT](INFO): DAT read: 21:40:46.5077 LVL= 32752, 32753, 32754, 26291, AGC= 68, IDX= 459, 0.15,-0.821, 0.248,-0.425,-1.402, PHS= 0.683, 1.695, 0.934, RAW= 316.3, -52.1, CAL= 312.6, -54.6, ROT= 197.4, 54.6
2025-08-22T21:40:46.609Z,1755898846.609 [DAT](INFO): got valid direction response:
21:40:46.5077 LVL= 32752, 32753, 32754, 26291, AGC= 68, IDX= 459, 0.15,-0.821, 0.248,-0.425,-1.402, PHS= 0.683, 1.695, 0.934, RAW= 316.3, -52.1, CAL= 312.6, -54.6, ROT= 197.4, 54.6
2025-08-22T21:40:46.610Z,1755898846.610 [DAT](INFO): DAT read: Bearing 253.5, -5.6 (Local)
2025-08-22T21:40:46.610Z,1755898846.610 [DAT](INFO): Local bearing/azimuth received:
Bearing 253.5, -5.6 (Local)
2025-08-22T21:40:46.612Z,1755898846.612 [DAT](INFO): DAT read: Range 11 to 50 : 200.3 m (Round-trip 267.1 ms) speed -0.3 m/s
2025-08-22T21:40:46.612Z,1755898846.612 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:40:46.613Z,1755898846.613 [DAT](INFO): direction in FSK: [-0.552773,-0.173229,-0.815128]
2025-08-22T21:40:46.614Z,1755898846.614 [DAT](INFO): publishing direction and range info
2025-08-22T21:40:46.618Z,1755898846.618 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:40:46.618Z,1755898846.618 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:40:46.618Z,1755898846.618 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:40:46.855Z,1755898846.855 [DAT](INFO): DAT read: user:2382>
2025-08-22T21:40:46.855Z,1755898846.855 [DAT](INFO): DAT read: Tx time:21:40:47.8864
2025-08-22T21:40:46.856Z,1755898846.856 [DAT](INFO): Ping request sent.
2025-08-22T21:40:46.856Z,1755898846.856 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:40:46.856Z,1755898846.856 [DAT](INFO): publishing transmit ping time
2025-08-22T21:40:46.856Z,1755898846.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-22T21:40:46.899Z,1755898846.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 200.300003 m,
deltaT: 4.040185 s,
deltaX: 2.600006 m,
approachRate: 0.643536 m/s,
rangeRepo size: 2
2025-08-22T21:40:46.914Z,1755898846.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 199.034348 m,
bearing: 87.710819 deg,
lat: 36.779356 deg,
lon: -121.859525 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-08-22T21:40:46.915Z,1755898846.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.03 m.
2025-08-22T21:40:46.917Z,1755898846.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 199.034348 m,
nav range: 145.931137 m,
bearing: 84.707022 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000000 deg/s,
cmd heading: 80.336002 deg,
new cmd heading: 84.707022 deg.
2025-08-22T21:40:46.922Z,1755898846.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478416 target range: 199.034348 and range: 200.30 m.
2025-08-22T21:40:47.106Z,1755898847.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250712
2025-08-22T21:40:47.330Z,1755898847.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.03 m.
2025-08-22T21:40:47.333Z,1755898847.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 199.034348 m,
nav range: 146.235016 m,
bearing: 84.681255 deg,
approach rate: 0.703667 m/s,
LOS rate: -0.059542 deg/s,
cmd heading: 84.707023 deg,
new cmd heading: 84.681255 deg.
2025-08-22T21:40:47.338Z,1755898847.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477967 target range: 199.034348 and range: 200.30 m.
2025-08-22T21:40:47.359Z,1755898847.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502813
2025-08-22T21:40:47.611Z,1755898847.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754793
2025-08-22T21:40:47.683Z,1755898847.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.03 m.
2025-08-22T21:40:47.685Z,1755898847.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 199.034348 m,
nav range: 146.480713 m,
bearing: 84.658516 deg,
approach rate: 0.697161 m/s,
LOS rate: -0.064415 deg/s,
cmd heading: 84.681252 deg,
new cmd heading: 84.658516 deg.
2025-08-22T21:40:47.692Z,1755898847.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477570 target range: 199.034348 and range: 200.30 m.
2025-08-22T21:40:47.862Z,1755898847.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006701
2025-08-22T21:40:48.071Z,1755898848.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.03 m.
2025-08-22T21:40:48.074Z,1755898848.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 199.034348 m,
nav range: 146.754440 m,
bearing: 84.631098 deg,
approach rate: 0.704773 m/s,
LOS rate: -0.070461 deg/s,
cmd heading: 84.658515 deg,
new cmd heading: 84.631098 deg.
2025-08-22T21:40:48.075Z,1755898848.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477091 target range: 199.034348 and range: 200.30 m.
2025-08-22T21:40:48.135Z,1755898848.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.279410
2025-08-22T21:40:48.387Z,1755898848.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.530861
2025-08-22T21:40:48.504Z,1755898848.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:40:48.507Z,1755898848.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.03 m.
2025-08-22T21:40:48.509Z,1755898848.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 199.034348 m,
nav range: 147.050568 m,
bearing: 84.600281 deg,
approach rate: 0.679726 m/s,
LOS rate: -0.070596 deg/s,
cmd heading: 84.631098 deg,
new cmd heading: 84.600281 deg.
2025-08-22T21:40:48.510Z,1755898848.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476553 target range: 199.034348 and range: 200.30 m.
2025-08-22T21:40:48.639Z,1755898848.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.783200
2025-08-22T21:40:48.878Z,1755898848.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.03 m.
2025-08-22T21:40:48.881Z,1755898848.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 199.034348 m,
nav range: 147.301849 m,
bearing: 84.572184 deg,
approach rate: 0.676706 m/s,
LOS rate: -0.075535 deg/s,
cmd heading: 84.600280 deg,
new cmd heading: 84.572184 deg.
2025-08-22T21:40:48.882Z,1755898848.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476063 target range: 199.034348 and range: 200.30 m.
2025-08-22T21:40:48.891Z,1755898848.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.034847
2025-08-22T21:40:49.143Z,1755898849.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.286772
2025-08-22T21:40:49.342Z,1755898849.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.03 m.
2025-08-22T21:40:49.345Z,1755898849.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 199.034348 m,
nav range: 147.589676 m,
bearing: 84.537809 deg,
approach rate: 0.620225 m/s,
LOS rate: -0.073928 deg/s,
cmd heading: 84.572181 deg,
new cmd heading: 84.537809 deg.
2025-08-22T21:40:49.350Z,1755898849.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.475463 target range: 199.034348 and range: 200.30 m.
2025-08-22T21:40:49.396Z,1755898849.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.539658
2025-08-22T21:40:49.647Z,1755898849.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.790806
2025-08-22T21:40:49.686Z,1755898849.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.03 m.
2025-08-22T21:40:49.689Z,1755898849.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 199.034348 m,
nav range: 147.825012 m,
bearing: 84.507871 deg,
approach rate: 0.684209 m/s,
LOS rate: -0.086902 deg/s,
cmd heading: 84.537811 deg,
new cmd heading: 84.507871 deg.
2025-08-22T21:40:49.690Z,1755898849.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474941 target range: 199.034348 and range: 200.30 m.
2025-08-22T21:40:49.901Z,1755898849.901 [DAT](INFO): DAT read: Rx Time:21:40:50.5590
2025-08-22T21:40:49.902Z,1755898849.902 [DAT](INFO): Rx dataTimestamp_ set to:1755898849.901417
2025-08-22T21:40:49.902Z,1755898849.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.046509
2025-08-22T21:40:50.090Z,1755898850.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.03 m.
2025-08-22T21:40:50.092Z,1755898850.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 199.034348 m,
nav range: 148.083908 m,
bearing: 84.472890 deg,
approach rate: 0.641406 m/s,
LOS rate: -0.086514 deg/s,
cmd heading: 84.507875 deg,
new cmd heading: 84.472890 deg.
2025-08-22T21:40:50.093Z,1755898850.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474330 target range: 199.034348 and range: 200.30 m.
2025-08-22T21:40:50.151Z,1755898850.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294894
2025-08-22T21:40:50.403Z,1755898850.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.546829
2025-08-22T21:40:50.528Z,1755898850.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:40:50.530Z,1755898850.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.03 m.
2025-08-22T21:40:50.533Z,1755898850.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 199.034348 m,
nav range: 148.353134 m,
bearing: 84.436535 deg,
approach rate: 0.611065 m/s,
LOS rate: -0.082366 deg/s,
cmd heading: 84.472890 deg,
new cmd heading: 84.436535 deg.
2025-08-22T21:40:50.534Z,1755898850.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.473696 target range: 199.034348 and range: 200.30 m.
2025-08-22T21:40:50.664Z,1755898850.664 [DAT](INFO): DAT read: 21:40:50.5590 LVL= 32752, 28465, 32754, 32755, AGC= 67, IDX= 443,-0.28,-2.351,-1.063,-1.656,-2.377, PHS= 0.129, 1.359, 0.677, RAW= 303.6, -35.6, CAL= 300.5, -39.3, ROT= 209.5, 39.3
2025-08-22T21:40:50.665Z,1755898850.665 [DAT](INFO): got valid direction response:
21:40:50.5590 LVL= 32752, 28465, 32754, 32755, AGC= 67, IDX= 443,-0.28,-2.351,-1.063,-1.656,-2.377, PHS= 0.129, 1.359, 0.677, RAW= 303.6, -35.6, CAL= 300.5, -39.3, ROT= 209.5, 39.3
2025-08-22T21:40:50.666Z,1755898850.666 [DAT](INFO): DAT read: Bearing 229.8, -19.1 (Local)
2025-08-22T21:40:50.667Z,1755898850.667 [DAT](INFO): Local bearing/azimuth received:
Bearing 229.8, -19.1 (Local)
2025-08-22T21:40:50.668Z,1755898850.668 [DAT](INFO): DAT read: Range 11 to 50 : 201.4 m (Round-trip 268.6 ms) speed -0.4 m/s
2025-08-22T21:40:50.668Z,1755898850.668 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:40:50.670Z,1755898850.670 [DAT](INFO): direction in FSK: [-0.673516,-0.381057,-0.633381]
2025-08-22T21:40:50.670Z,1755898850.670 [DAT](INFO): publishing direction and range info
2025-08-22T21:40:50.673Z,1755898850.673 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:40:50.673Z,1755898850.673 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:40:50.702Z,1755898850.702 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:40:50.907Z,1755898850.907 [DAT](INFO): DAT read: user:2383>
2025-08-22T21:40:50.907Z,1755898850.907 [DAT](INFO): DAT read: Tx time:21:40:51.9363
2025-08-22T21:40:50.908Z,1755898850.908 [DAT](INFO): Ping request sent.
2025-08-22T21:40:50.908Z,1755898850.908 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:40:50.908Z,1755898850.908 [DAT](INFO): publishing transmit ping time
2025-08-22T21:40:50.908Z,1755898850.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-22T21:40:50.913Z,1755898850.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 201.399994 m,
deltaT: 4.055559 s,
deltaX: 1.099991 m,
approachRate: 0.271230 m/s,
rangeRepo size: 3
2025-08-22T21:40:50.916Z,1755898850.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 200.130585 m,
bearing: 85.262748 deg,
lat: 36.779346 deg,
lon: -121.859525 deg,
deltaT: 4.055559 s,
deltaX: 1.096237 m,
approachRate: 0.270305 m/s,
posRepo size: 2
2025-08-22T21:40:50.916Z,1755898850.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:50.919Z,1755898850.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 148.471298 m,
bearing: 84.856087 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.082366 deg/s,
cmd heading: 84.436533 deg,
new cmd heading: 84.373561 deg.
2025-08-22T21:40:50.920Z,1755898850.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.472596 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:51.160Z,1755898851.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252159
2025-08-22T21:40:51.365Z,1755898851.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:51.372Z,1755898851.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 148.730591 m,
bearing: 84.816602 deg,
approach rate: 0.573314 m/s,
LOS rate: -0.087153 deg/s,
cmd heading: 84.373559 deg,
new cmd heading: 84.294726 deg.
2025-08-22T21:40:51.373Z,1755898851.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.471220 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:51.411Z,1755898851.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503162
2025-08-22T21:40:51.663Z,1755898851.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754878
2025-08-22T21:40:51.730Z,1755898851.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:51.732Z,1755898851.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 148.963913 m,
bearing: 84.781197 deg,
approach rate: 0.640233 m/s,
LOS rate: -0.096997 deg/s,
cmd heading: 84.294725 deg,
new cmd heading: 84.224027 deg.
2025-08-22T21:40:51.733Z,1755898851.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.469987 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:51.915Z,1755898851.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006935
2025-08-22T21:40:52.116Z,1755898852.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:52.119Z,1755898852.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 149.191360 m,
bearing: 84.742960 deg,
approach rate: 0.587951 m/s,
LOS rate: -0.098691 deg/s,
cmd heading: 84.224026 deg,
new cmd heading: 84.147669 deg.
2025-08-22T21:40:52.120Z,1755898852.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468654 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:52.167Z,1755898852.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259276
2025-08-22T21:40:52.419Z,1755898852.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510812
2025-08-22T21:40:52.549Z,1755898852.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:40:52.552Z,1755898852.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:52.555Z,1755898852.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 149.440475 m,
bearing: 84.701200 deg,
approach rate: 0.571353 m/s,
LOS rate: -0.095619 deg/s,
cmd heading: 84.147671 deg,
new cmd heading: 84.064290 deg.
2025-08-22T21:40:52.556Z,1755898852.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.467199 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:52.671Z,1755898852.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763070
2025-08-22T21:40:52.920Z,1755898852.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:52.923Z,1755898852.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014989
2025-08-22T21:40:52.925Z,1755898852.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 149.648224 m,
bearing: 84.662856 deg,
approach rate: 0.564210 m/s,
LOS rate: -0.103991 deg/s,
cmd heading: 84.064288 deg,
new cmd heading: 83.987707 deg.
2025-08-22T21:40:52.926Z,1755898852.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.465862 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:53.175Z,1755898853.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267104
2025-08-22T21:40:53.378Z,1755898853.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:53.381Z,1755898853.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 149.912247 m,
bearing: 84.613214 deg,
approach rate: 0.577756 m/s,
LOS rate: -0.108439 deg/s,
cmd heading: 83.987708 deg,
new cmd heading: 83.888599 deg.
2025-08-22T21:40:53.382Z,1755898853.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.464132 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:53.426Z,1755898853.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518700
2025-08-22T21:40:53.679Z,1755898853.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770821
2025-08-22T21:40:53.736Z,1755898853.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:53.741Z,1755898853.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 150.117462 m,
bearing: 84.572888 deg,
approach rate: 0.572241 m/s,
LOS rate: -0.112296 deg/s,
cmd heading: 83.888602 deg,
new cmd heading: 83.808059 deg.
2025-08-22T21:40:53.743Z,1755898853.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.462727 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:53.934Z,1755898853.934 [DAT](INFO): DAT read: Rx Time:21:40:54.5782
2025-08-22T21:40:53.935Z,1755898853.935 [DAT](INFO): Rx dataTimestamp_ set to:1755898853.934514
2025-08-22T21:40:53.935Z,1755898853.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027661
2025-08-22T21:40:54.139Z,1755898854.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:54.142Z,1755898854.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 150.345749 m,
bearing: 84.526080 deg,
approach rate: 0.566572 m/s,
LOS rate: -0.115993 deg/s,
cmd heading: 83.808060 deg,
new cmd heading: 83.714587 deg.
2025-08-22T21:40:54.143Z,1755898854.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.461095 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:54.184Z,1755898854.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276271
2025-08-22T21:40:54.435Z,1755898854.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526838
2025-08-22T21:40:54.499Z,1755898854.499 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:40:54.562Z,1755898854.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:40:54.564Z,1755898854.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:54.567Z,1755898854.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 150.573761 m,
bearing: 84.479850 deg,
approach rate: 0.536032 m/s,
LOS rate: -0.108516 deg/s,
cmd heading: 83.714589 deg,
new cmd heading: 83.622270 deg.
2025-08-22T21:40:54.568Z,1755898854.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.459484 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:54.692Z,1755898854.692 [DAT](INFO): DAT read: 21:40:54.5782 LVL= 32752, 32753, 32754, 29507, AGC= 68, IDX= 470, 0.12,-0.231, 0.991, 0.662,-0.261, PHS= 0.131, 1.296, 0.878, RAW= 290.7, -38.6, CAL= 287.0, -41.8, ROT= 223.0, 41.8
2025-08-22T21:40:54.693Z,1755898854.693 [DAT](INFO): got valid direction response:
21:40:54.5782 LVL= 32752, 32753, 32754, 29507, AGC= 68, IDX= 470, 0.12,-0.231, 0.991, 0.662,-0.261, PHS= 0.131, 1.296, 0.878, RAW= 290.7, -38.6, CAL= 287.0, -41.8, ROT= 223.0, 41.8
2025-08-22T21:40:54.694Z,1755898854.694 [DAT](INFO): DAT read: Bearing 225.3, -26.6 (Local)
2025-08-22T21:40:54.694Z,1755898854.694 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.3, -26.6 (Local)
2025-08-22T21:40:54.696Z,1755898854.696 [DAT](INFO): DAT read: Range 11 to 50 : 178.2 m (Round-trip 237.7 ms) speed -0.5 m/s
2025-08-22T21:40:54.696Z,1755898854.696 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:40:54.697Z,1755898854.697 [DAT](INFO): direction in FSK: [-0.545207,-0.508413,-0.666532]
2025-08-22T21:40:54.698Z,1755898854.698 [DAT](INFO): publishing direction and range info
2025-08-22T21:40:54.701Z,1755898854.701 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:40:54.701Z,1755898854.701 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:40:54.702Z,1755898854.702 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:40:54.939Z,1755898854.939 [DAT](INFO): DAT read: user:2384>
2025-08-22T21:40:54.939Z,1755898854.939 [DAT](INFO): DAT read: Tx time:21:40:55.9363
2025-08-22T21:40:54.940Z,1755898854.940 [DAT](INFO): Ping request sent.
2025-08-22T21:40:54.940Z,1755898854.940 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:40:54.940Z,1755898854.940 [DAT](INFO): publishing transmit ping time
2025-08-22T21:40:54.940Z,1755898854.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-08-22T21:40:54.953Z,1755898854.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 178.199997 m,
deltaT: 4.028302 s,
deltaX: -23.199997 m,
approachRate: -5.759250 m/s,
rangeRepo size: 3
2025-08-22T21:40:54.954Z,1755898854.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:54.957Z,1755898854.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 150.776001 m,
bearing: 84.437028 deg,
approach rate: 0.521554 m/s,
LOS rate: -0.110286 deg/s,
cmd heading: 83.622272 deg,
new cmd heading: 83.536743 deg.
2025-08-22T21:40:54.958Z,1755898854.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457991 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:55.195Z,1755898855.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254839
2025-08-22T21:40:55.429Z,1755898855.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:55.432Z,1755898855.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 151.033142 m,
bearing: 84.381931 deg,
approach rate: 0.543174 m/s,
LOS rate: -0.116186 deg/s,
cmd heading: 83.536745 deg,
new cmd heading: 83.426739 deg.
2025-08-22T21:40:55.433Z,1755898855.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.456071 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:55.443Z,1755898855.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502905
2025-08-22T21:40:55.503Z,1755898855.503 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:40:55.695Z,1755898855.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755442
2025-08-22T21:40:55.879Z,1755898855.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:55.886Z,1755898855.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 151.273911 m,
bearing: 84.328173 deg,
approach rate: 0.530723 m/s,
LOS rate: -0.118311 deg/s,
cmd heading: 83.426738 deg,
new cmd heading: 83.319392 deg.
2025-08-22T21:40:55.887Z,1755898855.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.454198 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:55.947Z,1755898855.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007084
2025-08-22T21:40:56.199Z,1755898856.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258869
2025-08-22T21:40:56.276Z,1755898856.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:56.283Z,1755898856.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 151.489807 m,
bearing: 84.278006 deg,
approach rate: 0.544153 m/s,
LOS rate: -0.126260 deg/s,
cmd heading: 83.319394 deg,
new cmd heading: 83.219205 deg.
2025-08-22T21:40:56.284Z,1755898856.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.452449 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:56.451Z,1755898856.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510834
2025-08-22T21:40:56.686Z,1755898856.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:40:56.689Z,1755898856.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:56.695Z,1755898856.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 151.709579 m,
bearing: 84.226647 deg,
approach rate: 0.532497 m/s,
LOS rate: -0.124262 deg/s,
cmd heading: 83.219202 deg,
new cmd heading: 83.116632 deg.
2025-08-22T21:40:56.696Z,1755898856.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.450659 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:56.703Z,1755898856.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763014
2025-08-22T21:40:56.955Z,1755898856.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014999
2025-08-22T21:40:57.075Z,1755898857.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:57.097Z,1755898857.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 151.915375 m,
bearing: 84.176645 deg,
approach rate: 0.532928 m/s,
LOS rate: -0.129309 deg/s,
cmd heading: 83.116633 deg,
new cmd heading: 83.016766 deg.
2025-08-22T21:40:57.098Z,1755898857.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448916 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:57.207Z,1755898857.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267200
2025-08-22T21:40:57.459Z,1755898857.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518941
2025-08-22T21:40:57.484Z,1755898857.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:57.487Z,1755898857.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 152.118027 m,
bearing: 84.127029 deg,
approach rate: 0.494937 m/s,
LOS rate: -0.121017 deg/s,
cmd heading: 83.016762 deg,
new cmd heading: 82.917662 deg.
2025-08-22T21:40:57.488Z,1755898857.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447186 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:57.712Z,1755898857.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771963
2025-08-22T21:40:57.870Z,1755898857.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:57.872Z,1755898857.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 152.299637 m,
bearing: 84.078948 deg,
approach rate: 0.471528 m/s,
LOS rate: -0.124686 deg/s,
cmd heading: 82.917663 deg,
new cmd heading: 82.821617 deg.
2025-08-22T21:40:57.873Z,1755898857.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.445510 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:57.963Z,1755898857.963 [DAT](INFO): DAT read: Rx Time:21:40:58.5455
2025-08-22T21:40:57.963Z,1755898857.963 [DAT](INFO): Rx dataTimestamp_ set to:1755898857.962892
2025-08-22T21:40:57.964Z,1755898857.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024061
2025-08-22T21:40:58.215Z,1755898858.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274851
2025-08-22T21:40:58.399Z,1755898858.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:58.417Z,1755898858.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 152.508118 m,
bearing: 84.021713 deg,
approach rate: 0.428529 m/s,
LOS rate: -0.117485 deg/s,
cmd heading: 82.821617 deg,
new cmd heading: 82.707303 deg.
2025-08-22T21:40:58.421Z,1755898858.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.443515 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:58.472Z,1755898858.472 [DAT](INFO): DAT read: 21:40:58.5455 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 96,-0.17, 0.693, 2.666, 1.983, 1.913, PHS=-1.118, 0.798, 0.026, RAW= 293.6, 3.6, CAL= 291.8, -1.1, ROT= 218.2, 1.1
2025-08-22T21:40:58.474Z,1755898858.474 [DAT](INFO): got valid direction response:
21:40:58.5455 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 96,-0.17, 0.693, 2.666, 1.983, 1.913, PHS=-1.118, 0.798, 0.026, RAW= 293.6, 3.6, CAL= 291.8, -1.1, ROT= 218.2, 1.1
2025-08-22T21:40:58.474Z,1755898858.474 [DAT](INFO): DAT read: Bearing 167.1, -34.0 (Local)
2025-08-22T21:40:58.475Z,1755898858.475 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.1, -34.0 (Local)
2025-08-22T21:40:58.476Z,1755898858.476 [DAT](INFO): DAT read: Range 11 to 50 : 153.7 m (Round-trip 205.0 ms) speed -0.4 m/s
2025-08-22T21:40:58.477Z,1755898858.477 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:40:58.478Z,1755898858.478 [DAT](INFO): direction in FSK: [-0.785712,-0.618294,-0.019197]
2025-08-22T21:40:58.478Z,1755898858.478 [DAT](INFO): publishing direction and range info
2025-08-22T21:40:58.481Z,1755898858.481 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:40:58.494Z,1755898858.494 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:40:58.494Z,1755898858.494 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:40:58.719Z,1755898858.719 [DAT](INFO): DAT read: user:2385>
2025-08-22T21:40:58.720Z,1755898858.720 [DAT](INFO): DAT read: Tx time:21:40:59.7363
2025-08-22T21:40:58.721Z,1755898858.721 [DAT](INFO): Ping request sent.
2025-08-22T21:40:58.721Z,1755898858.721 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:40:58.721Z,1755898858.721 [DAT](INFO): publishing transmit ping time
2025-08-22T21:40:58.722Z,1755898858.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001241
2025-08-22T21:40:58.971Z,1755898858.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249760
2025-08-22T21:40:59.013Z,1755898859.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 153.699997 m,
deltaT: 7.808718 s,
deltaX: -47.699997 m,
approachRate: -6.108557 m/s,
rangeRepo size: 3
2025-08-22T21:40:59.018Z,1755898859.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:59.020Z,1755898859.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 152.821411 m,
bearing: 83.929957 deg,
approach rate: 0.477122 m/s,
LOS rate: -0.139449 deg/s,
cmd heading: 82.707300 deg,
new cmd heading: 82.524167 deg.
2025-08-22T21:40:59.026Z,1755898859.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440318 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:59.223Z,1755898859.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501826
2025-08-22T21:40:59.475Z,1755898859.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753882
2025-08-22T21:40:59.564Z,1755898859.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:40:59.570Z,1755898859.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:40:59.573Z,1755898859.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 153.061829 m,
bearing: 83.850824 deg,
approach rate: 0.434505 m/s,
LOS rate: -0.142793 deg/s,
cmd heading: 82.524169 deg,
new cmd heading: 82.366151 deg.
2025-08-22T21:40:59.578Z,1755898859.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437561 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:40:59.728Z,1755898859.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007199
2025-08-22T21:40:59.979Z,1755898859.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258190
2025-08-22T21:41:00.028Z,1755898860.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:41:00.031Z,1755898860.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 153.269638 m,
bearing: 83.780105 deg,
approach rate: 0.449243 m/s,
LOS rate: -0.152671 deg/s,
cmd heading: 82.366153 deg,
new cmd heading: 82.224908 deg.
2025-08-22T21:41:00.032Z,1755898860.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435095 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:41:00.232Z,1755898860.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511376
2025-08-22T21:41:00.483Z,1755898860.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761869
2025-08-22T21:41:00.493Z,1755898860.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:41:00.496Z,1755898860.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 153.460022 m,
bearing: 83.713114 deg,
approach rate: 0.409579 m/s,
LOS rate: -0.143943 deg/s,
cmd heading: 82.224911 deg,
new cmd heading: 82.091094 deg.
2025-08-22T21:41:00.497Z,1755898860.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432760 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:41:00.736Z,1755898860.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014417
2025-08-22T21:41:00.834Z,1755898860.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:41:00.837Z,1755898860.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 153.597260 m,
bearing: 83.663168 deg,
approach rate: 0.402954 m/s,
LOS rate: -0.146517 deg/s,
cmd heading: 82.091094 deg,
new cmd heading: 81.991293 deg.
2025-08-22T21:41:00.838Z,1755898860.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431018 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:41:00.987Z,1755898860.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266070
2025-08-22T21:41:01.239Z,1755898861.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518644
2025-08-22T21:41:01.272Z,1755898861.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:41:01.278Z,1755898861.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 153.768921 m,
bearing: 83.598595 deg,
approach rate: 0.392048 m/s,
LOS rate: -0.147310 deg/s,
cmd heading: 81.991292 deg,
new cmd heading: 81.862290 deg.
2025-08-22T21:41:01.279Z,1755898861.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428766 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:41:01.491Z,1755898861.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770094
2025-08-22T21:41:01.674Z,1755898861.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:01.676Z,1755898861.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:41:01.679Z,1755898861.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 153.925583 m,
bearing: 83.534922 deg,
approach rate: 0.387553 m/s,
LOS rate: -0.157357 deg/s,
cmd heading: 81.862290 deg,
new cmd heading: 81.735072 deg.
2025-08-22T21:41:01.680Z,1755898861.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426546 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:41:01.744Z,1755898861.744 [DAT](INFO): DAT read: Rx Time:21:41:02.3479
2025-08-22T21:41:01.745Z,1755898861.745 [DAT](INFO): Rx dataTimestamp_ set to:1755898861.744491
2025-08-22T21:41:01.746Z,1755898861.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024561
2025-08-22T21:41:01.994Z,1755898861.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273685
2025-08-22T21:41:02.063Z,1755898862.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.13 m.
2025-08-22T21:41:02.066Z,1755898862.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.130585 m,
nav range: 154.065536 m,
bearing: 83.476142 deg,
approach rate: 0.361259 m/s,
LOS rate: -0.151589 deg/s,
cmd heading: 81.735071 deg,
new cmd heading: 81.617618 deg.
2025-08-22T21:41:02.067Z,1755898862.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424496 target range: 200.130585 and range: 201.40 m.
2025-08-22T21:41:02.273Z,1755898862.273 [DAT](INFO): DAT read: 21:41:02.3479 LVL= 32752, 32209, 32754, 32755, AGC= 64, IDX= 457,-0.06,-1.924,-0.165,-0.306,-0.737, PHS=-1.085, 0.617, 0.387, RAW= 277.1, 1.0, CAL= 275.7, -4.5, ROT= 234.3, 4.5
2025-08-22T21:41:02.280Z,1755898862.280 [DAT](INFO): got valid direction response:
21:41:02.3479 LVL= 32752, 32209, 32754, 32755, AGC= 64, IDX= 457,-0.06,-1.924,-0.165,-0.306,-0.737, PHS=-1.085, 0.617, 0.387, RAW= 277.1, 1.0, CAL= 275.7, -4.5, ROT= 234.3, 4.5
2025-08-22T21:41:02.281Z,1755898862.281 [DAT](INFO): DAT read: Bearing 163.9, -48.8 (Local)
2025-08-22T21:41:02.300Z,1755898862.300 [DAT](INFO): Local bearing/azimuth received:
Bearing 163.9, -48.8 (Local)
2025-08-22T21:41:02.329Z,1755898862.329 [DAT](INFO): DAT read: Range 11 to 50 : 155.6 m (Round-trip 207.5 ms) speed -0.5 m/s
2025-08-22T21:41:02.330Z,1755898862.330 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:41:02.331Z,1755898862.331 [DAT](INFO): direction in FSK: [-0.581742,-0.809580,-0.078459]
2025-08-22T21:41:02.331Z,1755898862.331 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:02.344Z,1755898862.344 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:02.344Z,1755898862.344 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:02.344Z,1755898862.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:02.499Z,1755898862.499 [DAT](INFO): DAT read: user:2386>
2025-08-22T21:41:02.499Z,1755898862.499 [DAT](INFO): DAT read: Tx time:21:41:03.5862
2025-08-22T21:41:02.500Z,1755898862.500 [DAT](INFO): Ping request sent.
2025-08-22T21:41:02.500Z,1755898862.500 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:02.500Z,1755898862.500 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:02.500Z,1755898862.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-22T21:41:02.583Z,1755898862.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 155.600006 m,
deltaT: 11.591116 s,
deltaX: -45.799988 m,
approachRate: -3.951301 m/s,
rangeRepo size: 4
2025-08-22T21:41:02.590Z,1755898862.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 154.621582 m,
bearing: 78.809576 deg,
lat: 36.779346 deg,
lon: -121.859611 deg,
deltaT: 11.591116 s,
deltaX: -45.509003 m,
approachRate: -3.926197 m/s,
posRepo size: 3
2025-08-22T21:41:02.590Z,1755898862.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.62 m.
2025-08-22T21:41:02.593Z,1755898862.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.621582 m,
nav range: 146.675064 m,
bearing: 83.048388 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.151589 deg/s,
cmd heading: 81.617619 deg,
new cmd heading: 81.460119 deg.
2025-08-22T21:41:02.598Z,1755898862.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421747 target range: 154.621582 and range: 155.60 m.
2025-08-22T21:41:02.752Z,1755898862.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252299
2025-08-22T21:41:02.873Z,1755898862.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.62 m.
2025-08-22T21:41:02.876Z,1755898862.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.621582 m,
nav range: 146.781464 m,
bearing: 82.999046 deg,
approach rate: 0.366526 m/s,
LOS rate: -0.169852 deg/s,
cmd heading: 81.460121 deg,
new cmd heading: 81.361508 deg.
2025-08-22T21:41:02.877Z,1755898862.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.420026 target range: 154.621582 and range: 155.60 m.
2025-08-22T21:41:03.002Z,1755898863.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502693
2025-08-22T21:41:03.255Z,1755898863.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754929
2025-08-22T21:41:03.291Z,1755898863.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.62 m.
2025-08-22T21:41:03.298Z,1755898863.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.621582 m,
nav range: 146.933258 m,
bearing: 82.926212 deg,
approach rate: 0.363125 m/s,
LOS rate: -0.174054 deg/s,
cmd heading: 81.361507 deg,
new cmd heading: 81.215990 deg.
2025-08-22T21:41:03.299Z,1755898863.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.417486 target range: 154.621582 and range: 155.60 m.
2025-08-22T21:41:03.507Z,1755898863.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007661
2025-08-22T21:41:03.695Z,1755898863.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:03.698Z,1755898863.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.62 m.
2025-08-22T21:41:03.700Z,1755898863.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.621582 m,
nav range: 147.081192 m,
bearing: 82.855976 deg,
approach rate: 0.364183 m/s,
LOS rate: -0.172731 deg/s,
cmd heading: 81.215990 deg,
new cmd heading: 81.075661 deg.
2025-08-22T21:41:03.701Z,1755898863.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.415037 target range: 154.621582 and range: 155.60 m.
2025-08-22T21:41:03.759Z,1755898863.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258839
2025-08-22T21:41:04.010Z,1755898864.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510679
2025-08-22T21:41:04.220Z,1755898864.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.62 m.
2025-08-22T21:41:04.241Z,1755898864.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.621582 m,
nav range: 147.253021 m,
bearing: 82.768239 deg,
approach rate: 0.330953 m/s,
LOS rate: -0.168790 deg/s,
cmd heading: 81.075664 deg,
new cmd heading: 80.900395 deg.
2025-08-22T21:41:04.247Z,1755898864.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411978 target range: 154.621582 and range: 155.60 m.
2025-08-22T21:41:04.263Z,1755898864.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762913
2025-08-22T21:41:04.515Z,1755898864.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015053
2025-08-22T21:41:04.767Z,1755898864.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266837
2025-08-22T21:41:04.781Z,1755898864.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.62 m.
2025-08-22T21:41:04.784Z,1755898864.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.621582 m,
nav range: 147.439392 m,
bearing: 82.671065 deg,
approach rate: 0.330273 m/s,
LOS rate: -0.171986 deg/s,
cmd heading: 80.900394 deg,
new cmd heading: 80.706294 deg.
2025-08-22T21:41:04.785Z,1755898864.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408591 target range: 154.621582 and range: 155.60 m.
2025-08-22T21:41:05.019Z,1755898865.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519553
2025-08-22T21:41:05.270Z,1755898865.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770753
2025-08-22T21:41:05.290Z,1755898865.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.62 m.
2025-08-22T21:41:05.293Z,1755898865.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.621582 m,
nav range: 147.595993 m,
bearing: 82.586415 deg,
approach rate: 0.307386 m/s,
LOS rate: -0.165980 deg/s,
cmd heading: 80.706294 deg,
new cmd heading: 80.537173 deg.
2025-08-22T21:41:05.298Z,1755898865.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405639 target range: 154.621582 and range: 155.60 m.
2025-08-22T21:41:05.522Z,1755898865.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022673
2025-08-22T21:41:05.684Z,1755898865.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.62 m.
2025-08-22T21:41:05.703Z,1755898865.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.621582 m,
nav range: 147.721451 m,
bearing: 82.515247 deg,
approach rate: 0.318524 m/s,
LOS rate: -0.180535 deg/s,
cmd heading: 80.537172 deg,
new cmd heading: 80.394956 deg.
2025-08-22T21:41:05.704Z,1755898865.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403157 target range: 154.621582 and range: 155.60 m.
2025-08-22T21:41:05.776Z,1755898865.776 [DAT](INFO): DAT read: Rx Time:21:41:06.1999
2025-08-22T21:41:05.776Z,1755898865.776 [DAT](INFO): Rx dataTimestamp_ set to:1755898865.776167
2025-08-22T21:41:05.779Z,1755898865.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277629
2025-08-22T21:41:06.027Z,1755898866.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526777
2025-08-22T21:41:06.188Z,1755898866.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:06.191Z,1755898866.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.62 m.
2025-08-22T21:41:06.195Z,1755898866.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.621582 m,
nav range: 147.869644 m,
bearing: 82.428080 deg,
approach rate: 0.292273 m/s,
LOS rate: -0.171742 deg/s,
cmd heading: 80.394953 deg,
new cmd heading: 80.220795 deg.
2025-08-22T21:41:06.196Z,1755898866.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400117 target range: 154.621582 and range: 155.60 m.
2025-08-22T21:41:06.285Z,1755898866.285 [DAT](INFO): DAT read: 21:41:06.1999 LVL= 32752, 31057, 27586, 23107, AGC= 63, IDX= 446,-0.40, 0.385, 1.806, 2.384, 1.721, PHS=-1.234, 0.130, 0.620, RAW= 255.2, 5.9, CAL= 252.6, 4.9, ROT= 257.4, -4.9
2025-08-22T21:41:06.286Z,1755898866.286 [DAT](INFO): got valid direction response:
21:41:06.1999 LVL= 32752, 31057, 27586, 23107, AGC= 63, IDX= 446,-0.40, 0.385, 1.806, 2.384, 1.721, PHS=-1.234, 0.130, 0.620, RAW= 255.2, 5.9, CAL= 252.6, 4.9, ROT= 257.4, -4.9
2025-08-22T21:41:06.287Z,1755898866.287 [DAT](INFO): DAT read: Bearing 134.8, -71.9 (Local)
2025-08-22T21:41:06.287Z,1755898866.287 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.8, -71.9 (Local)
2025-08-22T21:41:06.288Z,1755898866.288 [DAT](INFO): DAT read: Range 11 to 50 : 157.1 m (Round-trip 209.5 ms) speed 0.1 m/s
2025-08-22T21:41:06.289Z,1755898866.289 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:41:06.290Z,1755898866.290 [DAT](INFO): direction in FSK: [-0.217346,-0.972350,0.085417]
2025-08-22T21:41:06.290Z,1755898866.290 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:06.294Z,1755898866.294 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:06.294Z,1755898866.294 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:06.294Z,1755898866.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:06.531Z,1755898866.531 [DAT](INFO): DAT read: user:2387>
2025-08-22T21:41:06.531Z,1755898866.531 [DAT](INFO): DAT read: Tx time:21:41:07.5362
2025-08-22T21:41:06.532Z,1755898866.532 [DAT](INFO): Ping request sent.
2025-08-22T21:41:06.532Z,1755898866.532 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:06.532Z,1755898866.532 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:06.532Z,1755898866.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-08-22T21:41:06.628Z,1755898866.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 157.100006 m,
deltaT: 4.029597 s,
deltaX: 1.500000 m,
approachRate: 0.372246 m/s,
rangeRepo size: 4
2025-08-22T21:41:06.635Z,1755898866.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 156.112274 m,
bearing: 90.886509 deg,
lat: 36.779346 deg,
lon: -121.859542 deg,
deltaT: 4.029597 s,
deltaX: 1.490692 m,
approachRate: 0.369936 m/s,
posRepo size: 4
2025-08-22T21:41:06.635Z,1755898866.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.11 m.
2025-08-22T21:41:06.642Z,1755898866.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 156.112274 m,
nav range: 154.020523 m,
bearing: 82.655700 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.171742 deg/s,
cmd heading: 80.220797 deg,
new cmd heading: 80.070851 deg.
2025-08-22T21:41:06.643Z,1755898866.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397500 target range: 156.112274 and range: 157.10 m.
2025-08-22T21:41:06.783Z,1755898866.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250924
2025-08-22T21:41:06.934Z,1755898866.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.11 m.
2025-08-22T21:41:06.937Z,1755898866.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 156.112274 m,
nav range: 154.107300 m,
bearing: 82.601351 deg,
approach rate: 0.283489 m/s,
LOS rate: -0.177452 deg/s,
cmd heading: 80.070854 deg,
new cmd heading: 79.962217 deg.
2025-08-22T21:41:06.938Z,1755898866.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.395604 target range: 156.112274 and range: 157.10 m.
2025-08-22T21:41:07.035Z,1755898867.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503257
2025-08-22T21:41:07.287Z,1755898867.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754772
2025-08-22T21:41:07.351Z,1755898867.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.11 m.
2025-08-22T21:41:07.355Z,1755898867.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 156.112274 m,
nav range: 154.212418 m,
bearing: 82.532813 deg,
approach rate: 0.251866 m/s,
LOS rate: -0.164108 deg/s,
cmd heading: 79.962220 deg,
new cmd heading: 79.825237 deg.
2025-08-22T21:41:07.356Z,1755898867.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393213 target range: 156.112274 and range: 157.10 m.
2025-08-22T21:41:07.539Z,1755898867.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006861
2025-08-22T21:41:07.781Z,1755898867.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.11 m.
2025-08-22T21:41:07.784Z,1755898867.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 156.112274 m,
nav range: 154.316269 m,
bearing: 82.457797 deg,
approach rate: 0.241470 m/s,
LOS rate: -0.174306 deg/s,
cmd heading: 79.825240 deg,
new cmd heading: 79.675310 deg.
2025-08-22T21:41:07.785Z,1755898867.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390597 target range: 156.112274 and range: 157.10 m.
2025-08-22T21:41:07.791Z,1755898867.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259135
2025-08-22T21:41:08.043Z,1755898868.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510876
2025-08-22T21:41:08.140Z,1755898868.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.11 m.
2025-08-22T21:41:08.143Z,1755898868.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 156.112274 m,
nav range: 154.405853 m,
bearing: 82.390398 deg,
approach rate: 0.249711 m/s,
LOS rate: -0.187762 deg/s,
cmd heading: 79.675311 deg,
new cmd heading: 79.540592 deg.
2025-08-22T21:41:08.144Z,1755898868.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388245 target range: 156.112274 and range: 157.10 m.
2025-08-22T21:41:08.295Z,1755898868.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762869
2025-08-22T21:41:08.550Z,1755898868.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017383
2025-08-22T21:41:08.607Z,1755898868.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:08.609Z,1755898868.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.11 m.
2025-08-22T21:41:08.628Z,1755898868.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 156.112274 m,
nav range: 154.508591 m,
bearing: 82.308948 deg,
approach rate: 0.218986 m/s,
LOS rate: -0.173497 deg/s,
cmd heading: 79.540592 deg,
new cmd heading: 79.377800 deg.
2025-08-22T21:41:08.629Z,1755898868.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385404 target range: 156.112274 and range: 157.10 m.
2025-08-22T21:41:08.799Z,1755898868.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266762
2025-08-22T21:41:09.051Z,1755898869.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518849
2025-08-22T21:41:09.078Z,1755898869.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.11 m.
2025-08-22T21:41:09.081Z,1755898869.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 156.112274 m,
nav range: 154.603836 m,
bearing: 82.230082 deg,
approach rate: 0.203118 m/s,
LOS rate: -0.168083 deg/s,
cmd heading: 79.377802 deg,
new cmd heading: 79.220168 deg.
2025-08-22T21:41:09.090Z,1755898869.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382653 target range: 156.112274 and range: 157.10 m.
2025-08-22T21:41:09.303Z,1755898869.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771723
2025-08-22T21:41:09.426Z,1755898869.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.11 m.
2025-08-22T21:41:09.429Z,1755898869.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 156.112274 m,
nav range: 154.679245 m,
bearing: 82.164856 deg,
approach rate: 0.216431 m/s,
LOS rate: -0.187113 deg/s,
cmd heading: 79.220168 deg,
new cmd heading: 79.089780 deg.
2025-08-22T21:41:09.430Z,1755898869.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380377 target range: 156.112274 and range: 157.10 m.
2025-08-22T21:41:09.559Z,1755898869.559 [DAT](INFO): DAT read: Rx Time:21:41:10.1515
2025-08-22T21:41:09.560Z,1755898869.560 [DAT](INFO): Rx dataTimestamp_ set to:1755898869.559598
2025-08-22T21:41:09.560Z,1755898869.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028696
2025-08-22T21:41:09.807Z,1755898869.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275420
2025-08-22T21:41:09.870Z,1755898869.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.11 m.
2025-08-22T21:41:09.878Z,1755898869.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 156.112274 m,
nav range: 154.756760 m,
bearing: 82.090581 deg,
approach rate: 0.176648 m/s,
LOS rate: -0.169182 deg/s,
cmd heading: 79.089779 deg,
new cmd heading: 78.941303 deg.
2025-08-22T21:41:09.879Z,1755898869.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.377786 target range: 156.112274 and range: 157.10 m.
2025-08-22T21:41:10.072Z,1755898870.072 [DAT](INFO): DAT read: 21:41:10.1515 LVL= 31072, 30033, 24050, 30547, AGC= 64, IDX= 463,-0.15, 1.548, 2.830,-2.615, 2.751, PHS=-1.101, 0.124, 0.873, RAW= 247.9, 1.2, CAL= 243.7, 0.5, ROT= 266.3, -0.5
2025-08-22T21:41:10.074Z,1755898870.074 [DAT](INFO): got valid direction response:
21:41:10.1515 LVL= 31072, 30033, 24050, 30547, AGC= 64, IDX= 463,-0.15, 1.548, 2.830,-2.615, 2.751, PHS=-1.101, 0.124, 0.873, RAW= 247.9, 1.2, CAL= 243.7, 0.5, ROT= 266.3, -0.5
2025-08-22T21:41:10.075Z,1755898870.075 [DAT](INFO): DAT read: Bearing 145.6, -80.5 (Local)
2025-08-22T21:41:10.075Z,1755898870.075 [DAT](INFO): Local bearing/azimuth received:
Bearing 145.6, -80.5 (Local)
2025-08-22T21:41:10.077Z,1755898870.077 [DAT](INFO): DAT read: Range 11 to 50 : 158.4 m (Round-trip 211.2 ms) speed -0.2 m/s
2025-08-22T21:41:10.077Z,1755898870.077 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:41:10.078Z,1755898870.078 [DAT](INFO): direction in FSK: [-0.064530,-0.997878,0.008727]
2025-08-22T21:41:10.079Z,1755898870.079 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:10.082Z,1755898870.082 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:10.082Z,1755898870.082 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:10.082Z,1755898870.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:10.311Z,1755898870.311 [DAT](INFO): DAT read: user:2388>
2025-08-22T21:41:10.311Z,1755898870.311 [DAT](INFO): DAT read: Tx time:21:41:11.3362
2025-08-22T21:41:10.312Z,1755898870.312 [DAT](INFO): Ping request sent.
2025-08-22T21:41:10.312Z,1755898870.312 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:10.312Z,1755898870.312 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:10.314Z,1755898870.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002304
2025-08-22T21:41:10.343Z,1755898870.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 158.399994 m,
deltaT: 3.781449 s,
deltaX: 1.299988 m,
approachRate: 0.343780 m/s,
rangeRepo size: 4
2025-08-22T21:41:10.346Z,1755898870.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 157.404602 m,
bearing: 90.137198 deg,
lat: 36.779293 deg,
lon: -121.859542 deg,
deltaT: 3.781449 s,
deltaX: 1.292328 m,
approachRate: 0.341755 m/s,
posRepo size: 4
2025-08-22T21:41:10.346Z,1755898870.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.40 m.
2025-08-22T21:41:10.349Z,1755898870.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.404602 m,
nav range: 154.130249 m,
bearing: 84.175442 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.169182 deg/s,
cmd heading: 78.941305 deg,
new cmd heading: 78.779770 deg.
2025-08-22T21:41:10.358Z,1755898870.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374966 target range: 157.404602 and range: 158.40 m.
2025-08-22T21:41:10.565Z,1755898870.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253007
2025-08-22T21:41:10.755Z,1755898870.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:10.758Z,1755898870.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.40 m.
2025-08-22T21:41:10.760Z,1755898870.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.404602 m,
nav range: 154.190140 m,
bearing: 84.094604 deg,
approach rate: 0.144370 m/s,
LOS rate: -0.194791 deg/s,
cmd heading: 78.779771 deg,
new cmd heading: 78.618156 deg.
2025-08-22T21:41:10.761Z,1755898870.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372146 target range: 157.404602 and range: 158.40 m.
2025-08-22T21:41:10.816Z,1755898870.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503857
2025-08-22T21:41:11.067Z,1755898871.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754864
2025-08-22T21:41:11.137Z,1755898871.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.40 m.
2025-08-22T21:41:11.140Z,1755898871.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.404602 m,
nav range: 154.240570 m,
bearing: 84.026901 deg,
approach rate: 0.132817 m/s,
LOS rate: -0.178249 deg/s,
cmd heading: 78.618155 deg,
new cmd heading: 78.482794 deg.
2025-08-22T21:41:11.141Z,1755898871.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369783 target range: 157.404602 and range: 158.40 m.
2025-08-22T21:41:11.318Z,1755898871.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006749
2025-08-22T21:41:11.573Z,1755898871.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261057
2025-08-22T21:41:11.610Z,1755898871.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.40 m.
2025-08-22T21:41:11.613Z,1755898871.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.404602 m,
nav range: 154.298965 m,
bearing: 83.948923 deg,
approach rate: 0.123480 m/s,
LOS rate: -0.164826 deg/s,
cmd heading: 78.482794 deg,
new cmd heading: 78.326897 deg.
2025-08-22T21:41:11.614Z,1755898871.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367062 target range: 157.404602 and range: 158.40 m.
2025-08-22T21:41:11.823Z,1755898871.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511626
2025-08-22T21:41:11.947Z,1755898871.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.40 m.
2025-08-22T21:41:11.950Z,1755898871.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.404602 m,
nav range: 154.344681 m,
bearing: 83.881398 deg,
approach rate: 0.135723 m/s,
LOS rate: -0.200413 deg/s,
cmd heading: 78.326895 deg,
new cmd heading: 78.191886 deg.
2025-08-22T21:41:11.951Z,1755898871.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364706 target range: 157.404602 and range: 158.40 m.
2025-08-22T21:41:12.075Z,1755898872.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763106
2025-08-22T21:41:12.326Z,1755898872.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014737
2025-08-22T21:41:12.360Z,1755898872.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.40 m.
2025-08-22T21:41:12.363Z,1755898872.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.404602 m,
nav range: 154.393890 m,
bearing: 83.809114 deg,
approach rate: 0.119102 m/s,
LOS rate: -0.174892 deg/s,
cmd heading: 78.191890 deg,
new cmd heading: 78.047369 deg.
2025-08-22T21:41:12.364Z,1755898872.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362184 target range: 157.404602 and range: 158.40 m.
2025-08-22T21:41:12.581Z,1755898872.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268940
2025-08-22T21:41:12.778Z,1755898872.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:12.780Z,1755898872.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.40 m.
2025-08-22T21:41:12.782Z,1755898872.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.404602 m,
nav range: 154.440445 m,
bearing: 83.727181 deg,
approach rate: 0.110976 m/s,
LOS rate: -0.195251 deg/s,
cmd heading: 78.047370 deg,
new cmd heading: 77.883554 deg.
2025-08-22T21:41:12.783Z,1755898872.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359324 target range: 157.404602 and range: 158.40 m.
2025-08-22T21:41:12.831Z,1755898872.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518909
2025-08-22T21:41:13.083Z,1755898873.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770854
2025-08-22T21:41:13.169Z,1755898873.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.40 m.
2025-08-22T21:41:13.190Z,1755898873.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.404602 m,
nav range: 154.478348 m,
bearing: 83.654493 deg,
approach rate: 0.097423 m/s,
LOS rate: -0.186788 deg/s,
cmd heading: 77.883554 deg,
new cmd heading: 77.738214 deg.
2025-08-22T21:41:13.192Z,1755898873.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356788 target range: 157.404602 and range: 158.40 m.
2025-08-22T21:41:13.335Z,1755898873.335 [DAT](INFO): DAT read: Rx Time:21:41:13.9526
2025-08-22T21:41:13.336Z,1755898873.336 [DAT](INFO): Rx dataTimestamp_ set to:1755898873.335551
2025-08-22T21:41:13.337Z,1755898873.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024945
2025-08-22T21:41:13.590Z,1755898873.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277209
2025-08-22T21:41:13.683Z,1755898873.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.40 m.
2025-08-22T21:41:13.690Z,1755898873.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.404602 m,
nav range: 154.526749 m,
bearing: 83.562658 deg,
approach rate: 0.094027 m/s,
LOS rate: -0.178348 deg/s,
cmd heading: 77.738215 deg,
new cmd heading: 77.554603 deg.
2025-08-22T21:41:13.691Z,1755898873.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353583 target range: 157.404602 and range: 158.40 m.
2025-08-22T21:41:13.841Z,1755898873.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529016
2025-08-22T21:41:14.096Z,1755898874.096 [DAT](INFO): DAT read: 21:41:13.9526 LVL= 30928, 28545, 25250, 32755, AGC= 65, IDX= 442,-0.19, 1.506, 2.733,-2.687, 2.728, PHS=-1.121, 0.050, 0.824, RAW= 246.7, 2.9, CAL= 243.4, 2.7, ROT= 266.6, -2.7
2025-08-22T21:41:14.097Z,1755898874.097 [DAT](INFO): got valid direction response:
21:41:13.9526 LVL= 30928, 28545, 25250, 32755, AGC= 65, IDX= 442,-0.19, 1.506, 2.733,-2.687, 2.728, PHS=-1.121, 0.050, 0.824, RAW= 246.7, 2.9, CAL= 243.4, 2.7, ROT= 266.6, -2.7
2025-08-22T21:41:14.098Z,1755898874.098 [DAT](INFO): DAT read: Bearing 122.5, -81.0 (Local)
2025-08-22T21:41:14.098Z,1755898874.098 [DAT](INFO): Local bearing/azimuth received:
Bearing 122.5, -81.0 (Local)
2025-08-22T21:41:14.100Z,1755898874.100 [DAT](INFO): DAT read: Range 11 to 50 : 159.2 m (Round-trip 212.3 ms) speed 0.0 m/s
2025-08-22T21:41:14.100Z,1755898874.100 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:41:14.102Z,1755898874.102 [DAT](INFO): direction in FSK: [-0.059240,-0.997132,0.047106]
2025-08-22T21:41:14.102Z,1755898874.102 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:14.105Z,1755898874.105 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:14.105Z,1755898874.105 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:14.105Z,1755898874.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:14.288Z,1755898874.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 159.199997 m,
deltaT: 4.030060 s,
deltaX: 0.800003 m,
approachRate: 0.198509 m/s,
rangeRepo size: 4
2025-08-22T21:41:14.298Z,1755898874.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 158.199677 m,
bearing: 81.298789 deg,
lat: 36.779349 deg,
lon: -121.859522 deg,
deltaT: 4.030060 s,
deltaX: 0.795074 m,
approachRate: 0.197286 m/s,
posRepo size: 4
2025-08-22T21:41:14.299Z,1755898874.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-08-22T21:41:14.306Z,1755898874.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.199677 m,
nav range: 157.213760 m,
bearing: 81.274621 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.178348 deg/s,
cmd heading: 77.554606 deg,
new cmd heading: 77.339297 deg.
2025-08-22T21:41:14.307Z,1755898874.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349825 target range: 158.199677 and range: 159.20 m.
2025-08-22T21:41:14.342Z,1755898874.342 [DAT](INFO): DAT read: user:2389>
2025-08-22T21:41:14.343Z,1755898874.343 [DAT](INFO): DAT read: Tx time:21:41:15.3362
2025-08-22T21:41:14.343Z,1755898874.343 [DAT](INFO): Ping request sent.
2025-08-22T21:41:14.344Z,1755898874.344 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:14.344Z,1755898874.344 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:14.344Z,1755898874.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-08-22T21:41:14.598Z,1755898874.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253334
2025-08-22T21:41:14.794Z,1755898874.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:14.796Z,1755898874.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-08-22T21:41:14.803Z,1755898874.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.199677 m,
nav range: 157.260056 m,
bearing: 81.182284 deg,
approach rate: 0.090940 m/s,
LOS rate: -0.181329 deg/s,
cmd heading: 77.339297 deg,
new cmd heading: 77.154678 deg.
2025-08-22T21:41:14.804Z,1755898874.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346603 target range: 158.199677 and range: 159.20 m.
2025-08-22T21:41:14.847Z,1755898874.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503009
2025-08-22T21:41:15.099Z,1755898875.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755188
2025-08-22T21:41:15.166Z,1755898875.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-08-22T21:41:15.171Z,1755898875.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.199677 m,
nav range: 157.290756 m,
bearing: 81.114395 deg,
approach rate: 0.083102 m/s,
LOS rate: -0.183730 deg/s,
cmd heading: 77.154677 deg,
new cmd heading: 77.018926 deg.
2025-08-22T21:41:15.173Z,1755898875.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344234 target range: 158.199677 and range: 159.20 m.
2025-08-22T21:41:15.351Z,1755898875.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007128
2025-08-22T21:41:15.577Z,1755898875.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-08-22T21:41:15.580Z,1755898875.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.199677 m,
nav range: 157.320404 m,
bearing: 81.041038 deg,
approach rate: 0.072018 m/s,
LOS rate: -0.178161 deg/s,
cmd heading: 77.018927 deg,
new cmd heading: 76.872240 deg.
2025-08-22T21:41:15.583Z,1755898875.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341674 target range: 158.199677 and range: 159.20 m.
2025-08-22T21:41:15.606Z,1755898875.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261209
2025-08-22T21:41:15.856Z,1755898875.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511997
2025-08-22T21:41:16.033Z,1755898876.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-08-22T21:41:16.039Z,1755898876.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.199677 m,
nav range: 157.345917 m,
bearing: 80.964602 deg,
approach rate: 0.056022 m/s,
LOS rate: -0.167812 deg/s,
cmd heading: 76.872242 deg,
new cmd heading: 76.719397 deg.
2025-08-22T21:41:16.040Z,1755898876.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339006 target range: 158.199677 and range: 159.20 m.
2025-08-22T21:41:16.107Z,1755898876.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763691
2025-08-22T21:41:16.359Z,1755898876.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015056
2025-08-22T21:41:16.382Z,1755898876.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-08-22T21:41:16.384Z,1755898876.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.199677 m,
nav range: 157.365112 m,
bearing: 80.897555 deg,
approach rate: 0.055651 m/s,
LOS rate: -0.194356 deg/s,
cmd heading: 76.719396 deg,
new cmd heading: 76.585319 deg.
2025-08-22T21:41:16.390Z,1755898876.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336666 target range: 158.199677 and range: 159.20 m.
2025-08-22T21:41:16.614Z,1755898876.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270005
2025-08-22T21:41:16.811Z,1755898876.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:16.813Z,1755898876.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-08-22T21:41:16.820Z,1755898876.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.199677 m,
nav range: 157.381683 m,
bearing: 80.821712 deg,
approach rate: 0.038090 m/s,
LOS rate: -0.174311 deg/s,
cmd heading: 76.585320 deg,
new cmd heading: 76.433651 deg.
2025-08-22T21:41:16.820Z,1755898876.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334019 target range: 158.199677 and range: 159.20 m.
2025-08-22T21:41:16.863Z,1755898876.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519016
2025-08-22T21:41:17.115Z,1755898877.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770935
2025-08-22T21:41:17.203Z,1755898877.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-08-22T21:41:17.208Z,1755898877.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.199677 m,
nav range: 157.397507 m,
bearing: 80.750441 deg,
approach rate: 0.040638 m/s,
LOS rate: -0.183025 deg/s,
cmd heading: 76.433649 deg,
new cmd heading: 76.291121 deg.
2025-08-22T21:41:17.209Z,1755898877.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331531 target range: 158.199677 and range: 159.20 m.
2025-08-22T21:41:17.367Z,1755898877.367 [DAT](INFO): DAT read: Rx Time:21:41:17.9533
2025-08-22T21:41:17.367Z,1755898877.367 [DAT](INFO): Rx dataTimestamp_ set to:1755898877.366849
2025-08-22T21:41:17.368Z,1755898877.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024068
2025-08-22T21:41:17.604Z,1755898877.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-08-22T21:41:17.606Z,1755898877.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.199677 m,
nav range: 157.413696 m,
bearing: 80.678716 deg,
approach rate: 0.040316 m/s,
LOS rate: -0.178595 deg/s,
cmd heading: 76.291123 deg,
new cmd heading: 76.147688 deg.
2025-08-22T21:41:17.607Z,1755898877.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.329028 target range: 158.199677 and range: 159.20 m.
2025-08-22T21:41:17.622Z,1755898877.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277169
2025-08-22T21:41:17.879Z,1755898877.879 [DAT](INFO): DAT read: 21:41:17.9533 LVL= 32752, 32753, 27122, 32755, AGC= 60, IDX= 449,-0.16, 1.423, 2.470,-2.657, 2.533, PHS=-1.009,-0.019, 1.049, RAW= 238.8, -0.2, CAL= 234.8, -0.0, ROT= 275.2, 0.0
2025-08-22T21:41:17.886Z,1755898877.886 [DAT](INFO): got valid direction response:
21:41:17.9533 LVL= 32752, 32753, 27122, 32755, AGC= 60, IDX= 449,-0.16, 1.423, 2.470,-2.657, 2.533, PHS=-1.009,-0.019, 1.049, RAW= 238.8, -0.2, CAL= 234.8, -0.0, ROT= 275.2, 0.0
2025-08-22T21:41:17.887Z,1755898877.887 [DAT](INFO): DAT read: Bearing 205.6, -87.2 (Local)
2025-08-22T21:41:17.887Z,1755898877.887 [DAT](INFO): Local bearing/azimuth received:
Bearing 205.6, -87.2 (Local)
2025-08-22T21:41:17.889Z,1755898877.889 [DAT](INFO): DAT read: Range 11 to 50 : 159.6 m (Round-trip 212.9 ms) speed 0.0 m/s
2025-08-22T21:41:17.889Z,1755898877.889 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:41:17.890Z,1755898877.890 [DAT](INFO): direction in FSK: [0.090633,-0.995884,-0.000000]
2025-08-22T21:41:17.891Z,1755898877.891 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:17.894Z,1755898877.894 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:17.894Z,1755898877.894 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:17.894Z,1755898877.894 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:18.050Z,1755898878.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 159.600006 m,
deltaT: 3.780796 s,
deltaX: 0.400009 m,
approachRate: 0.105800 m/s,
rangeRepo size: 4
2025-08-22T21:41:18.053Z,1755898878.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 158.597580 m,
bearing: 77.973027 deg,
lat: 36.779349 deg,
lon: -121.859522 deg,
deltaT: 3.780796 s,
deltaX: 0.397903 m,
approachRate: 0.105243 m/s,
posRepo size: 4
2025-08-22T21:41:18.053Z,1755898878.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:18.060Z,1755898878.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.411957 m,
bearing: 80.602303 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.178595 deg/s,
cmd heading: 76.147689 deg,
new cmd heading: 75.991248 deg.
2025-08-22T21:41:18.061Z,1755898878.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326298 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:18.123Z,1755898878.123 [DAT](INFO): DAT read: user:2390>
2025-08-22T21:41:18.124Z,1755898878.124 [DAT](INFO): DAT read: Tx time:21:41:19.1362
2025-08-22T21:41:18.125Z,1755898878.125 [DAT](INFO): Ping request sent.
2025-08-22T21:41:18.125Z,1755898878.125 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:18.125Z,1755898878.125 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:18.126Z,1755898878.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001171
2025-08-22T21:41:18.375Z,1755898878.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249739
2025-08-22T21:41:18.407Z,1755898878.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:18.410Z,1755898878.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.407227 m,
bearing: 80.534056 deg,
approach rate: -0.012943 m/s,
LOS rate: -0.186751 deg/s,
cmd heading: 75.991250 deg,
new cmd heading: 75.854753 deg.
2025-08-22T21:41:18.411Z,1755898878.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323915 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:18.630Z,1755898878.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504140
2025-08-22T21:41:18.819Z,1755898878.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:18.821Z,1755898878.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:18.823Z,1755898878.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.402313 m,
bearing: 80.459809 deg,
approach rate: -0.011876 m/s,
LOS rate: -0.179476 deg/s,
cmd heading: 75.854756 deg,
new cmd heading: 75.706257 deg.
2025-08-22T21:41:18.824Z,1755898878.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321323 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:18.879Z,1755898878.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754153
2025-08-22T21:41:19.131Z,1755898879.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005651
2025-08-22T21:41:19.223Z,1755898879.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:19.249Z,1755898879.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.390686 m,
bearing: 80.388752 deg,
approach rate: -0.028868 m/s,
LOS rate: -0.176434 deg/s,
cmd heading: 75.706254 deg,
new cmd heading: 75.564129 deg.
2025-08-22T21:41:19.251Z,1755898879.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318843 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:19.383Z,1755898879.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257791
2025-08-22T21:41:19.635Z,1755898879.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509697
2025-08-22T21:41:19.771Z,1755898879.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:19.774Z,1755898879.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.360687 m,
bearing: 80.291744 deg,
approach rate: -0.054810 m/s,
LOS rate: -0.177274 deg/s,
cmd heading: 75.564131 deg,
new cmd heading: 75.370079 deg.
2025-08-22T21:41:19.775Z,1755898879.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315456 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:19.888Z,1755898879.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762970
2025-08-22T21:41:20.139Z,1755898880.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013694
2025-08-22T21:41:20.161Z,1755898880.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:20.165Z,1755898880.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.336716 m,
bearing: 80.224226 deg,
approach rate: -0.061525 m/s,
LOS rate: -0.173315 deg/s,
cmd heading: 75.370079 deg,
new cmd heading: 75.235023 deg.
2025-08-22T21:41:20.183Z,1755898880.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.313099 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:20.391Z,1755898880.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265624
2025-08-22T21:41:20.567Z,1755898880.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:20.570Z,1755898880.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.307892 m,
bearing: 80.152657 deg,
approach rate: -0.070910 m/s,
LOS rate: -0.176102 deg/s,
cmd heading: 75.235025 deg,
new cmd heading: 75.091861 deg.
2025-08-22T21:41:20.571Z,1755898880.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.310600 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:20.644Z,1755898880.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519277
2025-08-22T21:41:20.895Z,1755898880.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769672
2025-08-22T21:41:20.988Z,1755898880.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:20.990Z,1755898880.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:20.992Z,1755898880.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.273773 m,
bearing: 80.077854 deg,
approach rate: -0.080715 m/s,
LOS rate: -0.177000 deg/s,
cmd heading: 75.091858 deg,
new cmd heading: 74.942221 deg.
2025-08-22T21:41:20.994Z,1755898880.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.307989 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:21.152Z,1755898881.152 [DAT](INFO): DAT read: Rx Time:21:41:21.7865
2025-08-22T21:41:21.152Z,1755898881.152 [DAT](INFO): Rx dataTimestamp_ set to:1755898881.151720
2025-08-22T21:41:21.153Z,1755898881.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027683
2025-08-22T21:41:21.403Z,1755898881.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277988
2025-08-22T21:41:21.406Z,1755898881.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:21.409Z,1755898881.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.233139 m,
bearing: 80.004746 deg,
approach rate: -0.097504 m/s,
LOS rate: -0.175473 deg/s,
cmd heading: 74.942222 deg,
new cmd heading: 74.795968 deg.
2025-08-22T21:41:21.410Z,1755898881.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.305436 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:21.658Z,1755898881.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532347
2025-08-22T21:41:21.831Z,1755898881.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:21.834Z,1755898881.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.188904 m,
bearing: 79.932130 deg,
approach rate: -0.104150 m/s,
LOS rate: -0.171019 deg/s,
cmd heading: 74.795967 deg,
new cmd heading: 74.650695 deg.
2025-08-22T21:41:21.835Z,1755898881.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.302900 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:21.915Z,1755898881.915 [DAT](INFO): DAT read: 21:41:21.7865 LVL= 29920, 32753, 19426, 30419, AGC= 62, IDX= 284,-0.15, 2.512, 2.864,-2.376, 2.280, PHS= 0.334, 0.629, 1.583, RAW= 223.1, -38.5, CAL= 222.8, -40.3, ROT= 287.2, 40.3
2025-08-22T21:41:21.916Z,1755898881.916 [DAT](INFO): got valid direction response:
21:41:21.7865 LVL= 29920, 32753, 19426, 30419, AGC= 62, IDX= 284,-0.15, 2.512, 2.864,-2.376, 2.280, PHS= 0.334, 0.629, 1.583, RAW= 223.1, -38.5, CAL= 222.8, -40.3, ROT= 287.2, 40.3
2025-08-22T21:41:21.917Z,1755898881.917 [DAT](INFO): DAT read: $Error in header
2025-08-22T21:41:21.917Z,1755898881.917 [DAT](INFO): Received a bad header
2025-08-22T21:41:21.930Z,1755898881.930 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T21:41:21.931Z,1755898881.931 [DAT](INFO): direction in FSK: [0.225527,-0.728561,-0.646790]
2025-08-22T21:41:21.935Z,1755898881.935 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:21.936Z,1755898881.936 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:21.936Z,1755898881.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:22.159Z,1755898882.159 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:22.159Z,1755898882.159 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:22.159Z,1755898882.159 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:22.309Z,1755898882.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:22.312Z,1755898882.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.136032 m,
bearing: 79.851698 deg,
approach rate: -0.110641 m/s,
LOS rate: -0.168372 deg/s,
cmd heading: 74.650696 deg,
new cmd heading: 74.489778 deg.
2025-08-22T21:41:22.313Z,1755898882.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300092 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:22.410Z,1755898882.410 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:22.411Z,1755898882.411 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:22.411Z,1755898882.411 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:22.654Z,1755898882.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:22.657Z,1755898882.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.094864 m,
bearing: 79.793347 deg,
approach rate: -0.119146 m/s,
LOS rate: -0.168919 deg/s,
cmd heading: 74.489777 deg,
new cmd heading: 74.373045 deg.
2025-08-22T21:41:22.658Z,1755898882.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298054 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:22.662Z,1755898882.662 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:22.662Z,1755898882.662 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:22.663Z,1755898882.663 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:22.914Z,1755898882.914 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:22.914Z,1755898882.914 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:22.915Z,1755898882.915 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:23.067Z,1755898883.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:23.070Z,1755898883.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:23.072Z,1755898883.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 157.041885 m,
bearing: 79.724762 deg,
approach rate: -0.127682 m/s,
LOS rate: -0.165350 deg/s,
cmd heading: 74.373042 deg,
new cmd heading: 74.235826 deg.
2025-08-22T21:41:23.073Z,1755898883.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295660 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:23.167Z,1755898883.167 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:23.167Z,1755898883.167 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:23.168Z,1755898883.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:23.418Z,1755898883.418 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:23.418Z,1755898883.418 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:23.418Z,1755898883.418 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:23.467Z,1755898883.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:23.474Z,1755898883.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.988022 m,
bearing: 79.663430 deg,
approach rate: -0.135430 m/s,
LOS rate: -0.154262 deg/s,
cmd heading: 74.235823 deg,
new cmd heading: 74.113117 deg.
2025-08-22T21:41:23.475Z,1755898883.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293518 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:23.674Z,1755898883.674 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:23.674Z,1755898883.674 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:23.674Z,1755898883.674 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:23.855Z,1755898883.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:23.858Z,1755898883.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.926147 m,
bearing: 79.596211 deg,
approach rate: -0.159509 m/s,
LOS rate: -0.173354 deg/s,
cmd heading: 74.113119 deg,
new cmd heading: 73.978629 deg.
2025-08-22T21:41:23.859Z,1755898883.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.291171 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:23.924Z,1755898883.924 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:23.924Z,1755898883.924 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:23.924Z,1755898883.924 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:24.175Z,1755898884.175 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:24.175Z,1755898884.175 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:24.175Z,1755898884.175 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:24.277Z,1755898884.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:24.280Z,1755898884.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.861969 m,
bearing: 79.526197 deg,
approach rate: -0.152007 m/s,
LOS rate: -0.165897 deg/s,
cmd heading: 73.978633 deg,
new cmd heading: 73.838547 deg.
2025-08-22T21:41:24.281Z,1755898884.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.288726 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:24.426Z,1755898884.426 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:24.426Z,1755898884.426 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:24.426Z,1755898884.426 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:24.651Z,1755898884.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:24.654Z,1755898884.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.799515 m,
bearing: 79.465030 deg,
approach rate: -0.166885 m/s,
LOS rate: -0.163509 deg/s,
cmd heading: 73.838545 deg,
new cmd heading: 73.716164 deg.
2025-08-22T21:41:24.655Z,1755898884.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286590 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:24.691Z,1755898884.691 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:24.691Z,1755898884.691 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:24.692Z,1755898884.692 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:24.938Z,1755898884.938 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:24.938Z,1755898884.938 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:24.939Z,1755898884.939 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:25.061Z,1755898885.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:25.080Z,1755898885.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.729126 m,
bearing: 79.400484 deg,
approach rate: -0.171864 m/s,
LOS rate: -0.157669 deg/s,
cmd heading: 73.716162 deg,
new cmd heading: 73.587013 deg.
2025-08-22T21:41:25.081Z,1755898885.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284336 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:25.192Z,1755898885.192 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:25.192Z,1755898885.192 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:25.192Z,1755898885.192 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:25.442Z,1755898885.442 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:25.442Z,1755898885.442 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:25.443Z,1755898885.443 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:25.446Z,1755898885.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:25.448Z,1755898885.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:25.451Z,1755898885.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.660263 m,
bearing: 79.340223 deg,
approach rate: -0.178088 m/s,
LOS rate: -0.155911 deg/s,
cmd heading: 73.587010 deg,
new cmd heading: 73.466435 deg.
2025-08-22T21:41:25.452Z,1755898885.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282231 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:25.662Z,1755898885.662 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:41:25.695Z,1755898885.695 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:25.695Z,1755898885.695 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:25.696Z,1755898885.696 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:25.876Z,1755898885.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:25.899Z,1755898885.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.578140 m,
bearing: 79.273502 deg,
approach rate: -0.191833 m/s,
LOS rate: -0.155937 deg/s,
cmd heading: 73.466437 deg,
new cmd heading: 73.332925 deg.
2025-08-22T21:41:25.902Z,1755898885.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.279901 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:25.946Z,1755898885.946 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:25.947Z,1755898885.947 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:25.947Z,1755898885.947 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:26.200Z,1755898886.200 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:26.200Z,1755898886.200 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:26.200Z,1755898886.200 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:26.262Z,1755898886.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:26.264Z,1755898886.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.501846 m,
bearing: 79.214082 deg,
approach rate: -0.197894 m/s,
LOS rate: -0.154202 deg/s,
cmd heading: 73.332927 deg,
new cmd heading: 73.214028 deg.
2025-08-22T21:41:26.265Z,1755898886.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277826 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:26.450Z,1755898886.450 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:26.450Z,1755898886.450 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:26.450Z,1755898886.450 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:26.658Z,1755898886.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:26.661Z,1755898886.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.420776 m,
bearing: 79.153493 deg,
approach rate: -0.204646 m/s,
LOS rate: -0.153023 deg/s,
cmd heading: 73.214027 deg,
new cmd heading: 73.092788 deg.
2025-08-22T21:41:26.666Z,1755898886.666 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:41:26.679Z,1755898886.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275710 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:26.703Z,1755898886.703 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:26.703Z,1755898886.703 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:26.703Z,1755898886.703 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:26.954Z,1755898886.954 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:26.954Z,1755898886.954 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:26.955Z,1755898886.955 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:27.152Z,1755898887.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:27.160Z,1755898887.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.315277 m,
bearing: 79.080689 deg,
approach rate: -0.213357 m/s,
LOS rate: -0.147334 deg/s,
cmd heading: 73.092791 deg,
new cmd heading: 72.947085 deg.
2025-08-22T21:41:27.166Z,1755898887.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273167 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:27.207Z,1755898887.207 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:27.207Z,1755898887.207 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:27.207Z,1755898887.207 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:27.459Z,1755898887.459 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:27.459Z,1755898887.459 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:27.459Z,1755898887.459 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:27.534Z,1755898887.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:27.536Z,1755898887.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:27.539Z,1755898887.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.227234 m,
bearing: 79.019712 deg,
approach rate: -0.229028 m/s,
LOS rate: -0.158711 deg/s,
cmd heading: 72.947083 deg,
new cmd heading: 72.825059 deg.
2025-08-22T21:41:27.540Z,1755898887.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.271037 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:27.711Z,1755898887.711 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:27.711Z,1755898887.711 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:27.711Z,1755898887.711 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:27.962Z,1755898887.962 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:27.962Z,1755898887.962 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:27.963Z,1755898887.963 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:41:28.021Z,1755898888.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:28.028Z,1755898888.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.112457 m,
bearing: 78.945908 deg,
approach rate: -0.236752 m/s,
LOS rate: -0.152348 deg/s,
cmd heading: 72.825062 deg,
new cmd heading: 72.677346 deg.
2025-08-22T21:41:28.029Z,1755898888.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268459 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:28.214Z,1755898888.214 [DAT](INFO): Reached modem response timeout
2025-08-22T21:41:28.214Z,1755898888.214 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:41:28.215Z,1755898888.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:28.377Z,1755898888.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:28.380Z,1755898888.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 156.022171 m,
bearing: 78.889991 deg,
approach rate: -0.254001 m/s,
LOS rate: -0.157401 deg/s,
cmd heading: 72.677345 deg,
new cmd heading: 72.565447 deg.
2025-08-22T21:41:28.381Z,1755898888.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266506 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:28.466Z,1755898888.466 [DAT](INFO): DAT read:
2025-08-22T21:41:28.467Z,1755898888.467 [DAT](INFO): Reached modem response timeout
2025-08-22T21:41:28.467Z,1755898888.467 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:41:28.467Z,1755898888.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:28.718Z,1755898888.718 [DAT](INFO): Reached modem response timeout
2025-08-22T21:41:28.718Z,1755898888.718 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:41:28.719Z,1755898888.719 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:28.852Z,1755898888.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:28.860Z,1755898888.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 155.914215 m,
bearing: 78.825680 deg,
approach rate: -0.227586 m/s,
LOS rate: -0.135671 deg/s,
cmd heading: 72.565446 deg,
new cmd heading: 72.436735 deg.
2025-08-22T21:41:28.866Z,1755898888.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264260 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:28.970Z,1755898888.970 [DAT](INFO): Reached modem response timeout
2025-08-22T21:41:28.970Z,1755898888.970 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:41:28.971Z,1755898888.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:29.222Z,1755898889.222 [DAT](INFO): Reached modem response timeout
2025-08-22T21:41:29.222Z,1755898889.222 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:41:29.223Z,1755898889.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:29.269Z,1755898889.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:29.272Z,1755898889.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 155.792618 m,
bearing: 78.758789 deg,
approach rate: -0.290811 m/s,
LOS rate: -0.160100 deg/s,
cmd heading: 72.436738 deg,
new cmd heading: 72.302852 deg.
2025-08-22T21:41:29.273Z,1755898889.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261923 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:29.477Z,1755898889.477 [DAT](INFO): Reached modem response timeout
2025-08-22T21:41:29.478Z,1755898889.478 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:41:29.478Z,1755898889.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:29.636Z,1755898889.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:29.639Z,1755898889.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:29.642Z,1755898889.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 155.694794 m,
bearing: 78.706777 deg,
approach rate: -0.264497 m/s,
LOS rate: -0.140720 deg/s,
cmd heading: 72.302853 deg,
new cmd heading: 72.198762 deg.
2025-08-22T21:41:29.643Z,1755898889.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260106 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:29.727Z,1755898889.727 [DAT](INFO): Reached modem response timeout
2025-08-22T21:41:29.728Z,1755898889.728 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:41:29.728Z,1755898889.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:29.978Z,1755898889.978 [DAT](INFO): Reached modem response timeout
2025-08-22T21:41:29.978Z,1755898889.978 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:41:29.979Z,1755898889.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:30.067Z,1755898890.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:30.070Z,1755898890.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 155.577713 m,
bearing: 78.646402 deg,
approach rate: -0.273309 m/s,
LOS rate: -0.141044 deg/s,
cmd heading: 72.198761 deg,
new cmd heading: 72.077920 deg.
2025-08-22T21:41:30.071Z,1755898890.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257997 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:30.230Z,1755898890.230 [DAT](INFO): Reached modem response timeout
2025-08-22T21:41:30.230Z,1755898890.230 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:41:30.231Z,1755898890.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:30.441Z,1755898890.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:30.444Z,1755898890.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 155.473419 m,
bearing: 78.594475 deg,
approach rate: -0.279192 m/s,
LOS rate: -0.139100 deg/s,
cmd heading: 72.077921 deg,
new cmd heading: 71.973998 deg.
2025-08-22T21:41:30.445Z,1755898890.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256183 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:30.483Z,1755898890.483 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:41:30.483Z,1755898890.483 [DAT](INFO): response not received
2025-08-22T21:41:30.484Z,1755898890.484 [DAT](INFO): DAT read: user:2392>
2025-08-22T21:41:30.484Z,1755898890.484 [DAT](INFO): DAT read: Tx time:21:41:31.5861
2025-08-22T21:41:30.485Z,1755898890.485 [DAT](INFO): Ping request sent.
2025-08-22T21:41:30.485Z,1755898890.485 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:30.485Z,1755898890.485 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:30.486Z,1755898890.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-22T21:41:30.735Z,1755898890.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249830
2025-08-22T21:41:30.904Z,1755898890.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:30.911Z,1755898890.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 155.342331 m,
bearing: 78.531375 deg,
approach rate: -0.282898 m/s,
LOS rate: -0.136288 deg/s,
cmd heading: 71.973999 deg,
new cmd heading: 71.847694 deg.
2025-08-22T21:41:30.912Z,1755898890.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253979 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:30.987Z,1755898890.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502013
2025-08-22T21:41:31.239Z,1755898891.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753904
2025-08-22T21:41:31.293Z,1755898891.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:31.295Z,1755898891.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 155.225204 m,
bearing: 78.479902 deg,
approach rate: -0.301634 m/s,
LOS rate: -0.132659 deg/s,
cmd heading: 71.847696 deg,
new cmd heading: 71.744671 deg.
2025-08-22T21:41:31.296Z,1755898891.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252181 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:31.491Z,1755898891.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005944
2025-08-22T21:41:31.673Z,1755898891.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:31.677Z,1755898891.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:31.702Z,1755898891.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 155.110428 m,
bearing: 78.431135 deg,
approach rate: -0.298712 m/s,
LOS rate: -0.127013 deg/s,
cmd heading: 71.744669 deg,
new cmd heading: 71.647063 deg.
2025-08-22T21:41:31.703Z,1755898891.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250477 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:31.743Z,1755898891.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257937
2025-08-22T21:41:31.995Z,1755898891.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510235
2025-08-22T21:41:32.098Z,1755898892.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:32.100Z,1755898892.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 154.972336 m,
bearing: 78.375580 deg,
approach rate: -0.328243 m/s,
LOS rate: -0.132170 deg/s,
cmd heading: 71.647066 deg,
new cmd heading: 71.535858 deg.
2025-08-22T21:41:32.117Z,1755898892.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248536 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:32.247Z,1755898892.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761855
2025-08-22T21:41:32.483Z,1755898892.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:32.486Z,1755898892.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 154.845795 m,
bearing: 78.326348 deg,
approach rate: -0.328212 m/s,
LOS rate: -0.127797 deg/s,
cmd heading: 71.535856 deg,
new cmd heading: 71.437313 deg.
2025-08-22T21:41:32.487Z,1755898892.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246816 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:32.499Z,1755898892.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014015
2025-08-22T21:41:32.750Z,1755898892.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265805
2025-08-22T21:41:32.932Z,1755898892.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:32.943Z,1755898892.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 154.695358 m,
bearing: 78.269729 deg,
approach rate: -0.334822 m/s,
LOS rate: -0.126138 deg/s,
cmd heading: 71.437311 deg,
new cmd heading: 71.323962 deg.
2025-08-22T21:41:32.944Z,1755898892.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.244838 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:33.003Z,1755898893.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518611
2025-08-22T21:41:33.255Z,1755898893.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769900
2025-08-22T21:41:33.387Z,1755898893.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:33.396Z,1755898893.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 154.548401 m,
bearing: 78.217986 deg,
approach rate: -0.323344 m/s,
LOS rate: -0.113957 deg/s,
cmd heading: 71.323964 deg,
new cmd heading: 71.220379 deg.
2025-08-22T21:41:33.397Z,1755898893.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.243030 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:33.508Z,1755898893.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022845
2025-08-22T21:41:33.759Z,1755898893.759 [DAT](INFO): DAT read: Rx Time:21:41:34.2671
2025-08-22T21:41:33.759Z,1755898893.759 [DAT](INFO): Rx dataTimestamp_ set to:1755898893.758888
2025-08-22T21:41:33.760Z,1755898893.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275044
2025-08-22T21:41:33.774Z,1755898893.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:33.776Z,1755898893.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:33.779Z,1755898893.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 154.407349 m,
bearing: 78.169954 deg,
approach rate: -0.362001 m/s,
LOS rate: -0.123383 deg/s,
cmd heading: 71.220377 deg,
new cmd heading: 71.124226 deg.
2025-08-22T21:41:33.780Z,1755898893.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.241352 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:34.011Z,1755898894.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526104
2025-08-22T21:41:34.248Z,1755898894.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:34.251Z,1755898894.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 154.239166 m,
bearing: 78.115603 deg,
approach rate: -0.356674 m/s,
LOS rate: -0.115393 deg/s,
cmd heading: 71.124228 deg,
new cmd heading: 71.015406 deg.
2025-08-22T21:41:34.252Z,1755898894.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.239453 target range: 158.597580 and range: 159.60 m.
2025-08-22T21:41:34.264Z,1755898894.264 [DAT](INFO): DAT read: Range 11 to 50 : 207.6 m (Round-trip 276.9 ms) speed 0.8 m/s
2025-08-22T21:41:34.264Z,1755898894.264 [DAT](INFO): DAT read: user:2393>
2025-08-22T21:41:34.265Z,1755898894.265 [DAT](INFO): DAT read: Tx time:21:41:35.3861
2025-08-22T21:41:34.265Z,1755898894.265 [DAT](INFO): Ping request sent.
2025-08-22T21:41:34.266Z,1755898894.266 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:34.266Z,1755898894.266 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:41:34.266Z,1755898894.266 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:34.267Z,1755898894.267 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:34.640Z,1755898894.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 207.600006 m,
deltaT: 16.391254 s,
deltaX: 48.000000 m,
approachRate: 2.928391 m/s,
rangeRepo size: 4
2025-08-22T21:41:34.641Z,1755898894.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:34.647Z,1755898894.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 154.102509 m,
bearing: 78.071320 deg,
approach rate: -0.349208 m/s,
LOS rate: -0.113259 deg/s,
cmd heading: 71.015410 deg,
new cmd heading: 70.926765 deg.
2025-08-22T21:41:34.648Z,1755898894.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.237906 target range: 158.597580 and range: 207.60 m.
2025-08-22T21:41:35.082Z,1755898895.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:35.084Z,1755898895.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 153.936371 m,
bearing: 78.022824 deg,
approach rate: -0.375644 m/s,
LOS rate: -0.109769 deg/s,
cmd heading: 70.926768 deg,
new cmd heading: 70.829672 deg.
2025-08-22T21:41:35.086Z,1755898895.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236211 target range: 158.597580 and range: 207.60 m.
2025-08-22T21:41:35.519Z,1755898895.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:35.521Z,1755898895.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 153.772903 m,
bearing: 77.976714 deg,
approach rate: -0.374166 m/s,
LOS rate: -0.105656 deg/s,
cmd heading: 70.829670 deg,
new cmd heading: 70.737350 deg.
2025-08-22T21:41:35.524Z,1755898895.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.234600 target range: 158.597580 and range: 207.60 m.
2025-08-22T21:41:35.943Z,1755898895.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:35.950Z,1755898895.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:35.953Z,1755898895.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 153.630020 m,
bearing: 77.937790 deg,
approach rate: -0.330798 m/s,
LOS rate: -0.090199 deg/s,
cmd heading: 70.737353 deg,
new cmd heading: 70.659433 deg.
2025-08-22T21:41:35.958Z,1755898895.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233240 target range: 158.597580 and range: 207.60 m.
2025-08-22T21:41:36.028Z,1755898896.028 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:36.028Z,1755898896.028 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:36.029Z,1755898896.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:36.279Z,1755898896.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012997
2025-08-22T21:41:36.394Z,1755898896.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:36.396Z,1755898896.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 153.431717 m,
bearing: 77.889179 deg,
approach rate: -0.468738 m/s,
LOS rate: -0.115052 deg/s,
cmd heading: 70.659434 deg,
new cmd heading: 70.562087 deg.
2025-08-22T21:41:36.401Z,1755898896.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231541 target range: 158.597580 and range: 207.60 m.
2025-08-22T21:41:36.531Z,1755898896.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264989
2025-08-22T21:41:36.783Z,1755898896.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517119
2025-08-22T21:41:36.785Z,1755898896.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:36.788Z,1755898896.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 153.259888 m,
bearing: 77.848476 deg,
approach rate: -0.417585 m/s,
LOS rate: -0.099029 deg/s,
cmd heading: 70.562090 deg,
new cmd heading: 70.480593 deg.
2025-08-22T21:41:36.789Z,1755898896.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230118 target range: 158.597580 and range: 207.60 m.
2025-08-22T21:41:37.035Z,1755898897.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769030
2025-08-22T21:41:37.176Z,1755898897.176 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-08-22T21:41:37.255Z,1755898897.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:37.263Z,1755898897.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 153.067596 m,
bearing: 77.804826 deg,
approach rate: -0.409003 m/s,
LOS rate: -0.092959 deg/s,
cmd heading: 70.480592 deg,
new cmd heading: 70.393184 deg.
2025-08-22T21:41:37.265Z,1755898897.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228593 target range: 158.597580 and range: 207.60 m.
2025-08-22T21:41:37.287Z,1755898897.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021017
2025-08-22T21:41:37.539Z,1755898897.539 [DAT](INFO): DAT read: Rx Time:21:41:38.0659
2025-08-22T21:41:37.539Z,1755898897.539 [DAT](INFO): Rx dataTimestamp_ set to:1755898897.538895
2025-08-22T21:41:37.540Z,1755898897.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274197
2025-08-22T21:41:37.637Z,1755898897.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m.
2025-08-22T21:41:37.640Z,1755898897.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 158.597580 m,
nav range: 152.898483 m,
bearing: 77.767801 deg,
approach rate: -0.442874 m/s,
LOS rate: -0.097069 deg/s,
cmd heading: 70.393186 deg,
new cmd heading: 70.319054 deg.
2025-08-22T21:41:37.641Z,1755898897.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227299 target range: 158.597580 and range: 207.60 m.
2025-08-22T21:41:37.790Z,1755898897.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524943
2025-08-22T21:41:38.048Z,1755898898.048 [DAT](INFO): DAT read: 21:41:38.0659 LVL= 27504, 27457, 19826, 27859, AGC= 63, IDX= 86, 0.16, 2.683, 1.933,-2.014, 3.058, PHS=-0.273,-1.080, 1.168, RAW= 189.3, 1.9, CAL= 189.4, -1.0, ROT= 320.6, 1.0
2025-08-22T21:41:38.049Z,1755898898.049 [DAT](INFO): got valid direction response:
21:41:38.0659 LVL= 27504, 27457, 19826, 27859, AGC= 63, IDX= 86, 0.16, 2.683, 1.933,-2.014, 3.058, PHS=-0.273,-1.080, 1.168, RAW= 189.3, 1.9, CAL= 189.4, -1.0, ROT= 320.6, 1.0
2025-08-22T21:41:38.066Z,1755898898.066 [DAT](INFO): DAT read: Bearing 237.5, -40.9 (Local)
2025-08-22T21:41:38.067Z,1755898898.067 [DAT](INFO): Local bearing/azimuth received:
Bearing 237.5, -40.9 (Local)
2025-08-22T21:41:38.068Z,1755898898.068 [DAT](INFO): DAT read: Range 11 to 50 : 206.7 m (Round-trip 275.6 ms) speed 0.3 m/s
2025-08-22T21:41:38.069Z,1755898898.069 [DAT](INFO): DAT read: user:2394>
2025-08-22T21:41:38.070Z,1755898898.070 [DAT](INFO): DAT read: Tx time:21:41:39.1861
2025-08-22T21:41:38.070Z,1755898898.070 [DAT](INFO): Ping request sent.
2025-08-22T21:41:38.070Z,1755898898.070 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:38.070Z,1755898898.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:41:38.071Z,1755898898.071 [DAT](INFO): direction in FSK: [0.772616,-0.634634,-0.017452]
2025-08-22T21:41:38.072Z,1755898898.072 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:38.072Z,1755898898.072 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:38.079Z,1755898898.079 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:38.079Z,1755898898.079 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:38.111Z,1755898898.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 206.699997 m,
deltaT: 3.779987 s,
deltaX: -0.900009 m,
approachRate: -0.238098 m/s,
rangeRepo size: 4
2025-08-22T21:41:38.113Z,1755898898.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 205.409286 m,
bearing: 72.119141 deg,
lat: 36.779349 deg,
lon: -121.859517 deg,
deltaT: 20.171241 s,
deltaX: 46.811707 m,
approachRate: 2.320715 m/s,
posRepo size: 4
2025-08-22T21:41:38.122Z,1755898898.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:38.125Z,1755898898.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 153.127380 m,
bearing: 77.761540 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.097069 deg/s,
cmd heading: 70.319051 deg,
new cmd heading: 70.229607 deg.
2025-08-22T21:41:38.130Z,1755898898.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225738 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:38.476Z,1755898898.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:38.478Z,1755898898.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:38.480Z,1755898898.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 152.957520 m,
bearing: 77.727021 deg,
approach rate: -0.447154 m/s,
LOS rate: -0.090972 deg/s,
cmd heading: 70.229603 deg,
new cmd heading: 70.160488 deg.
2025-08-22T21:41:38.482Z,1755898898.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224532 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:38.547Z,1755898898.547 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:38.547Z,1755898898.547 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:38.547Z,1755898898.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:38.798Z,1755898898.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.728357
2025-08-22T21:41:38.879Z,1755898898.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:38.898Z,1755898898.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 152.782974 m,
bearing: 77.692988 deg,
approach rate: -0.434946 m/s,
LOS rate: -0.084904 deg/s,
cmd heading: 70.160489 deg,
new cmd heading: 70.092344 deg.
2025-08-22T21:41:38.899Z,1755898898.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223342 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:39.051Z,1755898899.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980443
2025-08-22T21:41:39.303Z,1755898899.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232473
2025-08-22T21:41:39.309Z,1755898899.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:39.312Z,1755898899.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 152.597076 m,
bearing: 77.658843 deg,
approach rate: -0.432379 m/s,
LOS rate: -0.079513 deg/s,
cmd heading: 70.092344 deg,
new cmd heading: 70.023972 deg.
2025-08-22T21:41:39.313Z,1755898899.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222149 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:39.555Z,1755898899.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484488
2025-08-22T21:41:39.699Z,1755898899.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:39.722Z,1755898899.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 152.425659 m,
bearing: 77.628752 deg,
approach rate: -0.439511 m/s,
LOS rate: -0.077239 deg/s,
cmd heading: 70.023974 deg,
new cmd heading: 69.963724 deg.
2025-08-22T21:41:39.723Z,1755898899.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221097 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:39.807Z,1755898899.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737208
2025-08-22T21:41:40.058Z,1755898900.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988340
2025-08-22T21:41:40.121Z,1755898900.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:40.124Z,1755898900.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 152.243637 m,
bearing: 77.599303 deg,
approach rate: -0.431380 m/s,
LOS rate: -0.069876 deg/s,
cmd heading: 69.963725 deg,
new cmd heading: 69.904756 deg.
2025-08-22T21:41:40.125Z,1755898900.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220068 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:40.311Z,1755898900.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240495
2025-08-22T21:41:40.500Z,1755898900.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:40.502Z,1755898900.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:40.504Z,1755898900.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 152.078201 m,
bearing: 77.573796 deg,
approach rate: -0.434380 m/s,
LOS rate: -0.067048 deg/s,
cmd heading: 69.904760 deg,
new cmd heading: 69.853689 deg.
2025-08-22T21:41:40.506Z,1755898900.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219177 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:40.563Z,1755898900.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493359
2025-08-22T21:41:40.814Z,1755898900.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744396
2025-08-22T21:41:40.898Z,1755898900.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:40.901Z,1755898900.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 151.904541 m,
bearing: 77.548366 deg,
approach rate: -0.438077 m/s,
LOS rate: -0.064223 deg/s,
cmd heading: 69.853690 deg,
new cmd heading: 69.802772 deg.
2025-08-22T21:41:40.902Z,1755898900.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218288 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:41.066Z,1755898901.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996380
2025-08-22T21:41:41.314Z,1755898901.314 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +450, -8,A -38, +450, -8,A
2025-08-22T21:41:41.319Z,1755898901.319 [DAT](INFO): DAT read: Rx Time:21:41:41.8303
2025-08-22T21:41:41.319Z,1755898901.319 [DAT](INFO): Rx dataTimestamp_ set to:1755898901.318865
2025-08-22T21:41:41.320Z,1755898901.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249621
2025-08-22T21:41:41.332Z,1755898901.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:41.335Z,1755898901.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 151.713257 m,
bearing: 77.521817 deg,
approach rate: -0.440997 m/s,
LOS rate: -0.061283 deg/s,
cmd heading: 69.802771 deg,
new cmd heading: 69.749608 deg.
2025-08-22T21:41:41.336Z,1755898901.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217360 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:41.570Z,1755898901.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500419
2025-08-22T21:41:41.773Z,1755898901.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:41.780Z,1755898901.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 151.521637 m,
bearing: 77.496617 deg,
approach rate: -0.434268 m/s,
LOS rate: -0.057183 deg/s,
cmd heading: 69.749605 deg,
new cmd heading: 69.699141 deg.
2025-08-22T21:41:41.781Z,1755898901.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216480 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:41.830Z,1755898901.830 [DAT](INFO): DAT read: 21:41:41.8303 LVL= 26208, 28657, 21026, 24739, AGC= 64, IDX= 71,-0.00,-0.320,-1.403, 0.842,-0.103, PHS=-0.115,-1.255, 0.901, RAW= 178.1, 5.1, CAL= 177.7, 3.6, ROT= 332.3, -3.6
2025-08-22T21:41:41.831Z,1755898901.831 [DAT](INFO): got valid direction response:
21:41:41.8303 LVL= 26208, 28657, 21026, 24739, AGC= 64, IDX= 71,-0.00,-0.320,-1.403, 0.842,-0.103, PHS=-0.115,-1.255, 0.901, RAW= 178.1, 5.1, CAL= 177.7, 3.6, ROT= 332.3, -3.6
2025-08-22T21:41:41.833Z,1755898901.833 [DAT](INFO): DAT read: Bearing 233.6, -28.7 (Local)
2025-08-22T21:41:41.833Z,1755898901.833 [DAT](INFO): Local bearing/azimuth received:
Bearing 233.6, -28.7 (Local)
2025-08-22T21:41:41.836Z,1755898901.836 [DAT](INFO): DAT read: Range 11 to 50 : 180.0 m (Round-trip 240.1 ms) speed 0.2 m/s
2025-08-22T21:41:41.837Z,1755898901.837 [DAT](INFO): DAT read: user:2395>
2025-08-22T21:41:41.838Z,1755898901.838 [DAT](INFO): DAT read: Tx time:21:41:42.9361
2025-08-22T21:41:41.838Z,1755898901.838 [DAT](INFO): Ping request sent.
2025-08-22T21:41:41.838Z,1755898901.838 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:41.839Z,1755898901.839 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:41:41.840Z,1755898901.840 [DAT](INFO): direction in FSK: [0.883646,-0.463925,0.062791]
2025-08-22T21:41:41.841Z,1755898901.841 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:41.841Z,1755898901.841 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:41.856Z,1755898901.856 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:41.856Z,1755898901.856 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:42.153Z,1755898902.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 180.000000 m,
deltaT: 3.780048 s,
deltaX: -26.699997 m,
approachRate: -7.063402 m/s,
rangeRepo size: 4
2025-08-22T21:41:42.153Z,1755898902.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:42.180Z,1755898902.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 151.349762 m,
bearing: 77.474993 deg,
approach rate: -0.454911 m/s,
LOS rate: -0.057300 deg/s,
cmd heading: 69.699143 deg,
new cmd heading: 69.655845 deg.
2025-08-22T21:41:42.181Z,1755898902.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215724 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:42.536Z,1755898902.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:42.538Z,1755898902.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:42.541Z,1755898902.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 151.175644 m,
bearing: 77.454379 deg,
approach rate: -0.449658 m/s,
LOS rate: -0.053297 deg/s,
cmd heading: 69.655847 deg,
new cmd heading: 69.614571 deg.
2025-08-22T21:41:42.542Z,1755898902.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215003 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:42.579Z,1755898902.579 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:42.579Z,1755898902.579 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:42.580Z,1755898902.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:42.831Z,1755898902.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992222
2025-08-22T21:41:42.922Z,1755898902.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:42.925Z,1755898902.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 150.991318 m,
bearing: 77.433915 deg,
approach rate: -0.480064 m/s,
LOS rate: -0.053363 deg/s,
cmd heading: 69.614572 deg,
new cmd heading: 69.573594 deg.
2025-08-22T21:41:42.926Z,1755898902.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.214288 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:43.082Z,1755898903.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244125
2025-08-22T21:41:43.335Z,1755898903.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496322
2025-08-22T21:41:43.348Z,1755898903.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:43.351Z,1755898903.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 150.792877 m,
bearing: 77.415535 deg,
approach rate: -0.465587 m/s,
LOS rate: -0.043179 deg/s,
cmd heading: 69.573591 deg,
new cmd heading: 69.536784 deg.
2025-08-22T21:41:43.352Z,1755898903.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213646 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:43.587Z,1755898903.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748587
2025-08-22T21:41:43.729Z,1755898903.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:43.732Z,1755898903.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 150.614944 m,
bearing: 77.400341 deg,
approach rate: -0.467545 m/s,
LOS rate: -0.039974 deg/s,
cmd heading: 69.536783 deg,
new cmd heading: 69.506358 deg.
2025-08-22T21:41:43.733Z,1755898903.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213115 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:43.839Z,1755898903.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000641
2025-08-22T21:41:44.091Z,1755898904.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252207
2025-08-22T21:41:44.204Z,1755898904.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:44.207Z,1755898904.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 150.392853 m,
bearing: 77.382461 deg,
approach rate: -0.467408 m/s,
LOS rate: -0.037685 deg/s,
cmd heading: 69.506355 deg,
new cmd heading: 69.470542 deg.
2025-08-22T21:41:44.208Z,1755898904.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212490 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:44.343Z,1755898904.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504196
2025-08-22T21:41:44.540Z,1755898904.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:44.543Z,1755898904.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:44.546Z,1755898904.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 150.233749 m,
bearing: 77.371922 deg,
approach rate: -0.469677 m/s,
LOS rate: -0.031142 deg/s,
cmd heading: 69.470544 deg,
new cmd heading: 69.449445 deg.
2025-08-22T21:41:44.547Z,1755898904.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212121 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:44.595Z,1755898904.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756359
2025-08-22T21:41:44.847Z,1755898904.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008303
2025-08-22T21:41:44.962Z,1755898904.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:44.964Z,1755898904.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 150.043045 m,
bearing: 77.360544 deg,
approach rate: -0.455429 m/s,
LOS rate: -0.027206 deg/s,
cmd heading: 69.449445 deg,
new cmd heading: 69.426661 deg.
2025-08-22T21:41:44.966Z,1755898904.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.211724 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:45.099Z,1755898905.099 [DAT](INFO): DAT read: Rx Time:21:41:45.5784
2025-08-22T21:41:45.100Z,1755898905.100 [DAT](INFO): Rx dataTimestamp_ set to:1755898905.099659
2025-08-22T21:41:45.100Z,1755898905.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262191
2025-08-22T21:41:45.351Z,1755898905.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512275
2025-08-22T21:41:45.374Z,1755898905.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-08-22T21:41:45.377Z,1755898905.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409286 m,
nav range: 149.833862 m,
bearing: 77.350279 deg,
approach rate: -0.507639 m/s,
LOS rate: -0.024947 deg/s,
cmd heading: 69.426660 deg,
new cmd heading: 69.406100 deg.
2025-08-22T21:41:45.398Z,1755898905.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.211365 target range: 205.409286 and range: 206.70 m.
2025-08-22T21:41:45.609Z,1755898905.609 [DAT](INFO): DAT read: 21:41:45.5784 LVL= 32752, 32753, 24338, 32755, AGC= 62, IDX= 420,-0.23,-2.730, 2.234,-1.970,-2.640, PHS= 0.013,-1.364, 0.626, RAW= 167.5, 8.3, CAL= 167.2, 8.6, ROT= 342.8, -8.6
2025-08-22T21:41:45.612Z,1755898905.612 [DAT](INFO): got valid direction response:
21:41:45.5784 LVL= 32752, 32753, 24338, 32755, AGC= 62, IDX= 420,-0.23,-2.730, 2.234,-1.970,-2.640, PHS= 0.013,-1.364, 0.626, RAW= 167.5, 8.3, CAL= 167.2, 8.6, ROT= 342.8, -8.6
2025-08-22T21:41:45.613Z,1755898905.613 [DAT](INFO): DAT read: Bearing 229.5, -17.6 (Local)
2025-08-22T21:41:45.614Z,1755898905.614 [DAT](INFO): Local bearing/azimuth received:
Bearing 229.5, -17.6 (Local)
2025-08-22T21:41:45.616Z,1755898905.616 [DAT](INFO): DAT read: Range 11 to 50 : 178.6 m (Round-trip 238.2 ms) speed 0.4 m/s
2025-08-22T21:41:45.617Z,1755898905.617 [DAT](INFO): DAT read: user:2396>
2025-08-22T21:41:45.618Z,1755898905.618 [DAT](INFO): DAT read: Tx time:21:41:46.6860
2025-08-22T21:41:45.618Z,1755898905.618 [DAT](INFO): Ping request sent.
2025-08-22T21:41:45.619Z,1755898905.619 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:45.619Z,1755898905.619 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:41:45.620Z,1755898905.620 [DAT](INFO): direction in FSK: [0.944537,-0.292384,0.149535]
2025-08-22T21:41:45.620Z,1755898905.620 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:45.620Z,1755898905.620 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:45.624Z,1755898905.624 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:45.624Z,1755898905.624 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:45.788Z,1755898905.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 178.600006 m,
deltaT: 7.561036 s,
deltaX: -28.099991 m,
approachRate: -3.716421 m/s,
rangeRepo size: 4
2025-08-22T21:41:45.811Z,1755898905.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 177.484711 m,
bearing: 74.774538 deg,
lat: 36.779469 deg,
lon: -121.859254 deg,
deltaT: 7.561036 s,
deltaX: -27.924576 m,
approachRate: -3.693221 m/s,
posRepo size: 4
2025-08-22T21:41:45.811Z,1755898905.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:45.819Z,1755898905.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 175.570389 m,
bearing: 74.773929 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.024947 deg/s,
cmd heading: 69.406101 deg,
new cmd heading: 69.385446 deg.
2025-08-22T21:41:45.820Z,1755898905.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.211004 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:46.225Z,1755898906.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:46.228Z,1755898906.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 175.340317 m,
bearing: 74.762849 deg,
approach rate: -0.526100 m/s,
LOS rate: -0.025370 deg/s,
cmd heading: 69.385447 deg,
new cmd heading: 69.363257 deg.
2025-08-22T21:41:46.229Z,1755898906.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210617 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:46.575Z,1755898906.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:46.577Z,1755898906.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:46.580Z,1755898906.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 175.161484 m,
bearing: 74.756294 deg,
approach rate: -0.507959 m/s,
LOS rate: -0.018637 deg/s,
cmd heading: 69.363255 deg,
new cmd heading: 69.350132 deg.
2025-08-22T21:41:46.581Z,1755898906.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210388 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:46.610Z,1755898906.610 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:46.610Z,1755898906.610 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:46.611Z,1755898906.611 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:46.863Z,1755898906.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243951
2025-08-22T21:41:47.037Z,1755898907.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:47.040Z,1755898907.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 174.926926 m,
bearing: 74.749061 deg,
approach rate: -0.509749 m/s,
LOS rate: -0.015739 deg/s,
cmd heading: 69.350134 deg,
new cmd heading: 69.335650 deg.
2025-08-22T21:41:47.041Z,1755898907.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210135 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:47.118Z,1755898907.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498541
2025-08-22T21:41:47.367Z,1755898907.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747997
2025-08-22T21:41:47.467Z,1755898907.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:47.474Z,1755898907.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 174.703293 m,
bearing: 74.742628 deg,
approach rate: -0.520050 m/s,
LOS rate: -0.014979 deg/s,
cmd heading: 69.335648 deg,
new cmd heading: 69.322765 deg.
2025-08-22T21:41:47.475Z,1755898907.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209911 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:47.618Z,1755898907.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999909
2025-08-22T21:41:47.837Z,1755898907.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:47.839Z,1755898907.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 174.504059 m,
bearing: 74.739202 deg,
approach rate: -0.539285 m/s,
LOS rate: -0.009284 deg/s,
cmd heading: 69.322766 deg,
new cmd heading: 69.315906 deg.
2025-08-22T21:41:47.840Z,1755898907.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209791 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:47.871Z,1755898907.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252174
2025-08-22T21:41:48.126Z,1755898908.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506620
2025-08-22T21:41:48.242Z,1755898908.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:48.245Z,1755898908.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 174.292084 m,
bearing: 74.737220 deg,
approach rate: -0.522383 m/s,
LOS rate: -0.004891 deg/s,
cmd heading: 69.315908 deg,
new cmd heading: 69.311939 deg.
2025-08-22T21:41:48.246Z,1755898908.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209722 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:48.375Z,1755898908.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756439
2025-08-22T21:41:48.626Z,1755898908.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007927
2025-08-22T21:41:48.689Z,1755898908.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:48.707Z,1755898908.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:48.715Z,1755898908.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 174.057739 m,
bearing: 74.736454 deg,
approach rate: -0.504433 m/s,
LOS rate: -0.001651 deg/s,
cmd heading: 69.311940 deg,
new cmd heading: 69.310406 deg.
2025-08-22T21:41:48.716Z,1755898908.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209695 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:48.879Z,1755898908.879 [DAT](INFO): DAT read: Rx Time:21:41:49.3606
2025-08-22T21:41:48.879Z,1755898908.879 [DAT](INFO): Rx dataTimestamp_ set to:1755898908.878891
2025-08-22T21:41:48.880Z,1755898908.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261154
2025-08-22T21:41:49.105Z,1755898909.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:49.134Z,1755898909.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514821
2025-08-22T21:41:49.142Z,1755898909.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 173.846619 m,
bearing: 74.736989 deg,
approach rate: -0.532361 m/s,
LOS rate: 0.001351 deg/s,
cmd heading: 69.310403 deg,
new cmd heading: 69.311475 deg.
2025-08-22T21:41:49.155Z,1755898909.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209713 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:49.388Z,1755898909.388 [DAT](INFO): DAT read: 21:41:49.3606 LVL= 23792, 24497, 17138, 21363, AGC= 65, IDX= 252,-0.25, 1.349, 0.234, 1.545, 0.421, PHS= 1.029,-0.142, 1.080, RAW= 152.1, -30.1, CAL= 153.4, -30.9, ROT= 356.6, 30.9
2025-08-22T21:41:49.390Z,1755898909.390 [DAT](INFO): got valid direction response:
21:41:49.3606 LVL= 23792, 24497, 17138, 21363, AGC= 65, IDX= 252,-0.25, 1.349, 0.234, 1.545, 0.421, PHS= 1.029,-0.142, 1.080, RAW= 152.1, -30.1, CAL= 153.4, -30.9, ROT= 356.6, 30.9
2025-08-22T21:41:49.391Z,1755898909.391 [DAT](INFO): DAT read: Bearing 180.2, -2.1 (Local)
2025-08-22T21:41:49.391Z,1755898909.391 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.2, -2.1 (Local)
2025-08-22T21:41:49.392Z,1755898909.392 [DAT](INFO): DAT read: Range 11 to 50 : 202.8 m (Round-trip 270.5 ms) speed 0.4 m/s
2025-08-22T21:41:49.393Z,1755898909.393 [DAT](INFO): DAT read: user:2397>
2025-08-22T21:41:49.394Z,1755898909.394 [DAT](INFO): DAT read: Tx time:21:41:50.4860
2025-08-22T21:41:49.394Z,1755898909.394 [DAT](INFO): Ping request sent.
2025-08-22T21:41:49.394Z,1755898909.394 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:49.395Z,1755898909.395 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:41:49.396Z,1755898909.396 [DAT](INFO): direction in FSK: [0.856555,-0.050889,-0.513541]
2025-08-22T21:41:49.396Z,1755898909.396 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:49.396Z,1755898909.396 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:49.399Z,1755898909.399 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:49.399Z,1755898909.399 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:49.596Z,1755898909.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 202.800003 m,
deltaT: 3.779035 s,
deltaX: 24.199997 m,
approachRate: 6.403750 m/s,
rangeRepo size: 4
2025-08-22T21:41:49.597Z,1755898909.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:49.604Z,1755898909.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 173.597092 m,
bearing: 74.738547 deg,
approach rate: -0.507073 m/s,
LOS rate: 0.003172 deg/s,
cmd heading: 69.311476 deg,
new cmd heading: 69.314598 deg.
2025-08-22T21:41:49.605Z,1755898909.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209768 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:49.995Z,1755898909.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:49.998Z,1755898909.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 173.380173 m,
bearing: 74.743790 deg,
approach rate: -0.543081 m/s,
LOS rate: 0.013141 deg/s,
cmd heading: 69.314597 deg,
new cmd heading: 69.325095 deg.
2025-08-22T21:41:49.999Z,1755898909.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209951 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:50.424Z,1755898910.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:50.431Z,1755898910.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 173.161774 m,
bearing: 74.751615 deg,
approach rate: -0.508655 m/s,
LOS rate: 0.018247 deg/s,
cmd heading: 69.325095 deg,
new cmd heading: 69.340765 deg.
2025-08-22T21:41:50.432Z,1755898910.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210225 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:50.794Z,1755898910.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:50.796Z,1755898910.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:50.803Z,1755898910.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 172.976837 m,
bearing: 74.759377 deg,
approach rate: -0.497612 m/s,
LOS rate: 0.020908 deg/s,
cmd heading: 69.340763 deg,
new cmd heading: 69.356304 deg.
2025-08-22T21:41:50.804Z,1755898910.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210496 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:50.895Z,1755898910.895 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:50.896Z,1755898910.896 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:50.896Z,1755898910.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:51.154Z,1755898911.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758956
2025-08-22T21:41:51.262Z,1755898911.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:51.265Z,1755898911.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 172.734329 m,
bearing: 74.770611 deg,
approach rate: -0.519932 m/s,
LOS rate: 0.024119 deg/s,
cmd heading: 69.356302 deg,
new cmd heading: 69.378802 deg.
2025-08-22T21:41:51.270Z,1755898911.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210889 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:51.403Z,1755898911.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008857
2025-08-22T21:41:51.604Z,1755898911.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:51.607Z,1755898911.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 172.565338 m,
bearing: 74.779518 deg,
approach rate: -0.495279 m/s,
LOS rate: 0.026132 deg/s,
cmd heading: 69.378801 deg,
new cmd heading: 69.396633 deg.
2025-08-22T21:41:51.608Z,1755898911.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.211200 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:51.656Z,1755898911.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261619
2025-08-22T21:41:51.907Z,1755898911.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512208
2025-08-22T21:41:52.011Z,1755898912.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:52.020Z,1755898912.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 172.350952 m,
bearing: 74.792075 deg,
approach rate: -0.526429 m/s,
LOS rate: 0.030872 deg/s,
cmd heading: 69.396634 deg,
new cmd heading: 69.421779 deg.
2025-08-22T21:41:52.021Z,1755898912.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.211639 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:52.162Z,1755898912.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766786
2025-08-22T21:41:52.411Z,1755898912.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016257
2025-08-22T21:41:52.442Z,1755898912.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:52.445Z,1755898912.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 172.137939 m,
bearing: 74.805184 deg,
approach rate: -0.494117 m/s,
LOS rate: 0.030446 deg/s,
cmd heading: 69.421776 deg,
new cmd heading: 69.448027 deg.
2025-08-22T21:41:52.450Z,1755898912.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212097 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:52.663Z,1755898912.663 [DAT](INFO): DAT read: Rx Time:21:41:53.0889
2025-08-22T21:41:52.663Z,1755898912.663 [DAT](INFO): Rx dataTimestamp_ set to:1755898912.662754
2025-08-22T21:41:52.664Z,1755898912.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269261
2025-08-22T21:41:52.800Z,1755898912.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:52.802Z,1755898912.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.48 m.
2025-08-22T21:41:52.805Z,1755898912.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.484711 m,
nav range: 171.939438 m,
bearing: 74.818464 deg,
approach rate: -0.550850 m/s,
LOS rate: 0.036896 deg/s,
cmd heading: 69.448025 deg,
new cmd heading: 69.474616 deg.
2025-08-22T21:41:52.806Z,1755898912.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212561 target range: 177.484711 and range: 178.60 m.
2025-08-22T21:41:52.915Z,1755898912.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520313
2025-08-22T21:41:53.187Z,1755898913.187 [DAT](INFO): DAT read: 21:41:53.0889 LVL= 32752, 32753, 30258, 32755, AGC= 61, IDX= 224,-0.35,-1.741, 2.684,-1.742,-1.998, PHS= 0.359,-1.556, 0.212, RAW= 146.1, 10.7, CAL= 145.7, 11.7, ROT= 4.3, -11.7
2025-08-22T21:41:53.209Z,1755898913.209 [DAT](INFO): got valid direction response:
21:41:53.0889 LVL= 32752, 32753, 30258, 32755, AGC= 61, IDX= 224,-0.35,-1.741, 2.684,-1.742,-1.998, PHS= 0.359,-1.556, 0.212, RAW= 146.1, 10.7, CAL= 145.7, 11.7, ROT= 4.3, -11.7
2025-08-22T21:41:53.230Z,1755898913.230 [DAT](INFO): DAT read: Bearing 213.3, 4.1 (Local)
2025-08-22T21:41:53.231Z,1755898913.231 [DAT](INFO): Local bearing/azimuth received:
Bearing 213.3, 4.1 (Local)
2025-08-22T21:41:53.232Z,1755898913.232 [DAT](INFO): DAT read: Range 11 to 50 : 149.1 m (Round-trip 198.8 ms) speed 0.7 m/s
2025-08-22T21:41:53.233Z,1755898913.233 [DAT](INFO): DAT read: user:2398>
2025-08-22T21:41:53.238Z,1755898913.238 [DAT](INFO): DAT read: Tx time:21:41:54.1860
2025-08-22T21:41:53.238Z,1755898913.238 [DAT](INFO): Ping request sent.
2025-08-22T21:41:53.238Z,1755898913.238 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:53.238Z,1755898913.238 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:41:53.239Z,1755898913.239 [DAT](INFO): direction in FSK: [0.976466,0.073421,0.202787]
2025-08-22T21:41:53.240Z,1755898913.240 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:53.240Z,1755898913.240 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:53.247Z,1755898913.247 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:53.247Z,1755898913.247 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:53.359Z,1755898913.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 149.100006 m,
deltaT: 7.564299 s,
deltaX: -29.500000 m,
approachRate: -3.899899 m/s,
rangeRepo size: 4
2025-08-22T21:41:53.362Z,1755898913.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 148.168869 m,
bearing: 77.119877 deg,
lat: 36.779469 deg,
lon: -121.859254 deg,
deltaT: 7.564299 s,
deltaX: -29.315842 m,
approachRate: -3.875553 m/s,
posRepo size: 4
2025-08-22T21:41:53.363Z,1755898913.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:53.365Z,1755898913.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 171.700455 m,
bearing: 74.839543 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.036896 deg/s,
cmd heading: 69.474615 deg,
new cmd heading: 69.515662 deg.
2025-08-22T21:41:53.371Z,1755898913.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213277 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:53.693Z,1755898913.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:53.711Z,1755898913.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 171.523849 m,
bearing: 74.851433 deg,
approach rate: -0.528921 m/s,
LOS rate: 0.035645 deg/s,
cmd heading: 69.515664 deg,
new cmd heading: 69.539467 deg.
2025-08-22T21:41:53.712Z,1755898913.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213693 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:54.102Z,1755898914.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:54.104Z,1755898914.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 171.315567 m,
bearing: 74.866252 deg,
approach rate: -0.509381 m/s,
LOS rate: 0.036286 deg/s,
cmd heading: 69.539467 deg,
new cmd heading: 69.569142 deg.
2025-08-22T21:41:54.105Z,1755898914.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.214211 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:54.529Z,1755898914.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:54.532Z,1755898914.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 171.097061 m,
bearing: 74.882405 deg,
approach rate: -0.511134 m/s,
LOS rate: 0.037835 deg/s,
cmd heading: 69.569145 deg,
new cmd heading: 69.601493 deg.
2025-08-22T21:41:54.533Z,1755898914.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.214775 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:54.909Z,1755898914.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:54.911Z,1755898914.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:54.914Z,1755898914.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 170.902298 m,
bearing: 74.897461 deg,
approach rate: -0.509759 m/s,
LOS rate: 0.039450 deg/s,
cmd heading: 69.601492 deg,
new cmd heading: 69.631637 deg.
2025-08-22T21:41:54.915Z,1755898914.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215301 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:54.930Z,1755898914.930 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:54.930Z,1755898914.930 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:54.931Z,1755898914.931 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:55.186Z,1755898915.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.946800
2025-08-22T21:41:55.346Z,1755898915.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:55.349Z,1755898915.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 170.670975 m,
bearing: 74.915473 deg,
approach rate: -0.531691 m/s,
LOS rate: 0.041456 deg/s,
cmd heading: 69.631641 deg,
new cmd heading: 69.667713 deg.
2025-08-22T21:41:55.350Z,1755898915.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215931 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:55.439Z,1755898915.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200806
2025-08-22T21:41:55.690Z,1755898915.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452340
2025-08-22T21:41:55.719Z,1755898915.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:55.722Z,1755898915.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 170.469849 m,
bearing: 74.931657 deg,
approach rate: -0.538711 m/s,
LOS rate: 0.043402 deg/s,
cmd heading: 69.667711 deg,
new cmd heading: 69.700119 deg.
2025-08-22T21:41:55.723Z,1755898915.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216497 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:55.943Z,1755898915.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704674
2025-08-22T21:41:56.115Z,1755898916.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:56.121Z,1755898916.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 170.259354 m,
bearing: 74.949016 deg,
approach rate: -0.533039 m/s,
LOS rate: 0.044011 deg/s,
cmd heading: 69.700120 deg,
new cmd heading: 69.734879 deg.
2025-08-22T21:41:56.143Z,1755898916.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217103 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:56.199Z,1755898916.199 [DAT](INFO): DAT read: Rx Time:21:41:56.8567
2025-08-22T21:41:56.200Z,1755898916.200 [DAT](INFO): Rx dataTimestamp_ set to:1755898916.199196
2025-08-22T21:41:56.203Z,1755898916.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963311
2025-08-22T21:41:56.447Z,1755898916.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209146
2025-08-22T21:41:56.561Z,1755898916.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:56.580Z,1755898916.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 170.017197 m,
bearing: 74.969082 deg,
approach rate: -0.542324 m/s,
LOS rate: 0.045004 deg/s,
cmd heading: 69.734879 deg,
new cmd heading: 69.775070 deg.
2025-08-22T21:41:56.581Z,1755898916.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217805 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:56.699Z,1755898916.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.461034
2025-08-22T21:41:56.787Z,1755898916.787 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:41:56.956Z,1755898916.956 [DAT](INFO): DAT read: 21:41:56.8567 LVL= 30080, 30321, 28866, 25731, AGC= 67, IDX= 118, 0.39,-1.449,-2.644,-1.450,-2.557, PHS= 1.210,-0.042, 1.063, RAW= 143.9, -33.7, CAL= 145.0, -33.8, ROT= 5.0, 33.8
2025-08-22T21:41:56.958Z,1755898916.958 [DAT](INFO): got valid direction response:
21:41:56.8567 LVL= 30080, 30321, 28866, 25731, AGC= 67, IDX= 118, 0.39,-1.449,-2.644,-1.450,-2.557, PHS= 1.210,-0.042, 1.063, RAW= 143.9, -33.7, CAL= 145.0, -33.8, ROT= 5.0, 33.8
2025-08-22T21:41:56.959Z,1755898916.959 [DAT](INFO): DAT read: Bearing 161.9, 4.2 (Local)
2025-08-22T21:41:56.959Z,1755898916.959 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.9, 4.2 (Local)
2025-08-22T21:41:56.961Z,1755898916.961 [DAT](INFO): DAT read: Range 11 to 50 : 199.9 m (Round-trip 266.6 ms) speed 0.1 m/s
2025-08-22T21:41:56.962Z,1755898916.962 [DAT](INFO): DAT read: user:2399>
2025-08-22T21:41:56.962Z,1755898916.962 [DAT](INFO): DAT read: Tx time:21:41:57.9860
2025-08-22T21:41:56.963Z,1755898916.963 [DAT](INFO): Ping request sent.
2025-08-22T21:41:56.963Z,1755898916.963 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:41:56.963Z,1755898916.963 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:41:56.964Z,1755898916.964 [DAT](INFO): direction in FSK: [0.827822,0.072425,-0.556296]
2025-08-22T21:41:56.964Z,1755898916.964 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:56.964Z,1755898916.964 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:56.969Z,1755898916.969 [DAT](INFO): publishing transmit ping time
2025-08-22T21:41:56.969Z,1755898916.969 [DAT](INFO): publishing direction and range info
2025-08-22T21:41:57.080Z,1755898917.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 199.899994 m,
deltaT: 3.782621 s,
deltaX: 50.799988 m,
approachRate: 13.429838 m/s,
rangeRepo size: 4
2025-08-22T21:41:57.081Z,1755898917.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:57.087Z,1755898917.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 169.751770 m,
bearing: 74.991489 deg,
approach rate: -0.511954 m/s,
LOS rate: 0.043286 deg/s,
cmd heading: 69.775068 deg,
new cmd heading: 69.819952 deg.
2025-08-22T21:41:57.088Z,1755898917.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218588 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:57.618Z,1755898917.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:57.622Z,1755898917.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:57.627Z,1755898917.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 169.442642 m,
bearing: 75.018997 deg,
approach rate: -0.570060 m/s,
LOS rate: 0.050819 deg/s,
cmd heading: 69.819949 deg,
new cmd heading: 69.875064 deg.
2025-08-22T21:41:57.629Z,1755898917.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219550 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:57.706Z,1755898917.706 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:41:57.706Z,1755898917.706 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:41:57.707Z,1755898917.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:41:57.790Z,1755898917.790 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:41:57.959Z,1755898917.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995684
2025-08-22T21:41:58.029Z,1755898918.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:58.031Z,1755898918.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 169.212387 m,
bearing: 75.039817 deg,
approach rate: -0.565657 m/s,
LOS rate: 0.051217 deg/s,
cmd heading: 69.875062 deg,
new cmd heading: 69.916758 deg.
2025-08-22T21:41:58.032Z,1755898918.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220278 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:58.214Z,1755898918.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250869
2025-08-22T21:41:58.457Z,1755898918.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:58.463Z,1755898918.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499762
2025-08-22T21:41:58.469Z,1755898918.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 168.977798 m,
bearing: 75.062433 deg,
approach rate: -0.547624 m/s,
LOS rate: 0.052868 deg/s,
cmd heading: 69.916760 deg,
new cmd heading: 69.962055 deg.
2025-08-22T21:41:58.470Z,1755898918.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221068 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:58.715Z,1755898918.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751717
2025-08-22T21:41:58.818Z,1755898918.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:58.820Z,1755898918.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 168.763992 m,
bearing: 75.083056 deg,
approach rate: -0.592970 m/s,
LOS rate: 0.057270 deg/s,
cmd heading: 69.962058 deg,
new cmd heading: 70.003357 deg.
2025-08-22T21:41:58.822Z,1755898918.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221789 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:58.967Z,1755898918.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003729
2025-08-22T21:41:59.219Z,1755898919.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255795
2025-08-22T21:41:59.219Z,1755898919.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:59.222Z,1755898919.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 168.541748 m,
bearing: 75.104510 deg,
approach rate: -0.555622 m/s,
LOS rate: 0.053706 deg/s,
cmd heading: 70.003360 deg,
new cmd heading: 70.046324 deg.
2025-08-22T21:41:59.223Z,1755898919.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222539 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:59.471Z,1755898919.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507717
2025-08-22T21:41:59.703Z,1755898919.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:41:59.705Z,1755898919.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:41:59.712Z,1755898919.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 168.273163 m,
bearing: 75.131603 deg,
approach rate: -0.550942 m/s,
LOS rate: 0.055664 deg/s,
cmd heading: 70.046322 deg,
new cmd heading: 70.100595 deg.
2025-08-22T21:41:59.713Z,1755898919.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223486 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:41:59.723Z,1755898919.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759797
2025-08-22T21:41:59.975Z,1755898919.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012086
2025-08-22T21:42:00.072Z,1755898920.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:42:00.091Z,1755898920.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 168.064560 m,
bearing: 75.152604 deg,
approach rate: -0.567995 m/s,
LOS rate: 0.057252 deg/s,
cmd heading: 70.100595 deg,
new cmd heading: 70.142648 deg.
2025-08-22T21:42:00.092Z,1755898920.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224220 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:42:00.230Z,1755898920.230 [DAT](INFO): DAT read: Rx Time:21:42:00.6550
2025-08-22T21:42:00.230Z,1755898920.230 [DAT](INFO): Rx dataTimestamp_ set to:1755898920.230108
2025-08-22T21:42:00.231Z,1755898920.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268144
2025-08-22T21:42:00.479Z,1755898920.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515740
2025-08-22T21:42:00.626Z,1755898920.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:42:00.646Z,1755898920.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 167.752472 m,
bearing: 75.185592 deg,
approach rate: -0.564217 m/s,
LOS rate: 0.059750 deg/s,
cmd heading: 70.142648 deg,
new cmd heading: 70.208747 deg.
2025-08-22T21:42:00.647Z,1755898920.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225374 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:42:00.736Z,1755898920.736 [DAT](INFO): DAT read: 21:42:00.6549 LVL= 27312, 28913, 24130, 26835, AGC= 66, IDX= 52, 0.13,-2.671, 1.923,-2.797,-2.991, PHS= 0.422,-1.324, 0.151, RAW= 141.7, 9.3, CAL= 141.2, 10.1, ROT= 8.8, -10.1
2025-08-22T21:42:00.737Z,1755898920.737 [DAT](INFO): got valid direction response:
21:42:00.6549 LVL= 27312, 28913, 24130, 26835, AGC= 66, IDX= 52, 0.13,-2.671, 1.923,-2.797,-2.991, PHS= 0.422,-1.324, 0.151, RAW= 141.7, 9.3, CAL= 141.2, 10.1, ROT= 8.8, -10.1
2025-08-22T21:42:00.739Z,1755898920.739 [DAT](INFO): DAT read: Bearing 205.0, 11.1 (Local)
2025-08-22T21:42:00.739Z,1755898920.739 [DAT](INFO): Local bearing/azimuth received:
Bearing 205.0, 11.1 (Local)
2025-08-22T21:42:00.740Z,1755898920.740 [DAT](INFO): DAT read: Range 11 to 50 : 198.6 m (Round-trip 264.9 ms) speed 0.4 m/s
2025-08-22T21:42:00.741Z,1755898920.741 [DAT](INFO): DAT read: user:2400>
2025-08-22T21:42:00.742Z,1755898920.742 [DAT](INFO): DAT read: Tx time:21:42:01.7859
2025-08-22T21:42:00.742Z,1755898920.742 [DAT](INFO): Ping request sent.
2025-08-22T21:42:00.742Z,1755898920.742 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:42:00.743Z,1755898920.743 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:42:00.744Z,1755898920.744 [DAT](INFO): direction in FSK: [0.972914,0.150615,0.175367]
2025-08-22T21:42:00.744Z,1755898920.744 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:00.744Z,1755898920.744 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:00.747Z,1755898920.747 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:00.748Z,1755898920.748 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:01.197Z,1755898921.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 198.600006 m,
deltaT: 7.562639 s,
deltaX: 49.500000 m,
approachRate: 6.545334 m/s,
rangeRepo size: 4
2025-08-22T21:42:01.202Z,1755898921.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:42:01.205Z,1755898921.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 167.435379 m,
bearing: 75.219077 deg,
approach rate: -0.555338 m/s,
LOS rate: 0.058756 deg/s,
cmd heading: 70.208751 deg,
new cmd heading: 70.275848 deg.
2025-08-22T21:42:01.210Z,1755898921.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226545 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:42:01.648Z,1755898921.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:42:01.658Z,1755898921.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 167.163391 m,
bearing: 75.247485 deg,
approach rate: -0.602439 m/s,
LOS rate: 0.063023 deg/s,
cmd heading: 70.275851 deg,
new cmd heading: 70.332758 deg.
2025-08-22T21:42:01.659Z,1755898921.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227538 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:42:02.211Z,1755898922.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:02.214Z,1755898922.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:42:02.216Z,1755898922.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 166.820206 m,
bearing: 75.283266 deg,
approach rate: -0.606878 m/s,
LOS rate: 0.063404 deg/s,
cmd heading: 70.332760 deg,
new cmd heading: 70.404468 deg.
2025-08-22T21:42:02.217Z,1755898922.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228790 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:42:02.242Z,1755898922.242 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:02.243Z,1755898922.243 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:02.243Z,1755898922.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:02.494Z,1755898922.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752105
2025-08-22T21:42:02.691Z,1755898922.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:42:02.693Z,1755898922.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 166.530975 m,
bearing: 75.313569 deg,
approach rate: -0.606030 m/s,
LOS rate: 0.063606 deg/s,
cmd heading: 70.404470 deg,
new cmd heading: 70.465182 deg.
2025-08-22T21:42:02.714Z,1755898922.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229849 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:42:02.747Z,1755898922.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004167
2025-08-22T21:42:02.999Z,1755898922.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256594
2025-08-22T21:42:03.089Z,1755898923.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:42:03.092Z,1755898923.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 166.288773 m,
bearing: 75.338832 deg,
approach rate: -0.608323 m/s,
LOS rate: 0.063543 deg/s,
cmd heading: 70.465183 deg,
new cmd heading: 70.515783 deg.
2025-08-22T21:42:03.093Z,1755898923.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230733 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:42:03.251Z,1755898923.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508163
2025-08-22T21:42:03.503Z,1755898923.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760236
2025-08-22T21:42:03.540Z,1755898923.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:42:03.548Z,1755898923.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 166.035187 m,
bearing: 75.362398 deg,
approach rate: -0.561841 m/s,
LOS rate: 0.052292 deg/s,
cmd heading: 70.515781 deg,
new cmd heading: 70.562985 deg.
2025-08-22T21:42:03.549Z,1755898923.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231556 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:42:03.755Z,1755898923.755 [DAT](INFO): DAT read: Rx Time:21:42:04.4166
2025-08-22T21:42:03.755Z,1755898923.755 [DAT](INFO): Rx dataTimestamp_ set to:1755898923.754986
2025-08-22T21:42:03.756Z,1755898923.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013453
2025-08-22T21:42:03.878Z,1755898923.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:42:03.881Z,1755898923.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 165.813141 m,
bearing: 75.382941 deg,
approach rate: -0.656688 m/s,
LOS rate: 0.060839 deg/s,
cmd heading: 70.562985 deg,
new cmd heading: 70.604128 deg.
2025-08-22T21:42:03.882Z,1755898923.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232275 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:42:04.007Z,1755898924.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264315
2025-08-22T21:42:04.259Z,1755898924.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516176
2025-08-22T21:42:04.365Z,1755898924.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:04.371Z,1755898924.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.17 m.
2025-08-22T21:42:04.379Z,1755898924.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.168869 m,
nav range: 165.570221 m,
bearing: 75.405305 deg,
approach rate: -0.492497 m/s,
LOS rate: 0.045406 deg/s,
cmd heading: 70.604130 deg,
new cmd heading: 70.648922 deg.
2025-08-22T21:42:04.380Z,1755898924.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233056 target range: 148.168869 and range: 149.10 m.
2025-08-22T21:42:04.516Z,1755898924.516 [DAT](INFO): DAT read: 21:42:04.4166 LVL= 22512, 24945, 21042, 18739, AGC= 68, IDX= 45,-0.26,-1.600,-2.624,-1.443,-2.624, PHS= 1.127, 0.045, 1.137, RAW= 150.5, -36.9, CAL= 151.4, -36.7, ROT= 358.6, 36.7
2025-08-22T21:42:04.517Z,1755898924.517 [DAT](INFO): got valid direction response:
21:42:04.4166 LVL= 22512, 24945, 21042, 18739, AGC= 68, IDX= 45,-0.26,-1.600,-2.624,-1.443,-2.624, PHS= 1.127, 0.045, 1.137, RAW= 150.5, -36.9, CAL= 151.4, -36.7, ROT= 358.6, 36.7
2025-08-22T21:42:04.518Z,1755898924.518 [DAT](INFO): DAT read: Bearing 159.3, -0.9 (Local)
2025-08-22T21:42:04.518Z,1755898924.518 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.3, -0.9 (Local)
2025-08-22T21:42:04.520Z,1755898924.520 [DAT](INFO): DAT read: Range 11 to 50 : 169.9 m (Round-trip 226.6 ms) speed 0.9 m/s
2025-08-22T21:42:04.521Z,1755898924.521 [DAT](INFO): DAT read: user:2401>
2025-08-22T21:42:04.521Z,1755898924.521 [DAT](INFO): DAT read: Tx time:21:42:05.5359
2025-08-22T21:42:04.522Z,1755898924.522 [DAT](INFO): Ping request sent.
2025-08-22T21:42:04.522Z,1755898924.522 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:42:04.522Z,1755898924.522 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:42:04.523Z,1755898924.523 [DAT](INFO): direction in FSK: [0.801536,-0.019589,-0.597625]
2025-08-22T21:42:04.523Z,1755898924.523 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:04.523Z,1755898924.523 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:04.527Z,1755898924.527 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:04.527Z,1755898924.527 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:04.863Z,1755898924.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 169.899994 m,
deltaT: 11.342509 s,
deltaX: 20.799988 m,
approachRate: 1.833808 m/s,
rangeRepo size: 4
2025-08-22T21:42:04.865Z,1755898924.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 168.838074 m,
bearing: 71.153945 deg,
lat: 36.779477 deg,
lon: -121.859296 deg,
deltaT: 11.342509 s,
deltaX: 20.669205 m,
approachRate: 1.822278 m/s,
posRepo size: 4
2025-08-22T21:42:04.870Z,1755898924.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.84 m.
2025-08-22T21:42:04.872Z,1755898924.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 168.838074 m,
nav range: 161.792862 m,
bearing: 74.791663 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.045406 deg/s,
cmd heading: 70.648922 deg,
new cmd heading: 70.693493 deg.
2025-08-22T21:42:04.878Z,1755898924.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233834 target range: 168.838074 and range: 169.90 m.
2025-08-22T21:42:05.223Z,1755898925.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.84 m.
2025-08-22T21:42:05.226Z,1755898925.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 168.838074 m,
nav range: 161.561295 m,
bearing: 74.812465 deg,
approach rate: -0.641116 m/s,
LOS rate: 0.057674 deg/s,
cmd heading: 70.693496 deg,
new cmd heading: 70.735159 deg.
2025-08-22T21:42:05.227Z,1755898925.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.234561 target range: 168.838074 and range: 169.90 m.
2025-08-22T21:42:05.707Z,1755898925.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.84 m.
2025-08-22T21:42:05.730Z,1755898925.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 168.838074 m,
nav range: 161.263855 m,
bearing: 74.839176 deg,
approach rate: -0.614774 m/s,
LOS rate: 0.055312 deg/s,
cmd heading: 70.735160 deg,
new cmd heading: 70.788683 deg.
2025-08-22T21:42:05.731Z,1755898925.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.235496 target range: 168.838074 and range: 169.90 m.
2025-08-22T21:42:06.114Z,1755898926.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.84 m.
2025-08-22T21:42:06.118Z,1755898926.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 168.838074 m,
nav range: 161.020172 m,
bearing: 74.860954 deg,
approach rate: -0.601055 m/s,
LOS rate: 0.053796 deg/s,
cmd heading: 70.788682 deg,
new cmd heading: 70.832302 deg.
2025-08-22T21:42:06.120Z,1755898926.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236257 target range: 168.838074 and range: 169.90 m.
2025-08-22T21:42:06.532Z,1755898926.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:06.534Z,1755898926.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.84 m.
2025-08-22T21:42:06.536Z,1755898926.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 168.838074 m,
nav range: 160.764206 m,
bearing: 74.884627 deg,
approach rate: -0.608098 m/s,
LOS rate: 0.056331 deg/s,
cmd heading: 70.832299 deg,
new cmd heading: 70.879722 deg.
2025-08-22T21:42:06.538Z,1755898926.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.237085 target range: 168.838074 and range: 169.90 m.
2025-08-22T21:42:06.779Z,1755898926.779 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:06.779Z,1755898926.779 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:06.779Z,1755898926.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:06.904Z,1755898926.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.84 m.
2025-08-22T21:42:06.907Z,1755898926.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 168.838074 m,
nav range: 160.541992 m,
bearing: 74.905215 deg,
approach rate: -0.599398 m/s,
LOS rate: 0.055609 deg/s,
cmd heading: 70.879721 deg,
new cmd heading: 70.920953 deg.
2025-08-22T21:42:06.908Z,1755898926.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.237804 target range: 168.838074 and range: 169.90 m.
2025-08-22T21:42:07.031Z,1755898927.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508834
2025-08-22T21:42:07.283Z,1755898927.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760823
2025-08-22T21:42:07.309Z,1755898927.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.84 m.
2025-08-22T21:42:07.312Z,1755898927.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 168.838074 m,
nav range: 160.300537 m,
bearing: 74.927676 deg,
approach rate: -0.596753 m/s,
LOS rate: 0.055598 deg/s,
cmd heading: 70.920955 deg,
new cmd heading: 70.965946 deg.
2025-08-22T21:42:07.313Z,1755898927.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238589 target range: 168.838074 and range: 169.90 m.
2025-08-22T21:42:07.535Z,1755898927.535 [DAT](INFO): DAT read: Rx Time:21:42:08.1644
2025-08-22T21:42:07.536Z,1755898927.536 [DAT](INFO): Rx dataTimestamp_ set to:1755898927.535207
2025-08-22T21:42:07.536Z,1755898927.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014630
2025-08-22T21:42:07.742Z,1755898927.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.84 m.
2025-08-22T21:42:07.744Z,1755898927.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 168.838074 m,
nav range: 160.038483 m,
bearing: 74.952163 deg,
approach rate: -0.605853 m/s,
LOS rate: 0.056703 deg/s,
cmd heading: 70.965946 deg,
new cmd heading: 71.014998 deg.
2025-08-22T21:42:07.746Z,1755898927.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.239446 target range: 168.838074 and range: 169.90 m.
2025-08-22T21:42:07.787Z,1755898927.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265089
2025-08-22T21:42:08.042Z,1755898928.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519338
2025-08-22T21:42:08.154Z,1755898928.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.84 m.
2025-08-22T21:42:08.157Z,1755898928.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 168.838074 m,
nav range: 159.797806 m,
bearing: 74.974661 deg,
approach rate: -0.584170 m/s,
LOS rate: 0.054691 deg/s,
cmd heading: 71.015000 deg,
new cmd heading: 71.060065 deg.
2025-08-22T21:42:08.159Z,1755898928.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240232 target range: 168.838074 and range: 169.90 m.
2025-08-22T21:42:08.296Z,1755898928.296 [DAT](INFO): DAT read: 21:42:08.1644 LVL= 32752, 32753, 32754, 31875, AGC= 64, IDX= 44,-0.33,-0.685,-2.408,-0.772,-1.011, PHS= 0.428,-1.352, 0.195, RAW= 143.1, 8.7, CAL= 142.6, 9.6, ROT= 7.4, -9.6
2025-08-22T21:42:08.298Z,1755898928.298 [DAT](INFO): got valid direction response:
21:42:08.1644 LVL= 32752, 32753, 32754, 31875, AGC= 64, IDX= 44,-0.33,-0.685,-2.408,-0.772,-1.011, PHS= 0.428,-1.352, 0.195, RAW= 143.1, 8.7, CAL= 142.6, 9.6, ROT= 7.4, -9.6
2025-08-22T21:42:08.299Z,1755898928.299 [DAT](INFO): DAT read: Bearing 205.5, 11.0 (Local)
2025-08-22T21:42:08.299Z,1755898928.299 [DAT](INFO): Local bearing/azimuth received:
Bearing 205.5, 11.0 (Local)
2025-08-22T21:42:08.300Z,1755898928.300 [DAT](INFO): DAT read: Range 11 to 50 : 168.3 m (Round-trip 224.4 ms) speed 0.4 m/s
2025-08-22T21:42:08.301Z,1755898928.301 [DAT](INFO): DAT read: user:2402>
2025-08-22T21:42:08.302Z,1755898928.302 [DAT](INFO): DAT read: Tx time:21:42:09.2859
2025-08-22T21:42:08.302Z,1755898928.302 [DAT](INFO): Ping request sent.
2025-08-22T21:42:08.302Z,1755898928.302 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:42:08.303Z,1755898928.303 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:42:08.304Z,1755898928.304 [DAT](INFO): direction in FSK: [0.977784,0.126992,0.166769]
2025-08-22T21:42:08.304Z,1755898928.304 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:08.304Z,1755898928.304 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:08.307Z,1755898928.307 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:08.308Z,1755898928.308 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:08.593Z,1755898928.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 168.300003 m,
deltaT: 3.780502 s,
deltaX: -1.599991 m,
approachRate: -0.423222 m/s,
rangeRepo size: 4
2025-08-22T21:42:08.601Z,1755898928.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 167.245102 m,
bearing: 76.716601 deg,
lat: 36.779477 deg,
lon: -121.859296 deg,
deltaT: 3.780502 s,
deltaX: -1.592972 m,
approachRate: -0.421365 m/s,
posRepo size: 4
2025-08-22T21:42:08.606Z,1755898928.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.25 m.
2025-08-22T21:42:08.615Z,1755898928.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.245102 m,
nav range: 159.539612 m,
bearing: 74.999304 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.054691 deg/s,
cmd heading: 71.060066 deg,
new cmd heading: 71.107923 deg.
2025-08-22T21:42:08.616Z,1755898928.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.241067 target range: 167.245102 and range: 168.30 m.
2025-08-22T21:42:08.949Z,1755898928.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:08.955Z,1755898928.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.25 m.
2025-08-22T21:42:08.958Z,1755898928.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.245102 m,
nav range: 159.316513 m,
bearing: 75.020578 deg,
approach rate: -0.613268 m/s,
LOS rate: 0.058560 deg/s,
cmd heading: 71.107925 deg,
new cmd heading: 71.150531 deg.
2025-08-22T21:42:08.959Z,1755898928.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.241811 target range: 167.245102 and range: 168.30 m.
2025-08-22T21:42:09.047Z,1755898929.047 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:09.047Z,1755898929.047 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:09.048Z,1755898929.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:09.299Z,1755898929.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996008
2025-08-22T21:42:09.362Z,1755898929.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.25 m.
2025-08-22T21:42:09.364Z,1755898929.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.245102 m,
nav range: 159.082077 m,
bearing: 75.042904 deg,
approach rate: -0.581958 m/s,
LOS rate: 0.055504 deg/s,
cmd heading: 71.150531 deg,
new cmd heading: 71.195250 deg.
2025-08-22T21:42:09.370Z,1755898929.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.242592 target range: 167.245102 and range: 168.30 m.
2025-08-22T21:42:09.551Z,1755898929.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247980
2025-08-22T21:42:09.772Z,1755898929.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.25 m.
2025-08-22T21:42:09.775Z,1755898929.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.245102 m,
nav range: 158.831390 m,
bearing: 75.068339 deg,
approach rate: -0.605136 m/s,
LOS rate: 0.061495 deg/s,
cmd heading: 71.195249 deg,
new cmd heading: 71.246199 deg.
2025-08-22T21:42:09.776Z,1755898929.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.243481 target range: 167.245102 and range: 168.30 m.
2025-08-22T21:42:09.803Z,1755898929.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500096
2025-08-22T21:42:10.054Z,1755898930.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751967
2025-08-22T21:42:10.155Z,1755898930.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.25 m.
2025-08-22T21:42:10.159Z,1755898930.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.245102 m,
nav range: 158.606262 m,
bearing: 75.091171 deg,
approach rate: -0.588457 m/s,
LOS rate: 0.059766 deg/s,
cmd heading: 71.246202 deg,
new cmd heading: 71.291932 deg.
2025-08-22T21:42:10.160Z,1755898930.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.244279 target range: 167.245102 and range: 168.30 m.
2025-08-22T21:42:10.306Z,1755898930.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003937
2025-08-22T21:42:10.559Z,1755898930.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256295
2025-08-22T21:42:10.644Z,1755898930.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.25 m.
2025-08-22T21:42:10.647Z,1755898930.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.245102 m,
nav range: 158.316132 m,
bearing: 75.120814 deg,
approach rate: -0.592777 m/s,
LOS rate: 0.060675 deg/s,
cmd heading: 71.291930 deg,
new cmd heading: 71.351324 deg.
2025-08-22T21:42:10.648Z,1755898930.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.245316 target range: 167.245102 and range: 168.30 m.
2025-08-22T21:42:10.811Z,1755898930.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508026
2025-08-22T21:42:11.013Z,1755898931.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:11.015Z,1755898931.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.25 m.
2025-08-22T21:42:11.018Z,1755898931.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.245102 m,
nav range: 158.096024 m,
bearing: 75.143372 deg,
approach rate: -0.592828 m/s,
LOS rate: 0.060842 deg/s,
cmd heading: 71.351325 deg,
new cmd heading: 71.396505 deg.
2025-08-22T21:42:11.019Z,1755898931.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246104 target range: 167.245102 and range: 168.30 m.
2025-08-22T21:42:11.063Z,1755898931.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760026
2025-08-22T21:42:11.315Z,1755898931.315 [DAT](INFO): DAT read: Rx Time:21:42:11.9120
2025-08-22T21:42:11.315Z,1755898931.315 [DAT](INFO): Rx dataTimestamp_ set to:1755898931.314698
2025-08-22T21:42:11.316Z,1755898931.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013016
2025-08-22T21:42:11.553Z,1755898931.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.25 m.
2025-08-22T21:42:11.555Z,1755898931.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.245102 m,
nav range: 157.764191 m,
bearing: 75.177772 deg,
approach rate: -0.617571 m/s,
LOS rate: 0.064156 deg/s,
cmd heading: 71.396507 deg,
new cmd heading: 71.465451 deg.
2025-08-22T21:42:11.556Z,1755898931.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247307 target range: 167.245102 and range: 168.30 m.
2025-08-22T21:42:11.575Z,1755898931.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272057
2025-08-22T21:42:11.835Z,1755898931.835 [DAT](INFO): DAT read: 21:42:11.9120 LVL= 27616, 31473, 25890, 29507, AGC= 66, IDX= 29,-0.10, 0.478,-1.259, 0.364, 0.066, PHS= 0.514,-1.280, 0.254, RAW= 142.3, 6.2, CAL= 141.9, 6.8, ROT= 8.1, -6.8
2025-08-22T21:42:11.836Z,1755898931.836 [DAT](INFO): got valid direction response:
21:42:11.9120 LVL= 27616, 31473, 25890, 29507, AGC= 66, IDX= 29,-0.10, 0.478,-1.259, 0.364, 0.066, PHS= 0.514,-1.280, 0.254, RAW= 142.3, 6.2, CAL= 141.9, 6.8, ROT= 8.1, -6.8
2025-08-22T21:42:11.837Z,1755898931.837 [DAT](INFO): DAT read: Bearing 203.7, 11.2 (Local)
2025-08-22T21:42:11.838Z,1755898931.838 [DAT](INFO): Local bearing/azimuth received:
Bearing 203.7, 11.2 (Local)
2025-08-22T21:42:11.839Z,1755898931.839 [DAT](INFO): DAT read: Range 11 to 50 : 166.4 m (Round-trip 221.9 ms) speed 0.8 m/s
2025-08-22T21:42:11.862Z,1755898931.862 [DAT](INFO): DAT read: user:2403>
2025-08-22T21:42:11.863Z,1755898931.863 [DAT](INFO): DAT read: Tx time:21:42:13.0359
2025-08-22T21:42:11.863Z,1755898931.863 [DAT](INFO): Ping request sent.
2025-08-22T21:42:11.863Z,1755898931.863 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:42:11.863Z,1755898931.863 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:42:11.864Z,1755898931.864 [DAT](INFO): direction in FSK: [0.983059,0.139910,0.118404]
2025-08-22T21:42:11.864Z,1755898931.864 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:11.865Z,1755898931.865 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:11.868Z,1755898931.868 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:11.868Z,1755898931.868 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:12.032Z,1755898932.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 166.399994 m,
deltaT: 3.537508 s,
deltaX: -1.900009 m,
approachRate: -0.537104 m/s,
rangeRepo size: 4
2025-08-22T21:42:12.039Z,1755898932.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 165.353867 m,
bearing: 77.909376 deg,
lat: 36.779477 deg,
lon: -121.859245 deg,
deltaT: 3.537508 s,
deltaX: -1.891235 m,
approachRate: -0.534624 m/s,
posRepo size: 4
2025-08-22T21:42:12.040Z,1755898932.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.35 m.
2025-08-22T21:42:12.047Z,1755898932.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.353867 m,
nav range: 161.884857 m,
bearing: 75.618579 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.064156 deg/s,
cmd heading: 71.465451 deg,
new cmd heading: 71.526942 deg.
2025-08-22T21:42:12.048Z,1755898932.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248381 target range: 165.353867 and range: 166.40 m.
2025-08-22T21:42:12.415Z,1755898932.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.35 m.
2025-08-22T21:42:12.418Z,1755898932.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.353867 m,
nav range: 161.640320 m,
bearing: 75.643912 deg,
approach rate: -0.638662 m/s,
LOS rate: 0.066263 deg/s,
cmd heading: 71.526943 deg,
new cmd heading: 71.577686 deg.
2025-08-22T21:42:12.419Z,1755898932.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249266 target range: 165.353867 and range: 166.40 m.
2025-08-22T21:42:12.839Z,1755898932.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.35 m.
2025-08-22T21:42:12.842Z,1755898932.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.353867 m,
nav range: 161.367966 m,
bearing: 75.670731 deg,
approach rate: -0.641771 m/s,
LOS rate: 0.063303 deg/s,
cmd heading: 71.577685 deg,
new cmd heading: 71.631414 deg.
2025-08-22T21:42:12.843Z,1755898932.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250204 target range: 165.353867 and range: 166.40 m.
2025-08-22T21:42:13.215Z,1755898933.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:13.217Z,1755898933.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.35 m.
2025-08-22T21:42:13.220Z,1755898933.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.353867 m,
nav range: 161.126541 m,
bearing: 75.694556 deg,
approach rate: -0.638955 m/s,
LOS rate: 0.063150 deg/s,
cmd heading: 71.631411 deg,
new cmd heading: 71.679133 deg.
2025-08-22T21:42:13.221Z,1755898933.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251037 target range: 165.353867 and range: 166.40 m.
2025-08-22T21:42:13.338Z,1755898933.338 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:13.338Z,1755898933.338 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:13.339Z,1755898933.339 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:13.592Z,1755898933.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728604
2025-08-22T21:42:13.659Z,1755898933.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.35 m.
2025-08-22T21:42:13.662Z,1755898933.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.353867 m,
nav range: 160.855804 m,
bearing: 75.722489 deg,
approach rate: -0.611902 m/s,
LOS rate: 0.063239 deg/s,
cmd heading: 71.679133 deg,
new cmd heading: 71.735093 deg.
2025-08-22T21:42:13.663Z,1755898933.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252014 target range: 165.353867 and range: 166.40 m.
2025-08-22T21:42:13.843Z,1755898933.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979582
2025-08-22T21:42:14.095Z,1755898934.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232011
2025-08-22T21:42:14.126Z,1755898934.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.35 m.
2025-08-22T21:42:14.128Z,1755898934.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.353867 m,
nav range: 160.587891 m,
bearing: 75.750072 deg,
approach rate: -0.574884 m/s,
LOS rate: 0.059284 deg/s,
cmd heading: 71.735093 deg,
new cmd heading: 71.790350 deg.
2025-08-22T21:42:14.129Z,1755898934.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252978 target range: 165.353867 and range: 166.40 m.
2025-08-22T21:42:14.347Z,1755898934.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483554
2025-08-22T21:42:14.524Z,1755898934.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.35 m.
2025-08-22T21:42:14.531Z,1755898934.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.353867 m,
nav range: 160.366608 m,
bearing: 75.772855 deg,
approach rate: -0.555596 m/s,
LOS rate: 0.057284 deg/s,
cmd heading: 71.790349 deg,
new cmd heading: 71.835979 deg.
2025-08-22T21:42:14.532Z,1755898934.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253774 target range: 165.353867 and range: 166.40 m.
2025-08-22T21:42:14.601Z,1755898934.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737613
2025-08-22T21:42:14.850Z,1755898934.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987399
2025-08-22T21:42:14.903Z,1755898934.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.35 m.
2025-08-22T21:42:14.922Z,1755898934.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.353867 m,
nav range: 160.083878 m,
bearing: 75.800353 deg,
approach rate: -0.745514 m/s,
LOS rate: 0.072635 deg/s,
cmd heading: 71.835982 deg,
new cmd heading: 71.891075 deg.
2025-08-22T21:42:14.923Z,1755898934.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254736 target range: 165.353867 and range: 166.40 m.
2025-08-22T21:42:15.103Z,1755898935.103 [DAT](INFO): DAT read: Rx Time:21:42:15.6591
2025-08-22T21:42:15.104Z,1755898935.104 [DAT](INFO): Rx dataTimestamp_ set to:1755898935.103695
2025-08-22T21:42:15.106Z,1755898935.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242176
2025-08-22T21:42:15.355Z,1755898935.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491525
2025-08-22T21:42:15.356Z,1755898935.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:15.358Z,1755898935.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.35 m.
2025-08-22T21:42:15.361Z,1755898935.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.353867 m,
nav range: 159.803970 m,
bearing: 75.827607 deg,
approach rate: -0.615553 m/s,
LOS rate: 0.060041 deg/s,
cmd heading: 71.891074 deg,
new cmd heading: 71.945679 deg.
2025-08-22T21:42:15.362Z,1755898935.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255689 target range: 165.353867 and range: 166.40 m.
2025-08-22T21:42:15.614Z,1755898935.614 [DAT](INFO): DAT read: 21:42:15.6591 LVL= 29872, 32753, 28626, 31075, AGC= 64, IDX= 29, 0.09,-0.431,-2.109,-0.524,-0.744, PHS= 0.415,-1.320, 0.176, RAW= 142.7, 9.0, CAL= 142.3, 9.8, ROT= 7.7, -9.8
2025-08-22T21:42:15.615Z,1755898935.615 [DAT](INFO): got valid direction response:
21:42:15.6591 LVL= 29872, 32753, 28626, 31075, AGC= 64, IDX= 29, 0.09,-0.431,-2.109,-0.524,-0.744, PHS= 0.415,-1.320, 0.176, RAW= 142.7, 9.0, CAL= 142.3, 9.8, ROT= 7.7, -9.8
2025-08-22T21:42:15.616Z,1755898935.616 [DAT](INFO): DAT read: Bearing 208.0, 9.7 (Local)
2025-08-22T21:42:15.617Z,1755898935.617 [DAT](INFO): Local bearing/azimuth received:
Bearing 208.0, 9.7 (Local)
2025-08-22T21:42:15.619Z,1755898935.619 [DAT](INFO): DAT read: Range 11 to 50 : 164.3 m (Round-trip 219.1 ms) speed 0.4 m/s
2025-08-22T21:42:15.620Z,1755898935.620 [DAT](INFO): DAT read: user:2404>
2025-08-22T21:42:15.620Z,1755898935.620 [DAT](INFO): DAT read: Tx time:21:42:16.7859
2025-08-22T21:42:15.621Z,1755898935.621 [DAT](INFO): Ping request sent.
2025-08-22T21:42:15.621Z,1755898935.621 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:42:15.621Z,1755898935.621 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:42:15.622Z,1755898935.622 [DAT](INFO): direction in FSK: [0.976523,0.132031,0.170209]
2025-08-22T21:42:15.623Z,1755898935.623 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:15.623Z,1755898935.623 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:15.630Z,1755898935.630 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:15.631Z,1755898935.631 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:15.783Z,1755898935.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 164.300003 m,
deltaT: 3.779832 s,
deltaX: -2.099991 m,
approachRate: -0.555578 m/s,
rangeRepo size: 4
2025-08-22T21:42:15.785Z,1755898935.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 163.267563 m,
bearing: 77.646139 deg,
lat: 36.779442 deg,
lon: -121.859228 deg,
deltaT: 3.779832 s,
deltaX: -2.086304 m,
approachRate: -0.551957 m/s,
posRepo size: 4
2025-08-22T21:42:15.794Z,1755898935.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.27 m.
2025-08-22T21:42:15.796Z,1755898935.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 163.267563 m,
nav range: 160.174759 m,
bearing: 77.321496 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.060041 deg/s,
cmd heading: 71.945682 deg,
new cmd heading: 71.996655 deg.
2025-08-22T21:42:15.797Z,1755898935.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256579 target range: 163.267563 and range: 164.30 m.
2025-08-22T21:42:16.167Z,1755898936.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.27 m.
2025-08-22T21:42:16.172Z,1755898936.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 163.267563 m,
nav range: 159.921387 m,
bearing: 77.348594 deg,
approach rate: -0.658091 m/s,
LOS rate: 0.070495 deg/s,
cmd heading: 71.996655 deg,
new cmd heading: 72.050938 deg.
2025-08-22T21:42:16.174Z,1755898936.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257526 target range: 163.267563 and range: 164.30 m.
2025-08-22T21:42:16.648Z,1755898936.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.27 m.
2025-08-22T21:42:16.662Z,1755898936.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 163.267563 m,
nav range: 159.615646 m,
bearing: 77.381339 deg,
approach rate: -0.635881 m/s,
LOS rate: 0.068235 deg/s,
cmd heading: 72.050935 deg,
new cmd heading: 72.116551 deg.
2025-08-22T21:42:16.663Z,1755898936.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258671 target range: 163.267563 and range: 164.30 m.
2025-08-22T21:42:16.983Z,1755898936.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.27 m.
2025-08-22T21:42:16.986Z,1755898936.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 163.267563 m,
nav range: 159.404480 m,
bearing: 77.403968 deg,
approach rate: -0.630425 m/s,
LOS rate: 0.067647 deg/s,
cmd heading: 72.116552 deg,
new cmd heading: 72.161870 deg.
2025-08-22T21:42:16.987Z,1755898936.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259462 target range: 163.267563 and range: 164.30 m.
2025-08-22T21:42:17.391Z,1755898937.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:17.393Z,1755898937.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.27 m.
2025-08-22T21:42:17.396Z,1755898937.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 163.267563 m,
nav range: 159.146515 m,
bearing: 77.431602 deg,
approach rate: -0.629502 m/s,
LOS rate: 0.067542 deg/s,
cmd heading: 72.161871 deg,
new cmd heading: 72.217227 deg.
2025-08-22T21:42:17.397Z,1755898937.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260428 target range: 163.267563 and range: 164.30 m.
2025-08-22T21:42:17.623Z,1755898937.623 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:17.623Z,1755898937.623 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:17.623Z,1755898937.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:17.826Z,1755898937.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.27 m.
2025-08-22T21:42:17.829Z,1755898937.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 163.267563 m,
nav range: 158.885437 m,
bearing: 77.462194 deg,
approach rate: -0.632061 m/s,
LOS rate: 0.074185 deg/s,
cmd heading: 72.217229 deg,
new cmd heading: 72.278515 deg.
2025-08-22T21:42:17.834Z,1755898937.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261498 target range: 163.267563 and range: 164.30 m.
2025-08-22T21:42:17.876Z,1755898937.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255034
2025-08-22T21:42:18.127Z,1755898938.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505691
2025-08-22T21:42:18.209Z,1755898938.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.27 m.
2025-08-22T21:42:18.211Z,1755898938.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 163.267563 m,
nav range: 158.630371 m,
bearing: 77.492081 deg,
approach rate: -0.633295 m/s,
LOS rate: 0.074324 deg/s,
cmd heading: 72.278517 deg,
new cmd heading: 72.338386 deg.
2025-08-22T21:42:18.212Z,1755898938.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262543 target range: 163.267563 and range: 164.30 m.
2025-08-22T21:42:18.379Z,1755898938.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758186
2025-08-22T21:42:18.631Z,1755898938.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009692
2025-08-22T21:42:18.651Z,1755898938.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.27 m.
2025-08-22T21:42:18.654Z,1755898938.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 163.267563 m,
nav range: 158.354202 m,
bearing: 77.522397 deg,
approach rate: -0.624443 m/s,
LOS rate: 0.068667 deg/s,
cmd heading: 72.338383 deg,
new cmd heading: 72.399121 deg.
2025-08-22T21:42:18.655Z,1755898938.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.263603 target range: 163.267563 and range: 164.30 m.
2025-08-22T21:42:18.883Z,1755898938.883 [DAT](INFO): DAT read: Rx Time:21:42:19.4071
2025-08-22T21:42:18.883Z,1755898938.883 [DAT](INFO): Rx dataTimestamp_ set to:1755898938.882841
2025-08-22T21:42:18.884Z,1755898938.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262831
2025-08-22T21:42:19.020Z,1755898939.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.27 m.
2025-08-22T21:42:19.031Z,1755898939.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 163.267563 m,
nav range: 158.133545 m,
bearing: 77.546644 deg,
approach rate: -0.597638 m/s,
LOS rate: 0.065762 deg/s,
cmd heading: 72.399124 deg,
new cmd heading: 72.447685 deg.
2025-08-22T21:42:19.032Z,1755898939.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264451 target range: 163.267563 and range: 164.30 m.
2025-08-22T21:42:19.135Z,1755898939.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514522
2025-08-22T21:42:19.392Z,1755898939.392 [DAT](INFO): DAT read: 21:42:19.4071 LVL= 32752, 32753, 28594, 29171, AGC= 66, IDX= 28, 0.15,-0.471,-2.201,-0.567,-0.809, PHS= 0.441,-1.347, 0.198, RAW= 142.8, 8.5, CAL= 142.4, 9.3, ROT= 7.6, -9.3
2025-08-22T21:42:19.393Z,1755898939.393 [DAT](INFO): got valid direction response:
21:42:19.4071 LVL= 32752, 32753, 28594, 29171, AGC= 66, IDX= 28, 0.15,-0.471,-2.201,-0.567,-0.809, PHS= 0.441,-1.347, 0.198, RAW= 142.8, 8.5, CAL= 142.4, 9.3, ROT= 7.6, -9.3
2025-08-22T21:42:19.394Z,1755898939.394 [DAT](INFO): DAT read: Bearing 208.4, 8.4 (Local)
2025-08-22T21:42:19.394Z,1755898939.394 [DAT](INFO): Local bearing/azimuth received:
Bearing 208.4, 8.4 (Local)
2025-08-22T21:42:19.396Z,1755898939.396 [DAT](INFO): DAT read: Range 11 to 50 : 162.7 m (Round-trip 217.0 ms) speed 0.6 m/s
2025-08-22T21:42:19.396Z,1755898939.396 [DAT](INFO): DAT read: user:2405>
2025-08-22T21:42:19.397Z,1755898939.397 [DAT](INFO): DAT read: Tx time:21:42:20.5359
2025-08-22T21:42:19.398Z,1755898939.398 [DAT](INFO): Ping request sent.
2025-08-22T21:42:19.398Z,1755898939.398 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:42:19.399Z,1755898939.399 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:42:19.400Z,1755898939.400 [DAT](INFO): direction in FSK: [0.978187,0.130518,0.161604]
2025-08-22T21:42:19.400Z,1755898939.400 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:19.400Z,1755898939.400 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:19.403Z,1755898939.403 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:19.403Z,1755898939.403 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:19.508Z,1755898939.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 162.699997 m,
deltaT: 3.778131 s,
deltaX: -1.600006 m,
approachRate: -0.423491 m/s,
rangeRepo size: 4
2025-08-22T21:42:19.515Z,1755898939.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 161.674011 m,
bearing: 78.024217 deg,
lat: 36.779434 deg,
lon: -121.859228 deg,
deltaT: 3.778131 s,
deltaX: -1.593552 m,
approachRate: -0.421783 m/s,
posRepo size: 4
2025-08-22T21:42:19.515Z,1755898939.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.67 m.
2025-08-22T21:42:19.522Z,1755898939.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 161.674011 m,
nav range: 157.644043 m,
bearing: 77.897695 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.065762 deg/s,
cmd heading: 72.447687 deg,
new cmd heading: 72.511794 deg.
2025-08-22T21:42:19.523Z,1755898939.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265570 target range: 161.674011 and range: 162.70 m.
2025-08-22T21:42:19.952Z,1755898939.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:19.965Z,1755898939.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.67 m.
2025-08-22T21:42:19.983Z,1755898939.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 161.674011 m,
nav range: 157.347458 m,
bearing: 77.929663 deg,
approach rate: -0.648666 m/s,
LOS rate: 0.070049 deg/s,
cmd heading: 72.511795 deg,
new cmd heading: 72.575851 deg.
2025-08-22T21:42:19.984Z,1755898939.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266688 target range: 161.674011 and range: 162.70 m.
2025-08-22T21:42:20.142Z,1755898940.142 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:20.142Z,1755898940.142 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:20.143Z,1755898940.143 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:20.334Z,1755898940.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.67 m.
2025-08-22T21:42:20.337Z,1755898940.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 161.674011 m,
nav range: 157.105515 m,
bearing: 77.955832 deg,
approach rate: -0.655799 m/s,
LOS rate: 0.071042 deg/s,
cmd heading: 72.575848 deg,
new cmd heading: 72.628267 deg.
2025-08-22T21:42:20.338Z,1755898940.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.267602 target range: 161.674011 and range: 162.70 m.
2025-08-22T21:42:20.395Z,1755898940.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996319
2025-08-22T21:42:20.648Z,1755898940.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249348
2025-08-22T21:42:20.760Z,1755898940.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.67 m.
2025-08-22T21:42:20.767Z,1755898940.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 161.674011 m,
nav range: 156.837112 m,
bearing: 77.985549 deg,
approach rate: -0.629238 m/s,
LOS rate: 0.069788 deg/s,
cmd heading: 72.628270 deg,
new cmd heading: 72.687806 deg.
2025-08-22T21:42:20.768Z,1755898940.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268642 target range: 161.674011 and range: 162.70 m.
2025-08-22T21:42:20.899Z,1755898940.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500204
2025-08-22T21:42:21.158Z,1755898941.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759757
2025-08-22T21:42:21.174Z,1755898941.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.67 m.
2025-08-22T21:42:21.178Z,1755898941.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 161.674011 m,
nav range: 156.574829 m,
bearing: 78.014692 deg,
approach rate: -0.635241 m/s,
LOS rate: 0.070701 deg/s,
cmd heading: 72.687809 deg,
new cmd heading: 72.746192 deg.
2025-08-22T21:42:21.179Z,1755898941.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.269661 target range: 161.674011 and range: 162.70 m.
2025-08-22T21:42:21.412Z,1755898941.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013834
2025-08-22T21:42:21.533Z,1755898941.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.67 m.
2025-08-22T21:42:21.536Z,1755898941.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 161.674011 m,
nav range: 156.342987 m,
bearing: 78.040269 deg,
approach rate: -0.643627 m/s,
LOS rate: 0.071112 deg/s,
cmd heading: 72.746193 deg,
new cmd heading: 72.797424 deg.
2025-08-22T21:42:21.537Z,1755898941.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.270555 target range: 161.674011 and range: 162.70 m.
2025-08-22T21:42:21.663Z,1755898941.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265084
2025-08-22T21:42:21.915Z,1755898941.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516305
2025-08-22T21:42:21.971Z,1755898941.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:21.973Z,1755898941.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.67 m.
2025-08-22T21:42:21.980Z,1755898941.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 161.674011 m,
nav range: 156.091965 m,
bearing: 78.069314 deg,
approach rate: -0.571032 m/s,
LOS rate: 0.066179 deg/s,
cmd heading: 72.797427 deg,
new cmd heading: 72.855610 deg.
2025-08-22T21:42:21.981Z,1755898941.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.271570 target range: 161.674011 and range: 162.70 m.
2025-08-22T21:42:22.167Z,1755898942.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768971
2025-08-22T21:42:22.332Z,1755898942.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.67 m.
2025-08-22T21:42:22.335Z,1755898942.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 161.674011 m,
nav range: 155.859879 m,
bearing: 78.096141 deg,
approach rate: -0.646462 m/s,
LOS rate: 0.074835 deg/s,
cmd heading: 72.855613 deg,
new cmd heading: 72.909346 deg.
2025-08-22T21:42:22.336Z,1755898942.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.272508 target range: 161.674011 and range: 162.70 m.
2025-08-22T21:42:22.419Z,1755898942.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020309
2025-08-22T21:42:22.671Z,1755898942.671 [DAT](INFO): DAT read: Rx Time:21:42:23.1539
2025-08-22T21:42:22.671Z,1755898942.671 [DAT](INFO): Rx dataTimestamp_ set to:1755898942.670695
2025-08-22T21:42:22.672Z,1755898942.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273218
2025-08-22T21:42:22.780Z,1755898942.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.67 m.
2025-08-22T21:42:22.783Z,1755898942.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 161.674011 m,
nav range: 155.589828 m,
bearing: 78.127404 deg,
approach rate: -0.602981 m/s,
LOS rate: 0.069927 deg/s,
cmd heading: 72.909346 deg,
new cmd heading: 72.971981 deg.
2025-08-22T21:42:22.783Z,1755898942.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273601 target range: 161.674011 and range: 162.70 m.
2025-08-22T21:42:22.922Z,1755898942.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524170
2025-08-22T21:42:23.150Z,1755898943.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.67 m.
2025-08-22T21:42:23.153Z,1755898943.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 161.674011 m,
nav range: 155.369705 m,
bearing: 78.152879 deg,
approach rate: -0.594168 m/s,
LOS rate: 0.068862 deg/s,
cmd heading: 72.971979 deg,
new cmd heading: 73.023002 deg.
2025-08-22T21:42:23.154Z,1755898943.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274492 target range: 161.674011 and range: 162.70 m.
2025-08-22T21:42:23.183Z,1755898943.183 [DAT](INFO): DAT read: 21:42:23.1539 LVL= 32736, 32753, 28178, 30707, AGC= 63, IDX= 14,-0.15, 1.825, 0.170, 1.737, 1.479, PHS= 0.448,-1.264, 0.215, RAW= 142.8, 7.5, CAL= 142.4, 8.3, ROT= 7.6, -8.3
2025-08-22T21:42:23.184Z,1755898943.184 [DAT](INFO): got valid direction response:
21:42:23.1539 LVL= 32736, 32753, 28178, 30707, AGC= 63, IDX= 14,-0.15, 1.825, 0.170, 1.737, 1.479, PHS= 0.448,-1.264, 0.215, RAW= 142.8, 7.5, CAL= 142.4, 8.3, ROT= 7.6, -8.3
2025-08-22T21:42:23.186Z,1755898943.186 [DAT](INFO): DAT read: Bearing 208.4, 7.4 (Local)
2025-08-22T21:42:23.186Z,1755898943.186 [DAT](INFO): Local bearing/azimuth received:
Bearing 208.4, 7.4 (Local)
2025-08-22T21:42:23.188Z,1755898943.188 [DAT](INFO): DAT read: Range 11 to 50 : 160.4 m (Round-trip 213.9 ms) speed 0.4 m/s
2025-08-22T21:42:23.189Z,1755898943.189 [DAT](INFO): DAT read: user:2406>
2025-08-22T21:42:23.194Z,1755898943.194 [DAT](INFO): DAT read: Tx time:21:42:24.2358
2025-08-22T21:42:23.195Z,1755898943.195 [DAT](INFO): Ping request sent.
2025-08-22T21:42:23.195Z,1755898943.195 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:42:23.195Z,1755898943.195 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:42:23.196Z,1755898943.196 [DAT](INFO): direction in FSK: [0.980833,0.130871,0.144356]
2025-08-22T21:42:23.196Z,1755898943.196 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:23.196Z,1755898943.196 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:23.204Z,1755898943.204 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:23.204Z,1755898943.204 [DAT](INFO): publishing direction and range info
2025-08-22T21:42:23.570Z,1755898943.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 160.399994 m,
deltaT: 3.788521 s,
deltaX: -2.300003 m,
approachRate: -0.607098 m/s,
rangeRepo size: 4
2025-08-22T21:42:23.580Z,1755898943.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 159.387070 m,
bearing: 78.794420 deg,
lat: 36.779434 deg,
lon: -121.859216 deg,
deltaT: 3.788521 s,
deltaX: -2.286942 m,
approachRate: -0.603650 m/s,
posRepo size: 4
2025-08-22T21:42:23.581Z,1755898943.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:23.610Z,1755898943.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 156.159698 m,
bearing: 78.271211 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.068862 deg/s,
cmd heading: 73.023000 deg,
new cmd heading: 73.079928 deg.
2025-08-22T21:42:23.618Z,1755898943.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275485 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:23.985Z,1755898943.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:23.987Z,1755898943.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:23.990Z,1755898943.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 155.890747 m,
bearing: 78.301204 deg,
approach rate: -0.635107 m/s,
LOS rate: 0.070947 deg/s,
cmd heading: 73.079930 deg,
new cmd heading: 73.140019 deg.
2025-08-22T21:42:23.991Z,1755898943.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276534 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:24.183Z,1755898944.183 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:24.183Z,1755898944.183 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:24.184Z,1755898944.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:24.366Z,1755898944.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:24.368Z,1755898944.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 155.672256 m,
bearing: 78.325464 deg,
approach rate: -0.583329 m/s,
LOS rate: 0.064861 deg/s,
cmd heading: 73.140022 deg,
new cmd heading: 73.188610 deg.
2025-08-22T21:42:24.374Z,1755898944.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277382 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:24.435Z,1755898944.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240798
2025-08-22T21:42:24.687Z,1755898944.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492239
2025-08-22T21:42:24.787Z,1755898944.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:24.806Z,1755898944.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 155.399765 m,
bearing: 78.355387 deg,
approach rate: -0.640448 m/s,
LOS rate: 0.070452 deg/s,
cmd heading: 73.188612 deg,
new cmd heading: 73.248563 deg.
2025-08-22T21:42:24.810Z,1755898944.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.278429 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:24.939Z,1755898944.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743841
2025-08-22T21:42:25.191Z,1755898945.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996601
2025-08-22T21:42:25.202Z,1755898945.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:25.205Z,1755898945.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 155.156876 m,
bearing: 78.381780 deg,
approach rate: -0.584632 m/s,
LOS rate: 0.063628 deg/s,
cmd heading: 73.248561 deg,
new cmd heading: 73.301430 deg.
2025-08-22T21:42:25.210Z,1755898945.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.279351 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:25.443Z,1755898945.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248530
2025-08-22T21:42:25.697Z,1755898945.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501756
2025-08-22T21:42:25.760Z,1755898945.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:25.762Z,1755898945.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 154.796417 m,
bearing: 78.421807 deg,
approach rate: -0.647154 m/s,
LOS rate: 0.072030 deg/s,
cmd heading: 73.301426 deg,
new cmd heading: 73.381667 deg.
2025-08-22T21:42:25.763Z,1755898945.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.280752 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:25.950Z,1755898945.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754703
2025-08-22T21:42:26.129Z,1755898946.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:26.131Z,1755898946.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:26.134Z,1755898946.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 154.566147 m,
bearing: 78.447281 deg,
approach rate: -0.619015 m/s,
LOS rate: 0.068583 deg/s,
cmd heading: 73.381667 deg,
new cmd heading: 73.432692 deg.
2025-08-22T21:42:26.135Z,1755898946.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.281642 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:26.199Z,1755898946.199 [DAT](INFO): DAT read: Rx Time:21:42:26.8503
2025-08-22T21:42:26.199Z,1755898946.199 [DAT](INFO): Rx dataTimestamp_ set to:1755898946.198900
2025-08-22T21:42:26.200Z,1755898946.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005072
2025-08-22T21:42:26.451Z,1755898946.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255828
2025-08-22T21:42:26.652Z,1755898946.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:26.678Z,1755898946.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 154.264893 m,
bearing: 78.480541 deg,
approach rate: -0.580191 m/s,
LOS rate: 0.064181 deg/s,
cmd heading: 73.432689 deg,
new cmd heading: 73.499339 deg.
2025-08-22T21:42:26.686Z,1755898946.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282805 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:26.703Z,1755898946.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508032
2025-08-22T21:42:26.962Z,1755898946.962 [DAT](INFO): DAT read: 21:42:26.8503 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 407, 0.24, 0.972,-0.865, 0.881, 0.679, PHS= 0.396,-1.499, 0.158, RAW= 143.4, 10.6, CAL= 142.9, 11.5, ROT= 7.1, -11.5
2025-08-22T21:42:26.963Z,1755898946.963 [DAT](INFO): got valid direction response:
21:42:26.8503 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 407, 0.24, 0.972,-0.865, 0.881, 0.679, PHS= 0.396,-1.499, 0.158, RAW= 143.4, 10.6, CAL= 142.9, 11.5, ROT= 7.1, -11.5
2025-08-22T21:42:26.964Z,1755898946.964 [DAT](INFO): DAT read: $Error in header
2025-08-22T21:42:26.964Z,1755898946.964 [DAT](INFO): Received a bad header
2025-08-22T21:42:26.978Z,1755898946.978 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T21:42:26.979Z,1755898946.979 [DAT](INFO): direction in FSK: [0.972411,0.121120,0.199368]
2025-08-22T21:42:26.984Z,1755898946.984 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:26.984Z,1755898946.984 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:26.985Z,1755898946.985 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:27.178Z,1755898947.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:27.185Z,1755898947.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 153.937103 m,
bearing: 78.516960 deg,
approach rate: -0.627510 m/s,
LOS rate: 0.069867 deg/s,
cmd heading: 73.499338 deg,
new cmd heading: 73.572330 deg.
2025-08-22T21:42:27.186Z,1755898947.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284079 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:27.206Z,1755898947.206 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:27.206Z,1755898947.206 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:27.207Z,1755898947.207 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:27.458Z,1755898947.458 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:27.458Z,1755898947.458 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:27.459Z,1755898947.459 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:27.635Z,1755898947.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:27.637Z,1755898947.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 153.651428 m,
bearing: 78.548587 deg,
approach rate: -0.619066 m/s,
LOS rate: 0.068665 deg/s,
cmd heading: 73.572332 deg,
new cmd heading: 73.635705 deg.
2025-08-22T21:42:27.649Z,1755898947.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285185 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:27.712Z,1755898947.712 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:27.713Z,1755898947.713 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:27.713Z,1755898947.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:27.922Z,1755898947.922 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:42:27.962Z,1755898947.962 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:27.962Z,1755898947.962 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:27.963Z,1755898947.963 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:28.097Z,1755898948.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:28.100Z,1755898948.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 153.345535 m,
bearing: 78.581436 deg,
approach rate: -0.661632 m/s,
LOS rate: 0.071193 deg/s,
cmd heading: 73.635703 deg,
new cmd heading: 73.701532 deg.
2025-08-22T21:42:28.101Z,1755898948.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286334 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:28.214Z,1755898948.214 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:28.214Z,1755898948.214 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:28.214Z,1755898948.214 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:28.465Z,1755898948.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:28.467Z,1755898948.467 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:28.467Z,1755898948.467 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:28.467Z,1755898948.467 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:28.469Z,1755898948.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:28.472Z,1755898948.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 153.099243 m,
bearing: 78.607827 deg,
approach rate: -0.661850 m/s,
LOS rate: 0.071031 deg/s,
cmd heading: 73.701532 deg,
new cmd heading: 73.754397 deg.
2025-08-22T21:42:28.473Z,1755898948.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.287257 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:28.720Z,1755898948.720 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:28.721Z,1755898948.721 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:28.721Z,1755898948.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:28.876Z,1755898948.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:28.886Z,1755898948.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 152.850876 m,
bearing: 78.634238 deg,
approach rate: -0.610337 m/s,
LOS rate: 0.065008 deg/s,
cmd heading: 73.754398 deg,
new cmd heading: 73.807306 deg.
2025-08-22T21:42:28.887Z,1755898948.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.288180 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:28.926Z,1755898948.926 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:42:28.970Z,1755898948.970 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:28.971Z,1755898948.971 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:28.971Z,1755898948.971 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:29.222Z,1755898949.222 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:29.222Z,1755898949.222 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:29.222Z,1755898949.222 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:29.239Z,1755898949.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:29.242Z,1755898949.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 152.620895 m,
bearing: 78.658644 deg,
approach rate: -0.633630 m/s,
LOS rate: 0.067345 deg/s,
cmd heading: 73.807304 deg,
new cmd heading: 73.856191 deg.
2025-08-22T21:42:29.243Z,1755898949.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.289034 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:29.475Z,1755898949.475 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:29.476Z,1755898949.476 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:29.476Z,1755898949.476 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:29.669Z,1755898949.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:29.671Z,1755898949.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 152.368637 m,
bearing: 78.685304 deg,
approach rate: -0.587043 m/s,
LOS rate: 0.062143 deg/s,
cmd heading: 73.856188 deg,
new cmd heading: 73.909595 deg.
2025-08-22T21:42:29.672Z,1755898949.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.289966 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:29.729Z,1755898949.729 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:29.730Z,1755898949.730 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:29.730Z,1755898949.730 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:29.978Z,1755898949.978 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:29.978Z,1755898949.978 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:29.978Z,1755898949.978 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:30.083Z,1755898950.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:30.091Z,1755898950.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 152.125305 m,
bearing: 78.712022 deg,
approach rate: -0.586919 m/s,
LOS rate: 0.064548 deg/s,
cmd heading: 73.909593 deg,
new cmd heading: 73.963116 deg.
2025-08-22T21:42:30.092Z,1755898950.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.290900 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:30.230Z,1755898950.230 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:30.230Z,1755898950.230 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:30.230Z,1755898950.230 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:30.433Z,1755898950.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:30.435Z,1755898950.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 151.893600 m,
bearing: 78.737378 deg,
approach rate: -0.663042 m/s,
LOS rate: 0.072669 deg/s,
cmd heading: 73.963114 deg,
new cmd heading: 74.013904 deg.
2025-08-22T21:42:30.436Z,1755898950.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.291786 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:30.483Z,1755898950.483 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:30.483Z,1755898950.483 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:30.483Z,1755898950.483 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:30.737Z,1755898950.737 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:30.737Z,1755898950.737 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:30.737Z,1755898950.737 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:30.850Z,1755898950.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:30.852Z,1755898950.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:30.855Z,1755898950.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 151.642548 m,
bearing: 78.764825 deg,
approach rate: -0.598403 m/s,
LOS rate: 0.065530 deg/s,
cmd heading: 74.013904 deg,
new cmd heading: 74.068889 deg.
2025-08-22T21:42:30.856Z,1755898950.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.292746 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:30.986Z,1755898950.986 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:30.987Z,1755898950.987 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:30.987Z,1755898950.987 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:31.238Z,1755898951.238 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:31.238Z,1755898951.238 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:31.238Z,1755898951.238 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:31.289Z,1755898951.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:31.300Z,1755898951.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 151.400162 m,
bearing: 78.791319 deg,
approach rate: -0.554967 m/s,
LOS rate: 0.060759 deg/s,
cmd heading: 74.068887 deg,
new cmd heading: 74.121960 deg.
2025-08-22T21:42:31.301Z,1755898951.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293672 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:31.490Z,1755898951.490 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:31.490Z,1755898951.490 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:31.490Z,1755898951.490 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:31.653Z,1755898951.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:31.659Z,1755898951.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 151.177612 m,
bearing: 78.815606 deg,
approach rate: -0.612084 m/s,
LOS rate: 0.066894 deg/s,
cmd heading: 74.121957 deg,
new cmd heading: 74.170602 deg.
2025-08-22T21:42:31.660Z,1755898951.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294521 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:31.745Z,1755898951.745 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:31.745Z,1755898951.745 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:31.745Z,1755898951.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:31.994Z,1755898951.994 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:31.994Z,1755898951.994 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:31.995Z,1755898951.995 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:32.105Z,1755898952.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:32.116Z,1755898952.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 150.890900 m,
bearing: 78.845158 deg,
approach rate: -0.634087 m/s,
LOS rate: 0.065482 deg/s,
cmd heading: 74.170602 deg,
new cmd heading: 74.229820 deg.
2025-08-22T21:42:32.117Z,1755898952.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295555 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:32.246Z,1755898952.246 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:32.246Z,1755898952.246 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:32.246Z,1755898952.246 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:32.454Z,1755898952.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:32.457Z,1755898952.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 150.671539 m,
bearing: 78.867766 deg,
approach rate: -0.627574 m/s,
LOS rate: 0.064772 deg/s,
cmd heading: 74.229820 deg,
new cmd heading: 74.275100 deg.
2025-08-22T21:42:32.458Z,1755898952.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.296345 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:32.499Z,1755898952.499 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:32.499Z,1755898952.499 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:32.500Z,1755898952.500 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:32.753Z,1755898952.753 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:32.754Z,1755898952.754 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:32.754Z,1755898952.754 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:32.916Z,1755898952.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:32.919Z,1755898952.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:32.922Z,1755898952.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 150.399673 m,
bearing: 78.897159 deg,
approach rate: -0.584893 m/s,
LOS rate: 0.063351 deg/s,
cmd heading: 74.275097 deg,
new cmd heading: 74.333990 deg.
2025-08-22T21:42:32.923Z,1755898952.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297373 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:33.003Z,1755898953.003 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:33.003Z,1755898953.003 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:33.003Z,1755898953.003 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:33.254Z,1755898953.254 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:33.254Z,1755898953.254 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:33.255Z,1755898953.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:33.265Z,1755898953.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:33.267Z,1755898953.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 150.178741 m,
bearing: 78.921022 deg,
approach rate: -0.639289 m/s,
LOS rate: 0.069152 deg/s,
cmd heading: 74.333987 deg,
new cmd heading: 74.381783 deg.
2025-08-22T21:42:33.268Z,1755898953.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298207 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:33.507Z,1755898953.507 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:33.507Z,1755898953.507 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:33.507Z,1755898953.507 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:33.680Z,1755898953.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:33.687Z,1755898953.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 149.932571 m,
bearing: 78.947599 deg,
approach rate: -0.592476 m/s,
LOS rate: 0.064069 deg/s,
cmd heading: 74.381785 deg,
new cmd heading: 74.435025 deg.
2025-08-22T21:42:33.688Z,1755898953.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299136 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:33.761Z,1755898953.761 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:33.762Z,1755898953.762 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:33.763Z,1755898953.763 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:34.010Z,1755898954.010 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:34.010Z,1755898954.010 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:34.011Z,1755898954.011 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:34.130Z,1755898954.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:34.133Z,1755898954.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 149.661774 m,
bearing: 78.975482 deg,
approach rate: -0.601487 m/s,
LOS rate: 0.062045 deg/s,
cmd heading: 74.435026 deg,
new cmd heading: 74.490893 deg.
2025-08-22T21:42:34.143Z,1755898954.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300111 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:34.263Z,1755898954.263 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:34.264Z,1755898954.264 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:34.264Z,1755898954.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:34.514Z,1755898954.514 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:34.514Z,1755898954.514 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:34.515Z,1755898954.515 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:34.528Z,1755898954.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:34.535Z,1755898954.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 149.429581 m,
bearing: 78.999370 deg,
approach rate: -0.584552 m/s,
LOS rate: 0.060233 deg/s,
cmd heading: 74.490890 deg,
new cmd heading: 74.538741 deg.
2025-08-22T21:42:34.536Z,1755898954.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300946 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:34.770Z,1755898954.770 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:34.771Z,1755898954.771 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:34.772Z,1755898954.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:34.935Z,1755898954.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:34.942Z,1755898954.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:34.944Z,1755898954.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 149.171219 m,
bearing: 79.026170 deg,
approach rate: -0.630574 m/s,
LOS rate: 0.065522 deg/s,
cmd heading: 74.538742 deg,
new cmd heading: 74.592434 deg.
2025-08-22T21:42:34.945Z,1755898954.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.301884 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:35.019Z,1755898955.019 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:35.020Z,1755898955.020 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:35.020Z,1755898955.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:35.270Z,1755898955.270 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:35.270Z,1755898955.270 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:35.271Z,1755898955.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:35.306Z,1755898955.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:35.309Z,1755898955.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 148.934509 m,
bearing: 79.050681 deg,
approach rate: -0.641863 m/s,
LOS rate: 0.066571 deg/s,
cmd heading: 74.592434 deg,
new cmd heading: 74.641535 deg.
2025-08-22T21:42:35.311Z,1755898955.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.302741 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:35.523Z,1755898955.523 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:42:35.523Z,1755898955.523 [DAT](INFO): response not received
2025-08-22T21:42:35.523Z,1755898955.523 [DAT](INFO): DAT read: user:2408>
2025-08-22T21:42:35.524Z,1755898955.524 [DAT](INFO): DAT read: Tx time:21:42:36.6858
2025-08-22T21:42:35.524Z,1755898955.524 [DAT](INFO): Ping request sent.
2025-08-22T21:42:35.524Z,1755898955.524 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:42:35.524Z,1755898955.524 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:35.525Z,1755898955.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-08-22T21:42:35.736Z,1755898955.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:35.742Z,1755898955.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 148.675919 m,
bearing: 79.077420 deg,
approach rate: -0.602085 m/s,
LOS rate: 0.062365 deg/s,
cmd heading: 74.641537 deg,
new cmd heading: 74.695108 deg.
2025-08-22T21:42:35.743Z,1755898955.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.303676 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:35.775Z,1755898955.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250242
2025-08-22T21:42:36.027Z,1755898956.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502118
2025-08-22T21:42:36.183Z,1755898956.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:36.192Z,1755898956.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 148.409531 m,
bearing: 79.104816 deg,
approach rate: -0.608791 m/s,
LOS rate: 0.062722 deg/s,
cmd heading: 74.695106 deg,
new cmd heading: 74.749997 deg.
2025-08-22T21:42:36.193Z,1755898956.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304633 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:36.279Z,1755898956.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754879
2025-08-22T21:42:36.518Z,1755898956.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:36.521Z,1755898956.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 148.184738 m,
bearing: 79.127842 deg,
approach rate: -0.651875 m/s,
LOS rate: 0.066874 deg/s,
cmd heading: 74.749993 deg,
new cmd heading: 74.796115 deg.
2025-08-22T21:42:36.531Z,1755898956.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006168
2025-08-22T21:42:36.538Z,1755898956.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.305439 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:36.785Z,1755898956.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260191
2025-08-22T21:42:36.939Z,1755898956.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:36.941Z,1755898956.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:36.961Z,1755898956.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 147.924652 m,
bearing: 79.154568 deg,
approach rate: -0.614589 m/s,
LOS rate: 0.063264 deg/s,
cmd heading: 74.796118 deg,
new cmd heading: 74.849662 deg.
2025-08-22T21:42:36.966Z,1755898956.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.306373 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:37.037Z,1755898957.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512127
2025-08-22T21:42:37.287Z,1755898957.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762126
2025-08-22T21:42:37.433Z,1755898957.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:37.436Z,1755898957.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 147.621735 m,
bearing: 79.185626 deg,
approach rate: -0.615925 m/s,
LOS rate: 0.063282 deg/s,
cmd heading: 74.849659 deg,
new cmd heading: 74.911904 deg.
2025-08-22T21:42:37.437Z,1755898957.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.307459 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:37.541Z,1755898957.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015837
2025-08-22T21:42:37.791Z,1755898957.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266789
2025-08-22T21:42:37.945Z,1755898957.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:37.948Z,1755898957.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 147.325302 m,
bearing: 79.216848 deg,
approach rate: -0.597329 m/s,
LOS rate: 0.063040 deg/s,
cmd heading: 74.911903 deg,
new cmd heading: 74.974471 deg.
2025-08-22T21:42:37.949Z,1755898957.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308551 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:38.044Z,1755898958.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519460
2025-08-22T21:42:38.296Z,1755898958.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771264
2025-08-22T21:42:38.406Z,1755898958.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:38.409Z,1755898958.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 147.040512 m,
bearing: 79.246720 deg,
approach rate: -0.597608 m/s,
LOS rate: 0.062805 deg/s,
cmd heading: 74.974474 deg,
new cmd heading: 75.034334 deg.
2025-08-22T21:42:38.410Z,1755898958.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.309596 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:38.548Z,1755898958.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023065
2025-08-22T21:42:38.800Z,1755898958.800 [DAT](INFO): DAT read: Rx Time:21:42:39.2515
2025-08-22T21:42:38.801Z,1755898958.801 [DAT](INFO): Rx dataTimestamp_ set to:1755898958.800499
2025-08-22T21:42:38.801Z,1755898958.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276967
2025-08-22T21:42:38.888Z,1755898958.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:38.895Z,1755898958.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 146.762970 m,
bearing: 79.275777 deg,
approach rate: -0.575574 m/s,
LOS rate: 0.060373 deg/s,
cmd heading: 75.034334 deg,
new cmd heading: 75.092558 deg.
2025-08-22T21:42:38.896Z,1755898958.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.310612 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:39.052Z,1755898959.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527528
2025-08-22T21:42:39.259Z,1755898959.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:39.261Z,1755898959.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:39.268Z,1755898959.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 146.545990 m,
bearing: 79.298422 deg,
approach rate: -0.582264 m/s,
LOS rate: 0.060858 deg/s,
cmd heading: 75.092555 deg,
new cmd heading: 75.137912 deg.
2025-08-22T21:42:39.269Z,1755898959.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.311404 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:39.308Z,1755898959.308 [DAT](INFO): DAT read: 21:42:39.2515 LVL= 29424, 32753, 26610, 32755, AGC= 63, IDX= 451,-0.29, 2.419, 0.436, 2.131, 1.971, PHS= 0.550,-1.490, 0.116, RAW= 138.3, 8.9, CAL= 138.0, 9.8, ROT= 12.0, -9.8
2025-08-22T21:42:39.310Z,1755898959.310 [DAT](INFO): got valid direction response:
21:42:39.2515 LVL= 29424, 32753, 26610, 32755, AGC= 63, IDX= 451,-0.29, 2.419, 0.436, 2.131, 1.971, PHS= 0.550,-1.490, 0.116, RAW= 138.3, 8.9, CAL= 138.0, 9.8, ROT= 12.0, -9.8
2025-08-22T21:42:39.310Z,1755898959.310 [DAT](INFO): DAT read: $Error in header
2025-08-22T21:42:39.311Z,1755898959.311 [DAT](INFO): Received a bad header
2025-08-22T21:42:39.324Z,1755898959.324 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T21:42:39.325Z,1755898959.325 [DAT](INFO): direction in FSK: [0.963874,0.204878,0.170209]
2025-08-22T21:42:39.328Z,1755898959.328 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:39.328Z,1755898959.328 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:39.328Z,1755898959.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:39.555Z,1755898959.555 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:39.555Z,1755898959.555 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:39.556Z,1755898959.556 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:39.637Z,1755898959.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:39.648Z,1755898959.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 146.319473 m,
bearing: 79.322034 deg,
approach rate: -0.607327 m/s,
LOS rate: 0.063405 deg/s,
cmd heading: 75.137914 deg,
new cmd heading: 75.185210 deg.
2025-08-22T21:42:39.649Z,1755898959.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312230 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:39.807Z,1755898959.807 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:39.807Z,1755898959.807 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:39.807Z,1755898959.807 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:40.060Z,1755898960.060 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:40.060Z,1755898960.060 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:40.060Z,1755898960.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:40.079Z,1755898960.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:40.088Z,1755898960.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 146.050308 m,
bearing: 79.349621 deg,
approach rate: -0.604093 m/s,
LOS rate: 0.062029 deg/s,
cmd heading: 75.185213 deg,
new cmd heading: 75.240489 deg.
2025-08-22T21:42:40.089Z,1755898960.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.313194 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:40.312Z,1755898960.312 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:40.312Z,1755898960.312 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:40.313Z,1755898960.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:40.439Z,1755898960.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:40.442Z,1755898960.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 145.820633 m,
bearing: 79.373093 deg,
approach rate: -0.637792 m/s,
LOS rate: 0.065284 deg/s,
cmd heading: 75.240490 deg,
new cmd heading: 75.287508 deg.
2025-08-22T21:42:40.443Z,1755898960.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.314015 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:40.562Z,1755898960.562 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:40.562Z,1755898960.562 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:40.563Z,1755898960.563 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:40.814Z,1755898960.814 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:40.814Z,1755898960.814 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:40.814Z,1755898960.814 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:40.985Z,1755898960.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:40.988Z,1755898960.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 145.477570 m,
bearing: 79.408788 deg,
approach rate: -0.628981 m/s,
LOS rate: 0.065598 deg/s,
cmd heading: 75.287509 deg,
new cmd heading: 75.359066 deg.
2025-08-22T21:42:40.989Z,1755898960.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315264 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:41.067Z,1755898961.067 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:41.067Z,1755898961.067 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:41.067Z,1755898961.067 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:41.258Z,1755898961.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:41.261Z,1755898961.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 145.310211 m,
bearing: 79.426264 deg,
approach rate: -0.611312 m/s,
LOS rate: 0.063909 deg/s,
cmd heading: 75.359069 deg,
new cmd heading: 75.394061 deg.
2025-08-22T21:42:41.262Z,1755898961.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315875 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:41.318Z,1755898961.318 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:41.318Z,1755898961.318 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:41.318Z,1755898961.318 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:41.570Z,1755898961.570 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:41.570Z,1755898961.570 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:41.571Z,1755898961.571 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:41.668Z,1755898961.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:41.670Z,1755898961.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:41.673Z,1755898961.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 145.058975 m,
bearing: 79.452576 deg,
approach rate: -0.609888 m/s,
LOS rate: 0.063985 deg/s,
cmd heading: 75.394060 deg,
new cmd heading: 75.446775 deg.
2025-08-22T21:42:41.674Z,1755898961.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316795 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:41.823Z,1755898961.823 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:41.823Z,1755898961.823 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:41.823Z,1755898961.823 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:42.074Z,1755898962.074 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:42.074Z,1755898962.074 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:42.074Z,1755898962.074 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:42.149Z,1755898962.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:42.152Z,1755898962.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 144.770691 m,
bearing: 79.480147 deg,
approach rate: -0.602221 m/s,
LOS rate: 0.057711 deg/s,
cmd heading: 75.446775 deg,
new cmd heading: 75.502028 deg.
2025-08-22T21:42:42.153Z,1755898962.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.317759 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:42.327Z,1755898962.327 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:42.327Z,1755898962.327 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:42.327Z,1755898962.327 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:42.578Z,1755898962.578 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:42.579Z,1755898962.579 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:42.579Z,1755898962.579 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:42.638Z,1755898962.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:42.640Z,1755898962.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 144.491013 m,
bearing: 79.506849 deg,
approach rate: -0.586827 m/s,
LOS rate: 0.056134 deg/s,
cmd heading: 75.502024 deg,
new cmd heading: 75.555530 deg.
2025-08-22T21:42:42.645Z,1755898962.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318693 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:42.831Z,1755898962.831 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:42.831Z,1755898962.831 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:42.831Z,1755898962.831 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:43.082Z,1755898963.082 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:43.082Z,1755898963.082 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:43.083Z,1755898963.083 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:43.145Z,1755898963.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:43.148Z,1755898963.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 144.174210 m,
bearing: 79.538693 deg,
approach rate: -0.614552 m/s,
LOS rate: 0.061909 deg/s,
cmd heading: 75.555532 deg,
new cmd heading: 75.619360 deg.
2025-08-22T21:42:43.149Z,1755898963.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319807 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:43.335Z,1755898963.335 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:43.335Z,1755898963.335 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:43.335Z,1755898963.335 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:43.586Z,1755898963.586 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:43.586Z,1755898963.586 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:43.587Z,1755898963.587 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:43.662Z,1755898963.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:43.664Z,1755898963.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 143.849442 m,
bearing: 79.571168 deg,
approach rate: -0.628800 m/s,
LOS rate: 0.063018 deg/s,
cmd heading: 75.619360 deg,
new cmd heading: 75.684457 deg.
2025-08-22T21:42:43.670Z,1755898963.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320943 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:43.838Z,1755898963.838 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:43.838Z,1755898963.838 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:43.838Z,1755898963.838 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:44.069Z,1755898964.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:44.075Z,1755898964.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:44.086Z,1755898964.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 143.600601 m,
bearing: 79.595729 deg,
approach rate: -0.596228 m/s,
LOS rate: 0.058951 deg/s,
cmd heading: 75.684459 deg,
new cmd heading: 75.733666 deg.
2025-08-22T21:42:44.087Z,1755898964.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321802 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:44.090Z,1755898964.090 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:44.091Z,1755898964.091 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:44.091Z,1755898964.091 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:44.342Z,1755898964.342 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:44.342Z,1755898964.342 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:44.342Z,1755898964.342 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:44.432Z,1755898964.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:44.435Z,1755898964.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 143.376953 m,
bearing: 79.617764 deg,
approach rate: -0.625801 m/s,
LOS rate: 0.061755 deg/s,
cmd heading: 75.733663 deg,
new cmd heading: 75.777803 deg.
2025-08-22T21:42:44.436Z,1755898964.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322572 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:44.594Z,1755898964.594 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:44.594Z,1755898964.594 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:44.594Z,1755898964.594 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:44.843Z,1755898964.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:44.846Z,1755898964.846 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:44.847Z,1755898964.847 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:44.847Z,1755898964.847 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:44.848Z,1755898964.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 143.129013 m,
bearing: 79.642065 deg,
approach rate: -0.603569 m/s,
LOS rate: 0.059257 deg/s,
cmd heading: 75.777800 deg,
new cmd heading: 75.826484 deg.
2025-08-22T21:42:44.849Z,1755898964.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323422 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:45.102Z,1755898965.102 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:45.102Z,1755898965.102 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:45.103Z,1755898965.103 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:45.262Z,1755898965.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:45.265Z,1755898965.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 142.866867 m,
bearing: 79.665396 deg,
approach rate: -0.625887 m/s,
LOS rate: 0.055806 deg/s,
cmd heading: 75.826486 deg,
new cmd heading: 75.873233 deg.
2025-08-22T21:42:45.266Z,1755898965.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324238 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:45.350Z,1755898965.350 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:42:45.350Z,1755898965.350 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:42:45.350Z,1755898965.350 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:42:45.602Z,1755898965.602 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:45.602Z,1755898965.602 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:45.603Z,1755898965.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:45.679Z,1755898965.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:45.686Z,1755898965.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 142.610275 m,
bearing: 79.688132 deg,
approach rate: -0.615148 m/s,
LOS rate: 0.054605 deg/s,
cmd heading: 75.873232 deg,
new cmd heading: 75.918786 deg.
2025-08-22T21:42:45.687Z,1755898965.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325033 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:45.854Z,1755898965.854 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:45.854Z,1755898965.854 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:45.855Z,1755898965.855 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:46.106Z,1755898966.106 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:46.107Z,1755898966.107 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:46.107Z,1755898966.107 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:46.132Z,1755898966.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:46.138Z,1755898966.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:46.141Z,1755898966.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 142.339661 m,
bearing: 79.712380 deg,
approach rate: -0.589283 m/s,
LOS rate: 0.052902 deg/s,
cmd heading: 75.918789 deg,
new cmd heading: 75.967377 deg.
2025-08-22T21:42:46.160Z,1755898966.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325881 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:46.358Z,1755898966.358 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:46.358Z,1755898966.358 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:46.359Z,1755898966.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:46.549Z,1755898966.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:46.572Z,1755898966.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 142.083328 m,
bearing: 79.735284 deg,
approach rate: -0.624692 m/s,
LOS rate: 0.055919 deg/s,
cmd heading: 75.967379 deg,
new cmd heading: 76.013270 deg.
2025-08-22T21:42:46.572Z,1755898966.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326682 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:46.610Z,1755898966.610 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:46.611Z,1755898966.611 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:46.611Z,1755898966.611 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:46.862Z,1755898966.862 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:46.862Z,1755898966.862 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:46.863Z,1755898966.863 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:47.039Z,1755898967.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:47.047Z,1755898967.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 141.779770 m,
bearing: 79.762357 deg,
approach rate: -0.625912 m/s,
LOS rate: 0.055942 deg/s,
cmd heading: 76.013271 deg,
new cmd heading: 76.067533 deg.
2025-08-22T21:42:47.048Z,1755898967.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.327629 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:47.114Z,1755898967.114 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:47.114Z,1755898967.114 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:47.115Z,1755898967.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:47.367Z,1755898967.367 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:47.367Z,1755898967.367 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:47.367Z,1755898967.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:47.451Z,1755898967.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:47.454Z,1755898967.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 141.511627 m,
bearing: 79.788210 deg,
approach rate: -0.642604 m/s,
LOS rate: 0.062074 deg/s,
cmd heading: 76.067537 deg,
new cmd heading: 76.119340 deg.
2025-08-22T21:42:47.455Z,1755898967.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328533 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:47.618Z,1755898967.618 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:47.618Z,1755898967.618 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:47.619Z,1755898967.619 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:47.847Z,1755898967.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:47.849Z,1755898967.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 141.277939 m,
bearing: 79.810687 deg,
approach rate: -0.590846 m/s,
LOS rate: 0.056923 deg/s,
cmd heading: 76.119344 deg,
new cmd heading: 76.164371 deg.
2025-08-22T21:42:47.850Z,1755898967.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.329319 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:47.870Z,1755898967.870 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:47.870Z,1755898967.870 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:47.871Z,1755898967.871 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:48.123Z,1755898968.123 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:42:48.123Z,1755898968.123 [DAT](INFO): response not received
2025-08-22T21:42:48.123Z,1755898968.123 [DAT](INFO): DAT read: user:2410>
2025-08-22T21:42:48.124Z,1755898968.124 [DAT](INFO): DAT read: Tx time:21:42:49.1357
2025-08-22T21:42:48.124Z,1755898968.124 [DAT](INFO): Ping request sent.
2025-08-22T21:42:48.124Z,1755898968.124 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:42:48.124Z,1755898968.124 [DAT](INFO): publishing transmit ping time
2025-08-22T21:42:48.125Z,1755898968.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719
2025-08-22T21:42:48.287Z,1755898968.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:48.289Z,1755898968.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:48.296Z,1755898968.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 141.010574 m,
bearing: 79.836776 deg,
approach rate: -0.604126 m/s,
LOS rate: 0.059061 deg/s,
cmd heading: 76.164368 deg,
new cmd heading: 76.216645 deg.
2025-08-22T21:42:48.297Z,1755898968.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.330231 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:48.375Z,1755898968.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250834
2025-08-22T21:42:48.630Z,1755898968.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505801
2025-08-22T21:42:48.671Z,1755898968.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:48.673Z,1755898968.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 140.765533 m,
bearing: 79.860648 deg,
approach rate: -0.642134 m/s,
LOS rate: 0.062667 deg/s,
cmd heading: 76.216647 deg,
new cmd heading: 76.264475 deg.
2025-08-22T21:42:48.674Z,1755898968.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331066 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:48.883Z,1755898968.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758682
2025-08-22T21:42:49.098Z,1755898969.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:49.100Z,1755898969.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 140.495804 m,
bearing: 79.885013 deg,
approach rate: -0.631909 m/s,
LOS rate: 0.057190 deg/s,
cmd heading: 76.264472 deg,
new cmd heading: 76.313294 deg.
2025-08-22T21:42:49.101Z,1755898969.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331918 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:49.136Z,1755898969.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011514
2025-08-22T21:42:49.387Z,1755898969.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262229
2025-08-22T21:42:49.479Z,1755898969.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:49.482Z,1755898969.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 140.254654 m,
bearing: 79.906878 deg,
approach rate: -0.632131 m/s,
LOS rate: 0.057414 deg/s,
cmd heading: 76.313294 deg,
new cmd heading: 76.357099 deg.
2025-08-22T21:42:49.483Z,1755898969.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332683 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:49.639Z,1755898969.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514231
2025-08-22T21:42:49.879Z,1755898969.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:49.882Z,1755898969.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 140.001801 m,
bearing: 79.929684 deg,
approach rate: -0.631993 m/s,
LOS rate: 0.057105 deg/s,
cmd heading: 76.357103 deg,
new cmd heading: 76.402797 deg.
2025-08-22T21:42:49.883Z,1755898969.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.333480 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:49.891Z,1755898969.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766299
2025-08-22T21:42:50.143Z,1755898970.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018503
2025-08-22T21:42:50.296Z,1755898970.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:50.298Z,1755898970.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:50.301Z,1755898970.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 139.746277 m,
bearing: 79.953393 deg,
approach rate: -0.609737 m/s,
LOS rate: 0.056680 deg/s,
cmd heading: 76.402797 deg,
new cmd heading: 76.450303 deg.
2025-08-22T21:42:50.302Z,1755898970.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334309 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:50.395Z,1755898970.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270352
2025-08-22T21:42:50.651Z,1755898970.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526602
2025-08-22T21:42:50.788Z,1755898970.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:50.791Z,1755898970.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 139.442841 m,
bearing: 79.981605 deg,
approach rate: -0.619270 m/s,
LOS rate: 0.057701 deg/s,
cmd heading: 76.450301 deg,
new cmd heading: 76.506846 deg.
2025-08-22T21:42:50.792Z,1755898970.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335296 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:50.900Z,1755898970.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775490
2025-08-22T21:42:51.150Z,1755898971.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026092
2025-08-22T21:42:51.245Z,1755898971.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:51.252Z,1755898971.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 139.155991 m,
bearing: 80.007027 deg,
approach rate: -0.628005 m/s,
LOS rate: 0.055772 deg/s,
cmd heading: 76.506848 deg,
new cmd heading: 76.557797 deg.
2025-08-22T21:42:51.253Z,1755898971.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336186 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:51.402Z,1755898971.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278164
2025-08-22T21:42:51.655Z,1755898971.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530872
2025-08-22T21:42:51.740Z,1755898971.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:51.747Z,1755898971.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 138.846207 m,
bearing: 80.034543 deg,
approach rate: -0.625214 m/s,
LOS rate: 0.055658 deg/s,
cmd heading: 76.557794 deg,
new cmd heading: 76.612949 deg.
2025-08-22T21:42:51.748Z,1755898971.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337148 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:51.906Z,1755898971.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782103
2025-08-22T21:42:52.159Z,1755898972.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034950
2025-08-22T21:42:52.164Z,1755898972.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:52.172Z,1755898972.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 138.583435 m,
bearing: 80.057515 deg,
approach rate: -0.620590 m/s,
LOS rate: 0.054355 deg/s,
cmd heading: 76.612948 deg,
new cmd heading: 76.658978 deg.
2025-08-22T21:42:52.179Z,1755898972.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337952 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:52.412Z,1755898972.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286957
2025-08-22T21:42:52.547Z,1755898972.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:52.550Z,1755898972.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:52.552Z,1755898972.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 138.329346 m,
bearing: 80.079681 deg,
approach rate: -0.658969 m/s,
LOS rate: 0.057593 deg/s,
cmd heading: 76.658976 deg,
new cmd heading: 76.703391 deg.
2025-08-22T21:42:52.553Z,1755898972.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338727 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:52.663Z,1755898972.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538957
2025-08-22T21:42:52.915Z,1755898972.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790238
2025-08-22T21:42:52.939Z,1755898972.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:52.941Z,1755898972.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 138.086182 m,
bearing: 80.100932 deg,
approach rate: -0.624702 m/s,
LOS rate: 0.054691 deg/s,
cmd heading: 76.703393 deg,
new cmd heading: 76.745970 deg.
2025-08-22T21:42:52.942Z,1755898972.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339470 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:53.167Z,1755898973.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043006
2025-08-22T21:42:53.419Z,1755898973.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294231
2025-08-22T21:42:53.441Z,1755898973.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:53.444Z,1755898973.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 137.772217 m,
bearing: 80.127512 deg,
approach rate: -0.625366 m/s,
LOS rate: 0.053064 deg/s,
cmd heading: 76.745973 deg,
new cmd heading: 76.799254 deg.
2025-08-22T21:42:53.445Z,1755898973.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.340400 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:53.672Z,1755898973.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547317
2025-08-22T21:42:53.923Z,1755898973.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798282
2025-08-22T21:42:54.033Z,1755898974.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:54.041Z,1755898974.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 137.420013 m,
bearing: 80.157359 deg,
approach rate: -0.595127 m/s,
LOS rate: 0.050562 deg/s,
cmd heading: 76.799255 deg,
new cmd heading: 76.859101 deg.
2025-08-22T21:42:54.052Z,1755898974.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341444 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:54.175Z,1755898974.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050465
2025-08-22T21:42:54.427Z,1755898974.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302226
2025-08-22T21:42:54.592Z,1755898974.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:54.594Z,1755898974.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:54.597Z,1755898974.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 137.063705 m,
bearing: 80.187467 deg,
approach rate: -0.634520 m/s,
LOS rate: 0.053757 deg/s,
cmd heading: 76.859101 deg,
new cmd heading: 76.919474 deg.
2025-08-22T21:42:54.614Z,1755898974.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342498 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:54.680Z,1755898974.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555175
2025-08-22T21:42:54.930Z,1755898974.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806148
2025-08-22T21:42:54.997Z,1755898974.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:55.004Z,1755898975.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 136.819550 m,
bearing: 80.208131 deg,
approach rate: -0.606838 m/s,
LOS rate: 0.051450 deg/s,
cmd heading: 76.919473 deg,
new cmd heading: 76.960874 deg.
2025-08-22T21:42:55.007Z,1755898975.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343221 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:55.183Z,1755898975.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058823
2025-08-22T21:42:55.423Z,1755898975.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:55.426Z,1755898975.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 136.550751 m,
bearing: 80.229943 deg,
approach rate: -0.629846 m/s,
LOS rate: 0.051211 deg/s,
cmd heading: 76.960878 deg,
new cmd heading: 77.004588 deg.
2025-08-22T21:42:55.427Z,1755898975.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343984 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:55.435Z,1755898975.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310350
2025-08-22T21:42:55.687Z,1755898975.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562203
2025-08-22T21:42:55.799Z,1755898975.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:55.802Z,1755898975.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 136.323990 m,
bearing: 80.248337 deg,
approach rate: -0.605340 m/s,
LOS rate: 0.049186 deg/s,
cmd heading: 77.004591 deg,
new cmd heading: 77.041441 deg.
2025-08-22T21:42:55.803Z,1755898975.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344627 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:55.938Z,1755898975.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814162
2025-08-22T21:42:56.188Z,1755898976.188 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 82.15, 87.24, 88.60
2025-08-22T21:42:56.191Z,1755898976.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066987
2025-08-22T21:42:56.207Z,1755898976.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:56.210Z,1755898976.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 136.055710 m,
bearing: 80.270125 deg,
approach rate: -0.655688 m/s,
LOS rate: 0.053354 deg/s,
cmd heading: 77.041440 deg,
new cmd heading: 77.085100 deg.
2025-08-22T21:42:56.211Z,1755898976.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345389 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:56.443Z,1755898976.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318219
2025-08-22T21:42:56.604Z,1755898976.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:56.606Z,1755898976.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:56.609Z,1755898976.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 135.809235 m,
bearing: 80.290218 deg,
approach rate: -0.617548 m/s,
LOS rate: 0.050436 deg/s,
cmd heading: 77.085098 deg,
new cmd heading: 77.125358 deg.
2025-08-22T21:42:56.610Z,1755898976.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346091 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:56.696Z,1755898976.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571420
2025-08-22T21:42:56.947Z,1755898976.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822213
2025-08-22T21:42:56.995Z,1755898976.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:57.001Z,1755898977.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 135.559616 m,
bearing: 80.310483 deg,
approach rate: -0.644488 m/s,
LOS rate: 0.052419 deg/s,
cmd heading: 77.125355 deg,
new cmd heading: 77.165961 deg.
2025-08-22T21:42:57.003Z,1755898977.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346800 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:57.198Z,1755898977.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074117
2025-08-22T21:42:57.420Z,1755898977.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:57.423Z,1755898977.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 135.299377 m,
bearing: 80.332037 deg,
approach rate: -0.610164 m/s,
LOS rate: 0.050632 deg/s,
cmd heading: 77.165961 deg,
new cmd heading: 77.209151 deg.
2025-08-22T21:42:57.424Z,1755898977.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347554 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:57.450Z,1755898977.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326157
2025-08-22T21:42:57.703Z,1755898977.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578591
2025-08-22T21:42:57.804Z,1755898977.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:57.806Z,1755898977.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 135.064865 m,
bearing: 80.351475 deg,
approach rate: -0.611180 m/s,
LOS rate: 0.050748 deg/s,
cmd heading: 77.209148 deg,
new cmd heading: 77.248092 deg.
2025-08-22T21:42:57.807Z,1755898977.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348234 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:57.954Z,1755898977.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830094
2025-08-22T21:42:58.206Z,1755898978.206 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:58.206Z,1755898978.206 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:58.207Z,1755898978.207 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:58.250Z,1755898978.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:58.252Z,1755898978.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 134.788879 m,
bearing: 80.376419 deg,
approach rate: -0.618667 m/s,
LOS rate: 0.056031 deg/s,
cmd heading: 77.248094 deg,
new cmd heading: 77.298084 deg.
2025-08-22T21:42:58.254Z,1755898978.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349106 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:58.458Z,1755898978.458 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:58.458Z,1755898978.458 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:58.459Z,1755898978.459 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:58.608Z,1755898978.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:42:58.610Z,1755898978.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:58.612Z,1755898978.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 134.566330 m,
bearing: 80.396614 deg,
approach rate: -0.618344 m/s,
LOS rate: 0.056204 deg/s,
cmd heading: 77.298084 deg,
new cmd heading: 77.338541 deg.
2025-08-22T21:42:58.614Z,1755898978.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349812 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:58.711Z,1755898978.711 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:58.711Z,1755898978.711 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:58.711Z,1755898978.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:58.962Z,1755898978.962 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:58.962Z,1755898978.962 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:58.963Z,1755898978.963 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:59.046Z,1755898979.046 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:42:59.050Z,1755898979.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:59.052Z,1755898979.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 134.301300 m,
bearing: 80.420715 deg,
approach rate: -0.607952 m/s,
LOS rate: 0.055394 deg/s,
cmd heading: 77.338539 deg,
new cmd heading: 77.386836 deg.
2025-08-22T21:42:59.062Z,1755898979.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350655 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:59.214Z,1755898979.214 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:59.214Z,1755898979.214 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:59.215Z,1755898979.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:59.439Z,1755898979.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:59.442Z,1755898979.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 134.055313 m,
bearing: 80.439891 deg,
approach rate: -0.624648 m/s,
LOS rate: 0.048783 deg/s,
cmd heading: 77.386836 deg,
new cmd heading: 77.425257 deg.
2025-08-22T21:42:59.443Z,1755898979.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351326 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:59.466Z,1755898979.466 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:59.466Z,1755898979.466 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:59.467Z,1755898979.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:59.718Z,1755898979.718 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:59.718Z,1755898979.718 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:59.719Z,1755898979.719 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:42:59.815Z,1755898979.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:42:59.818Z,1755898979.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 133.825256 m,
bearing: 80.457879 deg,
approach rate: -0.612492 m/s,
LOS rate: 0.047973 deg/s,
cmd heading: 77.425255 deg,
new cmd heading: 77.461294 deg.
2025-08-22T21:42:59.819Z,1755898979.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351955 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:42:59.970Z,1755898979.970 [DAT](INFO): Reached modem response timeout
2025-08-22T21:42:59.970Z,1755898979.970 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:42:59.971Z,1755898979.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:00.050Z,1755898980.050 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:43:00.223Z,1755898980.223 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:00.223Z,1755898980.223 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:00.223Z,1755898980.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:00.261Z,1755898980.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:00.264Z,1755898980.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 133.547546 m,
bearing: 80.482165 deg,
approach rate: -0.623023 m/s,
LOS rate: 0.054598 deg/s,
cmd heading: 77.461291 deg,
new cmd heading: 77.509965 deg.
2025-08-22T21:43:00.265Z,1755898980.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352804 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:00.475Z,1755898980.475 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:43:00.475Z,1755898980.475 [DAT](INFO): response not received
2025-08-22T21:43:00.475Z,1755898980.475 [DAT](INFO): DAT read: user:2411>
2025-08-22T21:43:00.476Z,1755898980.476 [DAT](INFO): DAT read: Tx time:21:43:01.5857
2025-08-22T21:43:00.476Z,1755898980.476 [DAT](INFO): Ping request sent.
2025-08-22T21:43:00.476Z,1755898980.476 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:43:00.476Z,1755898980.476 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:00.477Z,1755898980.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-22T21:43:00.631Z,1755898980.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:00.634Z,1755898980.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:00.636Z,1755898980.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 133.315338 m,
bearing: 80.502458 deg,
approach rate: -0.623184 m/s,
LOS rate: 0.054554 deg/s,
cmd heading: 77.509963 deg,
new cmd heading: 77.550619 deg.
2025-08-22T21:43:00.637Z,1755898980.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353514 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:00.727Z,1755898980.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250341
2025-08-22T21:43:00.978Z,1755898980.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502171
2025-08-22T21:43:01.047Z,1755898981.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:01.050Z,1755898981.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 133.056839 m,
bearing: 80.525066 deg,
approach rate: -0.624316 m/s,
LOS rate: 0.054710 deg/s,
cmd heading: 77.550617 deg,
new cmd heading: 77.595922 deg.
2025-08-22T21:43:01.051Z,1755898981.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354304 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:01.231Z,1755898981.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754334
2025-08-22T21:43:01.468Z,1755898981.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:01.471Z,1755898981.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 132.798065 m,
bearing: 80.547795 deg,
approach rate: -0.615469 m/s,
LOS rate: 0.054163 deg/s,
cmd heading: 77.595921 deg,
new cmd heading: 77.641467 deg.
2025-08-22T21:43:01.472Z,1755898981.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355099 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:01.483Z,1755898981.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006668
2025-08-22T21:43:01.735Z,1755898981.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258435
2025-08-22T21:43:01.863Z,1755898981.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:01.866Z,1755898981.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 132.554443 m,
bearing: 80.569276 deg,
approach rate: -0.616265 m/s,
LOS rate: 0.054438 deg/s,
cmd heading: 77.641465 deg,
new cmd heading: 77.684506 deg.
2025-08-22T21:43:01.867Z,1755898981.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355850 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:01.989Z,1755898981.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512045
2025-08-22T21:43:02.239Z,1755898982.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762343
2025-08-22T21:43:02.407Z,1755898982.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:02.410Z,1755898982.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 132.218170 m,
bearing: 80.597372 deg,
approach rate: -0.618539 m/s,
LOS rate: 0.051812 deg/s,
cmd heading: 77.684509 deg,
new cmd heading: 77.740845 deg.
2025-08-22T21:43:02.411Z,1755898982.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356834 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:02.491Z,1755898982.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014779
2025-08-22T21:43:02.689Z,1755898982.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:02.691Z,1755898982.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:02.694Z,1755898982.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 132.040115 m,
bearing: 80.612309 deg,
approach rate: -0.626074 m/s,
LOS rate: 0.052590 deg/s,
cmd heading: 77.740844 deg,
new cmd heading: 77.770758 deg.
2025-08-22T21:43:02.695Z,1755898982.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357356 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:02.743Z,1755898982.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266747
2025-08-22T21:43:02.996Z,1755898982.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519231
2025-08-22T21:43:03.078Z,1755898983.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:03.080Z,1755898983.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 131.800400 m,
bearing: 80.632435 deg,
approach rate: -0.620700 m/s,
LOS rate: 0.052207 deg/s,
cmd heading: 77.770761 deg,
new cmd heading: 77.811085 deg.
2025-08-22T21:43:03.081Z,1755898983.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358060 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:03.246Z,1755898983.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770182
2025-08-22T21:43:03.500Z,1755898983.500 [DAT](INFO): DAT read: Rx Time:21:43:04.1307
2025-08-22T21:43:03.501Z,1755898983.501 [DAT](INFO): Rx dataTimestamp_ set to:1755898983.499942
2025-08-22T21:43:03.502Z,1755898983.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025410
2025-08-22T21:43:03.521Z,1755898983.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:03.524Z,1755898983.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 131.516571 m,
bearing: 80.654985 deg,
approach rate: -0.640201 m/s,
LOS rate: 0.050975 deg/s,
cmd heading: 77.811086 deg,
new cmd heading: 77.856285 deg.
2025-08-22T21:43:03.525Z,1755898983.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358849 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:03.751Z,1755898983.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274254
2025-08-22T21:43:03.899Z,1755898983.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:03.906Z,1755898983.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 131.274307 m,
bearing: 80.674267 deg,
approach rate: -0.640686 m/s,
LOS rate: 0.051085 deg/s,
cmd heading: 77.856288 deg,
new cmd heading: 77.894922 deg.
2025-08-22T21:43:03.907Z,1755898983.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359523 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:04.007Z,1755898984.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529560
2025-08-22T21:43:04.276Z,1755898984.276 [DAT](INFO): DAT read: 21:43:04.1307 LVL= 32544, 32753, 30130, 32755, AGC= 68, IDX= 191, 0.07, 2.208, 0.307, 2.086, 1.811, PHS= 0.499,-1.459, 0.231, RAW= 142.7, 8.0, CAL= 142.3, 8.7, ROT= 7.7, -8.7
2025-08-22T21:43:04.278Z,1755898984.278 [DAT](INFO): got valid direction response:
21:43:04.1307 LVL= 32544, 32753, 30130, 32755, AGC= 68, IDX= 191, 0.07, 2.208, 0.307, 2.086, 1.811, PHS= 0.499,-1.459, 0.231, RAW= 142.7, 8.0, CAL= 142.3, 8.7, ROT= 7.7, -8.7
2025-08-22T21:43:04.278Z,1755898984.278 [DAT](INFO): DAT read: $Error in header
2025-08-22T21:43:04.279Z,1755898984.279 [DAT](INFO): Received a bad header
2025-08-22T21:43:04.290Z,1755898984.290 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T21:43:04.291Z,1755898984.291 [DAT](INFO): direction in FSK: [0.979581,0.132445,0.151261]
2025-08-22T21:43:04.294Z,1755898984.294 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:04.294Z,1755898984.294 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:04.294Z,1755898984.294 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:04.371Z,1755898984.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:04.373Z,1755898984.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 130.978683 m,
bearing: 80.698188 deg,
approach rate: -0.626776 m/s,
LOS rate: 0.050831 deg/s,
cmd heading: 77.894920 deg,
new cmd heading: 77.942870 deg.
2025-08-22T21:43:04.379Z,1755898984.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360360 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:04.507Z,1755898984.507 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:04.507Z,1755898984.507 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:04.508Z,1755898984.508 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:04.727Z,1755898984.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:04.729Z,1755898984.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:04.735Z,1755898984.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 130.750412 m,
bearing: 80.716651 deg,
approach rate: -0.637375 m/s,
LOS rate: 0.051642 deg/s,
cmd heading: 77.942868 deg,
new cmd heading: 77.979858 deg.
2025-08-22T21:43:04.736Z,1755898984.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361005 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:04.758Z,1755898984.758 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:04.758Z,1755898984.758 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:04.759Z,1755898984.759 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:05.011Z,1755898985.011 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:05.011Z,1755898985.011 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:05.011Z,1755898985.011 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:05.116Z,1755898985.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:05.118Z,1755898985.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 130.490555 m,
bearing: 80.737671 deg,
approach rate: -0.671762 m/s,
LOS rate: 0.054447 deg/s,
cmd heading: 77.979860 deg,
new cmd heading: 78.021984 deg.
2025-08-22T21:43:05.119Z,1755898985.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361740 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:05.299Z,1755898985.299 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:05.299Z,1755898985.299 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:05.300Z,1755898985.300 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:05.514Z,1755898985.514 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:05.514Z,1755898985.514 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:05.514Z,1755898985.514 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:05.634Z,1755898985.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:05.639Z,1755898985.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 130.166656 m,
bearing: 80.763891 deg,
approach rate: -0.624553 m/s,
LOS rate: 0.050686 deg/s,
cmd heading: 78.021982 deg,
new cmd heading: 78.074554 deg.
2025-08-22T21:43:05.640Z,1755898985.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362658 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:05.724Z,1755898985.724 [CTD_Seabird](ERROR): Failed to parse device response: 66.73,10.3235,
2025-08-22T21:43:05.766Z,1755898985.766 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:05.766Z,1755898985.766 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:05.766Z,1755898985.766 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:06.018Z,1755898986.018 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:06.018Z,1755898986.018 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:06.019Z,1755898986.019 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:06.025Z,1755898986.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:06.028Z,1755898986.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 129.905151 m,
bearing: 80.785044 deg,
approach rate: -0.668953 m/s,
LOS rate: 0.054219 deg/s,
cmd heading: 78.074554 deg,
new cmd heading: 78.116944 deg.
2025-08-22T21:43:06.029Z,1755898986.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363398 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:06.273Z,1755898986.273 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:06.273Z,1755898986.273 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:06.274Z,1755898986.274 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:06.439Z,1755898986.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:06.441Z,1755898986.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 129.644043 m,
bearing: 80.806051 deg,
approach rate: -0.631365 m/s,
LOS rate: 0.050899 deg/s,
cmd heading: 78.116942 deg,
new cmd heading: 78.159042 deg.
2025-08-22T21:43:06.442Z,1755898986.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364133 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:06.523Z,1755898986.523 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:06.523Z,1755898986.523 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:06.523Z,1755898986.523 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:06.774Z,1755898986.774 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:06.774Z,1755898986.774 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:06.774Z,1755898986.774 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:06.836Z,1755898986.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:06.838Z,1755898986.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:06.841Z,1755898986.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 129.392700 m,
bearing: 80.826253 deg,
approach rate: -0.628670 m/s,
LOS rate: 0.050627 deg/s,
cmd heading: 78.159043 deg,
new cmd heading: 78.199525 deg.
2025-08-22T21:43:06.842Z,1755898986.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364839 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:07.026Z,1755898987.026 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:07.026Z,1755898987.026 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:07.027Z,1755898987.027 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:07.277Z,1755898987.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:07.296Z,1755898987.296 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:07.297Z,1755898987.297 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:07.297Z,1755898987.297 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:07.308Z,1755898987.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 129.132248 m,
bearing: 80.847270 deg,
approach rate: -0.595803 m/s,
LOS rate: 0.048175 deg/s,
cmd heading: 78.199526 deg,
new cmd heading: 78.241644 deg.
2025-08-22T21:43:07.309Z,1755898987.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365574 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:07.546Z,1755898987.546 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:07.546Z,1755898987.546 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:07.546Z,1755898987.546 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:07.718Z,1755898987.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:07.720Z,1755898987.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 128.837860 m,
bearing: 80.870704 deg,
approach rate: -0.666291 m/s,
LOS rate: 0.053159 deg/s,
cmd heading: 78.241647 deg,
new cmd heading: 78.288622 deg.
2025-08-22T21:43:07.721Z,1755898987.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.366394 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:07.798Z,1755898987.798 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:07.799Z,1755898987.799 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:07.799Z,1755898987.799 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:08.050Z,1755898988.050 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:08.050Z,1755898988.050 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:08.050Z,1755898988.050 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:08.064Z,1755898988.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:08.067Z,1755898988.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 128.618774 m,
bearing: 80.888153 deg,
approach rate: -0.632430 m/s,
LOS rate: 0.050455 deg/s,
cmd heading: 78.288625 deg,
new cmd heading: 78.323583 deg.
2025-08-22T21:43:08.068Z,1755898988.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367004 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:08.304Z,1755898988.304 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:08.305Z,1755898988.305 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:08.305Z,1755898988.305 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:08.490Z,1755898988.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:08.499Z,1755898988.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 128.372726 m,
bearing: 80.909652 deg,
approach rate: -0.583816 m/s,
LOS rate: 0.051110 deg/s,
cmd heading: 78.323582 deg,
new cmd heading: 78.366663 deg.
2025-08-22T21:43:08.501Z,1755898988.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367756 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:08.555Z,1755898988.555 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:08.555Z,1755898988.555 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:08.556Z,1755898988.556 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:08.806Z,1755898988.806 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:08.806Z,1755898988.806 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:08.807Z,1755898988.807 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:08.873Z,1755898988.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:08.879Z,1755898988.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:08.890Z,1755898988.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 128.126877 m,
bearing: 80.931144 deg,
approach rate: -0.623598 m/s,
LOS rate: 0.054621 deg/s,
cmd heading: 78.366660 deg,
new cmd heading: 78.409728 deg.
2025-08-22T21:43:08.891Z,1755898988.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368508 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:09.058Z,1755898989.058 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:09.058Z,1755898989.058 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:09.058Z,1755898989.058 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:09.235Z,1755898989.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:09.238Z,1755898989.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 127.905212 m,
bearing: 80.950523 deg,
approach rate: -0.623997 m/s,
LOS rate: 0.054648 deg/s,
cmd heading: 78.409725 deg,
new cmd heading: 78.448550 deg.
2025-08-22T21:43:09.239Z,1755898989.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369185 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:09.313Z,1755898989.313 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:09.313Z,1755898989.313 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:09.314Z,1755898989.314 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:09.562Z,1755898989.562 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:09.562Z,1755898989.562 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:09.562Z,1755898989.562 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:09.671Z,1755898989.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:09.674Z,1755898989.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 127.636818 m,
bearing: 80.976088 deg,
approach rate: -0.615289 m/s,
LOS rate: 0.058729 deg/s,
cmd heading: 78.448548 deg,
new cmd heading: 78.499784 deg.
2025-08-22T21:43:09.675Z,1755898989.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370080 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:09.816Z,1755898989.816 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:09.817Z,1755898989.817 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:09.817Z,1755898989.817 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:10.066Z,1755898990.066 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:10.067Z,1755898990.067 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:10.067Z,1755898990.067 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:10.085Z,1755898990.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:10.092Z,1755898990.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 127.394058 m,
bearing: 80.999269 deg,
approach rate: -0.586192 m/s,
LOS rate: 0.056082 deg/s,
cmd heading: 78.499781 deg,
new cmd heading: 78.546231 deg.
2025-08-22T21:43:10.114Z,1755898990.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370890 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:10.321Z,1755898990.321 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:10.321Z,1755898990.321 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:10.322Z,1755898990.322 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:10.507Z,1755898990.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:10.514Z,1755898990.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 127.129265 m,
bearing: 81.023296 deg,
approach rate: -0.627045 m/s,
LOS rate: 0.057016 deg/s,
cmd heading: 78.546233 deg,
new cmd heading: 78.594387 deg.
2025-08-22T21:43:10.515Z,1755898990.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.371731 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:10.570Z,1755898990.570 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:10.571Z,1755898990.571 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:10.571Z,1755898990.571 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:10.822Z,1755898990.822 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:10.823Z,1755898990.823 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:10.823Z,1755898990.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:10.869Z,1755898990.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:10.871Z,1755898990.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 126.894279 m,
bearing: 81.044611 deg,
approach rate: -0.650486 m/s,
LOS rate: 0.059114 deg/s,
cmd heading: 78.594386 deg,
new cmd heading: 78.637095 deg.
2025-08-22T21:43:10.872Z,1755898990.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372476 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:11.074Z,1755898991.074 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:11.074Z,1755898991.074 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:11.075Z,1755898991.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:11.252Z,1755898991.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:11.255Z,1755898991.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:11.257Z,1755898991.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 126.654335 m,
bearing: 81.066375 deg,
approach rate: -0.621478 m/s,
LOS rate: 0.056479 deg/s,
cmd heading: 78.637095 deg,
new cmd heading: 78.680706 deg.
2025-08-22T21:43:11.258Z,1755898991.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373237 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:11.329Z,1755898991.329 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:11.330Z,1755898991.330 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:11.331Z,1755898991.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:11.578Z,1755898991.578 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:11.578Z,1755898991.578 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:11.579Z,1755898991.579 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:11.751Z,1755898991.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:11.770Z,1755898991.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 126.346367 m,
bearing: 81.093344 deg,
approach rate: -0.620030 m/s,
LOS rate: 0.054428 deg/s,
cmd heading: 78.680706 deg,
new cmd heading: 78.734774 deg.
2025-08-22T21:43:11.771Z,1755898991.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374181 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:11.830Z,1755898991.830 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:11.831Z,1755898991.831 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:11.831Z,1755898991.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:12.082Z,1755898992.082 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:12.082Z,1755898992.082 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:12.083Z,1755898992.083 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:12.228Z,1755898992.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:12.231Z,1755898992.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 126.044548 m,
bearing: 81.119853 deg,
approach rate: -0.633450 m/s,
LOS rate: 0.055769 deg/s,
cmd heading: 78.734773 deg,
new cmd heading: 78.787918 deg.
2025-08-22T21:43:12.232Z,1755898992.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.375109 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:12.337Z,1755898992.337 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:12.338Z,1755898992.338 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:12.339Z,1755898992.339 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:12.586Z,1755898992.586 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:12.587Z,1755898992.587 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:12.587Z,1755898992.587 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:12.670Z,1755898992.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:12.672Z,1755898992.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 125.775055 m,
bearing: 81.145155 deg,
approach rate: -0.610475 m/s,
LOS rate: 0.057441 deg/s,
cmd heading: 78.787919 deg,
new cmd heading: 78.838633 deg.
2025-08-22T21:43:12.673Z,1755898992.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.375994 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:12.841Z,1755898992.841 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:43:12.841Z,1755898992.841 [DAT](INFO): response not received
2025-08-22T21:43:12.842Z,1755898992.842 [DAT](INFO): DAT read: user:2413>
2025-08-22T21:43:12.843Z,1755898992.843 [DAT](INFO): DAT read: Tx time:21:43:14.0356
2025-08-22T21:43:12.843Z,1755898992.843 [DAT](INFO): Ping request sent.
2025-08-22T21:43:12.843Z,1755898992.843 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:43:12.843Z,1755898992.843 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:12.844Z,1755898992.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-22T21:43:13.048Z,1755898993.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:13.050Z,1755898993.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 125.543999 m,
bearing: 81.166924 deg,
approach rate: -0.610714 m/s,
LOS rate: 0.057644 deg/s,
cmd heading: 78.838633 deg,
new cmd heading: 78.882251 deg.
2025-08-22T21:43:13.051Z,1755898993.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376755 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:13.093Z,1755898993.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250387
2025-08-22T21:43:13.345Z,1755898993.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501357
2025-08-22T21:43:13.519Z,1755898993.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:13.526Z,1755898993.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:13.528Z,1755898993.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 125.258003 m,
bearing: 81.193663 deg,
approach rate: -0.603640 m/s,
LOS rate: 0.056565 deg/s,
cmd heading: 78.882251 deg,
new cmd heading: 78.935850 deg.
2025-08-22T21:43:13.529Z,1755898993.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.377690 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:13.600Z,1755898993.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757353
2025-08-22T21:43:13.850Z,1755898993.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007541
2025-08-22T21:43:13.889Z,1755898993.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:13.896Z,1755898993.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 125.027672 m,
bearing: 81.215035 deg,
approach rate: -0.626449 m/s,
LOS rate: 0.058233 deg/s,
cmd heading: 78.935847 deg,
new cmd heading: 78.978669 deg.
2025-08-22T21:43:13.897Z,1755898993.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.378438 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:14.102Z,1755898994.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259547
2025-08-22T21:43:14.277Z,1755898994.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:14.280Z,1755898994.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 124.775146 m,
bearing: 81.238483 deg,
approach rate: -0.650797 m/s,
LOS rate: 0.060551 deg/s,
cmd heading: 78.978666 deg,
new cmd heading: 79.025657 deg.
2025-08-22T21:43:14.281Z,1755898994.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379258 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:14.357Z,1755898994.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513832
2025-08-22T21:43:14.607Z,1755898994.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763646
2025-08-22T21:43:14.727Z,1755898994.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:14.730Z,1755898994.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 124.486694 m,
bearing: 81.265134 deg,
approach rate: -0.640546 m/s,
LOS rate: 0.059320 deg/s,
cmd heading: 79.025658 deg,
new cmd heading: 79.079083 deg.
2025-08-22T21:43:14.731Z,1755898994.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380190 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:14.859Z,1755898994.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015644
2025-08-22T21:43:15.083Z,1755898995.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:15.085Z,1755898995.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 124.259773 m,
bearing: 81.286057 deg,
approach rate: -0.638838 m/s,
LOS rate: 0.059012 deg/s,
cmd heading: 79.079083 deg,
new cmd heading: 79.121007 deg.
2025-08-22T21:43:15.086Z,1755898995.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380922 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:15.111Z,1755898995.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267690
2025-08-22T21:43:15.365Z,1755898995.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521597
2025-08-22T21:43:15.525Z,1755898995.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:15.528Z,1755898995.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:15.530Z,1755898995.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 123.970795 m,
bearing: 81.311558 deg,
approach rate: -0.649567 m/s,
LOS rate: 0.057455 deg/s,
cmd heading: 79.121007 deg,
new cmd heading: 79.172128 deg.
2025-08-22T21:43:15.531Z,1755898995.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381814 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:15.615Z,1755898995.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772253
2025-08-22T21:43:15.867Z,1755898995.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023660
2025-08-22T21:43:15.918Z,1755898995.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:15.920Z,1755898995.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 123.717255 m,
bearing: 81.334033 deg,
approach rate: -0.649886 m/s,
LOS rate: 0.057725 deg/s,
cmd heading: 79.172131 deg,
new cmd heading: 79.217172 deg.
2025-08-22T21:43:15.922Z,1755898995.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382600 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:16.119Z,1755898996.119 [DAT](INFO): DAT read: Rx Time:21:43:16.5699
2025-08-22T21:43:16.119Z,1755898996.119 [DAT](INFO): Rx dataTimestamp_ set to:1755898996.118864
2025-08-22T21:43:16.120Z,1755898996.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276780
2025-08-22T21:43:16.312Z,1755898996.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.39 m.
2025-08-22T21:43:16.315Z,1755898996.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.387070 m,
nav range: 123.472252 m,
bearing: 81.355603 deg,
approach rate: -0.622048 m/s,
LOS rate: 0.054876 deg/s,
cmd heading: 79.217169 deg,
new cmd heading: 79.260397 deg.
2025-08-22T21:43:16.316Z,1755898996.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.383355 target range: 159.387070 and range: 160.40 m.
2025-08-22T21:43:16.371Z,1755898996.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528303
2025-08-22T21:43:16.628Z,1755898996.628 [DAT](INFO): DAT read: 21:43:16.5699 LVL= 24624, 28145, 22514, 28563, AGC= 67, IDX= 337, 0.30,-2.930, 1.457,-2.960, 2.964, PHS= 0.492,-1.462, 0.315, RAW= 145.3, 7.1, CAL= 144.9, 7.7, ROT= 5.1, -7.7
2025-08-22T21:43:16.629Z,1755898996.629 [DAT](INFO): got valid direction response:
21:43:16.5699 LVL= 24624, 28145, 22514, 28563, AGC= 67, IDX= 337, 0.30,-2.930, 1.457,-2.960, 2.964, PHS= 0.492,-1.462, 0.315, RAW= 145.3, 7.1, CAL= 144.9, 7.7, ROT= 5.1, -7.7
2025-08-22T21:43:16.630Z,1755898996.630 [DAT](INFO): DAT read: Bearing 237.8, 4.3 (Local)
2025-08-22T21:43:16.631Z,1755898996.631 [DAT](INFO): Local bearing/azimuth received:
Bearing 237.8, 4.3 (Local)
2025-08-22T21:43:16.632Z,1755898996.632 [DAT](INFO): DAT read: Range 11 to 50 : 97.5 m (Round-trip 130.1 ms) speed 0.8 m/s
2025-08-22T21:43:16.633Z,1755898996.633 [DAT](INFO): DAT read: user:2414>
2025-08-22T21:43:16.634Z,1755898996.634 [DAT](INFO): DAT read: Tx time:21:43:17.6856
2025-08-22T21:43:16.634Z,1755898996.634 [DAT](INFO): Ping request sent.
2025-08-22T21:43:16.634Z,1755898996.634 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:43:16.634Z,1755898996.634 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:43:16.635Z,1755898996.635 [DAT](INFO): direction in FSK: [0.987060,0.088093,0.133986]
2025-08-22T21:43:16.635Z,1755898996.635 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:16.636Z,1755898996.636 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:16.639Z,1755898996.639 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:16.640Z,1755898996.640 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:16.812Z,1755898996.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 97.500000 m,
deltaT: 53.447774 s,
deltaX: -62.899994 m,
approachRate: -1.176850 m/s,
rangeRepo size: 4
2025-08-22T21:43:16.818Z,1755898996.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 96.897621 m,
bearing: 84.011040 deg,
lat: 36.779425 deg,
lon: -121.859216 deg,
deltaT: 53.447774 s,
deltaX: -62.489449 m,
approachRate: -1.169168 m/s,
posRepo size: 4
2025-08-22T21:43:16.819Z,1755898996.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:16.826Z,1755898996.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 122.997917 m,
bearing: 81.868419 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.054876 deg/s,
cmd heading: 79.260397 deg,
new cmd heading: 79.315256 deg.
2025-08-22T21:43:16.827Z,1755898996.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384312 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:17.164Z,1755898997.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:17.169Z,1755898997.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 122.751297 m,
bearing: 81.892816 deg,
approach rate: -0.699269 m/s,
LOS rate: 0.069315 deg/s,
cmd heading: 79.315258 deg,
new cmd heading: 79.364150 deg.
2025-08-22T21:43:17.171Z,1755898997.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385166 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:17.596Z,1755898997.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:17.603Z,1755898997.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:17.606Z,1755898997.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 122.459785 m,
bearing: 81.919107 deg,
approach rate: -0.663855 m/s,
LOS rate: 0.060014 deg/s,
cmd heading: 79.364148 deg,
new cmd heading: 79.416854 deg.
2025-08-22T21:43:17.607Z,1755898997.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386086 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:17.630Z,1755898997.630 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:17.631Z,1755898997.631 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:17.631Z,1755898997.631 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:17.883Z,1755898997.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249050
2025-08-22T21:43:18.006Z,1755898998.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:18.008Z,1755898998.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 122.198151 m,
bearing: 81.942473 deg,
approach rate: -0.677537 m/s,
LOS rate: 0.060640 deg/s,
cmd heading: 79.416857 deg,
new cmd heading: 79.463689 deg.
2025-08-22T21:43:18.009Z,1755898998.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386903 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:18.136Z,1755898998.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501726
2025-08-22T21:43:18.375Z,1755898998.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:18.387Z,1755898998.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752621
2025-08-22T21:43:18.394Z,1755898998.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 121.940491 m,
bearing: 81.965471 deg,
approach rate: -0.667902 m/s,
LOS rate: 0.059741 deg/s,
cmd heading: 79.463691 deg,
new cmd heading: 79.509785 deg.
2025-08-22T21:43:18.399Z,1755898998.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387707 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:18.639Z,1755898998.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004567
2025-08-22T21:43:18.842Z,1755898998.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:18.844Z,1755898998.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 121.648849 m,
bearing: 81.991295 deg,
approach rate: -0.647164 m/s,
LOS rate: 0.057442 deg/s,
cmd heading: 79.509781 deg,
new cmd heading: 79.561553 deg.
2025-08-22T21:43:18.850Z,1755898998.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388611 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:18.893Z,1755898998.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259355
2025-08-22T21:43:19.147Z,1755898999.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512770
2025-08-22T21:43:19.235Z,1755898999.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:19.238Z,1755898999.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 121.394150 m,
bearing: 82.013832 deg,
approach rate: -0.622736 m/s,
LOS rate: 0.055218 deg/s,
cmd heading: 79.561554 deg,
new cmd heading: 79.606722 deg.
2025-08-22T21:43:19.239Z,1755898999.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389399 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:19.400Z,1755898999.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765987
2025-08-22T21:43:19.633Z,1755898999.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:19.636Z,1755898999.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:19.651Z,1755898999.651 [DAT](INFO): DAT read: Rx Time:21:43:20.2167
2025-08-22T21:43:19.651Z,1755898999.651 [DAT](INFO): Rx dataTimestamp_ set to:1755898999.650803
2025-08-22T21:43:19.652Z,1755898999.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017685
2025-08-22T21:43:19.659Z,1755898999.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 121.118805 m,
bearing: 82.038067 deg,
approach rate: -0.686990 m/s,
LOS rate: 0.060604 deg/s,
cmd heading: 79.606722 deg,
new cmd heading: 79.655302 deg.
2025-08-22T21:43:19.660Z,1755898999.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390247 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:19.903Z,1755898999.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269084
2025-08-22T21:43:20.042Z,1755899000.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:20.044Z,1755899000.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 120.852394 m,
bearing: 82.061464 deg,
approach rate: -0.656285 m/s,
LOS rate: 0.057763 deg/s,
cmd heading: 79.655305 deg,
new cmd heading: 79.702202 deg.
2025-08-22T21:43:20.045Z,1755899000.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391066 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:20.163Z,1755899000.163 [DAT](INFO): DAT read: 21:43:20.2167 LVL= 24848, 30961, 26274, 32755, AGC= 67, IDX= 417, 0.29, 2.706, 0.904, 2.684, 2.301, PHS= 0.508,-1.352, 0.339, RAW= 145.3, 5.7, CAL= 144.8, 6.2, ROT= 5.2, -6.2
2025-08-22T21:43:20.164Z,1755899000.164 [DAT](INFO): got valid direction response:
21:43:20.2167 LVL= 24848, 30961, 26274, 32755, AGC= 67, IDX= 417, 0.29, 2.706, 0.904, 2.684, 2.301, PHS= 0.508,-1.352, 0.339, RAW= 145.3, 5.7, CAL= 144.8, 6.2, ROT= 5.2, -6.2
2025-08-22T21:43:20.166Z,1755899000.166 [DAT](INFO): DAT read: $Error in header
2025-08-22T21:43:20.166Z,1755899000.166 [DAT](INFO): Received a bad header
2025-08-22T21:43:20.178Z,1755899000.178 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T21:43:20.180Z,1755899000.180 [DAT](INFO): direction in FSK: [0.990059,0.090102,0.107999]
2025-08-22T21:43:20.184Z,1755899000.184 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:20.184Z,1755899000.184 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:20.185Z,1755899000.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:20.406Z,1755899000.406 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:20.406Z,1755899000.406 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:20.407Z,1755899000.407 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:20.515Z,1755899000.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:20.522Z,1755899000.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 120.569656 m,
bearing: 82.086410 deg,
approach rate: -0.597293 m/s,
LOS rate: 0.052822 deg/s,
cmd heading: 79.702201 deg,
new cmd heading: 79.752210 deg.
2025-08-22T21:43:20.523Z,1755899000.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391939 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:20.658Z,1755899000.658 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:20.659Z,1755899000.659 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:20.659Z,1755899000.659 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:20.910Z,1755899000.910 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:20.910Z,1755899000.910 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:20.911Z,1755899000.911 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:20.968Z,1755899000.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:20.976Z,1755899000.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 120.263031 m,
bearing: 82.112916 deg,
approach rate: -0.677463 m/s,
LOS rate: 0.058712 deg/s,
cmd heading: 79.752212 deg,
new cmd heading: 79.805359 deg.
2025-08-22T21:43:20.977Z,1755899000.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392866 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:21.163Z,1755899001.163 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:21.163Z,1755899001.163 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:21.163Z,1755899001.163 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:21.320Z,1755899001.320 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-08-22T21:43:21.368Z,1755899001.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:21.375Z,1755899001.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 120.004852 m,
bearing: 82.135248 deg,
approach rate: -0.645079 m/s,
LOS rate: 0.055919 deg/s,
cmd heading: 79.805358 deg,
new cmd heading: 79.850119 deg.
2025-08-22T21:43:21.376Z,1755899001.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393647 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:21.414Z,1755899001.414 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:21.414Z,1755899001.414 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:21.415Z,1755899001.415 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:21.667Z,1755899001.667 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:21.667Z,1755899001.667 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:21.667Z,1755899001.667 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:21.779Z,1755899001.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:21.781Z,1755899001.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:21.784Z,1755899001.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 119.730377 m,
bearing: 82.159878 deg,
approach rate: -0.664252 m/s,
LOS rate: 0.059744 deg/s,
cmd heading: 79.850116 deg,
new cmd heading: 79.899489 deg.
2025-08-22T21:43:21.785Z,1755899001.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394509 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:21.918Z,1755899001.918 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:21.918Z,1755899001.918 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:21.918Z,1755899001.918 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:22.171Z,1755899002.171 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:22.171Z,1755899002.171 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:22.171Z,1755899002.171 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:22.181Z,1755899002.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:22.185Z,1755899002.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 119.483345 m,
bearing: 82.182112 deg,
approach rate: -0.618036 m/s,
LOS rate: 0.055741 deg/s,
cmd heading: 79.899491 deg,
new cmd heading: 79.944051 deg.
2025-08-22T21:43:22.187Z,1755899002.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.395287 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:22.422Z,1755899002.422 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:22.422Z,1755899002.422 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:22.422Z,1755899002.422 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:22.604Z,1755899002.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:22.607Z,1755899002.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 119.214584 m,
bearing: 82.206089 deg,
approach rate: -0.634684 m/s,
LOS rate: 0.056749 deg/s,
cmd heading: 79.944052 deg,
new cmd heading: 79.992113 deg.
2025-08-22T21:43:22.608Z,1755899002.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.396126 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:22.675Z,1755899002.675 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:22.675Z,1755899002.675 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:22.675Z,1755899002.675 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:22.926Z,1755899002.926 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:22.926Z,1755899002.926 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:22.926Z,1755899002.926 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:23.005Z,1755899003.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:23.007Z,1755899003.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 118.964607 m,
bearing: 82.228538 deg,
approach rate: -0.624111 m/s,
LOS rate: 0.056164 deg/s,
cmd heading: 79.992116 deg,
new cmd heading: 80.037107 deg.
2025-08-22T21:43:23.008Z,1755899003.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.396911 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:23.179Z,1755899003.179 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:23.179Z,1755899003.179 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:23.179Z,1755899003.179 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:23.387Z,1755899003.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:23.390Z,1755899003.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 118.726738 m,
bearing: 82.249974 deg,
approach rate: -0.621382 m/s,
LOS rate: 0.056112 deg/s,
cmd heading: 80.037106 deg,
new cmd heading: 80.080066 deg.
2025-08-22T21:43:23.391Z,1755899003.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397661 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:23.431Z,1755899003.431 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:23.431Z,1755899003.431 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:23.431Z,1755899003.431 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:23.682Z,1755899003.682 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:23.682Z,1755899003.682 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:23.683Z,1755899003.683 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:23.805Z,1755899003.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:23.811Z,1755899003.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:23.814Z,1755899003.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 118.461403 m,
bearing: 82.274580 deg,
approach rate: -0.625852 m/s,
LOS rate: 0.058169 deg/s,
cmd heading: 80.080068 deg,
new cmd heading: 80.129390 deg.
2025-08-22T21:43:23.815Z,1755899003.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398522 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:23.936Z,1755899003.936 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:23.936Z,1755899003.936 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:23.936Z,1755899003.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:24.187Z,1755899004.187 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:24.187Z,1755899004.187 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:24.187Z,1755899004.187 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:24.248Z,1755899004.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:24.255Z,1755899004.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 118.198944 m,
bearing: 82.298988 deg,
approach rate: -0.601473 m/s,
LOS rate: 0.056060 deg/s,
cmd heading: 80.129389 deg,
new cmd heading: 80.178313 deg.
2025-08-22T21:43:24.256Z,1755899004.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399376 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:24.443Z,1755899004.443 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:24.443Z,1755899004.443 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:24.444Z,1755899004.444 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:24.659Z,1755899004.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:24.666Z,1755899004.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 117.941483 m,
bearing: 82.321664 deg,
approach rate: -0.625897 m/s,
LOS rate: 0.055246 deg/s,
cmd heading: 80.178313 deg,
new cmd heading: 80.223764 deg.
2025-08-22T21:43:24.667Z,1755899004.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400169 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:24.693Z,1755899004.693 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:24.693Z,1755899004.693 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:24.693Z,1755899004.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:24.943Z,1755899004.943 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:24.943Z,1755899004.943 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:24.944Z,1755899004.944 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:25.018Z,1755899005.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:25.021Z,1755899005.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 117.706696 m,
bearing: 82.342361 deg,
approach rate: -0.654010 m/s,
LOS rate: 0.057765 deg/s,
cmd heading: 80.223762 deg,
new cmd heading: 80.265236 deg.
2025-08-22T21:43:25.022Z,1755899005.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400893 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:25.194Z,1755899005.194 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:25.194Z,1755899005.194 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:25.195Z,1755899005.195 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:25.400Z,1755899005.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:25.403Z,1755899005.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 117.469505 m,
bearing: 82.363281 deg,
approach rate: -0.621115 m/s,
LOS rate: 0.054895 deg/s,
cmd heading: 80.265234 deg,
new cmd heading: 80.307160 deg.
2025-08-22T21:43:25.404Z,1755899005.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401624 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:25.447Z,1755899005.447 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:25.447Z,1755899005.447 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:25.448Z,1755899005.448 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:25.698Z,1755899005.698 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:25.698Z,1755899005.698 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:25.698Z,1755899005.698 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:25.826Z,1755899005.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:25.828Z,1755899005.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:25.831Z,1755899005.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 117.195320 m,
bearing: 82.388045 deg,
approach rate: -0.640397 m/s,
LOS rate: 0.057974 deg/s,
cmd heading: 80.307158 deg,
new cmd heading: 80.356801 deg.
2025-08-22T21:43:25.832Z,1755899005.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402491 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:25.952Z,1755899005.952 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:25.952Z,1755899005.952 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:25.952Z,1755899005.952 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:26.202Z,1755899006.202 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:26.202Z,1755899006.202 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:26.202Z,1755899006.202 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:26.238Z,1755899006.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:26.240Z,1755899006.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 116.932419 m,
bearing: 82.411901 deg,
approach rate: -0.641949 m/s,
LOS rate: 0.058382 deg/s,
cmd heading: 80.356800 deg,
new cmd heading: 80.404619 deg.
2025-08-22T21:43:26.242Z,1755899006.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403325 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:26.455Z,1755899006.455 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:26.455Z,1755899006.455 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:26.455Z,1755899006.455 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T21:43:26.677Z,1755899006.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:26.680Z,1755899006.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 116.662117 m,
bearing: 82.436378 deg,
approach rate: -0.615017 m/s,
LOS rate: 0.055823 deg/s,
cmd heading: 80.404618 deg,
new cmd heading: 80.453687 deg.
2025-08-22T21:43:26.681Z,1755899006.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.404182 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:26.706Z,1755899006.706 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:26.707Z,1755899006.707 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:26.707Z,1755899006.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:26.959Z,1755899006.959 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:26.960Z,1755899006.960 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:26.960Z,1755899006.960 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:27.042Z,1755899007.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:27.044Z,1755899007.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 116.437813 m,
bearing: 82.456778 deg,
approach rate: -0.615475 m/s,
LOS rate: 0.056084 deg/s,
cmd heading: 80.453686 deg,
new cmd heading: 80.494564 deg.
2025-08-22T21:43:27.046Z,1755899007.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.404895 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:27.212Z,1755899007.212 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:27.212Z,1755899007.212 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:27.213Z,1755899007.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:27.463Z,1755899007.463 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:27.463Z,1755899007.463 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:27.463Z,1755899007.463 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:27.479Z,1755899007.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:27.486Z,1755899007.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 116.190140 m,
bearing: 82.479145 deg,
approach rate: -0.566263 m/s,
LOS rate: 0.051246 deg/s,
cmd heading: 80.494565 deg,
new cmd heading: 80.539393 deg.
2025-08-22T21:43:27.487Z,1755899007.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405678 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:27.714Z,1755899007.714 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:27.714Z,1755899007.714 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:27.715Z,1755899007.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:27.852Z,1755899007.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:27.854Z,1755899007.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:27.857Z,1755899007.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 115.930756 m,
bearing: 82.500961 deg,
approach rate: -0.691109 m/s,
LOS rate: 0.058259 deg/s,
cmd heading: 80.539391 deg,
new cmd heading: 80.583122 deg.
2025-08-22T21:43:27.858Z,1755899007.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406441 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:27.966Z,1755899007.966 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:27.967Z,1755899007.967 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:27.967Z,1755899007.967 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:28.218Z,1755899008.218 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:28.218Z,1755899008.218 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:28.219Z,1755899008.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:28.292Z,1755899008.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:28.302Z,1755899008.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 115.668846 m,
bearing: 82.523025 deg,
approach rate: -0.624645 m/s,
LOS rate: 0.052741 deg/s,
cmd heading: 80.583125 deg,
new cmd heading: 80.627353 deg.
2025-08-22T21:43:28.303Z,1755899008.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.407213 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:28.470Z,1755899008.470 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:28.470Z,1755899008.470 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:28.471Z,1755899008.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:28.681Z,1755899008.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:28.684Z,1755899008.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 115.404686 m,
bearing: 82.546639 deg,
approach rate: -0.648886 m/s,
LOS rate: 0.058139 deg/s,
cmd heading: 80.627351 deg,
new cmd heading: 80.674687 deg.
2025-08-22T21:43:28.685Z,1755899008.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408039 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:28.722Z,1755899008.722 [DAT](INFO): Reached modem response timeout
2025-08-22T21:43:28.723Z,1755899008.723 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:43:28.723Z,1755899008.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:28.975Z,1755899008.975 [DAT](INFO): DAT read: Response Not Received
2025-08-22T21:43:28.975Z,1755899008.975 [DAT](INFO): response not received
2025-08-22T21:43:28.975Z,1755899008.975 [DAT](INFO): DAT read: user:2416>
2025-08-22T21:43:28.976Z,1755899008.976 [DAT](INFO): DAT read: Tx time:21:43:30.1356
2025-08-22T21:43:28.976Z,1755899008.976 [DAT](INFO): Ping request sent.
2025-08-22T21:43:28.976Z,1755899008.976 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:43:28.977Z,1755899008.977 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:28.977Z,1755899008.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-08-22T21:43:29.073Z,1755899009.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:29.084Z,1755899009.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 115.155098 m,
bearing: 82.568960 deg,
approach rate: -0.636477 m/s,
LOS rate: 0.057045 deg/s,
cmd heading: 80.674684 deg,
new cmd heading: 80.719423 deg.
2025-08-22T21:43:29.085Z,1755899009.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408820 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:29.227Z,1755899009.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250069
2025-08-22T21:43:29.456Z,1755899009.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:29.479Z,1755899009.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502244
2025-08-22T21:43:29.483Z,1755899009.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 114.915359 m,
bearing: 82.590449 deg,
approach rate: -0.625639 m/s,
LOS rate: 0.056195 deg/s,
cmd heading: 80.719421 deg,
new cmd heading: 80.762488 deg.
2025-08-22T21:43:29.484Z,1755899009.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.409571 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:29.733Z,1755899009.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756241
2025-08-22T21:43:29.906Z,1755899009.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:29.908Z,1755899009.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:29.910Z,1755899009.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 114.627174 m,
bearing: 82.618003 deg,
approach rate: -0.638068 m/s,
LOS rate: 0.061159 deg/s,
cmd heading: 80.762486 deg,
new cmd heading: 80.817732 deg.
2025-08-22T21:43:29.911Z,1755899009.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.410535 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:29.983Z,1755899009.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006176
2025-08-22T21:43:30.178Z,1755899010.178 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:43:30.235Z,1755899010.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258153
2025-08-22T21:43:30.259Z,1755899010.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:30.262Z,1755899010.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 114.405449 m,
bearing: 82.639175 deg,
approach rate: -0.630271 m/s,
LOS rate: 0.060302 deg/s,
cmd heading: 80.817728 deg,
new cmd heading: 80.860156 deg.
2025-08-22T21:43:30.263Z,1755899010.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411276 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:30.487Z,1755899010.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510257
2025-08-22T21:43:30.715Z,1755899010.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:30.718Z,1755899010.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 114.117004 m,
bearing: 82.665462 deg,
approach rate: -0.633404 m/s,
LOS rate: 0.057869 deg/s,
cmd heading: 80.860158 deg,
new cmd heading: 80.912863 deg.
2025-08-22T21:43:30.719Z,1755899010.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412196 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:30.739Z,1755899010.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762159
2025-08-22T21:43:30.991Z,1755899010.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014109
2025-08-22T21:43:31.080Z,1755899011.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:31.083Z,1755899011.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 113.896820 m,
bearing: 82.685611 deg,
approach rate: -0.603081 m/s,
LOS rate: 0.055295 deg/s,
cmd heading: 80.912866 deg,
new cmd heading: 80.953243 deg.
2025-08-22T21:43:31.084Z,1755899011.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412901 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:31.183Z,1755899011.183 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:43:31.243Z,1755899011.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266624
2025-08-22T21:43:31.475Z,1755899011.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:31.478Z,1755899011.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 113.635246 m,
bearing: 82.709618 deg,
approach rate: -0.661924 m/s,
LOS rate: 0.060891 deg/s,
cmd heading: 80.953239 deg,
new cmd heading: 81.001364 deg.
2025-08-22T21:43:31.479Z,1755899011.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413741 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:31.506Z,1755899011.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520910
2025-08-22T21:43:31.747Z,1755899011.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770368
2025-08-22T21:43:31.906Z,1755899011.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:31.909Z,1755899011.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 113.368866 m,
bearing: 82.735724 deg,
approach rate: -0.619168 m/s,
LOS rate: 0.060821 deg/s,
cmd heading: 81.001365 deg,
new cmd heading: 81.053698 deg.
2025-08-22T21:43:31.910Z,1755899011.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414654 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:32.001Z,1755899012.001 [DAT](INFO): DAT read: Rx Time:21:43:32.6560
2025-08-22T21:43:32.001Z,1755899012.001 [DAT](INFO): Rx dataTimestamp_ set to:1755899012.000913
2025-08-22T21:43:32.002Z,1755899012.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025668
2025-08-22T21:43:32.254Z,1755899012.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277934
2025-08-22T21:43:32.275Z,1755899012.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:32.294Z,1755899012.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:32.296Z,1755899012.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 113.139404 m,
bearing: 82.758320 deg,
approach rate: -0.616383 m/s,
LOS rate: 0.060823 deg/s,
cmd heading: 81.053698 deg,
new cmd heading: 81.098983 deg.
2025-08-22T21:43:32.297Z,1755899012.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.415444 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:32.507Z,1755899012.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530674
2025-08-22T21:43:32.754Z,1755899012.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.90 m.
2025-08-22T21:43:32.757Z,1755899012.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.897621 m,
nav range: 112.840973 m,
bearing: 82.787340 deg,
approach rate: -0.626270 m/s,
LOS rate: 0.061060 deg/s,
cmd heading: 81.098982 deg,
new cmd heading: 81.157175 deg.
2025-08-22T21:43:32.764Z,1755899012.764 [DAT](INFO): DAT read: 21:43:32.6560 LVL= 29024, 30097, 30162, 32755, AGC= 69, IDX= 340, 0.20, 2.097, 0.314, 2.135, 1.772, PHS= 0.426,-1.413, 0.319, RAW= 147.0, 7.5, CAL= 146.5, 8.1, ROT= 3.5, -8.1
2025-08-22T21:43:32.765Z,1755899012.765 [DAT](INFO): got valid direction response:
21:43:32.6560 LVL= 29024, 30097, 30162, 32755, AGC= 69, IDX= 340, 0.20, 2.097, 0.314, 2.135, 1.772, PHS= 0.426,-1.413, 0.319, RAW= 147.0, 7.5, CAL= 146.5, 8.1, ROT= 3.5, -8.1
2025-08-22T21:43:32.766Z,1755899012.766 [DAT](INFO): DAT read: Bearing 245.3, 5.2 (Local)
2025-08-22T21:43:32.767Z,1755899012.767 [DAT](INFO): Local bearing/azimuth received:
Bearing 245.3, 5.2 (Local)
2025-08-22T21:43:32.768Z,1755899012.768 [DAT](INFO): DAT read: Range 11 to 50 : 87.3 m (Round-trip 116.4 ms) speed 0.4 m/s
2025-08-22T21:43:32.769Z,1755899012.769 [DAT](INFO): DAT read: user:2417>
2025-08-22T21:43:32.770Z,1755899012.770 [DAT](INFO): DAT read: Tx time:21:43:33.7855
2025-08-22T21:43:32.770Z,1755899012.770 [DAT](INFO): Ping request sent.
2025-08-22T21:43:32.770Z,1755899012.770 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:43:32.770Z,1755899012.770 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:43:32.771Z,1755899012.771 [DAT](INFO): direction in FSK: [0.988177,0.060439,0.140901]
2025-08-22T21:43:32.772Z,1755899012.772 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:32.772Z,1755899012.772 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:32.790Z,1755899012.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.416460 target range: 96.897621 and range: 97.50 m.
2025-08-22T21:43:32.799Z,1755899012.799 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:32.799Z,1755899012.799 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:33.119Z,1755899013.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 87.300003 m,
deltaT: 16.135941 s,
deltaX: -10.199997 m,
approachRate: -0.632129 m/s,
rangeRepo size: 4
2025-08-22T21:43:33.121Z,1755899013.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 86.762054 m,
bearing: 83.965032 deg,
lat: 36.779425 deg,
lon: -121.859228 deg,
deltaT: 16.135941 s,
deltaX: -10.135567 m,
approachRate: -0.628136 m/s,
posRepo size: 4
2025-08-22T21:43:33.122Z,1755899013.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.76 m.
2025-08-22T21:43:33.124Z,1755899013.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.762054 m,
nav range: 111.566391 m,
bearing: 82.741264 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.061060 deg/s,
cmd heading: 81.157175 deg,
new cmd heading: 81.201633 deg.
2025-08-22T21:43:33.125Z,1755899013.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.417236 target range: 86.762054 and range: 87.30 m.
2025-08-22T21:43:33.544Z,1755899013.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.76 m.
2025-08-22T21:43:33.546Z,1755899013.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.762054 m,
nav range: 111.297623 m,
bearing: 82.767478 deg,
approach rate: -0.631806 m/s,
LOS rate: 0.061770 deg/s,
cmd heading: 81.201633 deg,
new cmd heading: 81.254187 deg.
2025-08-22T21:43:33.547Z,1755899013.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.418153 target range: 86.762054 and range: 87.30 m.
2025-08-22T21:43:33.978Z,1755899013.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.76 m.
2025-08-22T21:43:33.981Z,1755899013.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.762054 m,
nav range: 111.024254 m,
bearing: 82.792300 deg,
approach rate: -0.629599 m/s,
LOS rate: 0.057308 deg/s,
cmd heading: 81.254184 deg,
new cmd heading: 81.303950 deg.
2025-08-22T21:43:33.982Z,1755899013.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.419022 target range: 86.762054 and range: 87.30 m.
2025-08-22T21:43:34.392Z,1755899014.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:34.394Z,1755899014.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.76 m.
2025-08-22T21:43:34.397Z,1755899014.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.762054 m,
nav range: 110.762466 m,
bearing: 82.816165 deg,
approach rate: -0.628787 m/s,
LOS rate: 0.057458 deg/s,
cmd heading: 81.303949 deg,
new cmd heading: 81.351793 deg.
2025-08-22T21:43:34.398Z,1755899014.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.419857 target range: 86.762054 and range: 87.30 m.
2025-08-22T21:43:34.522Z,1755899014.522 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:34.522Z,1755899014.522 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:34.523Z,1755899014.523 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:34.775Z,1755899014.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004851
2025-08-22T21:43:34.892Z,1755899014.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.76 m.
2025-08-22T21:43:34.916Z,1755899014.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.762054 m,
nav range: 110.444290 m,
bearing: 82.846293 deg,
approach rate: -0.639228 m/s,
LOS rate: 0.060703 deg/s,
cmd heading: 81.351795 deg,
new cmd heading: 81.412225 deg.
2025-08-22T21:43:34.923Z,1755899014.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.420911 target range: 86.762054 and range: 87.30 m.
2025-08-22T21:43:35.027Z,1755899015.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257379
2025-08-22T21:43:35.269Z,1755899015.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.76 m.
2025-08-22T21:43:35.276Z,1755899015.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.762054 m,
nav range: 110.208488 m,
bearing: 82.868523 deg,
approach rate: -0.625195 m/s,
LOS rate: 0.059066 deg/s,
cmd heading: 81.412221 deg,
new cmd heading: 81.456777 deg.
2025-08-22T21:43:35.277Z,1755899015.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421689 target range: 86.762054 and range: 87.30 m.
2025-08-22T21:43:35.279Z,1755899015.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508556
2025-08-22T21:43:35.535Z,1755899015.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764176
2025-08-22T21:43:35.736Z,1755899015.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.76 m.
2025-08-22T21:43:35.743Z,1755899015.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.762054 m,
nav range: 109.909996 m,
bearing: 82.896723 deg,
approach rate: -0.638614 m/s,
LOS rate: 0.060495 deg/s,
cmd heading: 81.456775 deg,
new cmd heading: 81.513326 deg.
2025-08-22T21:43:35.744Z,1755899015.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422676 target range: 86.762054 and range: 87.30 m.
2025-08-22T21:43:35.783Z,1755899015.783 [DAT](INFO): DAT read: Rx Time:21:43:36.3029
2025-08-22T21:43:35.783Z,1755899015.783 [DAT](INFO): Rx dataTimestamp_ set to:1755899015.783009
2025-08-22T21:43:35.784Z,1755899015.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013783
2025-08-22T21:43:36.034Z,1755899016.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264367
2025-08-22T21:43:36.098Z,1755899016.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.76 m.
2025-08-22T21:43:36.101Z,1755899016.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.762054 m,
nav range: 109.673553 m,
bearing: 82.919627 deg,
approach rate: -0.654530 m/s,
LOS rate: 0.063542 deg/s,
cmd heading: 81.513329 deg,
new cmd heading: 81.559236 deg.
2025-08-22T21:43:36.102Z,1755899016.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423477 target range: 86.762054 and range: 87.30 m.
2025-08-22T21:43:36.293Z,1755899016.293 [DAT](INFO): DAT read: 21:43:36.3029 LVL= 28784, 28113, 27634, 32755, AGC= 68, IDX= 404,-0.01,-0.631,-2.394,-0.575,-0.957, PHS= 0.428,-1.392, 0.339, RAW= 147.5, 7.1, CAL= 147.0, 7.6, ROT= 3.0, -7.6
2025-08-22T21:43:36.294Z,1755899016.294 [DAT](INFO): got valid direction response:
21:43:36.3029 LVL= 28784, 28113, 27634, 32755, AGC= 68, IDX= 404,-0.01,-0.631,-2.394,-0.575,-0.957, PHS= 0.428,-1.392, 0.339, RAW= 147.5, 7.1, CAL= 147.0, 7.6, ROT= 3.0, -7.6
2025-08-22T21:43:36.295Z,1755899016.295 [DAT](INFO): DAT read: Bearing 245.8, 5.0 (Local)
2025-08-22T21:43:36.295Z,1755899016.295 [DAT](INFO): Local bearing/azimuth received:
Bearing 245.8, 5.0 (Local)
2025-08-22T21:43:36.297Z,1755899016.297 [DAT](INFO): DAT read: Range 11 to 50 : 84.9 m (Round-trip 113.2 ms) speed 0.3 m/s
2025-08-22T21:43:36.298Z,1755899016.298 [DAT](INFO): DAT read: user:2418>
2025-08-22T21:43:36.298Z,1755899016.298 [DAT](INFO): DAT read: Tx time:21:43:37.4355
2025-08-22T21:43:36.299Z,1755899016.299 [DAT](INFO): Ping request sent.
2025-08-22T21:43:36.299Z,1755899016.299 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:43:36.299Z,1755899016.299 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:43:36.300Z,1755899016.300 [DAT](INFO): direction in FSK: [0.989857,0.051876,0.132256]
2025-08-22T21:43:36.300Z,1755899016.300 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:36.301Z,1755899016.301 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:36.304Z,1755899016.304 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:36.304Z,1755899016.304 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:36.507Z,1755899016.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 84.900002 m,
deltaT: 3.527912 s,
deltaX: -2.400002 m,
approachRate: -0.680290 m/s,
rangeRepo size: 4
2025-08-22T21:43:36.514Z,1755899016.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 84.377022 m,
bearing: 83.691459 deg,
lat: 36.779386 deg,
lon: -121.859507 deg,
deltaT: 3.527912 s,
deltaX: -2.385033 m,
approachRate: -0.676047 m/s,
posRepo size: 4
2025-08-22T21:43:36.514Z,1755899016.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.38 m.
2025-08-22T21:43:36.517Z,1755899016.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.377022 m,
nav range: 84.185219 m,
bearing: 83.757932 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.063542 deg/s,
cmd heading: 81.559234 deg,
new cmd heading: 81.611206 deg.
2025-08-22T21:43:36.522Z,1755899016.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424384 target range: 84.377022 and range: 84.90 m.
2025-08-22T21:43:36.941Z,1755899016.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:36.944Z,1755899016.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.38 m.
2025-08-22T21:43:36.951Z,1755899016.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.377022 m,
nav range: 83.894798 m,
bearing: 83.797339 deg,
approach rate: -0.664686 m/s,
LOS rate: 0.090503 deg/s,
cmd heading: 81.611205 deg,
new cmd heading: 81.690292 deg.
2025-08-22T21:43:36.952Z,1755899016.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425765 target range: 84.377022 and range: 84.90 m.
2025-08-22T21:43:37.043Z,1755899017.043 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:37.043Z,1755899017.043 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:37.043Z,1755899017.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:37.295Z,1755899017.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995764
2025-08-22T21:43:37.300Z,1755899017.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.38 m.
2025-08-22T21:43:37.307Z,1755899017.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.377022 m,
nav range: 83.671318 m,
bearing: 83.827542 deg,
approach rate: -0.626627 m/s,
LOS rate: 0.084914 deg/s,
cmd heading: 81.690292 deg,
new cmd heading: 81.750859 deg.
2025-08-22T21:43:37.331Z,1755899017.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426822 target range: 84.377022 and range: 84.90 m.
2025-08-22T21:43:37.547Z,1755899017.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248293
2025-08-22T21:43:37.754Z,1755899017.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.38 m.
2025-08-22T21:43:37.757Z,1755899017.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.377022 m,
nav range: 83.397263 m,
bearing: 83.864591 deg,
approach rate: -0.603519 m/s,
LOS rate: 0.081857 deg/s,
cmd heading: 81.750862 deg,
new cmd heading: 81.825204 deg.
2025-08-22T21:43:37.762Z,1755899017.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428119 target range: 84.377022 and range: 84.90 m.
2025-08-22T21:43:37.799Z,1755899017.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499907
2025-08-22T21:43:38.051Z,1755899018.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751699
2025-08-22T21:43:38.116Z,1755899018.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.38 m.
2025-08-22T21:43:38.119Z,1755899018.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.377022 m,
nav range: 83.139603 m,
bearing: 83.900039 deg,
approach rate: -0.712518 m/s,
LOS rate: 0.098329 deg/s,
cmd heading: 81.825202 deg,
new cmd heading: 81.896317 deg.
2025-08-22T21:43:38.120Z,1755899018.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.429360 target range: 84.377022 and range: 84.90 m.
2025-08-22T21:43:38.303Z,1755899018.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004517
2025-08-22T21:43:38.491Z,1755899018.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.38 m.
2025-08-22T21:43:38.494Z,1755899018.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.377022 m,
nav range: 82.902946 m,
bearing: 83.932589 deg,
approach rate: -0.630208 m/s,
LOS rate: 0.086928 deg/s,
cmd heading: 81.896318 deg,
new cmd heading: 81.961605 deg.
2025-08-22T21:43:38.495Z,1755899018.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.430500 target range: 84.377022 and range: 84.90 m.
2025-08-22T21:43:38.555Z,1755899018.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255952
2025-08-22T21:43:38.807Z,1755899018.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507706
2025-08-22T21:43:38.942Z,1755899018.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:38.944Z,1755899018.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.38 m.
2025-08-22T21:43:38.959Z,1755899018.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.377022 m,
nav range: 82.608551 m,
bearing: 83.969654 deg,
approach rate: -0.650703 m/s,
LOS rate: 0.082216 deg/s,
cmd heading: 81.961608 deg,
new cmd heading: 82.036001 deg.
2025-08-22T21:43:38.960Z,1755899018.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431798 target range: 84.377022 and range: 84.90 m.
2025-08-22T21:43:39.059Z,1755899019.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760041
2025-08-22T21:43:39.311Z,1755899019.311 [DAT](INFO): DAT read: Rx Time:21:43:39.9497
2025-08-22T21:43:39.311Z,1755899019.311 [DAT](INFO): Rx dataTimestamp_ set to:1755899019.310710
2025-08-22T21:43:39.312Z,1755899019.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012711
2025-08-22T21:43:39.376Z,1755899019.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.38 m.
2025-08-22T21:43:39.379Z,1755899019.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.377022 m,
nav range: 82.326805 m,
bearing: 84.005180 deg,
approach rate: -0.652484 m/s,
LOS rate: 0.082554 deg/s,
cmd heading: 82.036002 deg,
new cmd heading: 82.107297 deg.
2025-08-22T21:43:39.380Z,1755899019.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433043 target range: 84.377022 and range: 84.90 m.
2025-08-22T21:43:39.563Z,1755899019.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263708
2025-08-22T21:43:39.775Z,1755899019.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.38 m.
2025-08-22T21:43:39.787Z,1755899019.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.377022 m,
nav range: 82.104416 m,
bearing: 84.033254 deg,
approach rate: -0.564643 m/s,
LOS rate: 0.071472 deg/s,
cmd heading: 82.107295 deg,
new cmd heading: 82.163595 deg.
2025-08-22T21:43:39.788Z,1755899019.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434025 target range: 84.377022 and range: 84.90 m.
2025-08-22T21:43:39.818Z,1755899019.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518549
2025-08-22T21:43:40.074Z,1755899020.074 [DAT](INFO): DAT read: 21:43:39.9497 LVL= 26048, 31377, 24690, 32755, AGC= 66, IDX= 403,-0.18, 1.867, 0.100, 1.923, 1.554, PHS= 0.416,-1.408, 0.325, RAW= 147.5, 7.6, CAL= 147.0, 8.2, ROT= 3.0, -8.2
2025-08-22T21:43:40.075Z,1755899020.075 [DAT](INFO): got valid direction response:
21:43:39.9497 LVL= 26048, 31377, 24690, 32755, AGC= 66, IDX= 403,-0.18, 1.867, 0.100, 1.923, 1.554, PHS= 0.416,-1.408, 0.325, RAW= 147.5, 7.6, CAL= 147.0, 8.2, ROT= 3.0, -8.2
2025-08-22T21:43:40.076Z,1755899020.076 [DAT](INFO): DAT read: Bearing 247.6, 4.9 (Local)
2025-08-22T21:43:40.076Z,1755899020.076 [DAT](INFO): Local bearing/azimuth received:
Bearing 247.6, 4.9 (Local)
2025-08-22T21:43:40.077Z,1755899020.077 [DAT](INFO): DAT read: Range 11 to 50 : 82.5 m (Round-trip 110.0 ms) speed 0.6 m/s
2025-08-22T21:43:40.078Z,1755899020.078 [DAT](INFO): DAT read: user:2419>
2025-08-22T21:43:40.079Z,1755899020.079 [DAT](INFO): DAT read: Tx time:21:43:41.0355
2025-08-22T21:43:40.079Z,1755899020.079 [DAT](INFO): Ping request sent.
2025-08-22T21:43:40.079Z,1755899020.079 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:43:40.079Z,1755899020.079 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:43:40.080Z,1755899020.080 [DAT](INFO): direction in FSK: [0.988420,0.051801,0.142629]
2025-08-22T21:43:40.081Z,1755899020.081 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:40.081Z,1755899020.081 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:40.084Z,1755899020.084 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:40.084Z,1755899020.084 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:40.268Z,1755899020.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 82.500000 m,
deltaT: 3.780091 s,
deltaX: -2.400002 m,
approachRate: -0.634906 m/s,
rangeRepo size: 4
2025-08-22T21:43:40.278Z,1755899020.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.991943 m,
bearing: 84.201269 deg,
lat: 36.779384 deg,
lon: -121.859515 deg,
deltaT: 3.780091 s,
deltaX: -2.385078 m,
approachRate: -0.630958 m/s,
posRepo size: 4
2025-08-22T21:43:40.279Z,1755899020.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-08-22T21:43:40.286Z,1755899020.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.991943 m,
nav range: 81.097267 m,
bearing: 84.221223 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.071472 deg/s,
cmd heading: 82.163597 deg,
new cmd heading: 82.234722 deg.
2025-08-22T21:43:40.287Z,1755899020.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435267 target range: 81.991943 and range: 82.50 m.
2025-08-22T21:43:40.638Z,1755899020.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-08-22T21:43:40.640Z,1755899020.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.991943 m,
nav range: 80.847725 m,
bearing: 84.255497 deg,
approach rate: -0.673816 m/s,
LOS rate: 0.092832 deg/s,
cmd heading: 82.234719 deg,
new cmd heading: 82.303479 deg.
2025-08-22T21:43:40.641Z,1755899020.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436467 target range: 81.991943 and range: 82.50 m.
2025-08-22T21:43:41.041Z,1755899021.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:41.043Z,1755899021.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-08-22T21:43:41.046Z,1755899021.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.991943 m,
nav range: 80.585564 m,
bearing: 84.290124 deg,
approach rate: -0.645713 m/s,
LOS rate: 0.085565 deg/s,
cmd heading: 82.303479 deg,
new cmd heading: 82.372958 deg.
2025-08-22T21:43:41.047Z,1755899021.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437679 target range: 81.991943 and range: 82.50 m.
2025-08-22T21:43:41.074Z,1755899021.074 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:41.075Z,1755899021.075 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:41.075Z,1755899021.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:41.327Z,1755899021.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247661
2025-08-22T21:43:41.436Z,1755899021.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-08-22T21:43:41.439Z,1755899021.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.991943 m,
nav range: 80.331413 m,
bearing: 84.323839 deg,
approach rate: -0.647364 m/s,
LOS rate: 0.086147 deg/s,
cmd heading: 82.372956 deg,
new cmd heading: 82.440597 deg.
2025-08-22T21:43:41.440Z,1755899021.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.438860 target range: 81.991943 and range: 82.50 m.
2025-08-22T21:43:41.579Z,1755899021.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499377
2025-08-22T21:43:41.831Z,1755899021.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751445
2025-08-22T21:43:41.864Z,1755899021.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-08-22T21:43:41.867Z,1755899021.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.991943 m,
nav range: 80.057091 m,
bearing: 84.361103 deg,
approach rate: -0.641411 m/s,
LOS rate: 0.087428 deg/s,
cmd heading: 82.440595 deg,
new cmd heading: 82.515379 deg.
2025-08-22T21:43:41.868Z,1755899021.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440165 target range: 81.991943 and range: 82.50 m.
2025-08-22T21:43:42.083Z,1755899022.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003342
2025-08-22T21:43:42.230Z,1755899022.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-08-22T21:43:42.233Z,1755899022.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.991943 m,
nav range: 79.822426 m,
bearing: 84.392906 deg,
approach rate: -0.641065 m/s,
LOS rate: 0.087136 deg/s,
cmd heading: 82.515379 deg,
new cmd heading: 82.579172 deg.
2025-08-22T21:43:42.235Z,1755899022.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.441278 target range: 81.991943 and range: 82.50 m.
2025-08-22T21:43:42.335Z,1755899022.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255378
2025-08-22T21:43:42.587Z,1755899022.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507367
2025-08-22T21:43:42.638Z,1755899022.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-08-22T21:43:42.641Z,1755899022.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.991943 m,
nav range: 79.567879 m,
bearing: 84.427339 deg,
approach rate: -0.642780 m/s,
LOS rate: 0.087227 deg/s,
cmd heading: 82.579173 deg,
new cmd heading: 82.648259 deg.
2025-08-22T21:43:42.646Z,1755899022.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442484 target range: 81.991943 and range: 82.50 m.
2025-08-22T21:43:42.839Z,1755899022.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759367
2025-08-22T21:43:43.048Z,1755899023.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:43.050Z,1755899023.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-08-22T21:43:43.053Z,1755899023.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.991943 m,
nav range: 79.294724 m,
bearing: 84.467826 deg,
approach rate: -0.643440 m/s,
LOS rate: 0.095701 deg/s,
cmd heading: 82.648260 deg,
new cmd heading: 82.729515 deg.
2025-08-22T21:43:43.054Z,1755899023.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.443902 target range: 81.991943 and range: 82.50 m.
2025-08-22T21:43:43.091Z,1755899023.091 [DAT](INFO): DAT read: Rx Time:21:43:43.5467
2025-08-22T21:43:43.091Z,1755899023.091 [DAT](INFO): Rx dataTimestamp_ set to:1755899023.090813
2025-08-22T21:43:43.092Z,1755899023.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012462
2025-08-22T21:43:43.344Z,1755899023.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264550
2025-08-22T21:43:43.487Z,1755899023.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-08-22T21:43:43.489Z,1755899023.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.991943 m,
nav range: 79.013535 m,
bearing: 84.509534 deg,
approach rate: -0.644568 m/s,
LOS rate: 0.095946 deg/s,
cmd heading: 82.729512 deg,
new cmd heading: 82.813224 deg.
2025-08-22T21:43:43.490Z,1755899023.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.445363 target range: 81.991943 and range: 82.50 m.
2025-08-22T21:43:43.600Z,1755899023.600 [DAT](INFO): DAT read: 21:43:43.5467 LVL= 27040, 31185, 25554, 32755, AGC= 68, IDX= 405,-0.26, 2.283, 0.501, 2.342, 1.932, PHS= 0.452,-1.387, 0.366, RAW= 147.6, 6.4, CAL= 147.1, 6.8, ROT= 2.9, -6.8
2025-08-22T21:43:43.601Z,1755899023.601 [DAT](INFO): got valid direction response:
21:43:43.5467 LVL= 27040, 31185, 25554, 32755, AGC= 68, IDX= 405,-0.26, 2.283, 0.501, 2.342, 1.932, PHS= 0.452,-1.387, 0.366, RAW= 147.6, 6.4, CAL= 147.1, 6.8, ROT= 2.9, -6.8
2025-08-22T21:43:43.603Z,1755899023.603 [DAT](INFO): DAT read: Bearing 247.4, 4.7 (Local)
2025-08-22T21:43:43.603Z,1755899023.603 [DAT](INFO): Local bearing/azimuth received:
Bearing 247.4, 4.7 (Local)
2025-08-22T21:43:43.605Z,1755899023.605 [DAT](INFO): DAT read: Range 11 to 50 : 80.3 m (Round-trip 107.1 ms) speed 0.5 m/s
2025-08-22T21:43:43.605Z,1755899023.605 [DAT](INFO): DAT read: user:2420>
2025-08-22T21:43:43.606Z,1755899023.606 [DAT](INFO): DAT read: Tx time:21:43:44.6355
2025-08-22T21:43:43.606Z,1755899023.606 [DAT](INFO): Ping request sent.
2025-08-22T21:43:43.606Z,1755899023.606 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:43:43.607Z,1755899023.607 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:43:43.608Z,1755899023.608 [DAT](INFO): direction in FSK: [0.991694,0.050237,0.118404]
2025-08-22T21:43:43.608Z,1755899023.608 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:43.608Z,1755899023.608 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:43.612Z,1755899023.612 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:43.612Z,1755899023.612 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:43.944Z,1755899023.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 80.300003 m,
deltaT: 3.527930 s,
deltaX: -2.199997 m,
approachRate: -0.623594 m/s,
rangeRepo size: 4
2025-08-22T21:43:43.947Z,1755899023.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 79.805496 m,
bearing: 84.704545 deg,
lat: 36.779382 deg,
lon: -121.859515 deg,
deltaT: 3.527930 s,
deltaX: -2.186447 m,
approachRate: -0.619754 m/s,
posRepo size: 4
2025-08-22T21:43:43.947Z,1755899023.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.81 m.
2025-08-22T21:43:43.978Z,1755899023.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.805496 m,
nav range: 78.714554 m,
bearing: 84.686446 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.095946 deg/s,
cmd heading: 82.813223 deg,
new cmd heading: 82.900952 deg.
2025-08-22T21:43:43.979Z,1755899023.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.446895 target range: 79.805496 and range: 80.30 m.
2025-08-22T21:43:44.322Z,1755899024.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.81 m.
2025-08-22T21:43:44.325Z,1755899024.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.805496 m,
nav range: 78.489098 m,
bearing: 84.718892 deg,
approach rate: -0.595311 m/s,
LOS rate: 0.085921 deg/s,
cmd heading: 82.900950 deg,
new cmd heading: 82.966029 deg.
2025-08-22T21:43:44.326Z,1755899024.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448030 target range: 79.805496 and range: 80.30 m.
2025-08-22T21:43:44.722Z,1755899024.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.81 m.
2025-08-22T21:43:44.725Z,1755899024.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.805496 m,
nav range: 78.239510 m,
bearing: 84.754841 deg,
approach rate: -0.624509 m/s,
LOS rate: 0.090236 deg/s,
cmd heading: 82.966028 deg,
new cmd heading: 83.038154 deg.
2025-08-22T21:43:44.726Z,1755899024.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.449289 target range: 79.805496 and range: 80.30 m.
2025-08-22T21:43:45.133Z,1755899025.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:45.135Z,1755899025.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.81 m.
2025-08-22T21:43:45.138Z,1755899025.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.805496 m,
nav range: 77.976692 m,
bearing: 84.792356 deg,
approach rate: -0.636491 m/s,
LOS rate: 0.091160 deg/s,
cmd heading: 83.038155 deg,
new cmd heading: 83.113437 deg.
2025-08-22T21:43:45.139Z,1755899025.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.450603 target range: 79.805496 and range: 80.30 m.
2025-08-22T21:43:45.359Z,1755899025.359 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:45.359Z,1755899025.359 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:45.359Z,1755899025.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:45.538Z,1755899025.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.81 m.
2025-08-22T21:43:45.540Z,1755899025.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.805496 m,
nav range: 77.739052 m,
bearing: 84.826438 deg,
approach rate: -0.614560 m/s,
LOS rate: 0.088408 deg/s,
cmd heading: 83.113437 deg,
new cmd heading: 83.181809 deg.
2025-08-22T21:43:45.546Z,1755899025.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.451796 target range: 79.805496 and range: 80.30 m.
2025-08-22T21:43:45.612Z,1755899025.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005566
2025-08-22T21:43:45.866Z,1755899025.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258351
2025-08-22T21:43:45.991Z,1755899025.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.81 m.
2025-08-22T21:43:45.998Z,1755899025.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.805496 m,
nav range: 77.461678 m,
bearing: 84.866484 deg,
approach rate: -0.591089 m/s,
LOS rate: 0.085646 deg/s,
cmd heading: 83.181807 deg,
new cmd heading: 83.262187 deg.
2025-08-22T21:43:45.999Z,1755899025.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.453199 target range: 79.805496 and range: 80.30 m.
2025-08-22T21:43:46.114Z,1755899026.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507925
2025-08-22T21:43:46.367Z,1755899026.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760092
2025-08-22T21:43:46.379Z,1755899026.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.81 m.
2025-08-22T21:43:46.391Z,1755899026.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.805496 m,
nav range: 77.202507 m,
bearing: 84.904168 deg,
approach rate: -0.667082 m/s,
LOS rate: 0.097320 deg/s,
cmd heading: 83.262185 deg,
new cmd heading: 83.337805 deg.
2025-08-22T21:43:46.394Z,1755899026.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.454519 target range: 79.805496 and range: 80.30 m.
2025-08-22T21:43:46.619Z,1755899026.619 [DAT](INFO): DAT read: Rx Time:21:43:47.1436
2025-08-22T21:43:46.620Z,1755899026.620 [DAT](INFO): Rx dataTimestamp_ set to:1755899026.619324
2025-08-22T21:43:46.621Z,1755899026.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014011
2025-08-22T21:43:46.874Z,1755899026.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267388
2025-08-22T21:43:46.974Z,1755899026.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.81 m.
2025-08-22T21:43:46.977Z,1755899026.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.805496 m,
nav range: 76.831284 m,
bearing: 84.958946 deg,
approach rate: -0.624056 m/s,
LOS rate: 0.092530 deg/s,
cmd heading: 83.337809 deg,
new cmd heading: 83.447893 deg.
2025-08-22T21:43:46.978Z,1755899026.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.456440 target range: 79.805496 and range: 80.30 m.
2025-08-22T21:43:47.128Z,1755899027.128 [DAT](INFO): DAT read: 21:43:47.1436 LVL= 23408, 32065, 23714, 31699, AGC= 67, IDX= 405,-0.23, 1.363,-0.368, 1.458, 1.056, PHS= 0.409,-1.379, 0.358, RAW= 148.6, 7.0, CAL= 148.0, 7.5, ROT= 2.0, -7.5
2025-08-22T21:43:47.129Z,1755899027.129 [DAT](INFO): got valid direction response:
21:43:47.1436 LVL= 23408, 32065, 23714, 31699, AGC= 67, IDX= 405,-0.23, 1.363,-0.368, 1.458, 1.056, PHS= 0.409,-1.379, 0.358, RAW= 148.6, 7.0, CAL= 148.0, 7.5, ROT= 2.0, -7.5
2025-08-22T21:43:47.131Z,1755899027.131 [DAT](INFO): DAT read: Bearing 249.0, 3.6 (Local)
2025-08-22T21:43:47.132Z,1755899027.132 [DAT](INFO): Local bearing/azimuth received:
Bearing 249.0, 3.6 (Local)
2025-08-22T21:43:47.133Z,1755899027.133 [DAT](INFO): DAT read: Range 11 to 50 : 78.0 m (Round-trip 104.0 ms) speed 0.5 m/s
2025-08-22T21:43:47.134Z,1755899027.134 [DAT](INFO): DAT read: user:2421>
2025-08-22T21:43:47.134Z,1755899027.134 [DAT](INFO): DAT read: Tx time:21:43:48.2355
2025-08-22T21:43:47.135Z,1755899027.135 [DAT](INFO): Ping request sent.
2025-08-22T21:43:47.135Z,1755899027.135 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:43:47.135Z,1755899027.135 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:43:47.136Z,1755899027.136 [DAT](INFO): direction in FSK: [0.990841,0.034601,0.130526]
2025-08-22T21:43:47.136Z,1755899027.136 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:47.137Z,1755899027.137 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:47.144Z,1755899027.144 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:47.144Z,1755899027.144 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:47.360Z,1755899027.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 78.000000 m,
deltaT: 3.527994 s,
deltaX: -2.300003 m,
approachRate: -0.651929 m/s,
rangeRepo size: 4
2025-08-22T21:43:47.366Z,1755899027.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 77.519302 m,
bearing: 84.471839 deg,
lat: 36.779384 deg,
lon: -121.859516 deg,
deltaT: 3.527994 s,
deltaX: -2.286194 m,
approachRate: -0.648015 m/s,
posRepo size: 4
2025-08-22T21:43:47.367Z,1755899027.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.52 m.
2025-08-22T21:43:47.369Z,1755899027.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.519302 m,
nav range: 76.544395 m,
bearing: 84.847557 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.092530 deg/s,
cmd heading: 83.447891 deg,
new cmd heading: 83.519116 deg.
2025-08-22T21:43:47.375Z,1755899027.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457684 target range: 77.519302 and range: 78.00 m.
2025-08-22T21:43:47.916Z,1755899027.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:47.923Z,1755899027.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.52 m.
2025-08-22T21:43:47.925Z,1755899027.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.519302 m,
nav range: 76.213562 m,
bearing: 84.895675 deg,
approach rate: -0.587270 m/s,
LOS rate: 0.085787 deg/s,
cmd heading: 83.519116 deg,
new cmd heading: 83.615771 deg.
2025-08-22T21:43:47.930Z,1755899027.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.459370 target range: 77.519302 and range: 78.00 m.
2025-08-22T21:43:48.130Z,1755899028.130 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:48.130Z,1755899028.130 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:48.131Z,1755899028.131 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:48.295Z,1755899028.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.52 m.
2025-08-22T21:43:48.298Z,1755899028.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.519302 m,
nav range: 75.943214 m,
bearing: 84.933197 deg,
approach rate: -0.725726 m/s,
LOS rate: 0.101083 deg/s,
cmd heading: 83.615770 deg,
new cmd heading: 83.691081 deg.
2025-08-22T21:43:48.299Z,1755899028.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.460685 target range: 77.519302 and range: 78.00 m.
2025-08-22T21:43:48.385Z,1755899028.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250001
2025-08-22T21:43:48.635Z,1755899028.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499786
2025-08-22T21:43:48.658Z,1755899028.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.52 m.
2025-08-22T21:43:48.661Z,1755899028.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.519302 m,
nav range: 75.710320 m,
bearing: 84.965480 deg,
approach rate: -0.640950 m/s,
LOS rate: 0.089119 deg/s,
cmd heading: 83.691080 deg,
new cmd heading: 83.755844 deg.
2025-08-22T21:43:48.662Z,1755899028.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.461815 target range: 77.519302 and range: 78.00 m.
2025-08-22T21:43:48.890Z,1755899028.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754278
2025-08-22T21:43:49.091Z,1755899029.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.52 m.
2025-08-22T21:43:49.094Z,1755899029.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.519302 m,
nav range: 75.426811 m,
bearing: 85.002312 deg,
approach rate: -0.655100 m/s,
LOS rate: 0.085427 deg/s,
cmd heading: 83.755844 deg,
new cmd heading: 83.829784 deg.
2025-08-22T21:43:49.095Z,1755899029.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463106 target range: 77.519302 and range: 78.00 m.
2025-08-22T21:43:49.139Z,1755899029.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003885
2025-08-22T21:43:49.392Z,1755899029.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256902
2025-08-22T21:43:49.477Z,1755899029.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.52 m.
2025-08-22T21:43:49.479Z,1755899029.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.519302 m,
nav range: 75.174232 m,
bearing: 85.035011 deg,
approach rate: -0.655329 m/s,
LOS rate: 0.085126 deg/s,
cmd heading: 83.829787 deg,
new cmd heading: 83.895406 deg.
2025-08-22T21:43:49.480Z,1755899029.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.464251 target range: 77.519302 and range: 78.00 m.
2025-08-22T21:43:49.642Z,1755899029.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507629
2025-08-22T21:43:49.898Z,1755899029.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762496
2025-08-22T21:43:49.936Z,1755899029.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:49.943Z,1755899029.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.52 m.
2025-08-22T21:43:49.945Z,1755899029.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.519302 m,
nav range: 74.906418 m,
bearing: 85.069647 deg,
approach rate: -0.574708 m/s,
LOS rate: 0.074592 deg/s,
cmd heading: 83.895405 deg,
new cmd heading: 83.964925 deg.
2025-08-22T21:43:49.950Z,1755899029.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.465464 target range: 77.519302 and range: 78.00 m.
2025-08-22T21:43:50.147Z,1755899030.147 [DAT](INFO): DAT read: Rx Time:21:43:50.7405
2025-08-22T21:43:50.147Z,1755899030.147 [DAT](INFO): Rx dataTimestamp_ set to:1755899030.146823
2025-08-22T21:43:50.148Z,1755899030.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012804
2025-08-22T21:43:50.323Z,1755899030.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.52 m.
2025-08-22T21:43:50.326Z,1755899030.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.519302 m,
nav range: 74.625008 m,
bearing: 85.109316 deg,
approach rate: -0.739765 m/s,
LOS rate: 0.104673 deg/s,
cmd heading: 83.964922 deg,
new cmd heading: 84.044559 deg.
2025-08-22T21:43:50.327Z,1755899030.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.466854 target range: 77.519302 and range: 78.00 m.
2025-08-22T21:43:50.400Z,1755899030.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264959
2025-08-22T21:43:50.663Z,1755899030.663 [DAT](INFO): DAT read: 21:43:50.7405 LVL= 26832, 32705, 25394, 32755, AGC= 64, IDX= 405, 0.04, 1.690,-0.107, 1.801, 1.366, PHS= 0.426,-1.429, 0.391, RAW= 149.1, 6.7, CAL= 148.5, 7.2, ROT= 1.5, -7.2
2025-08-22T21:43:50.664Z,1755899030.664 [DAT](INFO): got valid direction response:
21:43:50.7405 LVL= 26832, 32705, 25394, 32755, AGC= 64, IDX= 405, 0.04, 1.690,-0.107, 1.801, 1.366, PHS= 0.426,-1.429, 0.391, RAW= 149.1, 6.7, CAL= 148.5, 7.2, ROT= 1.5, -7.2
2025-08-22T21:43:50.665Z,1755899030.665 [DAT](INFO): DAT read: Bearing 249.7, 2.9 (Local)
2025-08-22T21:43:50.670Z,1755899030.670 [DAT](INFO): Local bearing/azimuth received:
Bearing 249.7, 2.9 (Local)
2025-08-22T21:43:50.672Z,1755899030.672 [DAT](INFO): DAT read: Range 11 to 50 : 75.6 m (Round-trip 100.8 ms) speed 1.0 m/s
2025-08-22T21:43:50.672Z,1755899030.672 [DAT](INFO): DAT read: user:2422>
2025-08-22T21:43:50.673Z,1755899030.673 [DAT](INFO): DAT read: Tx time:21:43:51.8355
2025-08-22T21:43:50.686Z,1755899030.686 [DAT](INFO): Ping request sent.
2025-08-22T21:43:50.686Z,1755899030.686 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:43:50.686Z,1755899030.686 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:43:50.687Z,1755899030.687 [DAT](INFO): direction in FSK: [0.991775,0.025971,0.125333]
2025-08-22T21:43:50.687Z,1755899030.687 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:50.688Z,1755899030.688 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:50.703Z,1755899030.703 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:50.703Z,1755899030.703 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:50.764Z,1755899030.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 75.599998 m,
deltaT: 3.529459 s,
deltaX: -2.400002 m,
approachRate: -0.679991 m/s,
rangeRepo size: 4
2025-08-22T21:43:50.770Z,1755899030.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 75.133011 m,
bearing: 84.626511 deg,
lat: 36.779386 deg,
lon: -121.859516 deg,
deltaT: 3.529459 s,
deltaX: -2.386292 m,
approachRate: -0.676107 m/s,
posRepo size: 4
2025-08-22T21:43:50.771Z,1755899030.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.13 m.
2025-08-22T21:43:50.782Z,1755899030.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.133011 m,
nav range: 74.315842 m,
bearing: 84.933171 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.104673 deg/s,
cmd heading: 84.044556 deg,
new cmd heading: 84.136651 deg.
2025-08-22T21:43:50.783Z,1755899030.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468462 target range: 75.133011 and range: 75.60 m.
2025-08-22T21:43:51.183Z,1755899031.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.13 m.
2025-08-22T21:43:51.192Z,1755899031.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.133011 m,
nav range: 74.042191 m,
bearing: 84.970348 deg,
approach rate: -0.659954 m/s,
LOS rate: 0.089989 deg/s,
cmd heading: 84.136654 deg,
new cmd heading: 84.211282 deg.
2025-08-22T21:43:51.193Z,1755899031.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.469764 target range: 75.133011 and range: 75.60 m.
2025-08-22T21:43:51.499Z,1755899031.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.13 m.
2025-08-22T21:43:51.503Z,1755899031.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.133011 m,
nav range: 73.834114 m,
bearing: 84.998660 deg,
approach rate: -0.646546 m/s,
LOS rate: 0.088218 deg/s,
cmd heading: 84.211281 deg,
new cmd heading: 84.268063 deg.
2025-08-22T21:43:51.504Z,1755899031.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.470755 target range: 75.133011 and range: 75.60 m.
2025-08-22T21:43:51.972Z,1755899031.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:51.978Z,1755899031.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.13 m.
2025-08-22T21:43:51.980Z,1755899031.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.133011 m,
nav range: 73.524452 m,
bearing: 85.041095 deg,
approach rate: -0.652970 m/s,
LOS rate: 0.089858 deg/s,
cmd heading: 84.268060 deg,
new cmd heading: 84.353287 deg.
2025-08-22T21:43:51.986Z,1755899031.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.472243 target range: 75.133011 and range: 75.60 m.
2025-08-22T21:43:52.175Z,1755899032.175 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:52.175Z,1755899032.175 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:52.175Z,1755899032.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:52.362Z,1755899032.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.13 m.
2025-08-22T21:43:52.364Z,1755899032.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.133011 m,
nav range: 73.267181 m,
bearing: 85.073355 deg,
approach rate: -0.663442 m/s,
LOS rate: 0.083485 deg/s,
cmd heading: 84.353287 deg,
new cmd heading: 84.418035 deg.
2025-08-22T21:43:52.365Z,1755899032.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.473373 target range: 75.133011 and range: 75.60 m.
2025-08-22T21:43:52.427Z,1755899032.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741068
2025-08-22T21:43:52.678Z,1755899032.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992694
2025-08-22T21:43:52.812Z,1755899032.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.13 m.
2025-08-22T21:43:52.815Z,1755899032.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.133011 m,
nav range: 72.988777 m,
bearing: 85.108052 deg,
approach rate: -0.617521 m/s,
LOS rate: 0.077254 deg/s,
cmd heading: 84.418037 deg,
new cmd heading: 84.487696 deg.
2025-08-22T21:43:52.816Z,1755899032.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474589 target range: 75.133011 and range: 75.60 m.
2025-08-22T21:43:52.935Z,1755899032.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248412
2025-08-22T21:43:53.183Z,1755899033.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497502
2025-08-22T21:43:53.199Z,1755899033.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.13 m.
2025-08-22T21:43:53.206Z,1755899033.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.133011 m,
nav range: 72.745773 m,
bearing: 85.140590 deg,
approach rate: -0.627948 m/s,
LOS rate: 0.084362 deg/s,
cmd heading: 84.487698 deg,
new cmd heading: 84.552992 deg.
2025-08-22T21:43:53.207Z,1755899033.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.475728 target range: 75.133011 and range: 75.60 m.
2025-08-22T21:43:53.436Z,1755899033.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750086
2025-08-22T21:43:53.565Z,1755899033.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.13 m.
2025-08-22T21:43:53.568Z,1755899033.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.133011 m,
nav range: 72.488495 m,
bearing: 85.175036 deg,
approach rate: -0.703021 m/s,
LOS rate: 0.094457 deg/s,
cmd heading: 84.552995 deg,
new cmd heading: 84.622130 deg.
2025-08-22T21:43:53.569Z,1755899033.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476935 target range: 75.133011 and range: 75.60 m.
2025-08-22T21:43:53.687Z,1755899033.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000753
2025-08-22T21:43:53.945Z,1755899033.945 [DAT](INFO): DAT read: Rx Time:21:43:54.3374
2025-08-22T21:43:53.946Z,1755899033.946 [DAT](INFO): Rx dataTimestamp_ set to:1755899033.945507
2025-08-22T21:43:53.948Z,1755899033.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261928
2025-08-22T21:43:54.052Z,1755899034.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:54.054Z,1755899034.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.13 m.
2025-08-22T21:43:54.057Z,1755899034.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.133011 m,
nav range: 72.178391 m,
bearing: 85.214224 deg,
approach rate: -0.634256 m/s,
LOS rate: 0.080497 deg/s,
cmd heading: 84.622130 deg,
new cmd heading: 84.700844 deg.
2025-08-22T21:43:54.074Z,1755899034.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478309 target range: 75.133011 and range: 75.60 m.
2025-08-22T21:43:54.195Z,1755899034.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508760
2025-08-22T21:43:54.421Z,1755899034.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.13 m.
2025-08-22T21:43:54.428Z,1755899034.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.133011 m,
nav range: 71.949936 m,
bearing: 85.242982 deg,
approach rate: -0.622736 m/s,
LOS rate: 0.078639 deg/s,
cmd heading: 84.700841 deg,
new cmd heading: 84.758540 deg.
2025-08-22T21:43:54.429Z,1755899034.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.479316 target range: 75.133011 and range: 75.60 m.
2025-08-22T21:43:54.452Z,1755899034.452 [DAT](INFO): DAT read: 21:43:54.3374 LVL= 22992, 30689, 21298, 32755, AGC= 65, IDX= 406,-0.13,-1.106,-2.798,-0.977,-1.393, PHS= 0.389,-1.360, 0.372, RAW= 149.5, 6.9, CAL= 148.9, 7.4, ROT= 1.1, -7.4
2025-08-22T21:43:54.454Z,1755899034.454 [DAT](INFO): got valid direction response:
21:43:54.3374 LVL= 22992, 30689, 21298, 32755, AGC= 65, IDX= 406,-0.13,-1.106,-2.798,-0.977,-1.393, PHS= 0.389,-1.360, 0.372, RAW= 149.5, 6.9, CAL= 148.9, 7.4, ROT= 1.1, -7.4
2025-08-22T21:43:54.455Z,1755899034.455 [DAT](INFO): DAT read: Bearing 250.3, 2.1 (Local)
2025-08-22T21:43:54.455Z,1755899034.455 [DAT](INFO): Local bearing/azimuth received:
Bearing 250.3, 2.1 (Local)
2025-08-22T21:43:54.456Z,1755899034.456 [DAT](INFO): DAT read: Range 11 to 50 : 73.3 m (Round-trip 97.8 ms) speed 0.6 m/s
2025-08-22T21:43:54.457Z,1755899034.457 [DAT](INFO): DAT read: user:2423>
2025-08-22T21:43:54.458Z,1755899034.458 [DAT](INFO): DAT read: Tx time:21:43:55.4354
2025-08-22T21:43:54.458Z,1755899034.458 [DAT](INFO): Ping request sent.
2025-08-22T21:43:54.458Z,1755899034.458 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:43:54.459Z,1755899034.459 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:43:54.459Z,1755899034.459 [DAT](INFO): direction in FSK: [0.991488,0.019038,0.128796]
2025-08-22T21:43:54.460Z,1755899034.460 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:54.460Z,1755899034.460 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:54.467Z,1755899034.467 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:54.468Z,1755899034.468 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:54.798Z,1755899034.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 73.300003 m,
deltaT: 3.794827 s,
deltaX: -2.299995 m,
approachRate: -0.606087 m/s,
rangeRepo size: 4
2025-08-22T21:43:54.800Z,1755899034.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 72.846832 m,
bearing: 84.986562 deg,
lat: 36.779388 deg,
lon: -121.859516 deg,
deltaT: 3.794827 s,
deltaX: -2.286179 m,
approachRate: -0.602446 m/s,
posRepo size: 4
2025-08-22T21:43:54.801Z,1755899034.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-22T21:43:54.804Z,1755899034.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.846832 m,
nav range: 71.793968 m,
bearing: 85.092900 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.078639 deg/s,
cmd heading: 84.758543 deg,
new cmd heading: 84.817746 deg.
2025-08-22T21:43:54.805Z,1755899034.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.480349 target range: 72.846832 and range: 73.30 m.
2025-08-22T21:43:55.250Z,1755899035.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-22T21:43:55.252Z,1755899035.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.846832 m,
nav range: 71.519218 m,
bearing: 85.123496 deg,
approach rate: -0.613392 m/s,
LOS rate: 0.068569 deg/s,
cmd heading: 84.817747 deg,
new cmd heading: 84.879173 deg.
2025-08-22T21:43:55.253Z,1755899035.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.481421 target range: 72.846832 and range: 73.30 m.
2025-08-22T21:43:55.601Z,1755899035.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-22T21:43:55.603Z,1755899035.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.846832 m,
nav range: 71.276428 m,
bearing: 85.150405 deg,
approach rate: -0.683317 m/s,
LOS rate: 0.075994 deg/s,
cmd heading: 84.879171 deg,
new cmd heading: 84.933173 deg.
2025-08-22T21:43:55.604Z,1755899035.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.482363 target range: 72.846832 and range: 73.30 m.
2025-08-22T21:43:56.081Z,1755899036.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:56.084Z,1755899036.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-22T21:43:56.099Z,1755899036.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.846832 m,
nav range: 70.981575 m,
bearing: 85.185164 deg,
approach rate: -0.610484 m/s,
LOS rate: 0.072266 deg/s,
cmd heading: 84.933170 deg,
new cmd heading: 85.002977 deg.
2025-08-22T21:43:56.100Z,1755899036.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.483582 target range: 72.846832 and range: 73.30 m.
2025-08-22T21:43:56.211Z,1755899036.211 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:56.211Z,1755899036.211 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:56.211Z,1755899036.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:56.463Z,1755899036.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004287
2025-08-22T21:43:56.508Z,1755899036.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-22T21:43:56.515Z,1755899036.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.846832 m,
nav range: 70.713608 m,
bearing: 85.216147 deg,
approach rate: -0.631003 m/s,
LOS rate: 0.073233 deg/s,
cmd heading: 85.002975 deg,
new cmd heading: 85.065174 deg.
2025-08-22T21:43:56.516Z,1755899036.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.484667 target range: 72.846832 and range: 73.30 m.
2025-08-22T21:43:56.715Z,1755899036.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256366
2025-08-22T21:43:56.969Z,1755899036.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510466
2025-08-22T21:43:57.028Z,1755899037.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-22T21:43:57.054Z,1755899037.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.846832 m,
nav range: 70.404076 m,
bearing: 85.251740 deg,
approach rate: -0.604080 m/s,
LOS rate: 0.069770 deg/s,
cmd heading: 85.065177 deg,
new cmd heading: 85.136678 deg.
2025-08-22T21:43:57.055Z,1755899037.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.485915 target range: 72.846832 and range: 73.30 m.
2025-08-22T21:43:57.218Z,1755899037.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760224
2025-08-22T21:43:57.437Z,1755899037.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-22T21:43:57.440Z,1755899037.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.846832 m,
nav range: 70.104874 m,
bearing: 85.286857 deg,
approach rate: -0.718809 m/s,
LOS rate: 0.084726 deg/s,
cmd heading: 85.136676 deg,
new cmd heading: 85.207209 deg.
2025-08-22T21:43:57.441Z,1755899037.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487146 target range: 72.846832 and range: 73.30 m.
2025-08-22T21:43:57.470Z,1755899037.470 [DAT](INFO): DAT read: Rx Time:21:43:57.9341
2025-08-22T21:43:57.471Z,1755899037.471 [DAT](INFO): Rx dataTimestamp_ set to:1755899037.470613
2025-08-22T21:43:57.471Z,1755899037.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013184
2025-08-22T21:43:57.723Z,1755899037.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264399
2025-08-22T21:43:57.895Z,1755899037.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-22T21:43:57.902Z,1755899037.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.846832 m,
nav range: 69.825409 m,
bearing: 85.319486 deg,
approach rate: -0.609917 m/s,
LOS rate: 0.071495 deg/s,
cmd heading: 85.207211 deg,
new cmd heading: 85.272729 deg.
2025-08-22T21:43:57.903Z,1755899037.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488290 target range: 72.846832 and range: 73.30 m.
2025-08-22T21:43:57.988Z,1755899037.988 [DAT](INFO): DAT read: 21:43:57.9341 LVL= 23760, 30433, 23026, 32755, AGC= 66, IDX= 406,-0.47,-1.723, 2.875,-1.588,-1.997, PHS= 0.376,-1.366, 0.365, RAW= 149.7, 7.2, CAL= 149.1, 7.8, ROT= 0.9, -7.8
2025-08-22T21:43:57.997Z,1755899037.997 [DAT](INFO): got valid direction response:
21:43:57.9341 LVL= 23760, 30433, 23026, 32755, AGC= 66, IDX= 406,-0.47,-1.723, 2.875,-1.588,-1.997, PHS= 0.376,-1.366, 0.365, RAW= 149.7, 7.2, CAL= 149.1, 7.8, ROT= 0.9, -7.8
2025-08-22T21:43:58.004Z,1755899038.004 [DAT](INFO): DAT read: Bearing 250.9, 1.5 (Local)
2025-08-22T21:43:58.005Z,1755899038.005 [DAT](INFO): Local bearing/azimuth received:
Bearing 250.9, 1.5 (Local)
2025-08-22T21:43:58.022Z,1755899038.022 [DAT](INFO): DAT read: Range 11 to 50 : 70.9 m (Round-trip 94.6 ms) speed 0.6 m/s
2025-08-22T21:43:58.025Z,1755899038.025 [DAT](INFO): DAT read: user:2424>
2025-08-22T21:43:58.032Z,1755899038.032 [DAT](INFO): DAT read: Tx time:21:43:59.0354
2025-08-22T21:43:58.033Z,1755899038.033 [DAT](INFO): Ping request sent.
2025-08-22T21:43:58.033Z,1755899038.033 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:43:58.041Z,1755899038.041 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:43:58.048Z,1755899038.048 [DAT](INFO): direction in FSK: [0.990626,0.015562,0.135716]
2025-08-22T21:43:58.048Z,1755899038.048 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:58.048Z,1755899038.048 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:58.055Z,1755899038.055 [DAT](INFO): publishing transmit ping time
2025-08-22T21:43:58.056Z,1755899038.056 [DAT](INFO): publishing direction and range info
2025-08-22T21:43:58.313Z,1755899038.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 70.900002 m,
deltaT: 3.528088 s,
deltaX: -2.400002 m,
approachRate: -0.680256 m/s,
rangeRepo size: 4
2025-08-22T21:43:58.324Z,1755899038.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 70.461540 m,
bearing: 85.650969 deg,
lat: 36.779388 deg,
lon: -121.859513 deg,
deltaT: 3.528088 s,
deltaX: -2.385292 m,
approachRate: -0.676086 m/s,
posRepo size: 4
2025-08-22T21:43:58.325Z,1755899038.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.46 m.
2025-08-22T21:43:58.375Z,1755899038.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.461540 m,
nav range: 69.815918 m,
bearing: 85.365419 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.071495 deg/s,
cmd heading: 85.272726 deg,
new cmd heading: 85.332404 deg.
2025-08-22T21:43:58.376Z,1755899038.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489331 target range: 70.461540 and range: 70.90 m.
2025-08-22T21:43:58.740Z,1755899038.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:43:58.742Z,1755899038.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.46 m.
2025-08-22T21:43:58.744Z,1755899038.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.461540 m,
nav range: 69.533157 m,
bearing: 85.398580 deg,
approach rate: -0.658724 m/s,
LOS rate: 0.077564 deg/s,
cmd heading: 85.332401 deg,
new cmd heading: 85.398991 deg.
2025-08-22T21:43:58.746Z,1755899038.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.490494 target range: 70.461540 and range: 70.90 m.
2025-08-22T21:43:58.991Z,1755899038.991 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:43:58.991Z,1755899038.991 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:43:58.991Z,1755899038.991 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:43:59.193Z,1755899039.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.46 m.
2025-08-22T21:43:59.195Z,1755899039.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.461540 m,
nav range: 69.252670 m,
bearing: 85.432815 deg,
approach rate: -0.622401 m/s,
LOS rate: 0.076276 deg/s,
cmd heading: 85.398989 deg,
new cmd heading: 85.467737 deg.
2025-08-22T21:43:59.196Z,1755899039.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491693 target range: 70.461540 and range: 70.90 m.
2025-08-22T21:43:59.244Z,1755899039.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.211471
2025-08-22T21:43:59.495Z,1755899039.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.461900
2025-08-22T21:43:59.555Z,1755899039.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.46 m.
2025-08-22T21:43:59.562Z,1755899039.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.461540 m,
nav range: 69.029800 m,
bearing: 85.459971 deg,
approach rate: -0.613858 m/s,
LOS rate: 0.075040 deg/s,
cmd heading: 85.467735 deg,
new cmd heading: 85.522223 deg.
2025-08-22T21:43:59.563Z,1755899039.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.492644 target range: 70.461540 and range: 70.90 m.
2025-08-22T21:43:59.746Z,1755899039.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713836
2025-08-22T21:43:59.958Z,1755899039.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.46 m.
2025-08-22T21:43:59.961Z,1755899039.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.461540 m,
nav range: 68.772972 m,
bearing: 85.491255 deg,
approach rate: -0.637446 m/s,
LOS rate: 0.077935 deg/s,
cmd heading: 85.522226 deg,
new cmd heading: 85.585026 deg.
2025-08-22T21:43:59.962Z,1755899039.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.493740 target range: 70.461540 and range: 70.90 m.
2025-08-22T21:44:00.000Z,1755899040.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967425
2025-08-22T21:44:00.251Z,1755899040.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217964
2025-08-22T21:44:00.405Z,1755899040.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.46 m.
2025-08-22T21:44:00.412Z,1755899040.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.461540 m,
nav range: 68.512932 m,
bearing: 85.522716 deg,
approach rate: -0.582260 m/s,
LOS rate: 0.070714 deg/s,
cmd heading: 85.585023 deg,
new cmd heading: 85.648185 deg.
2025-08-22T21:44:00.413Z,1755899040.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494843 target range: 70.461540 and range: 70.90 m.
2025-08-22T21:44:00.504Z,1755899040.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471476
2025-08-22T21:44:00.754Z,1755899040.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721857
2025-08-22T21:44:00.777Z,1755899040.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:00.786Z,1755899040.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.46 m.
2025-08-22T21:44:00.789Z,1755899040.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.461540 m,
nav range: 68.283440 m,
bearing: 85.550685 deg,
approach rate: -0.601835 m/s,
LOS rate: 0.073594 deg/s,
cmd heading: 85.648182 deg,
new cmd heading: 85.704307 deg.
2025-08-22T21:44:00.790Z,1755899040.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.495822 target range: 70.461540 and range: 70.90 m.
2025-08-22T21:44:01.006Z,1755899041.006 [DAT](INFO): DAT read: Rx Time:21:44:01.5311
2025-08-22T21:44:01.007Z,1755899041.007 [DAT](INFO): Rx dataTimestamp_ set to:1755899041.006654
2025-08-22T21:44:01.007Z,1755899041.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974874
2025-08-22T21:44:01.217Z,1755899041.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.46 m.
2025-08-22T21:44:01.236Z,1755899041.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.461540 m,
nav range: 67.995712 m,
bearing: 85.585904 deg,
approach rate: -0.667759 m/s,
LOS rate: 0.082082 deg/s,
cmd heading: 85.704305 deg,
new cmd heading: 85.775041 deg.
2025-08-22T21:44:01.237Z,1755899041.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497057 target range: 70.461540 and range: 70.90 m.
2025-08-22T21:44:01.259Z,1755899041.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226047
2025-08-22T21:44:01.302Z,1755899041.302 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:44:01.516Z,1755899041.516 [DAT](INFO): DAT read: 21:44:01.5311 LVL= 25792, 30385, 22754, 32099, AGC= 66, IDX= 406, 0.13,-1.813, 2.691,-1.648,-2.089, PHS= 0.378,-1.458, 0.397, RAW= 150.5, 7.4, CAL= 149.9, 7.9, ROT= 0.1, -7.9
2025-08-22T21:44:01.517Z,1755899041.517 [DAT](INFO): got valid direction response:
21:44:01.5311 LVL= 25792, 30385, 22754, 32099, AGC= 66, IDX= 406, 0.13,-1.813, 2.691,-1.648,-2.089, PHS= 0.378,-1.458, 0.397, RAW= 150.5, 7.4, CAL= 149.9, 7.9, ROT= 0.1, -7.9
2025-08-22T21:44:01.518Z,1755899041.518 [DAT](INFO): DAT read: Bearing 251.4, 0.6 (Local)
2025-08-22T21:44:01.518Z,1755899041.518 [DAT](INFO): Local bearing/azimuth received:
Bearing 251.4, 0.6 (Local)
2025-08-22T21:44:01.520Z,1755899041.520 [DAT](INFO): DAT read: Range 11 to 50 : 68.7 m (Round-trip 91.6 ms) speed 0.5 m/s
2025-08-22T21:44:01.521Z,1755899041.521 [DAT](INFO): DAT read: user:2425>
2025-08-22T21:44:01.522Z,1755899041.522 [DAT](INFO): DAT read: Tx time:21:44:02.6354
2025-08-22T21:44:01.523Z,1755899041.523 [DAT](INFO): Ping request sent.
2025-08-22T21:44:01.524Z,1755899041.524 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:01.526Z,1755899041.526 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:01.527Z,1755899041.527 [DAT](INFO): direction in FSK: [0.990508,0.001729,0.137445]
2025-08-22T21:44:01.528Z,1755899041.528 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:01.528Z,1755899041.528 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:01.533Z,1755899041.533 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:01.533Z,1755899041.533 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:01.678Z,1755899041.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.699997 m,
deltaT: 3.535586 s,
deltaX: -2.200005 m,
approachRate: -0.622246 m/s,
rangeRepo size: 4
2025-08-22T21:44:01.680Z,1755899041.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 68.273041 m,
bearing: 85.157672 deg,
lat: 36.779390 deg,
lon: -121.859514 deg,
deltaT: 3.535586 s,
deltaX: -2.188499 m,
approachRate: -0.618992 m/s,
posRepo size: 4
2025-08-22T21:44:01.681Z,1755899041.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.27 m.
2025-08-22T21:44:01.687Z,1755899041.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.273041 m,
nav range: 67.616241 m,
bearing: 85.472974 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.082082 deg/s,
cmd heading: 85.775039 deg,
new cmd heading: 85.849234 deg.
2025-08-22T21:44:01.688Z,1755899041.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498352 target range: 68.273041 and range: 68.70 m.
2025-08-22T21:44:02.056Z,1755899042.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.27 m.
2025-08-22T21:44:02.078Z,1755899042.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.273041 m,
nav range: 67.379303 m,
bearing: 85.501774 deg,
approach rate: -0.614233 m/s,
LOS rate: 0.074924 deg/s,
cmd heading: 85.849235 deg,
new cmd heading: 85.907038 deg.
2025-08-22T21:44:02.090Z,1755899042.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499361 target range: 68.273041 and range: 68.70 m.
2025-08-22T21:44:02.306Z,1755899042.306 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:44:02.493Z,1755899042.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.27 m.
2025-08-22T21:44:02.496Z,1755899042.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.273041 m,
nav range: 67.084091 m,
bearing: 85.537249 deg,
approach rate: -0.674133 m/s,
LOS rate: 0.081365 deg/s,
cmd heading: 85.907039 deg,
new cmd heading: 85.978300 deg.
2025-08-22T21:44:02.497Z,1755899042.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.500604 target range: 68.273041 and range: 68.70 m.
2025-08-22T21:44:02.891Z,1755899042.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:02.893Z,1755899042.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.27 m.
2025-08-22T21:44:02.907Z,1755899042.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.273041 m,
nav range: 66.853996 m,
bearing: 85.565083 deg,
approach rate: -0.574868 m/s,
LOS rate: 0.069781 deg/s,
cmd heading: 85.978298 deg,
new cmd heading: 86.034159 deg.
2025-08-22T21:44:02.908Z,1755899042.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.501579 target range: 68.273041 and range: 68.70 m.
2025-08-22T21:44:03.023Z,1755899043.023 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:03.023Z,1755899043.023 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:03.024Z,1755899043.024 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:03.274Z,1755899043.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751092
2025-08-22T21:44:03.306Z,1755899043.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.27 m.
2025-08-22T21:44:03.309Z,1755899043.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.273041 m,
nav range: 66.573792 m,
bearing: 85.600083 deg,
approach rate: -0.677846 m/s,
LOS rate: 0.085024 deg/s,
cmd heading: 86.034162 deg,
new cmd heading: 86.104456 deg.
2025-08-22T21:44:03.314Z,1755899043.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.502806 target range: 68.273041 and range: 68.70 m.
2025-08-22T21:44:03.527Z,1755899043.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003212
2025-08-22T21:44:03.686Z,1755899043.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.27 m.
2025-08-22T21:44:03.689Z,1755899043.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.273041 m,
nav range: 66.324562 m,
bearing: 85.631022 deg,
approach rate: -0.656302 m/s,
LOS rate: 0.081779 deg/s,
cmd heading: 86.104459 deg,
new cmd heading: 86.166570 deg.
2025-08-22T21:44:03.691Z,1755899043.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503890 target range: 68.273041 and range: 68.70 m.
2025-08-22T21:44:03.784Z,1755899043.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260301
2025-08-22T21:44:04.034Z,1755899044.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511185
2025-08-22T21:44:04.162Z,1755899044.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.27 m.
2025-08-22T21:44:04.170Z,1755899044.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.273041 m,
nav range: 66.030380 m,
bearing: 85.667746 deg,
approach rate: -0.624316 m/s,
LOS rate: 0.078283 deg/s,
cmd heading: 86.166572 deg,
new cmd heading: 86.240347 deg.
2025-08-22T21:44:04.172Z,1755899044.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.505178 target range: 68.273041 and range: 68.70 m.
2025-08-22T21:44:04.287Z,1755899044.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763659
2025-08-22T21:44:04.518Z,1755899044.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.27 m.
2025-08-22T21:44:04.520Z,1755899044.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.273041 m,
nav range: 65.787979 m,
bearing: 85.691516 deg,
approach rate: -0.673387 m/s,
LOS rate: 0.066275 deg/s,
cmd heading: 86.240345 deg,
new cmd heading: 86.288060 deg.
2025-08-22T21:44:04.521Z,1755899044.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.506011 target range: 68.273041 and range: 68.70 m.
2025-08-22T21:44:04.541Z,1755899044.541 [DAT](INFO): DAT read: Rx Time:21:44:05.1282
2025-08-22T21:44:04.541Z,1755899044.541 [DAT](INFO): Rx dataTimestamp_ set to:1755899044.540687
2025-08-22T21:44:04.542Z,1755899044.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018329
2025-08-22T21:44:04.790Z,1755899044.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267139
2025-08-22T21:44:04.901Z,1755899044.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:04.903Z,1755899044.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.27 m.
2025-08-22T21:44:04.906Z,1755899044.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.273041 m,
nav range: 65.536674 m,
bearing: 85.716027 deg,
approach rate: -0.650993 m/s,
LOS rate: 0.063738 deg/s,
cmd heading: 86.288061 deg,
new cmd heading: 86.337271 deg.
2025-08-22T21:44:04.907Z,1755899044.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.506870 target range: 68.273041 and range: 68.70 m.
2025-08-22T21:44:05.056Z,1755899045.056 [DAT](INFO): DAT read: 21:44:05.1282 LVL= 25456, 32753, 26994, 32755, AGC= 67, IDX= 408,-0.19,-2.182, 2.398,-2.003,-2.438, PHS= 0.358,-1.403, 0.391, RAW= 150.9, 7.4, CAL= 150.4, 7.9, ROT= 359.6, -7.9
2025-08-22T21:44:05.057Z,1755899045.057 [DAT](INFO): got valid direction response:
21:44:05.1282 LVL= 25456, 32753, 26994, 32755, AGC= 67, IDX= 408,-0.19,-2.182, 2.398,-2.003,-2.438, PHS= 0.358,-1.403, 0.391, RAW= 150.9, 7.4, CAL= 150.4, 7.9, ROT= 359.6, -7.9
2025-08-22T21:44:05.058Z,1755899045.058 [DAT](INFO): DAT read: Bearing 251.8, -0.1 (Local)
2025-08-22T21:44:05.059Z,1755899045.059 [DAT](INFO): Local bearing/azimuth received:
Bearing 251.8, -0.1 (Local)
2025-08-22T21:44:05.060Z,1755899045.060 [DAT](INFO): DAT read: Range 11 to 50 : 66.4 m (Round-trip 88.6 ms) speed 0.7 m/s
2025-08-22T21:44:05.061Z,1755899045.061 [DAT](INFO): DAT read: user:2426>
2025-08-22T21:44:05.062Z,1755899045.062 [DAT](INFO): DAT read: Tx time:21:44:06.2354
2025-08-22T21:44:05.062Z,1755899045.062 [DAT](INFO): Ping request sent.
2025-08-22T21:44:05.062Z,1755899045.062 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:05.063Z,1755899045.063 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:05.064Z,1755899045.064 [DAT](INFO): direction in FSK: [0.990485,-0.006915,0.137445]
2025-08-22T21:44:05.064Z,1755899045.064 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:05.064Z,1755899045.064 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:05.067Z,1755899045.067 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:05.067Z,1755899045.067 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:05.385Z,1755899045.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 66.400002 m,
deltaT: 3.534710 s,
deltaX: -2.299995 m,
approachRate: -0.650689 m/s,
rangeRepo size: 4
2025-08-22T21:44:05.388Z,1755899045.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 65.986557 m,
bearing: 85.020357 deg,
lat: 36.779390 deg,
lon: -121.859513 deg,
deltaT: 3.534710 s,
deltaX: -2.286484 m,
approachRate: -0.646866 m/s,
posRepo size: 4
2025-08-22T21:44:05.388Z,1755899045.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:44:05.395Z,1755899045.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.986557 m,
nav range: 65.359985 m,
bearing: 85.758529 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.063738 deg/s,
cmd heading: 86.337273 deg,
new cmd heading: 86.398107 deg.
2025-08-22T21:44:05.396Z,1755899045.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.507931 target range: 65.986557 and range: 66.40 m.
2025-08-22T21:44:05.736Z,1755899045.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:44:05.755Z,1755899045.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.986557 m,
nav range: 65.097672 m,
bearing: 85.792217 deg,
approach rate: -0.738557 m/s,
LOS rate: 0.095233 deg/s,
cmd heading: 86.398109 deg,
new cmd heading: 86.465757 deg.
2025-08-22T21:44:05.756Z,1755899045.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509112 target range: 65.986557 and range: 66.40 m.
2025-08-22T21:44:06.294Z,1755899046.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:44:06.297Z,1755899046.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.986557 m,
nav range: 64.730316 m,
bearing: 85.839604 deg,
approach rate: -0.657929 m/s,
LOS rate: 0.085351 deg/s,
cmd heading: 86.465755 deg,
new cmd heading: 86.561067 deg.
2025-08-22T21:44:06.298Z,1755899046.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.510776 target range: 65.986557 and range: 66.40 m.
2025-08-22T21:44:06.659Z,1755899046.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:44:06.678Z,1755899046.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.986557 m,
nav range: 64.490105 m,
bearing: 85.870675 deg,
approach rate: -0.658240 m/s,
LOS rate: 0.085461 deg/s,
cmd heading: 86.561064 deg,
new cmd heading: 86.623438 deg.
2025-08-22T21:44:06.679Z,1755899046.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511864 target range: 65.986557 and range: 66.40 m.
2025-08-22T21:44:07.165Z,1755899047.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:07.188Z,1755899047.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:44:07.203Z,1755899047.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.986557 m,
nav range: 64.177849 m,
bearing: 85.911120 deg,
approach rate: -0.597691 m/s,
LOS rate: 0.077792 deg/s,
cmd heading: 86.623437 deg,
new cmd heading: 86.704720 deg.
2025-08-22T21:44:07.204Z,1755899047.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.513283 target range: 65.986557 and range: 66.40 m.
2025-08-22T21:44:07.312Z,1755899047.312 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:07.312Z,1755899047.312 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:07.312Z,1755899047.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:07.563Z,1755899047.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500235
2025-08-22T21:44:07.577Z,1755899047.577 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, 00, .00 20.00
2025-08-22T21:44:07.610Z,1755899047.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:44:07.613Z,1755899047.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.986557 m,
nav range: 63.864223 m,
bearing: 85.951901 deg,
approach rate: -0.731711 m/s,
LOS rate: 0.095611 deg/s,
cmd heading: 86.704723 deg,
new cmd heading: 86.786685 deg.
2025-08-22T21:44:07.614Z,1755899047.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.514713 target range: 65.986557 and range: 66.40 m.
2025-08-22T21:44:07.815Z,1755899047.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752653
2025-08-22T21:44:07.970Z,1755899047.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:44:07.973Z,1755899047.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.986557 m,
nav range: 63.638187 m,
bearing: 85.981500 deg,
approach rate: -0.658475 m/s,
LOS rate: 0.086534 deg/s,
cmd heading: 86.786685 deg,
new cmd heading: 86.846095 deg.
2025-08-22T21:44:07.978Z,1755899047.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.515750 target range: 65.986557 and range: 66.40 m.
2025-08-22T21:44:08.067Z,1755899048.067 [DAT](INFO): DAT read: Rx Time:21:44:08.7250
2025-08-22T21:44:08.067Z,1755899048.067 [DAT](INFO): Rx dataTimestamp_ set to:1755899048.066775
2025-08-22T21:44:08.068Z,1755899048.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005278
2025-08-22T21:44:08.319Z,1755899048.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256234
2025-08-22T21:44:08.409Z,1755899048.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:44:08.415Z,1755899048.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.986557 m,
nav range: 63.352680 m,
bearing: 86.019537 deg,
approach rate: -0.627253 m/s,
LOS rate: 0.083942 deg/s,
cmd heading: 86.846094 deg,
new cmd heading: 86.922511 deg.
2025-08-22T21:44:08.416Z,1755899048.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.517084 target range: 65.986557 and range: 66.40 m.
2025-08-22T21:44:08.571Z,1755899048.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508213
2025-08-22T21:44:08.758Z,1755899048.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.99 m.
2025-08-22T21:44:08.760Z,1755899048.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.986557 m,
nav range: 63.124313 m,
bearing: 86.050137 deg,
approach rate: -0.654247 m/s,
LOS rate: 0.087985 deg/s,
cmd heading: 86.922511 deg,
new cmd heading: 86.983933 deg.
2025-08-22T21:44:08.761Z,1755899048.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.518156 target range: 65.986557 and range: 66.40 m.
2025-08-22T21:44:08.832Z,1755899048.832 [DAT](INFO): DAT read: 21:44:08.7250 LVL= 21632, 30529, 22434, 32755, AGC= 65, IDX= 408,-0.03, 1.945, 0.259, 2.114, 1.696, PHS= 0.351,-1.392, 0.374, RAW= 150.7, 7.6, CAL= 150.1, 8.2, ROT= 359.9, -8.2
2025-08-22T21:44:08.835Z,1755899048.835 [DAT](INFO): got valid direction response:
21:44:08.7250 LVL= 21632, 30529, 22434, 32755, AGC= 65, IDX= 408,-0.03, 1.945, 0.259, 2.114, 1.696, PHS= 0.351,-1.392, 0.374, RAW= 150.7, 7.6, CAL= 150.1, 8.2, ROT= 359.9, -8.2
2025-08-22T21:44:08.837Z,1755899048.837 [DAT](INFO): DAT read: Bearing 252.3, -0.2 (Local)
2025-08-22T21:44:08.847Z,1755899048.847 [DAT](INFO): Local bearing/azimuth received:
Bearing 252.3, -0.2 (Local)
2025-08-22T21:44:08.867Z,1755899048.867 [DAT](INFO): DAT read: Range 11 to 50 : 64.1 m (Round-trip 85.5 ms) speed 0.8 m/s
2025-08-22T21:44:08.868Z,1755899048.868 [DAT](INFO): DAT read: user:2427>
2025-08-22T21:44:08.869Z,1755899048.869 [DAT](INFO): DAT read: Tx time:21:44:09.8353
2025-08-22T21:44:08.869Z,1755899048.869 [DAT](INFO): Ping request sent.
2025-08-22T21:44:08.874Z,1755899048.874 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:08.874Z,1755899048.874 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:08.876Z,1755899048.876 [DAT](INFO): direction in FSK: [0.989775,-0.001728,0.142629]
2025-08-22T21:44:08.876Z,1755899048.876 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:08.877Z,1755899048.877 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:08.885Z,1755899048.885 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:08.885Z,1755899048.885 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:09.255Z,1755899049.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 64.099998 m,
deltaT: 3.778119 s,
deltaX: -2.300003 m,
approachRate: -0.608769 m/s,
rangeRepo size: 4
2025-08-22T21:44:09.257Z,1755899049.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 63.697842 m,
bearing: 85.546527 deg,
lat: 36.779393 deg,
lon: -121.859513 deg,
deltaT: 3.778119 s,
deltaX: -2.288715 m,
approachRate: -0.605782 m/s,
posRepo size: 4
2025-08-22T21:44:09.258Z,1755899049.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-22T21:44:09.260Z,1755899049.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.697842 m,
nav range: 62.859863 m,
bearing: 85.751791 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.087985 deg/s,
cmd heading: 86.983934 deg,
new cmd heading: 87.071367 deg.
2025-08-22T21:44:09.270Z,1755899049.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519682 target range: 63.697842 and range: 64.10 m.
2025-08-22T21:44:09.623Z,1755899049.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:09.626Z,1755899049.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-22T21:44:09.628Z,1755899049.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.697842 m,
nav range: 62.606812 m,
bearing: 85.783150 deg,
approach rate: -0.681968 m/s,
LOS rate: 0.084853 deg/s,
cmd heading: 87.071368 deg,
new cmd heading: 87.134339 deg.
2025-08-22T21:44:09.629Z,1755899049.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.520781 target range: 63.697842 and range: 64.10 m.
2025-08-22T21:44:09.831Z,1755899049.831 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:09.831Z,1755899049.831 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:09.831Z,1755899049.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:10.034Z,1755899050.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-22T21:44:10.036Z,1755899050.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.697842 m,
nav range: 62.361210 m,
bearing: 85.813709 deg,
approach rate: -0.608036 m/s,
LOS rate: 0.075953 deg/s,
cmd heading: 87.134342 deg,
new cmd heading: 87.195701 deg.
2025-08-22T21:44:10.037Z,1755899050.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.521852 target range: 63.697842 and range: 64.10 m.
2025-08-22T21:44:10.083Z,1755899050.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213355
2025-08-22T21:44:10.337Z,1755899050.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467457
2025-08-22T21:44:10.434Z,1755899050.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-22T21:44:10.437Z,1755899050.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.697842 m,
nav range: 62.099361 m,
bearing: 85.849176 deg,
approach rate: -0.647603 m/s,
LOS rate: 0.088087 deg/s,
cmd heading: 87.195698 deg,
new cmd heading: 87.266931 deg.
2025-08-22T21:44:10.438Z,1755899050.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.523095 target range: 63.697842 and range: 64.10 m.
2025-08-22T21:44:10.587Z,1755899050.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717296
2025-08-22T21:44:10.813Z,1755899050.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-22T21:44:10.816Z,1755899050.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.697842 m,
nav range: 61.858295 m,
bearing: 85.881868 deg,
approach rate: -0.635384 m/s,
LOS rate: 0.086503 deg/s,
cmd heading: 87.266930 deg,
new cmd heading: 87.332569 deg.
2025-08-22T21:44:10.817Z,1755899050.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.524241 target range: 63.697842 and range: 64.10 m.
2025-08-22T21:44:10.861Z,1755899050.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991188
2025-08-22T21:44:11.111Z,1755899051.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241420
2025-08-22T21:44:11.304Z,1755899051.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-22T21:44:11.307Z,1755899051.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.697842 m,
nav range: 61.549847 m,
bearing: 85.918554 deg,
approach rate: -0.627915 m/s,
LOS rate: 0.075056 deg/s,
cmd heading: 87.332568 deg,
new cmd heading: 87.406306 deg.
2025-08-22T21:44:11.308Z,1755899051.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.525528 target range: 63.697842 and range: 64.10 m.
2025-08-22T21:44:11.364Z,1755899051.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494690
2025-08-22T21:44:11.614Z,1755899051.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745025
2025-08-22T21:44:11.637Z,1755899051.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:11.639Z,1755899051.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-22T21:44:11.646Z,1755899051.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.697842 m,
nav range: 61.322330 m,
bearing: 85.945852 deg,
approach rate: -0.679264 m/s,
LOS rate: 0.081803 deg/s,
cmd heading: 87.406306 deg,
new cmd heading: 87.461106 deg.
2025-08-22T21:44:11.647Z,1755899051.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.526484 target range: 63.697842 and range: 64.10 m.
2025-08-22T21:44:11.867Z,1755899051.867 [DAT](INFO): DAT read: Rx Time:21:44:12.3217
2025-08-22T21:44:11.867Z,1755899051.867 [DAT](INFO): Rx dataTimestamp_ set to:1755899051.866705
2025-08-22T21:44:11.868Z,1755899051.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998202
2025-08-22T21:44:12.043Z,1755899052.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-22T21:44:12.046Z,1755899052.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.697842 m,
nav range: 61.070660 m,
bearing: 85.975907 deg,
approach rate: -0.623862 m/s,
LOS rate: 0.074810 deg/s,
cmd heading: 87.461105 deg,
new cmd heading: 87.521463 deg.
2025-08-22T21:44:12.047Z,1755899052.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.527538 target range: 63.697842 and range: 64.10 m.
2025-08-22T21:44:12.119Z,1755899052.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249377
2025-08-22T21:44:12.376Z,1755899052.376 [DAT](INFO): DAT read: 21:44:12.3217 LVL= 27056, 32753, 20770, 32755, AGC= 65, IDX= 407, 0.13,-1.140,-2.871,-0.971,-1.440, PHS= 0.402,-1.385, 0.425, RAW= 150.6, 6.3, CAL= 149.9, 6.6, ROT= 0.1, -6.6
2025-08-22T21:44:12.377Z,1755899052.377 [DAT](INFO): got valid direction response:
21:44:12.3217 LVL= 27056, 32753, 20770, 32755, AGC= 65, IDX= 407, 0.13,-1.140,-2.871,-0.971,-1.440, PHS= 0.402,-1.385, 0.425, RAW= 150.6, 6.3, CAL= 149.9, 6.6, ROT= 0.1, -6.6
2025-08-22T21:44:12.379Z,1755899052.379 [DAT](INFO): DAT read: Bearing 251.2, -0.8 (Local)
2025-08-22T21:44:12.379Z,1755899052.379 [DAT](INFO): Local bearing/azimuth received:
Bearing 251.2, -0.8 (Local)
2025-08-22T21:44:12.380Z,1755899052.380 [DAT](INFO): DAT read: Range 11 to 50 : 61.7 m (Round-trip 82.3 ms) speed 0.8 m/s
2025-08-22T21:44:12.381Z,1755899052.381 [DAT](INFO): DAT read: user:2428>
2025-08-22T21:44:12.382Z,1755899052.382 [DAT](INFO): DAT read: Tx time:21:44:13.4353
2025-08-22T21:44:12.382Z,1755899052.382 [DAT](INFO): Ping request sent.
2025-08-22T21:44:12.382Z,1755899052.382 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:12.383Z,1755899052.383 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:12.384Z,1755899052.384 [DAT](INFO): direction in FSK: [0.993371,0.001734,0.114937]
2025-08-22T21:44:12.384Z,1755899052.384 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:12.384Z,1755899052.384 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:12.387Z,1755899052.387 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:12.387Z,1755899052.387 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:12.542Z,1755899052.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 61.700001 m,
deltaT: 3.547082 s,
deltaX: -2.399998 m,
approachRate: -0.676612 m/s,
rangeRepo size: 4
2025-08-22T21:44:12.544Z,1755899052.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 61.312046 m,
bearing: 86.097095 deg,
lat: 36.779393 deg,
lon: -121.859513 deg,
deltaT: 3.547082 s,
deltaX: -2.385796 m,
approachRate: -0.672608 m/s,
posRepo size: 4
2025-08-22T21:44:12.544Z,1755899052.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T21:44:12.552Z,1755899052.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.312046 m,
nav range: 60.764111 m,
bearing: 86.017397 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.074810 deg/s,
cmd heading: 87.521463 deg,
new cmd heading: 87.595361 deg.
2025-08-22T21:44:12.553Z,1755899052.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.528827 target range: 61.312046 and range: 61.70 m.
2025-08-22T21:44:12.837Z,1755899052.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T21:44:12.859Z,1755899052.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.312046 m,
nav range: 60.572132 m,
bearing: 86.043418 deg,
approach rate: -0.640212 m/s,
LOS rate: 0.087051 deg/s,
cmd heading: 87.595359 deg,
new cmd heading: 87.647567 deg.
2025-08-22T21:44:12.860Z,1755899052.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.529739 target range: 61.312046 and range: 61.70 m.
2025-08-22T21:44:13.306Z,1755899053.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T21:44:13.308Z,1755899053.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.312046 m,
nav range: 60.290485 m,
bearing: 86.081497 deg,
approach rate: -0.600474 m/s,
LOS rate: 0.081565 deg/s,
cmd heading: 87.647569 deg,
new cmd heading: 87.724084 deg.
2025-08-22T21:44:13.309Z,1755899053.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.531074 target range: 61.312046 and range: 61.70 m.
2025-08-22T21:44:13.683Z,1755899053.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:13.685Z,1755899053.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T21:44:13.687Z,1755899053.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.312046 m,
nav range: 60.037464 m,
bearing: 86.113509 deg,
approach rate: -0.667563 m/s,
LOS rate: 0.084814 deg/s,
cmd heading: 87.724081 deg,
new cmd heading: 87.788374 deg.
2025-08-22T21:44:13.688Z,1755899053.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.532196 target range: 61.312046 and range: 61.70 m.
2025-08-22T21:44:13.882Z,1755899053.882 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:13.882Z,1755899053.882 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:13.883Z,1755899053.883 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:14.059Z,1755899054.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T21:44:14.061Z,1755899054.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.312046 m,
nav range: 59.807716 m,
bearing: 86.142140 deg,
approach rate: -0.614361 m/s,
LOS rate: 0.076856 deg/s,
cmd heading: 87.788374 deg,
new cmd heading: 87.845856 deg.
2025-08-22T21:44:14.066Z,1755899054.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533199 target range: 61.312046 and range: 61.70 m.
2025-08-22T21:44:14.135Z,1755899054.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752328
2025-08-22T21:44:14.387Z,1755899054.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004258
2025-08-22T21:44:14.495Z,1755899054.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T21:44:14.502Z,1755899054.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.312046 m,
nav range: 59.531086 m,
bearing: 86.174377 deg,
approach rate: -0.633472 m/s,
LOS rate: 0.074165 deg/s,
cmd heading: 87.845856 deg,
new cmd heading: 87.910630 deg.
2025-08-22T21:44:14.503Z,1755899054.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534330 target range: 61.312046 and range: 61.70 m.
2025-08-22T21:44:14.638Z,1755899054.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256043
2025-08-22T21:44:14.873Z,1755899054.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T21:44:14.876Z,1755899054.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.312046 m,
nav range: 59.293560 m,
bearing: 86.202017 deg,
approach rate: -0.628578 m/s,
LOS rate: 0.073438 deg/s,
cmd heading: 87.910627 deg,
new cmd heading: 87.966129 deg.
2025-08-22T21:44:14.877Z,1755899054.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535299 target range: 61.312046 and range: 61.70 m.
2025-08-22T21:44:14.891Z,1755899054.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508199
2025-08-22T21:44:15.143Z,1755899055.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760499
2025-08-22T21:44:15.342Z,1755899055.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T21:44:15.351Z,1755899055.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.312046 m,
nav range: 59.016582 m,
bearing: 86.234152 deg,
approach rate: -0.597312 m/s,
LOS rate: 0.069625 deg/s,
cmd heading: 87.966129 deg,
new cmd heading: 88.030701 deg.
2025-08-22T21:44:15.352Z,1755899055.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536426 target range: 61.312046 and range: 61.70 m.
2025-08-22T21:44:15.395Z,1755899055.395 [DAT](INFO): DAT read: Rx Time:21:44:15.9187
2025-08-22T21:44:15.395Z,1755899055.395 [DAT](INFO): Rx dataTimestamp_ set to:1755899055.394821
2025-08-22T21:44:15.396Z,1755899055.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013279
2025-08-22T21:44:15.647Z,1755899055.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264174
2025-08-22T21:44:15.740Z,1755899055.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:15.743Z,1755899055.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T21:44:15.745Z,1755899055.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.312046 m,
nav range: 58.748707 m,
bearing: 86.270127 deg,
approach rate: -0.659947 m/s,
LOS rate: 0.089033 deg/s,
cmd heading: 88.030702 deg,
new cmd heading: 88.102980 deg.
2025-08-22T21:44:15.746Z,1755899055.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537687 target range: 61.312046 and range: 61.70 m.
2025-08-22T21:44:15.904Z,1755899055.904 [DAT](INFO): DAT read: 21:44:15.9187 LVL= 25552, 32337, 20962, 32755, AGC= 61, IDX= 408,-0.27,-2.646, 1.955,-2.431,-2.914, PHS= 0.370,-1.369, 0.439, RAW= 151.9, 6.4, CAL= 151.2, 6.6, ROT= 358.8, -6.6
2025-08-22T21:44:15.905Z,1755899055.905 [DAT](INFO): got valid direction response:
21:44:15.9187 LVL= 25552, 32337, 20962, 32755, AGC= 61, IDX= 408,-0.27,-2.646, 1.955,-2.431,-2.914, PHS= 0.370,-1.369, 0.439, RAW= 151.9, 6.4, CAL= 151.2, 6.6, ROT= 358.8, -6.6
2025-08-22T21:44:15.906Z,1755899055.906 [DAT](INFO): DAT read: Bearing 252.1, -2.8 (Local)
2025-08-22T21:44:15.906Z,1755899055.906 [DAT](INFO): Local bearing/azimuth received:
Bearing 252.1, -2.8 (Local)
2025-08-22T21:44:15.908Z,1755899055.908 [DAT](INFO): DAT read: Range 11 to 50 : 59.4 m (Round-trip 79.2 ms) speed 0.4 m/s
2025-08-22T21:44:15.908Z,1755899055.908 [DAT](INFO): DAT read: user:2429>
2025-08-22T21:44:15.909Z,1755899055.909 [DAT](INFO): DAT read: Tx time:21:44:17.0353
2025-08-22T21:44:15.910Z,1755899055.910 [DAT](INFO): Ping request sent.
2025-08-22T21:44:15.910Z,1755899055.910 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:15.910Z,1755899055.910 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:15.911Z,1755899055.911 [DAT](INFO): direction in FSK: [0.993155,-0.020804,0.114937]
2025-08-22T21:44:15.911Z,1755899055.911 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:15.911Z,1755899055.911 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:15.914Z,1755899055.914 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:15.915Z,1755899055.915 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:16.118Z,1755899056.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 59.400002 m,
deltaT: 3.528012 s,
deltaX: -2.299999 m,
approachRate: -0.651925 m/s,
rangeRepo size: 4
2025-08-22T21:44:16.120Z,1755899056.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 59.026768 m,
bearing: 85.567385 deg,
lat: 36.779395 deg,
lon: -121.859510 deg,
deltaT: 3.528012 s,
deltaX: -2.285278 m,
approachRate: -0.647752 m/s,
posRepo size: 4
2025-08-22T21:44:16.120Z,1755899056.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-22T21:44:16.121Z,1755899056.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T21:44:16.132Z,1755899056.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.026768 m,
nav range: 58.827198 m,
bearing: 86.074936 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.089033 deg/s,
cmd heading: 88.102979 deg,
new cmd heading: 88.168258 deg.
2025-08-22T21:44:16.133Z,1755899056.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538826 target range: 59.026768 and range: 59.40 m.
2025-08-22T21:44:16.198Z,1755899056.198 [DockingStepper](INFO): Changing to mode: 2
2025-08-22T21:44:16.529Z,1755899056.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-22T21:44:16.529Z,1755899056.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T21:44:16.532Z,1755899056.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.026768 m,
nav range: 58.558327 m,
bearing: 86.110071 deg,
approach rate: -0.641086 m/s,
LOS rate: 0.084159 deg/s,
cmd heading: 88.168255 deg,
new cmd heading: 88.238848 deg.
2025-08-22T21:44:16.533Z,1755899056.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540058 target range: 59.026768 and range: 59.40 m.
2025-08-22T21:44:16.894Z,1755899056.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-22T21:44:16.895Z,1755899056.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T21:44:16.898Z,1755899056.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.026768 m,
nav range: 58.333218 m,
bearing: 86.138986 deg,
approach rate: -0.615693 m/s,
LOS rate: 0.079391 deg/s,
cmd heading: 88.238845 deg,
new cmd heading: 88.296898 deg.
2025-08-22T21:44:16.899Z,1755899056.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541072 target range: 59.026768 and range: 59.40 m.
2025-08-22T21:44:17.367Z,1755899057.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-22T21:44:17.368Z,1755899057.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T21:44:17.379Z,1755899057.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.026768 m,
nav range: 58.055088 m,
bearing: 86.174548 deg,
approach rate: -0.588248 m/s,
LOS rate: 0.075575 deg/s,
cmd heading: 88.296902 deg,
new cmd heading: 88.368366 deg.
2025-08-22T21:44:17.380Z,1755899057.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542319 target range: 59.026768 and range: 59.40 m.
2025-08-22T21:44:17.751Z,1755899057.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:17.758Z,1755899057.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-22T21:44:17.758Z,1755899057.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T21:44:17.761Z,1755899057.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.026768 m,
nav range: 57.815861 m,
bearing: 86.205011 deg,
approach rate: -0.619534 m/s,
LOS rate: 0.079218 deg/s,
cmd heading: 88.368366 deg,
new cmd heading: 88.429545 deg.
2025-08-22T21:44:17.766Z,1755899057.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543387 target range: 59.026768 and range: 59.40 m.
2025-08-22T21:44:17.914Z,1755899057.914 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:17.914Z,1755899057.914 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:17.915Z,1755899057.915 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:18.126Z,1755899058.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-22T21:44:18.126Z,1755899058.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T21:44:18.129Z,1755899058.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.026768 m,
nav range: 57.577877 m,
bearing: 86.235104 deg,
approach rate: -0.639087 m/s,
LOS rate: 0.081146 deg/s,
cmd heading: 88.429544 deg,
new cmd heading: 88.489978 deg.
2025-08-22T21:44:18.130Z,1755899058.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544441 target range: 59.026768 and range: 59.40 m.
2025-08-22T21:44:18.167Z,1755899058.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257639
2025-08-22T21:44:18.419Z,1755899058.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508830
2025-08-22T21:44:18.569Z,1755899058.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-22T21:44:18.574Z,1755899058.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T21:44:18.576Z,1755899058.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.026768 m,
nav range: 57.312752 m,
bearing: 86.267396 deg,
approach rate: -0.598156 m/s,
LOS rate: 0.073192 deg/s,
cmd heading: 88.489977 deg,
new cmd heading: 88.554860 deg.
2025-08-22T21:44:18.586Z,1755899058.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545574 target range: 59.026768 and range: 59.40 m.
2025-08-22T21:44:18.672Z,1755899058.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761879
2025-08-22T21:44:18.923Z,1755899058.923 [DAT](INFO): DAT read: Rx Time:21:44:19.5158
2025-08-22T21:44:18.923Z,1755899058.923 [DAT](INFO): Rx dataTimestamp_ set to:1755899058.922869
2025-08-22T21:44:18.924Z,1755899058.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014011
2025-08-22T21:44:18.933Z,1755899058.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-22T21:44:18.934Z,1755899058.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T21:44:18.937Z,1755899058.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.026768 m,
nav range: 57.068996 m,
bearing: 86.296938 deg,
approach rate: -0.669191 m/s,
LOS rate: 0.081450 deg/s,
cmd heading: 88.554857 deg,
new cmd heading: 88.614194 deg.
2025-08-22T21:44:18.938Z,1755899058.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546609 target range: 59.026768 and range: 59.40 m.
2025-08-22T21:44:19.175Z,1755899059.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265232
2025-08-22T21:44:19.448Z,1755899059.448 [DAT](INFO): DAT read: 21:44:19.5158 LVL= 20064, 28481, 19282, 28115, AGC= 63, IDX= 410,-0.23,-2.387, 2.248,-2.077,-2.573, PHS= 0.287,-1.417, 0.452, RAW= 154.6, 7.6, CAL= 154.0, 8.0, ROT= 356.0, -8.0
2025-08-22T21:44:19.449Z,1755899059.449 [DAT](INFO): got valid direction response:
21:44:19.5158 LVL= 20064, 28481, 19282, 28115, AGC= 63, IDX= 410,-0.23,-2.387, 2.248,-2.077,-2.573, PHS= 0.287,-1.417, 0.452, RAW= 154.6, 7.6, CAL= 154.0, 8.0, ROT= 356.0, -8.0
2025-08-22T21:44:19.454Z,1755899059.454 [DAT](INFO): DAT read: Bearing 254.4, -6.0 (Local)
2025-08-22T21:44:19.454Z,1755899059.454 [DAT](INFO): Local bearing/azimuth received:
Bearing 254.4, -6.0 (Local)
2025-08-22T21:44:19.456Z,1755899059.456 [DAT](INFO): DAT read: Range 11 to 50 : 57.2 m (Round-trip 76.3 ms) speed 0.7 m/s
2025-08-22T21:44:19.456Z,1755899059.456 [DAT](INFO): DAT read: user:2430>
2025-08-22T21:44:19.457Z,1755899059.457 [DAT](INFO): DAT read: Tx time:21:44:20.6353
2025-08-22T21:44:19.457Z,1755899059.457 [DAT](INFO): Ping request sent.
2025-08-22T21:44:19.461Z,1755899059.461 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:19.462Z,1755899059.462 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:19.463Z,1755899059.463 [DAT](INFO): direction in FSK: [0.987856,-0.069078,0.139173]
2025-08-22T21:44:19.463Z,1755899059.463 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:19.463Z,1755899059.463 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:19.470Z,1755899059.470 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:19.471Z,1755899059.471 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:19.610Z,1755899059.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 57.200001 m,
deltaT: 3.529804 s,
deltaX: -2.200001 m,
approachRate: -0.623264 m/s,
rangeRepo size: 4
2025-08-22T21:44:19.612Z,1755899059.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 56.842072 m,
bearing: 83.476359 deg,
lat: 36.779397 deg,
lon: -121.859510 deg,
deltaT: 3.529804 s,
deltaX: -2.184696 m,
approachRate: -0.618928 m/s,
posRepo size: 4
2025-08-22T21:44:19.613Z,1755899059.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.84 m.
2025-08-22T21:44:19.613Z,1755899059.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-22T21:44:19.629Z,1755899059.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.842072 m,
nav range: 56.671097 m,
bearing: 86.118510 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.081450 deg/s,
cmd heading: 88.614191 deg,
new cmd heading: 88.724257 deg.
2025-08-22T21:44:19.634Z,1755899059.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548530 target range: 56.842072 and range: 57.20 m.
2025-08-22T21:44:19.968Z,1755899059.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:19.971Z,1755899059.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.84 m.
2025-08-22T21:44:19.971Z,1755899059.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-22T21:44:19.974Z,1755899059.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.842072 m,
nav range: 56.435638 m,
bearing: 86.144902 deg,
approach rate: -0.650576 m/s,
LOS rate: 0.073227 deg/s,
cmd heading: 88.724260 deg,
new cmd heading: 88.777264 deg.
2025-08-22T21:44:19.975Z,1755899059.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549456 target range: 56.842072 and range: 57.20 m.
2025-08-22T21:44:20.183Z,1755899060.183 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:20.183Z,1755899060.183 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:20.184Z,1755899060.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:20.431Z,1755899060.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.84 m.
2025-08-22T21:44:20.432Z,1755899060.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-22T21:44:20.435Z,1755899060.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977374
2025-08-22T21:44:20.436Z,1755899060.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.842072 m,
nav range: 56.148235 m,
bearing: 86.176766 deg,
approach rate: -0.623894 m/s,
LOS rate: 0.069523 deg/s,
cmd heading: 88.777262 deg,
new cmd heading: 88.841315 deg.
2025-08-22T21:44:20.438Z,1755899060.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550573 target range: 56.842072 and range: 57.20 m.
2025-08-22T21:44:20.687Z,1755899060.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230055
2025-08-22T21:44:20.786Z,1755899060.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.84 m.
2025-08-22T21:44:20.786Z,1755899060.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-22T21:44:20.789Z,1755899060.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.842072 m,
nav range: 55.927673 m,
bearing: 86.201023 deg,
approach rate: -0.623241 m/s,
LOS rate: 0.068814 deg/s,
cmd heading: 88.841316 deg,
new cmd heading: 88.890022 deg.
2025-08-22T21:44:20.790Z,1755899060.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551424 target range: 56.842072 and range: 57.20 m.
2025-08-22T21:44:20.939Z,1755899060.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481182
2025-08-22T21:44:21.206Z,1755899061.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748583
2025-08-22T21:44:21.276Z,1755899061.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.84 m.
2025-08-22T21:44:21.277Z,1755899061.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-22T21:44:21.280Z,1755899061.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.842072 m,
nav range: 55.621647 m,
bearing: 86.234200 deg,
approach rate: -0.623399 m/s,
LOS rate: 0.067956 deg/s,
cmd heading: 88.890022 deg,
new cmd heading: 88.956741 deg.
2025-08-22T21:44:21.281Z,1755899061.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552588 target range: 56.842072 and range: 57.20 m.
2025-08-22T21:44:21.443Z,1755899061.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985201
2025-08-22T21:44:21.692Z,1755899061.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.84 m.
2025-08-22T21:44:21.693Z,1755899061.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-22T21:44:21.695Z,1755899061.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237320
2025-08-22T21:44:21.697Z,1755899061.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.842072 m,
nav range: 55.362457 m,
bearing: 86.261958 deg,
approach rate: -0.623340 m/s,
LOS rate: 0.067069 deg/s,
cmd heading: 88.956739 deg,
new cmd heading: 89.012515 deg.
2025-08-22T21:44:21.698Z,1755899061.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553561 target range: 56.842072 and range: 57.20 m.
2025-08-22T21:44:21.947Z,1755899061.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489680
2025-08-22T21:44:22.090Z,1755899062.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:22.092Z,1755899062.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.84 m.
2025-08-22T21:44:22.093Z,1755899062.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-22T21:44:22.093Z,1755899062.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.20 m.
2025-08-22T21:44:22.093Z,1755899062.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-22T21:44:22.096Z,1755899062.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.842072 m,
nav range: 55.113258 m,
bearing: 86.288894 deg,
approach rate: -0.622943 m/s,
LOS rate: 0.067639 deg/s,
cmd heading: 89.012514 deg,
new cmd heading: 89.066630 deg.
2025-08-22T21:44:22.097Z,1755899062.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554506 target range: 56.842072 and range: 57.20 m.
2025-08-22T21:44:22.123Z,1755899062.123 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-08-22T21:44:22.124Z,1755899062.124 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-22T21:44:22.200Z,1755899062.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741968
2025-08-22T21:44:22.451Z,1755899062.451 [DAT](INFO): DAT read: Rx Time:21:44:23.1126
2025-08-22T21:44:22.451Z,1755899062.451 [DAT](INFO): Rx dataTimestamp_ set to:1755899062.450773
2025-08-22T21:44:22.452Z,1755899062.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994282
2025-08-22T21:44:22.511Z,1755899062.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.84 m.
2025-08-22T21:44:22.513Z,1755899062.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.842072 m,
nav range: 54.852627 m,
bearing: 86.315325 deg,
approach rate: -0.622899 m/s,
LOS rate: 0.063468 deg/s,
cmd heading: 89.066630 deg,
new cmd heading: 89.119742 deg.
2025-08-22T21:44:22.514Z,1755899062.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555433 target range: 56.842072 and range: 57.20 m.
2025-08-22T21:44:22.703Z,1755899062.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245213
2025-08-22T21:44:22.876Z,1755899062.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.84 m.
2025-08-22T21:44:22.879Z,1755899062.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.842072 m,
nav range: 54.625038 m,
bearing: 86.337786 deg,
approach rate: -0.622848 m/s,
LOS rate: 0.061727 deg/s,
cmd heading: 89.119741 deg,
new cmd heading: 89.164852 deg.
2025-08-22T21:44:22.880Z,1755899062.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.556220 target range: 56.842072 and range: 57.20 m.
2025-08-22T21:44:22.955Z,1755899062.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497400
2025-08-22T21:44:23.212Z,1755899063.212 [DAT](INFO): DAT read: 21:44:23.1126 LVL= 23024, 29153, 22098, 29795, AGC= 63, IDX= 410, 0.03,-2.313, 2.313,-1.956,-2.497, PHS= 0.286,-1.429, 0.497, RAW= 155.7, 7.1, CAL= 155.2, 7.3, ROT= 354.8, -7.3
2025-08-22T21:44:23.213Z,1755899063.213 [DAT](INFO): got valid direction response:
21:44:23.1126 LVL= 23024, 29153, 22098, 29795, AGC= 63, IDX= 410, 0.03,-2.313, 2.313,-1.956,-2.497, PHS= 0.286,-1.429, 0.497, RAW= 155.7, 7.1, CAL= 155.2, 7.3, ROT= 354.8, -7.3
2025-08-22T21:44:23.214Z,1755899063.214 [DAT](INFO): DAT read: Bearing 254.7, -7.7 (Local)
2025-08-22T21:44:23.214Z,1755899063.214 [DAT](INFO): Local bearing/azimuth received:
Bearing 254.7, -7.7 (Local)
2025-08-22T21:44:23.216Z,1755899063.216 [DAT](INFO): DAT read: Range 11 to 50 : 54.9 m (Round-trip 73.2 ms) speed 0.5 m/s
2025-08-22T21:44:23.217Z,1755899063.217 [DAT](INFO): DAT read: user:2431>
2025-08-22T21:44:23.217Z,1755899063.217 [DAT](INFO): DAT read: Tx time:21:44:24.2353
2025-08-22T21:44:23.218Z,1755899063.218 [DAT](INFO): Ping request sent.
2025-08-22T21:44:23.218Z,1755899063.218 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:23.218Z,1755899063.218 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:23.219Z,1755899063.219 [DAT](INFO): direction in FSK: [0.987812,-0.089898,0.127065]
2025-08-22T21:44:23.219Z,1755899063.219 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:23.220Z,1755899063.220 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:23.223Z,1755899063.223 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:23.223Z,1755899063.223 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:23.436Z,1755899063.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.900002 m,
deltaT: 3.778227 s,
deltaX: -2.299999 m,
approachRate: -0.608751 m/s,
rangeRepo size: 4
2025-08-22T21:44:23.443Z,1755899063.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 54.555645 m,
bearing: 83.709376 deg,
lat: 36.779400 deg,
lon: -121.859510 deg,
deltaT: 3.778227 s,
deltaX: -2.286427 m,
approachRate: -0.605159 m/s,
posRepo size: 4
2025-08-22T21:44:23.444Z,1755899063.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.56 m.
2025-08-22T21:44:23.450Z,1755899063.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.555645 m,
nav range: 54.343571 m,
bearing: 86.052382 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.061727 deg/s,
cmd heading: 89.164855 deg,
new cmd heading: 89.232861 deg.
2025-08-22T21:44:23.451Z,1755899063.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.557407 target range: 54.555645 and range: 54.90 m.
2025-08-22T21:44:23.751Z,1755899063.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.56 m.
2025-08-22T21:44:23.754Z,1755899063.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.555645 m,
nav range: 54.103268 m,
bearing: 86.072413 deg,
approach rate: -0.741763 m/s,
LOS rate: 0.062105 deg/s,
cmd heading: 89.232863 deg,
new cmd heading: 89.273102 deg.
2025-08-22T21:44:23.755Z,1755899063.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558110 target range: 54.555645 and range: 54.90 m.
2025-08-22T21:44:24.132Z,1755899064.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:24.134Z,1755899064.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.56 m.
2025-08-22T21:44:24.137Z,1755899064.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.555645 m,
nav range: 53.867981 m,
bearing: 86.091593 deg,
approach rate: -0.613194 m/s,
LOS rate: 0.050206 deg/s,
cmd heading: 89.273100 deg,
new cmd heading: 89.311628 deg.
2025-08-22T21:44:24.138Z,1755899064.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558782 target range: 54.555645 and range: 54.90 m.
2025-08-22T21:44:24.214Z,1755899064.214 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:24.215Z,1755899064.215 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:24.215Z,1755899064.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:24.468Z,1755899064.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250386
2025-08-22T21:44:24.567Z,1755899064.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.56 m.
2025-08-22T21:44:24.570Z,1755899064.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.555645 m,
nav range: 53.602657 m,
bearing: 86.112158 deg,
approach rate: -0.613197 m/s,
LOS rate: 0.047763 deg/s,
cmd heading: 89.311629 deg,
new cmd heading: 89.352962 deg.
2025-08-22T21:44:24.571Z,1755899064.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559503 target range: 54.555645 and range: 54.90 m.
2025-08-22T21:44:24.719Z,1755899064.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500728
2025-08-22T21:44:24.952Z,1755899064.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.56 m.
2025-08-22T21:44:24.955Z,1755899064.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.555645 m,
nav range: 53.367126 m,
bearing: 86.130283 deg,
approach rate: -0.612311 m/s,
LOS rate: 0.047327 deg/s,
cmd heading: 89.352965 deg,
new cmd heading: 89.389375 deg.
2025-08-22T21:44:24.956Z,1755899064.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.560139 target range: 54.555645 and range: 54.90 m.
2025-08-22T21:44:24.990Z,1755899064.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755650
2025-08-22T21:44:25.223Z,1755899065.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005060
2025-08-22T21:44:25.358Z,1755899065.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.56 m.
2025-08-22T21:44:25.360Z,1755899065.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.555645 m,
nav range: 53.119118 m,
bearing: 86.149196 deg,
approach rate: -0.611273 m/s,
LOS rate: 0.046832 deg/s,
cmd heading: 89.389377 deg,
new cmd heading: 89.427379 deg.
2025-08-22T21:44:25.362Z,1755899065.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.560802 target range: 54.555645 and range: 54.90 m.
2025-08-22T21:44:25.475Z,1755899065.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257000
2025-08-22T21:44:25.726Z,1755899065.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508712
2025-08-22T21:44:25.764Z,1755899065.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.56 m.
2025-08-22T21:44:25.767Z,1755899065.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.555645 m,
nav range: 52.872864 m,
bearing: 86.165061 deg,
approach rate: -0.605430 m/s,
LOS rate: 0.039188 deg/s,
cmd heading: 89.427380 deg,
new cmd heading: 89.459259 deg.
2025-08-22T21:44:25.768Z,1755899065.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561359 target range: 54.555645 and range: 54.90 m.
2025-08-22T21:44:25.978Z,1755899065.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760658
2025-08-22T21:44:26.198Z,1755899066.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:26.200Z,1755899066.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.56 m.
2025-08-22T21:44:26.207Z,1755899066.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.555645 m,
nav range: 52.632957 m,
bearing: 86.180153 deg,
approach rate: -0.550331 m/s,
LOS rate: 0.034776 deg/s,
cmd heading: 89.459256 deg,
new cmd heading: 89.489576 deg.
2025-08-22T21:44:26.210Z,1755899066.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561888 target range: 54.555645 and range: 54.90 m.
2025-08-22T21:44:26.233Z,1755899066.233 [DAT](INFO): DAT read: Rx Time:21:44:26.7097
2025-08-22T21:44:26.233Z,1755899066.233 [DAT](INFO): Rx dataTimestamp_ set to:1755899066.232922
2025-08-22T21:44:26.234Z,1755899066.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016097
2025-08-22T21:44:26.483Z,1755899066.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264820
2025-08-22T21:44:26.652Z,1755899066.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.56 m.
2025-08-22T21:44:26.659Z,1755899066.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.555645 m,
nav range: 52.348793 m,
bearing: 86.196186 deg,
approach rate: -0.629611 m/s,
LOS rate: 0.035717 deg/s,
cmd heading: 89.489576 deg,
new cmd heading: 89.521816 deg.
2025-08-22T21:44:26.660Z,1755899066.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562450 target range: 54.555645 and range: 54.90 m.
2025-08-22T21:44:26.740Z,1755899066.740 [DAT](INFO): DAT read: 21:44:26.7097 LVL= 32752, 32753, 27490, 31939, AGC= 66, IDX= 412, 0.21,-2.216, 2.495,-1.749,-2.292, PHS= 0.177,-1.452, 0.498, RAW= 158.8, 8.6, CAL= 158.5, 9.0, ROT= 351.5, -9.0
2025-08-22T21:44:26.741Z,1755899066.741 [DAT](INFO): got valid direction response:
21:44:26.7097 LVL= 32752, 32753, 27490, 31939, AGC= 66, IDX= 412, 0.21,-2.216, 2.495,-1.749,-2.292, PHS= 0.177,-1.452, 0.498, RAW= 158.8, 8.6, CAL= 158.5, 9.0, ROT= 351.5, -9.0
2025-08-22T21:44:26.742Z,1755899066.742 [DAT](INFO): DAT read: Bearing 257.8, -11.1 (Local)
2025-08-22T21:44:26.743Z,1755899066.743 [DAT](INFO): Local bearing/azimuth received:
Bearing 257.8, -11.1 (Local)
2025-08-22T21:44:26.744Z,1755899066.744 [DAT](INFO): DAT read: Range 11 to 50 : 52.7 m (Round-trip 70.3 ms) speed 0.5 m/s
2025-08-22T21:44:26.745Z,1755899066.745 [DAT](INFO): DAT read: user:2432>
2025-08-22T21:44:26.746Z,1755899066.746 [DAT](INFO): DAT read: Tx time:21:44:27.8353
2025-08-22T21:44:26.746Z,1755899066.746 [DAT](INFO): Ping request sent.
2025-08-22T21:44:26.746Z,1755899066.746 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:26.746Z,1755899066.746 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:26.747Z,1755899066.747 [DAT](INFO): direction in FSK: [0.976839,-0.145990,0.156434]
2025-08-22T21:44:26.748Z,1755899066.748 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:26.748Z,1755899066.748 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:26.752Z,1755899066.752 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:26.752Z,1755899066.752 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:27.181Z,1755899067.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.700001 m,
deltaT: 3.528037 s,
deltaX: -2.200001 m,
approachRate: -0.623576 m/s,
rangeRepo size: 4
2025-08-22T21:44:27.188Z,1755899067.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.370674 m,
bearing: 81.401793 deg,
lat: 36.779420 deg,
lon: -121.859511 deg,
deltaT: 3.528037 s,
deltaX: -2.184971 m,
approachRate: -0.619316 m/s,
posRepo size: 4
2025-08-22T21:44:27.189Z,1755899067.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.37 m.
2025-08-22T21:44:27.196Z,1755899067.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.370674 m,
nav range: 52.125011 m,
bearing: 83.765432 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.035717 deg/s,
cmd heading: 89.521814 deg,
new cmd heading: 89.559522 deg.
2025-08-22T21:44:27.197Z,1755899067.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563109 target range: 52.370674 and range: 52.70 m.
2025-08-22T21:44:27.705Z,1755899067.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.37 m.
2025-08-22T21:44:27.708Z,1755899067.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.370674 m,
nav range: 51.806873 m,
bearing: 83.767916 deg,
approach rate: -0.605644 m/s,
LOS rate: 0.004758 deg/s,
cmd heading: 89.559524 deg,
new cmd heading: 89.564523 deg.
2025-08-22T21:44:27.708Z,1755899067.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563196 target range: 52.370674 and range: 52.70 m.
2025-08-22T21:44:28.155Z,1755899068.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.37 m.
2025-08-22T21:44:28.161Z,1755899068.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.370674 m,
nav range: 51.549583 m,
bearing: 83.768881 deg,
approach rate: -0.572381 m/s,
LOS rate: 0.002157 deg/s,
cmd heading: 89.564523 deg,
new cmd heading: 89.566463 deg.
2025-08-22T21:44:28.162Z,1755899068.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563230 target range: 52.370674 and range: 52.70 m.
2025-08-22T21:44:28.560Z,1755899068.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:28.594Z,1755899068.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.37 m.
2025-08-22T21:44:28.597Z,1755899068.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.370674 m,
nav range: 51.308571 m,
bearing: 83.769345 deg,
approach rate: -0.547373 m/s,
LOS rate: 0.001058 deg/s,
cmd heading: 89.566463 deg,
new cmd heading: 89.567395 deg.
2025-08-22T21:44:28.602Z,1755899068.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563246 target range: 52.370674 and range: 52.70 m.
2025-08-22T21:44:28.754Z,1755899068.754 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:28.755Z,1755899068.755 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:28.755Z,1755899068.755 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:28.950Z,1755899068.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.37 m.
2025-08-22T21:44:28.953Z,1755899068.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.370674 m,
nav range: 51.084141 m,
bearing: 83.769115 deg,
approach rate: -0.632520 m/s,
LOS rate: -0.000651 deg/s,
cmd heading: 89.567392 deg,
new cmd heading: 89.566930 deg.
2025-08-22T21:44:28.954Z,1755899068.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563238 target range: 52.370674 and range: 52.70 m.
2025-08-22T21:44:29.007Z,1755899069.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261005
2025-08-22T21:44:29.259Z,1755899069.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512544
2025-08-22T21:44:29.371Z,1755899069.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.37 m.
2025-08-22T21:44:29.374Z,1755899069.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.370674 m,
nav range: 50.849083 m,
bearing: 83.768352 deg,
approach rate: -0.557811 m/s,
LOS rate: -0.001818 deg/s,
cmd heading: 89.566928 deg,
new cmd heading: 89.565396 deg.
2025-08-22T21:44:29.375Z,1755899069.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563211 target range: 52.370674 and range: 52.70 m.
2025-08-22T21:44:29.513Z,1755899069.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766614
2025-08-22T21:44:29.763Z,1755899069.763 [DAT](INFO): DAT read: Rx Time:21:44:30.3068
2025-08-22T21:44:29.763Z,1755899069.763 [DAT](INFO): Rx dataTimestamp_ set to:1755899069.762797
2025-08-22T21:44:29.764Z,1755899069.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017615
2025-08-22T21:44:29.834Z,1755899069.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.37 m.
2025-08-22T21:44:29.837Z,1755899069.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.370674 m,
nav range: 50.587051 m,
bearing: 83.766738 deg,
approach rate: -0.565297 m/s,
LOS rate: -0.003500 deg/s,
cmd heading: 89.565398 deg,
new cmd heading: 89.562153 deg.
2025-08-22T21:44:29.842Z,1755899069.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563154 target range: 52.370674 and range: 52.70 m.
2025-08-22T21:44:30.014Z,1755899070.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268422
2025-08-22T21:44:30.235Z,1755899070.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.37 m.
2025-08-22T21:44:30.242Z,1755899070.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.370674 m,
nav range: 50.349609 m,
bearing: 83.764685 deg,
approach rate: -0.592392 m/s,
LOS rate: -0.005146 deg/s,
cmd heading: 89.562153 deg,
new cmd heading: 89.558028 deg.
2025-08-22T21:44:30.243Z,1755899070.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563082 target range: 52.370674 and range: 52.70 m.
2025-08-22T21:44:30.272Z,1755899070.272 [DAT](INFO): DAT read: 21:44:30.3068 LVL= 29280, 32753, 26738, 32755, AGC= 65, IDX= 415,-0.28, 3.071, 1.484,-2.687, 3.004, PHS= 0.169,-1.475, 0.548, RAW= 160.2, 8.2, CAL= 159.8, 8.4, ROT= 350.2, -8.4
2025-08-22T21:44:30.273Z,1755899070.273 [DAT](INFO): got valid direction response:
21:44:30.3068 LVL= 29280, 32753, 26738, 32755, AGC= 65, IDX= 415,-0.28, 3.071, 1.484,-2.687, 3.004, PHS= 0.169,-1.475, 0.548, RAW= 160.2, 8.2, CAL= 159.8, 8.4, ROT= 350.2, -8.4
2025-08-22T21:44:30.274Z,1755899070.274 [DAT](INFO): DAT read: Bearing 258.5, -12.5 (Local)
2025-08-22T21:44:30.275Z,1755899070.275 [DAT](INFO): Local bearing/azimuth received:
Bearing 258.5, -12.5 (Local)
2025-08-22T21:44:30.276Z,1755899070.276 [DAT](INFO): DAT read: Range 11 to 50 : 50.5 m (Round-trip 67.4 ms) speed 0.5 m/s
2025-08-22T21:44:30.277Z,1755899070.277 [DAT](INFO): DAT read: user:2433>
2025-08-22T21:44:30.278Z,1755899070.278 [DAT](INFO): DAT read: Tx time:21:44:31.4352
2025-08-22T21:44:30.278Z,1755899070.278 [DAT](INFO): Ping request sent.
2025-08-22T21:44:30.278Z,1755899070.278 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:30.278Z,1755899070.278 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:30.279Z,1755899070.279 [DAT](INFO): direction in FSK: [0.974837,-0.168384,0.146083]
2025-08-22T21:44:30.280Z,1755899070.280 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:30.280Z,1755899070.280 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:30.287Z,1755899070.287 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:30.287Z,1755899070.287 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:30.688Z,1755899070.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.500000 m,
deltaT: 3.532094 s,
deltaX: -2.200001 m,
approachRate: -0.622860 m/s,
rangeRepo size: 4
2025-08-22T21:44:30.691Z,1755899070.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 50.184818 m,
bearing: 81.115409 deg,
lat: 36.779421 deg,
lon: -121.859513 deg,
deltaT: 3.532094 s,
deltaX: -2.185856 m,
approachRate: -0.618856 m/s,
posRepo size: 4
2025-08-22T21:44:30.691Z,1755899070.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.18 m.
2025-08-22T21:44:30.694Z,1755899070.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.184818 m,
nav range: 49.939938 m,
bearing: 83.655607 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005146 deg/s,
cmd heading: 89.558028 deg,
new cmd heading: 89.553368 deg.
2025-08-22T21:44:30.695Z,1755899070.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563001 target range: 50.184818 and range: 50.50 m.
2025-08-22T21:44:31.026Z,1755899071.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:31.028Z,1755899071.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.18 m.
2025-08-22T21:44:31.031Z,1755899071.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.184818 m,
nav range: 49.727615 m,
bearing: 83.653413 deg,
approach rate: -0.623619 m/s,
LOS rate: -0.006473 deg/s,
cmd heading: 89.553370 deg,
new cmd heading: 89.548962 deg.
2025-08-22T21:44:31.032Z,1755899071.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562924 target range: 50.184818 and range: 50.50 m.
2025-08-22T21:44:31.275Z,1755899071.275 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:31.276Z,1755899071.276 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:31.276Z,1755899071.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:31.433Z,1755899071.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.18 m.
2025-08-22T21:44:31.435Z,1755899071.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.184818 m,
nav range: 49.490479 m,
bearing: 83.650556 deg,
approach rate: -0.586577 m/s,
LOS rate: -0.007100 deg/s,
cmd heading: 89.548964 deg,
new cmd heading: 89.543224 deg.
2025-08-22T21:44:31.436Z,1755899071.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562824 target range: 50.184818 and range: 50.50 m.
2025-08-22T21:44:31.529Z,1755899071.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250633
2025-08-22T21:44:31.781Z,1755899071.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502855
2025-08-22T21:44:31.884Z,1755899071.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.18 m.
2025-08-22T21:44:31.891Z,1755899071.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.184818 m,
nav range: 49.234840 m,
bearing: 83.646191 deg,
approach rate: -0.565824 m/s,
LOS rate: -0.009711 deg/s,
cmd heading: 89.543227 deg,
new cmd heading: 89.534452 deg.
2025-08-22T21:44:31.892Z,1755899071.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562671 target range: 50.184818 and range: 50.50 m.
2025-08-22T21:44:32.030Z,1755899072.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752386
2025-08-22T21:44:32.244Z,1755899072.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.18 m.
2025-08-22T21:44:32.247Z,1755899072.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.184818 m,
nav range: 49.019150 m,
bearing: 83.642249 deg,
approach rate: -0.600206 m/s,
LOS rate: -0.011018 deg/s,
cmd heading: 89.534450 deg,
new cmd heading: 89.526531 deg.
2025-08-22T21:44:32.248Z,1755899072.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562533 target range: 50.184818 and range: 50.50 m.
2025-08-22T21:44:32.283Z,1755899072.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005430
2025-08-22T21:44:32.426Z,1755899072.426 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:44:32.538Z,1755899072.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259015
2025-08-22T21:44:32.735Z,1755899072.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.18 m.
2025-08-22T21:44:32.738Z,1755899072.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.184818 m,
nav range: 48.744709 m,
bearing: 83.639837 deg,
approach rate: -0.558249 m/s,
LOS rate: -0.004933 deg/s,
cmd heading: 89.526534 deg,
new cmd heading: 89.521683 deg.
2025-08-22T21:44:32.739Z,1755899072.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562448 target range: 50.184818 and range: 50.50 m.
2025-08-22T21:44:32.789Z,1755899072.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510196
2025-08-22T21:44:33.039Z,1755899073.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760545
2025-08-22T21:44:33.086Z,1755899073.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:33.088Z,1755899073.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.18 m.
2025-08-22T21:44:33.099Z,1755899073.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.184818 m,
nav range: 48.552849 m,
bearing: 83.637872 deg,
approach rate: -0.544277 m/s,
LOS rate: -0.005597 deg/s,
cmd heading: 89.521684 deg,
new cmd heading: 89.517738 deg.
2025-08-22T21:44:33.100Z,1755899073.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562379 target range: 50.184818 and range: 50.50 m.
2025-08-22T21:44:33.292Z,1755899073.292 [DAT](INFO): DAT read: Rx Time:21:44:33.9040
2025-08-22T21:44:33.297Z,1755899073.297 [DAT](INFO): Rx dataTimestamp_ set to:1755899073.292673
2025-08-22T21:44:33.298Z,1755899073.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019646
2025-08-22T21:44:33.430Z,1755899073.430 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:44:33.498Z,1755899073.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.18 m.
2025-08-22T21:44:33.501Z,1755899073.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.184818 m,
nav range: 48.323948 m,
bearing: 83.635507 deg,
approach rate: -0.557427 m/s,
LOS rate: -0.005787 deg/s,
cmd heading: 89.517737 deg,
new cmd heading: 89.512984 deg.
2025-08-22T21:44:33.502Z,1755899073.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562296 target range: 50.184818 and range: 50.50 m.
2025-08-22T21:44:33.545Z,1755899073.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266435
2025-08-22T21:44:33.798Z,1755899073.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520102
2025-08-22T21:44:33.905Z,1755899073.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.18 m.
2025-08-22T21:44:33.928Z,1755899073.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.184818 m,
nav range: 48.078743 m,
bearing: 83.632905 deg,
approach rate: -0.603592 m/s,
LOS rate: -0.006439 deg/s,
cmd heading: 89.512983 deg,
new cmd heading: 89.507751 deg.
2025-08-22T21:44:33.929Z,1755899073.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562205 target range: 50.184818 and range: 50.50 m.
2025-08-22T21:44:34.053Z,1755899074.053 [DAT](INFO): DAT read: 21:44:33.9040 LVL= 24736, 28145, 22130, 28307, AGC= 66, IDX= 418,-0.49, 3.072, 1.531,-2.649, 3.045, PHS= 0.128,-1.469, 0.545, RAW= 161.3, 8.7, CAL= 161.0, 9.1, ROT= 349.0, -9.1
2025-08-22T21:44:34.054Z,1755899074.054 [DAT](INFO): got valid direction response:
21:44:33.9040 LVL= 24736, 28145, 22130, 28307, AGC= 66, IDX= 418,-0.49, 3.072, 1.531,-2.649, 3.045, PHS= 0.128,-1.469, 0.545, RAW= 161.3, 8.7, CAL= 161.0, 9.1, ROT= 349.0, -9.1
2025-08-22T21:44:34.055Z,1755899074.055 [DAT](INFO): DAT read: Bearing 259.9, -13.6 (Local)
2025-08-22T21:44:34.056Z,1755899074.056 [DAT](INFO): Local bearing/azimuth received:
Bearing 259.9, -13.6 (Local)
2025-08-22T21:44:34.057Z,1755899074.057 [DAT](INFO): DAT read: Range 11 to 50 : 48.4 m (Round-trip 64.6 ms) speed 0.5 m/s
2025-08-22T21:44:34.058Z,1755899074.058 [DAT](INFO): DAT read: user:2434>
2025-08-22T21:44:34.059Z,1755899074.059 [DAT](INFO): DAT read: Tx time:21:44:35.0352
2025-08-22T21:44:34.059Z,1755899074.059 [DAT](INFO): Ping request sent.
2025-08-22T21:44:34.059Z,1755899074.059 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:34.060Z,1755899074.060 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:34.061Z,1755899074.061 [DAT](INFO): direction in FSK: [0.969272,-0.188408,0.158158]
2025-08-22T21:44:34.061Z,1755899074.061 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:34.062Z,1755899074.062 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:34.065Z,1755899074.065 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:34.065Z,1755899074.065 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:34.326Z,1755899074.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.400002 m,
deltaT: 3.780276 s,
deltaX: -2.099998 m,
approachRate: -0.555515 m/s,
rangeRepo size: 4
2025-08-22T21:44:34.328Z,1755899074.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.097347 m,
bearing: 80.704509 deg,
lat: 36.779439 deg,
lon: -121.859513 deg,
deltaT: 3.780276 s,
deltaX: -2.087471 m,
approachRate: -0.552201 m/s,
posRepo size: 4
2025-08-22T21:44:34.329Z,1755899074.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-22T21:44:34.335Z,1755899074.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.097347 m,
nav range: 48.052227 m,
bearing: 81.177105 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006439 deg/s,
cmd heading: 89.507751 deg,
new cmd heading: 89.502390 deg.
2025-08-22T21:44:34.336Z,1755899074.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562111 target range: 48.097347 and range: 48.40 m.
2025-08-22T21:44:34.705Z,1755899074.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-22T21:44:34.708Z,1755899074.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.097347 m,
nav range: 47.801743 m,
bearing: 81.164715 deg,
approach rate: -0.652708 m/s,
LOS rate: -0.032454 deg/s,
cmd heading: 89.502389 deg,
new cmd heading: 89.477480 deg.
2025-08-22T21:44:34.709Z,1755899074.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561677 target range: 48.097347 and range: 48.40 m.
2025-08-22T21:44:35.080Z,1755899075.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-22T21:44:35.083Z,1755899075.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.097347 m,
nav range: 47.576160 m,
bearing: 81.153392 deg,
approach rate: -0.600531 m/s,
LOS rate: -0.030286 deg/s,
cmd heading: 89.477479 deg,
new cmd heading: 89.454726 deg.
2025-08-22T21:44:35.084Z,1755899075.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561280 target range: 48.097347 and range: 48.40 m.
2025-08-22T21:44:35.499Z,1755899075.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:35.501Z,1755899075.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-22T21:44:35.504Z,1755899075.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.097347 m,
nav range: 47.330471 m,
bearing: 81.140791 deg,
approach rate: -0.584246 m/s,
LOS rate: -0.030121 deg/s,
cmd heading: 89.454728 deg,
new cmd heading: 89.429395 deg.
2025-08-22T21:44:35.505Z,1755899075.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.560837 target range: 48.097347 and range: 48.40 m.
2025-08-22T21:44:35.562Z,1755899075.562 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:35.563Z,1755899075.563 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:35.564Z,1755899075.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:35.811Z,1755899075.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751919
2025-08-22T21:44:35.926Z,1755899075.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-22T21:44:35.929Z,1755899075.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.097347 m,
nav range: 47.076923 m,
bearing: 81.123090 deg,
approach rate: -0.595910 m/s,
LOS rate: -0.041826 deg/s,
cmd heading: 89.429395 deg,
new cmd heading: 89.393803 deg.
2025-08-22T21:44:35.934Z,1755899075.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.560216 target range: 48.097347 and range: 48.40 m.
2025-08-22T21:44:36.062Z,1755899076.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002980
2025-08-22T21:44:36.315Z,1755899076.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255478
2025-08-22T21:44:36.324Z,1755899076.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-22T21:44:36.327Z,1755899076.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.097347 m,
nav range: 46.826897 m,
bearing: 81.105151 deg,
approach rate: -0.629077 m/s,
LOS rate: -0.045376 deg/s,
cmd heading: 89.393803 deg,
new cmd heading: 89.357733 deg.
2025-08-22T21:44:36.328Z,1755899076.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559587 target range: 48.097347 and range: 48.40 m.
2025-08-22T21:44:36.570Z,1755899076.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509239
2025-08-22T21:44:36.735Z,1755899076.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-22T21:44:36.738Z,1755899076.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.097347 m,
nav range: 46.577663 m,
bearing: 81.086974 deg,
approach rate: -0.606124 m/s,
LOS rate: -0.044444 deg/s,
cmd heading: 89.357732 deg,
new cmd heading: 89.321183 deg.
2025-08-22T21:44:36.739Z,1755899076.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558949 target range: 48.097347 and range: 48.40 m.
2025-08-22T21:44:36.819Z,1755899076.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759118
2025-08-22T21:44:37.071Z,1755899077.071 [DAT](INFO): DAT read: Rx Time:21:44:37.5011
2025-08-22T21:44:37.071Z,1755899077.071 [DAT](INFO): Rx dataTimestamp_ set to:1755899077.070698
2025-08-22T21:44:37.072Z,1755899077.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012021
2025-08-22T21:44:37.105Z,1755899077.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-22T21:44:37.128Z,1755899077.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.097347 m,
nav range: 46.357643 m,
bearing: 81.070676 deg,
approach rate: -0.594849 m/s,
LOS rate: -0.044272 deg/s,
cmd heading: 89.321184 deg,
new cmd heading: 89.288434 deg.
2025-08-22T21:44:37.133Z,1755899077.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558377 target range: 48.097347 and range: 48.40 m.
2025-08-22T21:44:37.322Z,1755899077.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262957
2025-08-22T21:44:37.520Z,1755899077.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:37.523Z,1755899077.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-22T21:44:37.526Z,1755899077.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.097347 m,
nav range: 46.109959 m,
bearing: 81.052142 deg,
approach rate: -0.593040 m/s,
LOS rate: -0.044614 deg/s,
cmd heading: 89.288433 deg,
new cmd heading: 89.251167 deg.
2025-08-22T21:44:37.527Z,1755899077.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.557727 target range: 48.097347 and range: 48.40 m.
2025-08-22T21:44:37.590Z,1755899077.590 [DAT](INFO): DAT read: 21:44:37.5011 LVL= 29760, 32753, 26482, 32755, AGC= 66, IDX= 405, 0.08,-1.115,-2.671,-0.512,-1.122, PHS= 0.109,-1.504, 0.566, RAW= 162.1, 8.8, CAL= 161.9, 9.3, ROT= 348.1, -9.3
2025-08-22T21:44:37.606Z,1755899077.606 [DAT](INFO): got valid direction response:
21:44:37.5011 LVL= 29760, 32753, 26482, 32755, AGC= 66, IDX= 405, 0.08,-1.115,-2.671,-0.512,-1.122, PHS= 0.109,-1.504, 0.566, RAW= 162.1, 8.8, CAL= 161.9, 9.3, ROT= 348.1, -9.3
2025-08-22T21:44:37.609Z,1755899077.609 [DAT](INFO): DAT read: Bearing 260.2, -14.4 (Local)
2025-08-22T21:44:37.614Z,1755899077.614 [DAT](INFO): Local bearing/azimuth received:
Bearing 260.2, -14.4 (Local)
2025-08-22T21:44:37.624Z,1755899077.624 [DAT](INFO): DAT read: Range 11 to 50 : 46.3 m (Round-trip 61.8 ms) speed 0.4 m/s
2025-08-22T21:44:37.631Z,1755899077.631 [DAT](INFO): DAT read: user:2435>
2025-08-22T21:44:37.633Z,1755899077.633 [DAT](INFO): DAT read: Tx time:21:44:38.5852
2025-08-22T21:44:37.639Z,1755899077.639 [DAT](INFO): Ping request sent.
2025-08-22T21:44:37.640Z,1755899077.640 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:37.641Z,1755899077.641 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:37.662Z,1755899077.662 [DAT](INFO): direction in FSK: [0.965647,-0.203493,0.161604]
2025-08-22T21:44:37.662Z,1755899077.662 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:37.662Z,1755899077.662 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:37.665Z,1755899077.665 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:37.686Z,1755899077.686 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:37.943Z,1755899077.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.299999 m,
deltaT: 3.528522 s,
deltaX: -2.100002 m,
approachRate: -0.595151 m/s,
rangeRepo size: 4
2025-08-22T21:44:37.945Z,1755899077.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.008297 m,
bearing: 80.141537 deg,
lat: 36.779441 deg,
lon: -121.859515 deg,
deltaT: 3.528522 s,
deltaX: -2.089050 m,
approachRate: -0.592047 m/s,
posRepo size: 4
2025-08-22T21:44:37.946Z,1755899077.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:44:37.948Z,1755899077.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.008297 m,
nav range: 45.763023 m,
bearing: 80.829062 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.044614 deg/s,
cmd heading: 89.251168 deg,
new cmd heading: 89.213738 deg.
2025-08-22T21:44:37.949Z,1755899077.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.557073 target range: 46.008297 and range: 46.30 m.
2025-08-22T21:44:38.331Z,1755899078.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:44:38.356Z,1755899078.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.008297 m,
nav range: 45.522850 m,
bearing: 80.812969 deg,
approach rate: -0.619676 m/s,
LOS rate: -0.041740 deg/s,
cmd heading: 89.213738 deg,
new cmd heading: 89.181383 deg.
2025-08-22T21:44:38.357Z,1755899078.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.556509 target range: 46.008297 and range: 46.30 m.
2025-08-22T21:44:38.744Z,1755899078.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:44:38.747Z,1755899078.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.008297 m,
nav range: 45.274467 m,
bearing: 80.795367 deg,
approach rate: -0.600094 m/s,
LOS rate: -0.042759 deg/s,
cmd heading: 89.181384 deg,
new cmd heading: 89.145987 deg.
2025-08-22T21:44:38.748Z,1755899078.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555891 target range: 46.008297 and range: 46.30 m.
2025-08-22T21:44:39.128Z,1755899079.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:44:39.131Z,1755899079.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.008297 m,
nav range: 45.045799 m,
bearing: 80.778945 deg,
approach rate: -0.594699 m/s,
LOS rate: -0.042926 deg/s,
cmd heading: 89.145990 deg,
new cmd heading: 89.112979 deg.
2025-08-22T21:44:39.132Z,1755899079.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555315 target range: 46.008297 and range: 46.30 m.
2025-08-22T21:44:39.521Z,1755899079.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:39.524Z,1755899079.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:44:39.527Z,1755899079.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.008297 m,
nav range: 44.806599 m,
bearing: 80.761645 deg,
approach rate: -0.604761 m/s,
LOS rate: -0.043971 deg/s,
cmd heading: 89.112979 deg,
new cmd heading: 89.078196 deg.
2025-08-22T21:44:39.527Z,1755899079.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554708 target range: 46.008297 and range: 46.30 m.
2025-08-22T21:44:39.590Z,1755899079.590 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:39.590Z,1755899079.590 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:39.591Z,1755899079.591 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:39.842Z,1755899079.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203006
2025-08-22T21:44:40.015Z,1755899080.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:44:40.018Z,1755899080.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.008297 m,
nav range: 44.511608 m,
bearing: 80.741049 deg,
approach rate: -0.600617 m/s,
LOS rate: -0.042214 deg/s,
cmd heading: 89.078193 deg,
new cmd heading: 89.036727 deg.
2025-08-22T21:44:40.019Z,1755899080.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553984 target range: 46.008297 and range: 46.30 m.
2025-08-22T21:44:40.095Z,1755899080.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455213
2025-08-22T21:44:40.346Z,1755899080.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707039
2025-08-22T21:44:40.493Z,1755899080.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:44:40.496Z,1755899080.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.008297 m,
nav range: 44.225006 m,
bearing: 80.720884 deg,
approach rate: -0.599544 m/s,
LOS rate: -0.042457 deg/s,
cmd heading: 89.036727 deg,
new cmd heading: 88.996135 deg.
2025-08-22T21:44:40.497Z,1755899080.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553276 target range: 46.008297 and range: 46.30 m.
2025-08-22T21:44:40.600Z,1755899080.600 [DAT](INFO): DAT read: Rx Time:21:44:41.0483
2025-08-22T21:44:40.600Z,1755899080.600 [DAT](INFO): Rx dataTimestamp_ set to:1755899080.599985
2025-08-22T21:44:40.601Z,1755899080.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961386
2025-08-22T21:44:40.852Z,1755899080.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212340
2025-08-22T21:44:41.025Z,1755899081.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-08-22T21:44:41.028Z,1755899081.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.008297 m,
nav range: 43.905529 m,
bearing: 80.700908 deg,
approach rate: -0.600244 m/s,
LOS rate: -0.037804 deg/s,
cmd heading: 88.996135 deg,
new cmd heading: 88.955894 deg.
2025-08-22T21:44:41.029Z,1755899081.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552573 target range: 46.008297 and range: 46.30 m.
2025-08-22T21:44:41.108Z,1755899081.108 [DAT](INFO): DAT read: 21:44:41.0483 LVL= 24656, 30705, 21586, 29683, AGC= 66, IDX= 408,-0.22,-2.812, 1.970,-2.242,-2.838, PHS= 0.128,-1.431, 0.552, RAW= 161.7, 8.4, CAL= 161.4, 8.6, ROT= 348.6, -8.6
2025-08-22T21:44:41.109Z,1755899081.109 [DAT](INFO): got valid direction response:
21:44:41.0483 LVL= 24656, 30705, 21586, 29683, AGC= 66, IDX= 408,-0.22,-2.812, 1.970,-2.242,-2.838, PHS= 0.128,-1.431, 0.552, RAW= 161.7, 8.4, CAL= 161.4, 8.6, ROT= 348.6, -8.6
2025-08-22T21:44:41.110Z,1755899081.110 [DAT](INFO): DAT read: Bearing 259.7, -13.9 (Local)
2025-08-22T21:44:41.111Z,1755899081.111 [DAT](INFO): Local bearing/azimuth received:
Bearing 259.7, -13.9 (Local)
2025-08-22T21:44:41.112Z,1755899081.112 [DAT](INFO): DAT read: Range 11 to 50 : 44.1 m (Round-trip 58.9 ms) speed 0.4 m/s
2025-08-22T21:44:41.113Z,1755899081.113 [DAT](INFO): DAT read: user:2436>
2025-08-22T21:44:41.113Z,1755899081.113 [DAT](INFO): DAT read: Tx time:21:44:42.1352
2025-08-22T21:44:41.114Z,1755899081.114 [DAT](INFO): Ping request sent.
2025-08-22T21:44:41.114Z,1755899081.114 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:41.114Z,1755899081.114 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:41.115Z,1755899081.115 [DAT](INFO): direction in FSK: [0.969249,-0.195435,0.149535]
2025-08-22T21:44:41.115Z,1755899081.115 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:41.116Z,1755899081.116 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:41.119Z,1755899081.119 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:41.119Z,1755899081.119 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:41.503Z,1755899081.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.099998 m,
deltaT: 3.527133 s,
deltaX: -2.200001 m,
approachRate: -0.623736 m/s,
rangeRepo size: 4
2025-08-22T21:44:41.505Z,1755899081.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.821869 m,
bearing: 80.639685 deg,
lat: 36.779441 deg,
lon: -121.859515 deg,
deltaT: 3.527133 s,
deltaX: -2.186428 m,
approachRate: -0.619888 m/s,
posRepo size: 4
2025-08-22T21:44:41.506Z,1755899081.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-08-22T21:44:41.509Z,1755899081.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.821869 m,
nav range: 43.632969 m,
bearing: 80.632930 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.037804 deg/s,
cmd heading: 88.955892 deg,
new cmd heading: 88.919875 deg.
2025-08-22T21:44:41.510Z,1755899081.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551945 target range: 43.821869 and range: 44.10 m.
2025-08-22T21:44:41.896Z,1755899081.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:41.899Z,1755899081.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-08-22T21:44:41.902Z,1755899081.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.821869 m,
nav range: 43.406227 m,
bearing: 80.616806 deg,
approach rate: -0.570774 m/s,
LOS rate: -0.040800 deg/s,
cmd heading: 88.919876 deg,
new cmd heading: 88.887461 deg.
2025-08-22T21:44:41.903Z,1755899081.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551379 target range: 43.821869 and range: 44.10 m.
2025-08-22T21:44:42.110Z,1755899082.110 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:42.110Z,1755899082.110 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:42.111Z,1755899082.111 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:42.302Z,1755899082.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-08-22T21:44:42.305Z,1755899082.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.821869 m,
nav range: 43.186474 m,
bearing: 80.601097 deg,
approach rate: -0.545497 m/s,
LOS rate: -0.039193 deg/s,
cmd heading: 88.887460 deg,
new cmd heading: 88.855882 deg.
2025-08-22T21:44:42.306Z,1755899082.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550828 target range: 43.821869 and range: 44.10 m.
2025-08-22T21:44:42.363Z,1755899082.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248747
2025-08-22T21:44:42.615Z,1755899082.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500621
2025-08-22T21:44:42.755Z,1755899082.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-08-22T21:44:42.758Z,1755899082.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.821869 m,
nav range: 42.924225 m,
bearing: 80.576412 deg,
approach rate: -0.578680 m/s,
LOS rate: -0.054802 deg/s,
cmd heading: 88.855884 deg,
new cmd heading: 88.806213 deg.
2025-08-22T21:44:42.759Z,1755899082.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549961 target range: 43.821869 and range: 44.10 m.
2025-08-22T21:44:42.867Z,1755899082.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753216
2025-08-22T21:44:43.098Z,1755899083.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-08-22T21:44:43.100Z,1755899083.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.821869 m,
nav range: 42.728336 m,
bearing: 80.558032 deg,
approach rate: -0.571774 m/s,
LOS rate: -0.053896 deg/s,
cmd heading: 88.806215 deg,
new cmd heading: 88.769286 deg.
2025-08-22T21:44:43.101Z,1755899083.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549316 target range: 43.821869 and range: 44.10 m.
2025-08-22T21:44:43.120Z,1755899083.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006003
2025-08-22T21:44:43.370Z,1755899083.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256596
2025-08-22T21:44:43.513Z,1755899083.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-08-22T21:44:43.516Z,1755899083.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.821869 m,
nav range: 42.491428 m,
bearing: 80.535576 deg,
approach rate: -0.570014 m/s,
LOS rate: -0.054331 deg/s,
cmd heading: 88.769284 deg,
new cmd heading: 88.724122 deg.
2025-08-22T21:44:43.517Z,1755899083.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548528 target range: 43.821869 and range: 44.10 m.
2025-08-22T21:44:43.623Z,1755899083.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508705
2025-08-22T21:44:43.875Z,1755899083.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760765
2025-08-22T21:44:43.915Z,1755899083.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:43.918Z,1755899083.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-08-22T21:44:43.920Z,1755899083.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.821869 m,
nav range: 42.259014 m,
bearing: 80.517264 deg,
approach rate: -0.574739 m/s,
LOS rate: -0.045533 deg/s,
cmd heading: 88.724123 deg,
new cmd heading: 88.687298 deg.
2025-08-22T21:44:43.921Z,1755899083.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547885 target range: 43.821869 and range: 44.10 m.
2025-08-22T21:44:44.127Z,1755899084.127 [DAT](INFO): DAT read: Rx Time:21:44:44.5954
2025-08-22T21:44:44.127Z,1755899084.127 [DAT](INFO): Rx dataTimestamp_ set to:1755899084.126693
2025-08-22T21:44:44.127Z,1755899084.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013652
2025-08-22T21:44:44.316Z,1755899084.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-08-22T21:44:44.319Z,1755899084.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.821869 m,
nav range: 42.029789 m,
bearing: 80.499168 deg,
approach rate: -0.575536 m/s,
LOS rate: -0.045684 deg/s,
cmd heading: 88.687295 deg,
new cmd heading: 88.650905 deg.
2025-08-22T21:44:44.320Z,1755899084.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547250 target range: 43.821869 and range: 44.10 m.
2025-08-22T21:44:44.379Z,1755899084.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265258
2025-08-22T21:44:44.636Z,1755899084.636 [DAT](INFO): DAT read: 21:44:44.5954 LVL= 26544, 30417, 24562, 32115, AGC= 64, IDX= 410, 0.38,-0.960,-2.579,-0.393,-1.013, PHS= 0.155,-1.521, 0.576, RAW= 160.9, 8.3, CAL= 160.6, 8.5, ROT= 349.4, -8.5
2025-08-22T21:44:44.637Z,1755899084.637 [DAT](INFO): got valid direction response:
21:44:44.5954 LVL= 26544, 30417, 24562, 32115, AGC= 64, IDX= 410, 0.38,-0.960,-2.579,-0.393,-1.013, PHS= 0.155,-1.521, 0.576, RAW= 160.9, 8.3, CAL= 160.6, 8.5, ROT= 349.4, -8.5
2025-08-22T21:44:44.638Z,1755899084.638 [DAT](INFO): DAT read: Bearing 260.0, -12.7 (Local)
2025-08-22T21:44:44.639Z,1755899084.639 [DAT](INFO): Local bearing/azimuth received:
Bearing 260.0, -12.7 (Local)
2025-08-22T21:44:44.640Z,1755899084.640 [DAT](INFO): DAT read: Range 11 to 50 : 42.0 m (Round-trip 56.0 ms) speed 0.4 m/s
2025-08-22T21:44:44.641Z,1755899084.641 [DAT](INFO): DAT read: user:2437>
2025-08-22T21:44:44.641Z,1755899084.641 [DAT](INFO): DAT read: Tx time:21:44:45.6852
2025-08-22T21:44:44.642Z,1755899084.642 [DAT](INFO): Ping request sent.
2025-08-22T21:44:44.642Z,1755899084.642 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:44.642Z,1755899084.642 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:44.643Z,1755899084.643 [DAT](INFO): direction in FSK: [0.972139,-0.181931,0.147809]
2025-08-22T21:44:44.643Z,1755899084.643 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:44.644Z,1755899084.644 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:44.647Z,1755899084.647 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:44.647Z,1755899084.647 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:44.878Z,1755899084.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.000000 m,
deltaT: 3.527945 s,
deltaX: -2.099998 m,
approachRate: -0.595247 m/s,
rangeRepo size: 4
2025-08-22T21:44:44.880Z,1755899084.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.735287 m,
bearing: 81.168648 deg,
lat: 36.779441 deg,
lon: -121.859515 deg,
deltaT: 3.527945 s,
deltaX: -2.086582 m,
approachRate: -0.591444 m/s,
posRepo size: 4
2025-08-22T21:44:44.880Z,1755899084.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.74 m.
2025-08-22T21:44:44.891Z,1755899084.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.735287 m,
nav range: 41.670956 m,
bearing: 80.464225 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.045684 deg/s,
cmd heading: 88.650904 deg,
new cmd heading: 88.599985 deg.
2025-08-22T21:44:44.892Z,1755899084.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546361 target range: 41.735287 and range: 42.00 m.
2025-08-22T21:44:45.305Z,1755899085.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.74 m.
2025-08-22T21:44:45.308Z,1755899085.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.735287 m,
nav range: 41.426857 m,
bearing: 80.445123 deg,
approach rate: -0.585991 m/s,
LOS rate: -0.046126 deg/s,
cmd heading: 88.599984 deg,
new cmd heading: 88.561556 deg.
2025-08-22T21:44:45.309Z,1755899085.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545691 target range: 41.735287 and range: 42.00 m.
2025-08-22T21:44:45.681Z,1755899085.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.74 m.
2025-08-22T21:44:45.689Z,1755899085.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.735287 m,
nav range: 41.193188 m,
bearing: 80.426771 deg,
approach rate: -0.596444 m/s,
LOS rate: -0.047109 deg/s,
cmd heading: 88.561558 deg,
new cmd heading: 88.524646 deg.
2025-08-22T21:44:45.690Z,1755899085.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545047 target range: 41.735287 and range: 42.00 m.
2025-08-22T21:44:46.119Z,1755899086.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:46.121Z,1755899086.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.74 m.
2025-08-22T21:44:46.124Z,1755899086.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.735287 m,
nav range: 40.942215 m,
bearing: 80.404986 deg,
approach rate: -0.571118 m/s,
LOS rate: -0.049880 deg/s,
cmd heading: 88.524647 deg,
new cmd heading: 88.480809 deg.
2025-08-22T21:44:46.124Z,1755899086.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544281 target range: 41.735287 and range: 42.00 m.
2025-08-22T21:44:46.142Z,1755899086.142 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:46.142Z,1755899086.142 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:46.143Z,1755899086.143 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:46.395Z,1755899086.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753437
2025-08-22T21:44:46.496Z,1755899086.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.74 m.
2025-08-22T21:44:46.499Z,1755899086.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.735287 m,
nav range: 40.729385 m,
bearing: 80.387150 deg,
approach rate: -0.566405 m/s,
LOS rate: -0.047714 deg/s,
cmd heading: 88.480811 deg,
new cmd heading: 88.444954 deg.
2025-08-22T21:44:46.500Z,1755899086.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543656 target range: 41.735287 and range: 42.00 m.
2025-08-22T21:44:46.647Z,1755899086.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004787
2025-08-22T21:44:46.899Z,1755899086.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256821
2025-08-22T21:44:46.916Z,1755899086.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.74 m.
2025-08-22T21:44:46.919Z,1755899086.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.735287 m,
nav range: 40.483982 m,
bearing: 80.371677 deg,
approach rate: -0.584731 m/s,
LOS rate: -0.037091 deg/s,
cmd heading: 88.444953 deg,
new cmd heading: 88.413820 deg.
2025-08-22T21:44:46.920Z,1755899086.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543112 target range: 41.735287 and range: 42.00 m.
2025-08-22T21:44:47.151Z,1755899087.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509149
2025-08-22T21:44:47.318Z,1755899087.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.74 m.
2025-08-22T21:44:47.321Z,1755899087.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.735287 m,
nav range: 40.260162 m,
bearing: 80.357781 deg,
approach rate: -0.556548 m/s,
LOS rate: -0.034747 deg/s,
cmd heading: 88.413821 deg,
new cmd heading: 88.385873 deg.
2025-08-22T21:44:47.322Z,1755899087.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542624 target range: 41.735287 and range: 42.00 m.
2025-08-22T21:44:47.403Z,1755899087.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760820
2025-08-22T21:44:47.655Z,1755899087.655 [DAT](INFO): DAT read: Rx Time:21:44:48.1426
2025-08-22T21:44:47.655Z,1755899087.655 [DAT](INFO): Rx dataTimestamp_ set to:1755899087.654690
2025-08-22T21:44:47.656Z,1755899087.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013736
2025-08-22T21:44:47.704Z,1755899087.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.74 m.
2025-08-22T21:44:47.707Z,1755899087.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.735287 m,
nav range: 40.028538 m,
bearing: 80.343235 deg,
approach rate: -0.601001 m/s,
LOS rate: -0.037960 deg/s,
cmd heading: 88.385872 deg,
new cmd heading: 88.356613 deg.
2025-08-22T21:44:47.708Z,1755899087.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542114 target range: 41.735287 and range: 42.00 m.
2025-08-22T21:44:47.906Z,1755899087.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264631
2025-08-22T21:44:48.132Z,1755899088.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:48.135Z,1755899088.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.74 m.
2025-08-22T21:44:48.137Z,1755899088.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.735287 m,
nav range: 39.778217 m,
bearing: 80.335825 deg,
approach rate: -0.580908 m/s,
LOS rate: -0.017305 deg/s,
cmd heading: 88.356611 deg,
new cmd heading: 88.341697 deg.
2025-08-22T21:44:48.138Z,1755899088.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541853 target range: 41.735287 and range: 42.00 m.
2025-08-22T21:44:48.171Z,1755899088.171 [DAT](INFO): DAT read: 21:44:48.1426 LVL= 25296, 29105, 23490, 29939, AGC= 64, IDX= 415,-0.11,-1.744, 2.944,-1.213,-1.806, PHS= 0.164,-1.488, 0.549, RAW= 160.2, 8.3, CAL= 159.9, 8.6, ROT= 350.1, -8.6
2025-08-22T21:44:48.172Z,1755899088.172 [DAT](INFO): got valid direction response:
21:44:48.1426 LVL= 25296, 29105, 23490, 29939, AGC= 64, IDX= 415,-0.11,-1.744, 2.944,-1.213,-1.806, PHS= 0.164,-1.488, 0.549, RAW= 160.2, 8.3, CAL= 159.9, 8.6, ROT= 350.1, -8.6
2025-08-22T21:44:48.178Z,1755899088.178 [DAT](INFO): DAT read: Bearing 260.2, -11.6 (Local)
2025-08-22T21:44:48.179Z,1755899088.179 [DAT](INFO): Local bearing/azimuth received:
Bearing 260.2, -11.6 (Local)
2025-08-22T21:44:48.181Z,1755899088.181 [DAT](INFO): DAT read: Range 11 to 50 : 40.0 m (Round-trip 53.4 ms) speed 0.5 m/s
2025-08-22T21:44:48.186Z,1755899088.186 [DAT](INFO): DAT read: user:2438>
2025-08-22T21:44:48.188Z,1755899088.188 [DAT](INFO): DAT read: Tx time:21:44:49.2351
2025-08-22T21:44:48.188Z,1755899088.188 [DAT](INFO): Ping request sent.
2025-08-22T21:44:48.188Z,1755899088.188 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:48.189Z,1755899088.189 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:48.198Z,1755899088.198 [DAT](INFO): direction in FSK: [0.974033,-0.169996,0.149535]
2025-08-22T21:44:48.198Z,1755899088.198 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:48.199Z,1755899088.199 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:48.210Z,1755899088.210 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:48.210Z,1755899088.210 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:48.528Z,1755899088.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.000000 m,
deltaT: 3.528714 s,
deltaX: -2.000000 m,
approachRate: -0.566779 m/s,
rangeRepo size: 4
2025-08-22T21:44:48.535Z,1755899088.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.746025 m,
bearing: 81.448040 deg,
lat: 36.779441 deg,
lon: -121.859515 deg,
deltaT: 3.528714 s,
deltaX: -1.989262 m,
approachRate: -0.563736 m/s,
posRepo size: 4
2025-08-22T21:44:48.535Z,1755899088.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.75 m.
2025-08-22T21:44:48.542Z,1755899088.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.746025 m,
nav range: 39.558655 m,
bearing: 80.329732 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.017305 deg/s,
cmd heading: 88.341694 deg,
new cmd heading: 88.328087 deg.
2025-08-22T21:44:48.546Z,1755899088.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541616 target range: 39.746025 and range: 40.00 m.
2025-08-22T21:44:48.950Z,1755899088.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.75 m.
2025-08-22T21:44:48.953Z,1755899088.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.746025 m,
nav range: 39.313011 m,
bearing: 80.317736 deg,
approach rate: -0.581915 m/s,
LOS rate: -0.028596 deg/s,
cmd heading: 88.328088 deg,
new cmd heading: 88.303946 deg.
2025-08-22T21:44:48.954Z,1755899088.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541195 target range: 39.746025 and range: 40.00 m.
2025-08-22T21:44:49.324Z,1755899089.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.75 m.
2025-08-22T21:44:49.327Z,1755899089.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.746025 m,
nav range: 39.090122 m,
bearing: 80.306949 deg,
approach rate: -0.595581 m/s,
LOS rate: -0.028987 deg/s,
cmd heading: 88.303944 deg,
new cmd heading: 88.282247 deg.
2025-08-22T21:44:49.328Z,1755899089.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540816 target range: 39.746025 and range: 40.00 m.
2025-08-22T21:44:49.726Z,1755899089.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.75 m.
2025-08-22T21:44:49.729Z,1755899089.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.746025 m,
nav range: 38.866417 m,
bearing: 80.296250 deg,
approach rate: -0.556087 m/s,
LOS rate: -0.026748 deg/s,
cmd heading: 88.282244 deg,
new cmd heading: 88.260723 deg.
2025-08-22T21:44:49.730Z,1755899089.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540440 target range: 39.746025 and range: 40.00 m.
2025-08-22T21:44:50.144Z,1755899090.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:50.146Z,1755899090.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.75 m.
2025-08-22T21:44:50.149Z,1755899090.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.746025 m,
nav range: 38.619495 m,
bearing: 80.287480 deg,
approach rate: -0.587687 m/s,
LOS rate: -0.021007 deg/s,
cmd heading: 88.260722 deg,
new cmd heading: 88.243070 deg.
2025-08-22T21:44:50.150Z,1755899090.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540132 target range: 39.746025 and range: 40.00 m.
2025-08-22T21:44:50.179Z,1755899090.179 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:50.179Z,1755899090.179 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:50.180Z,1755899090.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:50.431Z,1755899090.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242325
2025-08-22T21:44:50.532Z,1755899090.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.75 m.
2025-08-22T21:44:50.535Z,1755899090.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.746025 m,
nav range: 38.399624 m,
bearing: 80.279775 deg,
approach rate: -0.570529 m/s,
LOS rate: -0.020108 deg/s,
cmd heading: 88.243073 deg,
new cmd heading: 88.227574 deg.
2025-08-22T21:44:50.536Z,1755899090.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539862 target range: 39.746025 and range: 40.00 m.
2025-08-22T21:44:50.683Z,1755899090.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494363
2025-08-22T21:44:50.943Z,1755899090.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754350
2025-08-22T21:44:50.966Z,1755899090.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.75 m.
2025-08-22T21:44:50.969Z,1755899090.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.746025 m,
nav range: 38.160973 m,
bearing: 80.273956 deg,
approach rate: -0.549512 m/s,
LOS rate: -0.013482 deg/s,
cmd heading: 88.227575 deg,
new cmd heading: 88.215865 deg.
2025-08-22T21:44:50.974Z,1755899090.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539657 target range: 39.746025 and range: 40.00 m.
2025-08-22T21:44:51.195Z,1755899091.195 [DAT](INFO): DAT read: Rx Time:21:44:51.6899
2025-08-22T21:44:51.195Z,1755899091.195 [DAT](INFO): Rx dataTimestamp_ set to:1755899091.194843
2025-08-22T21:44:51.196Z,1755899091.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007508
2025-08-22T21:44:51.343Z,1755899091.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.75 m.
2025-08-22T21:44:51.346Z,1755899091.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.746025 m,
nav range: 37.927479 m,
bearing: 80.268436 deg,
approach rate: -0.620141 m/s,
LOS rate: -0.014752 deg/s,
cmd heading: 88.215868 deg,
new cmd heading: 88.204760 deg.
2025-08-22T21:44:51.347Z,1755899091.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539464 target range: 39.746025 and range: 40.00 m.
2025-08-22T21:44:51.447Z,1755899091.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258467
2025-08-22T21:44:51.704Z,1755899091.704 [DAT](INFO): DAT read: 21:44:51.6899 LVL= 23504, 31809, 24930, 30083, AGC= 65, IDX= 419,-0.02, 0.328,-1.276, 0.814, 0.232, PHS= 0.197,-1.463, 0.538, RAW= 159.1, 7.9, CAL= 158.7, 8.1, ROT= 351.3, -8.1
2025-08-22T21:44:51.705Z,1755899091.705 [DAT](INFO): got valid direction response:
21:44:51.6899 LVL= 23504, 31809, 24930, 30083, AGC= 65, IDX= 419,-0.02, 0.328,-1.276, 0.814, 0.232, PHS= 0.197,-1.463, 0.538, RAW= 159.1, 7.9, CAL= 158.7, 8.1, ROT= 351.3, -8.1
2025-08-22T21:44:51.706Z,1755899091.706 [DAT](INFO): DAT read: Bearing 259.7, -10.0 (Local)
2025-08-22T21:44:51.707Z,1755899091.707 [DAT](INFO): Local bearing/azimuth received:
Bearing 259.7, -10.0 (Local)
2025-08-22T21:44:51.708Z,1755899091.708 [DAT](INFO): DAT read: Range 11 to 50 : 37.9 m (Round-trip 50.6 ms) speed 0.4 m/s
2025-08-22T21:44:51.709Z,1755899091.709 [DAT](INFO): DAT read: user:2439>
2025-08-22T21:44:51.709Z,1755899091.709 [DAT](INFO): DAT read: Tx time:21:44:52.7851
2025-08-22T21:44:51.710Z,1755899091.710 [DAT](INFO): Ping request sent.
2025-08-22T21:44:51.710Z,1755899091.710 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:51.710Z,1755899091.710 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:51.711Z,1755899091.711 [DAT](INFO): direction in FSK: [0.978632,-0.149752,0.140901]
2025-08-22T21:44:51.711Z,1755899091.711 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:51.712Z,1755899091.712 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:51.715Z,1755899091.715 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:51.715Z,1755899091.715 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:51.884Z,1755899091.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.900002 m,
deltaT: 3.539360 s,
deltaX: -2.099998 m,
approachRate: -0.593327 m/s,
rangeRepo size: 4
2025-08-22T21:44:51.890Z,1755899091.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.660366 m,
bearing: 82.382524 deg,
lat: 36.779436 deg,
lon: -121.859515 deg,
deltaT: 3.539360 s,
deltaX: -2.085659 m,
approachRate: -0.589276 m/s,
posRepo size: 4
2025-08-22T21:44:51.891Z,1755899091.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.66 m.
2025-08-22T21:44:51.900Z,1755899091.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.660366 m,
nav range: 37.588715 m,
bearing: 81.049216 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.014752 deg/s,
cmd heading: 88.204762 deg,
new cmd heading: 88.188816 deg.
2025-08-22T21:44:51.901Z,1755899091.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539185 target range: 37.660366 and range: 37.90 m.
2025-08-22T21:44:52.300Z,1755899092.300 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-22T21:44:52.300Z,1755899092.300 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T21:44:52.300Z,1755899092.300 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-22T21:44:52.306Z,1755899092.306 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 37.900002 m (mode 2.000000 count ).
2025-08-22T21:44:52.306Z,1755899092.306 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-22T21:44:52.306Z,1755899092.306 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-22T21:44:52.306Z,1755899092.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:52.309Z,1755899092.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.66 m.
2025-08-22T21:44:52.315Z,1755899092.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.660366 m,
nav range: 37.313721 m,
bearing: 81.034830 deg,
approach rate: -0.646482 m/s,
LOS rate: -0.034071 deg/s,
cmd heading: 88.188814 deg,
new cmd heading: 88.159828 deg.
2025-08-22T21:44:52.316Z,1755899092.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538679 target range: 37.660366 and range: 37.90 m.
2025-08-22T21:44:52.455Z,1755899092.455 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:52.455Z,1755899092.455 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:52.455Z,1755899092.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:44:52.642Z,1755899092.642 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-22T21:44:52.642Z,1755899092.642 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-22T21:44:52.644Z,1755899092.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.66 m.
2025-08-22T21:44:52.647Z,1755899092.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.660366 m,
nav range: 37.094593 m,
bearing: 81.023291 deg,
approach rate: -0.652791 m/s,
LOS rate: -0.034577 deg/s,
cmd heading: 88.159827 deg,
new cmd heading: 88.136613 deg.
2025-08-22T21:44:52.648Z,1755899092.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538274 target range: 37.660366 and range: 37.90 m.
2025-08-22T21:44:52.707Z,1755899092.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996755
2025-08-22T21:44:52.959Z,1755899092.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248603
2025-08-22T21:44:53.061Z,1755899093.061 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-22T21:44:53.061Z,1755899093.061 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-22T21:44:53.064Z,1755899093.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.66 m.
2025-08-22T21:44:53.067Z,1755899093.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.660366 m,
nav range: 36.843502 m,
bearing: 81.015069 deg,
approach rate: -0.598634 m/s,
LOS rate: -0.019736 deg/s,
cmd heading: 88.136611 deg,
new cmd heading: 88.120055 deg.
2025-08-22T21:44:53.068Z,1755899093.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537985 target range: 37.660366 and range: 37.90 m.
2025-08-22T21:44:53.213Z,1755899093.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500665
2025-08-22T21:44:53.443Z,1755899093.443 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-22T21:44:53.443Z,1755899093.443 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T21:44:53.444Z,1755899093.444 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-22T21:44:53.444Z,1755899093.444 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T21:44:53.446Z,1755899093.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.66 m.
2025-08-22T21:44:53.449Z,1755899093.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.660366 m,
nav range: 36.620232 m,
bearing: 81.007871 deg,
approach rate: -0.583839 m/s,
LOS rate: -0.018937 deg/s,
cmd heading: 88.120054 deg,
new cmd heading: 88.105570 deg.
2025-08-22T21:44:53.450Z,1755899093.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537732 target range: 37.660366 and range: 37.90 m.
2025-08-22T21:44:53.463Z,1755899093.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752651
2025-08-22T21:44:53.715Z,1755899093.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004643
2025-08-22T21:44:53.909Z,1755899093.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.66 m.
2025-08-22T21:44:53.924Z,1755899093.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.660366 m,
nav range: 36.356281 m,
bearing: 80.999458 deg,
approach rate: -0.574627 m/s,
LOS rate: -0.018448 deg/s,
cmd heading: 88.105568 deg,
new cmd heading: 88.088619 deg.
2025-08-22T21:44:53.925Z,1755899093.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537436 target range: 37.660366 and range: 37.90 m.
2025-08-22T21:44:53.967Z,1755899093.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256974
2025-08-22T21:44:54.219Z,1755899094.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508675
2025-08-22T21:44:54.334Z,1755899094.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:54.336Z,1755899094.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.66 m.
2025-08-22T21:44:54.343Z,1755899094.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.660366 m,
nav range: 36.111725 m,
bearing: 80.987205 deg,
approach rate: -0.567556 m/s,
LOS rate: -0.028629 deg/s,
cmd heading: 88.088622 deg,
new cmd heading: 88.063950 deg.
2025-08-22T21:44:54.344Z,1755899094.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537006 target range: 37.660366 and range: 37.90 m.
2025-08-22T21:44:54.471Z,1755899094.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761379
2025-08-22T21:44:54.711Z,1755899094.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.66 m.
2025-08-22T21:44:54.731Z,1755899094.731 [DAT](INFO): DAT read: Rx Time:21:44:55.2371
2025-08-22T21:44:54.731Z,1755899094.731 [DAT](INFO): Rx dataTimestamp_ set to:1755899094.730719
2025-08-22T21:44:54.732Z,1755899094.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021631
2025-08-22T21:44:54.759Z,1755899094.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.660366 m,
nav range: 35.871758 m,
bearing: 80.975020 deg,
approach rate: -0.640015 m/s,
LOS rate: -0.032717 deg/s,
cmd heading: 88.063951 deg,
new cmd heading: 88.039417 deg.
2025-08-22T21:44:54.761Z,1755899094.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536578 target range: 37.660366 and range: 37.90 m.
2025-08-22T21:44:54.983Z,1755899094.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272576
2025-08-22T21:44:55.241Z,1755899095.241 [DAT](INFO): DAT read: 21:44:55.2371 LVL= 23728, 28273, 21362, 28467, AGC= 60, IDX= 406, 0.22, 2.928, 1.264,-2.901, 2.768, PHS= 0.263,-1.458, 0.571, RAW= 158.1, 6.7, CAL= 157.5, 6.6, ROT= 352.5, -6.6
2025-08-22T21:44:55.251Z,1755899095.251 [DAT](INFO): got valid direction response:
21:44:55.2371 LVL= 23728, 28273, 21362, 28467, AGC= 60, IDX= 406, 0.22, 2.928, 1.264,-2.901, 2.768, PHS= 0.263,-1.458, 0.571, RAW= 158.1, 6.7, CAL= 157.5, 6.6, ROT= 352.5, -6.6
2025-08-22T21:44:55.253Z,1755899095.253 [DAT](INFO): DAT read: Bearing 258.2, -8.3 (Local)
2025-08-22T21:44:55.253Z,1755899095.253 [DAT](INFO): Local bearing/azimuth received:
Bearing 258.2, -8.3 (Local)
2025-08-22T21:44:55.255Z,1755899095.255 [DAT](INFO): DAT read: Range 11 to 50 : 35.8 m (Round-trip 47.8 ms) speed 0.4 m/s
2025-08-22T21:44:55.257Z,1755899095.257 [DAT](INFO): DAT read: user:2440>
2025-08-22T21:44:55.262Z,1755899095.262 [DAT](INFO): DAT read: Tx time:21:44:56.3351
2025-08-22T21:44:55.263Z,1755899095.263 [DAT](INFO): Ping request sent.
2025-08-22T21:44:55.263Z,1755899095.263 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:55.263Z,1755899095.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:55.265Z,1755899095.265 [DAT](INFO): direction in FSK: [0.984874,-0.129661,0.114937]
2025-08-22T21:44:55.266Z,1755899095.266 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:55.267Z,1755899095.267 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:55.283Z,1755899095.283 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:55.283Z,1755899095.283 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:55.328Z,1755899095.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.799999 m,
deltaT: 3.536023 s,
deltaX: -2.100002 m,
approachRate: -0.593888 m/s,
rangeRepo size: 4
2025-08-22T21:44:55.341Z,1755899095.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.573151 m,
bearing: 83.418053 deg,
lat: 36.779434 deg,
lon: -121.859514 deg,
deltaT: 3.536023 s,
deltaX: -2.087215 m,
approachRate: -0.590272 m/s,
posRepo size: 4
2025-08-22T21:44:55.362Z,1755899095.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T21:44:55.365Z,1755899095.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.573151 m,
nav range: 35.549908 m,
bearing: 81.356478 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.032717 deg/s,
cmd heading: 88.039417 deg,
new cmd heading: 87.999078 deg.
2025-08-22T21:44:55.374Z,1755899095.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535874 target range: 35.573151 and range: 35.80 m.
2025-08-22T21:44:55.727Z,1755899095.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T21:44:55.731Z,1755899095.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.573151 m,
nav range: 35.301754 m,
bearing: 81.343901 deg,
approach rate: -0.620778 m/s,
LOS rate: -0.031683 deg/s,
cmd heading: 87.999078 deg,
new cmd heading: 87.973748 deg.
2025-08-22T21:44:55.732Z,1755899095.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535432 target range: 35.573151 and range: 35.80 m.
2025-08-22T21:44:56.168Z,1755899096.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T21:44:56.214Z,1755899096.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.573151 m,
nav range: 35.054390 m,
bearing: 81.330514 deg,
approach rate: -0.562370 m/s,
LOS rate: -0.030650 deg/s,
cmd heading: 87.973745 deg,
new cmd heading: 87.946781 deg.
2025-08-22T21:44:56.215Z,1755899096.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534961 target range: 35.573151 and range: 35.80 m.
2025-08-22T21:44:56.559Z,1755899096.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:56.561Z,1755899096.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T21:44:56.564Z,1755899096.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.573151 m,
nav range: 34.807926 m,
bearing: 81.317345 deg,
approach rate: -0.626110 m/s,
LOS rate: -0.033690 deg/s,
cmd heading: 87.946779 deg,
new cmd heading: 87.920256 deg.
2025-08-22T21:44:56.565Z,1755899096.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534498 target range: 35.573151 and range: 35.80 m.
2025-08-22T21:44:56.750Z,1755899096.750 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:44:56.750Z,1755899096.750 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:44:56.751Z,1755899096.751 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T21:44:56.991Z,1755899096.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T21:44:56.994Z,1755899096.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.573151 m,
nav range: 34.564236 m,
bearing: 81.310079 deg,
approach rate: -0.572494 m/s,
LOS rate: -0.017191 deg/s,
cmd heading: 87.920258 deg,
new cmd heading: 87.905622 deg.
2025-08-22T21:44:56.995Z,1755899096.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534243 target range: 35.573151 and range: 35.80 m.
2025-08-22T21:44:56.999Z,1755899096.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735504
2025-08-22T21:44:57.252Z,1755899097.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989052
2025-08-22T21:44:57.367Z,1755899097.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T21:44:57.371Z,1755899097.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.573151 m,
nav range: 34.327698 m,
bearing: 81.303493 deg,
approach rate: -0.621227 m/s,
LOS rate: -0.017414 deg/s,
cmd heading: 87.905621 deg,
new cmd heading: 87.892360 deg.
2025-08-22T21:44:57.372Z,1755899097.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534011 target range: 35.573151 and range: 35.80 m.
2025-08-22T21:44:57.503Z,1755899097.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239449
2025-08-22T21:44:57.755Z,1755899097.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492291
2025-08-22T21:44:57.791Z,1755899097.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T21:44:57.794Z,1755899097.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.573151 m,
nav range: 34.075642 m,
bearing: 81.296828 deg,
approach rate: -0.594827 m/s,
LOS rate: -0.015846 deg/s,
cmd heading: 87.892356 deg,
new cmd heading: 87.878927 deg.
2025-08-22T21:44:57.795Z,1755899097.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533777 target range: 35.573151 and range: 35.80 m.
2025-08-22T21:44:58.008Z,1755899098.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744510
2025-08-22T21:44:58.221Z,1755899098.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T21:44:58.224Z,1755899098.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.573151 m,
nav range: 33.827148 m,
bearing: 81.291869 deg,
approach rate: -0.578078 m/s,
LOS rate: -0.011622 deg/s,
cmd heading: 87.878928 deg,
new cmd heading: 87.868937 deg.
2025-08-22T21:44:58.225Z,1755899098.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533602 target range: 35.573151 and range: 35.80 m.
2025-08-22T21:44:58.260Z,1755899098.260 [DAT](INFO): DAT read: Rx Time:21:44:58.7843
2025-08-22T21:44:58.261Z,1755899098.261 [DAT](INFO): Rx dataTimestamp_ set to:1755899098.260371
2025-08-22T21:44:58.261Z,1755899098.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998124
2025-08-22T21:44:58.511Z,1755899098.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248004
2025-08-22T21:44:58.635Z,1755899098.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:44:58.637Z,1755899098.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T21:44:58.640Z,1755899098.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.573151 m,
nav range: 33.590824 m,
bearing: 81.287631 deg,
approach rate: -0.567868 m/s,
LOS rate: -0.010254 deg/s,
cmd heading: 87.868936 deg,
new cmd heading: 87.860401 deg.
2025-08-22T21:44:58.641Z,1755899098.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533453 target range: 35.573151 and range: 35.80 m.
2025-08-22T21:44:58.772Z,1755899098.772 [DAT](INFO): DAT read: 21:44:58.7843 LVL= 24672, 29329, 22578, 28035, AGC= 61, IDX= 410,-0.21, 0.471,-1.127, 0.896, 0.355, PHS= 0.219,-1.436, 0.498, RAW= 157.7, 8.0, CAL= 157.2, 8.3, ROT= 352.8, -8.3
2025-08-22T21:44:58.773Z,1755899098.773 [DAT](INFO): got valid direction response:
21:44:58.7843 LVL= 24672, 29329, 22578, 28035, AGC= 61, IDX= 410,-0.21, 0.471,-1.127, 0.896, 0.355, PHS= 0.219,-1.436, 0.498, RAW= 157.7, 8.0, CAL= 157.2, 8.3, ROT= 352.8, -8.3
2025-08-22T21:44:58.774Z,1755899098.774 [DAT](INFO): DAT read: Bearing 259.5, -7.7 (Local)
2025-08-22T21:44:58.775Z,1755899098.775 [DAT](INFO): Local bearing/azimuth received:
Bearing 259.5, -7.7 (Local)
2025-08-22T21:44:58.776Z,1755899098.776 [DAT](INFO): DAT read: Range 11 to 50 : 33.8 m (Round-trip 45.1 ms) speed 0.4 m/s
2025-08-22T21:44:58.777Z,1755899098.777 [DAT](INFO): DAT read: user:2441>
2025-08-22T21:44:58.778Z,1755899098.778 [DAT](INFO): DAT read: Tx time:21:44:59.8851
2025-08-22T21:44:58.778Z,1755899098.778 [DAT](INFO): Ping request sent.
2025-08-22T21:44:58.778Z,1755899098.778 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:44:58.778Z,1755899098.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:44:58.779Z,1755899098.779 [DAT](INFO): direction in FSK: [0.981723,-0.124021,0.144356]
2025-08-22T21:44:58.780Z,1755899098.780 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:58.780Z,1755899098.780 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:58.783Z,1755899098.783 [DAT](INFO): publishing transmit ping time
2025-08-22T21:44:58.783Z,1755899098.783 [DAT](INFO): publishing direction and range info
2025-08-22T21:44:58.787Z,1755899098.787 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.009156
2025-08-22T21:44:59.014Z,1755899099.014 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.236432
2025-08-22T21:44:59.106Z,1755899099.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.799999 m,
deltaT: 3.528728 s,
deltaX: -2.000000 m,
approachRate: -0.566776 m/s,
rangeRepo size: 4
2025-08-22T21:44:59.108Z,1755899099.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.585350 m,
bearing: 83.069205 deg,
lat: 36.779428 deg,
lon: -121.859514 deg,
deltaT: 3.528728 s,
deltaX: -1.987801 m,
approachRate: -0.563319 m/s,
posRepo size: 4
2025-08-22T21:44:59.108Z,1755899099.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-08-22T21:44:59.115Z,1755899099.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.585350 m,
nav range: 33.265965 m,
bearing: 82.378240 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010254 deg/s,
cmd heading: 87.860398 deg,
new cmd heading: 87.850893 deg.
2025-08-22T21:44:59.116Z,1755899099.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533287 target range: 33.585350 and range: 33.80 m.
2025-08-22T21:44:59.268Z,1755899099.268 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.489526
2025-08-22T21:44:59.474Z,1755899099.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-08-22T21:44:59.476Z,1755899099.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.585350 m,
nav range: 33.038727 m,
bearing: 82.382505 deg,
approach rate: -0.609324 m/s,
LOS rate: 0.011515 deg/s,
cmd heading: 87.850890 deg,
new cmd heading: 87.859479 deg.
2025-08-22T21:44:59.478Z,1755899099.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533437 target range: 33.585350 and range: 33.80 m.
2025-08-22T21:44:59.519Z,1755899099.519 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.740916
2025-08-22T21:44:59.771Z,1755899099.771 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.992569
2025-08-22T21:44:59.866Z,1755899099.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-08-22T21:44:59.869Z,1755899099.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.585350 m,
nav range: 32.811905 m,
bearing: 82.387358 deg,
approach rate: -0.578002 m/s,
LOS rate: 0.012450 deg/s,
cmd heading: 87.859483 deg,
new cmd heading: 87.869254 deg.
2025-08-22T21:44:59.870Z,1755899099.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533608 target range: 33.585350 and range: 33.80 m.
2025-08-22T21:45:00.022Z,1755899100.022 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.244479
2025-08-22T21:45:00.275Z,1755899100.275 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.496582
2025-08-22T21:45:00.296Z,1755899100.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-08-22T21:45:00.299Z,1755899100.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.585350 m,
nav range: 32.566574 m,
bearing: 82.405788 deg,
approach rate: -0.570539 m/s,
LOS rate: 0.043184 deg/s,
cmd heading: 87.869257 deg,
new cmd heading: 87.906395 deg.
2025-08-22T21:45:00.300Z,1755899100.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534256 target range: 33.585350 and range: 33.80 m.
2025-08-22T21:45:00.527Z,1755899100.527 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.748522
2025-08-22T21:45:00.670Z,1755899100.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:00.672Z,1755899100.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-08-22T21:45:00.675Z,1755899100.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.585350 m,
nav range: 32.361454 m,
bearing: 82.421673 deg,
approach rate: -0.546010 m/s,
LOS rate: 0.042553 deg/s,
cmd heading: 87.906392 deg,
new cmd heading: 87.938364 deg.
2025-08-22T21:45:00.676Z,1755899100.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534814 target range: 33.585350 and range: 33.80 m.
2025-08-22T21:45:00.779Z,1755899100.779 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.000639
2025-08-22T21:45:01.031Z,1755899101.031 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.252497
2025-08-22T21:45:01.100Z,1755899101.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-08-22T21:45:01.107Z,1755899101.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.585350 m,
nav range: 32.116886 m,
bearing: 82.445092 deg,
approach rate: -0.570431 m/s,
LOS rate: 0.055038 deg/s,
cmd heading: 87.938365 deg,
new cmd heading: 87.985558 deg.
2025-08-22T21:45:01.108Z,1755899101.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535638 target range: 33.585350 and range: 33.80 m.
2025-08-22T21:45:01.283Z,1755899101.283 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.504538
2025-08-22T21:45:01.467Z,1755899101.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-08-22T21:45:01.470Z,1755899101.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.585350 m,
nav range: 31.899279 m,
bearing: 82.466591 deg,
approach rate: -0.594101 m/s,
LOS rate: 0.059097 deg/s,
cmd heading: 87.985561 deg,
new cmd heading: 88.028853 deg.
2025-08-22T21:45:01.471Z,1755899101.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536393 target range: 33.585350 and range: 33.80 m.
2025-08-22T21:45:01.535Z,1755899101.535 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.757083
2025-08-22T21:45:01.787Z,1755899101.787 [DAT](INFO): DAT read: Rx Time:21:45:02.3316
2025-08-22T21:45:01.787Z,1755899101.787 [DAT](INFO): Rx dataTimestamp_ set to:1755899101.786696
2025-08-22T21:45:01.788Z,1755899101.788 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.009544
2025-08-22T21:45:01.885Z,1755899101.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-08-22T21:45:01.888Z,1755899101.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.585350 m,
nav range: 31.660608 m,
bearing: 82.490906 deg,
approach rate: -0.570343 m/s,
LOS rate: 0.058544 deg/s,
cmd heading: 88.028851 deg,
new cmd heading: 88.077848 deg.
2025-08-22T21:45:01.889Z,1755899101.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537248 target range: 33.585350 and range: 33.80 m.
2025-08-22T21:45:02.039Z,1755899102.039 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.260548
2025-08-22T21:45:02.296Z,1755899102.296 [DAT](INFO): DAT read: 21:45:02.3316 LVL= 24368, 32753, 21810, 28003, AGC= 60, IDX= 414,-0.00,-3.082, 1.473,-2.690, 3.024, PHS= 0.279,-1.505, 0.526, RAW= 156.4, 7.4, CAL= 155.8, 7.5, ROT= 354.2, -7.5
2025-08-22T21:45:02.297Z,1755899102.297 [DAT](INFO): got valid direction response:
21:45:02.3316 LVL= 24368, 32753, 21810, 28003, AGC= 60, IDX= 414,-0.00,-3.082, 1.473,-2.690, 3.024, PHS= 0.279,-1.505, 0.526, RAW= 156.4, 7.4, CAL= 155.8, 7.5, ROT= 354.2, -7.5
2025-08-22T21:45:02.299Z,1755899102.299 [DAT](INFO): DAT read: Bearing 258.3, -6.1 (Local)
2025-08-22T21:45:02.299Z,1755899102.299 [DAT](INFO): Local bearing/azimuth received:
Bearing 258.3, -6.1 (Local)
2025-08-22T21:45:02.301Z,1755899102.301 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (Round-trip 42.3 ms) speed 0.5 m/s
2025-08-22T21:45:02.302Z,1755899102.302 [DAT](INFO): DAT read: user:2442>
2025-08-22T21:45:02.302Z,1755899102.302 [DAT](INFO): DAT read: Tx time:21:45:03.4351
2025-08-22T21:45:02.303Z,1755899102.303 [DAT](INFO): Ping request sent.
2025-08-22T21:45:02.303Z,1755899102.303 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:02.303Z,1755899102.303 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T21:45:02.304Z,1755899102.304 [DAT](INFO): direction in FSK: [0.986369,-0.100192,0.130526]
2025-08-22T21:45:02.304Z,1755899102.304 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:02.304Z,1755899102.304 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:02.308Z,1755899102.308 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:02.308Z,1755899102.308 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:02.311Z,1755899102.311 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.008609
2025-08-22T21:45:02.479Z,1755899102.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.700001 m,
deltaT: 3.527148 s,
deltaX: -2.099998 m,
approachRate: -0.595381 m/s,
rangeRepo size: 4
2025-08-22T21:45:02.486Z,1755899102.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.498837 m,
bearing: 84.059984 deg,
lat: 36.779425 deg,
lon: -121.859514 deg,
deltaT: 3.527148 s,
deltaX: -2.086514 m,
approachRate: -0.591558 m/s,
posRepo size: 4
2025-08-22T21:45:02.486Z,1755899102.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-22T21:45:02.489Z,1755899102.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.498837 m,
nav range: 31.318514 m,
bearing: 83.231404 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.058544 deg/s,
cmd heading: 88.077851 deg,
new cmd heading: 88.147343 deg.
2025-08-22T21:45:02.498Z,1755899102.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538461 target range: 31.498837 and range: 31.70 m.
2025-08-22T21:45:02.543Z,1755899102.543 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.239819
2025-08-22T21:45:02.795Z,1755899102.795 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.491795
2025-08-22T21:45:02.848Z,1755899102.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:02.850Z,1755899102.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-22T21:45:02.853Z,1755899102.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.498837 m,
nav range: 31.083529 m,
bearing: 83.255250 deg,
approach rate: -0.632594 m/s,
LOS rate: 0.064678 deg/s,
cmd heading: 88.147341 deg,
new cmd heading: 88.195392 deg.
2025-08-22T21:45:02.854Z,1755899102.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539300 target range: 31.498837 and range: 31.70 m.
2025-08-22T21:45:03.047Z,1755899103.047 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.744318
2025-08-22T21:45:03.299Z,1755899103.299 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.995859
2025-08-22T21:45:03.301Z,1755899103.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-22T21:45:03.308Z,1755899103.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.498837 m,
nav range: 30.817953 m,
bearing: 83.281213 deg,
approach rate: -0.590510 m/s,
LOS rate: 0.058227 deg/s,
cmd heading: 88.195391 deg,
new cmd heading: 88.247766 deg.
2025-08-22T21:45:03.309Z,1755899103.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540214 target range: 31.498837 and range: 31.70 m.
2025-08-22T21:45:03.551Z,1755899103.551 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.248133
2025-08-22T21:45:03.554Z,1755899103.554 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:45:03.690Z,1755899103.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-22T21:45:03.693Z,1755899103.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.498837 m,
nav range: 30.592665 m,
bearing: 83.303482 deg,
approach rate: -0.583923 m/s,
LOS rate: 0.058145 deg/s,
cmd heading: 88.247765 deg,
new cmd heading: 88.292632 deg.
2025-08-22T21:45:03.695Z,1755899103.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540997 target range: 31.498837 and range: 31.70 m.
2025-08-22T21:45:03.803Z,1755899103.803 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.500518
2025-08-22T21:45:04.055Z,1755899104.055 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.751812
2025-08-22T21:45:04.124Z,1755899104.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-22T21:45:04.127Z,1755899104.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.498837 m,
nav range: 30.326355 m,
bearing: 83.334490 deg,
approach rate: -0.607941 m/s,
LOS rate: 0.071408 deg/s,
cmd heading: 88.292633 deg,
new cmd heading: 88.355194 deg.
2025-08-22T21:45:04.128Z,1755899104.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542089 target range: 31.498837 and range: 31.70 m.
2025-08-22T21:45:04.311Z,1755899104.311 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.008326
2025-08-22T21:45:04.453Z,1755899104.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-22T21:45:04.456Z,1755899104.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.498837 m,
nav range: 30.129974 m,
bearing: 83.357607 deg,
approach rate: -0.597277 m/s,
LOS rate: 0.070767 deg/s,
cmd heading: 88.355190 deg,
new cmd heading: 88.401726 deg.
2025-08-22T21:45:04.457Z,1755899104.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542901 target range: 31.498837 and range: 31.70 m.
2025-08-22T21:45:04.554Z,1755899104.554 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:45:04.564Z,1755899104.564 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.260764
2025-08-22T21:45:04.815Z,1755899104.815 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.511745
2025-08-22T21:45:04.879Z,1755899104.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:04.881Z,1755899104.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-22T21:45:04.884Z,1755899104.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.498837 m,
nav range: 29.876074 m,
bearing: 83.387946 deg,
approach rate: -0.592627 m/s,
LOS rate: 0.071416 deg/s,
cmd heading: 88.401725 deg,
new cmd heading: 88.462918 deg.
2025-08-22T21:45:04.885Z,1755899104.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543969 target range: 31.498837 and range: 31.70 m.
2025-08-22T21:45:05.067Z,1755899105.067 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.763889
2025-08-22T21:45:05.319Z,1755899105.319 [DAT](INFO): DAT read: Rx Time:21:45:05.8789
2025-08-22T21:45:05.319Z,1755899105.319 [DAT](INFO): Rx dataTimestamp_ set to:1755899105.318805
2025-08-22T21:45:05.320Z,1755899105.320 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.016894
2025-08-22T21:45:05.321Z,1755899105.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-22T21:45:05.344Z,1755899105.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.498837 m,
nav range: 29.615778 m,
bearing: 83.421330 deg,
approach rate: -0.591486 m/s,
LOS rate: 0.076527 deg/s,
cmd heading: 88.462916 deg,
new cmd heading: 88.530271 deg.
2025-08-22T21:45:05.345Z,1755899105.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545145 target range: 31.498837 and range: 31.70 m.
2025-08-22T21:45:05.572Z,1755899105.572 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.269523
2025-08-22T21:45:05.702Z,1755899105.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-22T21:45:05.711Z,1755899105.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.498837 m,
nav range: 29.399086 m,
bearing: 83.449750 deg,
approach rate: -0.594626 m/s,
LOS rate: 0.078562 deg/s,
cmd heading: 88.530269 deg,
new cmd heading: 88.587528 deg.
2025-08-22T21:45:05.712Z,1755899105.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546144 target range: 31.498837 and range: 31.70 m.
2025-08-22T21:45:05.831Z,1755899105.831 [DAT](INFO): DAT read: 21:45:05.8789 LVL= 24624, 30561, 22466, 30563, AGC= 60, IDX= 418,-0.44,-2.275, 2.349,-1.913,-2.437, PHS= 0.264,-1.451, 0.480, RAW= 155.9, 7.8, CAL= 155.4, 8.1, ROT= 354.6, -8.1
2025-08-22T21:45:05.832Z,1755899105.832 [DAT](INFO): got valid direction response:
21:45:05.8789 LVL= 24624, 30561, 22466, 30563, AGC= 60, IDX= 418,-0.44,-2.275, 2.349,-1.913,-2.437, PHS= 0.264,-1.451, 0.480, RAW= 155.9, 7.8, CAL= 155.4, 8.1, ROT= 354.6, -8.1
2025-08-22T21:45:05.834Z,1755899105.834 [DAT](INFO): DAT read: Bearing 258.7, -5.4 (Local)
2025-08-22T21:45:05.834Z,1755899105.834 [DAT](INFO): Local bearing/azimuth received:
Bearing 258.7, -5.4 (Local)
2025-08-22T21:45:05.836Z,1755899105.836 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m (Round-trip 39.6 ms) speed 0.5 m/s
2025-08-22T21:45:05.837Z,1755899105.837 [DAT](INFO): DAT read: user:2443>
2025-08-22T21:45:05.839Z,1755899105.839 [DAT](INFO): DAT read: Tx time:21:45:06.9851
2025-08-22T21:45:05.839Z,1755899105.839 [DAT](INFO): Ping request sent.
2025-08-22T21:45:05.839Z,1755899105.839 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:05.840Z,1755899105.840 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T21:45:05.841Z,1755899105.841 [DAT](INFO): direction in FSK: [0.985630,-0.093169,0.140901]
2025-08-22T21:45:05.842Z,1755899105.842 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:05.842Z,1755899105.842 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:05.852Z,1755899105.852 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:05.853Z,1755899105.853 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:05.860Z,1755899105.860 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.020888
2025-08-22T21:45:06.075Z,1755899106.075 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.235321
2025-08-22T21:45:06.155Z,1755899106.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.700001 m,
deltaT: 3.532115 s,
deltaX: -2.000000 m,
approachRate: -0.566233 m/s,
rangeRepo size: 4
2025-08-22T21:45:06.160Z,1755899106.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.511337 m,
bearing: 84.372514 deg,
lat: 36.779422 deg,
lon: -121.859513 deg,
deltaT: 3.532115 s,
deltaX: -1.987499 m,
approachRate: -0.562694 m/s,
posRepo size: 4
2025-08-22T21:45:06.160Z,1755899106.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T21:45:06.165Z,1755899106.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.511337 m,
nav range: 29.142527 m,
bearing: 83.973392 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.078562 deg/s,
cmd heading: 88.587526 deg,
new cmd heading: 88.661185 deg.
2025-08-22T21:45:06.166Z,1755899106.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547430 target range: 29.511337 and range: 29.70 m.
2025-08-22T21:45:06.327Z,1755899106.327 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.487523
2025-08-22T21:45:06.542Z,1755899106.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T21:45:06.545Z,1755899106.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.511337 m,
nav range: 28.912470 m,
bearing: 83.996943 deg,
approach rate: -0.593614 m/s,
LOS rate: 0.061251 deg/s,
cmd heading: 88.661183 deg,
new cmd heading: 88.708659 deg.
2025-08-22T21:45:06.546Z,1755899106.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548258 target range: 29.511337 and range: 29.70 m.
2025-08-22T21:45:06.579Z,1755899106.579 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.739463
2025-08-22T21:45:06.831Z,1755899106.831 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.991277
2025-08-22T21:45:06.949Z,1755899106.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:06.951Z,1755899106.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T21:45:06.954Z,1755899106.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.511337 m,
nav range: 28.672733 m,
bearing: 84.022118 deg,
approach rate: -0.585382 m/s,
LOS rate: 0.061986 deg/s,
cmd heading: 88.708660 deg,
new cmd heading: 88.759431 deg.
2025-08-22T21:45:06.955Z,1755899106.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549144 target range: 29.511337 and range: 29.70 m.
2025-08-22T21:45:07.083Z,1755899107.083 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.243387
2025-08-22T21:45:07.335Z,1755899107.335 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.495387
2025-08-22T21:45:07.361Z,1755899107.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T21:45:07.388Z,1755899107.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.511337 m,
nav range: 28.434561 m,
bearing: 84.051286 deg,
approach rate: -0.581123 m/s,
LOS rate: 0.071762 deg/s,
cmd heading: 88.759428 deg,
new cmd heading: 88.818252 deg.
2025-08-22T21:45:07.389Z,1755899107.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550171 target range: 29.511337 and range: 29.70 m.
2025-08-22T21:45:07.587Z,1755899107.587 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.747398
2025-08-22T21:45:07.792Z,1755899107.792 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-08-22T21:45:07.821Z,1755899107.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T21:45:07.824Z,1755899107.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.511337 m,
nav range: 28.174349 m,
bearing: 84.084280 deg,
approach rate: -0.566020 m/s,
LOS rate: 0.072434 deg/s,
cmd heading: 88.818250 deg,
new cmd heading: 88.884849 deg.
2025-08-22T21:45:07.826Z,1755899107.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551333 target range: 29.511337 and range: 29.70 m.
2025-08-22T21:45:07.839Z,1755899107.839 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.999328
2025-08-22T21:45:08.094Z,1755899108.094 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.254004
2025-08-22T21:45:08.206Z,1755899108.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T21:45:08.208Z,1755899108.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.511337 m,
nav range: 27.947445 m,
bearing: 84.114144 deg,
approach rate: -0.590278 m/s,
LOS rate: 0.078319 deg/s,
cmd heading: 88.884851 deg,
new cmd heading: 88.945063 deg.
2025-08-22T21:45:08.209Z,1755899108.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552384 target range: 29.511337 and range: 29.70 m.
2025-08-22T21:45:08.342Z,1755899108.342 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.503194
2025-08-22T21:45:08.585Z,1755899108.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T21:45:08.588Z,1755899108.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.511337 m,
nav range: 27.740177 m,
bearing: 84.142026 deg,
approach rate: -0.546317 m/s,
LOS rate: 0.074042 deg/s,
cmd heading: 88.945066 deg,
new cmd heading: 89.001248 deg.
2025-08-22T21:45:08.589Z,1755899108.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553365 target range: 29.511337 and range: 29.70 m.
2025-08-22T21:45:08.595Z,1755899108.595 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.755538
2025-08-22T21:45:08.847Z,1755899108.847 [DAT](INFO): DAT read: Rx Time:21:45:09.4258
2025-08-22T21:45:08.847Z,1755899108.847 [DAT](INFO): Rx dataTimestamp_ set to:1755899108.846758
2025-08-22T21:45:08.848Z,1755899108.848 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.008366
2025-08-22T21:45:08.964Z,1755899108.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:08.966Z,1755899108.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T21:45:08.969Z,1755899108.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.511337 m,
nav range: 27.511566 m,
bearing: 84.173269 deg,
approach rate: -0.599920 m/s,
LOS rate: 0.082667 deg/s,
cmd heading: 89.001251 deg,
new cmd heading: 89.064255 deg.
2025-08-22T21:45:08.970Z,1755899108.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554464 target range: 29.511337 and range: 29.70 m.
2025-08-22T21:45:09.099Z,1755899109.099 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.259665
2025-08-22T21:45:09.359Z,1755899109.359 [DAT](INFO): DAT read: 21:45:09.4258 LVL= 24320, 28449, 21298, 31139, AGC= 60, IDX= 404, 0.24,-1.377,-3.096,-1.071,-1.573, PHS= 0.298,-1.478, 0.458, RAW= 154.3, 7.8, CAL= 153.8, 8.2, ROT= 356.2, -8.2
2025-08-22T21:45:09.360Z,1755899109.360 [DAT](INFO): got valid direction response:
21:45:09.4258 LVL= 24320, 28449, 21298, 31139, AGC= 60, IDX= 404, 0.24,-1.377,-3.096,-1.071,-1.573, PHS= 0.298,-1.478, 0.458, RAW= 154.3, 7.8, CAL= 153.8, 8.2, ROT= 356.2, -8.2
2025-08-22T21:45:09.361Z,1755899109.361 [DAT](INFO): DAT read: Bearing 258.5, -3.9 (Local)
2025-08-22T21:45:09.362Z,1755899109.362 [DAT](INFO): Local bearing/azimuth received:
Bearing 258.5, -3.9 (Local)
2025-08-22T21:45:09.363Z,1755899109.363 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (Round-trip 36.7 ms) speed 0.5 m/s
2025-08-22T21:45:09.364Z,1755899109.364 [DAT](INFO): DAT read: user:2444>
2025-08-22T21:45:09.364Z,1755899109.364 [DAT](INFO): DAT read: Tx time:21:45:10.5350
2025-08-22T21:45:09.365Z,1755899109.365 [DAT](INFO): Ping request sent.
2025-08-22T21:45:09.365Z,1755899109.365 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:09.365Z,1755899109.365 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T21:45:09.374Z,1755899109.374 [DAT](INFO): direction in FSK: [0.987600,-0.065596,0.142629]
2025-08-22T21:45:09.375Z,1755899109.375 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:09.375Z,1755899109.375 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:09.382Z,1755899109.382 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:09.382Z,1755899109.382 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:09.390Z,1755899109.390 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.024937
2025-08-22T21:45:09.462Z,1755899109.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.500000 m,
deltaT: 3.529529 s,
deltaX: -2.200001 m,
approachRate: -0.623313 m/s,
rangeRepo size: 4
2025-08-22T21:45:09.464Z,1755899109.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.325191 m,
bearing: 85.733317 deg,
lat: 36.779421 deg,
lon: -121.859513 deg,
deltaT: 3.529529 s,
deltaX: -2.186146 m,
approachRate: -0.619387 m/s,
posRepo size: 4
2025-08-22T21:45:09.465Z,1755899109.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-22T21:45:09.476Z,1755899109.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.325191 m,
nav range: 27.223099 m,
bearing: 84.604094 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.082667 deg/s,
cmd heading: 89.064253 deg,
new cmd heading: 89.145405 deg.
2025-08-22T21:45:09.477Z,1755899109.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555881 target range: 27.325191 and range: 27.50 m.
2025-08-22T21:45:09.603Z,1755899109.603 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.237822
2025-08-22T21:45:09.817Z,1755899109.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-22T21:45:09.824Z,1755899109.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.325191 m,
nav range: 27.017704 m,
bearing: 84.635313 deg,
approach rate: -0.570102 m/s,
LOS rate: 0.087309 deg/s,
cmd heading: 89.145402 deg,
new cmd heading: 89.208313 deg.
2025-08-22T21:45:09.825Z,1755899109.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.556979 target range: 27.325191 and range: 27.50 m.
2025-08-22T21:45:09.855Z,1755899109.855 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.489966
2025-08-22T21:45:10.111Z,1755899110.111 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.745750
2025-08-22T21:45:10.275Z,1755899110.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-22T21:45:10.278Z,1755899110.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.325191 m,
nav range: 26.749865 m,
bearing: 84.666921 deg,
approach rate: -0.584548 m/s,
LOS rate: 0.069674 deg/s,
cmd heading: 89.208315 deg,
new cmd heading: 89.272164 deg.
2025-08-22T21:45:10.279Z,1755899110.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558093 target range: 27.325191 and range: 27.50 m.
2025-08-22T21:45:10.359Z,1755899110.359 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.994660
2025-08-22T21:45:10.608Z,1755899110.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-22T21:45:10.611Z,1755899110.611 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.245828
2025-08-22T21:45:10.612Z,1755899110.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.325191 m,
nav range: 26.558714 m,
bearing: 84.689375 deg,
approach rate: -0.574243 m/s,
LOS rate: 0.067940 deg/s,
cmd heading: 89.272164 deg,
new cmd heading: 89.317395 deg.
2025-08-22T21:45:10.614Z,1755899110.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558883 target range: 27.325191 and range: 27.50 m.
2025-08-22T21:45:10.863Z,1755899110.863 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.497687
2025-08-22T21:45:11.020Z,1755899111.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:11.022Z,1755899111.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-22T21:45:11.024Z,1755899111.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.325191 m,
nav range: 26.321552 m,
bearing: 84.717378 deg,
approach rate: -0.573329 m/s,
LOS rate: 0.068306 deg/s,
cmd heading: 89.317393 deg,
new cmd heading: 89.373904 deg.
2025-08-22T21:45:11.026Z,1755899111.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559869 target range: 27.325191 and range: 27.50 m.
2025-08-22T21:45:11.118Z,1755899111.118 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.752243
2025-08-22T21:45:11.366Z,1755899111.366 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.001665
2025-08-22T21:45:11.462Z,1755899111.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-22T21:45:11.465Z,1755899111.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.325191 m,
nav range: 26.081949 m,
bearing: 84.752917 deg,
approach rate: -0.559594 m/s,
LOS rate: 0.083764 deg/s,
cmd heading: 89.373906 deg,
new cmd heading: 89.445637 deg.
2025-08-22T21:45:11.470Z,1755899111.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561121 target range: 27.325191 and range: 27.50 m.
2025-08-22T21:45:11.619Z,1755899111.619 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.253918
2025-08-22T21:45:11.871Z,1755899111.871 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.505812
2025-08-22T21:45:11.882Z,1755899111.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-22T21:45:11.885Z,1755899111.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.325191 m,
nav range: 25.840513 m,
bearing: 84.788863 deg,
approach rate: -0.558625 m/s,
LOS rate: 0.083949 deg/s,
cmd heading: 89.445637 deg,
new cmd heading: 89.518202 deg.
2025-08-22T21:45:11.886Z,1755899111.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562387 target range: 27.325191 and range: 27.50 m.
2025-08-22T21:45:12.126Z,1755899112.126 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.760358
2025-08-22T21:45:12.312Z,1755899112.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-22T21:45:12.316Z,1755899112.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.325191 m,
nav range: 25.594173 m,
bearing: 84.822029 deg,
approach rate: -0.572777 m/s,
LOS rate: 0.077859 deg/s,
cmd heading: 89.518201 deg,
new cmd heading: 89.585172 deg.
2025-08-22T21:45:12.317Z,1755899112.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563556 target range: 27.325191 and range: 27.50 m.
2025-08-22T21:45:12.375Z,1755899112.375 [DAT](INFO): DAT read: Rx Time:21:45:12.9732
2025-08-22T21:45:12.376Z,1755899112.376 [DAT](INFO): Rx dataTimestamp_ set to:1755899112.375374
2025-08-22T21:45:12.376Z,1755899112.376 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.011406
2025-08-22T21:45:12.627Z,1755899112.627 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.261870
2025-08-22T21:45:12.638Z,1755899112.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-22T21:45:12.641Z,1755899112.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.325191 m,
nav range: 25.407003 m,
bearing: 84.846896 deg,
approach rate: -0.574901 m/s,
LOS rate: 0.076943 deg/s,
cmd heading: 89.585171 deg,
new cmd heading: 89.635271 deg.
2025-08-22T21:45:12.642Z,1755899112.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.564431 target range: 27.325191 and range: 27.50 m.
2025-08-22T21:45:12.896Z,1755899112.896 [DAT](INFO): DAT read: 21:45:12.9732 LVL= 21280, 31377, 20226, 30499, AGC= 58, IDX= 409,-0.18, 3.000, 1.306,-2.974, 2.798, PHS= 0.304,-1.448, 0.467, RAW= 154.4, 7.4, CAL= 153.9, 7.7, ROT= 356.1, -7.7
2025-08-22T21:45:12.898Z,1755899112.898 [DAT](INFO): got valid direction response:
21:45:12.9732 LVL= 21280, 31377, 20226, 30499, AGC= 58, IDX= 409,-0.18, 3.000, 1.306,-2.974, 2.798, PHS= 0.304,-1.448, 0.467, RAW= 154.4, 7.4, CAL= 153.9, 7.7, ROT= 356.1, -7.7
2025-08-22T21:45:12.899Z,1755899112.899 [DAT](INFO): DAT read: Bearing 258.5, -3.8 (Local)
2025-08-22T21:45:12.899Z,1755899112.899 [DAT](INFO): Local bearing/azimuth received:
Bearing 258.5, -3.8 (Local)
2025-08-22T21:45:12.900Z,1755899112.900 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (Round-trip 34.0 ms) speed 0.5 m/s
2025-08-22T21:45:12.901Z,1755899112.901 [DAT](INFO): DAT read: user:2445>
2025-08-22T21:45:12.904Z,1755899112.904 [DAT](INFO): DAT read: Tx time:21:45:14.0866
2025-08-22T21:45:12.904Z,1755899112.904 [DAT](INFO): Ping request sent.
2025-08-22T21:45:12.904Z,1755899112.904 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:12.904Z,1755899112.904 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T21:45:12.916Z,1755899112.916 [DAT](INFO): direction in FSK: [0.988688,-0.067402,0.133986]
2025-08-22T21:45:12.916Z,1755899112.916 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:12.916Z,1755899112.916 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:12.920Z,1755899112.920 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:12.920Z,1755899112.920 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:12.924Z,1755899112.924 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.019394
2025-08-22T21:45:13.134Z,1755899113.134 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.228828
2025-08-22T21:45:13.148Z,1755899113.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.500000 m,
deltaT: 3.527736 s,
deltaX: -2.000000 m,
approachRate: -0.566936 m/s,
rangeRepo size: 4
2025-08-22T21:45:13.162Z,1755899113.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.338032 m,
bearing: 85.940159 deg,
lat: 36.779421 deg,
lon: -121.859513 deg,
deltaT: 3.527736 s,
deltaX: -1.987160 m,
approachRate: -0.563296 m/s,
posRepo size: 4
2025-08-22T21:45:13.163Z,1755899113.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T21:45:13.175Z,1755899113.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.338032 m,
nav range: 25.185648 m,
bearing: 84.911966 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.076943 deg/s,
cmd heading: 89.635270 deg,
new cmd heading: 89.712569 deg.
2025-08-22T21:45:13.177Z,1755899113.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.565780 target range: 25.338032 and range: 25.50 m.
2025-08-22T21:45:13.403Z,1755899113.403 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.498662
2025-08-22T21:45:13.598Z,1755899113.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:13.600Z,1755899113.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T21:45:13.607Z,1755899113.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.338032 m,
nav range: 24.881731 m,
bearing: 84.959319 deg,
approach rate: -0.661080 m/s,
LOS rate: 0.104261 deg/s,
cmd heading: 89.712568 deg,
new cmd heading: 89.808431 deg.
2025-08-22T21:45:13.610Z,1755899113.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.567453 target range: 25.338032 and range: 25.50 m.
2025-08-22T21:45:13.635Z,1755899113.635 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.730392
2025-08-22T21:45:13.887Z,1755899113.887 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.982364
2025-08-22T21:45:13.960Z,1755899113.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T21:45:13.963Z,1755899113.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.338032 m,
nav range: 24.666042 m,
bearing: 84.993094 deg,
approach rate: -0.599019 m/s,
LOS rate: 0.094621 deg/s,
cmd heading: 89.808429 deg,
new cmd heading: 89.876570 deg.
2025-08-22T21:45:13.964Z,1755899113.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.568642 target range: 25.338032 and range: 25.50 m.
2025-08-22T21:45:14.141Z,1755899114.141 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.236549
2025-08-22T21:45:14.385Z,1755899114.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T21:45:14.388Z,1755899114.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.338032 m,
nav range: 24.418633 m,
bearing: 85.040462 deg,
approach rate: -0.582076 m/s,
LOS rate: 0.112572 deg/s,
cmd heading: 89.876567 deg,
new cmd heading: 89.972264 deg.
2025-08-22T21:45:14.389Z,1755899114.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.570312 target range: 25.338032 and range: 25.50 m.
2025-08-22T21:45:14.391Z,1755899114.391 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.486551
2025-08-22T21:45:14.644Z,1755899114.644 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.740265
2025-08-22T21:45:14.765Z,1755899114.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T21:45:14.768Z,1755899114.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.338032 m,
nav range: 24.198217 m,
bearing: 85.083047 deg,
approach rate: -0.579633 m/s,
LOS rate: 0.113007 deg/s,
cmd heading: 89.972265 deg,
new cmd heading: 90.058211 deg.
2025-08-22T21:45:14.769Z,1755899114.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.571812 target range: 25.338032 and range: 25.50 m.
2025-08-22T21:45:14.899Z,1755899114.899 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.994427
2025-08-22T21:45:15.154Z,1755899115.154 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.248647
2025-08-22T21:45:15.238Z,1755899115.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T21:45:15.241Z,1755899115.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.338032 m,
nav range: 23.940636 m,
bearing: 85.133361 deg,
approach rate: -0.549547 m/s,
LOS rate: 0.108499 deg/s,
cmd heading: 90.058209 deg,
new cmd heading: 90.159920 deg.
2025-08-22T21:45:15.250Z,1755899115.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.573587 target range: 25.338032 and range: 25.50 m.
2025-08-22T21:45:15.402Z,1755899115.402 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.498324
2025-08-22T21:45:15.575Z,1755899115.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T21:45:15.578Z,1755899115.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.338032 m,
nav range: 23.720343 m,
bearing: 85.169872 deg,
approach rate: -0.645207 m/s,
LOS rate: 0.107929 deg/s,
cmd heading: 90.159918 deg,
new cmd heading: 90.233618 deg.
2025-08-22T21:45:15.579Z,1755899115.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.574874 target range: 25.338032 and range: 25.50 m.
2025-08-22T21:45:15.655Z,1755899115.655 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.750501
2025-08-22T21:45:15.907Z,1755899115.907 [DAT](INFO): DAT read: Rx Time:21:45:16.5221
2025-08-22T21:45:15.907Z,1755899115.907 [DAT](INFO): Rx dataTimestamp_ set to:1755899115.906733
2025-08-22T21:45:15.908Z,1755899115.908 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.003423
2025-08-22T21:45:15.977Z,1755899115.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:15.983Z,1755899115.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T21:45:15.990Z,1755899115.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.338032 m,
nav range: 23.479193 m,
bearing: 85.209957 deg,
approach rate: -0.590863 m/s,
LOS rate: 0.099223 deg/s,
cmd heading: 90.233615 deg,
new cmd heading: 90.314608 deg.
2025-08-22T21:45:15.994Z,1755899115.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.576287 target range: 25.338032 and range: 25.50 m.
2025-08-22T21:45:16.162Z,1755899116.162 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.256980
2025-08-22T21:45:16.374Z,1755899116.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T21:45:16.377Z,1755899116.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.338032 m,
nav range: 23.238729 m,
bearing: 85.250364 deg,
approach rate: -0.614835 m/s,
LOS rate: 0.104385 deg/s,
cmd heading: 90.314608 deg,
new cmd heading: 90.396258 deg.
2025-08-22T21:45:16.379Z,1755899116.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.577712 target range: 25.338032 and range: 25.50 m.
2025-08-22T21:45:16.414Z,1755899116.414 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.509462
2025-08-22T21:45:16.669Z,1755899116.669 [DAT](INFO): DAT read: 21:45:16.5221 LVL= 23792, 32753, 22050, 29795, AGC= 57, IDX= 414, 0.04, 1.490,-0.215, 1.810, 1.270, PHS= 0.322,-1.440, 0.495, RAW= 154.7, 6.8, CAL= 154.0, 6.9, ROT= 356.0, -6.9
2025-08-22T21:45:16.670Z,1755899116.670 [DAT](INFO): got valid direction response:
21:45:16.5221 LVL= 23792, 32753, 22050, 29795, AGC= 57, IDX= 414, 0.04, 1.490,-0.215, 1.810, 1.270, PHS= 0.322,-1.440, 0.495, RAW= 154.7, 6.8, CAL= 154.0, 6.9, ROT= 356.0, -6.9
2025-08-22T21:45:16.671Z,1755899116.671 [DAT](INFO): DAT read: Bearing 258.2, -4.1 (Local)
2025-08-22T21:45:16.671Z,1755899116.671 [DAT](INFO): Local bearing/azimuth received:
Bearing 258.2, -4.1 (Local)
2025-08-22T21:45:16.673Z,1755899116.673 [DAT](INFO): DAT read: Range 11 to 50 : 23.5 m (Round-trip 31.4 ms) speed 0.4 m/s
2025-08-22T21:45:16.674Z,1755899116.674 [DAT](INFO): DAT read: user:2446>
2025-08-22T21:45:16.675Z,1755899116.675 [DAT](INFO): DAT read: Tx time:21:45:17.6350
2025-08-22T21:45:16.675Z,1755899116.675 [DAT](INFO): Ping request sent.
2025-08-22T21:45:16.675Z,1755899116.675 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:16.675Z,1755899116.675 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T21:45:16.676Z,1755899116.676 [DAT](INFO): direction in FSK: [0.990339,-0.069251,0.120137]
2025-08-22T21:45:16.677Z,1755899116.677 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:16.677Z,1755899116.677 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:16.716Z,1755899116.716 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:16.717Z,1755899116.717 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:16.752Z,1755899116.752 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.077231
2025-08-22T21:45:16.835Z,1755899116.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.500000 m,
deltaT: 3.783196 s,
deltaX: -2.000000 m,
approachRate: -0.528654 m/s,
rangeRepo size: 4
2025-08-22T21:45:16.837Z,1755899116.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.350742 m,
bearing: 86.294040 deg,
lat: 36.779417 deg,
lon: -121.859513 deg,
deltaT: 3.783196 s,
deltaX: -1.987289 m,
approachRate: -0.525294 m/s,
posRepo size: 4
2025-08-22T21:45:16.842Z,1755899116.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-22T21:45:16.844Z,1755899116.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.350742 m,
nav range: 22.944771 m,
bearing: 86.250563 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.104385 deg/s,
cmd heading: 90.396256 deg,
new cmd heading: 90.492274 deg.
2025-08-22T21:45:16.850Z,1755899116.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.579388 target range: 23.350742 and range: 23.50 m.
2025-08-22T21:45:16.919Z,1755899116.919 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.243241
2025-08-22T21:45:17.172Z,1755899117.172 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.493974
2025-08-22T21:45:17.279Z,1755899117.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-22T21:45:17.282Z,1755899117.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.350742 m,
nav range: 22.669476 m,
bearing: 86.316429 deg,
approach rate: -0.626628 m/s,
LOS rate: 0.151747 deg/s,
cmd heading: 90.492275 deg,
new cmd heading: 90.625608 deg.
2025-08-22T21:45:17.283Z,1755899117.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.581715 target range: 23.350742 and range: 23.50 m.
2025-08-22T21:45:17.419Z,1755899117.419 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.743465
2025-08-22T21:45:17.603Z,1755899117.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-22T21:45:17.606Z,1755899117.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.350742 m,
nav range: 22.480721 m,
bearing: 86.361317 deg,
approach rate: -0.572955 m/s,
LOS rate: 0.137398 deg/s,
cmd heading: 90.625607 deg,
new cmd heading: 90.716136 deg.
2025-08-22T21:45:17.607Z,1755899117.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.583295 target range: 23.350742 and range: 23.50 m.
2025-08-22T21:45:17.673Z,1755899117.673 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.997650
2025-08-22T21:45:17.926Z,1755899117.926 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.251443
2025-08-22T21:45:17.996Z,1755899117.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:17.998Z,1755899117.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-22T21:45:18.001Z,1755899118.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.350742 m,
nav range: 22.237957 m,
bearing: 86.419323 deg,
approach rate: -0.614391 m/s,
LOS rate: 0.148405 deg/s,
cmd heading: 90.716134 deg,
new cmd heading: 90.833412 deg.
2025-08-22T21:45:18.018Z,1755899118.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.585342 target range: 23.350742 and range: 23.50 m.
2025-08-22T21:45:18.182Z,1755899118.182 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.506160
2025-08-22T21:45:18.424Z,1755899118.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-22T21:45:18.426Z,1755899118.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.350742 m,
nav range: 21.983604 m,
bearing: 86.485300 deg,
approach rate: -0.598111 m/s,
LOS rate: 0.156942 deg/s,
cmd heading: 90.833415 deg,
new cmd heading: 90.966897 deg.
2025-08-22T21:45:18.427Z,1755899118.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.587672 target range: 23.350742 and range: 23.50 m.
2025-08-22T21:45:18.431Z,1755899118.431 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.755550
2025-08-22T21:45:18.683Z,1755899118.683 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.007909
2025-08-22T21:45:18.807Z,1755899118.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-22T21:45:18.810Z,1755899118.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.350742 m,
nav range: 21.756641 m,
bearing: 86.544875 deg,
approach rate: -0.591675 m/s,
LOS rate: 0.156927 deg/s,
cmd heading: 90.966898 deg,
new cmd heading: 91.087290 deg.
2025-08-22T21:45:18.811Z,1755899118.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.589773 target range: 23.350742 and range: 23.50 m.
2025-08-22T21:45:18.935Z,1755899118.935 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.259494
2025-08-22T21:45:19.192Z,1755899119.192 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.514040
2025-08-22T21:45:19.292Z,1755899119.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-22T21:45:19.295Z,1755899119.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.350742 m,
nav range: 21.482988 m,
bearing: 86.624137 deg,
approach rate: -0.564438 m/s,
LOS rate: 0.165568 deg/s,
cmd heading: 91.087293 deg,
new cmd heading: 91.247836 deg.
2025-08-22T21:45:19.296Z,1755899119.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.592575 target range: 23.350742 and range: 23.50 m.
2025-08-22T21:45:19.439Z,1755899119.439 [DAT](INFO): DAT read: Rx Time:21:45:20.0676
2025-08-22T21:45:19.439Z,1755899119.439 [DAT](INFO): Rx dataTimestamp_ set to:1755899119.438936
2025-08-22T21:45:19.440Z,1755899119.440 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.764724
2025-08-22T21:45:19.628Z,1755899119.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-22T21:45:19.632Z,1755899119.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.350742 m,
nav range: 21.289173 m,
bearing: 86.681264 deg,
approach rate: -0.576450 m/s,
LOS rate: 0.171456 deg/s,
cmd heading: 91.247837 deg,
new cmd heading: 91.363131 deg.
2025-08-22T21:45:19.633Z,1755899119.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.594587 target range: 23.350742 and range: 23.50 m.
2025-08-22T21:45:19.691Z,1755899119.691 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.016067
2025-08-22T21:45:19.946Z,1755899119.946 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.270085
2025-08-22T21:45:20.060Z,1755899120.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:20.063Z,1755899120.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-22T21:45:20.066Z,1755899120.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.350742 m,
nav range: 21.050943 m,
bearing: 86.752933 deg,
approach rate: -0.547238 m/s,
LOS rate: 0.166493 deg/s,
cmd heading: 91.363131 deg,
new cmd heading: 91.508090 deg.
2025-08-22T21:45:20.067Z,1755899120.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.597117 target range: 23.350742 and range: 23.50 m.
2025-08-22T21:45:20.209Z,1755899120.209 [DAT](INFO): DAT read: 21:45:20.0676 LVL= 25808, 32753, 24674, 30963, AGC= 57, IDX= 416, 0.47, 1.605,-0.160, 1.901, 1.394, PHS= 0.313,-1.509, 0.463, RAW= 153.9, 7.8, CAL= 153.4, 8.2, ROT= 356.6, -8.2
2025-08-22T21:45:20.213Z,1755899120.213 [DAT](INFO): got valid direction response:
21:45:20.0676 LVL= 25808, 32753, 24674, 30963, AGC= 57, IDX= 416, 0.47, 1.605,-0.160, 1.901, 1.394, PHS= 0.313,-1.509, 0.463, RAW= 153.9, 7.8, CAL= 153.4, 8.2, ROT= 356.6, -8.2
2025-08-22T21:45:20.217Z,1755899120.217 [DAT](INFO): DAT read: Bearing 259.5, -3.4 (Local)
2025-08-22T21:45:20.218Z,1755899120.218 [DAT](INFO): Local bearing/azimuth received:
Bearing 259.5, -3.4 (Local)
2025-08-22T21:45:20.227Z,1755899120.227 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (Round-trip 28.5 ms) speed 0.8 m/s
2025-08-22T21:45:20.229Z,1755899120.229 [DAT](INFO): DAT read: user:2447>
2025-08-22T21:45:20.232Z,1755899120.232 [DAT](INFO): DAT read: Tx time:21:45:21.1850
2025-08-22T21:45:20.233Z,1755899120.233 [DAT](INFO): Ping request sent.
2025-08-22T21:45:20.235Z,1755899120.235 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:20.236Z,1755899120.236 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T21:45:20.245Z,1755899120.245 [DAT](INFO): direction in FSK: [0.988034,-0.058700,0.142629]
2025-08-22T21:45:20.246Z,1755899120.246 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:20.248Z,1755899120.248 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:20.294Z,1755899120.294 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:20.294Z,1755899120.294 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:20.304Z,1755899120.304 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.070094
2025-08-22T21:45:20.447Z,1755899120.447 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.213711
2025-08-22T21:45:20.514Z,1755899120.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.299999 m,
deltaT: 3.533636 s,
deltaX: -2.200001 m,
approachRate: -0.622588 m/s,
rangeRepo size: 4
2025-08-22T21:45:20.516Z,1755899120.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.164673 m,
bearing: 87.221150 deg,
lat: 36.779417 deg,
lon: -121.859511 deg,
deltaT: 3.533636 s,
deltaX: -2.186069 m,
approachRate: -0.618646 m/s,
posRepo size: 4
2025-08-22T21:45:20.516Z,1755899120.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m.
2025-08-22T21:45:20.527Z,1755899120.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.164673 m,
nav range: 20.929647 m,
bearing: 87.032164 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.166493 deg/s,
cmd heading: 91.508088 deg,
new cmd heading: 91.653743 deg.
2025-08-22T21:45:20.528Z,1755899120.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.599660 target range: 21.164673 and range: 21.30 m.
2025-08-22T21:45:20.700Z,1755899120.700 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.467004
2025-08-22T21:45:20.879Z,1755899120.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m.
2025-08-22T21:45:20.886Z,1755899120.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.164673 m,
nav range: 20.718086 m,
bearing: 87.093757 deg,
approach rate: -0.558884 m/s,
LOS rate: 0.164373 deg/s,
cmd heading: 91.653742 deg,
new cmd heading: 91.778185 deg.
2025-08-22T21:45:20.887Z,1755899120.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.601832 target range: 21.164673 and range: 21.30 m.
2025-08-22T21:45:20.951Z,1755899120.951 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.717882
2025-08-22T21:45:21.204Z,1755899121.204 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.970981
2025-08-22T21:45:21.354Z,1755899121.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m.
2025-08-22T21:45:21.357Z,1755899121.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.164673 m,
nav range: 20.440454 m,
bearing: 87.176531 deg,
approach rate: -0.584611 m/s,
LOS rate: 0.176666 deg/s,
cmd heading: 91.778188 deg,
new cmd heading: 91.945985 deg.
2025-08-22T21:45:21.358Z,1755899121.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.604760 target range: 21.164673 and range: 21.30 m.
2025-08-22T21:45:21.460Z,1755899121.460 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.226595
2025-08-22T21:45:21.711Z,1755899121.711 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.478095
2025-08-22T21:45:21.741Z,1755899121.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m.
2025-08-22T21:45:21.744Z,1755899121.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.164673 m,
nav range: 20.223057 m,
bearing: 87.241697 deg,
approach rate: -0.562407 m/s,
LOS rate: 0.170395 deg/s,
cmd heading: 91.945985 deg,
new cmd heading: 92.077716 deg.
2025-08-22T21:45:21.745Z,1755899121.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.607059 target range: 21.164673 and range: 21.30 m.
2025-08-22T21:45:21.963Z,1755899121.963 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.729628
2025-08-22T21:45:22.123Z,1755899122.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:22.130Z,1755899122.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m.
2025-08-22T21:45:22.133Z,1755899122.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.164673 m,
nav range: 20.010216 m,
bearing: 87.306110 deg,
approach rate: -0.546837 m/s,
LOS rate: 0.167252 deg/s,
cmd heading: 92.077719 deg,
new cmd heading: 92.207915 deg.
2025-08-22T21:45:22.138Z,1755899122.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.609332 target range: 21.164673 and range: 21.30 m.
2025-08-22T21:45:22.216Z,1755899122.216 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.982538
2025-08-22T21:45:22.467Z,1755899122.467 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.233577
2025-08-22T21:45:22.565Z,1755899122.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m.
2025-08-22T21:45:22.572Z,1755899122.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.164673 m,
nav range: 19.764074 m,
bearing: 87.375251 deg,
approach rate: -0.565997 m/s,
LOS rate: 0.160969 deg/s,
cmd heading: 92.207916 deg,
new cmd heading: 92.347920 deg.
2025-08-22T21:45:22.573Z,1755899122.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.611775 target range: 21.164673 and range: 21.30 m.
2025-08-22T21:45:22.719Z,1755899122.719 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.486228
2025-08-22T21:45:22.937Z,1755899122.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m.
2025-08-22T21:45:22.940Z,1755899122.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.164673 m,
nav range: 19.553852 m,
bearing: 87.435078 deg,
approach rate: -0.565647 m/s,
LOS rate: 0.162708 deg/s,
cmd heading: 92.347921 deg,
new cmd heading: 92.468862 deg.
2025-08-22T21:45:22.944Z,1755899122.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.613886 target range: 21.164673 and range: 21.30 m.
2025-08-22T21:45:22.971Z,1755899122.971 [DAT](INFO): DAT read: Rx Time:21:45:23.6150
2025-08-22T21:45:22.971Z,1755899122.971 [DAT](INFO): Rx dataTimestamp_ set to:1755899122.970741
2025-08-22T21:45:22.972Z,1755899122.972 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.738702
2025-08-22T21:45:23.224Z,1755899123.224 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.990203
2025-08-22T21:45:23.374Z,1755899123.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m.
2025-08-22T21:45:23.376Z,1755899123.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.164673 m,
nav range: 19.299116 m,
bearing: 87.502874 deg,
approach rate: -0.583025 m/s,
LOS rate: 0.157216 deg/s,
cmd heading: 92.468863 deg,
new cmd heading: 92.606245 deg.
2025-08-22T21:45:23.378Z,1755899123.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.616284 target range: 21.164673 and range: 21.30 m.
2025-08-22T21:45:23.478Z,1755899123.478 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.244194
2025-08-22T21:45:23.732Z,1755899123.732 [DAT](INFO): DAT read: 21:45:23.6149 LVL= 22112, 29889, 20290, 29811, AGC= 55, IDX= 421,-0.26, 0.353,-1.339, 0.675, 0.177, PHS= 0.278,-1.471, 0.454, RAW= 154.7, 8.1, CAL= 154.3, 8.5, ROT= 355.7, -8.5
2025-08-22T21:45:23.733Z,1755899123.733 [DAT](INFO): got valid direction response:
21:45:23.6149 LVL= 22112, 29889, 20290, 29811, AGC= 55, IDX= 421,-0.26, 0.353,-1.339, 0.675, 0.177, PHS= 0.278,-1.471, 0.454, RAW= 154.7, 8.1, CAL= 154.3, 8.5, ROT= 355.7, -8.5
2025-08-22T21:45:23.734Z,1755899123.734 [DAT](INFO): DAT read: Bearing 260.6, -4.1 (Local)
2025-08-22T21:45:23.735Z,1755899123.735 [DAT](INFO): Local bearing/azimuth received:
Bearing 260.6, -4.1 (Local)
2025-08-22T21:45:23.736Z,1755899123.736 [DAT](INFO): DAT read: Range 11 to 50 : 19.3 m (Round-trip 25.8 ms) speed 0.4 m/s
2025-08-22T21:45:23.737Z,1755899123.737 [DAT](INFO): DAT read: user:2448>
2025-08-22T21:45:23.738Z,1755899123.738 [DAT](INFO): DAT read: Tx time:21:45:24.7349
2025-08-22T21:45:23.738Z,1755899123.738 [DAT](INFO): Ping request sent.
2025-08-22T21:45:23.738Z,1755899123.738 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:23.738Z,1755899123.738 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T21:45:23.739Z,1755899123.739 [DAT](INFO): direction in FSK: [0.986232,-0.074155,0.147809]
2025-08-22T21:45:23.740Z,1755899123.740 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:23.740Z,1755899123.740 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:23.775Z,1755899123.775 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:23.775Z,1755899123.775 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:23.787Z,1755899123.787 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.049001
2025-08-22T21:45:23.882Z,1755899123.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.299999 m,
deltaT: 3.529886 s,
deltaX: -2.000000 m,
approachRate: -0.566591 m/s,
rangeRepo size: 4
2025-08-22T21:45:23.884Z,1755899123.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.177374 m,
bearing: 87.027216 deg,
lat: 36.779417 deg,
lon: -121.859512 deg,
deltaT: 3.529886 s,
deltaX: -1.987299 m,
approachRate: -0.562992 m/s,
posRepo size: 4
2025-08-22T21:45:23.885Z,1755899123.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.18 m.
2025-08-22T21:45:23.892Z,1755899123.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.177374 m,
nav range: 18.983492 m,
bearing: 87.570026 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.157216 deg/s,
cmd heading: 92.606246 deg,
new cmd heading: 92.764638 deg.
2025-08-22T21:45:23.893Z,1755899123.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.619048 target range: 19.177374 and range: 19.30 m.
2025-08-22T21:45:23.979Z,1755899123.979 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.240634
2025-08-22T21:45:24.166Z,1755899124.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:24.169Z,1755899124.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.18 m.
2025-08-22T21:45:24.174Z,1755899124.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.177374 m,
nav range: 18.804731 m,
bearing: 87.616613 deg,
approach rate: -0.613109 m/s,
LOS rate: 0.161304 deg/s,
cmd heading: 92.764638 deg,
new cmd heading: 92.858698 deg.
2025-08-22T21:45:24.176Z,1755899124.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.620690 target range: 19.177374 and range: 19.30 m.
2025-08-22T21:45:24.231Z,1755899124.231 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.492501
2025-08-22T21:45:24.482Z,1755899124.482 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.744365
2025-08-22T21:45:24.596Z,1755899124.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.18 m.
2025-08-22T21:45:24.599Z,1755899124.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.177374 m,
nav range: 18.555298 m,
bearing: 87.674730 deg,
approach rate: -0.584092 m/s,
LOS rate: 0.137920 deg/s,
cmd heading: 92.858696 deg,
new cmd heading: 92.976492 deg.
2025-08-22T21:45:24.600Z,1755899124.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.622746 target range: 19.177374 and range: 19.30 m.
2025-08-22T21:45:24.735Z,1755899124.735 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.996407
2025-08-22T21:45:24.987Z,1755899124.987 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.248437
2025-08-22T21:45:25.044Z,1755899125.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.18 m.
2025-08-22T21:45:25.047Z,1755899125.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.177374 m,
nav range: 18.307398 m,
bearing: 87.731630 deg,
approach rate: -0.553383 m/s,
LOS rate: 0.128737 deg/s,
cmd heading: 92.976490 deg,
new cmd heading: 93.091831 deg.
2025-08-22T21:45:25.048Z,1755899125.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.624759 target range: 19.177374 and range: 19.30 m.
2025-08-22T21:45:25.239Z,1755899125.239 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.500775
2025-08-22T21:45:25.431Z,1755899125.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.18 m.
2025-08-22T21:45:25.450Z,1755899125.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.177374 m,
nav range: 18.064960 m,
bearing: 87.787627 deg,
approach rate: -0.626217 m/s,
LOS rate: 0.146581 deg/s,
cmd heading: 93.091831 deg,
new cmd heading: 93.205327 deg.
2025-08-22T21:45:25.451Z,1755899125.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626740 target range: 19.177374 and range: 19.30 m.
2025-08-22T21:45:25.492Z,1755899125.492 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.753886
2025-08-22T21:45:25.743Z,1755899125.743 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.004439
2025-08-22T21:45:25.800Z,1755899125.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.18 m.
2025-08-22T21:45:25.803Z,1755899125.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.177374 m,
nav range: 17.840549 m,
bearing: 87.837249 deg,
approach rate: -0.607612 m/s,
LOS rate: 0.136044 deg/s,
cmd heading: 93.205328 deg,
new cmd heading: 93.305820 deg.
2025-08-22T21:45:25.804Z,1755899125.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628494 target range: 19.177374 and range: 19.30 m.
2025-08-22T21:45:25.995Z,1755899125.995 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.256878
2025-08-22T21:45:26.251Z,1755899126.251 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.512638
2025-08-22T21:45:26.262Z,1755899126.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:26.264Z,1755899126.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.18 m.
2025-08-22T21:45:26.271Z,1755899126.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.177374 m,
nav range: 17.569448 m,
bearing: 87.896762 deg,
approach rate: -0.585141 m/s,
LOS rate: 0.130435 deg/s,
cmd heading: 93.305821 deg,
new cmd heading: 93.426684 deg.
2025-08-22T21:45:26.272Z,1755899126.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.630603 target range: 19.177374 and range: 19.30 m.
2025-08-22T21:45:26.503Z,1755899126.503 [DAT](INFO): DAT read: Rx Time:21:45:27.1622
2025-08-22T21:45:26.503Z,1755899126.503 [DAT](INFO): Rx dataTimestamp_ set to:1755899126.502778
2025-08-22T21:45:26.504Z,1755899126.504 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.765505
2025-08-22T21:45:26.724Z,1755899126.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.18 m.
2025-08-22T21:45:26.727Z,1755899126.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.177374 m,
nav range: 17.290676 m,
bearing: 87.961107 deg,
approach rate: -0.605113 m/s,
LOS rate: 0.141921 deg/s,
cmd heading: 93.426681 deg,
new cmd heading: 93.557446 deg.
2025-08-22T21:45:26.728Z,1755899126.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.632885 target range: 19.177374 and range: 19.30 m.
2025-08-22T21:45:26.755Z,1755899126.755 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.016532
2025-08-22T21:45:27.008Z,1755899127.008 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.269422
2025-08-22T21:45:27.125Z,1755899127.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.18 m.
2025-08-22T21:45:27.135Z,1755899127.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.177374 m,
nav range: 17.058952 m,
bearing: 88.011244 deg,
approach rate: -0.578248 m/s,
LOS rate: 0.126812 deg/s,
cmd heading: 93.557445 deg,
new cmd heading: 93.659081 deg.
2025-08-22T21:45:27.136Z,1755899127.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634659 target range: 19.177374 and range: 19.30 m.
2025-08-22T21:45:27.265Z,1755899127.265 [DAT](INFO): DAT read: 21:45:27.1622 LVL= 19952, 28977, 18290, 29235, AGC= 55, IDX= 409, 0.45, 2.744, 1.066,-3.132, 2.596, PHS= 0.250,-1.485, 0.511, RAW= 156.9, 7.7, CAL= 156.4, 8.0, ROT= 353.6, -8.0
2025-08-22T21:45:27.266Z,1755899127.266 [DAT](INFO): got valid direction response:
21:45:27.1622 LVL= 19952, 28977, 18290, 29235, AGC= 55, IDX= 409, 0.45, 2.744, 1.066,-3.132, 2.596, PHS= 0.250,-1.485, 0.511, RAW= 156.9, 7.7, CAL= 156.4, 8.0, ROT= 353.6, -8.0
2025-08-22T21:45:27.268Z,1755899127.268 [DAT](INFO): DAT read: Bearing 261.3, -6.1 (Local)
2025-08-22T21:45:27.268Z,1755899127.268 [DAT](INFO): Local bearing/azimuth received:
Bearing 261.3, -6.1 (Local)
2025-08-22T21:45:27.277Z,1755899127.277 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (Round-trip 23.1 ms) speed 0.5 m/s
2025-08-22T21:45:27.278Z,1755899127.278 [DAT](INFO): DAT read: user:2449>
2025-08-22T21:45:27.278Z,1755899127.278 [DAT](INFO): DAT read: Tx time:21:45:28.2849
2025-08-22T21:45:27.279Z,1755899127.279 [DAT](INFO): Ping request sent.
2025-08-22T21:45:27.279Z,1755899127.279 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:27.279Z,1755899127.279 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T21:45:27.280Z,1755899127.280 [DAT](INFO): direction in FSK: [0.984097,-0.110384,0.139173]
2025-08-22T21:45:27.280Z,1755899127.280 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:27.281Z,1755899127.281 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:27.296Z,1755899127.296 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:27.297Z,1755899127.297 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:27.351Z,1755899127.351 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.071293
2025-08-22T21:45:27.511Z,1755899127.511 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.231649
2025-08-22T21:45:27.620Z,1755899127.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 3.532011 s,
deltaX: -2.000000 m,
approachRate: -0.566250 m/s,
rangeRepo size: 4
2025-08-22T21:45:27.623Z,1755899127.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.190165 m,
bearing: 86.281272 deg,
lat: 36.779417 deg,
lon: -121.859511 deg,
deltaT: 3.532011 s,
deltaX: -1.987209 m,
approachRate: -0.562628 m/s,
posRepo size: 4
2025-08-22T21:45:27.623Z,1755899127.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:45:27.626Z,1755899127.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.190165 m,
nav range: 16.863838 m,
bearing: 87.859720 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.126812 deg/s,
cmd heading: 93.659078 deg,
new cmd heading: 93.784512 deg.
2025-08-22T21:45:27.627Z,1755899127.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636849 target range: 17.190165 and range: 17.30 m.
2025-08-22T21:45:27.763Z,1755899127.763 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.483775
2025-08-22T21:45:27.918Z,1755899127.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:45:27.921Z,1755899127.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.190165 m,
nav range: 16.688942 m,
bearing: 87.901635 deg,
approach rate: -0.585580 m/s,
LOS rate: 0.141808 deg/s,
cmd heading: 93.784515 deg,
new cmd heading: 93.869223 deg.
2025-08-22T21:45:27.923Z,1755899127.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.638327 target range: 17.190165 and range: 17.30 m.
2025-08-22T21:45:28.015Z,1755899128.015 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.735843
2025-08-22T21:45:28.266Z,1755899128.266 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.987592
2025-08-22T21:45:28.408Z,1755899128.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:28.415Z,1755899128.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:45:28.426Z,1755899128.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.190165 m,
nav range: 16.411095 m,
bearing: 87.967396 deg,
approach rate: -0.559700 m/s,
LOS rate: 0.134713 deg/s,
cmd heading: 93.869223 deg,
new cmd heading: 94.002971 deg.
2025-08-22T21:45:28.427Z,1755899128.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.640661 target range: 17.190165 and range: 17.30 m.
2025-08-22T21:45:28.520Z,1755899128.520 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.240754
2025-08-22T21:45:28.771Z,1755899128.771 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.491708
2025-08-22T21:45:28.792Z,1755899128.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:45:28.795Z,1755899128.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.190165 m,
nav range: 16.180649 m,
bearing: 88.029891 deg,
approach rate: -0.610192 m/s,
LOS rate: 0.167836 deg/s,
cmd heading: 94.002971 deg,
new cmd heading: 94.129741 deg.
2025-08-22T21:45:28.796Z,1755899128.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642874 target range: 17.190165 and range: 17.30 m.
2025-08-22T21:45:29.024Z,1755899129.024 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.744700
2025-08-22T21:45:29.272Z,1755899129.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:45:29.275Z,1755899129.275 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.995748
2025-08-22T21:45:29.277Z,1755899129.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.190165 m,
nav range: 15.898483 m,
bearing: 88.106708 deg,
approach rate: -0.588713 m/s,
LOS rate: 0.163117 deg/s,
cmd heading: 94.129740 deg,
new cmd heading: 94.286100 deg.
2025-08-22T21:45:29.278Z,1755899129.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645603 target range: 17.190165 and range: 17.30 m.
2025-08-22T21:45:29.528Z,1755899129.528 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.248787
2025-08-22T21:45:29.779Z,1755899129.779 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.499666
2025-08-22T21:45:29.798Z,1755899129.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:45:29.801Z,1755899129.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.190165 m,
nav range: 15.603167 m,
bearing: 88.191038 deg,
approach rate: -0.561061 m/s,
LOS rate: 0.163248 deg/s,
cmd heading: 94.286103 deg,
new cmd heading: 94.457956 deg.
2025-08-22T21:45:29.802Z,1755899129.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648602 target range: 17.190165 and range: 17.30 m.
2025-08-22T21:45:30.031Z,1755899130.031 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.751631
2025-08-22T21:45:30.233Z,1755899130.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:45:30.252Z,1755899130.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.190165 m,
nav range: 15.357903 m,
bearing: 88.261635 deg,
approach rate: -0.563858 m/s,
LOS rate: 0.164894 deg/s,
cmd heading: 94.457958 deg,
new cmd heading: 94.601407 deg.
2025-08-22T21:45:30.258Z,1755899130.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.651106 target range: 17.190165 and range: 17.30 m.
2025-08-22T21:45:30.283Z,1755899130.283 [DAT](INFO): DAT read: Rx Time:21:45:30.7094
2025-08-22T21:45:30.283Z,1755899130.283 [DAT](INFO): Rx dataTimestamp_ set to:1755899130.282882
2025-08-22T21:45:30.284Z,1755899130.284 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.004843
2025-08-22T21:45:30.535Z,1755899130.535 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.255675
2025-08-22T21:45:30.711Z,1755899130.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:30.714Z,1755899130.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T21:45:30.716Z,1755899130.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.190165 m,
nav range: 15.085216 m,
bearing: 88.342098 deg,
approach rate: -0.567553 m/s,
LOS rate: 0.170497 deg/s,
cmd heading: 94.601405 deg,
new cmd heading: 94.765239 deg.
2025-08-22T21:45:30.738Z,1755899130.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653965 target range: 17.190165 and range: 17.30 m.
2025-08-22T21:45:30.794Z,1755899130.794 [DAT](INFO): DAT read: 21:45:30.7094 LVL= 23536, 28497, 22626, 28627, AGC= 55, IDX= 413, 0.16,-1.095,-2.719,-0.618,-1.189, PHS= 0.197,-1.484, 0.527, RAW= 158.8, 8.2, CAL= 158.4, 8.5, ROT= 351.6, -8.5
2025-08-22T21:45:30.796Z,1755899130.796 [DAT](INFO): got valid direction response:
21:45:30.7094 LVL= 23536, 28497, 22626, 28627, AGC= 55, IDX= 413, 0.16,-1.095,-2.719,-0.618,-1.189, PHS= 0.197,-1.484, 0.527, RAW= 158.8, 8.2, CAL= 158.4, 8.5, ROT= 351.6, -8.5
2025-08-22T21:45:30.797Z,1755899130.797 [DAT](INFO): DAT read: Bearing 263.2, -7.9 (Local)
2025-08-22T21:45:30.798Z,1755899130.798 [DAT](INFO): Local bearing/azimuth received:
Bearing 263.2, -7.9 (Local)
2025-08-22T21:45:30.800Z,1755899130.800 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (Round-trip 20.4 ms) speed 0.5 m/s
2025-08-22T21:45:30.801Z,1755899130.801 [DAT](INFO): DAT read: user:2450>
2025-08-22T21:45:30.803Z,1755899130.803 [DAT](INFO): DAT read: Tx time:21:45:31.8349
2025-08-22T21:45:30.803Z,1755899130.803 [DAT](INFO): Ping request sent.
2025-08-22T21:45:30.803Z,1755899130.803 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:30.804Z,1755899130.804 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T21:45:30.805Z,1755899130.805 [DAT](INFO): direction in FSK: [0.978406,-0.144478,0.147809]
2025-08-22T21:45:30.810Z,1755899130.810 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:30.810Z,1755899130.810 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:30.825Z,1755899130.825 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:30.825Z,1755899130.825 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:30.833Z,1755899130.833 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.029383
2025-08-22T21:45:31.039Z,1755899131.039 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.235445
2025-08-22T21:45:31.061Z,1755899131.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 3.528148 s,
deltaX: -1.999999 m,
approachRate: -0.566869 m/s,
rangeRepo size: 4
2025-08-22T21:45:31.063Z,1755899131.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.202754 m,
bearing: 85.416342 deg,
lat: 36.779418 deg,
lon: -121.859510 deg,
deltaT: 3.528148 s,
deltaX: -1.987411 m,
approachRate: -0.563301 m/s,
posRepo size: 4
2025-08-22T21:45:31.064Z,1755899131.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T21:45:31.067Z,1755899131.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.202754 m,
nav range: 14.981646 m,
bearing: 87.986467 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.170497 deg/s,
cmd heading: 94.765241 deg,
new cmd heading: 94.883566 deg.
2025-08-22T21:45:31.068Z,1755899131.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656031 target range: 15.202754 and range: 15.30 m.
2025-08-22T21:45:31.292Z,1755899131.292 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.488637
2025-08-22T21:45:31.482Z,1755899131.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T21:45:31.485Z,1755899131.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.202754 m,
nav range: 14.732314 m,
bearing: 88.052276 deg,
approach rate: -0.592051 m/s,
LOS rate: 0.158911 deg/s,
cmd heading: 94.883567 deg,
new cmd heading: 95.017412 deg.
2025-08-22T21:45:31.487Z,1755899131.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658367 target range: 15.202754 and range: 15.30 m.
2025-08-22T21:45:31.543Z,1755899131.543 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.740256
2025-08-22T21:45:31.795Z,1755899131.795 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.991356
2025-08-22T21:45:31.864Z,1755899131.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T21:45:31.867Z,1755899131.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.202754 m,
nav range: 14.507347 m,
bearing: 88.111319 deg,
approach rate: -0.587859 m/s,
LOS rate: 0.156679 deg/s,
cmd heading: 95.017412 deg,
new cmd heading: 95.137330 deg.
2025-08-22T21:45:31.868Z,1755899131.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660460 target range: 15.202754 and range: 15.30 m.
2025-08-22T21:45:32.047Z,1755899132.047 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.243367
2025-08-22T21:45:32.272Z,1755899132.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T21:45:32.277Z,1755899132.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.202754 m,
nav range: 14.269232 m,
bearing: 88.173660 deg,
approach rate: -0.584607 m/s,
LOS rate: 0.155609 deg/s,
cmd heading: 95.137329 deg,
new cmd heading: 95.264091 deg.
2025-08-22T21:45:32.278Z,1755899132.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662672 target range: 15.202754 and range: 15.30 m.
2025-08-22T21:45:32.299Z,1755899132.299 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.495459
2025-08-22T21:45:32.551Z,1755899132.551 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.747356
2025-08-22T21:45:32.725Z,1755899132.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:32.731Z,1755899132.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T21:45:32.742Z,1755899132.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.202754 m,
nav range: 14.012018 m,
bearing: 88.225139 deg,
approach rate: -0.559353 m/s,
LOS rate: 0.114004 deg/s,
cmd heading: 95.264091 deg,
new cmd heading: 95.368938 deg.
2025-08-22T21:45:32.743Z,1755899132.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664502 target range: 15.202754 and range: 15.30 m.
2025-08-22T21:45:32.803Z,1755899132.803 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.000210
2025-08-22T21:45:33.055Z,1755899133.055 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.251390
2025-08-22T21:45:33.072Z,1755899133.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T21:45:33.091Z,1755899133.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.202754 m,
nav range: 13.813643 m,
bearing: 88.264721 deg,
approach rate: -0.582590 m/s,
LOS rate: 0.117915 deg/s,
cmd heading: 95.368941 deg,
new cmd heading: 95.449242 deg.
2025-08-22T21:45:33.092Z,1755899133.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665904 target range: 15.202754 and range: 15.30 m.
2025-08-22T21:45:33.307Z,1755899133.307 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.503469
2025-08-22T21:45:33.504Z,1755899133.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T21:45:33.510Z,1755899133.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.202754 m,
nav range: 13.569493 m,
bearing: 88.306548 deg,
approach rate: -0.565407 m/s,
LOS rate: 0.098606 deg/s,
cmd heading: 95.449244 deg,
new cmd heading: 95.534402 deg.
2025-08-22T21:45:33.511Z,1755899133.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667390 target range: 15.202754 and range: 15.30 m.
2025-08-22T21:45:33.559Z,1755899133.559 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.755455
2025-08-22T21:45:33.811Z,1755899133.811 [DAT](INFO): DAT read: Rx Time:21:45:34.2566
2025-08-22T21:45:33.811Z,1755899133.811 [DAT](INFO): Rx dataTimestamp_ set to:1755899133.810708
2025-08-22T21:45:33.812Z,1755899133.812 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.008365
2025-08-22T21:45:33.898Z,1755899133.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T21:45:33.901Z,1755899133.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.202754 m,
nav range: 13.346540 m,
bearing: 88.344312 deg,
approach rate: -0.565389 m/s,
LOS rate: 0.097367 deg/s,
cmd heading: 95.534402 deg,
new cmd heading: 95.611193 deg.
2025-08-22T21:45:33.902Z,1755899133.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668730 target range: 15.202754 and range: 15.30 m.
2025-08-22T21:45:34.063Z,1755899134.063 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.259403
2025-08-22T21:45:34.306Z,1755899134.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T21:45:34.308Z,1755899134.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.202754 m,
nav range: 13.120659 m,
bearing: 88.383882 deg,
approach rate: -0.554780 m/s,
LOS rate: 0.098860 deg/s,
cmd heading: 95.611194 deg,
new cmd heading: 95.691697 deg.
2025-08-22T21:45:34.309Z,1755899134.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670135 target range: 15.202754 and range: 15.30 m.
2025-08-22T21:45:34.320Z,1755899134.320 [DAT](INFO): DAT read: 21:45:34.2566 LVL= 21920, 26897, 19810, 29091, AGC= 50, IDX= 416, 0.15,-2.868, 1.882,-2.317,-2.903, PHS= 0.136,-1.453, 0.542, RAW= 161.1, 8.5, CAL= 160.8, 8.9, ROT= 349.2, -8.9
2025-08-22T21:45:34.321Z,1755899134.321 [DAT](INFO): got valid direction response:
21:45:34.2566 LVL= 21920, 26897, 19810, 29091, AGC= 50, IDX= 416, 0.15,-2.868, 1.882,-2.317,-2.903, PHS= 0.136,-1.453, 0.542, RAW= 161.1, 8.5, CAL= 160.8, 8.9, ROT= 349.2, -8.9
2025-08-22T21:45:34.322Z,1755899134.322 [DAT](INFO): DAT read: Bearing 265.0, -10.4 (Local)
2025-08-22T21:45:34.323Z,1755899134.323 [DAT](INFO): Local bearing/azimuth received:
Bearing 265.0, -10.4 (Local)
2025-08-22T21:45:34.324Z,1755899134.324 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (Round-trip 17.5 ms) speed 0.4 m/s
2025-08-22T21:45:34.325Z,1755899134.325 [DAT](INFO): DAT read: user:2451>
2025-08-22T21:45:34.326Z,1755899134.326 [DAT](INFO): DAT read: Tx time:21:45:35.3849
2025-08-22T21:45:34.326Z,1755899134.326 [DAT](INFO): Ping request sent.
2025-08-22T21:45:34.326Z,1755899134.326 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:34.326Z,1755899134.326 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T21:45:34.327Z,1755899134.327 [DAT](INFO): direction in FSK: [0.970460,-0.185125,0.154710]
2025-08-22T21:45:34.328Z,1755899134.328 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:34.328Z,1755899134.328 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:34.333Z,1755899134.333 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:34.333Z,1755899134.333 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:34.336Z,1755899134.336 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.010515
2025-08-22T21:45:34.567Z,1755899134.567 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.241292
2025-08-22T21:45:34.691Z,1755899134.691 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:45:34.740Z,1755899134.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.100000 m,
deltaT: 3.527859 s,
deltaX: -2.200000 m,
approachRate: -0.623608 m/s,
rangeRepo size: 4
2025-08-22T21:45:34.743Z,1755899134.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.016769 m,
bearing: 84.006960 deg,
lat: 36.779422 deg,
lon: -121.859510 deg,
deltaT: 3.527859 s,
deltaX: -2.185985 m,
approachRate: -0.619635 m/s,
posRepo size: 4
2025-08-22T21:45:34.743Z,1755899134.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-22T21:45:34.758Z,1755899134.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.016769 m,
nav range: 12.844856 m,
bearing: 86.789801 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.098860 deg/s,
cmd heading: 95.691695 deg,
new cmd heading: 95.777578 deg.
2025-08-22T21:45:34.759Z,1755899134.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671634 target range: 13.016769 and range: 13.10 m.
2025-08-22T21:45:34.820Z,1755899134.820 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.493603
2025-08-22T21:45:35.070Z,1755899135.070 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.744425
2025-08-22T21:45:35.105Z,1755899135.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:35.107Z,1755899135.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-22T21:45:35.110Z,1755899135.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.016769 m,
nav range: 12.625582 m,
bearing: 86.792141 deg,
approach rate: -0.596786 m/s,
LOS rate: 0.006479 deg/s,
cmd heading: 95.777578 deg,
new cmd heading: 95.782339 deg.
2025-08-22T21:45:35.111Z,1755899135.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671717 target range: 13.016769 and range: 13.10 m.
2025-08-22T21:45:35.324Z,1755899135.324 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.997581
2025-08-22T21:45:35.536Z,1755899135.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-22T21:45:35.539Z,1755899135.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.016769 m,
nav range: 12.381654 m,
bearing: 86.808661 deg,
approach rate: -0.568276 m/s,
LOS rate: 0.039243 deg/s,
cmd heading: 95.782338 deg,
new cmd heading: 95.816028 deg.
2025-08-22T21:45:35.540Z,1755899135.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672305 target range: 13.016769 and range: 13.10 m.
2025-08-22T21:45:35.575Z,1755899135.575 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.248832
2025-08-22T21:45:35.695Z,1755899135.695 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:45:35.826Z,1755899135.826 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.500501
2025-08-22T21:45:35.969Z,1755899135.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-22T21:45:35.972Z,1755899135.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.016769 m,
nav range: 12.156298 m,
bearing: 86.824512 deg,
approach rate: -0.525325 m/s,
LOS rate: 0.037635 deg/s,
cmd heading: 95.816025 deg,
new cmd heading: 95.848314 deg.
2025-08-22T21:45:35.973Z,1755899135.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672869 target range: 13.016769 and range: 13.10 m.
2025-08-22T21:45:36.079Z,1755899136.079 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.753066
2025-08-22T21:45:36.331Z,1755899136.331 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.004632
2025-08-22T21:45:36.345Z,1755899136.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-22T21:45:36.372Z,1755899136.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.016769 m,
nav range: 11.923034 m,
bearing: 86.835517 deg,
approach rate: -0.614228 m/s,
LOS rate: 0.029546 deg/s,
cmd heading: 95.848311 deg,
new cmd heading: 95.870753 deg.
2025-08-22T21:45:36.373Z,1755899136.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673260 target range: 13.016769 and range: 13.10 m.
2025-08-22T21:45:36.583Z,1755899136.583 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.256627
2025-08-22T21:45:36.791Z,1755899136.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-22T21:45:36.794Z,1755899136.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.016769 m,
nav range: 11.659350 m,
bearing: 86.829341 deg,
approach rate: -0.591619 m/s,
LOS rate: -0.014171 deg/s,
cmd heading: 95.870755 deg,
new cmd heading: 95.858123 deg.
2025-08-22T21:45:36.795Z,1755899136.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673040 target range: 13.016769 and range: 13.10 m.
2025-08-22T21:45:36.835Z,1755899136.835 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.509286
2025-08-22T21:45:37.087Z,1755899137.087 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.760551
2025-08-22T21:45:37.207Z,1755899137.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:37.209Z,1755899137.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-22T21:45:37.217Z,1755899137.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.016769 m,
nav range: 11.438864 m,
bearing: 86.818744 deg,
approach rate: -0.527142 m/s,
LOS rate: -0.025823 deg/s,
cmd heading: 95.858126 deg,
new cmd heading: 95.836524 deg.
2025-08-22T21:45:37.222Z,1755899137.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672663 target range: 13.016769 and range: 13.10 m.
2025-08-22T21:45:37.340Z,1755899137.340 [DAT](INFO): DAT read: Rx Time:21:45:37.8041
2025-08-22T21:45:37.340Z,1755899137.340 [DAT](INFO): Rx dataTimestamp_ set to:1755899137.340122
2025-08-22T21:45:37.341Z,1755899137.341 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.015395
2025-08-22T21:45:37.591Z,1755899137.591 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.264961
2025-08-22T21:45:37.595Z,1755899137.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-22T21:45:37.598Z,1755899137.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.016769 m,
nav range: 11.198982 m,
bearing: 86.825304 deg,
approach rate: -0.621804 m/s,
LOS rate: 0.017367 deg/s,
cmd heading: 95.836522 deg,
new cmd heading: 95.849922 deg.
2025-08-22T21:45:37.599Z,1755899137.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672897 target range: 13.016769 and range: 13.10 m.
2025-08-22T21:45:37.848Z,1755899137.848 [DAT](INFO): DAT read: 21:45:37.8041 LVL= 22000, 27169, 20914, 31459, AGC= 52, IDX= 422, 0.02,-0.643,-2.124, 0.045,-0.567, PHS= 0.026,-1.512, 0.567, RAW= 164.5, 9.9, CAL= 164.5, 10.8, ROT= 345.5, -10.8
2025-08-22T21:45:37.849Z,1755899137.849 [DAT](INFO): got valid direction response:
21:45:37.8041 LVL= 22000, 27169, 20914, 31459, AGC= 52, IDX= 422, 0.02,-0.643,-2.124, 0.045,-0.567, PHS= 0.026,-1.512, 0.567, RAW= 164.5, 9.9, CAL= 164.5, 10.8, ROT= 345.5, -10.8
2025-08-22T21:45:37.850Z,1755899137.850 [DAT](INFO): DAT read: Bearing 268.1, -14.0 (Local)
2025-08-22T21:45:37.851Z,1755899137.851 [DAT](INFO): Local bearing/azimuth received:
Bearing 268.1, -14.0 (Local)
2025-08-22T21:45:37.852Z,1755899137.852 [DAT](INFO): DAT read: Range 11 to 50 : 11.2 m (Round-trip 15.0 ms) speed 0.4 m/s
2025-08-22T21:45:37.853Z,1755899137.853 [DAT](INFO): DAT read: user:2452>
2025-08-22T21:45:37.854Z,1755899137.854 [DAT](INFO): DAT read: Tx time:21:45:38.9349
2025-08-22T21:45:37.854Z,1755899137.854 [DAT](INFO): Ping request sent.
2025-08-22T21:45:37.854Z,1755899137.854 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:37.854Z,1755899137.854 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T21:45:37.855Z,1755899137.855 [DAT](INFO): direction in FSK: [0.950999,-0.245945,0.187381]
2025-08-22T21:45:37.856Z,1755899137.856 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:37.856Z,1755899137.856 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:37.859Z,1755899137.859 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:37.859Z,1755899137.859 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:37.875Z,1755899137.875 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.020695
2025-08-22T21:45:38.095Z,1755899138.095 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.240460
2025-08-22T21:45:38.118Z,1755899138.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.200000 m,
deltaT: 3.527892 s,
deltaX: -1.900001 m,
approachRate: -0.538565 m/s,
rangeRepo size: 4
2025-08-22T21:45:38.120Z,1755899138.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.128848 m,
bearing: 81.394394 deg,
lat: 36.779424 deg,
lon: -121.859510 deg,
deltaT: 3.527892 s,
deltaX: -1.887921 m,
approachRate: -0.535141 m/s,
posRepo size: 4
2025-08-22T21:45:38.121Z,1755899138.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.13 m.
2025-08-22T21:45:38.128Z,1755899138.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 10.937688 m,
bearing: 85.192469 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017367 deg/s,
cmd heading: 95.849923 deg,
new cmd heading: 95.867916 deg.
2025-08-22T21:45:38.129Z,1755899138.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673211 target range: 11.128848 and range: 11.20 m.
2025-08-22T21:45:38.347Z,1755899138.347 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.492444
2025-08-22T21:45:38.449Z,1755899138.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.13 m.
2025-08-22T21:45:38.452Z,1755899138.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 10.742170 m,
bearing: 85.161858 deg,
approach rate: -0.581261 m/s,
LOS rate: -0.092659 deg/s,
cmd heading: 95.867914 deg,
new cmd heading: 95.805578 deg.
2025-08-22T21:45:38.453Z,1755899138.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672123 target range: 11.128848 and range: 11.20 m.
2025-08-22T21:45:38.599Z,1755899138.599 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.744550
2025-08-22T21:45:38.851Z,1755899138.851 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.996478
2025-08-22T21:45:38.889Z,1755899138.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.13 m.
2025-08-22T21:45:38.892Z,1755899138.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 10.500500 m,
bearing: 85.108353 deg,
approach rate: -0.549896 m/s,
LOS rate: -0.124547 deg/s,
cmd heading: 95.805581 deg,
new cmd heading: 95.696109 deg.
2025-08-22T21:45:38.893Z,1755899138.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670212 target range: 11.128848 and range: 11.20 m.
2025-08-22T21:45:39.103Z,1755899139.103 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.248817
2025-08-22T21:45:39.268Z,1755899139.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:39.270Z,1755899139.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.13 m.
2025-08-22T21:45:39.273Z,1755899139.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 10.291163 m,
bearing: 85.056655 deg,
approach rate: -0.548450 m/s,
LOS rate: -0.138203 deg/s,
cmd heading: 95.696107 deg,
new cmd heading: 95.590606 deg.
2025-08-22T21:45:39.274Z,1755899139.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668371 target range: 11.128848 and range: 11.20 m.
2025-08-22T21:45:39.356Z,1755899139.356 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.501773
2025-08-22T21:45:39.606Z,1755899139.606 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.752368
2025-08-22T21:45:39.698Z,1755899139.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.13 m.
2025-08-22T21:45:39.701Z,1755899139.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 10.068711 m,
bearing: 85.011036 deg,
approach rate: -0.520724 m/s,
LOS rate: -0.109146 deg/s,
cmd heading: 95.590608 deg,
new cmd heading: 95.497354 deg.
2025-08-22T21:45:39.711Z,1755899139.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666743 target range: 11.128848 and range: 11.20 m.
2025-08-22T21:45:39.859Z,1755899139.859 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.004405
2025-08-22T21:45:40.044Z,1755899140.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.13 m.
2025-08-22T21:45:40.046Z,1755899140.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 9.872204 m,
bearing: 84.967405 deg,
approach rate: -0.568003 m/s,
LOS rate: -0.128623 deg/s,
cmd heading: 95.497355 deg,
new cmd heading: 95.408358 deg.
2025-08-22T21:45:40.047Z,1755899140.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665190 target range: 11.128848 and range: 11.20 m.
2025-08-22T21:45:40.111Z,1755899140.111 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.256561
2025-08-22T21:45:40.363Z,1755899140.363 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.508734
2025-08-22T21:45:40.454Z,1755899140.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.13 m.
2025-08-22T21:45:40.457Z,1755899140.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 9.650375 m,
bearing: 84.914227 deg,
approach rate: -0.540888 m/s,
LOS rate: -0.132645 deg/s,
cmd heading: 95.408358 deg,
new cmd heading: 95.299558 deg.
2025-08-22T21:45:40.458Z,1755899140.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663291 target range: 11.128848 and range: 11.20 m.
2025-08-22T21:45:40.614Z,1755899140.614 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.760338
2025-08-22T21:45:40.867Z,1755899140.867 [DAT](INFO): DAT read: Rx Time:21:45:41.3513
2025-08-22T21:45:40.867Z,1755899140.867 [DAT](INFO): Rx dataTimestamp_ set to:1755899140.866858
2025-08-22T21:45:40.868Z,1755899140.868 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.013593
2025-08-22T21:45:40.878Z,1755899140.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.13 m.
2025-08-22T21:45:40.881Z,1755899140.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 9.419490 m,
bearing: 84.837901 deg,
approach rate: -0.543713 m/s,
LOS rate: -0.184146 deg/s,
cmd heading: 95.299560 deg,
new cmd heading: 95.143166 deg.
2025-08-22T21:45:40.882Z,1755899140.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660562 target range: 11.128848 and range: 11.20 m.
2025-08-22T21:45:41.122Z,1755899141.122 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.267906
2025-08-22T21:45:41.345Z,1755899141.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:41.347Z,1755899141.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.13 m.
2025-08-22T21:45:41.350Z,1755899141.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 9.173325 m,
bearing: 84.752286 deg,
approach rate: -0.524898 m/s,
LOS rate: -0.187457 deg/s,
cmd heading: 95.143169 deg,
new cmd heading: 94.967344 deg.
2025-08-22T21:45:41.351Z,1755899141.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.657493 target range: 11.128848 and range: 11.20 m.
2025-08-22T21:45:41.376Z,1755899141.376 [DAT](INFO): DAT read: 21:45:41.3513 LVL= 21984, 26273, 21314, 29811, AGC= 50, IDX= 411,-0.50,-1.304,-2.658,-0.513,-1.100, PHS=-0.103,-1.513, 0.543, RAW= 167.9, 11.8, CAL= 13.7, ROT= 342.0, -13.7
2025-08-22T21:45:41.394Z,1755899141.394 [DAT](INFO): unknown deviceResponse_: 21:45:41.3513 LVL= 21984, 26273, 21314, 29811, AGC= 50, IDX= 411,-0.50,-1.304,-2.658,-0.513,-1.100, PHS=-0.103,-1.513, 0.543, RAW= 167.9, 11.8, CAL= 13.7, ROT= 342.0, -13.7
2025-08-22T21:45:41.396Z,1755899141.396 [DAT](INFO): DAT read: Bearing 272.2, -17.3 (Local)
2025-08-22T21:45:41.396Z,1755899141.396 [DAT](INFO): Local bearing/azimuth received:
Bearing 272.2, -17.3 (Local)
2025-08-22T21:45:41.398Z,1755899141.398 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (Round-trip 12.3 ms) speed 0.4 m/s
2025-08-22T21:45:41.399Z,1755899141.399 [DAT](INFO): DAT read: user:2453>
2025-08-22T21:45:41.400Z,1755899141.400 [DAT](INFO): DAT read: Tx time:21:45:42.4849
2025-08-22T21:45:41.401Z,1755899141.401 [DAT](INFO): Ping request sent.
2025-08-22T21:45:41.401Z,1755899141.401 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:41.401Z,1755899141.401 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-08-22T21:45:41.401Z,1755899141.401 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:41.439Z,1755899141.439 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:41.439Z,1755899141.439 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.038641
2025-08-22T21:45:41.623Z,1755899141.623 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.221831
2025-08-22T21:45:41.789Z,1755899141.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 3.528148 s,
deltaX: -2.000000 m,
approachRate: -0.566870 m/s,
rangeRepo size: 4
2025-08-22T21:45:41.790Z,1755899141.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.13 m.
2025-08-22T21:45:41.790Z,1755899141.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.20 m.
2025-08-22T21:45:41.790Z,1755899141.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-22T21:45:41.793Z,1755899141.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 8.918311 m,
bearing: 84.651279 deg,
approach rate: -0.578600 m/s,
LOS rate: -0.235727 deg/s,
cmd heading: 94.967346 deg,
new cmd heading: 94.759558 deg.
2025-08-22T21:45:41.794Z,1755899141.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653866 target range: 11.128848 and range: 9.20 m.
2025-08-22T21:45:41.875Z,1755899141.875 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.474570
2025-08-22T21:45:42.127Z,1755899142.127 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.725829
2025-08-22T21:45:42.159Z,1755899142.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:42.184Z,1755899142.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 8.715182 m,
bearing: 84.565084 deg,
approach rate: -0.550072 m/s,
LOS rate: -0.238856 deg/s,
cmd heading: 94.759558 deg,
new cmd heading: 94.583151 deg.
2025-08-22T21:45:42.191Z,1755899142.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.650787 target range: 11.128848 and range: 9.20 m.
2025-08-22T21:45:42.379Z,1755899142.379 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.978301
2025-08-22T21:45:42.619Z,1755899142.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:42.626Z,1755899142.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 8.474483 m,
bearing: 84.457585 deg,
approach rate: -0.521725 m/s,
LOS rate: -0.239626 deg/s,
cmd heading: 94.583148 deg,
new cmd heading: 94.362045 deg.
2025-08-22T21:45:42.627Z,1755899142.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646928 target range: 11.128848 and range: 9.20 m.
2025-08-22T21:45:42.631Z,1755899142.631 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.229886
2025-08-22T21:45:42.884Z,1755899142.884 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.482997
2025-08-22T21:45:42.986Z,1755899142.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:42.989Z,1755899142.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 8.249280 m,
bearing: 84.357449 deg,
approach rate: -0.613669 m/s,
LOS rate: -0.280316 deg/s,
cmd heading: 94.362041 deg,
new cmd heading: 94.156303 deg.
2025-08-22T21:45:42.990Z,1755899142.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.643337 target range: 11.128848 and range: 9.20 m.
2025-08-22T21:45:43.135Z,1755899143.135 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.733779
2025-08-22T21:45:43.365Z,1755899143.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:43.367Z,1755899143.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:43.370Z,1755899143.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 8.034902 m,
bearing: 84.254221 deg,
approach rate: -0.562056 m/s,
LOS rate: -0.277864 deg/s,
cmd heading: 94.156302 deg,
new cmd heading: 93.944339 deg.
2025-08-22T21:45:43.371Z,1755899143.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639638 target range: 11.128848 and range: 9.20 m.
2025-08-22T21:45:43.397Z,1755899143.397 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.988578
2025-08-22T21:45:43.639Z,1755899143.639 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.237784
2025-08-22T21:45:43.794Z,1755899143.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:43.797Z,1755899143.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 7.782131 m,
bearing: 84.111236 deg,
approach rate: -0.592379 m/s,
LOS rate: -0.345975 deg/s,
cmd heading: 93.944341 deg,
new cmd heading: 93.649085 deg.
2025-08-22T21:45:43.798Z,1755899143.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634485 target range: 11.128848 and range: 9.20 m.
2025-08-22T21:45:43.891Z,1755899143.891 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.490292
2025-08-22T21:45:44.146Z,1755899144.146 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.745318
2025-08-22T21:45:44.189Z,1755899144.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:44.212Z,1755899144.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 7.552068 m,
bearing: 83.972183 deg,
approach rate: -0.583678 m/s,
LOS rate: -0.363529 deg/s,
cmd heading: 93.649086 deg,
new cmd heading: 93.362511 deg.
2025-08-22T21:45:44.213Z,1755899144.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629483 target range: 11.128848 and range: 9.20 m.
2025-08-22T21:45:44.395Z,1755899144.395 [DAT](INFO): DAT read: Rx Time:21:45:44.8988
2025-08-22T21:45:44.395Z,1755899144.395 [DAT](INFO): Rx dataTimestamp_ set to:1755899144.394744
2025-08-22T21:45:44.396Z,1755899144.396 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.994821
2025-08-22T21:45:44.648Z,1755899144.648 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.246776
2025-08-22T21:45:44.659Z,1755899144.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:44.664Z,1755899144.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 7.277982 m,
bearing: 83.793888 deg,
approach rate: -0.583338 m/s,
LOS rate: -0.393754 deg/s,
cmd heading: 93.362511 deg,
new cmd heading: 92.992499 deg.
2025-08-22T21:45:44.666Z,1755899144.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623025 target range: 11.128848 and range: 9.20 m.
2025-08-22T21:45:44.904Z,1755899144.904 [DAT](INFO): DAT read: 21:45:44.8988 LVL= 16720, 29745, 19858, 30579, AGC= 48, IDX= 417,-0.33,-1.343,-2.532,-0.484,-0.969, PHS=-0.272,-1.519, 0.441, RAW= 171.1, 15.5, CAL= 171.6, 19.6, ROT= 338.4, -19.6
2025-08-22T21:45:44.905Z,1755899144.905 [DAT](INFO): got valid direction response:
21:45:44.8988 LVL= 16720, 29745, 19858, 30579, AGC= 48, IDX= 417,-0.33,-1.343,-2.532,-0.484,-0.969, PHS=-0.272,-1.519, 0.441, RAW= 171.1, 15.5, CAL= 171.6, 19.6, ROT= 338.4, -19.6
2025-08-22T21:45:44.906Z,1755899144.906 [DAT](INFO): DAT read: Bearing 278.9, -20.0 (Local)
2025-08-22T21:45:44.907Z,1755899144.907 [DAT](INFO): Local bearing/azimuth received:
Bearing 278.9, -20.0 (Local)
2025-08-22T21:45:44.908Z,1755899144.908 [DAT](INFO): DAT read: Range 11 to 50 : 7.3 m (Round-trip 9.8 ms) speed 0.4 m/s
2025-08-22T21:45:44.909Z,1755899144.909 [DAT](INFO): DAT read: user:2454>
2025-08-22T21:45:44.909Z,1755899144.909 [DAT](INFO): DAT read: Tx time:21:45:45.9848
2025-08-22T21:45:44.910Z,1755899144.910 [DAT](INFO): Ping request sent.
2025-08-22T21:45:44.910Z,1755899144.910 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:44.910Z,1755899144.910 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T21:45:44.911Z,1755899144.911 [DAT](INFO): direction in FSK: [0.875903,-0.346794,0.335452]
2025-08-22T21:45:44.911Z,1755899144.911 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:44.912Z,1755899144.912 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:44.917Z,1755899144.917 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:44.918Z,1755899144.918 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:44.921Z,1755899144.921 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.010975
2025-08-22T21:45:45.103Z,1755899145.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.300000 m,
deltaT: 3.527920 s,
deltaX: -1.900000 m,
approachRate: -0.538561 m/s,
rangeRepo size: 4
2025-08-22T21:45:45.105Z,1755899145.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.253573 m,
bearing: 75.386461 deg,
lat: 36.779427 deg,
lon: -121.859510 deg,
deltaT: 7.056068 s,
deltaX: -3.875275 m,
approachRate: -0.549212 m/s,
posRepo size: 4
2025-08-22T21:45:45.110Z,1755899145.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.25 m. 11.13 m.
2025-08-22T21:45:45.113Z,1755899145.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 7.027102 m,
bearing: 83.620811 deg,
approach rate: -0.524898 m/s,
LOS rate: -0.187457 deg/s,
cmd heading: 92.992500 deg,
new cmd heading: 92.825821 deg.
2025-08-22T21:45:45.118Z,1755899145.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.620116 target range: 11.128848 and range: 7.30 m.
2025-08-22T21:45:45.152Z,1755899145.152 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.242071
2025-08-22T21:45:45.403Z,1755899145.403 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.492750
2025-08-22T21:45:45.456Z,1755899145.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:45.463Z,1755899145.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:45.470Z,1755899145.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 6.815694 m,
bearing: 83.465901 deg,
approach rate: -0.586737 m/s,
LOS rate: -0.443271 deg/s,
cmd heading: 92.825823 deg,
new cmd heading: 92.506396 deg.
2025-08-22T21:45:45.471Z,1755899145.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.614541 target range: 11.128848 and range: 7.30 m.
2025-08-22T21:45:45.656Z,1755899145.656 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.746130
2025-08-22T21:45:45.882Z,1755899145.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:45.885Z,1755899145.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 6.566241 m,
bearing: 83.320225 deg,
approach rate: -0.594759 m/s,
LOS rate: -0.360524 deg/s,
cmd heading: 92.506395 deg,
new cmd heading: 92.203977 deg.
2025-08-22T21:45:45.886Z,1755899145.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.609263 target range: 11.128848 and range: 7.30 m.
2025-08-22T21:45:45.907Z,1755899145.907 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.996713
2025-08-22T21:45:46.160Z,1755899146.160 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.250324
2025-08-22T21:45:46.292Z,1755899146.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:46.295Z,1755899146.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 6.333651 m,
bearing: 83.176952 deg,
approach rate: -0.567834 m/s,
LOS rate: -0.362622 deg/s,
cmd heading: 92.203975 deg,
new cmd heading: 91.906910 deg.
2025-08-22T21:45:46.296Z,1755899146.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.604078 target range: 11.128848 and range: 7.30 m.
2025-08-22T21:45:46.411Z,1755899146.411 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.500719
2025-08-22T21:45:46.666Z,1755899146.666 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.755711
2025-08-22T21:45:46.721Z,1755899146.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:46.728Z,1755899146.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 6.089429 m,
bearing: 83.053591 deg,
approach rate: -0.569174 m/s,
LOS rate: -0.299033 deg/s,
cmd heading: 91.906909 deg,
new cmd heading: 91.650293 deg.
2025-08-22T21:45:46.729Z,1755899146.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.599599 target range: 11.128848 and range: 7.30 m.
2025-08-22T21:45:46.915Z,1755899146.915 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.004724
2025-08-22T21:45:47.057Z,1755899147.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:47.060Z,1755899147.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 5.898144 m,
bearing: 82.952986 deg,
approach rate: -0.569474 m/s,
LOS rate: -0.309222 deg/s,
cmd heading: 91.650292 deg,
new cmd heading: 91.442559 deg.
2025-08-22T21:45:47.061Z,1755899147.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.595974 target range: 11.128848 and range: 7.30 m.
2025-08-22T21:45:47.168Z,1755899147.168 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.257570
2025-08-22T21:45:47.419Z,1755899147.419 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.508709
2025-08-22T21:45:47.464Z,1755899147.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:47.471Z,1755899147.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:47.478Z,1755899147.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 5.669899 m,
bearing: 82.828937 deg,
approach rate: -0.551079 m/s,
LOS rate: -0.311564 deg/s,
cmd heading: 91.442559 deg,
new cmd heading: 91.184475 deg.
2025-08-22T21:45:47.479Z,1755899147.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.591469 target range: 11.128848 and range: 7.30 m.
2025-08-22T21:45:47.672Z,1755899147.672 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.761815
2025-08-22T21:45:47.895Z,1755899147.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:47.897Z,1755899147.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 5.425977 m,
bearing: 82.657843 deg,
approach rate: -0.575914 m/s,
LOS rate: -0.422122 deg/s,
cmd heading: 91.184473 deg,
new cmd heading: 90.826907 deg.
2025-08-22T21:45:47.898Z,1755899147.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.585229 target range: 11.128848 and range: 7.30 m.
2025-08-22T21:45:47.922Z,1755899147.922 [DAT](INFO): DAT read: Rx Time:21:45:48.3963
2025-08-22T21:45:47.923Z,1755899147.923 [DAT](INFO): Rx dataTimestamp_ set to:1755899147.922656
2025-08-22T21:45:47.923Z,1755899147.923 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.013654
2025-08-22T21:45:48.175Z,1755899148.175 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.265060
2025-08-22T21:45:48.337Z,1755899148.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:48.344Z,1755899148.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 5.183300 m,
bearing: 82.478314 deg,
approach rate: -0.548521 m/s,
LOS rate: -0.424786 deg/s,
cmd heading: 90.826906 deg,
new cmd heading: 90.451044 deg.
2025-08-22T21:45:48.345Z,1755899148.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.578668 target range: 11.128848 and range: 7.30 m.
2025-08-22T21:45:48.436Z,1755899148.436 [DAT](INFO): DAT read: 21:45:48.3963 LVL= 19184, 25921, 21874, 32675, AGC= 47, IDX= 423, 0.13, 1.306, 0.690, 2.390, 2.124, PHS=-0.716,-1.389, 0.223, RAW= 185.5, 25.4, CAL= 184.4, 37.7, ROT= 325.6, -37.7
2025-08-22T21:45:48.438Z,1755899148.438 [DAT](INFO): got valid direction response:
21:45:48.3963 LVL= 19184, 25921, 21874, 32675, AGC= 47, IDX= 423, 0.13, 1.306, 0.690, 2.390, 2.124, PHS=-0.716,-1.389, 0.223, RAW= 185.5, 25.4, CAL= 184.4, 37.7, ROT= 325.6, -37.7
2025-08-22T21:45:48.439Z,1755899148.439 [DAT](INFO): DAT read: Bearing 300.1, -26.3 (Local)
2025-08-22T21:45:48.440Z,1755899148.440 [DAT](INFO): Local bearing/azimuth received:
Bearing 300.1, -26.3 (Local)
2025-08-22T21:45:48.442Z,1755899148.442 [DAT](INFO): DAT read: Range 11 to 50 : 5.5 m (Round-trip 7.4 ms) speed 0.4 m/s
2025-08-22T21:45:48.442Z,1755899148.442 [DAT](INFO): DAT read: user:2455>
2025-08-22T21:45:48.443Z,1755899148.443 [DAT](INFO): DAT read: Tx time:21:45:49.4848
2025-08-22T21:45:48.443Z,1755899148.443 [DAT](INFO): Ping request sent.
2025-08-22T21:45:48.443Z,1755899148.443 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:48.444Z,1755899148.444 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T21:45:48.445Z,1755899148.445 [DAT](INFO): direction in FSK: [0.652849,-0.447015,0.611527]
2025-08-22T21:45:48.445Z,1755899148.445 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:48.445Z,1755899148.445 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:48.448Z,1755899148.448 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:48.449Z,1755899148.449 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:48.484Z,1755899148.484 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.040599
2025-08-22T21:45:48.681Z,1755899148.681 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.237359
2025-08-22T21:45:48.778Z,1755899148.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.500000 m,
deltaT: 3.528988 s,
deltaX: -1.800000 m,
approachRate: -0.510061 m/s,
rangeRepo size: 4
2025-08-22T21:45:48.780Z,1755899148.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.465031 m,
bearing: 62.143898 deg,
lat: 36.779431 deg,
lon: -121.859511 deg,
deltaT: 10.585056 s,
deltaX: -5.663817 m,
approachRate: -0.535077 m/s,
posRepo size: 4
2025-08-22T21:45:48.781Z,1755899148.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.47 m. 11.13 m.
2025-08-22T21:45:48.788Z,1755899148.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 4.951251 m,
bearing: 82.288144 deg,
approach rate: -0.524898 m/s,
LOS rate: -0.187457 deg/s,
cmd heading: 90.451041 deg,
new cmd heading: 90.287476 deg.
2025-08-22T21:45:48.789Z,1755899148.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.575814 target range: 11.128848 and range: 5.50 m.
2025-08-22T21:45:48.931Z,1755899148.931 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.487155
2025-08-22T21:45:49.110Z,1755899149.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:49.112Z,1755899149.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 4.744008 m,
bearing: 82.109756 deg,
approach rate: -0.616977 m/s,
LOS rate: -0.554272 deg/s,
cmd heading: 90.287478 deg,
new cmd heading: 89.915124 deg.
2025-08-22T21:45:49.113Z,1755899149.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.569315 target range: 11.128848 and range: 5.50 m.
2025-08-22T21:45:49.184Z,1755899149.184 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.740157
2025-08-22T21:45:49.435Z,1755899149.435 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.991130
2025-08-22T21:45:49.531Z,1755899149.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:49.534Z,1755899149.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:49.537Z,1755899149.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 4.509534 m,
bearing: 81.888102 deg,
approach rate: -0.552302 m/s,
LOS rate: -0.549253 deg/s,
cmd heading: 89.915124 deg,
new cmd heading: 89.448776 deg.
2025-08-22T21:45:49.538Z,1755899149.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561176 target range: 11.128848 and range: 5.50 m.
2025-08-22T21:45:49.690Z,1755899149.690 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.245733
2025-08-22T21:45:49.939Z,1755899149.939 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.495280
2025-08-22T21:45:49.956Z,1755899149.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:49.959Z,1755899149.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 4.268653 m,
bearing: 81.709732 deg,
approach rate: -0.570371 m/s,
LOS rate: -0.446186 deg/s,
cmd heading: 89.448779 deg,
new cmd heading: 89.071914 deg.
2025-08-22T21:45:49.960Z,1755899149.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554598 target range: 11.128848 and range: 5.50 m.
2025-08-22T21:45:50.191Z,1755899150.191 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.747829
2025-08-22T21:45:50.326Z,1755899150.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:50.328Z,1755899150.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 4.061670 m,
bearing: 81.572492 deg,
approach rate: -0.560509 m/s,
LOS rate: -0.390583 deg/s,
cmd heading: 89.071916 deg,
new cmd heading: 88.783453 deg.
2025-08-22T21:45:50.330Z,1755899150.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549564 target range: 11.128848 and range: 5.50 m.
2025-08-22T21:45:50.443Z,1755899150.443 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.999242
2025-08-22T21:45:50.697Z,1755899150.697 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.253430
2025-08-22T21:45:50.800Z,1755899150.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:50.807Z,1755899150.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 3.810021 m,
bearing: 81.327867 deg,
approach rate: -0.530027 m/s,
LOS rate: -0.549264 deg/s,
cmd heading: 88.783450 deg,
new cmd heading: 88.261900 deg.
2025-08-22T21:45:50.808Z,1755899150.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540461 target range: 11.128848 and range: 5.50 m.
2025-08-22T21:45:50.948Z,1755899150.948 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.503987
2025-08-22T21:45:51.129Z,1755899151.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:51.132Z,1755899151.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 3.617425 m,
bearing: 81.129833 deg,
approach rate: -0.586436 m/s,
LOS rate: -0.635094 deg/s,
cmd heading: 88.261897 deg,
new cmd heading: 87.844751 deg.
2025-08-22T21:45:51.151Z,1755899151.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533180 target range: 11.128848 and range: 5.50 m.
2025-08-22T21:45:51.199Z,1755899151.199 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.755442
2025-08-22T21:45:51.451Z,1755899151.451 [DAT](INFO): DAT read: Rx Time:21:45:51.8940
2025-08-22T21:45:51.451Z,1755899151.451 [DAT](INFO): Rx dataTimestamp_ set to:1755899151.450762
2025-08-22T21:45:51.452Z,1755899151.452 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.008252
2025-08-22T21:45:51.540Z,1755899151.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:51.543Z,1755899151.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:51.546Z,1755899151.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 3.388279 m,
bearing: 80.882139 deg,
approach rate: -0.552685 m/s,
LOS rate: -0.637823 deg/s,
cmd heading: 87.844750 deg,
new cmd heading: 87.315877 deg.
2025-08-22T21:45:51.547Z,1755899151.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.523950 target range: 11.128848 and range: 5.50 m.
2025-08-22T21:45:51.706Z,1755899151.706 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.261946
2025-08-22T21:45:51.960Z,1755899151.960 [DAT](INFO): DAT read: 21:45:51.8940 LVL= 26352, 23857, 32754, 31731, AGC= 46, IDX= 417,-0.40, 1.895,-2.423, 2.872,-2.166, PHS=-2.120,-0.212,-1.290, RAW= 304.3, 37.7, CAL= 306.1, 42.8, ROT= 203.9, -42.8
2025-08-22T21:45:51.961Z,1755899151.961 [DAT](INFO): got valid direction response:
21:45:51.8940 LVL= 26352, 23857, 32754, 31731, AGC= 46, IDX= 417,-0.40, 1.895,-2.423, 2.872,-2.166, PHS=-2.120,-0.212,-1.290, RAW= 304.3, 37.7, CAL= 306.1, 42.8, ROT= 203.9, -42.8
2025-08-22T21:45:51.962Z,1755899151.962 [DAT](INFO): DAT read: Bearing 29.4, -16.7 (Local)
2025-08-22T21:45:51.963Z,1755899151.963 [DAT](INFO): Local bearing/azimuth received:
Bearing 29.4, -16.7 (Local)
2025-08-22T21:45:51.964Z,1755899151.964 [DAT](INFO): DAT read: Range 11 to 50 : 3.7 m (Round-trip 5.0 ms) speed 0.4 m/s
2025-08-22T21:45:51.965Z,1755899151.965 [DAT](INFO): DAT read: user:2456>
2025-08-22T21:45:51.965Z,1755899151.965 [DAT](INFO): DAT read: Tx time:21:45:52.9848
2025-08-22T21:45:51.966Z,1755899151.966 [DAT](INFO): Ping request sent.
2025-08-22T21:45:51.966Z,1755899151.966 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:51.966Z,1755899151.966 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T21:45:51.967Z,1755899151.967 [DAT](INFO): direction in FSK: [-0.670815,-0.297264,0.679441]
2025-08-22T21:45:51.967Z,1755899151.967 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:51.968Z,1755899151.968 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:51.976Z,1755899151.976 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:51.976Z,1755899151.976 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:51.987Z,1755899151.987 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.021468
2025-08-22T21:45:51.999Z,1755899151.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.700000 m,
deltaT: 3.527048 s,
deltaX: -1.800000 m,
approachRate: -0.510342 m/s,
rangeRepo size: 4
2025-08-22T21:45:52.001Z,1755899152.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.676476 m,
bearing: 299.768900 deg,
lat: 36.779432 deg,
lon: -121.859514 deg,
deltaT: 14.112104 s,
deltaX: -7.452373 m,
approachRate: -0.528084 m/s,
posRepo size: 4
2025-08-22T21:45:52.030Z,1755899152.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.68 m. 11.13 m.
2025-08-22T21:45:52.033Z,1755899152.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 3.142740 m,
bearing: 80.586883 deg,
approach rate: -0.524898 m/s,
LOS rate: -0.187457 deg/s,
cmd heading: 87.315875 deg,
new cmd heading: 87.145450 deg.
2025-08-22T21:45:52.038Z,1755899152.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.520975 target range: 11.128848 and range: 3.70 m.
2025-08-22T21:45:52.207Z,1755899152.207 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.240952
2025-08-22T21:45:52.374Z,1755899152.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:52.377Z,1755899152.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 2.938188 m,
bearing: 80.337972 deg,
approach rate: -0.544629 m/s,
LOS rate: -0.708872 deg/s,
cmd heading: 87.145448 deg,
new cmd heading: 86.612986 deg.
2025-08-22T21:45:52.378Z,1755899152.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511682 target range: 11.128848 and range: 3.70 m.
2025-08-22T21:45:52.459Z,1755899152.459 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.492744
2025-08-22T21:45:52.714Z,1755899152.714 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.747918
2025-08-22T21:45:52.812Z,1755899152.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:52.815Z,1755899152.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 2.690835 m,
bearing: 79.994825 deg,
approach rate: -0.563734 m/s,
LOS rate: -0.853940 deg/s,
cmd heading: 86.612987 deg,
new cmd heading: 85.863653 deg.
2025-08-22T21:45:52.816Z,1755899152.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498603 target range: 11.128848 and range: 3.70 m.
2025-08-22T21:45:52.963Z,1755899152.963 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.996673
2025-08-22T21:45:53.196Z,1755899153.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:53.199Z,1755899153.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 2.479091 m,
bearing: 79.668858 deg,
approach rate: -0.551352 m/s,
LOS rate: -0.921264 deg/s,
cmd heading: 85.863654 deg,
new cmd heading: 85.156076 deg.
2025-08-22T21:45:53.200Z,1755899153.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.486254 target range: 11.128848 and range: 3.70 m.
2025-08-22T21:45:53.230Z,1755899153.230 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.264188
2025-08-22T21:45:53.483Z,1755899153.483 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.516654
2025-08-22T21:45:53.565Z,1755899153.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:53.568Z,1755899153.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:53.571Z,1755899153.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 2.271627 m,
bearing: 79.313705 deg,
approach rate: -0.558305 m/s,
LOS rate: -1.043031 deg/s,
cmd heading: 85.156073 deg,
new cmd heading: 84.380948 deg.
2025-08-22T21:45:53.572Z,1755899153.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.472725 target range: 11.128848 and range: 3.70 m.
2025-08-22T21:45:53.737Z,1755899153.737 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.770691
2025-08-22T21:45:53.987Z,1755899153.987 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.020729
2025-08-22T21:45:54.003Z,1755899154.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:54.012Z,1755899154.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 2.032686 m,
bearing: 78.827559 deg,
approach rate: -0.551407 m/s,
LOS rate: -1.253745 deg/s,
cmd heading: 84.380949 deg,
new cmd heading: 83.294509 deg.
2025-08-22T21:45:54.013Z,1755899154.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.453763 target range: 11.128848 and range: 3.70 m.
2025-08-22T21:45:54.238Z,1755899154.238 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.272577
2025-08-22T21:45:54.378Z,1755899154.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:54.381Z,1755899154.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 1.823414 m,
bearing: 78.331469 deg,
approach rate: -0.556313 m/s,
LOS rate: -1.470103 deg/s,
cmd heading: 83.294512 deg,
new cmd heading: 82.188611 deg.
2025-08-22T21:45:54.382Z,1755899154.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434462 target range: 11.128848 and range: 3.70 m.
2025-08-22T21:45:54.491Z,1755899154.491 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.524841
2025-08-22T21:45:54.745Z,1755899154.745 [DAT](INFO): DAT read: Rx Time:21:45:55.3926
2025-08-22T21:45:54.753Z,1755899154.753 [DAT](INFO): Rx dataTimestamp_ set to:1755899154.752211
2025-08-22T21:45:54.755Z,1755899154.755 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.789047
2025-08-22T21:45:54.864Z,1755899154.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:54.867Z,1755899154.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 1.547646 m,
bearing: 77.299438 deg,
approach rate: -0.566091 m/s,
LOS rate: -2.495891 deg/s,
cmd heading: 82.188609 deg,
new cmd heading: 79.758351 deg.
2025-08-22T21:45:54.868Z,1755899154.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392046 target range: 11.128848 and range: 3.70 m.
2025-08-22T21:45:54.994Z,1755899154.994 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.028595
2025-08-22T21:45:55.200Z,1755899155.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 11.13 m. 11.13 m.
2025-08-22T21:45:55.204Z,1755899155.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.128848 m,
nav range: 1.358196 m,
bearing: 76.420726 deg,
approach rate: -0.564296 m/s,
LOS rate: -2.982309 deg/s,
cmd heading: 79.758352 deg,
new cmd heading: 77.756684 deg.
2025-08-22T21:45:55.205Z,1755899155.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357110 target range: 11.128848 and range: 3.70 m.
2025-08-22T21:45:55.247Z,1755899155.247 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.280945
2025-08-22T21:45:55.507Z,1755899155.507 [DAT](INFO): DAT read: 21:45:55.3926 LVL= 22688, 13713, 19666, 21363, AGC= 50, IDX= 429,-0.12, 1.848, 1.519, 1.288, 2.753, PHS=-0.803,-1.189,-1.509, RAW= 63.1, 63.7, CAL= 60.9, 66.9, ROT= 89.1, -66.9
2025-08-22T21:45:55.508Z,1755899155.508 [DAT](INFO): got valid direction response:
21:45:55.3926 LVL= 22688, 13713, 19666, 21363, AGC= 50, IDX= 429,-0.12, 1.848, 1.519, 1.288, 2.753, PHS=-0.803,-1.189,-1.509, RAW= 63.1, 63.7, CAL= 60.9, 66.9, ROT= 89.1, -66.9
2025-08-22T21:45:55.511Z,1755899155.511 [DAT](INFO): DAT read: Bearing 341.4, 22.2 (Local)
2025-08-22T21:45:55.511Z,1755899155.511 [DAT](INFO): Local bearing/azimuth received:
Bearing 341.4, 22.2 (Local)
2025-08-22T21:45:55.512Z,1755899155.512 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (Round-trip 3.7 ms) speed 0.4 m/s
2025-08-22T21:45:55.513Z,1755899155.513 [DAT](INFO): DAT read: user:2457>
2025-08-22T21:45:55.515Z,1755899155.515 [DAT](INFO): DAT read: Tx time:21:45:56.4848
2025-08-22T21:45:55.515Z,1755899155.515 [DAT](INFO): Ping request sent.
2025-08-22T21:45:55.515Z,1755899155.515 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:55.515Z,1755899155.515 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T21:45:55.516Z,1755899155.516 [DAT](INFO): direction in FSK: [0.006163,0.392289,0.919822]
2025-08-22T21:45:55.517Z,1755899155.517 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:55.517Z,1755899155.517 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:55.520Z,1755899155.520 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:55.520Z,1755899155.520 [DAT](INFO): publishing direction and range info
2025-08-22T21:45:55.571Z,1755899155.571 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.055551
2025-08-22T21:45:55.683Z,1755899155.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.700000 m,
deltaT: 3.544369 s,
deltaX: -1.000000 m,
approachRate: -0.282138 m/s,
rangeRepo size: 4
2025-08-22T21:45:55.685Z,1755899155.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.682832 m,
bearing: 178.862017 deg,
lat: 36.779432 deg,
lon: -121.859521 deg,
deltaT: 17.656473 s,
deltaX: -8.446015 m,
approachRate: -0.478352 m/s,
posRepo size: 4
2025-08-22T21:45:55.686Z,1755899155.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-08-22T21:45:55.686Z,1755899155.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-22T21:45:55.757Z,1755899155.757 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.240720
2025-08-22T21:45:56.003Z,1755899156.003 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.487399
2025-08-22T21:45:56.075Z,1755899156.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:56.254Z,1755899156.254 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.739182
2025-08-22T21:45:56.507Z,1755899156.507 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.991407
2025-08-22T21:45:56.762Z,1755899156.762 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.245594
2025-08-22T21:45:57.012Z,1755899157.012 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.496756
2025-08-22T21:45:57.263Z,1755899157.263 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.747386
2025-08-22T21:45:57.515Z,1755899157.515 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.999495
2025-08-22T21:45:57.608Z,1755899157.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m.
2025-08-22T21:45:57.608Z,1755899157.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.70 m.
2025-08-22T21:45:57.608Z,1755899157.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-08-22T21:45:57.770Z,1755899157.770 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.253777
2025-08-22T21:45:58.019Z,1755899158.019 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.503365
2025-08-22T21:45:58.090Z,1755899158.090 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T21:45:58.271Z,1755899158.271 [DAT](INFO): DAT read: Rx Time:21:45:58.8914
2025-08-22T21:45:58.271Z,1755899158.271 [DAT](INFO): Rx dataTimestamp_ set to:1755899158.270748
2025-08-22T21:45:58.272Z,1755899158.272 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.756400
2025-08-22T21:45:58.429Z,1755899158.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:45:58.523Z,1755899158.523 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.007389
2025-08-22T21:45:58.775Z,1755899158.775 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s
2025-08-22T21:45:58.776Z,1755899158.776 [DAT](INFO): DAT read: user:2458>
2025-08-22T21:45:58.776Z,1755899158.776 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-08-22T21:45:58.777Z,1755899158.777 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.262098
2025-08-22T21:45:58.930Z,1755899158.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.800000 m,
deltaT: 3.275515 s,
deltaX: -0.900000 m,
approachRate: -0.274766 m/s,
rangeRepo size: 4
2025-08-22T21:45:59.028Z,1755899159.028 [DAT](INFO): DAT read: Tx time:21:45:59.9848
2025-08-22T21:45:59.028Z,1755899159.028 [DAT](INFO): Ping request sent.
2025-08-22T21:45:59.028Z,1755899159.028 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:45:59.028Z,1755899159.028 [DAT](INFO): publishing transmit ping time
2025-08-22T21:45:59.029Z,1755899159.029 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.000758
2025-08-22T21:45:59.278Z,1755899159.278 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.250052
2025-08-22T21:45:59.530Z,1755899159.530 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.502129
2025-08-22T21:45:59.785Z,1755899159.785 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.756509
2025-08-22T21:46:00.035Z,1755899160.035 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.006275
2025-08-22T21:46:00.287Z,1755899160.287 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.258552
2025-08-22T21:46:00.539Z,1755899160.539 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.510296
2025-08-22T21:46:00.552Z,1755899160.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:46:00.791Z,1755899160.791 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.762212
2025-08-22T21:46:01.043Z,1755899161.043 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.014164
2025-08-22T21:46:01.295Z,1755899161.295 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.266153
2025-08-22T21:46:01.550Z,1755899161.550 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.521613
2025-08-22T21:46:01.800Z,1755899161.800 [DAT](INFO): DAT read: Rx Time:21:46:02.3913
2025-08-22T21:46:01.800Z,1755899161.800 [DAT](INFO): Rx dataTimestamp_ set to:1755899161.799754
2025-08-22T21:46:01.803Z,1755899161.803 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.772576
2025-08-22T21:46:02.051Z,1755899162.051 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.022642
2025-08-22T21:46:02.316Z,1755899162.316 [DAT](INFO): DAT read: 21:46:02.3913 LVL= 26752, 14401, 21730, 25779, AGC= 44, IDX= 437,-0.08, 1.912, 1.485, 0.545, 2.887, PHS=-0.874,-1.357,-2.387, RAW= 48.2, 50.6, CAL= 45.9, 55.2, ROT= 104.1, -55.2
2025-08-22T21:46:02.317Z,1755899162.317 [DAT](INFO): got valid direction response:
21:46:02.3913 LVL= 26752, 14401, 21730, 25779, AGC= 44, IDX= 437,-0.08, 1.912, 1.485, 0.545, 2.887, PHS=-0.874,-1.357,-2.387, RAW= 48.2, 50.6, CAL= 45.9, 55.2, ROT= 104.1, -55.2
2025-08-22T21:46:02.318Z,1755899162.318 [DAT](INFO): DAT read: Bearing 12.0, 37.7 (Local)
2025-08-22T21:46:02.319Z,1755899162.319 [DAT](INFO): Local bearing/azimuth received:
Bearing 12.0, 37.7 (Local)
2025-08-22T21:46:02.320Z,1755899162.320 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:02.321Z,1755899162.321 [DAT](INFO): DAT read: user:2459>
2025-08-22T21:46:02.322Z,1755899162.322 [DAT](INFO): DAT read: Tx time:21:46:03.4848
2025-08-22T21:46:02.322Z,1755899162.322 [DAT](INFO): Ping request sent.
2025-08-22T21:46:02.322Z,1755899162.322 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:02.322Z,1755899162.322 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-22T21:46:02.323Z,1755899162.323 [DAT](INFO): direction in FSK: [-0.139034,0.553519,0.821149]
2025-08-22T21:46:02.324Z,1755899162.324 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:02.324Z,1755899162.324 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:02.371Z,1755899162.371 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:02.371Z,1755899162.371 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:02.387Z,1755899162.387 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.065129
2025-08-22T21:46:02.555Z,1755899162.555 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.232608
2025-08-22T21:46:02.567Z,1755899162.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 3.529160 s,
deltaX: -0.100000 m,
approachRate: -0.028335 m/s,
rangeRepo size: 4
2025-08-22T21:46:02.573Z,1755899162.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.689196 m,
bearing: 223.815780 deg,
lat: 36.779432 deg,
lon: -121.859521 deg,
deltaT: 6.804675 s,
deltaX: -0.993636 m,
approachRate: -0.146023 m/s,
posRepo size: 4
2025-08-22T21:46:02.807Z,1755899162.807 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.484528
2025-08-22T21:46:02.966Z,1755899162.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:46:03.059Z,1755899163.059 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.737325
2025-08-22T21:46:03.311Z,1755899163.311 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.988453
2025-08-22T21:46:03.563Z,1755899163.563 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.240553
2025-08-22T21:46:03.815Z,1755899163.815 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.493221
2025-08-22T21:46:04.066Z,1755899164.066 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.744398
2025-08-22T21:46:04.205Z,1755899164.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.70 m. Lat: 36.779432 Lon: -121.859521 Cable present.
2025-08-22T21:46:04.205Z,1755899164.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-08-22T21:46:04.205Z,1755899164.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-22T21:46:04.206Z,1755899164.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-08-22T21:46:04.319Z,1755899164.319 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.996491
2025-08-22T21:46:04.571Z,1755899164.571 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.248550
2025-08-22T21:46:04.571Z,1755899164.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-08-22T21:46:04.571Z,1755899164.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-08-22T21:46:04.572Z,1755899164.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-08-22T21:46:04.823Z,1755899164.823 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.500559
2025-08-22T21:46:05.052Z,1755899165.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:46:05.054Z,1755899165.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-08-22T21:46:05.055Z,1755899165.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T21:46:05.055Z,1755899165.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-22T21:46:05.055Z,1755899165.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T21:46:05.055Z,1755899165.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-22T21:46:05.055Z,1755899165.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T21:46:05.055Z,1755899165.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-22T21:46:05.055Z,1755899165.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-22T21:46:05.055Z,1755899165.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-22T21:46:05.055Z,1755899165.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-22T21:46:05.056Z,1755899165.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T21:46:05.075Z,1755899165.075 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.752568
2025-08-22T21:46:05.326Z,1755899165.326 [DAT](INFO): DAT read: Rx Time:21:46:05.8912
2025-08-22T21:46:05.327Z,1755899165.327 [DAT](INFO): Rx dataTimestamp_ set to:1755899165.326658
2025-08-22T21:46:05.327Z,1755899165.327 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.005454
2025-08-22T21:46:05.394Z,1755899165.394 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-22T21:46:05.395Z,1755899165.395 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T21:46:05.395Z,1755899165.395 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-22T21:46:05.395Z,1755899165.395 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T21:46:05.395Z,1755899165.395 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-22T21:46:05.395Z,1755899165.395 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-22T21:46:05.395Z,1755899165.395 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2025-08-22T21:46:05.396Z,1755899165.396 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-22T21:46:05.396Z,1755899165.396 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-08-22T21:46:05.397Z,1755899165.397 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-08-22T21:46:05.397Z,1755899165.397 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-22T21:46:05.397Z,1755899165.397 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-08-22T21:46:05.397Z,1755899165.397 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-22T21:46:05.397Z,1755899165.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-22T21:46:05.397Z,1755899165.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T21:46:05.402Z,1755899165.402 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-08-22T21:46:05.402Z,1755899165.402 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-08-22T21:46:05.579Z,1755899165.579 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.256458
2025-08-22T21:46:05.818Z,1755899165.818 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:46:05.829Z,1755899165.829 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-08-22T21:46:05.829Z,1755899165.829 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-08-22T21:46:05.836Z,1755899165.836 [DAT](INFO): DAT read: 21:46:05.8912 LVL= 24400, 10017, 20722, 24227, AGC= 40, IDX= 436,-0.00,-0.435,-0.528,-1.269, 0.577, PHS=-0.910,-1.060,-1.890, RAW= 38.2, 56.2, CAL= 36.6, 60.1, ROT= 113.4, -60.1
2025-08-22T21:46:05.837Z,1755899165.837 [DAT](INFO): got valid direction response:
21:46:05.8912 LVL= 24400, 10017, 20722, 24227, AGC= 40, IDX= 436,-0.00,-0.435,-0.528,-1.269, 0.577, PHS=-0.910,-1.060,-1.890, RAW= 38.2, 56.2, CAL= 36.6, 60.1, ROT= 113.4, -60.1
2025-08-22T21:46:05.838Z,1755899165.838 [DAT](INFO): DAT read: Bearing 34.6, 29.0 (Local)
2025-08-22T21:46:05.839Z,1755899165.839 [DAT](INFO): Local bearing/azimuth received:
Bearing 34.6, 29.0 (Local)
2025-08-22T21:46:05.840Z,1755899165.840 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:05.841Z,1755899165.841 [DAT](INFO): DAT read: user:2460>
2025-08-22T21:46:05.842Z,1755899165.842 [DAT](INFO): DAT read: Tx time:21:46:06.9863
2025-08-22T21:46:05.843Z,1755899165.843 [DAT](INFO): Ping request sent.
2025-08-22T21:46:05.843Z,1755899165.843 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:05.843Z,1755899165.843 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T21:46:05.844Z,1755899165.844 [DAT](INFO): direction in FSK: [-0.197973,0.457489,0.866897]
2025-08-22T21:46:05.844Z,1755899165.844 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:05.844Z,1755899165.844 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:05.848Z,1755899165.848 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:05.848Z,1755899165.848 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:05.867Z,1755899165.867 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.024803
2025-08-22T21:46:06.084Z,1755899166.084 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.240665
2025-08-22T21:46:06.218Z,1755899166.218 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-22T21:46:06.218Z,1755899166.218 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T21:46:06.218Z,1755899166.218 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-08-22T21:46:06.338Z,1755899166.338 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.495495
2025-08-22T21:46:06.591Z,1755899166.591 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.747986
2025-08-22T21:46:06.822Z,1755899166.822 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:46:06.843Z,1755899166.843 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.999830
2025-08-22T21:46:07.095Z,1755899167.095 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.251986
2025-08-22T21:46:07.347Z,1755899167.347 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.503875
2025-08-22T21:46:07.408Z,1755899167.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:46:07.599Z,1755899167.599 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.756320
2025-08-22T21:46:07.851Z,1755899167.851 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.008303
2025-08-22T21:46:08.104Z,1755899168.104 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.260798
2025-08-22T21:46:08.354Z,1755899168.354 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.511809
2025-08-22T21:46:08.607Z,1755899168.607 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.763997
2025-08-22T21:46:08.859Z,1755899168.859 [DAT](INFO): DAT read: Rx Time:21:46:09.3927
2025-08-22T21:46:08.859Z,1755899168.859 [DAT](INFO): Rx dataTimestamp_ set to:1755899168.858688
2025-08-22T21:46:08.860Z,1755899168.860 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.016863
2025-08-22T21:46:09.040Z,1755899169.040 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-08-22T21:46:09.041Z,1755899169.041 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-08-22T21:46:09.041Z,1755899169.041 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T21:46:09.041Z,1755899169.041 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-08-22T21:46:09.111Z,1755899169.111 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.268794
2025-08-22T21:46:09.373Z,1755899169.373 [DAT](INFO): DAT read: 21:46:09.3927 LVL= 24816, 12353, 21730, 26931, AGC= 41, IDX= 436, 0.14,-1.555,-1.545,-2.430,-0.568, PHS=-0.886,-0.932,-1.907, RAW= 32.3, 52.8, CAL= 30.8, 57.0, ROT= 119.2, -57.0
2025-08-22T21:46:09.374Z,1755899169.374 [DAT](INFO): got valid direction response:
21:46:09.3927 LVL= 24816, 12353, 21730, 26931, AGC= 41, IDX= 436, 0.14,-1.555,-1.545,-2.430,-0.568, PHS=-0.886,-0.932,-1.907, RAW= 32.3, 52.8, CAL= 30.8, 57.0, ROT= 119.2, -57.0
2025-08-22T21:46:09.375Z,1755899169.375 [DAT](INFO): DAT read: Bearing 47.5, 30.3 (Local)
2025-08-22T21:46:09.375Z,1755899169.375 [DAT](INFO): Local bearing/azimuth received:
Bearing 47.5, 30.3 (Local)
2025-08-22T21:46:09.376Z,1755899169.376 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:09.377Z,1755899169.377 [DAT](INFO): DAT read: user:2461>
2025-08-22T21:46:09.379Z,1755899169.379 [DAT](INFO): DAT read: Tx time:21:46:10.4847
2025-08-22T21:46:09.379Z,1755899169.379 [DAT](INFO): Ping request sent.
2025-08-22T21:46:09.380Z,1755899169.380 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:09.380Z,1755899169.380 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-22T21:46:09.381Z,1755899169.381 [DAT](INFO): direction in FSK: [-0.265707,0.475427,0.838671]
2025-08-22T21:46:09.381Z,1755899169.381 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:09.394Z,1755899169.394 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:09.397Z,1755899169.397 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:09.397Z,1755899169.397 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:09.400Z,1755899169.400 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.020591
2025-08-22T21:46:09.497Z,1755899169.497 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count
2025-08-22T21:46:09.497Z,1755899169.497 [lineCaptureHoming:LineCapture:M] Stopped
2025-08-22T21:46:09.508Z,1755899169.508 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-08-22T21:46:09.508Z,1755899169.508 [lineCaptureHoming:LineCapture] Stopped
2025-08-22T21:46:09.508Z,1755899169.508 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-08-22T21:46:09.508Z,1755899169.508 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-08-22T21:46:09.508Z,1755899169.508 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-22T21:46:09.508Z,1755899169.508 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-22T21:46:09.508Z,1755899169.508 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-22T21:46:09.508Z,1755899169.508 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-22T21:46:09.509Z,1755899169.509 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-22T21:46:09.509Z,1755899169.509 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-22T21:46:09.509Z,1755899169.509 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-22T21:46:09.509Z,1755899169.509 [lineCaptureHoming:LineCapture:G] Stopped
2025-08-22T21:46:09.509Z,1755899169.509 [lineCaptureHoming:LineCapture:H] Stopped
2025-08-22T21:46:09.509Z,1755899169.509 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-08-22T21:46:09.509Z,1755899169.509 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-08-22T21:46:09.509Z,1755899169.509 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-08-22T21:46:09.509Z,1755899169.509 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-08-22T21:46:09.509Z,1755899169.509 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-08-22T21:46:09.509Z,1755899169.509 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-22T21:46:09.510Z,1755899169.510 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T21:46:09.510Z,1755899169.510 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-22T21:46:09.510Z,1755899169.510 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-22T21:46:09.616Z,1755899169.616 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.235959
2025-08-22T21:46:09.820Z,1755899169.820 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-08-22T21:46:09.820Z,1755899169.820 [lineCaptureHoming:Lap:B] Stopped
2025-08-22T21:46:09.821Z,1755899169.821 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-08-22T21:46:09.821Z,1755899169.821 [lineCaptureHoming:Lap:C] Running Loop=1
2025-08-22T21:46:09.821Z,1755899169.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:46:09.867Z,1755899169.867 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.487597
2025-08-22T21:46:10.119Z,1755899170.119 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.739783
2025-08-22T21:46:10.248Z,1755899170.248 [lineCaptureHoming:Lap:C] Stopped
2025-08-22T21:46:10.249Z,1755899170.249 [lineCaptureHoming:Lap:D] Running Loop=1
2025-08-22T21:46:10.371Z,1755899170.371 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.990930
2025-08-22T21:46:10.623Z,1755899170.623 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.243210
2025-08-22T21:46:10.708Z,1755899170.708 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count
2025-08-22T21:46:10.708Z,1755899170.708 [lineCaptureHoming:Lap:D] Stopped
2025-08-22T21:46:10.708Z,1755899170.708 [lineCaptureHoming:Lap:E] Running Loop=1
2025-08-22T21:46:10.709Z,1755899170.709 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-08-22T21:46:10.874Z,1755899170.874 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.494871
2025-08-22T21:46:11.114Z,1755899171.114 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-08-22T21:46:11.114Z,1755899171.114 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-08-22T21:46:11.115Z,1755899171.115 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-08-22T21:46:11.115Z,1755899171.115 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-08-22T21:46:11.115Z,1755899171.115 [lineCaptureHoming:restartDHCP:A] Stopped
2025-08-22T21:46:11.115Z,1755899171.115 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-08-22T21:46:11.127Z,1755899171.127 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.747076
2025-08-22T21:46:11.379Z,1755899171.379 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.999362
2025-08-22T21:46:11.459Z,1755899171.459 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-22T21:46:11.460Z,1755899171.460 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-08-22T21:46:11.460Z,1755899171.460 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-08-22T21:46:11.460Z,1755899171.460 [lineCaptureHoming:restartDHCP] Stopped
2025-08-22T21:46:11.460Z,1755899171.460 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-08-22T21:46:11.471Z,1755899171.471 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-22T21:46:11.631Z,1755899171.631 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.251572
2025-08-22T21:46:11.855Z,1755899171.855 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-08-22UTC214611_sh
2025-08-22T21:46:11.883Z,1755899171.883 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.503001
2025-08-22T21:46:11.907Z,1755899171.907 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-08-22T21:46:11.907Z,1755899171.907 [lineCaptureHoming:Lap:E] Stopped
2025-08-22T21:46:11.907Z,1755899171.907 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-08-22T21:46:11.907Z,1755899171.907 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-08-22T21:46:11.907Z,1755899171.907 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-08-22T21:46:11.908Z,1755899171.908 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-08-22T21:46:11.908Z,1755899171.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:46:12.135Z,1755899172.135 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.755169
2025-08-22T21:46:12.314Z,1755899172.314 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 15.000000 min
2025-08-22T21:46:12.314Z,1755899172.314 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-08-22T21:46:12.315Z,1755899172.315 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-08-22T21:46:12.387Z,1755899172.387 [DAT](INFO): DAT read: Rx Time:21:46:12.8912
2025-08-22T21:46:12.387Z,1755899172.387 [DAT](INFO): Rx dataTimestamp_ set to:1755899172.386800
2025-08-22T21:46:12.388Z,1755899172.388 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.008112
2025-08-22T21:46:12.638Z,1755899172.638 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.258869
2025-08-22T21:46:12.670Z,1755899172.670 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-08-22T21:46:12.670Z,1755899172.670 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-08-22T21:46:12.896Z,1755899172.896 [DAT](INFO): DAT read: 21:46:12.8912 LVL= 24032, 13793, 22066, 29283, AGC= 42, IDX= 436, 0.27,-2.558,-2.689, 2.751,-1.602, PHS=-0.855,-1.042,-1.974, RAW= 39.0, 52.8, CAL= 37.3, 57.1, ROT= 112.7, -57.1
2025-08-22T21:46:12.897Z,1755899172.897 [DAT](INFO): got valid direction response:
21:46:12.8912 LVL= 24032, 13793, 22066, 29283, AGC= 42, IDX= 436, 0.27,-2.558,-2.689, 2.751,-1.602, PHS=-0.855,-1.042,-1.974, RAW= 39.0, 52.8, CAL= 37.3, 57.1, ROT= 112.7, -57.1
2025-08-22T21:46:12.898Z,1755899172.898 [DAT](INFO): DAT read: Bearing 38.7, 31.9 (Local)
2025-08-22T21:46:12.899Z,1755899172.899 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.7, 31.9 (Local)
2025-08-22T21:46:12.900Z,1755899172.900 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:12.901Z,1755899172.901 [DAT](INFO): DAT read: user:2462>
2025-08-22T21:46:12.902Z,1755899172.902 [DAT](INFO): DAT read: Tx time:21:46:13.9847
2025-08-22T21:46:12.903Z,1755899172.903 [DAT](INFO): Ping request sent.
2025-08-22T21:46:12.903Z,1755899172.903 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:12.903Z,1755899172.903 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-22T21:46:12.904Z,1755899172.904 [DAT](INFO): direction in FSK: [-0.209614,0.501099,0.839620]
2025-08-22T21:46:12.904Z,1755899172.904 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:12.905Z,1755899172.905 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:12.908Z,1755899172.908 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:12.909Z,1755899172.909 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:12.926Z,1755899172.926 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.023150
2025-08-22T21:46:13.143Z,1755899173.143 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.239894
2025-08-22T21:46:13.175Z,1755899173.175 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-08-22T21:46:13.175Z,1755899173.175 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-08-22T21:46:13.175Z,1755899173.175 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-08-22T21:46:13.176Z,1755899173.176 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-22T21:46:13.395Z,1755899173.395 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.491883
2025-08-22T21:46:13.466Z,1755899173.466 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-08-22T21:46:13.467Z,1755899173.467 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-08-22T21:46:13.647Z,1755899173.647 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.744610
2025-08-22T21:46:13.899Z,1755899173.899 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.995846
2025-08-22T21:46:13.899Z,1755899173.899 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T21:46:14.151Z,1755899174.151 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.247851
2025-08-22T21:46:14.151Z,1755899174.151 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T21:46:14.402Z,1755899174.402 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.499790
2025-08-22T21:46:14.403Z,1755899174.403 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T21:46:14.654Z,1755899174.654 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.751767
2025-08-22T21:46:14.907Z,1755899174.907 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.003998
2025-08-22T21:46:15.159Z,1755899175.159 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.256477
2025-08-22T21:46:15.411Z,1755899175.411 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.507839
2025-08-22T21:46:15.663Z,1755899175.663 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.759841
2025-08-22T21:46:15.915Z,1755899175.915 [DAT](INFO): DAT read: Rx Time:21:46:16.3912
2025-08-22T21:46:15.915Z,1755899175.915 [DAT](INFO): Rx dataTimestamp_ set to:1755899175.914804
2025-08-22T21:46:15.916Z,1755899175.916 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.012954
2025-08-22T21:46:16.167Z,1755899176.167 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.264491
2025-08-22T21:46:16.424Z,1755899176.424 [DAT](INFO): DAT read: 21:46:16.3912 LVL= 23680, 15313, 24914, 25299, AGC= 41, IDX= 436, 0.39, 2.460, 2.408, 1.583,-2.807, PHS=-0.915,-1.023,-1.937, RAW= 35.5, 54.6, CAL= 34.0, 58.7, ROT= 116.0, -58.7
2025-08-22T21:46:16.425Z,1755899176.425 [DAT](INFO): got valid direction response:
21:46:16.3912 LVL= 23680, 15313, 24914, 25299, AGC= 41, IDX= 436, 0.39, 2.460, 2.408, 1.583,-2.807, PHS=-0.915,-1.023,-1.937, RAW= 35.5, 54.6, CAL= 34.0, 58.7, ROT= 116.0, -58.7
2025-08-22T21:46:16.426Z,1755899176.426 [DAT](INFO): DAT read: Bearing 36.0, 29.5 (Local)
2025-08-22T21:46:16.427Z,1755899176.427 [DAT](INFO): Local bearing/azimuth received:
Bearing 36.0, 29.5 (Local)
2025-08-22T21:46:16.428Z,1755899176.428 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:16.429Z,1755899176.429 [DAT](INFO): DAT read: user:2463>
2025-08-22T21:46:16.430Z,1755899176.430 [DAT](INFO): DAT read: Tx time:21:46:17.4846
2025-08-22T21:46:16.430Z,1755899176.430 [DAT](INFO): Ping request sent.
2025-08-22T21:46:16.430Z,1755899176.430 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:16.430Z,1755899176.430 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-22T21:46:16.431Z,1755899176.431 [DAT](INFO): direction in FSK: [-0.227742,0.466941,0.854459]
2025-08-22T21:46:16.432Z,1755899176.432 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:16.432Z,1755899176.432 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:16.436Z,1755899176.436 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:16.436Z,1755899176.436 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:16.440Z,1755899176.440 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.009715
2025-08-22T21:46:16.671Z,1755899176.671 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.240992
2025-08-22T21:46:16.923Z,1755899176.923 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.492477
2025-08-22T21:46:17.175Z,1755899177.175 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.745015
2025-08-22T21:46:17.338Z,1755899177.338 [MassServo](FAULT): Overload Error
2025-08-22T21:46:17.338Z,1755899177.338 [MassServo] Hardware Fault, FailCount= 1
2025-08-22T21:46:17.338Z,1755899177.338 [MassServo](ERROR): Hardware Fault
2025-08-22T21:46:17.431Z,1755899177.431 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.999869
2025-08-22T21:46:17.450Z,1755899177.450 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-22T21:46:17.679Z,1755899177.679 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.248821
2025-08-22T21:46:17.687Z,1755899177.687 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-22T21:46:17.687Z,1755899177.687 [MassServo](INFO): Powering down
2025-08-22T21:46:17.931Z,1755899177.931 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.500555
2025-08-22T21:46:18.183Z,1755899178.183 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.752940
2025-08-22T21:46:18.435Z,1755899178.435 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.004516
2025-08-22T21:46:18.483Z,1755899178.483 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-22T21:46:18.604Z,1755899178.604 [MassServo](DEBUG): Initializing MassServo.
2025-08-22T21:46:18.610Z,1755899178.610 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-22T21:46:18.610Z,1755899178.610 [MassServo] No Fault, FailCount= 1
2025-08-22T21:46:18.687Z,1755899178.687 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.256513
2025-08-22T21:46:18.938Z,1755899178.938 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.508396
2025-08-22T21:46:19.191Z,1755899179.191 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.761147
2025-08-22T21:46:19.443Z,1755899179.443 [DAT](INFO): DAT read: Rx Time:21:46:19.8911
2025-08-22T21:46:19.443Z,1755899179.443 [DAT](INFO): Rx dataTimestamp_ set to:1755899179.442756
2025-08-22T21:46:19.444Z,1755899179.444 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.013584
2025-08-22T21:46:19.695Z,1755899179.695 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.264566
2025-08-22T21:46:19.952Z,1755899179.952 [DAT](INFO): DAT read: 21:46:19.8911 LVL= 23856, 14833, 22498, 28643, AGC= 42, IDX= 437,-0.36,-0.453,-0.472,-1.308, 0.552, PHS=-0.903,-0.979,-1.904, RAW= 33.9, 54.2, CAL= 32.4, 58.2, ROT= 117.6, -58.2
2025-08-22T21:46:19.953Z,1755899179.953 [DAT](INFO): got valid direction response:
21:46:19.8911 LVL= 23856, 14833, 22498, 28643, AGC= 42, IDX= 437,-0.36,-0.453,-0.472,-1.308, 0.552, PHS=-0.903,-0.979,-1.904, RAW= 33.9, 54.2, CAL= 32.4, 58.2, ROT= 117.6, -58.2
2025-08-22T21:46:19.954Z,1755899179.954 [DAT](INFO): DAT read: Bearing 40.7, 29.5 (Local)
2025-08-22T21:46:19.954Z,1755899179.954 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.7, 29.5 (Local)
2025-08-22T21:46:19.956Z,1755899179.956 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:19.956Z,1755899179.956 [DAT](INFO): DAT read: user:2464>
2025-08-22T21:46:19.957Z,1755899179.957 [DAT](INFO): DAT read: Tx time:21:46:20.9846
2025-08-22T21:46:19.958Z,1755899179.958 [DAT](INFO): Ping request sent.
2025-08-22T21:46:19.958Z,1755899179.958 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:19.958Z,1755899179.958 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-22T21:46:19.959Z,1755899179.959 [DAT](INFO): direction in FSK: [-0.244137,0.466990,0.849893]
2025-08-22T21:46:19.959Z,1755899179.959 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:19.959Z,1755899179.959 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:19.983Z,1755899179.983 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:19.983Z,1755899179.983 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:20.003Z,1755899180.003 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.045663
2025-08-22T21:46:20.199Z,1755899180.199 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.241155
2025-08-22T21:46:20.401Z,1755899180.401 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 79.43, 81.13, 81.13, 80.11
2025-08-22T21:46:20.451Z,1755899180.451 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.492943
2025-08-22T21:46:20.702Z,1755899180.702 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.744758
2025-08-22T21:46:20.955Z,1755899180.955 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.996844
2025-08-22T21:46:21.207Z,1755899181.207 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.248847
2025-08-22T21:46:21.459Z,1755899181.459 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.500865
2025-08-22T21:46:21.711Z,1755899181.711 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.753548
2025-08-22T21:46:21.962Z,1755899181.962 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.004788
2025-08-22T21:46:22.216Z,1755899182.216 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.258020
2025-08-22T21:46:22.467Z,1755899182.467 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.508961
2025-08-22T21:46:22.718Z,1755899182.718 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.760788
2025-08-22T21:46:22.971Z,1755899182.971 [DAT](INFO): DAT read: Rx Time:21:46:23.3911
2025-08-22T21:46:22.971Z,1755899182.971 [DAT](INFO): Rx dataTimestamp_ set to:1755899182.970715
2025-08-22T21:46:22.972Z,1755899182.972 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.013858
2025-08-22T21:46:23.223Z,1755899183.223 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.264975
2025-08-22T21:46:23.480Z,1755899183.480 [DAT](INFO): DAT read: 21:46:23.3911 LVL= 25168, 12273, 22130, 26531, AGC= 41, IDX= 437,-0.17,-1.839,-1.835,-2.691,-0.853, PHS=-0.884,-0.937,-1.882, RAW= 32.7, 53.4, CAL= 31.2, 57.5, ROT= 118.8, -57.5
2025-08-22T21:46:23.481Z,1755899183.481 [DAT](INFO): got valid direction response:
21:46:23.3911 LVL= 25168, 12273, 22130, 26531, AGC= 41, IDX= 437,-0.17,-1.839,-1.835,-2.691,-0.853, PHS=-0.884,-0.937,-1.882, RAW= 32.7, 53.4, CAL= 31.2, 57.5, ROT= 118.8, -57.5
2025-08-22T21:46:23.482Z,1755899183.482 [DAT](INFO): DAT read: Bearing 45.9, 30.0 (Local)
2025-08-22T21:46:23.482Z,1755899183.482 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.9, 30.0 (Local)
2025-08-22T21:46:23.484Z,1755899183.484 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:23.485Z,1755899183.485 [DAT](INFO): DAT read: user:2465>
2025-08-22T21:46:23.485Z,1755899183.485 [DAT](INFO): DAT read: Tx time:21:46:24.4846
2025-08-22T21:46:23.486Z,1755899183.486 [DAT](INFO): Ping request sent.
2025-08-22T21:46:23.486Z,1755899183.486 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:23.486Z,1755899183.486 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-22T21:46:23.487Z,1755899183.487 [DAT](INFO): direction in FSK: [-0.258846,0.470839,0.843391]
2025-08-22T21:46:23.487Z,1755899183.487 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:23.488Z,1755899183.488 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:23.491Z,1755899183.491 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:23.491Z,1755899183.491 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:23.495Z,1755899183.495 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.008861
2025-08-22T21:46:23.727Z,1755899183.727 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.241302
2025-08-22T21:46:23.979Z,1755899183.979 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.492767
2025-08-22T21:46:24.231Z,1755899184.231 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.744702
2025-08-22T21:46:24.483Z,1755899184.483 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.996796
2025-08-22T21:46:24.735Z,1755899184.735 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.248774
2025-08-22T21:46:24.987Z,1755899184.987 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.501298
2025-08-22T21:46:25.239Z,1755899185.239 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.752863
2025-08-22T21:46:25.491Z,1755899185.491 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.004746
2025-08-22T21:46:25.743Z,1755899185.743 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.256833
2025-08-22T21:46:25.995Z,1755899185.995 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.508706
2025-08-22T21:46:26.247Z,1755899186.247 [DAT](INFO): DAT read: Rx Time:21:46:26.8911
2025-08-22T21:46:26.247Z,1755899186.247 [DAT](INFO): Rx dataTimestamp_ set to:1755899186.246788
2025-08-22T21:46:26.248Z,1755899186.248 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.761841
2025-08-22T21:46:26.499Z,1755899186.499 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.012776
2025-08-22T21:46:26.754Z,1755899186.754 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.267293
2025-08-22T21:46:27.008Z,1755899187.008 [DAT](INFO): DAT read: 21:46:26.8911 LVL= 24512, 13569, 22498, 29587, AGC= 42, IDX= 436,-0.04, 2.540, 2.508, 1.650,-2.769, PHS=-0.872,-0.961,-1.908, RAW= 34.5, 53.1, CAL= 32.9, 57.2, ROT= 117.1, -57.2
2025-08-22T21:46:27.009Z,1755899187.009 [DAT](INFO): got valid direction response:
21:46:26.8911 LVL= 24512, 13569, 22498, 29587, AGC= 42, IDX= 436,-0.04, 2.540, 2.508, 1.650,-2.769, PHS=-0.872,-0.961,-1.908, RAW= 34.5, 53.1, CAL= 32.9, 57.2, ROT= 117.1, -57.2
2025-08-22T21:46:27.010Z,1755899187.010 [DAT](INFO): DAT read: Bearing 44.8, 31.0 (Local)
2025-08-22T21:46:27.010Z,1755899187.010 [DAT](INFO): Local bearing/azimuth received:
Bearing 44.8, 31.0 (Local)
2025-08-22T21:46:27.012Z,1755899187.012 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:27.013Z,1755899187.013 [DAT](INFO): DAT read: user:2466>
2025-08-22T21:46:27.013Z,1755899187.013 [DAT](INFO): DAT read: Tx time:21:46:27.9846
2025-08-22T21:46:27.014Z,1755899187.014 [DAT](INFO): Ping request sent.
2025-08-22T21:46:27.014Z,1755899187.014 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:27.014Z,1755899187.014 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-22T21:46:27.015Z,1755899187.015 [DAT](INFO): direction in FSK: [-0.246772,0.482236,0.840567]
2025-08-22T21:46:27.015Z,1755899187.015 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:27.015Z,1755899187.015 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:27.019Z,1755899187.019 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:27.019Z,1755899187.019 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:27.031Z,1755899187.031 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.017635
2025-08-22T21:46:27.257Z,1755899187.257 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.242581
2025-08-22T21:46:27.506Z,1755899187.506 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.492741
2025-08-22T21:46:27.760Z,1755899187.760 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.745812
2025-08-22T21:46:28.011Z,1755899188.011 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.996762
2025-08-22T21:46:28.265Z,1755899188.265 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.250987
2025-08-22T21:46:28.515Z,1755899188.515 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.500949
2025-08-22T21:46:28.766Z,1755899188.766 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.752753
2025-08-22T21:46:29.020Z,1755899189.020 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.006704
2025-08-22T21:46:29.278Z,1755899189.278 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.263190
2025-08-22T21:46:29.526Z,1755899189.526 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.512743
2025-08-22T21:46:29.784Z,1755899189.784 [DAT](INFO): DAT read: Rx Time:21:46:30.3911
2025-08-22T21:46:29.786Z,1755899189.786 [DAT](INFO): Rx dataTimestamp_ set to:1755899189.783945
2025-08-22T21:46:29.788Z,1755899189.788 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.773869
2025-08-22T21:46:30.031Z,1755899190.031 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.016799
2025-08-22T21:46:30.287Z,1755899190.287 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.272024
2025-08-22T21:46:30.540Z,1755899190.540 [DAT](INFO): DAT read: 21:46:30.3911 LVL= 23344, 15281, 22386, 28051, AGC= 42, IDX= 436, 0.03, 2.808, 2.775, 1.931,-2.455, PHS=-0.918,-1.008,-1.942, RAW= 34.6, 54.3, CAL= 33.0, 58.4, ROT= 117.0, -58.4
2025-08-22T21:46:30.541Z,1755899190.541 [DAT](INFO): got valid direction response:
21:46:30.3911 LVL= 23344, 15281, 22386, 28051, AGC= 42, IDX= 436, 0.03, 2.808, 2.775, 1.931,-2.455, PHS=-0.918,-1.008,-1.942, RAW= 34.6, 54.3, CAL= 33.0, 58.4, ROT= 117.0, -58.4
2025-08-22T21:46:30.542Z,1755899190.542 [DAT](INFO): DAT read: Bearing 42.1, 30.1 (Local)
2025-08-22T21:46:30.543Z,1755899190.543 [DAT](INFO): Local bearing/azimuth received:
Bearing 42.1, 30.1 (Local)
2025-08-22T21:46:30.544Z,1755899190.544 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:30.545Z,1755899190.545 [DAT](INFO): DAT read: user:2467>
2025-08-22T21:46:30.546Z,1755899190.546 [DAT](INFO): DAT read: Tx time:21:46:31.4845
2025-08-22T21:46:30.546Z,1755899190.546 [DAT](INFO): Ping request sent.
2025-08-22T21:46:30.546Z,1755899190.546 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:30.546Z,1755899190.546 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-22T21:46:30.547Z,1755899190.547 [DAT](INFO): direction in FSK: [-0.237885,0.466875,0.851727]
2025-08-22T21:46:30.548Z,1755899190.548 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:30.548Z,1755899190.548 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:30.551Z,1755899190.551 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:30.552Z,1755899190.552 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:30.565Z,1755899190.565 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.018898
2025-08-22T21:46:30.787Z,1755899190.787 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.240430
2025-08-22T21:46:31.038Z,1755899191.038 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.492291
2025-08-22T21:46:31.294Z,1755899191.294 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.746685
2025-08-22T21:46:31.355Z,1755899191.355 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022801335138,35.0, +10.2, 90.9, 0
2025-08-22T21:46:31.543Z,1755899191.543 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.996350
2025-08-22T21:46:31.797Z,1755899191.797 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.250333
2025-08-22T21:46:32.046Z,1755899192.046 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.500293
2025-08-22T21:46:32.301Z,1755899192.301 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.754484
2025-08-22T21:46:32.552Z,1755899192.552 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.005212
2025-08-22T21:46:32.803Z,1755899192.803 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.256453
2025-08-22T21:46:33.056Z,1755899193.056 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.509720
2025-08-22T21:46:33.309Z,1755899193.309 [DAT](INFO): DAT read: Rx Time:21:46:33.8910
2025-08-22T21:46:33.310Z,1755899193.310 [DAT](INFO): Rx dataTimestamp_ set to:1755899193.309538
2025-08-22T21:46:33.312Z,1755899193.312 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.765547
2025-08-22T21:46:33.560Z,1755899193.560 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.013798
2025-08-22T21:46:33.818Z,1755899193.818 [DAT](INFO): DAT read: 21:46:33.8910 LVL= 27264, 14609, 22642, 26227, AGC= 42, IDX= 436, 0.13, 1.841, 1.851, 1.005, 2.893, PHS=-0.950,-0.996,-1.932, RAW= 32.4, 55.0, CAL= 30.9, 58.9, ROT= 119.1, -58.9
2025-08-22T21:46:33.819Z,1755899193.819 [DAT](INFO): got valid direction response:
21:46:33.8910 LVL= 27264, 14609, 22642, 26227, AGC= 42, IDX= 436, 0.13, 1.841, 1.851, 1.005, 2.893, PHS=-0.950,-0.996,-1.932, RAW= 32.4, 55.0, CAL= 30.9, 58.9, ROT= 119.1, -58.9
2025-08-22T21:46:33.820Z,1755899193.820 [DAT](INFO): DAT read: Bearing 43.1, 28.8 (Local)
2025-08-22T21:46:33.820Z,1755899193.820 [DAT](INFO): Local bearing/azimuth received:
Bearing 43.1, 28.8 (Local)
2025-08-22T21:46:33.822Z,1755899193.822 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:33.822Z,1755899193.822 [DAT](INFO): DAT read: user:2468>
2025-08-22T21:46:33.823Z,1755899193.823 [DAT](INFO): DAT read: Tx time:21:46:34.9845
2025-08-22T21:46:33.823Z,1755899193.823 [DAT](INFO): Ping request sent.
2025-08-22T21:46:33.823Z,1755899193.823 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:33.824Z,1755899193.824 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-22T21:46:33.825Z,1755899193.825 [DAT](INFO): direction in FSK: [-0.251208,0.451332,0.856267]
2025-08-22T21:46:33.825Z,1755899193.825 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:33.825Z,1755899193.825 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:33.828Z,1755899193.828 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:33.828Z,1755899193.828 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:33.840Z,1755899193.840 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.016686
2025-08-22T21:46:34.063Z,1755899194.063 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.239661
2025-08-22T21:46:34.318Z,1755899194.318 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.493639
2025-08-22T21:46:34.568Z,1755899194.568 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.744386
2025-08-22T21:46:34.818Z,1755899194.818 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.994983
2025-08-22T21:46:35.072Z,1755899195.072 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.248300
2025-08-22T21:46:35.329Z,1755899195.329 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.504986
2025-08-22T21:46:35.578Z,1755899195.578 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.754985
2025-08-22T21:46:35.836Z,1755899195.836 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.012642
2025-08-22T21:46:36.083Z,1755899196.083 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.259114
2025-08-22T21:46:36.338Z,1755899196.338 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.514245
2025-08-22T21:46:36.587Z,1755899196.587 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.763174
2025-08-22T21:46:36.839Z,1755899196.839 [DAT](INFO): DAT read: Rx Time:21:46:37.3910
2025-08-22T21:46:36.839Z,1755899196.839 [DAT](INFO): Rx dataTimestamp_ set to:1755899196.838765
2025-08-22T21:46:36.840Z,1755899196.840 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.016187
2025-08-22T21:46:36.942Z,1755899196.942 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T21:46:37.093Z,1755899197.093 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.269801
2025-08-22T21:46:37.372Z,1755899197.372 [DAT](INFO): DAT read: 21:46:37.3910 LVL= 28112, 15057, 22050, 26771, AGC= 42, IDX= 436, 0.23, 1.176, 1.231, 0.396, 2.259, PHS=-0.981,-0.983,-1.906, RAW= 30.1, 56.0, CAL= 28.8, 59.7, ROT= 121.2, -59.7
2025-08-22T21:46:37.375Z,1755899197.375 [DAT](INFO): got valid direction response:
21:46:37.3910 LVL= 28112, 15057, 22050, 26771, AGC= 42, IDX= 436, 0.23, 1.176, 1.231, 0.396, 2.259, PHS=-0.981,-0.983,-1.906, RAW= 30.1, 56.0, CAL= 28.8, 59.7, ROT= 121.2, -59.7
2025-08-22T21:46:37.426Z,1755899197.426 [DAT](INFO): DAT read: Bearing 44.6, 27.6 (Local)
2025-08-22T21:46:37.426Z,1755899197.426 [DAT](INFO): Local bearing/azimuth received:
Bearing 44.6, 27.6 (Local)
2025-08-22T21:46:37.427Z,1755899197.427 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:37.428Z,1755899197.428 [DAT](INFO): DAT read: user:2469>
2025-08-22T21:46:37.429Z,1755899197.429 [DAT](INFO): DAT read: Tx time:21:46:38.4845
2025-08-22T21:46:37.429Z,1755899197.429 [DAT](INFO): Ping request sent.
2025-08-22T21:46:37.429Z,1755899197.429 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:37.450Z,1755899197.450 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-22T21:46:37.451Z,1755899197.451 [DAT](INFO): direction in FSK: [-0.261359,0.431555,0.863396]
2025-08-22T21:46:37.451Z,1755899197.451 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:37.451Z,1755899197.451 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:37.467Z,1755899197.467 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:37.467Z,1755899197.467 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:37.483Z,1755899197.483 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.053676
2025-08-22T21:46:37.599Z,1755899197.599 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.169595
2025-08-22T21:46:37.851Z,1755899197.851 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.421943
2025-08-22T21:46:37.946Z,1755899197.946 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T21:46:38.103Z,1755899198.103 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.673320
2025-08-22T21:46:38.358Z,1755899198.358 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.927963
2025-08-22T21:46:38.607Z,1755899198.607 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.177310
2025-08-22T21:46:38.858Z,1755899198.858 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.429259
2025-08-22T21:46:39.111Z,1755899199.111 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.681663
2025-08-22T21:46:39.364Z,1755899199.364 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.934120
2025-08-22T21:46:39.615Z,1755899199.615 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.185545
2025-08-22T21:46:39.867Z,1755899199.867 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.437447
2025-08-22T21:46:40.118Z,1755899200.118 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.689186
2025-08-22T21:46:40.371Z,1755899200.371 [DAT](INFO): DAT read: Rx Time:21:46:40.8910
2025-08-22T21:46:40.371Z,1755899200.371 [DAT](INFO): Rx dataTimestamp_ set to:1755899200.370776
2025-08-22T21:46:40.372Z,1755899200.372 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.942380
2025-08-22T21:46:40.623Z,1755899200.623 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.193404
2025-08-22T21:46:40.880Z,1755899200.880 [DAT](INFO): DAT read: 21:46:40.8910 LVL= 27008, 13537, 20210, 27811, AGC= 40, IDX= 436, 0.39,-0.531,-0.456,-1.270, 0.563, PHS=-0.992,-0.974,-1.876, RAW= 29.0, 56.7, CAL= 27.7, 60.4, ROT= 122.3, -60.4
2025-08-22T21:46:40.881Z,1755899200.881 [DAT](INFO): got valid direction response:
21:46:40.8910 LVL= 27008, 13537, 20210, 27811, AGC= 40, IDX= 436, 0.39,-0.531,-0.456,-1.270, 0.563, PHS=-0.992,-0.974,-1.876, RAW= 29.0, 56.7, CAL= 27.7, 60.4, ROT= 122.3, -60.4
2025-08-22T21:46:40.882Z,1755899200.882 [DAT](INFO): DAT read: Bearing 45.4, 26.8 (Local)
2025-08-22T21:46:40.883Z,1755899200.883 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.4, 26.8 (Local)
2025-08-22T21:46:40.884Z,1755899200.884 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:40.885Z,1755899200.885 [DAT](INFO): DAT read: user:2470>
2025-08-22T21:46:40.885Z,1755899200.885 [DAT](INFO): DAT read: Tx time:21:46:41.9845
2025-08-22T21:46:40.886Z,1755899200.886 [DAT](INFO): Ping request sent.
2025-08-22T21:46:40.886Z,1755899200.886 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:40.886Z,1755899200.886 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-22T21:46:40.887Z,1755899200.887 [DAT](INFO): direction in FSK: [-0.263939,0.417510,0.869495]
2025-08-22T21:46:40.887Z,1755899200.887 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:40.888Z,1755899200.888 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:40.891Z,1755899200.891 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:40.891Z,1755899200.891 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:40.894Z,1755899200.894 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.008661
2025-08-22T21:46:41.127Z,1755899201.127 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.240823
2025-08-22T21:46:41.379Z,1755899201.379 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.493147
2025-08-22T21:46:41.631Z,1755899201.631 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.744678
2025-08-22T21:46:41.883Z,1755899201.883 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.997376
2025-08-22T21:46:42.135Z,1755899202.135 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.248716
2025-08-22T21:46:42.387Z,1755899202.387 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.500717
2025-08-22T21:46:42.639Z,1755899202.639 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.752761
2025-08-22T21:46:42.891Z,1755899202.891 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.004698
2025-08-22T21:46:43.143Z,1755899203.143 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.257263
2025-08-22T21:46:43.394Z,1755899203.394 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.508613
2025-08-22T21:46:43.647Z,1755899203.647 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.760720
2025-08-22T21:46:43.899Z,1755899203.899 [DAT](INFO): DAT read: Rx Time:21:46:44.3910
2025-08-22T21:46:43.899Z,1755899203.899 [DAT](INFO): Rx dataTimestamp_ set to:1755899203.898693
2025-08-22T21:46:43.900Z,1755899203.900 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.013709
2025-08-22T21:46:44.150Z,1755899204.150 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.264647
2025-08-22T21:46:44.409Z,1755899204.409 [DAT](INFO): DAT read: 21:46:44.3910 LVL= 26000, 14753, 19954, 26595, AGC= 41, IDX= 437,-0.37, 2.843, 2.898, 2.096,-2.382, PHS=-0.956,-0.958,-1.849, RAW= 30.1, 56.2, CAL= 28.8, 59.9, ROT= 121.2, -59.9
2025-08-22T21:46:44.410Z,1755899204.410 [DAT](INFO): got valid direction response:
21:46:44.3910 LVL= 26000, 14753, 19954, 26595, AGC= 41, IDX= 437,-0.37, 2.843, 2.898, 2.096,-2.382, PHS=-0.956,-0.958,-1.849, RAW= 30.1, 56.2, CAL= 28.8, 59.9, ROT= 121.2, -59.9
2025-08-22T21:46:44.411Z,1755899204.411 [DAT](INFO): DAT read: Bearing 45.7, 27.2 (Local)
2025-08-22T21:46:44.411Z,1755899204.411 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.7, 27.2 (Local)
2025-08-22T21:46:44.412Z,1755899204.412 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:44.413Z,1755899204.413 [DAT](INFO): DAT read: user:2471>
2025-08-22T21:46:44.414Z,1755899204.414 [DAT](INFO): DAT read: Tx time:21:46:45.4845
2025-08-22T21:46:44.414Z,1755899204.414 [DAT](INFO): Ping request sent.
2025-08-22T21:46:44.414Z,1755899204.414 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:44.415Z,1755899204.415 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-22T21:46:44.416Z,1755899204.416 [DAT](INFO): direction in FSK: [-0.259796,0.428974,0.865151]
2025-08-22T21:46:44.416Z,1755899204.416 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:44.416Z,1755899204.416 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:44.420Z,1755899204.420 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:44.420Z,1755899204.420 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:44.491Z,1755899204.491 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.075929
2025-08-22T21:46:44.655Z,1755899204.655 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.240229
2025-08-22T21:46:44.907Z,1755899204.907 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.492121
2025-08-22T21:46:45.161Z,1755899205.161 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.745992
2025-08-22T21:46:45.411Z,1755899205.411 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.996152
2025-08-22T21:46:45.663Z,1755899205.663 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.248114
2025-08-22T21:46:45.915Z,1755899205.915 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.500108
2025-08-22T21:46:46.167Z,1755899206.167 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.752362
2025-08-22T21:46:46.418Z,1755899206.418 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.004064
2025-08-22T21:46:46.671Z,1755899206.671 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.256250
2025-08-22T21:46:46.922Z,1755899206.922 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.508082
2025-08-22T21:46:47.175Z,1755899207.175 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.760492
2025-08-22T21:46:47.427Z,1755899207.427 [DAT](INFO): DAT read: Rx Time:21:46:47.8909
2025-08-22T21:46:47.427Z,1755899207.427 [DAT](INFO): Rx dataTimestamp_ set to:1755899207.426914
2025-08-22T21:46:47.428Z,1755899207.428 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.013365
2025-08-22T21:46:47.678Z,1755899207.678 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.264044
2025-08-22T21:46:47.936Z,1755899207.936 [DAT](INFO): DAT read: 21:46:47.8909 LVL= 23712, 17025, 22002, 28707, AGC= 42, IDX= 437,-0.22, 1.819, 1.886, 1.101, 2.893, PHS=-0.972,-0.962,-1.835, RAW= 29.4, 56.9, CAL= 28.1, 60.6, ROT= 121.9, -60.6
2025-08-22T21:46:47.942Z,1755899207.942 [DAT](INFO): got valid direction response:
21:46:47.8909 LVL= 23712, 17025, 22002, 28707, AGC= 42, IDX= 437,-0.22, 1.819, 1.886, 1.101, 2.893, PHS=-0.972,-0.962,-1.835, RAW= 29.4, 56.9, CAL= 28.1, 60.6, ROT= 121.9, -60.6
2025-08-22T21:46:47.943Z,1755899207.943 [DAT](INFO): DAT read: Bearing 45.4, 26.8 (Local)
2025-08-22T21:46:47.944Z,1755899207.944 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.4, 26.8 (Local)
2025-08-22T21:46:47.946Z,1755899207.946 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:47.947Z,1755899207.947 [DAT](INFO): DAT read: user:2472>
2025-08-22T21:46:47.948Z,1755899207.948 [DAT](INFO): DAT read: Tx time:21:46:48.9844
2025-08-22T21:46:47.948Z,1755899207.948 [DAT](INFO): Ping request sent.
2025-08-22T21:46:47.948Z,1755899207.948 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:47.949Z,1755899207.949 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-22T21:46:47.963Z,1755899207.963 [DAT](INFO): direction in FSK: [-0.259412,0.416763,0.871214]
2025-08-22T21:46:47.963Z,1755899207.963 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:47.963Z,1755899207.963 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:47.973Z,1755899207.973 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:47.974Z,1755899207.974 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:47.977Z,1755899207.977 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.028666
2025-08-22T21:46:48.183Z,1755899208.183 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.234557
2025-08-22T21:46:48.435Z,1755899208.435 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.485991
2025-08-22T21:46:48.686Z,1755899208.686 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.737975
2025-08-22T21:46:48.939Z,1755899208.939 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.989994
2025-08-22T21:46:49.191Z,1755899209.191 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.242619
2025-08-22T21:46:49.442Z,1755899209.442 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.493951
2025-08-22T21:46:49.695Z,1755899209.695 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.746040
2025-08-22T21:46:49.946Z,1755899209.946 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.997899
2025-08-22T21:46:50.199Z,1755899210.199 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.249994
2025-08-22T21:46:50.451Z,1755899210.451 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.501984
2025-08-22T21:46:50.703Z,1755899210.703 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.754046
2025-08-22T21:46:50.955Z,1755899210.955 [DAT](INFO): DAT read: Rx Time:21:46:51.3909
2025-08-22T21:46:50.955Z,1755899210.955 [DAT](INFO): Rx dataTimestamp_ set to:1755899210.954704
2025-08-22T21:46:50.956Z,1755899210.956 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.007047
2025-08-22T21:46:51.207Z,1755899211.207 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.258055
2025-08-22T21:46:51.464Z,1755899211.464 [DAT](INFO): DAT read: 21:46:51.3909 LVL= 28496, 15265, 22338, 28147, AGC= 42, IDX= 436,-0.07, 0.030, 0.110,-0.686, 1.126, PHS=-0.994,-0.970,-1.855, RAW= 28.7, 57.1, CAL= 27.4, 60.7, ROT= 122.6, -60.7
26.2 (Loca50 (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:51.466Z,1755899211.466 [DAT](INFO): got valid direction response:
21:46:51.3909 LVL= 28496, 15265, 22338, 28147, AGC= 42, IDX= 436,-0.07, 0.030, 0.110,-0.686, 1.126, PHS=-0.994,-0.970,-1.855, RAW= 28.7, 57.1, CAL= 27.4, 60.7, ROT= 122.6, -60.7
26.2 (Loca50 (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:51.466Z,1755899211.466 [DAT](INFO): DAT read: user:2473>
2025-08-22T21:46:51.467Z,1755899211.467 [DAT](INFO): DAT read: Tx time:21:46:52.4844
2025-08-22T21:46:51.467Z,1755899211.467 [DAT](INFO): Ping request sent.
2025-08-22T21:46:51.467Z,1755899211.467 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:51.468Z,1755899211.468 [DAT](INFO): #Rx 33: Read direction message, but no range.
2025-08-22T21:46:51.468Z,1755899211.468 [DAT](INFO): direction in FSK: [-0.263665,0.412281,0.872069]
2025-08-22T21:46:51.469Z,1755899211.469 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:51.472Z,1755899211.472 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:51.475Z,1755899211.475 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.007632
2025-08-22T21:46:51.715Z,1755899211.715 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.247789
2025-08-22T21:46:51.967Z,1755899211.967 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.499447
2025-08-22T21:46:52.219Z,1755899212.219 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.751255
2025-08-22T21:46:52.470Z,1755899212.470 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.003249
2025-08-22T21:46:52.723Z,1755899212.723 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.255394
2025-08-22T21:46:52.974Z,1755899212.974 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.507245
2025-08-22T21:46:53.227Z,1755899213.227 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.759366
2025-08-22T21:46:53.479Z,1755899213.479 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.011318
2025-08-22T21:46:53.731Z,1755899213.731 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.263944
2025-08-22T21:46:53.983Z,1755899213.983 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.515355
2025-08-22T21:46:54.235Z,1755899214.235 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.767780
2025-08-22T21:46:54.486Z,1755899214.486 [DAT](INFO): DAT read: Rx Time:21:46:54.8909
2025-08-22T21:46:54.487Z,1755899214.487 [DAT](INFO): Rx dataTimestamp_ set to:1755899214.486680
2025-08-22T21:46:54.488Z,1755899214.488 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.020286
2025-08-22T21:46:54.738Z,1755899214.738 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.271204
2025-08-22T21:46:54.996Z,1755899214.996 [DAT](INFO): DAT read: 21:46:54.8909 LVL= 26144, 13809, 20338, 27763, AGC= 40, IDX= 436, 0.04,-0.151,-0.073,-0.890, 0.949, PHS=-0.997,-0.977,-1.883, RAW= 28.9, 56.7, CAL= 27.6, 60.4, ROT= 122.4, -60.4
2025-08-22T21:46:54.997Z,1755899214.997 [DAT](INFO): got valid direction response:
21:46:54.8909 LVL= 26144, 13809, 20338, 27763, AGC= 40, IDX= 436, 0.04,-0.151,-0.073,-0.890, 0.949, PHS=-0.997,-0.977,-1.883, RAW= 28.9, 56.7, CAL= 27.6, 60.4, ROT= 122.4, -60.4
2025-08-22T21:46:54.998Z,1755899214.998 [DAT](INFO): DAT read: Bearing 47.3, 26.6 (Local)
2025-08-22T21:46:54.999Z,1755899214.999 [DAT](INFO): Local bearing/azimuth received:
Bearing 47.3, 26.6 (Local)
2025-08-22T21:46:54.000Z,1755899215.000 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:55.001Z,1755899215.001 [DAT](INFO): DAT read: user:2474>
2025-08-22T21:46:55.001Z,1755899215.001 [DAT](INFO): DAT read: Tx time:21:46:55.9844
2025-08-22T21:46:55.002Z,1755899215.002 [DAT](INFO): Ping request sent.
2025-08-22T21:46:55.002Z,1755899215.002 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:55.002Z,1755899215.002 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-22T21:46:55.003Z,1755899215.003 [DAT](INFO): direction in FSK: [-0.264667,0.417049,0.869495]
2025-08-22T21:46:55.003Z,1755899215.003 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:55.003Z,1755899215.003 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:55.013Z,1755899215.013 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:55.015Z,1755899215.015 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:55.022Z,1755899215.022 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.019500
2025-08-22T21:46:55.243Z,1755899215.243 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.241438
2025-08-22T21:46:55.495Z,1755899215.495 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.492735
2025-08-22T21:46:55.747Z,1755899215.747 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.744760
2025-08-22T21:46:55.999Z,1755899215.999 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.997069
2025-08-22T21:46:56.251Z,1755899216.251 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.248985
2025-08-22T21:46:56.504Z,1755899216.504 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.501967
2025-08-22T21:46:56.755Z,1755899216.755 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.752809
2025-08-22T21:46:57.008Z,1755899217.008 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.005767
2025-08-22T21:46:57.259Z,1755899217.259 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.256775
2025-08-22T21:46:57.511Z,1755899217.511 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.509015
2025-08-22T21:46:57.763Z,1755899217.763 [DAT](INFO): DAT read: Rx Time:21:46:58.3909
2025-08-22T21:46:57.763Z,1755899217.763 [DAT](INFO): Rx dataTimestamp_ set to:1755899217.762712
2025-08-22T21:46:57.764Z,1755899217.764 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.761788
2025-08-22T21:46:58.016Z,1755899218.016 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.013770
2025-08-22T21:46:58.270Z,1755899218.270 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.267353
2025-08-22T21:46:58.528Z,1755899218.528 [DAT](INFO): DAT read: 21:46:58.3909 LVL= 25712, 15217, 19346, 26787, AGC= 42, IDX= 436, 0.14,-1.120,-1.057,-1.889,-0.041, PHS=-0.977,-0.971,-1.893, RAW= 29.7, 55.9, CAL= 28.4, 59.7, ROT= 121.6, -59.7
2025-08-22T21:46:58.530Z,1755899218.530 [DAT](INFO): got valid direction response:
21:46:58.3909 LVL= 25712, 15217, 19346, 26787, AGC= 42, IDX= 436, 0.14,-1.120,-1.057,-1.889,-0.041, PHS=-0.977,-0.971,-1.893, RAW= 29.7, 55.9, CAL= 28.4, 59.7, ROT= 121.6, -59.7
2025-08-22T21:46:58.531Z,1755899218.531 [DAT](INFO): DAT read: Bearing 47.3, 27.4 (Local)
2025-08-22T21:46:58.532Z,1755899218.532 [DAT](INFO): Local bearing/azimuth received:
Bearing 47.3, 27.4 (Local)
2025-08-22T21:46:58.533Z,1755899218.533 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:46:58.539Z,1755899218.539 [DAT](INFO): DAT read: user:2475>
2025-08-22T21:46:58.540Z,1755899218.540 [DAT](INFO): DAT read: Tx time:21:46:59.4844
2025-08-22T21:46:58.540Z,1755899218.540 [DAT](INFO): Ping request sent.
2025-08-22T21:46:58.540Z,1755899218.540 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:46:58.540Z,1755899218.540 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-22T21:46:58.542Z,1755899218.542 [DAT](INFO): direction in FSK: [-0.264365,0.429720,0.863396]
2025-08-22T21:46:58.542Z,1755899218.542 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:58.543Z,1755899218.543 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:58.546Z,1755899218.546 [DAT](INFO): publishing transmit ping time
2025-08-22T21:46:58.546Z,1755899218.546 [DAT](INFO): publishing direction and range info
2025-08-22T21:46:58.549Z,1755899218.549 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.009014
2025-08-22T21:46:58.770Z,1755899218.770 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.230377
2025-08-22T21:46:59.023Z,1755899219.023 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.483171
2025-08-22T21:46:59.275Z,1755899219.275 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.734481
2025-08-22T21:46:59.529Z,1755899219.529 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.988890
2025-08-22T21:46:59.778Z,1755899219.778 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.238440
2025-08-22T21:47:00.031Z,1755899220.031 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.490563
2025-08-22T21:47:00.283Z,1755899220.283 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.742489
2025-08-22T21:47:00.534Z,1755899220.534 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.994451
2025-08-22T21:47:00.787Z,1755899220.787 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.246528
2025-08-22T21:47:01.039Z,1755899221.039 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.498536
2025-08-22T21:47:01.291Z,1755899221.291 [DAT](INFO): DAT read: Rx Time:21:47:01.8909
2025-08-22T21:47:01.291Z,1755899221.291 [DAT](INFO): Rx dataTimestamp_ set to:1755899221.290721
2025-08-22T21:47:01.292Z,1755899221.292 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.751875
2025-08-22T21:47:01.543Z,1755899221.543 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.002477
2025-08-22T21:47:01.811Z,1755899221.811 [DAT](INFO): DAT read: 21:47:01.8909 LVL= 25584, 14561, 20018, 26867, AGC= 41, IDX= 436, 0.28,-2.154,-2.104,-2.943,-1.077, PHS=-0.974,-0.982,-1.910, RAW= 30.4, 55.7, CAL= 29.0, 59.5, ROT= 121.0, -59.5
2025-08-22T21:47:01.812Z,1755899221.812 [DAT](INFO): got valid direction response:
21:47:01.8909 LVL= 25584, 14561, 20018, 26867, AGC= 41, IDX= 436, 0.28,-2.154,-2.104,-2.943,-1.077, PHS=-0.974,-0.982,-1.910, RAW= 30.4, 55.7, CAL= 29.0, 59.5, ROT= 121.0, -59.5
2025-08-22T21:47:01.813Z,1755899221.813 [DAT](INFO): DAT read: Bearing 47.0, 27.5 (Local)
2025-08-22T21:47:01.813Z,1755899221.813 [DAT](INFO): Local bearing/azimuth received:
Bearing 47.0, 27.5 (Local)
2025-08-22T21:47:01.815Z,1755899221.815 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:47:01.819Z,1755899221.819 [DAT](INFO): DAT read: user:2476>
2025-08-22T21:47:01.846Z,1755899221.846 [DAT](INFO): DAT read: Tx time:21:47:02.9844
2025-08-22T21:47:01.846Z,1755899221.846 [DAT](INFO): Ping request sent.
2025-08-22T21:47:01.846Z,1755899221.846 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:47:01.847Z,1755899221.847 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-22T21:47:01.848Z,1755899221.848 [DAT](INFO): direction in FSK: [-0.261402,0.435045,0.861629]
2025-08-22T21:47:01.848Z,1755899221.848 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:01.848Z,1755899221.848 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:01.874Z,1755899221.874 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:01.874Z,1755899221.874 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:01.886Z,1755899221.886 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.039469
2025-08-22T21:47:02.047Z,1755899222.047 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.200319
2025-08-22T21:47:02.299Z,1755899222.299 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.452440
2025-08-22T21:47:02.551Z,1755899222.551 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.704337
2025-08-22T21:47:02.803Z,1755899222.803 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.956610
2025-08-22T21:47:03.055Z,1755899223.055 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.208239
2025-08-22T21:47:03.308Z,1755899223.308 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.461734
2025-08-22T21:47:03.558Z,1755899223.558 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.712159
2025-08-22T21:47:03.811Z,1755899223.811 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.964516
2025-08-22T21:47:04.075Z,1755899224.075 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.228300
2025-08-22T21:47:04.323Z,1755899224.323 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.476251
2025-08-22T21:47:04.575Z,1755899224.575 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.728266
2025-08-22T21:47:04.827Z,1755899224.827 [DAT](INFO): DAT read: Rx Time:21:47:05.3908
2025-08-22T21:47:04.827Z,1755899224.827 [DAT](INFO): Rx dataTimestamp_ set to:1755899224.826693
2025-08-22T21:47:04.828Z,1755899224.828 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.981279
2025-08-22T21:47:05.079Z,1755899225.079 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.232295
2025-08-22T21:47:05.336Z,1755899225.336 [DAT](INFO): DAT read: 21:47:05.3908 LVL= 25840, 14833, 19586, 26963, AGC= 41, IDX= 436, 0.44, 2.144, 2.211, 1.388,-3.059, PHS=-0.979,-0.969,-1.880, RAW= 29.5, 56.2, CAL= 28.1, 59.9, ROT= 121.9, -59.9
2025-08-22T21:47:05.337Z,1755899225.337 [DAT](INFO): got valid direction response:
21:47:05.3908 LVL= 25840, 14833, 19586, 26963, AGC= 41, IDX= 436, 0.44, 2.144, 2.211, 1.388,-3.059, PHS=-0.979,-0.969,-1.880, RAW= 29.5, 56.2, CAL= 28.1, 59.9, ROT= 121.9, -59.9
2025-08-22T21:47:05.338Z,1755899225.338 [DAT](INFO): DAT read: Bearing 48.2, 26.9 (Local)
2025-08-22T21:47:05.338Z,1755899225.338 [DAT](INFO): Local bearing/azimuth received:
Bearing 48.2, 26.9 (Local)
2025-08-22T21:47:05.340Z,1755899225.340 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:47:05.340Z,1755899225.340 [DAT](INFO): DAT read: user:2477>
2025-08-22T21:47:05.341Z,1755899225.341 [DAT](INFO): DAT read: Tx time:21:47:06.4843
2025-08-22T21:47:05.341Z,1755899225.341 [DAT](INFO): Ping request sent.
2025-08-22T21:47:05.342Z,1755899225.342 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:47:05.342Z,1755899225.342 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-22T21:47:05.343Z,1755899225.343 [DAT](INFO): direction in FSK: [-0.265017,0.425768,0.865151]
2025-08-22T21:47:05.343Z,1755899225.343 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:05.343Z,1755899225.343 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:05.347Z,1755899225.347 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:05.347Z,1755899225.347 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:05.350Z,1755899225.350 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.008506
2025-08-22T21:47:05.583Z,1755899225.583 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.240896
2025-08-22T21:47:05.835Z,1755899225.835 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.493856
2025-08-22T21:47:06.087Z,1755899226.087 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.744957
2025-08-22T21:47:06.339Z,1755899226.339 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.996893
2025-08-22T21:47:06.591Z,1755899226.591 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.248956
2025-08-22T21:47:06.844Z,1755899226.844 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.502575
2025-08-22T21:47:07.094Z,1755899227.094 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.752886
2025-08-22T21:47:07.347Z,1755899227.347 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.005063
2025-08-22T21:47:07.599Z,1755899227.599 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.256907
2025-08-22T21:47:07.853Z,1755899227.853 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.511050
2025-08-22T21:47:08.103Z,1755899228.103 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.760936
2025-08-22T21:47:08.354Z,1755899228.355 [DAT](INFO): DAT read: Rx Time:21:47:08.8908
2025-08-22T21:47:08.355Z,1755899228.355 [DAT](INFO): Rx dataTimestamp_ set to:1755899228.354687
2025-08-22T21:47:08.356Z,1755899228.356 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.013923
2025-08-22T21:47:08.608Z,1755899228.608 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.266005
2025-08-22T21:47:08.869Z,1755899228.869 [DAT](INFO): DAT read: 21:47:08.8908 LVL= 25792, 14369, 20210, 27747, AGC= 41, IDX= 437,-0.37,-0.308,-0.268,-1.077, 0.743, PHS=-0.949,-0.966,-1.864, RAW= 30.9, 55.8, CAL= 29.5, 59.6, ROT= 120.5, -59.6
2025-08-22T21:47:08.870Z,1755899228.870 [DAT](INFO): got valid direction response:
21:47:08.8908 LVL= 25792, 14369, 20210, 27747, AGC= 41, IDX= 437,-0.37,-0.308,-0.268,-1.077, 0.743, PHS=-0.949,-0.966,-1.864, RAW= 30.9, 55.8, CAL= 29.5, 59.6, ROT= 120.5, -59.6
2025-08-22T21:47:08.871Z,1755899228.871 [DAT](INFO): DAT read: Bearing 49.7, 27.9 (Local)
2025-08-22T21:47:08.872Z,1755899228.872 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.7, 27.9 (Local)
2025-08-22T21:47:08.873Z,1755899228.873 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:47:08.874Z,1755899228.874 [DAT](INFO): DAT read: user:2478>
2025-08-22T21:47:08.875Z,1755899228.875 [DAT](INFO): DAT read: Tx time:21:47:09.9843
2025-08-22T21:47:08.875Z,1755899228.875 [DAT](INFO): Ping request sent.
2025-08-22T21:47:08.875Z,1755899228.875 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:47:08.875Z,1755899228.875 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-22T21:47:08.876Z,1755899228.876 [DAT](INFO): direction in FSK: [-0.256832,0.436013,0.862514]
2025-08-22T21:47:08.876Z,1755899228.876 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:08.877Z,1755899228.877 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:08.880Z,1755899228.880 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:08.880Z,1755899228.880 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:08.895Z,1755899228.895 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.020533
2025-08-22T21:47:09.111Z,1755899229.111 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.235993
2025-08-22T21:47:09.363Z,1755899229.363 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.488055
2025-08-22T21:47:09.615Z,1755899229.615 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.739597
2025-08-22T21:47:09.869Z,1755899229.869 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.993577
2025-08-22T21:47:10.119Z,1755899230.119 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.243634
2025-08-22T21:47:10.371Z,1755899230.371 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.495605
2025-08-22T21:47:10.623Z,1755899230.623 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.747814
2025-08-22T21:47:10.877Z,1755899230.877 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.001316
2025-08-22T21:47:11.127Z,1755899231.127 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.251778
2025-08-22T21:47:11.380Z,1755899231.380 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.504613
2025-08-22T21:47:11.631Z,1755899231.631 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.755585
2025-08-22T21:47:11.893Z,1755899231.893 [DAT](INFO): DAT read: Rx Time:21:47:12.3908
2025-08-22T21:47:11.894Z,1755899231.894 [DAT](INFO): Rx dataTimestamp_ set to:1755899231.893151
2025-08-22T21:47:11.896Z,1755899231.896 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.020694
2025-08-22T21:47:12.143Z,1755899232.143 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.267674
2025-08-22T21:47:12.400Z,1755899232.400 [DAT](INFO): DAT read: 21:47:12.3908 LVL= 25984, 14817, 24866, 26227, AGC= 40, IDX= 437,-0.23,-1.482,-1.448,-2.249,-0.440, PHS=-0.940,-0.964,-1.853, RAW= 31.3, 55.8, CAL= 29.9, 59.6, ROT= 120.1, -59.6
2025-08-22T21:47:12.401Z,1755899232.401 [DAT](INFO): got valid direction response:
21:47:12.3908 LVL= 25984, 14817, 24866, 26227, AGC= 40, IDX= 437,-0.23,-1.482,-1.448,-2.249,-0.440, PHS=-0.940,-0.964,-1.853, RAW= 31.3, 55.8, CAL= 29.9, 59.6, ROT= 120.1, -59.6
2025-08-22T21:47:12.402Z,1755899232.402 [DAT](INFO): DAT read: Bearing 48.7, 28.1 (Local)
2025-08-22T21:47:12.402Z,1755899232.402 [DAT](INFO): Local bearing/azimuth received:
Bearing 48.7, 28.1 (Local)
2025-08-22T21:47:12.404Z,1755899232.404 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:47:12.404Z,1755899232.404 [DAT](INFO): DAT read: user:2479>
2025-08-22T21:47:12.405Z,1755899232.405 [DAT](INFO): DAT read: Tx time:21:47:13.4843
2025-08-22T21:47:12.406Z,1755899232.406 [DAT](INFO): Ping request sent.
2025-08-22T21:47:12.406Z,1755899232.406 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:47:12.406Z,1755899232.406 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-22T21:47:12.407Z,1755899232.407 [DAT](INFO): direction in FSK: [-0.253781,0.437796,0.862514]
2025-08-22T21:47:12.407Z,1755899232.407 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:12.407Z,1755899232.407 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:12.421Z,1755899232.421 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:12.421Z,1755899232.421 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:12.433Z,1755899232.433 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.027209
2025-08-22T21:47:12.648Z,1755899232.648 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.242149
2025-08-22T21:47:12.901Z,1755899232.901 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.494551
2025-08-22T21:47:13.151Z,1755899233.151 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.745065
2025-08-22T21:47:13.404Z,1755899233.404 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.997972
2025-08-22T21:47:13.655Z,1755899233.655 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.248906
2025-08-22T21:47:13.742Z,1755899233.742 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-22T21:47:13.743Z,1755899233.743 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-22T21:47:13.754Z,1755899233.754 [DockingStepper](INFO): Changing to mode: 4
2025-08-22T21:47:13.909Z,1755899233.909 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.502823
2025-08-22T21:47:14.159Z,1755899234.159 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.753512
2025-08-22T21:47:14.411Z,1755899234.411 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.004912
2025-08-22T21:47:14.663Z,1755899234.663 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.256791
2025-08-22T21:47:14.917Z,1755899234.917 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.510945
2025-08-22T21:47:15.167Z,1755899235.167 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.761166
2025-08-22T21:47:15.419Z,1755899235.419 [DAT](INFO): DAT read: Rx Time:21:47:15.8908
2025-08-22T21:47:15.419Z,1755899235.419 [DAT](INFO): Rx dataTimestamp_ set to:1755899235.418765
2025-08-22T21:47:15.420Z,1755899235.420 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.013894
2025-08-22T21:47:15.671Z,1755899235.671 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.264831
2025-08-22T21:47:15.946Z,1755899235.946 [DAT](INFO): DAT read: 21:47:15.8908 LVL= 29504, 14881, 21666, 28019, AGC= 43, IDX= 436,-0.12, 2.604, 2.447, 1.428,-2.713, PHS=-0.864,-1.079,-2.186, RAW= 38.7, 49.9, CAL= 36.9, 54.6, ROT= 113.1, -54.6
2025-08-22T21:47:15.949Z,1755899235.949 [DAT](INFO): got valid direction response:
21:47:15.8908 LVL= 29504, 14881, 21666, 28019, AGC= 43, IDX= 436,-0.12, 2.604, 2.447, 1.428,-2.713, PHS=-0.864,-1.079,-2.186, RAW= 38.7, 49.9, CAL= 36.9, 54.6, ROT= 113.1, -54.6
2025-08-22T21:47:15.952Z,1755899235.952 [DAT](INFO): DAT read: Bearing 45.4, 36.4 (Local)
2025-08-22T21:47:15.955Z,1755899235.955 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.4, 36.4 (Local)
2025-08-22T21:47:15.962Z,1755899235.962 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-08-22T21:47:15.965Z,1755899235.965 [DAT](INFO): DAT read: user:2480>
2025-08-22T21:47:15.969Z,1755899235.969 [DAT](INFO): DAT read: Tx time:21:47:16.9843
2025-08-22T21:47:15.970Z,1755899235.970 [DAT](INFO): Ping request sent.
2025-08-22T21:47:15.971Z,1755899235.971 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:47:15.972Z,1755899235.972 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-22T21:47:15.988Z,1755899235.988 [DAT](INFO): direction in FSK: [-0.227273,0.532835,0.815128]
2025-08-22T21:47:16.022Z,1755899236.022 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:16.022Z,1755899236.022 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:16.050Z,1755899236.050 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:16.050Z,1755899236.050 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:16.073Z,1755899236.073 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.102471
2025-08-22T21:47:16.175Z,1755899236.175 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.204816
2025-08-22T21:47:16.427Z,1755899236.427 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.456284
2025-08-22T21:47:16.679Z,1755899236.679 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.708609
2025-08-22T21:47:16.933Z,1755899236.933 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.962400
2025-08-22T21:47:17.184Z,1755899237.184 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.213161
2025-08-22T21:47:17.437Z,1755899237.437 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.466696
2025-08-22T21:47:17.687Z,1755899237.687 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.716477
2025-08-22T21:47:17.939Z,1755899237.939 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.968996
2025-08-22T21:47:18.191Z,1755899238.191 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.220865
2025-08-22T21:47:18.443Z,1755899238.443 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.472223
2025-08-22T21:47:18.695Z,1755899238.695 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.724256
2025-08-22T21:47:18.947Z,1755899238.947 [DAT](INFO): DAT read: Rx Time:21:47:19.3909
2025-08-22T21:47:18.947Z,1755899238.947 [DAT](INFO): Rx dataTimestamp_ set to:1755899238.946693
2025-08-22T21:47:18.949Z,1755899238.949 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.978233
2025-08-22T21:47:19.199Z,1755899239.199 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.228944
2025-08-22T21:47:19.456Z,1755899239.456 [DAT](INFO): DAT read: 21:47:19.3909 LVL= 26432, 14769, 24290, 24563, AGC= 42, IDX= 437, 0.03,-2.026,-2.240, 2.967,-1.092, PHS=-0.832,-1.103,-2.268, RAW= 40.2, 48.4, CAL= 38.3, 53.2, ROT= 111.7, -53.2
2025-08-22T21:47:19.458Z,1755899239.458 [DAT](INFO): got valid direction response:
21:47:19.3909 LVL= 26432, 14769, 24290, 24563, AGC= 42, IDX= 437, 0.03,-2.026,-2.240, 2.967,-1.092, PHS=-0.832,-1.103,-2.268, RAW= 40.2, 48.4, CAL= 38.3, 53.2, ROT= 111.7, -53.2
2025-08-22T21:47:19.460Z,1755899239.460 [DAT](INFO): DAT read: Bearing 46.6, 39.0 (Local)
2025-08-22T21:47:19.461Z,1755899239.461 [DAT](INFO): Local bearing/azimuth received:
Bearing 46.6, 39.0 (Local)
2025-08-22T21:47:19.463Z,1755899239.463 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s
2025-08-22T21:47:19.465Z,1755899239.465 [DAT](INFO): DAT read: user:2481>
2025-08-22T21:47:19.470Z,1755899239.470 [DAT](INFO): DAT read: Tx time:21:47:20.4842
2025-08-22T21:47:19.471Z,1755899239.471 [DAT](INFO): Ping request sent.
2025-08-22T21:47:19.471Z,1755899239.471 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:47:19.471Z,1755899239.471 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-22T21:47:19.474Z,1755899239.474 [DAT](INFO): direction in FSK: [-0.221487,0.556572,0.800731]
2025-08-22T21:47:19.474Z,1755899239.474 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:19.474Z,1755899239.474 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:19.490Z,1755899239.490 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:19.491Z,1755899239.491 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:19.504Z,1755899239.504 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.033137
2025-08-22T21:47:19.702Z,1755899239.702 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.231666
2025-08-22T21:47:19.955Z,1755899239.955 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.484223
2025-08-22T21:47:20.207Z,1755899240.207 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.735812
2025-08-22T21:47:20.460Z,1755899240.460 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.988769
2025-08-22T21:47:20.711Z,1755899240.711 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.240124
2025-08-22T21:47:20.966Z,1755899240.966 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.494528
2025-08-22T21:47:21.215Z,1755899241.215 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.743736
2025-08-22T21:47:21.488Z,1755899241.488 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.017044
2025-08-22T21:47:21.739Z,1755899241.739 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.267730
2025-08-22T21:47:21.991Z,1755899241.991 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.519816
2025-08-22T21:47:22.243Z,1755899242.243 [DAT](INFO): DAT read: Rx Time:21:47:22.8906
2025-08-22T21:47:22.243Z,1755899242.243 [DAT](INFO): Rx dataTimestamp_ set to:1755899242.242772
2025-08-22T21:47:22.244Z,1755899242.244 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.772813
2025-08-22T21:47:22.495Z,1755899242.495 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.023736
2025-08-22T21:47:22.747Z,1755899242.747 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.275679
2025-08-22T21:47:23.004Z,1755899243.004 [DAT](INFO): DAT read: 21:47:22.8906 LVL= 22000, 9105, 22594, 27875, AGC= 41, IDX= 436,-0.20, 2.393, 2.286, 1.134,-3.021, PHS=-0.767,-0.931,-2.172, RAW= 36.1, 45.8, CAL= 34.2, 50.8, ROT= 115.8, -50.8
2025-08-22T21:47:23.005Z,1755899243.005 [DAT](INFO): got valid direction response:
21:47:22.8906 LVL= 22000, 9105, 22594, 27875, AGC= 41, IDX= 436,-0.20, 2.393, 2.286, 1.134,-3.021, PHS=-0.767,-0.931,-2.172, RAW= 36.1, 45.8, CAL= 34.2, 50.8, ROT= 115.8, -50.8
2025-08-22T21:47:23.012Z,1755899243.012 [DAT](INFO): DAT read: Bearing 55.9, 39.8 (Local)
2025-08-22T21:47:23.013Z,1755899243.013 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.9, 39.8 (Local)
2025-08-22T21:47:23.027Z,1755899243.027 [DAT](INFO): DAT read: Range 11 to 50 : 1.6 m (Round-trip 2.2 ms) speed 0.0 m/s
2025-08-22T21:47:23.058Z,1755899243.058 [DAT](INFO): DAT read: user:2482>
2025-08-22T21:47:23.060Z,1755899243.060 [DAT](INFO): DAT read: Tx time:21:47:23.9842
2025-08-22T21:47:23.061Z,1755899243.061 [DAT](INFO): Ping request sent.
2025-08-22T21:47:23.061Z,1755899243.061 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:47:23.082Z,1755899243.082 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-22T21:47:23.083Z,1755899243.083 [DAT](INFO): direction in FSK: [-0.275079,0.569028,0.774944]
2025-08-22T21:47:23.083Z,1755899243.083 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:23.084Z,1755899243.084 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:23.095Z,1755899243.095 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:23.095Z,1755899243.095 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:23.107Z,1755899243.107 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.046035
2025-08-22T21:47:23.251Z,1755899243.251 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.189991
2025-08-22T21:47:23.503Z,1755899243.503 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.441703
2025-08-22T21:47:23.754Z,1755899243.754 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.693593
2025-08-22T21:47:24.007Z,1755899244.007 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.945709
2025-08-22T21:47:24.259Z,1755899244.259 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.197697
2025-08-22T21:47:24.510Z,1755899244.510 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.449606
2025-08-22T21:47:24.763Z,1755899244.763 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.701790
2025-08-22T21:47:25.014Z,1755899245.014 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.953634
2025-08-22T21:47:25.267Z,1755899245.267 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.206390
2025-08-22T21:47:25.519Z,1755899245.519 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.458096
2025-08-22T21:47:25.770Z,1755899245.770 [DAT](INFO): DAT read: Rx Time:21:47:26.3905
2025-08-22T21:47:25.771Z,1755899245.771 [DAT](INFO): Rx dataTimestamp_ set to:1755899245.770677
2025-08-22T21:47:25.771Z,1755899245.771 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.710680
2025-08-22T21:47:26.023Z,1755899246.023 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.961698
2025-08-22T21:47:26.278Z,1755899246.278 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.216330
2025-08-22T21:47:26.532Z,1755899246.532 [DAT](INFO): DAT read: 21:47:26.3905 LVL= 18320, 12273, 21538, 27827, AGC= 40, IDX= 434, 0.40,-3.098,-2.874, 1.974,-2.400, PHS=-0.596,-0.428,-1.953, RAW= 24.3, 36.0, CAL= 22.4, 42.0, ROT= 127.6, -42.0
2025-08-22T21:47:26.533Z,1755899246.533 [DAT](INFO): got valid direction response:
21:47:26.3905 LVL= 18320, 12273, 21538, 27827, AGC= 40, IDX= 434, 0.40,-3.098,-2.874, 1.974,-2.400, PHS=-0.596,-0.428,-1.953, RAW= 24.3, 36.0, CAL= 22.4, 42.0, ROT= 127.6, -42.0
2025-08-22T21:47:26.534Z,1755899246.534 [DAT](INFO): DAT read: Bearing 72.0, 38.3 (Local)
2025-08-22T21:47:26.534Z,1755899246.534 [DAT](INFO): Local bearing/azimuth received:
Bearing 72.0, 38.3 (Local)
2025-08-22T21:47:26.536Z,1755899246.536 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (Round-trip 2.1 ms) speed 0.0 m/s
2025-08-22T21:47:26.536Z,1755899246.536 [DAT](INFO): DAT read: user:2483>
2025-08-22T21:47:26.537Z,1755899246.537 [DAT](INFO): DAT read: Tx time:21:47:27.4842
2025-08-22T21:47:26.537Z,1755899246.537 [DAT](INFO): Ping request sent.
2025-08-22T21:47:26.538Z,1755899246.538 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:47:26.538Z,1755899246.538 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-22T21:47:26.539Z,1755899246.539 [DAT](INFO): direction in FSK: [-0.453426,0.588786,0.669131]
2025-08-22T21:47:26.539Z,1755899246.539 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:26.539Z,1755899246.539 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:26.543Z,1755899246.543 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:26.543Z,1755899246.543 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:26.575Z,1755899246.575 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.037432
2025-08-22T21:47:26.779Z,1755899246.779 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.241412
2025-08-22T21:47:27.031Z,1755899247.031 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.492947
2025-08-22T21:47:27.283Z,1755899247.283 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.745254
2025-08-22T21:47:27.535Z,1755899247.535 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.996943
2025-08-22T21:47:27.787Z,1755899247.787 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.248913
2025-08-22T21:47:28.039Z,1755899248.039 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.500868
2025-08-22T21:47:28.291Z,1755899248.291 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.752952
2025-08-22T21:47:28.542Z,1755899248.542 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.004861
2025-08-22T21:47:28.795Z,1755899248.795 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.257112
2025-08-22T21:47:29.048Z,1755899249.048 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.510414
2025-08-22T21:47:29.299Z,1755899249.299 [DAT](INFO): DAT read: Rx Time:21:47:29.8905
2025-08-22T21:47:29.299Z,1755899249.299 [DAT](INFO): Rx dataTimestamp_ set to:1755899249.298752
2025-08-22T21:47:29.300Z,1755899249.300 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.761963
2025-08-22T21:47:29.550Z,1755899249.550 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.012839
2025-08-22T21:47:29.818Z,1755899249.818 [DAT](INFO): DAT read: 21:47:29.8905 LVL= 18096, 10897, 21330, 22771, AGC= 40, IDX= 435,-0.46,-0.036,-0.173,-1.315, 1.052, PHS=-0.987,-1.181,-2.411, RAW= 37.2, 50.4, CAL= 35.5, 55.0, ROT= 114.5, -55.0
2025-08-22T21:47:29.819Z,1755899249.819 [DAT](INFO): got valid direction response:
21:47:29.8905 LVL= 18096, 10897, 21330, 22771, AGC= 40, IDX= 435,-0.46,-0.036,-0.173,-1.315, 1.052, PHS=-0.987,-1.181,-2.411, RAW= 37.2, 50.4, CAL= 35.5, 55.0, ROT= 114.5, -55.0
2025-08-22T21:47:29.820Z,1755899249.820 [DAT](INFO): DAT read: Bearing 49.6, 36.3 (Local)
2025-08-22T21:47:29.820Z,1755899249.820 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.6, 36.3 (Local)
2025-08-22T21:47:29.822Z,1755899249.822 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (Round-trip 2.1 ms) speed 0.0 m/s
2025-08-22T21:47:29.823Z,1755899249.823 [DAT](INFO): DAT read: user:2484>
2025-08-22T21:47:29.823Z,1755899249.823 [DAT](INFO): DAT read: Tx time:21:47:30.9842
2025-08-22T21:47:29.824Z,1755899249.824 [DAT](INFO): Ping request sent.
2025-08-22T21:47:29.824Z,1755899249.824 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:47:29.824Z,1755899249.824 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-22T21:47:29.825Z,1755899249.825 [DAT](INFO): direction in FSK: [-0.237858,0.521932,0.819152]
2025-08-22T21:47:29.825Z,1755899249.825 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:29.826Z,1755899249.826 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:29.829Z,1755899249.829 [DAT](INFO): publishing transmit ping time
2025-08-22T21:47:29.829Z,1755899249.829 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:29.832Z,1755899249.832 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.008583
2025-08-22T21:47:30.055Z,1755899250.055 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.231339
2025-08-22T21:47:30.306Z,1755899250.306 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.482710
2025-08-22T21:47:30.558Z,1755899250.558 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.734800
2025-08-22T21:47:30.811Z,1755899250.811 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.986928
2025-08-22T21:47:31.063Z,1755899251.063 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.238826
2025-08-22T21:47:31.315Z,1755899251.315 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.491348
2025-08-22T21:47:31.567Z,1755899251.567 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.742914
2025-08-22T21:47:31.819Z,1755899251.819 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.994941
2025-08-22T21:47:32.071Z,1755899252.071 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.246822
2025-08-22T21:47:32.324Z,1755899252.324 [DAT](INFO): DAT read: Rx Time:21:47:33.1155
2025-08-22T21:47:32.325Z,1755899252.325 [DAT](INFO): Rx dataTimestamp_ set to:1755899252.324274
2025-08-22T21:47:32.326Z,1755899252.326 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:32.326Z,1755899252.326 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-08-22T21:47:32.327Z,1755899252.327 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.503611
2025-08-22T21:47:32.574Z,1755899252.574 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.750785
2025-08-22T21:47:32.827Z,1755899252.827 [DAT](INFO): DAT read: Rx Time:21:47:33.6155
2025-08-22T21:47:32.828Z,1755899252.828 [DAT](INFO): Rx dataTimestamp_ set to:1755899252.827711
2025-08-22T21:47:32.830Z,1755899252.830 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:32.831Z,1755899252.831 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-08-22T21:47:32.832Z,1755899252.832 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.008088
2025-08-22T21:47:33.079Z,1755899253.079 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.254822
2025-08-22T21:47:33.331Z,1755899253.331 [DAT](INFO): DAT read: Rx Time:21:47:34.1154
2025-08-22T21:47:33.331Z,1755899253.331 [DAT](INFO): Rx dataTimestamp_ set to:1755899253.330832
2025-08-22T21:47:33.333Z,1755899253.333 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:33.335Z,1755899253.335 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-08-22T21:47:33.336Z,1755899253.336 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.512432
2025-08-22T21:47:33.583Z,1755899253.583 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.758831
2025-08-22T21:47:33.835Z,1755899253.835 [DAT](INFO): DAT read: Rx Time:21:47:34.6155
2025-08-22T21:47:33.835Z,1755899253.835 [DAT](INFO): Rx dataTimestamp_ set to:1755899253.834880
2025-08-22T21:47:33.836Z,1755899253.836 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:33.837Z,1755899253.837 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-08-22T21:47:33.838Z,1755899253.838 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.014213
2025-08-22T21:47:34.087Z,1755899254.087 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.263406
2025-08-22T21:47:34.339Z,1755899254.339 [DAT](INFO): DAT read: Rx Time:21:47:35.1154
2025-08-22T21:47:34.339Z,1755899254.339 [DAT](INFO): Rx dataTimestamp_ set to:1755899254.339201
2025-08-22T21:47:34.341Z,1755899254.341 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:34.341Z,1755899254.341 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-08-22T21:47:34.342Z,1755899254.342 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=4.518504
2025-08-22T21:47:34.591Z,1755899254.591 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=4.766889
2025-08-22T21:47:34.843Z,1755899254.843 [DAT](INFO): DAT read: Rx Time:21:47:35.6155
2025-08-22T21:47:34.844Z,1755899254.844 [DAT](INFO): Rx dataTimestamp_ set to:1755899254.843534
2025-08-22T21:47:34.846Z,1755899254.846 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:34.847Z,1755899254.847 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-08-22T21:47:34.848Z,1755899254.848 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=5.024028
2025-08-22T21:47:35.095Z,1755899255.095 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=5.270810
2025-08-22T21:47:35.347Z,1755899255.347 [DAT](INFO): DAT read: Rx Time:21:47:36.1154
2025-08-22T21:47:35.348Z,1755899255.348 [DAT](INFO): Rx dataTimestamp_ set to:1755899255.347764
2025-08-22T21:47:35.350Z,1755899255.350 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:35.351Z,1755899255.351 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-08-22T21:47:35.352Z,1755899255.352 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=5.528061
2025-08-22T21:47:35.599Z,1755899255.599 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=5.774910
2025-08-22T21:47:35.854Z,1755899255.854 [DAT](INFO): DAT read: Rx Time:21:47:36.6155
2025-08-22T21:47:35.855Z,1755899255.855 [DAT](INFO): Rx dataTimestamp_ set to:1755899255.854312
2025-08-22T21:47:35.856Z,1755899255.856 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:35.856Z,1755899255.856 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-08-22T21:47:35.857Z,1755899255.857 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=6.033498
2025-08-22T21:47:36.103Z,1755899256.103 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=6.279454
2025-08-22T21:47:36.355Z,1755899256.355 [DAT](INFO): DAT read: Rx Time:21:47:37.1154
2025-08-22T21:47:36.355Z,1755899256.355 [DAT](INFO): Rx dataTimestamp_ set to:1755899256.354916
2025-08-22T21:47:36.356Z,1755899256.356 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:36.357Z,1755899256.357 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-08-22T21:47:36.358Z,1755899256.358 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=6.534399
2025-08-22T21:47:36.607Z,1755899256.607 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=6.782908
2025-08-22T21:47:36.859Z,1755899256.859 [DAT](INFO): DAT read: Rx Time:21:47:37.6155
2025-08-22T21:47:36.859Z,1755899256.859 [DAT](INFO): Rx dataTimestamp_ set to:1755899256.859108
2025-08-22T21:47:36.860Z,1755899256.860 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:36.861Z,1755899256.861 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-08-22T21:47:36.866Z,1755899256.866 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=7.042206
2025-08-22T21:47:37.110Z,1755899257.110 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=7.286786
2025-08-22T21:47:37.364Z,1755899257.364 [DAT](INFO): DAT read: Rx Time:21:47:38.1154
2025-08-22T21:47:37.365Z,1755899257.365 [DAT](INFO): Rx dataTimestamp_ set to:1755899257.364236
2025-08-22T21:47:37.366Z,1755899257.366 [DAT](INFO): DAT read: Bearing 62.3, 31.3 (Local)
2025-08-22T21:47:37.367Z,1755899257.367 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.3, 31.3 (Local)
2025-08-22T21:47:37.370Z,1755899257.370 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:37.375Z,1755899257.375 [DAT](INFO): DAT read: 21:47:38.1154 LVL= 32752, 24145, 32738, 22563, AGC= 44, IDX= 498, 0.47,-1.551,-1.014,-2.608,-0.232, PHS=-1.217,-0.737,-2.420, RAW= 13.9, 45.8, CAL= 12.5, 50.6, ROT= 137.5, -50.6
2025-08-22T21:47:37.376Z,1755899257.376 [DAT](INFO): got valid direction response:
21:47:38.1154 LVL= 32752, 24145, 32738, 22563, AGC= 44, IDX= 498, 0.47,-1.551,-1.014,-2.608,-0.232, PHS=-1.217,-0.737,-2.420, RAW= 13.9, 45.8, CAL= 12.5, 50.6, ROT= 137.5, -50.6
2025-08-22T21:47:37.376Z,1755899257.376 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-22T21:47:37.377Z,1755899257.377 [DAT](INFO): direction in FSK: [-0.467972,0.428818,0.772734]
2025-08-22T21:47:37.379Z,1755899257.379 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:37.382Z,1755899257.382 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=7.558581
2025-08-22T21:47:37.615Z,1755899257.615 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=7.790902
2025-08-22T21:47:37.867Z,1755899257.867 [DAT](INFO): DAT read: Rx Time:21:47:38.6155
2025-08-22T21:47:37.867Z,1755899257.867 [DAT](INFO): Rx dataTimestamp_ set to:1755899257.867200
2025-08-22T21:47:37.869Z,1755899257.869 [DAT](INFO): DAT read: Bearing 63.6, 30.0 (Local)
2025-08-22T21:47:37.869Z,1755899257.869 [DAT](INFO): Local bearing/azimuth received:
Bearing 63.6, 30.0 (Local)
2025-08-22T21:47:37.871Z,1755899257.871 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:37.875Z,1755899257.875 [DAT](INFO): DAT read: 21:47:38.6155 LVL= 32736, 26705, 29266, 23379, AGC= 43, IDX= 500,-0.35,-1.545,-0.991,-2.442,-0.335, PHS=-1.108,-0.612,-2.151, RAW= 11.6, 45.2, CAL= 10.2, 50.0, ROT= 139.8, -50.0
2025-08-22T21:47:37.876Z,1755899257.876 [DAT](INFO): got valid direction response:
21:47:38.6155 LVL= 32736, 26705, 29266, 23379, AGC= 43, IDX= 500,-0.35,-1.545,-0.991,-2.442,-0.335, PHS=-1.108,-0.612,-2.151, RAW= 11.6, 45.2, CAL= 10.2, 50.0, ROT= 139.8, -50.0
2025-08-22T21:47:37.877Z,1755899257.877 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-22T21:47:37.878Z,1755899257.878 [DAT](INFO): direction in FSK: [-0.490959,0.414892,0.766044]
2025-08-22T21:47:37.878Z,1755899257.878 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:37.882Z,1755899257.882 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=8.058283
2025-08-22T21:47:38.119Z,1755899258.119 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=8.295453
2025-08-22T21:47:38.371Z,1755899258.371 [DAT](INFO): DAT read: Rx Time:21:47:39.1155
2025-08-22T21:47:38.372Z,1755899258.372 [DAT](INFO): Rx dataTimestamp_ set to:1755899258.371372
2025-08-22T21:47:38.373Z,1755899258.373 [DAT](INFO): DAT read: Bearing 65.7, 27.1 (Local)
2025-08-22T21:47:38.373Z,1755899258.373 [DAT](INFO): Local bearing/azimuth received:
Bearing 65.7, 27.1 (Local)
2025-08-22T21:47:38.375Z,1755899258.375 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:38.380Z,1755899258.380 [DAT](INFO): DAT read: 21:47:39.1155 LVL= 28464, 24705, 25778, 20579, AGC= 42, IDX= 499,-0.27,-1.946,-1.287,-2.697,-0.712, PHS=-1.132,-0.530,-2.029, RAW= 6.5, 45.0, CAL= 5.0, 49.6, ROT= 145.0, -49.6
2025-08-22T21:47:38.382Z,1755899258.382 [DAT](INFO): got valid direction response:
21:47:39.1155 LVL= 28464, 24705, 25778, 20579, AGC= 42, IDX= 499,-0.27,-1.946,-1.287,-2.697,-0.712, PHS=-1.132,-0.530,-2.029, RAW= 6.5, 45.0, CAL= 5.0, 49.6, ROT= 145.0, -49.6
2025-08-22T21:47:38.382Z,1755899258.382 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-22T21:47:38.383Z,1755899258.383 [DAT](INFO): direction in FSK: [-0.530909,0.371746,0.761538]
2025-08-22T21:47:38.383Z,1755899258.383 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:38.387Z,1755899258.387 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=8.563121
2025-08-22T21:47:38.624Z,1755899258.624 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=8.799834
2025-08-22T21:47:38.876Z,1755899258.876 [DAT](INFO): DAT read: Rx Time:21:47:39.6156
2025-08-22T21:47:38.876Z,1755899258.876 [DAT](INFO): Rx dataTimestamp_ set to:1755899258.875845
2025-08-22T21:47:38.878Z,1755899258.878 [DAT](INFO): DAT read: Bearing 68.6, 23.6 (Local)
2025-08-22T21:47:38.878Z,1755899258.878 [DAT](INFO): Local bearing/azimuth received:
Bearing 68.6, 23.6 (Local)
2025-08-22T21:47:38.880Z,1755899258.880 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:38.892Z,1755899258.892 [DAT](INFO): DAT read: 21:47:39.6156 LVL= 23536, 27377, 20962, 23827, AGC= 44, IDX= 500,-0.21, 0.008, 0.861,-0.647, 1.376, PHS=-1.266,-0.470,-2.066, RAW= 0.1, 44.2, CAL= 358.7, 48.8, ROT= 151.3, -48.8
2025-08-22T21:47:38.898Z,1755899258.898 [DAT](INFO): got valid direction response:
21:47:39.6156 LVL= 23536, 27377, 20962, 23827, AGC= 44, IDX= 500,-0.21, 0.008, 0.861,-0.647, 1.376, PHS=-1.266,-0.470,-2.066, RAW= 0.1, 44.2, CAL= 358.7, 48.8, ROT= 151.3, -48.8
2025-08-22T21:47:38.899Z,1755899258.899 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-22T21:47:38.901Z,1755899258.901 [DAT](INFO): direction in FSK: [-0.577767,0.316318,0.752415]
2025-08-22T21:47:38.901Z,1755899258.901 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:38.915Z,1755899258.915 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=9.091088
2025-08-22T21:47:39.127Z,1755899259.127 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=9.302873
2025-08-22T21:47:39.381Z,1755899259.381 [DAT](INFO): DAT read: Rx Time:21:47:40.1155
2025-08-22T21:47:39.381Z,1755899259.381 [DAT](INFO): Rx dataTimestamp_ set to:1755899259.381036
2025-08-22T21:47:39.383Z,1755899259.383 [DAT](INFO): DAT read: Bearing 70.0, 18.2 (Local)
2025-08-22T21:47:39.383Z,1755899259.383 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.0, 18.2 (Local)
2025-08-22T21:47:39.385Z,1755899259.385 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:39.395Z,1755899259.395 [DAT](INFO): DAT read: 21:47:40.1155 LVL= 23408, 26305, 25282, 25155, AGC= 42, IDX= 499,-0.15,-0.389, 0.621,-0.820, 1.110, PHS=-1.396,-0.444,-1.974, RAW= 351.9, 45.2, CAL= 350.6, 49.5, ROT= 159.4, -49.5
2025-08-22T21:47:39.396Z,1755899259.396 [DAT](INFO): got valid direction response:
21:47:40.1155 LVL= 23408, 26305, 25282, 25155, AGC= 42, IDX= 499,-0.15,-0.389, 0.621,-0.820, 1.110, PHS=-1.396,-0.444,-1.974, RAW= 351.9, 45.2, CAL= 350.6, 49.5, ROT= 159.4, -49.5
2025-08-22T21:47:39.396Z,1755899259.396 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-22T21:47:39.397Z,1755899259.397 [DAT](INFO): direction in FSK: [-0.607922,0.228503,0.760406]
2025-08-22T21:47:39.398Z,1755899259.398 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:39.401Z,1755899259.401 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=9.577483
2025-08-22T21:47:39.631Z,1755899259.631 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=9.806872
2025-08-22T21:47:39.883Z,1755899259.883 [DAT](INFO): DAT read: Rx Time:21:47:40.6155
2025-08-22T21:47:39.884Z,1755899259.884 [DAT](INFO): Rx dataTimestamp_ set to:1755899259.883282
2025-08-22T21:47:39.885Z,1755899259.885 [DAT](INFO): DAT read: Bearing 72.3, 14.9 (Local)
2025-08-22T21:47:39.885Z,1755899259.885 [DAT](INFO): Local bearing/azimuth received:
Bearing 72.3, 14.9 (Local)
2025-08-22T21:47:39.887Z,1755899259.887 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:39.896Z,1755899259.896 [DAT](INFO): DAT read: 21:47:40.6155 LVL= 22896, 28289, 25714, 25843, AGC= 42, IDX= 499,-0.06, 0.354, 1.567, 0.047, 1.996, PHS=-1.540,-0.384,-1.993, RAW= 345.9, 43.9, CAL= 344.7, 48.3, ROT= 165.3, -48.3
2025-08-22T21:47:39.897Z,1755899259.897 [DAT](INFO): got valid direction response:
21:47:40.6155 LVL= 22896, 28289, 25714, 25843, AGC= 42, IDX= 499,-0.06, 0.354, 1.567, 0.047, 1.996, PHS=-1.540,-0.384,-1.993, RAW= 345.9, 43.9, CAL= 344.7, 48.3, ROT= 165.3, -48.3
2025-08-22T21:47:39.897Z,1755899259.897 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-22T21:47:39.912Z,1755899259.912 [DAT](INFO): direction in FSK: [-0.643456,0.168807,0.746638]
2025-08-22T21:47:39.912Z,1755899259.912 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:39.927Z,1755899259.927 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=10.103090
2025-08-22T21:47:40.135Z,1755899260.135 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=10.311171
2025-08-22T21:47:40.387Z,1755899260.387 [DAT](INFO): DAT read: Rx Time:21:47:41.1155
2025-08-22T21:47:40.388Z,1755899260.388 [DAT](INFO): Rx dataTimestamp_ set to:1755899260.387355
2025-08-22T21:47:40.389Z,1755899260.389 [DAT](INFO): DAT read: Bearing 73.9, 15.3 (Local)
2025-08-22T21:47:40.389Z,1755899260.389 [DAT](INFO): Local bearing/azimuth received:
Bearing 73.9, 15.3 (Local)
2025-08-22T21:47:40.391Z,1755899260.391 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:40.396Z,1755899260.396 [DAT](INFO): DAT read: 21:47:41.1155 LVL= 21440, 26161, 23234, 24291, AGC= 42, IDX= 498, 0.06, 0.114, 1.420,-0.205, 1.786, PHS=-1.570,-0.321,-2.035, RAW= 345.2, 42.1, CAL= 344.0, 46.7, ROT= 166.0, -46.7
2025-08-22T21:47:40.397Z,1755899260.397 [DAT](INFO): got valid direction response:
21:47:41.1155 LVL= 21440, 26161, 23234, 24291, AGC= 42, IDX= 498, 0.06, 0.114, 1.420,-0.205, 1.786, PHS=-1.570,-0.321,-2.035, RAW= 345.2, 42.1, CAL= 344.0, 46.7, ROT= 166.0, -46.7
2025-08-22T21:47:40.397Z,1755899260.397 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-22T21:47:40.398Z,1755899260.398 [DAT](INFO): direction in FSK: [-0.665447,0.165914,0.727773]
2025-08-22T21:47:40.399Z,1755899260.399 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:40.402Z,1755899260.402 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=10.578502
2025-08-22T21:47:40.639Z,1755899260.639 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=10.814835
2025-08-22T21:47:40.892Z,1755899260.892 [DAT](INFO): DAT read: Rx Time:21:47:41.6156
2025-08-22T21:47:40.892Z,1755899260.892 [DAT](INFO): Rx dataTimestamp_ set to:1755899260.892036
2025-08-22T21:47:40.898Z,1755899260.898 [DAT](INFO): DAT read: Bearing 74.1, 14.4 (Local)
2025-08-22T21:47:40.898Z,1755899260.898 [DAT](INFO): Local bearing/azimuth received:
Bearing 74.1, 14.4 (Local)
2025-08-22T21:47:40.900Z,1755899260.900 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:40.919Z,1755899260.919 [DAT](INFO): DAT read: 21:47:41.6156 LVL= 22672, 29233, 25586, 28115, AGC= 42, IDX= 499, 0.16, 1.553, 2.884, 1.285,-3.053, PHS=-1.575,-0.301,-1.989, RAW= 343.6, 41.9, CAL= 342.4, 46.5, ROT= 167.6, -46.5
2025-08-22T21:47:40.923Z,1755899260.923 [DAT](INFO): got valid direction response:
21:47:41.6156 LVL= 22672, 29233, 25586, 28115, AGC= 42, IDX= 499, 0.16, 1.553, 2.884, 1.285,-3.053, PHS=-1.575,-0.301,-1.989, RAW= 343.6, 41.9, CAL= 342.4, 46.5, ROT= 167.6, -46.5
2025-08-22T21:47:40.924Z,1755899260.924 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-22T21:47:40.930Z,1755899260.930 [DAT](INFO): direction in FSK: [-0.672297,0.147814,0.725374]
2025-08-22T21:47:40.930Z,1755899260.930 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:40.941Z,1755899260.941 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=11.116763
2025-08-22T21:47:41.143Z,1755899261.143 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=11.318802
2025-08-22T21:47:41.395Z,1755899261.395 [DAT](INFO): DAT read: Rx Time:21:47:42.1155
2025-08-22T21:47:41.396Z,1755899261.396 [DAT](INFO): Rx dataTimestamp_ set to:1755899261.395299
2025-08-22T21:47:41.397Z,1755899261.397 [DAT](INFO): DAT read: Bearing 74.4, 13.7 (Local)
2025-08-22T21:47:41.397Z,1755899261.397 [DAT](INFO): Local bearing/azimuth received:
Bearing 74.4, 13.7 (Local)
2025-08-22T21:47:41.399Z,1755899261.399 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:41.403Z,1755899261.403 [DAT](INFO): DAT read: 21:47:42.1155 LVL= 23936, 29585, 25042, 28755, AGC= 41, IDX= 498, 0.30, 0.760, 2.114, 0.533, 2.437, PHS=-1.575,-0.279,-1.949, RAW= 342.3, 41.5, CAL= 341., ROT= 168.9, -46.1
2025-08-22T21:47:41.405Z,1755899261.405 [DAT](INFO): unknown deviceResponse_: 21:47:42.1155 LVL= 23936, 29585, 25042, 28755, AGC= 41, IDX= 498, 0.30, 0.760, 2.114, 0.533, 2.437, PHS=-1.575,-0.279,-1.949, RAW= 342.3, 41.5, CAL= 341., ROT= 168.9, -46.1
2025-08-22T21:47:41.405Z,1755899261.405 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-08-22T21:47:41.406Z,1755899261.406 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=11.582158
2025-08-22T21:47:41.647Z,1755899261.647 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=11.822901
2025-08-22T21:47:41.899Z,1755899261.899 [DAT](INFO): DAT read: Rx Time:21:47:42.6156
2025-08-22T21:47:41.900Z,1755899261.899 [DAT](INFO): Rx dataTimestamp_ set to:1755899261.899217
2025-08-22T21:47:41.901Z,1755899261.901 [DAT](INFO): DAT read: Bearing 73.8, 13.6 (Local)
2025-08-22T21:47:41.901Z,1755899261.901 [DAT](INFO): Local bearing/azimuth received:
Bearing 73.8, 13.6 (Local)
2025-08-22T21:47:41.903Z,1755899261.903 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:41.908Z,1755899261.908 [DAT](INFO): DAT read: 21:47:42.6156 LVL= 21584, 26481, 22658, 25795, AGC= 41, IDX= 500,-0.46, 0.226, 1.594, 0.005, 1.938, PHS=-1.610,-0.300,-1.978, RAW= 342.0, 42.0, CAL= 340.9, 46.6, ROT= 169.1, -46.6
2025-08-22T21:47:41.908Z,1755899261.908 [DAT](INFO): got valid direction response:
21:47:42.6156 LVL= 21584, 26481, 22658, 25795, AGC= 41, IDX= 500,-0.46, 0.226, 1.594, 0.005, 1.938, PHS=-1.610,-0.300,-1.978, RAW= 342.0, 42.0, CAL= 340.9, 46.6, ROT= 169.1, -46.6
2025-08-22T21:47:41.909Z,1755899261.909 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-22T21:47:41.910Z,1755899261.910 [DAT](INFO): direction in FSK: [-0.674692,0.129925,0.726575]
2025-08-22T21:47:41.910Z,1755899261.910 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:41.915Z,1755899261.915 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=12.091070
2025-08-22T21:47:42.151Z,1755899262.151 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=12.327384
2025-08-22T21:47:42.403Z,1755899262.403 [DAT](INFO): DAT read: Rx Time:21:47:43.1155
2025-08-22T21:47:42.404Z,1755899262.404 [DAT](INFO): Rx dataTimestamp_ set to:1755899262.403362
2025-08-22T21:47:42.405Z,1755899262.405 [DAT](INFO): DAT read: Bearing 73.2, 12.6 (Local)
2025-08-22T21:47:42.405Z,1755899262.405 [DAT](INFO): Local bearing/azimuth received:
Bearing 73.2, 12.6 (Local)
2025-08-22T21:47:42.407Z,1755899262.407 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:42.412Z,1755899262.412 [DAT](INFO): DAT read: 21:47:43.1155 LVL= 23872, 29601, 24882, 28387, AGC= 41, IDX= 499,-0.27,-1.211, 0.141,-1.391, 0.497, PHS=-1.606,-0.311,-1.933, RAW= 341.0, 42.5, CAL= 339.9, 47.0, ROT= 170.1, -47.0
2025-08-22T21:47:42.414Z,1755899262.414 [DAT](INFO): got valid direction response:
21:47:43.1155 LVL= 23872, 29601, 24882, 28387, AGC= 41, IDX= 499,-0.27,-1.211, 0.141,-1.391, 0.497, PHS=-1.606,-0.311,-1.933, RAW= 341.0, 42.5, CAL= 339.9, 47.0, ROT= 170.1, -47.0
2025-08-22T21:47:42.415Z,1755899262.415 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-22T21:47:42.418Z,1755899262.418 [DAT](INFO): direction in FSK: [-0.671843,0.117255,0.731354]
2025-08-22T21:47:42.418Z,1755899262.418 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:42.425Z,1755899262.425 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=12.600886
2025-08-22T21:47:42.656Z,1755899262.656 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=12.831093
2025-08-22T21:47:42.907Z,1755899262.907 [DAT](INFO): DAT read: Rx Time:21:47:43.6156
2025-08-22T21:47:42.908Z,1755899262.908 [DAT](INFO): Rx dataTimestamp_ set to:1755899262.907420
2025-08-22T21:47:42.909Z,1755899262.909 [DAT](INFO): DAT read: Bearing 72.6, 13.1 (Local)
2025-08-22T21:47:42.910Z,1755899262.910 [DAT](INFO): Local bearing/azimuth received:
Bearing 72.6, 13.1 (Local)
2025-08-22T21:47:42.913Z,1755899262.913 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:42.928Z,1755899262.928 [DAT](INFO): DAT read: 21:47:43.6156 LVL= 22064, 26513, 23202, 25395, AGC= 41, IDX= 500,-0.11,-0.288, 1.055,-0.498, 1.426, PHS=-1.612,-0.326,-1.968, RAW= 341.9, 42.7, CAL= 340.8, 47.2, ROT= 169.2, -47.2
2025-08-22T21:47:42.950Z,1755899262.950 [DAT](INFO): got valid direction response:
21:47:43.6156 LVL= 22064, 26513, 23202, 25395, AGC= 41, IDX= 500,-0.11,-0.288, 1.055,-0.498, 1.426, PHS=-1.612,-0.326,-1.968, RAW= 341.9, 42.7, CAL= 340.8, 47.2, ROT= 169.2, -47.2
2025-08-22T21:47:42.950Z,1755899262.950 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-22T21:47:42.951Z,1755899262.951 [DAT](INFO): direction in FSK: [-0.667407,0.127315,0.733730]
2025-08-22T21:47:42.951Z,1755899262.951 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:42.963Z,1755899262.963 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=13.139487
2025-08-22T21:47:43.160Z,1755899263.160 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=13.336431
2025-08-22T21:47:43.412Z,1755899263.412 [DAT](INFO): DAT read: Rx Time:21:47:44.1156
2025-08-22T21:47:43.413Z,1755899263.413 [DAT](INFO): Rx dataTimestamp_ set to:1755899263.412233
2025-08-22T21:47:43.415Z,1755899263.415 [DAT](INFO): DAT read: Bearing 71.9, 13.7 (Local)
2025-08-22T21:47:43.416Z,1755899263.416 [DAT](INFO): Local bearing/azimuth received:
Bearing 71.9, 13.7 (Local)
2025-08-22T21:47:43.420Z,1755899263.420 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:43.446Z,1755899263.446 [DAT](INFO): DAT read: 21:47:44.1156 LVL= 22736, 29425, 25986, 27571, AGC= 41, IDX= 499, 0.01,-0.248, 1.037,-0.486, 1.415, PHS=-1.561,-0.332,-1.944, RAW= 343.1, 42.9, CAL= 342.0, 47.4, ROT= 168.0, -47.4
2025-08-22T21:47:43.448Z,1755899263.448 [DAT](INFO): got valid direction response:
21:47:44.1156 LVL= 22736, 29425, 25986, 27571, AGC= 41, IDX= 499, 0.01,-0.248, 1.037,-0.486, 1.415, PHS=-1.561,-0.332,-1.944, RAW= 343.1, 42.9, CAL= 342.0, 47.4, ROT= 168.0, -47.4
2025-08-22T21:47:43.448Z,1755899263.448 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-22T21:47:43.449Z,1755899263.449 [DAT](INFO): direction in FSK: [-0.662085,0.140730,0.736097]
2025-08-22T21:47:43.449Z,1755899263.449 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:43.474Z,1755899263.474 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=13.645726
2025-08-22T21:47:43.663Z,1755899263.663 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=13.839011
2025-08-22T21:47:43.917Z,1755899263.917 [DAT](INFO): DAT read: Rx Time:21:47:44.6156
2025-08-22T21:47:43.918Z,1755899263.918 [DAT](INFO): Rx dataTimestamp_ set to:1755899263.916914
2025-08-22T21:47:43.920Z,1755899263.920 [DAT](INFO): DAT read: Bearing 71.7, 14.4 (Local)
2025-08-22T21:47:43.920Z,1755899263.920 [DAT](INFO): Local bearing/azimuth received:
Bearing 71.7, 14.4 (Local)
2025-08-22T21:47:43.931Z,1755899263.931 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:43.939Z,1755899263.939 [DAT](INFO): DAT read: 21:47:44.6156 LVL= 22096, 26481, 23250, 24051, AGC= 41, IDX= 499, 0.16, 0.222, 1.507,-0.060, 1.883, PHS=-1.559,-0.330,-1.986, RAW= 344.4, 42.6, CAL= 343.2, 47.1, ROT= 166.8, -47.1
2025-08-22T21:47:43.940Z,1755899263.940 [DAT](INFO): got valid direction response:
21:47:44.6156 LVL= 22096, 26481, 23250, 24051, AGC= 41, IDX= 499, 0.16, 0.222, 1.507,-0.060, 1.883, PHS=-1.559,-0.330,-1.986, RAW= 344.4, 42.6, CAL= 343.2, 47.1, ROT= 166.8, -47.1
2025-08-22T21:47:43.941Z,1755899263.941 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-22T21:47:43.943Z,1755899263.943 [DAT](INFO): direction in FSK: [-0.662736,0.155443,0.732543]
2025-08-22T21:47:43.943Z,1755899263.943 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:43.956Z,1755899263.956 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=14.131905
2025-08-22T21:47:44.168Z,1755899264.168 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=14.344271
2025-08-22T21:47:44.420Z,1755899264.420 [DAT](INFO): DAT read: Rx Time:21:47:45.1155
2025-08-22T21:47:44.421Z,1755899264.421 [DAT](INFO): Rx dataTimestamp_ set to:1755899264.420740
2025-08-22T21:47:44.423Z,1755899264.423 [DAT](INFO): DAT read: Bearing 70.7, 14.7 (Local)
2025-08-22T21:47:44.424Z,1755899264.424 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.7, 14.7 (Local)
2025-08-22T21:47:44.452Z,1755899264.452 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:44.456Z,1755899264.456 [DAT](INFO): DAT read: 21:47:45.1155 LVL= 22896, 28913, 26402, 26371, AGC= 42, IDX= 498, 0.32,-1.114, 0.133,-1.417, 0.537, PHS=-1.549,-0.359,-1.998, RAW= 345.4, 43.3, CAL= 344.2, 47.7, ROT= 165.8, -47.7
2025-08-22T21:47:44.474Z,1755899264.474 [DAT](INFO): got valid direction response:
21:47:45.1155 LVL= 22896, 28913, 26402, 26371, AGC= 42, IDX= 498, 0.32,-1.114, 0.133,-1.417, 0.537, PHS=-1.549,-0.359,-1.998, RAW= 345.4, 43.3, CAL= 344.2, 47.7, ROT= 165.8, -47.7
2025-08-22T21:47:44.474Z,1755899264.474 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-22T21:47:44.475Z,1755899264.475 [DAT](INFO): direction in FSK: [-0.652449,0.165095,0.739631]
2025-08-22T21:47:44.475Z,1755899264.475 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:44.499Z,1755899264.499 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=14.675237
2025-08-22T21:47:44.671Z,1755899264.671 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=14.847431
2025-08-22T21:47:44.925Z,1755899264.925 [DAT](INFO): DAT read: Rx Time:21:47:45.6156
2025-08-22T21:47:44.932Z,1755899264.932 [DAT](INFO): Rx dataTimestamp_ set to:1755899264.931683
2025-08-22T21:47:44.934Z,1755899264.934 [DAT](INFO): DAT read: Bearing 69.8, 15.2 (Local)
2025-08-22T21:47:44.935Z,1755899264.935 [DAT](INFO): Local bearing/azimuth received:
Bearing 69.8, 15.2 (Local)
2025-08-22T21:47:44.939Z,1755899264.939 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:44.944Z,1755899264.944 [DAT](INFO): DAT read: 21:47:45.6156 LVL= 25216, 24785, 20962, 20883, AGC= 42, IDX= 500,-0.40,-1.602,-0.372,-1.945, 0.060, PHS=-1.560,-0.387,-2.049, RAW= 346.7, 43.7, CAL= 345.4, 48.1, ROT= 164.6, -48.1
2025-08-22T21:47:44.945Z,1755899264.945 [DAT](INFO): got valid direction response:
21:47:45.6156 LVL= 25216, 24785, 20962, 20883, AGC= 42, IDX= 500,-0.40,-1.602,-0.372,-1.945, 0.060, PHS=-1.560,-0.387,-2.049, RAW= 346.7, 43.7, CAL= 345.4, 48.1, ROT= 164.6, -48.1
2025-08-22T21:47:44.959Z,1755899264.959 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-22T21:47:44.961Z,1755899264.961 [DAT](INFO): direction in FSK: [-0.643854,0.177347,0.744312]
2025-08-22T21:47:44.961Z,1755899264.961 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:44.969Z,1755899264.969 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=15.144900
2025-08-22T21:47:45.175Z,1755899265.175 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=15.351294
2025-08-22T21:47:45.428Z,1755899265.428 [DAT](INFO): DAT read: Rx Time:21:47:46.1154
2025-08-22T21:47:45.430Z,1755899265.430 [DAT](INFO): Rx dataTimestamp_ set to:1755899265.428710
2025-08-22T21:47:45.431Z,1755899265.431 [DAT](INFO): DAT read: Bearing 68.3, 16.9 (Local)
2025-08-22T21:47:45.432Z,1755899265.432 [DAT](INFO): Local bearing/azimuth received:
Bearing 68.3, 16.9 (Local)
2025-08-22T21:47:45.436Z,1755899265.436 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:45.460Z,1755899265.460 [DAT](INFO): DAT read: 21:47:46.1154 LVL= 22928, 24561, 22930, 23027, AGC= 42, IDX= 499,-0.20,-2.978,-1.884, 2.904,-1.423, PHS=-1.453,-0.416,-2.000, RAW= 349.9, 44.5, CAL= 348.6, 48.8, ROT= 161.4, -48.8
2025-08-22T21:47:45.468Z,1755899265.468 [DAT](INFO): got valid direction response:
21:47:46.1154 LVL= 22928, 24561, 22930, 23027, AGC= 42, IDX= 499,-0.20,-2.978,-1.884, 2.904,-1.423, PHS=-1.453,-0.416,-2.000, RAW= 349.9, 44.5, CAL= 348.6, 48.8, ROT= 161.4, -48.8
2025-08-22T21:47:45.468Z,1755899265.468 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-22T21:47:45.474Z,1755899265.474 [DAT](INFO): direction in FSK: [-0.624285,0.210095,0.752415]
2025-08-22T21:47:45.474Z,1755899265.474 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:45.490Z,1755899265.490 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=15.665539
2025-08-22T21:47:45.679Z,1755899265.679 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=15.854886
2025-08-22T21:47:45.932Z,1755899265.932 [DAT](INFO): DAT read: Rx Time:21:47:46.6155
2025-08-22T21:47:45.933Z,1755899265.933 [DAT](INFO): Rx dataTimestamp_ set to:1755899265.932350
2025-08-22T21:47:45.935Z,1755899265.935 [DAT](INFO): DAT read: Bearing 66.7, 19.3 (Local)
2025-08-22T21:47:45.936Z,1755899265.936 [DAT](INFO): Local bearing/azimuth received:
Bearing 66.7, 19.3 (Local)
2025-08-22T21:47:45.939Z,1755899265.939 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:45.943Z,1755899265.943 [DAT](INFO): DAT read: 21:47:46.6155 LVL= 23088, 23473, 22674, 21811, AGC= 41, IDX= 500,-0.04,-1.923,-0.958,-2.404,-0.468, PHS=-1.353,-0.445,-1.980, RAW= 354.0, 45.0, CAL= 352.6, 49.3, ROT= 157.4, -49.3
2025-08-22T21:47:45.944Z,1755899265.944 [DAT](INFO): got valid direction response:
21:47:46.6155 LVL= 23088, 23473, 22674, 21811, AGC= 41, IDX= 500,-0.04,-1.923,-0.958,-2.404,-0.468, PHS=-1.353,-0.445,-1.980, RAW= 354.0, 45.0, CAL= 352.6, 49.3, ROT= 157.4, -49.3
2025-08-22T21:47:45.945Z,1755899265.945 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-22T21:47:45.946Z,1755899265.946 [DAT](INFO): direction in FSK: [-0.602024,0.250599,0.758134]
2025-08-22T21:47:45.946Z,1755899265.946 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:45.950Z,1755899265.950 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=16.125998
2025-08-22T21:47:46.185Z,1755899266.185 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=16.360661
2025-08-22T21:47:46.437Z,1755899266.437 [DAT](INFO): DAT read: Rx Time:21:47:47.1154
2025-08-22T21:47:46.438Z,1755899266.438 [DAT](INFO): Rx dataTimestamp_ set to:1755899266.436912
2025-08-22T21:47:46.439Z,1755899266.439 [DAT](INFO): DAT read: Bearing 66.4, 21.5 (Local)
2025-08-22T21:47:46.439Z,1755899266.439 [DAT](INFO): Local bearing/azimuth received:
Bearing 66.4, 21.5 (Local)
2025-08-22T21:47:46.442Z,1755899266.442 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:46.466Z,1755899266.466 [DAT](INFO): DAT read: 21:47:47.1154 LVL= 23312, 22417, 21874, 21171, AGC= 42, IDX= 499, 0.10,-1.845,-0.915,-2.431,-0.425, PHS=-1.318,-0.445,-2.050, RAW= 357.1, 44.1, CAL= 355.7, 48.6, ROT= 154.3, -48.6
2025-08-22T21:47:46.467Z,1755899266.467 [DAT](INFO): got valid direction response:
21:47:47.1154 LVL= 23312, 22417, 21874, 21171, AGC= 42, IDX= 499, 0.10,-1.845,-0.915,-2.431,-0.425, PHS=-1.318,-0.445,-2.050, RAW= 357.1, 44.1, CAL= 355.7, 48.6, ROT= 154.3, -48.6
2025-08-22T21:47:46.468Z,1755899266.468 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-22T21:47:46.469Z,1755899266.469 [DAT](INFO): direction in FSK: [-0.595893,0.286784,0.750111]
2025-08-22T21:47:46.469Z,1755899266.469 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:46.472Z,1755899266.472 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=16.648781
2025-08-22T21:47:46.687Z,1755899266.687 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=16.863588
2025-08-22T21:47:46.939Z,1755899266.939 [DAT](INFO): DAT read: Rx Time:21:47:47.6156
2025-08-22T21:47:46.940Z,1755899266.940 [DAT](INFO): Rx dataTimestamp_ set to:1755899266.939216
2025-08-22T21:47:46.941Z,1755899266.941 [DAT](INFO): DAT read: Bearing 65.6, 22.9 (Local)
2025-08-22T21:47:46.941Z,1755899266.941 [DAT](INFO): Local bearing/azimuth received:
Bearing 65.6, 22.9 (Local)
2025-08-22T21:47:46.943Z,1755899266.943 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:46.948Z,1755899266.948 [DAT](INFO): DAT read: 21:47:47.6156 LVL= 26416, 24737, 22770, 22803, AGC= 43, IDX= 500, 0.25,-0.789, 0.083,-1.433, 0.595, PHS=-1.282,-0.467,-2.071, RAW= 359.5, 44.2, CAL= 358.1, 48.7, ROT= 151.9, -48.7
2025-08-22T21:47:46.949Z,1755899266.949 [DAT](INFO): got valid direction response:
21:47:47.6156 LVL= 26416, 24737, 22770, 22803, AGC= 43, IDX= 500, 0.25,-0.789, 0.083,-1.433, 0.595, PHS=-1.282,-0.467,-2.071, RAW= 359.5, 44.2, CAL= 358.1, 48.7, ROT= 151.9, -48.7
2025-08-22T21:47:46.950Z,1755899266.950 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-22T21:47:46.951Z,1755899266.951 [DAT](INFO): direction in FSK: [-0.582205,0.310869,0.751264]
2025-08-22T21:47:46.951Z,1755899266.951 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:46.970Z,1755899266.970 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=17.146696
2025-08-22T21:47:47.191Z,1755899267.191 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=17.367338
2025-08-22T21:47:47.443Z,1755899267.443 [DAT](INFO): DAT read: Rx Time:21:47:48.1155
2025-08-22T21:47:47.444Z,1755899267.444 [DAT](INFO): Rx dataTimestamp_ set to:1755899267.443394
2025-08-22T21:47:47.445Z,1755899267.445 [DAT](INFO): DAT read: Bearing 64.7, 25.0 (Local)
2025-08-22T21:47:47.445Z,1755899267.445 [DAT](INFO): Local bearing/azimuth received:
Bearing 64.7, 25.0 (Local)
2025-08-22T21:47:47.447Z,1755899267.447 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:47.452Z,1755899267.452 [DAT](INFO): DAT read: 21:47:48.1155 LVL= 24112, 28529, 21074, 24899, AGC= 44, IDX= 500,-0.50, 2.746,-2.744, 2.018,-2.214, PHS=-1.222,-0.485,-2.095, RAW= 2.8, 43.9, CAL= 1.4, 48.6, ROT= 148.6, -48.6
2025-08-22T21:47:47.453Z,1755899267.453 [DAT](INFO): got valid direction response:
21:47:48.1155 LVL= 24112, 28529, 21074, 24899, AGC= 44, IDX= 500,-0.50, 2.746,-2.744, 2.018,-2.214, PHS=-1.222,-0.485,-2.095, RAW= 2.8, 43.9, CAL= 1.4, 48.6, ROT= 148.6, -48.6
2025-08-22T21:47:47.453Z,1755899267.453 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-22T21:47:47.454Z,1755899267.454 [DAT](INFO): direction in FSK: [-0.564463,0.344550,0.750111]
2025-08-22T21:47:47.455Z,1755899267.455 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:47.466Z,1755899267.466 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=17.642481
2025-08-22T21:47:47.694Z,1755899267.694 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=17.870714
2025-08-22T21:47:47.947Z,1755899267.947 [DAT](INFO): DAT read: Rx Time:21:47:48.6155
2025-08-22T21:47:47.948Z,1755899267.948 [DAT](INFO): Rx dataTimestamp_ set to:1755899267.947323
2025-08-22T21:47:47.949Z,1755899267.949 [DAT](INFO): DAT read: Bearing 63.2, 25.5 (Local)
2025-08-22T21:47:47.949Z,1755899267.949 [DAT](INFO): Local bearing/azimuth received:
Bearing 63.2, 25.5 (Local)
2025-08-22T21:47:47.951Z,1755899267.951 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:47.956Z,1755899267.956 [DAT](INFO): DAT read: 21:47:48.6155 LVL= 30768, 29041, 26994, 25443, AGC= 43, IDX= 500,-0.24, 1.872, 2.573, 1.174, 3.135, PHS=-1.160,-0.516,-2.005, RAW= 4.4, 45.2, CAL= 3.0, 49.8, ROT= 147.0, -49.8
2025-08-22T21:47:47.957Z,1755899267.957 [DAT](INFO): got valid direction response:
21:47:48.6155 LVL= 30768, 29041, 26994, 25443, AGC= 43, IDX= 500,-0.24, 1.872, 2.573, 1.174, 3.135, PHS=-1.160,-0.516,-2.005, RAW= 4.4, 45.2, CAL= 3.0, 49.8, ROT= 147.0, -49.8
2025-08-22T21:47:47.957Z,1755899267.957 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-22T21:47:47.963Z,1755899267.963 [DAT](INFO): direction in FSK: [-0.541326,0.351541,0.763796]
2025-08-22T21:47:47.963Z,1755899267.963 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:47.967Z,1755899267.967 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=18.143387
2025-08-22T21:47:48.199Z,1755899268.199 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=18.375734
2025-08-22T21:47:48.454Z,1755899268.454 [DAT](INFO): DAT read: Rx Time:21:47:49.1154
2025-08-22T21:47:48.456Z,1755899268.456 [DAT](INFO): Rx dataTimestamp_ set to:1755899268.454653
2025-08-22T21:47:48.459Z,1755899268.459 [DAT](INFO): DAT read: Bearing 62.9, 26.6 (Local)
2025-08-22T21:47:48.460Z,1755899268.460 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.9, 26.6 (Local)
2025-08-22T21:47:48.465Z,1755899268.465 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:48.515Z,1755899268.515 [DAT](INFO): DAT read: 21:47:49.1154 LVL= 28592, 24993, 26002, 22131, AGC= 42, IDX= 499,-0.08, 1.169, 1.846, 0.413, 2.427, PHS=-1.155,-0.536,-2.057, RAW= 6.1, 45.0, CAL= 4.7, 49.7, ROT= 145.3, -49.7
2025-08-22T21:47:48.516Z,1755899268.516 [DAT](INFO): got valid direction response:
21:47:49.1154 LVL= 28592, 24993, 26002, 22131, AGC= 42, IDX= 499,-0.08, 1.169, 1.846, 0.413, 2.427, PHS=-1.155,-0.536,-2.057, RAW= 6.1, 45.0, CAL= 4.7, 49.7, ROT= 145.3, -49.7
2025-08-22T21:47:48.516Z,1755899268.516 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-22T21:47:48.550Z,1755899268.550 [DAT](INFO): direction in FSK: [-0.531754,0.368204,0.762668]
2025-08-22T21:47:48.550Z,1755899268.550 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:48.562Z,1755899268.562 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=18.729692
2025-08-22T21:47:48.703Z,1755899268.703 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=18.879271
2025-08-22T21:47:48.955Z,1755899268.955 [DAT](INFO): DAT read: Rx Time:21:47:49.6155
2025-08-22T21:47:48.956Z,1755899268.956 [DAT](INFO): Rx dataTimestamp_ set to:1755899268.955462
2025-08-22T21:47:48.957Z,1755899268.957 [DAT](INFO): DAT read: Bearing 62.9, 27.9 (Local)
2025-08-22T21:47:48.958Z,1755899268.958 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.9, 27.9 (Local)
2025-08-22T21:47:48.960Z,1755899268.960 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:48.968Z,1755899268.968 [DAT](INFO): DAT read: 21:47:49.6155 LVL= 32752, 28657, 30514, 25571, AGC= 43, IDX= 500, 0.04,-2.865,-2.208, 2.595,-1.611, PHS=-1.152,-0.552,-2.120, RAW= 7.7, 44.6, CAL= 6.3, 49.3, ROT= 143.7, -49.3
2025-08-22T21:47:48.970Z,1755899268.970 [DAT](INFO): got valid direction response:
21:47:49.6155 LVL= 32752, 28657, 30514, 25571, AGC= 43, IDX= 500, 0.04,-2.865,-2.208, 2.595,-1.611, PHS=-1.152,-0.552,-2.120, RAW= 7.7, 44.6, CAL= 6.3, 49.3, ROT= 143.7, -49.3
2025-08-22T21:47:48.970Z,1755899268.970 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-22T21:47:48.971Z,1755899268.971 [DAT](INFO): direction in FSK: [-0.525545,0.386051,0.758134]
2025-08-22T21:47:48.971Z,1755899268.971 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:48.979Z,1755899268.979 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=19.155514
2025-08-22T21:47:49.207Z,1755899269.207 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=19.382797
2025-08-22T21:47:49.464Z,1755899269.464 [DAT](INFO): DAT read: Rx Time:21:47:50.1154
2025-08-22T21:47:49.466Z,1755899269.466 [DAT](INFO): Rx dataTimestamp_ set to:1755899269.464592
2025-08-22T21:47:49.468Z,1755899269.468 [DAT](INFO): DAT read: Bearing 62.5, 28.7 (Local)
2025-08-22T21:47:49.469Z,1755899269.469 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.5, 28.7 (Local)
2025-08-22T21:47:49.472Z,1755899269.472 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:49.476Z,1755899269.476 [DAT](INFO): DAT read: 21:47:50.1154 LVL= 29840, 25169, 28242, 21939, AGC= 42, IDX= 499, 0.20, 1.981, 2.612, 1.103,-3.041, PHS=-1.159,-0.585,-2.184, RAW= 9.2, 44.7, CAL= 7.8, 49.5, ROT= 142.2, -49.5
2025-08-22T21:47:49.478Z,1755899269.478 [DAT](INFO): got valid direction response:
21:47:50.1154 LVL= 29840, 25169, 28242, 21939, AGC= 42, IDX= 499, 0.20, 1.981, 2.612, 1.103,-3.041, PHS=-1.159,-0.585,-2.184, RAW= 9.2, 44.7, CAL= 7.8, 49.5, ROT= 142.2, -49.5
2025-08-22T21:47:49.479Z,1755899269.479 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-22T21:47:49.480Z,1755899269.480 [DAT](INFO): direction in FSK: [-0.513165,0.398051,0.760406]
2025-08-22T21:47:49.480Z,1755899269.480 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:49.483Z,1755899269.483 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=19.659718
2025-08-22T21:47:49.711Z,1755899269.711 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=19.886927
2025-08-22T21:47:49.963Z,1755899269.963 [DAT](INFO): DAT read: Rx Time:21:47:50.6155
2025-08-22T21:47:49.964Z,1755899269.964 [DAT](INFO): Rx dataTimestamp_ set to:1755899269.963240
2025-08-22T21:47:49.965Z,1755899269.965 [DAT](INFO): DAT read: Bearing 62.3, 30.0 (Local)
2025-08-22T21:47:49.965Z,1755899269.965 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.3, 30.0 (Local)
2025-08-22T21:47:49.971Z,1755899269.971 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:49.976Z,1755899269.976 [DAT](INFO): DAT read: 21:47:50.6155 LVL= 29664, 26801, 29234, 24227, AGC= 44, IDX= 500, 0.40, 2.888,-2.796, 1.931,-2.133, PHS=-1.160,-0.618,-2.263, RAW= 11.1, 44.5, CAL= 9.7, 49.4, ROT= 140.3, -49.4
2025-08-22T21:47:49.977Z,1755899269.977 [DAT](INFO): got valid direction response:
21:47:50.6155 LVL= 29664, 26801, 29234, 24227, AGC= 44, IDX= 500, 0.40, 2.888,-2.796, 1.931,-2.133, PHS=-1.160,-0.618,-2.263, RAW= 11.1, 44.5, CAL= 9.7, 49.4, ROT= 140.3, -49.4
2025-08-22T21:47:49.977Z,1755899269.977 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-22T21:47:49.978Z,1755899269.978 [DAT](INFO): direction in FSK: [-0.500705,0.415694,0.759271]
2025-08-22T21:47:49.978Z,1755899269.978 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:49.994Z,1755899269.994 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=20.170307
2025-08-22T21:47:50.214Z,1755899270.214 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=20.390736
2025-08-22T21:47:50.471Z,1755899270.471 [DAT](INFO): DAT read: Rx Time:21:47:51.1154
2025-08-22T21:47:50.472Z,1755899270.472 [DAT](INFO): Rx dataTimestamp_ set to:1755899270.471118
2025-08-22T21:47:50.476Z,1755899270.476 [DAT](INFO): DAT read: Bearing 61.9, 31.3 (Local)
2025-08-22T21:47:50.477Z,1755899270.477 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.9, 31.3 (Local)
2025-08-22T21:47:50.483Z,1755899270.483 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:50.527Z,1755899270.527 [DAT](INFO): DAT read: 21:47:51.1154 LVL= 27248, 25425, 26530, 23123, AGC= 44, IDX= 500,-0.34, 0.082, 0.635,-0.957, 1.341, PHS=-1.156,-0.660,-2.342, RAW= 13.3, 44.5, CAL= 11.9, 49.4, ROT= 138.1, -49.4
2025-08-22T21:47:50.528Z,1755899270.528 [DAT](INFO): got valid direction response:
21:47:51.1154 LVL= 27248, 25425, 26530, 23123, AGC= 44, IDX= 500,-0.34, 0.082, 0.635,-0.957, 1.341, PHS=-1.156,-0.660,-2.342, RAW= 13.3, 44.5, CAL= 11.9, 49.4, ROT= 138.1, -49.4
2025-08-22T21:47:50.529Z,1755899270.529 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-22T21:47:50.541Z,1755899270.541 [DAT](INFO): direction in FSK: [-0.484379,0.434608,0.759271]
2025-08-22T21:47:50.550Z,1755899270.550 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:50.553Z,1755899270.553 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=20.729233
2025-08-22T21:47:50.719Z,1755899270.719 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=20.895248
2025-08-22T21:47:50.971Z,1755899270.971 [DAT](INFO): DAT read: Rx Time:21:47:51.6156
2025-08-22T21:47:50.972Z,1755899270.972 [DAT](INFO): Rx dataTimestamp_ set to:1755899270.971267
2025-08-22T21:47:50.973Z,1755899270.973 [DAT](INFO): DAT read: Bearing 61.3, 31.4 (Local)
2025-08-22T21:47:50.973Z,1755899270.973 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.3, 31.4 (Local)
2025-08-22T21:47:50.975Z,1755899270.975 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:50.980Z,1755899270.980 [DAT](INFO): DAT read: 21:47:51.6156 LVL= 32752, 25201, 32754, 22259, AGC= 44, IDX= 501,-0.17, 0.983, 1.492,-0.042, 2.237, PHS=-1.152,-0.699,-2.322, RAW= 14.3, 45.5, CAL= 12.9, 50.3, ROT= 137.1, -50.3
2025-08-22T21:47:50.981Z,1755899270.981 [DAT](INFO): got valid direction response:
21:47:51.6156 LVL= 32752, 25201, 32754, 22259, AGC= 44, IDX= 501,-0.17, 0.983, 1.492,-0.042, 2.237, PHS=-1.152,-0.699,-2.322, RAW= 14.3, 45.5, CAL= 12.9, 50.3, ROT= 137.1, -50.3
2025-08-22T21:47:50.981Z,1755899270.981 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-22T21:47:50.982Z,1755899270.982 [DAT](INFO): direction in FSK: [-0.467925,0.434823,0.769400]
2025-08-22T21:47:50.982Z,1755899270.982 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:51.008Z,1755899271.008 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=21.183809
2025-08-22T21:47:51.224Z,1755899271.224 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=21.399786
2025-08-22T21:47:51.479Z,1755899271.479 [DAT](INFO): DAT read: Rx Time:21:47:52.1155
2025-08-22T21:47:51.480Z,1755899271.480 [DAT](INFO): Rx dataTimestamp_ set to:1755899271.479368
2025-08-22T21:47:51.487Z,1755899271.487 [DAT](INFO): DAT read: Bearing 61.6, 31.7 (Local)
2025-08-22T21:47:51.488Z,1755899271.488 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.6, 31.7 (Local)
2025-08-22T21:47:51.494Z,1755899271.494 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:51.498Z,1755899271.498 [DAT](INFO): DAT read: 21:47:52.1155 LVL= 32752, 24529, 32754, 22083, AGC= 44, IDX= 500,-0.05, 0.206, 0.721,-0.866, 1.505, PHS=-1.197,-0.739,-2.= 14.7, 45.7, CAL= 13.3, 50.5, ROT= 136.7, -50.5
2025-08-22T21:47:51.499Z,1755899271.499 [DAT](INFO): unknown deviceResponse_: 21:47:52.1155 LVL= 32752, 24529, 32754, 22083, AGC= 44, IDX= 500,-0.05, 0.206, 0.721,-0.866, 1.505, PHS=-1.197,-0.739,-2.= 14.7, 45.7, CAL= 13.3, 50.5, ROT= 136.7, -50.5
2025-08-22T21:47:51.500Z,1755899271.500 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-08-22T21:47:51.501Z,1755899271.501 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=21.676924
2025-08-22T21:47:51.727Z,1755899271.727 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=21.902920
2025-08-22T21:47:51.979Z,1755899271.979 [DAT](INFO): DAT read: Rx Time:21:47:52.6155
2025-08-22T21:47:51.979Z,1755899271.979 [DAT](INFO): Rx dataTimestamp_ set to:1755899271.979181
2025-08-22T21:47:51.981Z,1755899271.981 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:51.981Z,1755899271.981 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-08-22T21:47:51.982Z,1755899271.982 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=22.158484
2025-08-22T21:47:52.231Z,1755899272.231 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=22.406837
2025-08-22T21:47:52.485Z,1755899272.485 [DAT](INFO): DAT read: Rx Time:21:47:53.1154
2025-08-22T21:47:52.487Z,1755899272.487 [DAT](INFO): Rx dataTimestamp_ set to:1755899272.485717
2025-08-22T21:47:52.490Z,1755899272.490 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:52.492Z,1755899272.492 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-08-22T21:47:52.495Z,1755899272.495 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=22.670837
2025-08-22T21:47:52.735Z,1755899272.735 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=22.910872
2025-08-22T21:47:52.987Z,1755899272.987 [DAT](INFO): DAT read: Rx Time:21:47:53.6155
2025-08-22T21:47:52.988Z,1755899272.988 [DAT](INFO): Rx dataTimestamp_ set to:1755899272.987280
2025-08-22T21:47:52.989Z,1755899272.989 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:52.990Z,1755899272.990 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-08-22T21:47:52.991Z,1755899272.991 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=23.167660
2025-08-22T21:47:53.238Z,1755899273.238 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=23.414759
2025-08-22T21:47:53.493Z,1755899273.493 [DAT](INFO): DAT read: Rx Time:21:47:54.1154
2025-08-22T21:47:53.495Z,1755899273.495 [DAT](INFO): Rx dataTimestamp_ set to:1755899273.493675
2025-08-22T21:47:53.498Z,1755899273.498 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:53.500Z,1755899273.500 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-08-22T21:47:53.512Z,1755899273.512 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=23.687580
2025-08-22T21:47:53.742Z,1755899273.742 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=23.918711
2025-08-22T21:47:53.995Z,1755899273.995 [DAT](INFO): DAT read: Rx Time:21:47:54.6155
2025-08-22T21:47:53.995Z,1755899273.995 [DAT](INFO): Rx dataTimestamp_ set to:1755899273.994831
2025-08-22T21:47:53.996Z,1755899273.996 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:53.997Z,1755899273.997 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-08-22T21:47:53.998Z,1755899273.998 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=24.174143
2025-08-22T21:47:54.247Z,1755899274.247 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=24.422861
2025-08-22T21:47:54.501Z,1755899274.501 [DAT](INFO): DAT read: Rx Time:21:47:55.1154
2025-08-22T21:47:54.503Z,1755899274.503 [DAT](INFO): Rx dataTimestamp_ set to:1755899274.502093
2025-08-22T21:47:54.507Z,1755899274.507 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:54.509Z,1755899274.509 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-08-22T21:47:54.512Z,1755899274.512 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=24.687468
2025-08-22T21:47:54.751Z,1755899274.751 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=24.926813
2025-08-22T21:47:55.003Z,1755899275.003 [DAT](INFO): DAT read: Rx Time:21:47:55.6156
2025-08-22T21:47:55.003Z,1755899275.003 [DAT](INFO): Rx dataTimestamp_ set to:1755899275.002933
2025-08-22T21:47:55.004Z,1755899275.004 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:55.005Z,1755899275.005 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-08-22T21:47:55.007Z,1755899275.007 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=25.182987
2025-08-22T21:47:55.255Z,1755899275.255 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=25.430794
2025-08-22T21:47:55.511Z,1755899275.511 [DAT](INFO): DAT read: Rx Time:21:47:56.1155
2025-08-22T21:47:55.512Z,1755899275.512 [DAT](INFO): Rx dataTimestamp_ set to:1755899275.511301
2025-08-22T21:47:55.516Z,1755899275.516 [DAT](INFO): DAT read: Bearing 62.2, 35.0 (Local)
2025-08-22T21:47:55.517Z,1755899275.517 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.2, 35.0 (Local)
2025-08-22T21:47:55.523Z,1755899275.523 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:55.556Z,1755899275.556 [DAT](INFO): DAT read: 21:47:56.1155 LVL= 30128, 23649, 28146, 23187, AGC= 43, IDX= 500, 0.04, 1.387, 1.767, 0.179, 2.646, PHS=-1.157,-0.834,-2.510, RAW= 19.5, 45.9, CAL= 18.1, 50.8, ROT= 131.9, -50.8
2025-08-22T21:47:55.557Z,1755899275.557 [DAT](INFO): got valid direction response:
21:47:56.1155 LVL= 30128, 23649, 28146, 23187, AGC= 43, IDX= 500, 0.04, 1.387, 1.767, 0.179, 2.646, PHS=-1.157,-0.834,-2.510, RAW= 19.5, 45.9, CAL= 18.1, 50.8, ROT= 131.9, -50.8
2025-08-22T21:47:55.557Z,1755899275.557 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-22T21:47:55.562Z,1755899275.562 [DAT](INFO): direction in FSK: [-0.422090,0.470427,0.774944]
2025-08-22T21:47:55.562Z,1755899275.562 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:55.570Z,1755899275.570 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=25.746471
2025-08-22T21:47:55.759Z,1755899275.759 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=25.934835
2025-08-22T21:47:56.011Z,1755899276.011 [DAT](INFO): DAT read: Rx Time:21:47:56.6156
2025-08-22T21:47:56.012Z,1755899276.012 [DAT](INFO): Rx dataTimestamp_ set to:1755899276.011233
2025-08-22T21:47:56.013Z,1755899276.013 [DAT](INFO): DAT read: Bearing 62.1, 35.9 (Local)
2025-08-22T21:47:56.013Z,1755899276.013 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.1, 35.9 (Local)
2025-08-22T21:47:56.019Z,1755899276.019 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:56.024Z,1755899276.024 [DAT](INFO): DAT read: 21:47:56.6156 LVL= 27168, 21457, 25074, 21923, AGC= 42, IDX= 501, 0.13, 2.694, 3.024, 1.515,-2.419, PHS=-1.069,-0.795,-2.394, RAW= 20.8, 45.5, CAL= 19.4, 50.4, ROT= 130.6, -50.4
2025-08-22T21:47:56.025Z,1755899276.025 [DAT](INFO): got valid direction response:
21:47:56.6156 LVL= 27168, 21457, 25074, 21923, AGC= 42, IDX= 501, 0.13, 2.694, 3.024, 1.515,-2.419, PHS=-1.069,-0.795,-2.394, RAW= 20.8, 45.5, CAL= 19.4, 50.4, ROT= 130.6, -50.4
2025-08-22T21:47:56.025Z,1755899276.025 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-22T21:47:56.026Z,1755899276.026 [DAT](INFO): direction in FSK: [-0.414819,0.483978,0.770513]
2025-08-22T21:47:56.026Z,1755899276.026 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:56.042Z,1755899276.042 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=26.218225
2025-08-22T21:47:56.263Z,1755899276.263 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=26.439329
2025-08-22T21:47:56.515Z,1755899276.515 [DAT](INFO): DAT read: Rx Time:21:47:57.1155
2025-08-22T21:47:56.516Z,1755899276.516 [DAT](INFO): Rx dataTimestamp_ set to:1755899276.515287
2025-08-22T21:47:56.518Z,1755899276.518 [DAT](INFO): DAT read: Bearing 62.5, 36.8 (Local)
2025-08-22T21:47:56.519Z,1755899276.519 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.5, 36.8 (Local)
2025-08-22T21:47:56.524Z,1755899276.524 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:56.536Z,1755899276.536 [DAT](INFO): DAT read: 21:47:57.1155 LVL= 26496, 22081, 23538, 22643, AGC= 42, IDX= 500, 0.22, 2.162, 2.466, 0.994,-3.016, PHS=-1.003,-0.756,-2.316, RAW= 21.5, AL= 20.1, 49.8, ROT= 129.9, -49.8
2025-08-22T21:47:56.540Z,1755899276.540 [DAT](INFO): unknown deviceResponse_: 21:47:57.1155 LVL= 26496, 22081, 23538, 22643, AGC= 42, IDX= 500, 0.22, 2.162, 2.466, 0.994,-3.016, PHS=-1.003,-0.756,-2.316, RAW= 21.5, AL= 20.1, 49.8, ROT= 129.9, -49.8
2025-08-22T21:47:56.582Z,1755899276.582 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-08-22T21:47:56.585Z,1755899276.585 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=26.760796
2025-08-22T21:47:56.767Z,1755899276.767 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=26.943357
2025-08-22T21:47:57.021Z,1755899277.021 [DAT](INFO): DAT read: Rx Time:21:47:57.6156
2025-08-22T21:47:57.022Z,1755899277.022 [DAT](INFO): Rx dataTimestamp_ set to:1755899277.021191
2025-08-22T21:47:57.023Z,1755899277.023 [DAT](INFO): DAT read: Bearing 63.1, 36.9 (Local)
2025-08-22T21:47:57.023Z,1755899277.023 [DAT](INFO): Local bearing/azimuth received:
Bearing 63.1, 36.9 (Local)
2025-08-22T21:47:57.025Z,1755899277.025 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:57.030Z,1755899277.030 [DAT](INFO): DAT read: 21:47:57.6156 LVL= 27264, 26449, 25186, 28147, AGC= 40, IDX= 501, 0.28,-2.463,-2.162, 2.736,-1.417, PHS=-0.944,-0.700,-2.174, RAW= 21.1, 44.6, CAL= 19.7, 49.6, ROT= 130.3, -49.6
2025-08-22T21:47:57.032Z,1755899277.032 [DAT](INFO): got valid direction response:
21:47:57.6156 LVL= 27264, 26449, 25186, 28147, AGC= 40, IDX= 501, 0.28,-2.463,-2.162, 2.736,-1.417, PHS=-0.944,-0.700,-2.174, RAW= 21.1, 44.6, CAL= 19.7, 49.6, ROT= 130.3, -49.6
2025-08-22T21:47:57.032Z,1755899277.032 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-22T21:47:57.033Z,1755899277.033 [DAT](INFO): direction in FSK: [-0.419197,0.494301,0.761538]
2025-08-22T21:47:57.035Z,1755899277.035 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:57.040Z,1755899277.040 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=27.215639
2025-08-22T21:47:57.271Z,1755899277.271 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=27.446959
2025-08-22T21:47:57.527Z,1755899277.527 [DAT](INFO): DAT read: Rx Time:21:47:58.1155
2025-08-22T21:47:57.528Z,1755899277.528 [DAT](INFO): Rx dataTimestamp_ set to:1755899277.527407
2025-08-22T21:47:57.536Z,1755899277.536 [DAT](INFO): DAT read: Bearing 65.8, 37.7 (Local)
2025-08-22T21:47:57.537Z,1755899277.537 [DAT](INFO): Local bearing/azimuth received:
Bearing 65.8, 37.7 (Local)
2025-08-22T21:47:57.548Z,1755899277.548 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:57.592Z,1755899277.592 [DAT](INFO): DAT read: 21:47:58.1155 LVL= 23584, 21873, 21954, 26739, AGC= 41, IDX= 500, 0.28,-2.580,-2.196, 2.451,-1.461, PHS=-1.017,-0.690,-2.415, RAW= 19.7, 42.6, CAL= 18.2, 47.8, ROT= 131.8, -47.8
2025-08-22T21:47:57.593Z,1755899277.593 [DAT](INFO): got valid direction response:
21:47:58.1155 LVL= 23584, 21873, 21954, 26739, AGC= 41, IDX= 500, 0.28,-2.580,-2.196, 2.451,-1.461, PHS=-1.017,-0.690,-2.415, RAW= 19.7, 42.6, CAL= 18.2, 47.8, ROT= 131.8, -47.8
2025-08-22T21:47:57.593Z,1755899277.593 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-22T21:47:57.598Z,1755899277.598 [DAT](INFO): direction in FSK: [-0.447724,0.500752,0.740805]
2025-08-22T21:47:57.599Z,1755899277.599 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:57.607Z,1755899277.607 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=27.783148
2025-08-22T21:47:57.774Z,1755899277.774 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=27.950691
2025-08-22T21:47:58.027Z,1755899278.027 [DAT](INFO): DAT read: Rx Time:21:47:58.6155
2025-08-22T21:47:58.027Z,1755899278.027 [DAT](INFO): Rx dataTimestamp_ set to:1755899278.026885
2025-08-22T21:47:58.028Z,1755899278.028 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:58.029Z,1755899278.029 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-08-22T21:47:58.030Z,1755899278.030 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=28.206194
2025-08-22T21:47:58.278Z,1755899278.278 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=28.454681
2025-08-22T21:47:58.534Z,1755899278.534 [DAT](INFO): DAT read: Rx Time:21:47:59.1154
2025-08-22T21:47:58.536Z,1755899278.536 [DAT](INFO): Rx dataTimestamp_ set to:1755899278.534667
2025-08-22T21:47:58.537Z,1755899278.537 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:58.538Z,1755899278.538 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-08-22T21:47:58.539Z,1755899278.539 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=28.715328
2025-08-22T21:47:58.783Z,1755899278.783 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=28.959064
2025-08-22T21:47:59.035Z,1755899279.035 [DAT](INFO): DAT read: Rx Time:21:47:59.6155
2025-08-22T21:47:59.036Z,1755899279.036 [DAT](INFO): Rx dataTimestamp_ set to:1755899279.035316
2025-08-22T21:47:59.037Z,1755899279.037 [DAT](INFO): DAT read: Bearing 56.8, 37.6 (Local)
2025-08-22T21:47:59.037Z,1755899279.037 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.8, 37.6 (Local)
2025-08-22T21:47:59.039Z,1755899279.039 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:47:59.044Z,1755899279.044 [DAT](INFO): DAT read: 21:47:59.6155 LVL= 25104, 24497, 29170, 24115, AGC= 42, IDX= 500, 0.42,-0.927,-0.805,-2.266, 0.258, PHS=-1.083,-1.017,-2.568, RAW= 27.8, 47.4, CAL= 26.3, 52.1, ROT= 123.7, -52.1
2025-08-22T21:47:59.045Z,1755899279.045 [DAT](INFO): got valid direction response:
21:47:59.6155 LVL= 25104, 24497, 29170, 24115, AGC= 42, IDX= 500, 0.42,-0.927,-0.805,-2.266, 0.258, PHS=-1.083,-1.017,-2.568, RAW= 27.8, 47.4, CAL= 26.3, 52.1, ROT= 123.7, -52.1
2025-08-22T21:47:59.045Z,1755899279.045 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-22T21:47:59.050Z,1755899279.050 [DAT](INFO): direction in FSK: [-0.340833,0.511057,0.789084]
2025-08-22T21:47:59.050Z,1755899279.050 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:59.062Z,1755899279.062 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=29.238262
2025-08-22T21:47:59.289Z,1755899279.289 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=29.464951
2025-08-22T21:47:59.539Z,1755899279.539 [DAT](INFO): DAT read: Rx Time:21:48:00.1154
2025-08-22T21:47:59.540Z,1755899279.540 [DAT](INFO): Rx dataTimestamp_ set to:1755899279.539385
2025-08-22T21:47:59.541Z,1755899279.541 [DAT](INFO): DAT read: Bearing 56.3, 41.3 (Local)
2025-08-22T21:47:59.541Z,1755899279.541 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.3, 41.3 (Local)
2025-08-22T21:47:59.543Z,1755899279.543 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:47:59.550Z,1755899279.550 [DAT](INFO): DAT read: 21:48:00.1154 LVL= 30112, 26225, 32754, 24195, AGC= 40, IDX= 500,-0.23, 0.463, 0.465,-0.772, 1.329, PHS=-0.764,-0.819,-2.145, RAW= 32.0, 44.2, CAL= 30.1, 49.3, ROT= 119.9, -49.3
2025-08-22T21:47:59.553Z,1755899279.553 [DAT](INFO): got valid direction response:
21:48:00.1154 LVL= 30112, 26225, 32754, 24195, AGC= 40, IDX= 500,-0.23, 0.463, 0.465,-0.772, 1.329, PHS=-0.764,-0.819,-2.145, RAW= 32.0, 44.2, CAL= 30.1, 49.3, ROT= 119.9, -49.3
2025-08-22T21:47:59.554Z,1755899279.554 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-22T21:47:59.558Z,1755899279.558 [DAT](INFO): direction in FSK: [-0.325063,0.565302,0.758134]
2025-08-22T21:47:59.559Z,1755899279.559 [DAT](INFO): publishing direction and range info
2025-08-22T21:47:59.572Z,1755899279.572 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=29.747959
2025-08-22T21:47:59.793Z,1755899279.793 [DAT](INFO): DAT read: Rx Time:21:48:00.6156
2025-08-22T21:47:59.794Z,1755899279.794 [DAT](INFO): Rx dataTimestamp_ set to:1755899279.793601
2025-08-22T21:47:59.796Z,1755899279.796 [DAT](INFO): DAT read: Bearing 58.8, 40.8 (Local)
2025-08-22T21:47:59.797Z,1755899279.797 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.8, 40.8 (Local)
2025-08-22T21:47:59.809Z,1755899279.809 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:47:59.811Z,1755899279.811 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-08-22T21:47:59.822Z,1755899279.822 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=29.989668
2025-08-22T21:48:00.046Z,1755899280.046 [DAT](INFO): DAT read: 21:48:00.6156 LVL= 31472, 27553, 28626, 31939, AGC= 41, IDX= 501,-0.22, 2.548, 2.638, 1.279,-2.822, PHS=-0.811,-0.778,-2.227, RAW= 28.9, 43.3, CAL= 27.1, 48.5, ROT= 122.9, -48.5
2025-08-22T21:48:00.047Z,1755899280.047 [DAT](INFO): got valid direction response:
21:48:00.6156 LVL= 31472, 27553, 28626, 31939, AGC= 41, IDX= 501,-0.22, 2.548, 2.638, 1.279,-2.822, PHS=-0.811,-0.778,-2.227, RAW= 28.9, 43.3, CAL= 27.1, 48.5, ROT= 122.9, -48.5
2025-08-22T21:48:00.048Z,1755899280.048 [DAT](INFO): #Rx 101: Read direction message, but no range.
2025-08-22T21:48:00.049Z,1755899280.049 [DAT](INFO): direction in FSK: [-0.359918,0.556349,0.748956]
2025-08-22T21:48:00.056Z,1755899280.056 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=30.232718
2025-08-22T21:48:00.299Z,1755899280.299 [DAT](INFO): DAT read: Rx Time:21:48:01.1155
2025-08-22T21:48:00.300Z,1755899280.300 [DAT](INFO): Rx dataTimestamp_ set to:1755899280.299653
2025-08-22T21:48:00.302Z,1755899280.302 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-08-22T21:48:00.303Z,1755899280.303 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-08-22T21:48:00.303Z,1755899280.303 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=30.479740
2025-08-22T21:48:00.547Z,1755899280.547 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=30.722786
2025-08-22T21:48:00.800Z,1755899280.800 [DAT](INFO): DAT read: Rx Time:21:48:01.6156
2025-08-22T21:48:00.801Z,1755899280.801 [DAT](INFO): Rx dataTimestamp_ set to:1755899280.800601
2025-08-22T21:48:00.802Z,1755899280.802 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-08-22T21:48:00.803Z,1755899280.803 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-22T21:48:00.804Z,1755899280.804 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=30.979923
2025-08-22T21:48:01.050Z,1755899281.050 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=31.226761
2025-08-22T21:48:01.305Z,1755899281.305 [DAT](INFO): DAT read: Rx Time:21:48:02.1154
2025-08-22T21:48:01.309Z,1755899281.309 [DAT](INFO): Rx dataTimestamp_ set to:1755899281.308104
2025-08-22T21:48:01.312Z,1755899281.312 [DAT](INFO): DAT read: Bearing 57.9, 38.0 (Local)
2025-08-22T21:48:01.313Z,1755899281.313 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.9, 38.0 (Local)
2025-08-22T21:48:01.320Z,1755899281.320 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:48:01.323Z,1755899281.323 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-08-22T21:48:01.326Z,1755899281.326 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=31.501230
2025-08-22T21:48:01.558Z,1755899281.558 [DAT](INFO): DAT read: 21:48:02.1154 LVL= 20976, 19281, 23538, 24419, AGC= 42, IDX= 500, 0.02, 0.912, 1.074,-0.303, 1.950, PHS=-0.936,-0.831,-2.297, RAW= 26.3, 45.4, CAL= 24.7, 50.3, ROT= 125.3, -50.3
2025-08-22T21:48:01.559Z,1755899281.559 [DAT](INFO): got valid direction response:
21:48:02.1154 LVL= 20976, 19281, 23538, 24419, AGC= 42, IDX= 500, 0.02, 0.912, 1.074,-0.303, 1.950, PHS=-0.936,-0.831,-2.297, RAW= 26.3, 45.4, CAL= 24.7, 50.3, ROT= 125.3, -50.3
2025-08-22T21:48:01.559Z,1755899281.559 [DAT](INFO): #Rx 105: Read direction message, but no range.
2025-08-22T21:48:01.560Z,1755899281.560 [DAT](INFO): direction in FSK: [-0.369117,0.521322,0.769400]
2025-08-22T21:48:01.568Z,1755899281.568 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=31.744177
2025-08-22T21:48:01.807Z,1755899281.807 [DAT](INFO): DAT read: Rx Time:21:48:02.6154
2025-08-22T21:48:01.807Z,1755899281.807 [DAT](INFO): Rx dataTimestamp_ set to:1755899281.806886
2025-08-22T21:48:01.808Z,1755899281.808 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:48:01.809Z,1755899281.809 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-08-22T21:48:01.810Z,1755899281.810 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=31.986210
2025-08-22T21:48:02.058Z,1755899282.058 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=32.234760
2025-08-22T21:48:02.314Z,1755899282.314 [DAT](INFO): DAT read: Rx Time:21:48:03.1153
2025-08-22T21:48:02.315Z,1755899282.315 [DAT](INFO): Rx dataTimestamp_ set to:1755899282.314555
2025-08-22T21:48:02.319Z,1755899282.319 [DAT](INFO): DAT read: Bearing 53.8, 38.4 (Local)
2025-08-22T21:48:02.320Z,1755899282.320 [DAT](INFO): Local bearing/azimuth received:
Bearing 53.8, 38.4 (Local)
2025-08-22T21:48:02.327Z,1755899282.327 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-08-22T21:48:02.329Z,1755899282.329 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-08-22T21:48:02.332Z,1755899282.332 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=32.508152
2025-08-22T21:48:02.566Z,1755899282.566 [DAT](INFO): DAT read: 21:48:03.1153 LVL= 26800, 15441, 24626, 23891, AGC= 41, IDX= 499,-0.09, 0.867, 0.915,-0.323, 1.884, PHS=-0.914,-0.924,-2.251, RAW= 30.3, 47.3, CAL= 28.7, 52.1, ROT= 121.3, -52.1
2025-08-22T21:48:02.567Z,1755899282.567 [DAT](INFO): got valid direction response:
21:48:03.1153 LVL= 26800, 15441, 24626, 23891, AGC= 41, IDX= 499,-0.09, 0.867, 0.915,-0.323, 1.884, PHS=-0.914,-0.924,-2.251, RAW= 30.3, 47.3, CAL= 28.7, 52.1, ROT= 121.3, -52.1
2025-08-22T21:48:02.568Z,1755899282.568 [DAT](INFO): #Rx 108: Read direction message, but no range.
2025-08-22T21:48:02.568Z,1755899282.568 [DAT](INFO): direction in FSK: [-0.319133,0.524881,0.789084]
2025-08-22T21:48:02.572Z,1755899282.572 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=32.748096
2025-08-22T21:48:02.821Z,1755899282.821 [DAT](INFO): DAT read: Rx Time:21:48:03.6154
2025-08-22T21:48:02.823Z,1755899282.823 [DAT](INFO): Rx dataTimestamp_ set to:1755899282.822010
2025-08-22T21:48:02.826Z,1755899282.826 [DAT](INFO): DAT read: Bearing 59.1, 41.4 (Local)
2025-08-22T21:48:02.827Z,1755899282.827 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.1, 41.4 (Local)
2025-08-22T21:48:02.836Z,1755899282.836 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:48:02.839Z,1755899282.839 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-08-22T21:48:02.874Z,1755899282.874 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=33.017452
2025-08-22T21:48:03.092Z,1755899283.092 [DAT](INFO): DAT read: 21:48:03.6154 LVL= 22416, 15345, 26018, 25699, AGC= 40, IDX= 500,-0.05, 1.583, 1.668, 0.233, 2.457, PHS=-0.771,-0.744,-2.268, RAW= 29.1, 41.5, CAL= 27.2, 46.9, ROT= 122.8, -46.9
2025-08-22T21:48:03.093Z,1755899283.093 [DAT](INFO): got valid direction response:
21:48:03.6154 LVL= 22416, 15345, 26018, 25699, AGC= 40, IDX= 500,-0.05, 1.583, 1.668, 0.233, 2.457, PHS=-0.771,-0.744,-2.268, RAW= 29.1, 41.5, CAL= 27.2, 46.9, ROT= 122.8, -46.9
2025-08-22T21:48:03.102Z,1755899283.102 [DAT](INFO): #Rx 110: Read direction message, but no range.
2025-08-22T21:48:03.103Z,1755899283.103 [DAT](INFO): direction in FSK: [-0.370135,0.574337,0.730162]
2025-08-22T21:48:03.122Z,1755899283.122 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=33.298183
2025-08-22T21:48:03.322Z,1755899283.322 [DAT](INFO): DAT read: Rx Time:21:48:04.1153
2025-08-22T21:48:03.323Z,1755899283.323 [DAT](INFO): Rx dataTimestamp_ set to:1755899283.322621
2025-08-22T21:48:03.329Z,1755899283.329 [DAT](INFO): DAT read: Bearing 49.8, 41.7 (Local)
2025-08-22T21:48:03.330Z,1755899283.330 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.8, 41.7 (Local)
2025-08-22T21:48:03.335Z,1755899283.335 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-08-22T21:48:03.337Z,1755899283.337 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-08-22T21:48:03.341Z,1755899283.341 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=33.516460
2025-08-22T21:48:03.574Z,1755899283.574 [DAT](INFO): DAT read: 21:48:04.1153 LVL= 24400, 22577, 27090, 29475, AGC= 42, IDX= 499,-0.09, 1.327, 1.176, 0.143, 2.081, PHS=-0.652,-0.860,-1.982, RAW= 38.4, 44.9, CAL= 36.3, 50.1, ROT= 113.7, -50.1
2025-08-22T21:48:03.575Z,1755899283.575 [DAT](INFO): got valid direction response:
21:48:04.1153 LVL= 24400, 22577, 27090, 29475, AGC= 42, IDX= 499,-0.09, 1.327, 1.176, 0.143, 2.081, PHS=-0.652,-0.860,-1.982, RAW= 38.4, 44.9, CAL= 36.3, 50.1, ROT= 113.7, -50.1
2025-08-22T21:48:03.576Z,1755899283.576 [DAT](INFO): #Rx 112: Read direction message, but no range.
2025-08-22T21:48:03.576Z,1755899283.576 [DAT](INFO): direction in FSK: [-0.257829,0.587351,0.767165]
2025-08-22T21:48:03.580Z,1755899283.580 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=33.756233
2025-08-22T21:48:03.826Z,1755899283.826 [DAT](INFO): DAT read: Rx Time:21:48:04.6154
2025-08-22T21:48:03.827Z,1755899283.827 [DAT](INFO): Rx dataTimestamp_ set to:1755899283.826301
2025-08-22T21:48:03.830Z,1755899283.830 [DAT](INFO): DAT read: Bearing 55.5, 36.3 (Local)
2025-08-22T21:48:03.831Z,1755899283.831 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.5, 36.3 (Local)
2025-08-22T21:48:03.844Z,1755899283.844 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-08-22T21:48:03.866Z,1755899283.866 [DAT](INFO): DAT read: 21:48:04.6154 LVL= 19248, 12865, 24194, 25075, AGC= 40, IDX= 500,-0.07, 2.383, 2.499, 1.033,-2.788, PHS=-1.010,-0.951,-2.506, RAW= 28.1, 46.0, CAL= 26.4, 50.9, ROT= 123.6, -50.9
2025-08-22T21:48:03.867Z,1755899283.867 [DAT](INFO): got valid direction response:
21:48:04.6154 LVL= 19248, 12865, 24194, 25075, AGC= 40, IDX= 500,-0.07, 2.383, 2.499, 1.033,-2.788, PHS=-1.010,-0.951,-2.506, RAW= 28.1, 46.0, CAL= 26.4, 50.9, ROT= 123.6, -50.9
2025-08-22T21:48:03.868Z,1755899283.868 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-22T21:48:03.869Z,1755899283.869 [DAT](INFO): direction in FSK: [-0.349011,0.525303,0.776046]
2025-08-22T21:48:03.869Z,1755899283.869 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:03.909Z,1755899283.909 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=34.085213
2025-08-22T21:48:04.075Z,1755899284.075 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=34.251038
2025-08-22T21:48:04.332Z,1755899284.332 [DAT](INFO): DAT read: Rx Time:21:48:05.1153
2025-08-22T21:48:04.334Z,1755899284.334 [DAT](INFO): Rx dataTimestamp_ set to:1755899284.332881
2025-08-22T21:48:04.337Z,1755899284.337 [DAT](INFO): DAT read: Bearing 55.9, 41.8 (Local)
2025-08-22T21:48:04.338Z,1755899284.338 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.9, 41.8 (Local)
2025-08-22T21:48:04.344Z,1755899284.344 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-08-22T21:48:04.345Z,1755899284.345 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-08-22T21:48:04.358Z,1755899284.358 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=34.529282
2025-08-22T21:48:04.583Z,1755899284.583 [DAT](INFO): DAT read: 21:48:05.1153 LVL= 20304, 19585, 21874, 21187, AGC= 40, IDX= 499,-0.18, 2.047, 2.000, 0.847, 2.716, PHS=-0.566,-0.670,-1.913, RAW= 34.0, 40.6, CAL= 31.9, 46.2, ROT= 118.1, -46.2
2025-08-22T21:48:04.584Z,1755899284.584 [DAT](INFO): got valid direction response:
21:48:05.1153 LVL= 20304, 19585, 21874, 21187, AGC= 40, IDX= 499,-0.18, 2.047, 2.000, 0.847, 2.716, PHS=-0.566,-0.670,-1.913, RAW= 34.0, 40.6, CAL= 31.9, 46.2, ROT= 118.1, -46.2
2025-08-22T21:48:04.584Z,1755899284.584 [DAT](INFO): #Rx 115: Read direction message, but no range.
2025-08-22T21:48:04.585Z,1755899284.585 [DAT](INFO): direction in FSK: [-0.326008,0.610558,0.721760]
2025-08-22T21:48:04.588Z,1755899284.588 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=34.764587
2025-08-22T21:48:04.834Z,1755899284.834 [DAT](INFO): DAT read: Rx Time:21:48:05.6153
2025-08-22T21:48:04.836Z,1755899284.836 [DAT](INFO): Rx dataTimestamp_ set to:1755899284.835032
2025-08-22T21:48:04.840Z,1755899284.840 [DAT](INFO): DAT read: Bearing 51.2, 33.2 (Local)
2025-08-22T21:48:04.841Z,1755899284.841 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.2, 33.2 (Local)
2025-08-22T21:48:04.846Z,1755899284.846 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-08-22T21:48:04.850Z,1755899284.850 [DAT](INFO): DAT read: 21:48:05.6153 LVL= 19280, 11377, 25186, 22211, AGC= 40, IDX= 500,-0.44,-0.298,-0.228,-1.526, 0.980, PHS=-1.176,-1.163,-2.550, RAW= 29.5, 51.4, CAL= 28.0, 55.7, ROT= 122.0, -55.7
2025-08-22T21:48:04.851Z,1755899284.851 [DAT](INFO): got valid direction response:
21:48:05.6153 LVL= 19280, 11377, 25186, 22211, AGC= 40, IDX= 500,-0.44,-0.298,-0.228,-1.526, 0.980, PHS=-1.176,-1.163,-2.550, RAW= 29.5, 51.4, CAL= 28.0, 55.7, ROT= 122.0, -55.7
2025-08-22T21:48:04.851Z,1755899284.851 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-22T21:48:04.852Z,1755899284.852 [DAT](INFO): direction in FSK: [-0.298623,0.477897,0.826098]
2025-08-22T21:48:04.853Z,1755899284.853 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:04.856Z,1755899284.856 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=35.032658
2025-08-22T21:48:05.083Z,1755899285.083 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=35.259491
2025-08-22T21:48:05.338Z,1755899285.338 [DAT](INFO): DAT read: Rx Time:21:48:06.1152
2025-08-22T21:48:05.340Z,1755899285.340 [DAT](INFO): Rx dataTimestamp_ set to:1755899285.338855
2025-08-22T21:48:05.344Z,1755899285.344 [DAT](INFO): DAT read: Bearing 55.5, 42.7 (Local)
2025-08-22T21:48:05.345Z,1755899285.345 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.5, 42.7 (Local)
2025-08-22T21:48:05.347Z,1755899285.347 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:05.351Z,1755899285.351 [DAT](INFO): DAT read: 21:48:06.1152 LVL= 20272, 16209, 29538, 26611, AGC= 39, IDX= 499,-0.24, 1.903, 1.809, 0.626, 2.589, PHS=-0.584,-0.735,-2.007, RAW= 35.5, 41.0, CAL= 33.4, 46.5, ROT= 116.6, -46.5
2025-08-22T21:48:05.352Z,1755899285.352 [DAT](INFO): got valid direction response:
21:48:06.1152 LVL= 20272, 16209, 29538, 26611, AGC= 39, IDX= 499,-0.24, 1.903, 1.809, 0.626, 2.589, PHS=-0.584,-0.735,-2.007, RAW= 35.5, 41.0, CAL= 33.4, 46.5, ROT= 116.6, -46.5
2025-08-22T21:48:05.353Z,1755899285.353 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-22T21:48:05.354Z,1755899285.354 [DAT](INFO): direction in FSK: [-0.308217,0.615495,0.725374]
2025-08-22T21:48:05.354Z,1755899285.354 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:05.367Z,1755899285.367 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=35.542927
2025-08-22T21:48:05.587Z,1755899285.587 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=35.762962
2025-08-22T21:48:05.842Z,1755899285.842 [DAT](INFO): DAT read: Rx Time:21:48:06.6153
2025-08-22T21:48:05.844Z,1755899285.844 [DAT](INFO): Rx dataTimestamp_ set to:1755899285.842852
2025-08-22T21:48:05.846Z,1755899285.846 [DAT](INFO): DAT read: Bearing 59.1, 39.5 (Local)
2025-08-22T21:48:05.847Z,1755899285.847 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.1, 39.5 (Local)
2025-08-22T21:48:05.849Z,1755899285.849 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-08-22T21:48:05.853Z,1755899285.853 [DAT](INFO): DAT read: 21:48:06.6153 LVL= 23008, 14449, 25826, 30115, AGC= 40, IDX= 499,-0.24, 1.448, 1.513, 0.193, 2.273, PHS=-0.723,-0.715,-2.124, RAW= 29.7, 41.9, CAL= 27.9, 47.2, ROT= 122.1, -47.2
2025-08-22T21:48:05.854Z,1755899285.854 [DAT](INFO): got valid direction response:
21:48:06.6153 LVL= 23008, 14449, 25826, 30115, AGC= 40, IDX= 499,-0.24, 1.448, 1.513, 0.193, 2.273, PHS=-0.723,-0.715,-2.124, RAW= 29.7, 41.9, CAL= 27.9, 47.2, ROT= 122.1, -47.2
2025-08-22T21:48:05.855Z,1755899285.855 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-22T21:48:05.855Z,1755899285.855 [DAT](INFO): direction in FSK: [-0.361054,0.575570,0.733730]
2025-08-22T21:48:05.856Z,1755899285.856 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:05.859Z,1755899285.859 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=36.035595
2025-08-22T21:48:06.091Z,1755899286.091 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=36.266842
2025-08-22T21:48:06.346Z,1755899286.346 [DAT](INFO): DAT read: Rx Time:21:48:07.1152
2025-08-22T21:48:06.346Z,1755899286.346 [DAT](INFO): Rx dataTimestamp_ set to:1755899286.346201
2025-08-22T21:48:06.348Z,1755899286.348 [DAT](INFO): DAT read: Bearing 51.3, 42.2 (Local)
2025-08-22T21:48:06.348Z,1755899286.348 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.3, 42.2 (Local)
2025-08-22T21:48:06.350Z,1755899286.350 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:06.355Z,1755899286.355 [DAT](INFO): DAT read: 21:48:07.1152 LVL= 22960, 15025, 25330, 25939, AGC= 40, IDX= 498,-0.19,-0.020,-0.216,-1.233, 0.647, PHS=-0.565,-0.818,-1.924, RAW= 40.1, 43.0, CAL= 37.9, 48.5, ROT= 112.1, -48.5
2025-08-22T21:48:06.356Z,1755899286.356 [DAT](INFO): got valid direction response:
21:48:07.1152 LVL= 22960, 15025, 25330, 25939, AGC= 40, IDX= 498,-0.19,-0.020,-0.216,-1.233, 0.647, PHS=-0.565,-0.818,-1.924, RAW= 40.1, 43.0, CAL= 37.9, 48.5, ROT= 112.1, -48.5
2025-08-22T21:48:06.356Z,1755899286.356 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-22T21:48:06.357Z,1755899286.357 [DAT](INFO): direction in FSK: [-0.249294,0.613936,0.748956]
2025-08-22T21:48:06.357Z,1755899286.357 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:06.361Z,1755899286.361 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=36.537125
2025-08-22T21:48:06.595Z,1755899286.595 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=36.770847
2025-08-22T21:48:06.847Z,1755899286.847 [DAT](INFO): DAT read: Rx Time:21:48:07.6152
2025-08-22T21:48:06.848Z,1755899286.848 [DAT](INFO): Rx dataTimestamp_ set to:1755899286.847585
2025-08-22T21:48:06.849Z,1755899286.849 [DAT](INFO): DAT read: Bearing 63.0, 36.1 (Local)
2025-08-22T21:48:06.850Z,1755899286.850 [DAT](INFO): Local bearing/azimuth received:
Bearing 63.0, 36.1 (Local)
2025-08-22T21:48:06.851Z,1755899286.851 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:06.856Z,1755899286.856 [DAT](INFO): DAT read: 21:48:07.6152 LVL= 19536, 17649, 24402, 24563, AGC= 40, IDX= 499,-0.29, 1.320, 1.550, 0.144, 2.247, PHS=-0.825,-0.652,-2.146, RAW= 23.9, 42.1, CAL= 22.3, 47.4, ROT= 127.7, -47.4
2025-08-22T21:48:06.857Z,1755899286.857 [DAT](INFO): got valid direction response:
21:48:07.6152 LVL= 19536, 17649, 24402, 24563, AGC= 40, IDX= 499,-0.29, 1.320, 1.550, 0.144, 2.247, PHS=-0.825,-0.652,-2.146, RAW= 23.9, 42.1, CAL= 22.3, 47.4, ROT= 127.7, -47.4
2025-08-22T21:48:06.858Z,1755899286.858 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-22T21:48:06.859Z,1755899286.859 [DAT](INFO): direction in FSK: [-0.413928,0.535560,0.736097]
2025-08-22T21:48:06.859Z,1755899286.859 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:07.100Z,1755899287.100 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS32768,-32768,V
2025-08-22T21:48:07.352Z,1755899287.352 [DAT](INFO): DAT read: Rx Time:21:48:08.1151
2025-08-22T21:48:07.352Z,1755899287.352 [DAT](INFO): Rx dataTimestamp_ set to:1755899287.352142
2025-08-22T21:48:07.354Z,1755899287.354 [DAT](INFO): DAT read: Bearing 57.9, 38.4 (Local)
2025-08-22T21:48:07.354Z,1755899287.354 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.9, 38.4 (Local)
2025-08-22T21:48:07.356Z,1755899287.356 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:07.361Z,1755899287.361 [DAT](INFO): DAT read: 21:48:08.1151 LVL= 18512, 14593, 27058, 21715, AGC= 38, IDX= 497, 0.41,-2.375,-2.350, 2.793,-1.558, PHS=-0.715,-0.747,-1.976, RAW= 31.3, 44.3, CAL= 29.5, 49.4, ROT= 120.5, -49.4
2025-08-22T21:48:07.362Z,1755899287.362 [DAT](INFO): got valid direction response:
21:48:08.1151 LVL= 18512, 14593, 27058, 21715, AGC= 38, IDX= 497, 0.41,-2.375,-2.350, 2.793,-1.558, PHS=-0.715,-0.747,-1.976, RAW= 31.3, 44.3, CAL= 29.5, 49.4, ROT= 120.5, -49.4
2025-08-22T21:48:07.362Z,1755899287.362 [DAT](INFO): #Rx 121: Read range and direction messages.
2025-08-22T21:48:07.363Z,1755899287.363 [DAT](INFO): direction in FSK: [-0.330293,0.560726,0.759271]
2025-08-22T21:48:07.363Z,1755899287.363 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:07.855Z,1755899287.855 [DAT](INFO): DAT read: Rx Time:21:48:08.6152
2025-08-22T21:48:07.856Z,1755899287.856 [DAT](INFO): Rx dataTimestamp_ set to:1755899287.855252
2025-08-22T21:48:07.857Z,1755899287.857 [DAT](INFO): DAT read: Bearing 65.9, 34.2 (Local)
2025-08-22T21:48:07.857Z,1755899287.857 [DAT](INFO): Local bearing/azimuth received:
Bearing 65.9, 34.2 (Local)
2025-08-22T21:48:07.859Z,1755899287.859 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:07.874Z,1755899287.874 [DAT](INFO): DAT read: 21:48:08.6152 LVL= 16752, 7585, 18418, 21699, AGC= 40, IDX= 2, 0.35,-1.043,-0.714,-2.066,-0.069, PHS=-0.872,-0.600,-2.041, RAW= 19.8, 43.1, CAL= 18.3, 48.3, ROT= 131.7, -48.3
2025-08-22T21:48:07.875Z,1755899287.875 [DAT](INFO): got valid direction response:
21:48:08.6152 LVL= 16752, 7585, 18418, 21699, AGC= 40, IDX= 2, 0.35,-1.043,-0.714,-2.066,-0.069, PHS=-0.872,-0.600,-2.041, RAW= 19.8, 43.1, CAL= 18.3, 48.3, ROT= 131.7, -48.3
2025-08-22T21:48:07.876Z,1755899287.876 [DAT](INFO): #Rx 122: Read range and direction messages.
2025-08-22T21:48:07.883Z,1755899287.883 [DAT](INFO): direction in FSK: [-0.442531,0.496686,0.746638]
2025-08-22T21:48:07.884Z,1755899287.884 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:08.359Z,1755899288.359 [DAT](INFO): DAT read: Rx Time:21:48:09.1151
2025-08-22T21:48:08.360Z,1755899288.360 [DAT](INFO): Rx dataTimestamp_ set to:1755899288.359357
2025-08-22T21:48:08.361Z,1755899288.361 [DAT](INFO): DAT read: Bearing 63.2, 37.0 (Local)
2025-08-22T21:48:08.361Z,1755899288.361 [DAT](INFO): Local bearing/azimuth received:
Bearing 63.2, 37.0 (Local)
2025-08-22T21:48:08.363Z,1755899288.363 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:08.376Z,1755899288.376 [DAT](INFO): DAT read: 21:48:09.1151 LVL= 20896, 12865, 25506, 27491, AGC= 38, IDX= 498,-0.46, 0.829, 0.996,-0.199, 1.691, PHS=-0.760,-0.651,-1.934, RAW= 25.6, 43.8, CAL= 24.0, 48.9, ROT= 126.0, -48.9
2025-08-22T21:48:08.382Z,1755899288.382 [DAT](INFO): got valid direction response:
21:48:09.1151 LVL= 20896, 12865, 25506, 27491, AGC= 38, IDX= 498,-0.46, 0.829, 0.996,-0.199, 1.691, PHS=-0.760,-0.651,-1.934, RAW= 25.6, 43.8, CAL= 24.0, 48.9, ROT= 126.0, -48.9
2025-08-22T21:48:08.383Z,1755899288.383 [DAT](INFO): #Rx 123: Read range and direction messages.
2025-08-22T21:48:08.384Z,1755899288.384 [DAT](INFO): direction in FSK: [-0.386395,0.531828,0.753563]
2025-08-22T21:48:08.385Z,1755899288.385 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:08.864Z,1755899288.864 [DAT](INFO): DAT read: Rx Time:21:48:09.6152
2025-08-22T21:48:08.865Z,1755899288.865 [DAT](INFO): Rx dataTimestamp_ set to:1755899288.864290
2025-08-22T21:48:08.869Z,1755899288.869 [DAT](INFO): DAT read: Bearing 69.9, 35.1 (Local)
2025-08-22T21:48:08.870Z,1755899288.870 [DAT](INFO): Local bearing/azimuth received:
Bearing 69.9, 35.1 (Local)
2025-08-22T21:48:08.873Z,1755899288.873 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:08.881Z,1755899288.881 [DAT](INFO): DAT read: 21:48:09.6152 LVL= 19632, 11281, 22962, 27299, AGC= 40, IDX= 3,-0.35, 0.218, 0.578,-0.781, 1.132, PHS=-0.812,-0.509,-1.957, RAW= 18.6, 41.2, CAL= 17.0, 46.6, ROT= 133.0, -46.6
2025-08-22T21:48:08.883Z,1755899288.883 [DAT](INFO): got valid direction response:
21:48:09.6152 LVL= 19632, 11281, 22962, 27299, AGC= 40, IDX= 3,-0.35, 0.218, 0.578,-0.781, 1.132, PHS=-0.812,-0.509,-1.957, RAW= 18.6, 41.2, CAL= 17.0, 46.6, ROT= 133.0, -46.6
2025-08-22T21:48:08.884Z,1755899288.884 [DAT](INFO): #Rx 124: Read range and direction messages.
2025-08-22T21:48:08.886Z,1755899288.886 [DAT](INFO): direction in FSK: [-0.468593,0.502504,0.726575]
2025-08-22T21:48:08.887Z,1755899288.887 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:09.369Z,1755899289.369 [DAT](INFO): DAT read: Rx Time:21:48:10.1151
2025-08-22T21:48:09.370Z,1755899289.370 [DAT](INFO): Rx dataTimestamp_ set to:1755899289.369349
2025-08-22T21:48:09.372Z,1755899289.372 [DAT](INFO): DAT read: Bearing 69.1, 37.2 (Local)
2025-08-22T21:48:09.372Z,1755899289.372 [DAT](INFO): Local bearing/azimuth received:
Bearing 69.1, 37.2 (Local)
2025-08-22T21:48:09.377Z,1755899289.377 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:09.385Z,1755899289.385 [DAT](INFO): DAT read: 21:48:10.1151 LVL= 21792, 10113, 20786, 24019, AGC= 36, IDX= 498,-0.48, 0.217, 0.486,-0.837, 1.065, PHS=-0.746,-0.534,-1.947, RAW= 22.0, 40.9, CAL= 20.4, 46.3, ROT= 129.6, -46.3
2025-08-22T21:48:09.387Z,1755899289.387 [DAT](INFO): got valid direction response:
21:48:10.1151 LVL= 21792, 10113, 20786, 24019, AGC= 36, IDX= 498,-0.48, 0.217, 0.486,-0.837, 1.065, PHS=-0.746,-0.534,-1.947, RAW= 22.0, 40.9, CAL= 20.4, 46.3, ROT= 129.6, -46.3
2025-08-22T21:48:09.388Z,1755899289.388 [DAT](INFO): #Rx 125: Read range and direction messages.
2025-08-22T21:48:09.390Z,1755899289.390 [DAT](INFO): direction in FSK: [-0.440385,0.532334,0.722967]
2025-08-22T21:48:09.390Z,1755899289.390 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:09.872Z,1755899289.872 [DAT](INFO): DAT read: Rx Time:21:48:10.6151
2025-08-22T21:48:09.873Z,1755899289.873 [DAT](INFO): Rx dataTimestamp_ set to:1755899289.872491
2025-08-22T21:48:09.875Z,1755899289.875 [DAT](INFO): DAT read: Bearing 81.5, 34.6 (Local)
2025-08-22T21:48:09.876Z,1755899289.876 [DAT](INFO): Local bearing/azimuth received:
Bearing 81.5, 34.6 (Local)
2025-08-22T21:48:09.879Z,1755899289.879 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:09.894Z,1755899289.894 [DAT](INFO): DAT read: 21:48:10.6151 LVL= 20976, 12273, 20114, 23075, AGC= 36, IDX= 513, 0.34, 1.827, 2.386, 0.809, 2.613, PHS=-0.684,-0.182,-1.848, RAW= 12.9, 33.0, CAL= 11.2, 38.8, ROT= 138.8, -38.8
2025-08-22T21:48:09.895Z,1755899289.895 [DAT](INFO): got valid direction response:
21:48:10.6151 LVL= 20976, 12273, 20114, 23075, AGC= 36, IDX= 513, 0.34, 1.827, 2.386, 0.809, 2.613, PHS=-0.684,-0.182,-1.848, RAW= 12.9, 33.0, CAL= 11.2, 38.8, ROT= 138.8, -38.8
2025-08-22T21:48:09.895Z,1755899289.895 [DAT](INFO): #Rx 126: Read range and direction messages.
2025-08-22T21:48:09.896Z,1755899289.896 [DAT](INFO): direction in FSK: [-0.586386,0.513342,0.626604]
2025-08-22T21:48:09.896Z,1755899289.896 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:10.376Z,1755899290.376 [DAT](INFO): DAT read: Rx Time:21:48:11.1150
2025-08-22T21:48:10.377Z,1755899290.377 [DAT](INFO): Rx dataTimestamp_ set to:1755899290.376468
2025-08-22T21:48:10.381Z,1755899290.381 [DAT](INFO): DAT read: Bearing 66.4, 41.1 (Local)
2025-08-22T21:48:10.382Z,1755899290.382 [DAT](INFO): Local bearing/azimuth received:
Bearing 66.4, 41.1 (Local)
2025-08-22T21:48:10.385Z,1755899290.385 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0
2025-08-22T21:48:10.392Z,1755899290.392 [DAT](INFO): DAT read: 21:48:11.1150 LVL= 20368, 9873, 19026, 23219, AGC= 35, IDX= 512, 0.23, 1.940, 2.003, 0.876, 2.587, PHS=-0.544,-0.538,-1.755, RAW= 29.8, 39.6, CAL= 27.8, 45.2, ROT= 122.2, -45.2
2025-08-22T21:48:10.394Z,1755899290.394 [DAT](INFO): got valid direction response:
21:48:11.1150 LVL= 20368, 9873, 19026, 23219, AGC= 35, IDX= 512, 0.23, 1.940, 2.003, 0.876, 2.587, PHS=-0.544,-0.538,-1.755, RAW= 29.8, 39.6, CAL= 27.8, 45.2, ROT= 122.2, -45.2
2025-08-22T21:48:10.394Z,1755899290.394 [DAT](INFO): #Rx 127: Read range and direction messages.
2025-08-22T21:48:10.395Z,1755899290.395 [DAT](INFO): direction in FSK: [-0.375483,0.596257,0.709571]
2025-08-22T21:48:10.395Z,1755899290.395 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:10.881Z,1755899290.881 [DAT](INFO): DAT read: Rx Time:21:48:11.6151
2025-08-22T21:48:10.882Z,1755899290.882 [DAT](INFO): Rx dataTimestamp_ set to:1755899290.880982
2025-08-22T21:48:10.883Z,1755899290.883 [DAT](INFO): DAT read: Bearing 68.9, 37.5 (Local)
2025-08-22T21:48:10.884Z,1755899290.884 [DAT](INFO): Local bearing/azimuth received:
Bearing 68.9, 37.5 (Local)
2025-08-22T21:48:10.888Z,1755899290.888 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:10.895Z,1755899290.895 [DAT](INFO): DAT read: 21:48:11.6151 LVL= 23072, 9201, 19650, 25923, AGC= 35, IDX= 513, 0.31, 1.565, 1.770, 0.576, 2.325, PHS=-0.658,-0.510,-1.793, RAW= 23.9, 40.7, CAL= 22.3, 46.2, ROT= 127.7, -46.2
2025-08-22T21:48:10.897Z,1755899290.897 [DAT](INFO): got valid direction response:
21:48:11.6151 LVL= 23072, 9201, 19650, 25923, AGC= 35, IDX= 513, 0.31, 1.565, 1.770, 0.576, 2.325, PHS=-0.658,-0.510,-1.793, RAW= 23.9, 40.7, CAL= 22.3, 46.2, ROT= 127.7, -46.2
2025-08-22T21:48:10.900Z,1755899290.900 [DAT](INFO): #Rx 128: Read range and direction messages.
2025-08-22T21:48:10.919Z,1755899290.919 [DAT](INFO): direction in FSK: [-0.423264,0.547640,0.721760]
2025-08-22T21:48:10.919Z,1755899290.919 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:11.384Z,1755899291.384 [DAT](INFO): DAT read: Rx Time:21:48:12.1150
2025-08-22T21:48:11.385Z,1755899291.385 [DAT](INFO): Rx dataTimestamp_ set to:1755899291.384560
2025-08-22T21:48:11.388Z,1755899291.388 [DAT](INFO): DAT read: Bearing 70.4, 41.4 (Local)
2025-08-22T21:48:11.388Z,1755899291.388 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.4, 41.4 (Local)
2025-08-22T21:48:11.391Z,1755899291.391 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0
2025-08-22T21:48:11.396Z,1755899291.396 [DAT](INFO): DAT read: 21:48:12.1150 LVL= 24416, 11921, 19954, 25475, AGC= 34, IDX= 512, 0.39,-0.595,-0.450,-1.997, 0.160, PHS=-0.653,-0.565,-2.201, RAW= 27.3, 37.2, CAL= 25.3, 43.0, ROT= 124.7, -43.0
2025-08-22T21:48:11.397Z,1755899291.397 [DAT](INFO): got valid direction response:
21:48:12.1150 LVL= 24416, 11921, 19954, 25475, AGC= 34, IDX= 512, 0.39,-0.595,-0.450,-1.997, 0.160, PHS=-0.653,-0.565,-2.201, RAW= 27.3, 37.2, CAL= 25.3, 43.0, ROT= 124.7, -43.0
2025-08-22T21:48:11.397Z,1755899291.397 [DAT](INFO): #Rx 129: Read range and direction messages.
2025-08-22T21:48:11.398Z,1755899291.398 [DAT](INFO): direction in FSK: [-0.416345,0.601278,0.681998]
2025-08-22T21:48:11.399Z,1755899291.399 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:11.890Z,1755899291.890 [DAT](INFO): DAT read: Rx Time:21:48:12.6151
2025-08-22T21:48:11.891Z,1755899291.891 [DAT](INFO): Rx dataTimestamp_ set to:1755899291.890479
2025-08-22T21:48:11.892Z,1755899291.892 [DAT](INFO): DAT read: Bearing 72.2, 43.2 (Local)
2025-08-22T21:48:11.892Z,1755899291.892 [DAT](INFO): Local bearing/azimuth received:
Bearing 72.2, 43.2 (Local)
2025-08-22T21:48:11.895Z,1755899291.895 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:11.899Z,1755899291.899 [DAT](INFO): DAT read: 21:48:12.6151 LVL= 25648, 7761, 19154, 21635, AGC= 34, IDX= 513, 0.42, 0.609, 0.735,-0.878, 1.277, PHS=-0.566,-0.497,-2.199, RAW= 27.9, 34.7, CAL= 25.9, 40.8, ROT= 124.1, -40.8
2025-08-22T21:48:11.900Z,1755899291.900 [DAT](INFO): got valid direction response:
21:48:12.6151 LVL= 25648, 7761, 19154, 21635, AGC= 34, IDX= 513, 0.42, 0.609, 0.735,-0.878, 1.277, PHS=-0.566,-0.497,-2.199, RAW= 27.9, 34.7, CAL= 25.9, 40.8, ROT= 124.1, -40.8
2025-08-22T21:48:11.900Z,1755899291.900 [DAT](INFO): #Rx 130: Read range and direction messages.
2025-08-22T21:48:11.905Z,1755899291.905 [DAT](INFO): direction in FSK: [-0.424401,0.626838,0.653421]
2025-08-22T21:48:11.906Z,1755899291.906 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:12.391Z,1755899292.391 [DAT](INFO): DAT read: Rx Time:21:48:13.1150
2025-08-22T21:48:12.392Z,1755899292.392 [DAT](INFO): Rx dataTimestamp_ set to:1755899292.391403
2025-08-22T21:48:12.393Z,1755899292.393 [DAT](INFO): DAT read: Bearing 56.0, 46.3 (Local)
2025-08-22T21:48:12.393Z,1755899292.393 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.0, 46.3 (Local)
2025-08-22T21:48:12.395Z,1755899292.395 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0
2025-08-22T21:48:12.400Z,1755899292.400 [DAT](INFO): DAT read: 21:48:13.1150 LVL= 21600, 11729, 20514, 22563, AGC= 35, IDX= 512, 0.32, 0.171,-0.204,-1.543, 0.828, PHS=-0.555,-0.987,-2.415, RAW= 42.8, 39.7, CAL= 40.4, 45.6, ROT= 109.6, -45.6
2025-08-22T21:48:12.401Z,1755899292.401 [DAT](INFO): got valid direction response:
21:48:13.1150 LVL= 21600, 11729, 20514, 22563, AGC= 35, IDX= 512, 0.32, 0.171,-0.204,-1.543, 0.828, PHS=-0.555,-0.987,-2.415, RAW= 42.8, 39.7, CAL= 40.4, 45.6, ROT= 109.6, -45.6
2025-08-22T21:48:12.401Z,1755899292.401 [DAT](INFO): #Rx 131: Read range and direction messages.
2025-08-22T21:48:12.402Z,1755899292.402 [DAT](INFO): direction in FSK: [-0.234703,0.659123,0.714473]
2025-08-22T21:48:12.403Z,1755899292.403 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:12.823Z,1755899292.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:48:12.896Z,1755899292.896 [DAT](INFO): DAT read: Rx Time:21:48:13.6151
2025-08-22T21:48:12.897Z,1755899292.897 [DAT](INFO): Rx dataTimestamp_ set to:1755899292.896251
2025-08-22T21:48:12.898Z,1755899292.898 [DAT](INFO): DAT read: Bearing 49.2, 48.7 (Local)
2025-08-22T21:48:12.899Z,1755899292.899 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.2, 48.7 (Local)
2025-08-22T21:48:12.902Z,1755899292.902 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:12.908Z,1755899292.908 [DAT](INFO): DAT read: 21:48:13.6151 LVL= 20576, 8561, 19234, 20979, AGC= 34, IDX= 513, 0.18,-2.657, 3.106, 2.142,-2.192, PHS=-0.363,-0.941,-1.994, RAW= 50.4, 39.2, CAL= 47.3, 45.0, ROT= 102.7, -45.0
2025-08-22T21:48:12.918Z,1755899292.918 [DAT](INFO): got valid direction response:
21:48:13.6151 LVL= 20576, 8561, 19234, 20979, AGC= 34, IDX= 513, 0.18,-2.657, 3.106, 2.142,-2.192, PHS=-0.363,-0.941,-1.994, RAW= 50.4, 39.2, CAL= 47.3, 45.0, ROT= 102.7, -45.0
2025-08-22T21:48:12.918Z,1755899292.918 [DAT](INFO): #Rx 132: Read range and direction messages.
2025-08-22T21:48:12.919Z,1755899292.919 [DAT](INFO): direction in FSK: [-0.155455,0.689807,0.707107]
2025-08-22T21:48:12.920Z,1755899292.920 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:12.935Z,1755899292.935 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:48:12.935Z,1755899292.935 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:48:12.935Z,1755899292.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:13.146Z,1755899293.146 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:13.147Z,1755899293.147 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:13.147Z,1755899293.147 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:13.399Z,1755899293.399 [DAT](INFO): DAT read: Rx Time:21:48:14.1150
2025-08-22T21:48:13.399Z,1755899293.399 [DAT](INFO): Rx dataTimestamp_ set to:1755899293.399198
2025-08-22T21:48:13.401Z,1755899293.401 [DAT](INFO): DAT read: Bearing 55.6, 47.7 (Local)
2025-08-22T21:48:13.401Z,1755899293.401 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.6, 47.7 (Local)
2025-08-22T21:48:13.403Z,1755899293.403 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0
2025-08-22T21:48:13.408Z,1755899293.408 [DAT](INFO): DAT read: 21:48:14.1150 LVL= 21200, 10033, 23026, 26611, AGC= 34, IDX= 512, 0.13, 2.535, 2.182, 0.973, 3.058, PHS=-0.421,-0.831,-2.129, RAW= 43.3, 37.7, CAL= 40.7, 43.9, ROT= 109.3, -43.9
2025-08-22T21:48:13.409Z,1755899293.409 [DAT](INFO): got valid direction response:
21:48:14.1150 LVL= 21200, 10033, 23026, 26611, AGC= 34, IDX= 512, 0.13, 2.535, 2.182, 0.973, 3.058, PHS=-0.421,-0.831,-2.129, RAW= 43.3, 37.7, CAL= 40.7, 43.9, ROT= 109.3, -43.9
2025-08-22T21:48:13.409Z,1755899293.409 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:13.411Z,1755899293.411 [DAT](INFO): direction in FSK: [-0.238152,0.680057,0.693402]
2025-08-22T21:48:13.411Z,1755899293.411 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:13.414Z,1755899293.414 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:13.415Z,1755899293.415 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:13.650Z,1755899293.650 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:13.650Z,1755899293.650 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:13.651Z,1755899293.651 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:13.903Z,1755899293.903 [DAT](INFO): DAT read: Rx Time:21:48:14.6150
2025-08-22T21:48:13.904Z,1755899293.904 [DAT](INFO): Rx dataTimestamp_ set to:1755899293.903259
2025-08-22T21:48:13.905Z,1755899293.905 [DAT](INFO): DAT read: Bearing 54.4, 51.2 (Local)
2025-08-22T21:48:13.905Z,1755899293.905 [DAT](INFO): Local bearing/azimuth received:
Bearing 54.4, 51.2 (Local)
2025-08-22T21:48:13.907Z,1755899293.907 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0
2025-08-22T21:48:13.912Z,1755899293.912 [DAT](INFO): DAT read: 21:48:14.6150 LVL= 21584, 11041, 26706, 23187, AGC= 34, IDX= 512, 0.17, 2.550, 2.119, 0.987, 2.923, PHS=-0.272,-0.759,-1.980, RAW= 46.1, 34.9, CAL= 43.1, 41.4, ROT= 106.9, -41.4
2025-08-22T21:48:13.913Z,1755899293.913 [DAT](INFO): got valid direction response:
21:48:14.6150 LVL= 21584, 11041, 26706, 23187, AGC= 34, IDX= 512, 0.17, 2.550, 2.119, 0.987, 2.923, PHS=-0.272,-0.759,-1.980, RAW= 46.1, 34.9, CAL= 43.1, 41.4, ROT= 106.9, -41.4
2025-08-22T21:48:13.913Z,1755899293.913 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:13.914Z,1755899293.914 [DAT](INFO): direction in FSK: [-0.218059,0.717716,0.661312]
2025-08-22T21:48:13.914Z,1755899293.914 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:13.918Z,1755899293.918 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:13.919Z,1755899293.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:14.154Z,1755899294.154 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:14.155Z,1755899294.155 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:14.155Z,1755899294.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:14.407Z,1755899294.407 [DAT](INFO): DAT read: Rx Time:21:48:15.1149
2025-08-22T21:48:14.408Z,1755899294.408 [DAT](INFO): Rx dataTimestamp_ set to:1755899294.407377
2025-08-22T21:48:14.409Z,1755899294.409 [DAT](INFO): DAT read: Bearing 71.2, 41.9 (Local)
2025-08-22T21:48:14.409Z,1755899294.409 [DAT](INFO): Local bearing/azimuth received:
Bearing 71.2, 41.9 (Local)
2025-08-22T21:48:14.411Z,1755899294.411 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-08-22T21:48:14.416Z,1755899294.416 [DAT](INFO): DAT read: 21:48:15.1149 LVL= 18304, 9297, 24754, 26867, AGC= 35, IDX= 511, 0.27, 0.948, 1.189,-0.482, 1.691, PHS=-0.641,-0.457,-2.218, RAW= 24.5, 35.0, CAL= 22.6, 41.1, ROT= 127.4, -41.1
2025-08-22T21:48:14.430Z,1755899294.430 [DAT](INFO): got valid direction response:
21:48:15.1149 LVL= 18304, 9297, 24754, 26867, AGC= 35, IDX= 511, 0.27, 0.948, 1.189,-0.482, 1.691, PHS=-0.641,-0.457,-2.218, RAW= 24.5, 35.0, CAL= 22.6, 41.1, ROT= 127.4, -41.1
2025-08-22T21:48:14.430Z,1755899294.430 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:14.431Z,1755899294.431 [DAT](INFO): direction in FSK: [-0.457696,0.598642,0.657375]
2025-08-22T21:48:14.431Z,1755899294.431 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:14.439Z,1755899294.439 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:14.440Z,1755899294.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:14.658Z,1755899294.658 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:14.658Z,1755899294.658 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:14.659Z,1755899294.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:14.912Z,1755899294.912 [DAT](INFO): DAT read: Rx Time:21:48:15.6150
2025-08-22T21:48:14.913Z,1755899294.913 [DAT](INFO): Rx dataTimestamp_ set to:1755899294.912212
2025-08-22T21:48:14.915Z,1755899294.915 [DAT](INFO): DAT read: Bearing 51.7, 56.3 (Local)
2025-08-22T21:48:14.915Z,1755899294.915 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.7, 56.3 (Local)
2025-08-22T21:48:14.918Z,1755899294.918 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0
2025-08-22T21:48:14.923Z,1755899294.923 [DAT](INFO): DAT read: 21:48:15.6150 LVL= 23744, 13489, 32306, 32755, AGC= 36, IDX= 513,-0.47,-2.622,-3.072, 2.331,-2.428, PHS=-0.092,-0.599,-1.568, RAW= 49.8, 31.6, CAL= 46.3, 37.7, ROT= 103.7, -37.7
2025-08-22T21:48:14.924Z,1755899294.924 [DAT](INFO): got valid direction response:
21:48:15.6150 LVL= 23744, 13489, 32306, 32755, AGC= 36, IDX= 513,-0.47,-2.622,-3.072, 2.331,-2.428, PHS=-0.092,-0.599,-1.568, RAW= 49.8, 31.6, CAL= 46.3, 37.7, ROT= 103.7, -37.7
2025-08-22T21:48:14.924Z,1755899294.924 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:14.942Z,1755899294.942 [DAT](INFO): direction in FSK: [-0.187392,0.768713,0.611527]
2025-08-22T21:48:14.942Z,1755899294.942 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:14.955Z,1755899294.955 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:14.955Z,1755899294.955 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:15.163Z,1755899295.163 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:15.163Z,1755899295.163 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:15.163Z,1755899295.163 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:15.415Z,1755899295.415 [DAT](INFO): DAT read: Rx Time:21:48:16.1149
2025-08-22T21:48:15.416Z,1755899295.416 [DAT](INFO): Rx dataTimestamp_ set to:1755899295.415255
2025-08-22T21:48:15.417Z,1755899295.417 [DAT](INFO): DAT read: Bearing 25.8, 59.3 (Local)
2025-08-22T21:48:15.417Z,1755899295.417 [DAT](INFO): Local bearing/azimuth received:
Bearing 25.8, 59.3 (Local)
2025-08-22T21:48:15.420Z,1755899295.420 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-08-22T21:48:15.424Z,1755899295.424 [DAT](INFO): DAT read: 21:48:16.1149 LVL= 25904, 14993, 32754, 32755, AGC= 35, IDX= 512,-0.39, 1.987, 1.139, 0.661, 1.980, PHS= 0.109,-0.796,-1.363, RAW= 67.5, 29.4, CAL= 63.1, 36.4, ROT= 86.9, -36.4
2025-08-22T21:48:15.425Z,1755899295.425 [DAT](INFO): got valid direction response:
21:48:16.1149 LVL= 25904, 14993, 32754, 32755, AGC= 35, IDX= 512,-0.39, 1.987, 1.139, 0.661, 1.980, PHS= 0.109,-0.796,-1.363, RAW= 67.5, 29.4, CAL= 63.1, 36.4, ROT= 86.9, -36.4
2025-08-22T21:48:15.426Z,1755899295.426 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:15.427Z,1755899295.427 [DAT](INFO): direction in FSK: [0.043528,0.803716,0.593419]
2025-08-22T21:48:15.427Z,1755899295.427 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:15.430Z,1755899295.430 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:15.431Z,1755899295.431 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:15.667Z,1755899295.667 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:15.667Z,1755899295.667 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:15.667Z,1755899295.667 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:15.919Z,1755899295.919 [DAT](INFO): DAT read: Rx Time:21:48:16.6150
2025-08-22T21:48:15.920Z,1755899295.920 [DAT](INFO): Rx dataTimestamp_ set to:1755899295.919257
2025-08-22T21:48:15.921Z,1755899295.921 [DAT](INFO): DAT read: Bearing 21.9, 49.4 (Local)
2025-08-22T21:48:15.921Z,1755899295.921 [DAT](INFO): Local bearing/azimuth received:
Bearing 21.9, 49.4 (Local)
2025-08-22T21:48:15.923Z,1755899295.923 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0
2025-08-22T21:48:15.928Z,1755899295.928 [DAT](INFO): DAT read: 21:48:16.6150 LVL= 32624, 21041, 32754, 32755, AGC= 35, IDX= 513,-0.34, 2.497, 1.667, 1.352, 2.743, PHS=-0.144,-1.030,-1.435, RAW= 72.2, 38.9, CAL= 67.9, 45.7, ROT= 82.1, -45.7
2025-08-22T21:48:15.929Z,1755899295.929 [DAT](INFO): got valid direction response:
21:48:16.6150 LVL= 32624, 21041, 32754, 32755, AGC= 35, IDX= 513,-0.34, 2.497, 1.667, 1.352, 2.743, PHS=-0.144,-1.030,-1.435, RAW= 72.2, 38.9, CAL= 67.9, 45.7, ROT= 82.1, -45.7
2025-08-22T21:48:15.929Z,1755899295.929 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:15.930Z,1755899295.930 [DAT](INFO): direction in FSK: [0.095993,0.691787,0.715693]
2025-08-22T21:48:15.930Z,1755899295.930 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:15.934Z,1755899295.934 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:15.934Z,1755899295.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:16.171Z,1755899296.171 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:16.171Z,1755899296.171 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:16.172Z,1755899296.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:16.423Z,1755899296.423 [DAT](INFO): DAT read: Rx Time:21:48:17.1148
2025-08-22T21:48:16.424Z,1755899296.424 [DAT](INFO): Rx dataTimestamp_ set to:1755899296.423365
2025-08-22T21:48:16.425Z,1755899296.425 [DAT](INFO): DAT read: Bearing 26.6, 42.7 (Local)
2025-08-22T21:48:16.425Z,1755899296.425 [DAT](INFO): Local bearing/azimuth received:
Bearing 26.6, 42.7 (Local)
2025-08-22T21:48:16.427Z,1755899296.427 [DAT](INFO): DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-08-22T21:48:16.432Z,1755899296.432 [DAT](INFO): DAT read: 21:48:17.1148 LVL= 25264, 22385, 32754, 32755, AGC= 34, IDX= 512,-0.23,-0.274,-0.849,-1.159, 0.206, PHS=-0.378,-1.011,-1.409, RAW= 67.5, 47.7, CAL= 63.9, 53.1, ROT= 86.1, -53.1
2025-08-22T21:48:16.433Z,1755899296.433 [DAT](INFO): got valid direction response:
21:48:17.1148 LVL= 25264, 22385, 32754, 32755, AGC= 34, IDX= 512,-0.23,-0.274,-0.849,-1.159, 0.206, PHS=-0.378,-1.011,-1.409, RAW= 67.5, 47.7, CAL= 63.9, 53.1, ROT= 86.1, -53.1
2025-08-22T21:48:16.433Z,1755899296.433 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:16.434Z,1755899296.434 [DAT](INFO): direction in FSK: [0.040838,0.599030,0.799685]
2025-08-22T21:48:16.434Z,1755899296.434 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:16.439Z,1755899296.439 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:16.439Z,1755899296.439 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:16.674Z,1755899296.674 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:16.674Z,1755899296.674 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:16.675Z,1755899296.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:16.928Z,1755899296.928 [DAT](INFO): DAT read: Rx Time:21:48:17.6149
2025-08-22T21:48:16.928Z,1755899296.928 [DAT](INFO): Rx dataTimestamp_ set to:1755899296.927997
2025-08-22T21:48:16.930Z,1755899296.930 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-08-22T21:48:16.931Z,1755899296.931 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:48:16.932Z,1755899296.932 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:16.932Z,1755899296.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:17.178Z,1755899297.178 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:17.179Z,1755899297.179 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:17.179Z,1755899297.179 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:17.431Z,1755899297.431 [DAT](INFO): DAT read: Rx Time:21:48:18.1152
2025-08-22T21:48:17.432Z,1755899297.432 [DAT](INFO): Rx dataTimestamp_ set to:1755899297.431245
2025-08-22T21:48:17.433Z,1755899297.433 [DAT](INFO): DAT read: Bearing 17.0, 36.7 (Local)
2025-08-22T21:48:17.433Z,1755899297.433 [DAT](INFO): Local bearing/azimuth received:
Bearing 17.0, 36.7 (Local)
2025-08-22T21:48:17.435Z,1755899297.435 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:17.440Z,1755899297.440 [DAT](INFO): DAT read: 21:48:18.1152 LVL= 23760, 11729, 22450, 32755, AGC= 36, IDX= 0, 0.59,-0.038,-0.747,-0.872, 0.366, PHS=-0.302,-1.068,-1.282, RAW= 78.0, 46.4, CAL= 75.1, 52.7, ROT= 74.9, -52.7
2025-08-22T21:48:17.441Z,1755899297.441 [DAT](INFO): got valid direction response:
21:48:18.1152 LVL= 23760, 11729, 22450, 32755, AGC= 36, IDX= 0, 0.59,-0.038,-0.747,-0.872, 0.366, PHS=-0.302,-1.068,-1.282, RAW= 78.0, 46.4, CAL= 75.1, 52.7, ROT= 74.9, -52.7
2025-08-22T21:48:17.441Z,1755899297.441 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:17.443Z,1755899297.443 [DAT](INFO): direction in FSK: [0.157863,0.585065,0.795473]
2025-08-22T21:48:17.443Z,1755899297.443 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:17.446Z,1755899297.446 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:17.447Z,1755899297.447 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:17.682Z,1755899297.682 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:17.682Z,1755899297.682 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:17.683Z,1755899297.683 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:17.935Z,1755899297.935 [DAT](INFO): DAT read: Rx Time:21:48:18.6151
2025-08-22T21:48:17.935Z,1755899297.935 [DAT](INFO): Rx dataTimestamp_ set to:1755899297.935178
2025-08-22T21:48:17.937Z,1755899297.937 [DAT](INFO): DAT read: Bearing 10.4, 41.5 (Local)
2025-08-22T21:48:17.937Z,1755899297.937 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.4, 41.5 (Local)
2025-08-22T21:48:17.939Z,1755899297.939 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:17.943Z,1755899297.943 [DAT](INFO): DAT read: 21:48:18.6151 LVL= 22160, 12705, 29794, 22179, AGC= 34, IDX= 496, 0.06, 1.939, 0.398, 0.145, 2.092, PHS=-0.051,-1.648,-1.990, RAW= 80.5, 36.0, CAL= 77.2, 43.9, ROT= 72.8, -43.9
2025-08-22T21:48:17.944Z,1755899297.944 [DAT](INFO): got valid direction response:
21:48:18.6151 LVL= 22160, 12705, 29794, 22179, AGC= 34, IDX= 496, 0.06, 1.939, 0.398, 0.145, 2.092, PHS=-0.051,-1.648,-1.990, RAW= 80.5, 36.0, CAL= 77.2, 43.9, ROT= 72.8, -43.9
2025-08-22T21:48:17.945Z,1755899297.945 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:17.946Z,1755899297.946 [DAT](INFO): direction in FSK: [0.213073,0.688327,0.693402]
2025-08-22T21:48:17.946Z,1755899297.946 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:17.950Z,1755899297.950 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:17.950Z,1755899297.950 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:18.187Z,1755899298.187 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:18.191Z,1755899298.191 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:18.191Z,1755899298.191 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:18.439Z,1755899298.439 [DAT](INFO): DAT read: Rx Time:21:48:19.1151
2025-08-22T21:48:18.439Z,1755899298.439 [DAT](INFO): Rx dataTimestamp_ set to:1755899298.438841
2025-08-22T21:48:18.440Z,1755899298.440 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:18.441Z,1755899298.441 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:48:18.442Z,1755899298.442 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:18.443Z,1755899298.443 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:18.692Z,1755899298.692 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:18.694Z,1755899298.694 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:18.695Z,1755899298.695 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:18.943Z,1755899298.943 [DAT](INFO): DAT read: Rx Time:21:48:19.6152
2025-08-22T21:48:18.944Z,1755899298.944 [DAT](INFO): Rx dataTimestamp_ set to:1755899298.943383
2025-08-22T21:48:18.945Z,1755899298.945 [DAT](INFO): DAT read: Bearing 27.3, 48.9 (Local)
2025-08-22T21:48:18.945Z,1755899298.945 [DAT](INFO): Local bearing/azimuth received:
Bearing 27.3, 48.9 (Local)
2025-08-22T21:48:18.947Z,1755899298.947 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:18.952Z,1755899298.952 [DAT](INFO): DAT read: 21:48:19.6152 LVL= 24640, 23937, 32370, 32211, AGC= 32, IDX= 496, 0.43, 1.027, 0.138,-0.663, 1.244, PHS=-0.114,-1.061,-1.951, RAW= 61.0, 34.8, CAL= 56.7, 41.3, ROT= 93.3, -41.3
2025-08-22T21:48:18.953Z,1755899298.953 [DAT](INFO): got valid direction response:
21:48:19.6152 LVL= 24640, 23937, 32370, 32211, AGC= 32, IDX= 496, 0.43, 1.027, 0.138,-0.663, 1.244, PHS=-0.114,-1.061,-1.951, RAW= 61.0, 34.8, CAL= 56.7, 41.3, ROT= 93.3, -41.3
2025-08-22T21:48:18.953Z,1755899298.953 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:18.954Z,1755899298.954 [DAT](INFO): direction in FSK: [-0.043246,0.750018,0.660002]
2025-08-22T21:48:18.955Z,1755899298.955 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:18.962Z,1755899298.962 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:18.962Z,1755899298.962 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:19.194Z,1755899299.194 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:19.194Z,1755899299.194 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:19.195Z,1755899299.195 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:19.447Z,1755899299.447 [DAT](INFO): DAT read: Rx Time:21:48:20.1151
2025-08-22T21:48:19.448Z,1755899299.448 [DAT](INFO): Rx dataTimestamp_ set to:1755899299.447304
2025-08-22T21:48:19.449Z,1755899299.449 [DAT](INFO): DAT read: Bearing 44.5, 47.0 (Local)
2025-08-22T21:48:19.449Z,1755899299.449 [DAT](INFO): Local bearing/azimuth received:
Bearing 44.5, 47.0 (Local)
2025-08-22T21:48:19.452Z,1755899299.452 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:19.457Z,1755899299.457 [DAT](INFO): DAT read: 21:48:20.1151 LVL= 25296, 29025, 32754, 32755, AGC= 33, IDX= 496,-0.34,-2.086,-2.323, 2.939,-1.601, PHS=-0.383,-0.676,-1.786, RAW= 41.4, 38.1, CAL= 39.0, 44.2, ROT= 111.0, -44.2
2025-08-22T21:48:19.458Z,1755899299.458 [DAT](INFO): got valid direction response:
21:48:20.1151 LVL= 25296, 29025, 32754, 32755, AGC= 33, IDX= 496,-0.34,-2.086,-2.323, 2.939,-1.601, PHS=-0.383,-0.676,-1.786, RAW= 41.4, 38.1, CAL= 39.0, 44.2, ROT= 111.0, -44.2
2025-08-22T21:48:19.458Z,1755899299.458 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:19.459Z,1755899299.459 [DAT](INFO): direction in FSK: [-0.256918,0.669294,0.697165]
2025-08-22T21:48:19.459Z,1755899299.459 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:19.463Z,1755899299.463 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:19.463Z,1755899299.463 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:19.699Z,1755899299.699 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:19.699Z,1755899299.699 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:19.699Z,1755899299.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:19.951Z,1755899299.951 [DAT](INFO): DAT read: Rx Time:21:48:20.6152
2025-08-22T21:48:19.951Z,1755899299.951 [DAT](INFO): Rx dataTimestamp_ set to:1755899299.951177
2025-08-22T21:48:19.953Z,1755899299.953 [DAT](INFO): DAT read: Bearing 46.7, 47.1 (Local)
2025-08-22T21:48:19.953Z,1755899299.953 [DAT](INFO): Local bearing/azimuth received:
Bearing 46.7, 47.1 (Local)
2025-08-22T21:48:19.955Z,1755899299.955 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:19.959Z,1755899299.959 [DAT](INFO): DAT read: 21:48:20.6152 LVL= 26512, 30625, 32754, 32755, AGC= 33, IDX= 497,-0.22,-0.623,-0.785,-1.873,-0.097, PHS=-0.424,-0.643,-1.820, RAW= 38.4, 38.1, CAL= 36.0, 44.1, ROT= 114.0, -44.1
2025-08-22T21:48:19.960Z,1755899299.960 [DAT](INFO): got valid direction response:
21:48:20.6152 LVL= 26512, 30625, 32754, 32755, AGC= 33, IDX= 497,-0.22,-0.623,-0.785,-1.873,-0.097, PHS=-0.424,-0.643,-1.820, RAW= 38.4, 38.1, CAL= 36.0, 44.1, ROT= 114.0, -44.1
2025-08-22T21:48:19.961Z,1755899299.961 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:19.962Z,1755899299.962 [DAT](INFO): direction in FSK: [-0.292088,0.656041,0.695913]
2025-08-22T21:48:19.962Z,1755899299.962 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:19.967Z,1755899299.967 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:19.967Z,1755899299.967 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:20.202Z,1755899300.202 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:20.202Z,1755899300.202 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:20.203Z,1755899300.203 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:20.455Z,1755899300.455 [DAT](INFO): DAT read: Rx Time:21:48:21.1151
2025-08-22T21:48:20.456Z,1755899300.456 [DAT](INFO): Rx dataTimestamp_ set to:1755899300.455266
2025-08-22T21:48:20.457Z,1755899300.457 [DAT](INFO): DAT read: Bearing 40.7, 51.0 (Local)
2025-08-22T21:48:20.457Z,1755899300.457 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.7, 51.0 (Local)
2025-08-22T21:48:20.459Z,1755899300.459 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:20.464Z,1755899300.464 [DAT](INFO): DAT read: 21:48:21.1151 LVL= 23360, 23249, 31218, 28451, AGC= 33, IDX= 496,-0.31, 1.318, 0.822,-0.440, 1.636, PHS=-0.215,-0.769,-2.120, RAW= 46.4, 32.9, CAL= 43.3, 39.4, ROT= 106.7, -39.4
2025-08-22T21:48:20.465Z,1755899300.465 [DAT](INFO): got valid direction response:
21:48:21.1151 LVL= 23360, 23249, 31218, 28451, AGC= 33, IDX= 496,-0.31, 1.318, 0.822,-0.440, 1.636, PHS=-0.215,-0.769,-2.120, RAW= 46.4, 32.9, CAL= 43.3, 39.4, ROT= 106.7, -39.4
2025-08-22T21:48:20.465Z,1755899300.465 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:20.466Z,1755899300.466 [DAT](INFO): direction in FSK: [-0.222053,0.740142,0.634731]
2025-08-22T21:48:20.466Z,1755899300.466 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:20.470Z,1755899300.470 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:20.470Z,1755899300.470 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:20.706Z,1755899300.706 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:20.706Z,1755899300.706 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:20.707Z,1755899300.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:20.959Z,1755899300.959 [DAT](INFO): DAT read: Rx Time:21:48:21.6152
2025-08-22T21:48:20.960Z,1755899300.960 [DAT](INFO): Rx dataTimestamp_ set to:1755899300.959336
2025-08-22T21:48:20.961Z,1755899300.961 [DAT](INFO): DAT read: Bearing 38.1, 47.3 (Local)
2025-08-22T21:48:20.961Z,1755899300.961 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.1, 47.3 (Local)
2025-08-22T21:48:20.963Z,1755899300.963 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:20.968Z,1755899300.968 [DAT](INFO): DAT read: 21:48:21.6152 LVL= 22512, 15713, 26914, 22355, AGC= 33, IDX= 497,-0.42,-1.481,-2.051, 2.926,-1.062, PHS=-0.318,-0.944,-2.340, RAW= 47.6, 35.4, CAL= 44.6, 41.7, ROT= 105.4, -41.7
2025-08-22T21:48:20.969Z,1755899300.969 [DAT](INFO): got valid direction response:
21:48:21.6152 LVL= 22512, 15713, 26914, 22355, AGC= 33, IDX= 497,-0.42,-1.481,-2.051, 2.926,-1.062, PHS=-0.318,-0.944,-2.340, RAW= 47.6, 35.4, CAL= 44.6, 41.7, ROT= 105.4, -41.7
2025-08-22T21:48:20.969Z,1755899300.969 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:20.970Z,1755899300.970 [DAT](INFO): direction in FSK: [-0.198274,0.719830,0.665230]
2025-08-22T21:48:20.971Z,1755899300.971 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:20.978Z,1755899300.978 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:20.978Z,1755899300.978 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:21.210Z,1755899301.210 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:21.211Z,1755899301.211 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:21.211Z,1755899301.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:21.463Z,1755899301.463 [DAT](INFO): DAT read: Rx Time:21:48:22.1152
2025-08-22T21:48:21.464Z,1755899301.464 [DAT](INFO): Rx dataTimestamp_ set to:1755899301.463345
2025-08-22T21:48:21.465Z,1755899301.465 [DAT](INFO): DAT read: Bearing 39.5, 48.2 (Local)
2025-08-22T21:48:21.465Z,1755899301.465 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.5, 48.2 (Local)
2025-08-22T21:48:21.468Z,1755899301.468 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:21.473Z,1755899301.473 [DAT](INFO): DAT read: 21:48:22.1152 LVL= 23632, 17041, 30162, 25363, AGC= 34, IDX= 496,-0.29,-2.318,-2.847, 2.073,-1.917, PHS=-0.300,-0.886,-2.338, RAW= 46.2, 34.4, CAL= 43.2, 40.9, ROT= 106.8, -40.9
2025-08-22T21:48:21.475Z,1755899301.475 [DAT](INFO): got valid direction response:
21:48:22.1152 LVL= 23632, 17041, 30162, 25363, AGC= 34, IDX= 496,-0.29,-2.318,-2.847, 2.073,-1.917, PHS=-0.300,-0.886,-2.338, RAW= 46.2, 34.4, CAL= 43.2, 40.9, ROT= 106.8, -40.9
2025-08-22T21:48:21.475Z,1755899301.475 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:21.476Z,1755899301.476 [DAT](INFO): direction in FSK: [-0.218466,0.723593,0.654741]
2025-08-22T21:48:21.476Z,1755899301.476 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:21.480Z,1755899301.480 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:21.480Z,1755899301.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:21.714Z,1755899301.714 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:21.715Z,1755899301.715 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:21.715Z,1755899301.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:21.967Z,1755899301.967 [DAT](INFO): DAT read: Rx Time:21:48:22.6152
2025-08-22T21:48:21.968Z,1755899301.968 [DAT](INFO): Rx dataTimestamp_ set to:1755899301.967253
2025-08-22T21:48:21.969Z,1755899301.969 [DAT](INFO): DAT read: Bearing 39.1, 48.8 (Local)
2025-08-22T21:48:21.969Z,1755899301.969 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.1, 48.8 (Local)
2025-08-22T21:48:21.971Z,1755899301.971 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:21.976Z,1755899301.976 [DAT](INFO): DAT read: 21:48:22.6152 LVL= 25072, 16929, 30178, 26659, AGC= 37, IDX= 496,-0.15,-2.059,-2.594, 2.338,-1.665, PHS=-0.292,-0.883,-2.324, RAW= 46.4, 34.3, CAL= 43.4, 40.8, ROT= 106.6, -40.8
2025-08-22T21:48:21.977Z,1755899301.977 [DAT](INFO): got valid direction response:
21:48:22.6152 LVL= 25072, 16929, 30178, 26659, AGC= 37, IDX= 496,-0.15,-2.059,-2.594, 2.338,-1.665, PHS=-0.292,-0.883,-2.324, RAW= 46.4, 34.3, CAL= 43.4, 40.8, ROT= 106.6, -40.8
2025-08-22T21:48:21.977Z,1755899301.977 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:21.978Z,1755899301.978 [DAT](INFO): direction in FSK: [-0.216265,0.725445,0.653421]
2025-08-22T21:48:21.978Z,1755899301.978 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:21.997Z,1755899301.997 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:21.997Z,1755899301.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:22.218Z,1755899302.218 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:22.218Z,1755899302.218 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:22.219Z,1755899302.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:22.472Z,1755899302.472 [DAT](INFO): DAT read: Rx Time:21:48:23.1151
2025-08-22T21:48:22.473Z,1755899302.473 [DAT](INFO): Rx dataTimestamp_ set to:1755899302.472351
2025-08-22T21:48:22.474Z,1755899302.474 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:22.474Z,1755899302.474 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:48:22.475Z,1755899302.475 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:22.475Z,1755899302.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:22.722Z,1755899302.722 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:22.722Z,1755899302.722 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:22.723Z,1755899302.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:22.975Z,1755899302.975 [DAT](INFO): DAT read: Rx Time:21:48:23.6152
2025-08-22T21:48:22.976Z,1755899302.976 [DAT](INFO): Rx dataTimestamp_ set to:1755899302.975281
2025-08-22T21:48:22.977Z,1755899302.977 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed -0.1
2025-08-22T21:48:22.977Z,1755899302.977 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:48:22.978Z,1755899302.978 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:22.978Z,1755899302.978 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:23.226Z,1755899303.226 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:23.226Z,1755899303.226 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:23.227Z,1755899303.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:23.479Z,1755899303.479 [DAT](INFO): DAT read: Rx Time:21:48:24.1151
2025-08-22T21:48:23.479Z,1755899303.479 [DAT](INFO): Rx dataTimestamp_ set to:1755899303.478737
2025-08-22T21:48:23.480Z,1755899303.480 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:23.481Z,1755899303.481 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:48:23.485Z,1755899303.485 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:23.485Z,1755899303.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:23.730Z,1755899303.730 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:23.731Z,1755899303.731 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:23.731Z,1755899303.731 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:23.983Z,1755899303.983 [DAT](INFO): DAT read: Rx Time:21:48:24.6152
2025-08-22T21:48:23.983Z,1755899303.983 [DAT](INFO): Rx dataTimestamp_ set to:1755899303.982819
2025-08-22T21:48:23.984Z,1755899303.984 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:23.985Z,1755899303.985 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:48:23.986Z,1755899303.986 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:23.986Z,1755899303.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:24.234Z,1755899304.234 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:24.234Z,1755899304.234 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:24.235Z,1755899304.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:24.487Z,1755899304.487 [DAT](INFO): DAT read: Rx Time:21:48:25.1151
2025-08-22T21:48:24.488Z,1755899304.488 [DAT](INFO): Rx dataTimestamp_ set to:1755899304.487382
2025-08-22T21:48:24.489Z,1755899304.489 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:24.491Z,1755899304.491 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:48:24.492Z,1755899304.492 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:24.492Z,1755899304.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:24.738Z,1755899304.738 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:24.738Z,1755899304.738 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:24.739Z,1755899304.739 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:24.994Z,1755899304.994 [DAT](INFO): DAT read: Rx Time:21:48:25.6152
2025-08-22T21:48:24.995Z,1755899304.995 [DAT](INFO): Rx dataTimestamp_ set to:1755899304.994100
2025-08-22T21:48:24.999Z,1755899304.999 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:25.001Z,1755899305.001 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:48:25.004Z,1755899305.004 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:25.004Z,1755899305.004 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:25.242Z,1755899305.242 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:25.242Z,1755899305.242 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:25.243Z,1755899305.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:25.495Z,1755899305.495 [DAT](INFO): DAT read: Rx Time:21:48:26.1152
2025-08-22T21:48:25.495Z,1755899305.495 [DAT](INFO): Rx dataTimestamp_ set to:1755899305.494857
2025-08-22T21:48:25.497Z,1755899305.497 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:25.500Z,1755899305.500 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:48:25.502Z,1755899305.502 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:25.503Z,1755899305.503 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:25.747Z,1755899305.747 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:25.747Z,1755899305.747 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:25.748Z,1755899305.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:26.003Z,1755899306.003 [DAT](INFO): DAT read: Rx Time:21:48:26.6152
2025-08-22T21:48:26.004Z,1755899306.004 [DAT](INFO): Rx dataTimestamp_ set to:1755899306.003727
2025-08-22T21:48:26.005Z,1755899306.005 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:26.006Z,1755899306.006 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:48:26.007Z,1755899306.007 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:26.007Z,1755899306.007 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:26.250Z,1755899306.250 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:26.250Z,1755899306.250 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:26.251Z,1755899306.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:26.503Z,1755899306.503 [DAT](INFO): DAT read: Rx Time:21:48:27.1151
2025-08-22T21:48:26.503Z,1755899306.503 [DAT](INFO): Rx dataTimestamp_ set to:1755899306.502940
2025-08-22T21:48:26.504Z,1755899306.504 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:26.505Z,1755899306.505 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:48:26.506Z,1755899306.506 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:26.506Z,1755899306.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:26.754Z,1755899306.754 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:26.754Z,1755899306.754 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:26.755Z,1755899306.755 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:27.010Z,1755899307.010 [DAT](INFO): DAT read: Rx Time:21:48:27.6152
2025-08-22T21:48:27.012Z,1755899307.012 [DAT](INFO): Rx dataTimestamp_ set to:1755899307.010829
2025-08-22T21:48:27.015Z,1755899307.015 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:27.018Z,1755899307.018 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T21:48:27.020Z,1755899307.020 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:27.020Z,1755899307.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:27.258Z,1755899307.258 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:27.258Z,1755899307.258 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:27.259Z,1755899307.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:27.511Z,1755899307.511 [DAT](INFO): DAT read: Rx Time:21:48:28.1150
2025-08-22T21:48:27.512Z,1755899307.512 [DAT](INFO): Rx dataTimestamp_ set to:1755899307.511501
2025-08-22T21:48:27.513Z,1755899307.513 [DAT](INFO): DAT read: Bearing 41.9, 49.7 (Local)
2025-08-22T21:48:27.513Z,1755899307.513 [DAT](INFO): Local bearing/azimuth received:
Bearing 41.9, 49.7 (Local)
2025-08-22T21:48:27.515Z,1755899307.515 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0
2025-08-22T21:48:27.520Z,1755899307.520 [DAT](INFO): DAT read: 21:48:28.1150 LVL= 22880, 16993, 31378, 27443, AGC= 37, IDX= 496,-0.44, 2.412, 1.811, 0.444, 2.762, PHS=-0.247,-0.906,-2.362, RAW= 47.7, 33.6, CAL= 44.6, 40.1, ROT= 105.4, -40.1
2025-08-22T21:48:27.521Z,1755899307.521 [DAT](INFO): got valid direction response:
21:48:28.1150 LVL= 22880, 16993, 31378, 27443, AGC= 37, IDX= 496,-0.44, 2.412, 1.811, 0.444, 2.762, PHS=-0.247,-0.906,-2.362, RAW= 47.7, 33.6, CAL= 44.6, 40.1, ROT= 105.4, -40.1
2025-08-22T21:48:27.521Z,1755899307.521 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:27.522Z,1755899307.522 [DAT](INFO): direction in FSK: [-0.203130,0.737457,0.644124]
2025-08-22T21:48:27.523Z,1755899307.523 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:27.527Z,1755899307.527 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:27.527Z,1755899307.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:27.762Z,1755899307.762 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:27.762Z,1755899307.762 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:27.763Z,1755899307.763 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:28.019Z,1755899308.019 [DAT](INFO): DAT read: Rx Time:21:48:28.6152
2025-08-22T21:48:28.020Z,1755899308.020 [DAT](INFO): Rx dataTimestamp_ set to:1755899308.019355
2025-08-22T21:48:28.024Z,1755899308.024 [DAT](INFO): DAT read: Bearing 41.9, 52.4 (Local)
2025-08-22T21:48:28.025Z,1755899308.025 [DAT](INFO): Local bearing/azimuth received:
Bearing 41.9, 52.4 (Local)
2025-08-22T21:48:28.031Z,1755899308.031 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:28.038Z,1755899308.038 [DAT](INFO): DAT read: 21:48:28.6152 LVL= 23632, 15857, 28370, 25203, AGC= 35, IDX= 497,-0.18, 1.879, 1.243,-0.081, 2.131, PHS=-0.149,-0.843,-2.256, RAW= 48.8, 31.7, CAL= 45.4, 37.9, ROT= 104.6, -37.9
2025-08-22T21:48:28.039Z,1755899308.039 [DAT](INFO): got valid direction response:
21:48:28.6152 LVL= 23632, 15857, 28370, 25203, AGC= 35, IDX= 497,-0.18, 1.879, 1.243,-0.081, 2.131, PHS=-0.149,-0.843,-2.256, RAW= 48.8, 31.7, CAL= 45.4, 37.9, ROT= 104.6, -37.9
2025-08-22T21:48:28.039Z,1755899308.039 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:28.040Z,1755899308.040 [DAT](INFO): direction in FSK: [-0.198904,0.763604,0.614285]
2025-08-22T21:48:28.040Z,1755899308.040 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:28.044Z,1755899308.044 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:28.044Z,1755899308.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:28.267Z,1755899308.267 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:28.267Z,1755899308.267 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:28.268Z,1755899308.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:28.519Z,1755899308.519 [DAT](INFO): DAT read: Rx Time:21:48:29.1151
2025-08-22T21:48:28.520Z,1755899308.520 [DAT](INFO): Rx dataTimestamp_ set to:1755899308.519352
2025-08-22T21:48:28.521Z,1755899308.521 [DAT](INFO): DAT read: Bearing 41.3, 52.6 (Local)
2025-08-22T21:48:28.521Z,1755899308.521 [DAT](INFO): Local bearing/azimuth received:
Bearing 41.3, 52.6 (Local)
2025-08-22T21:48:28.523Z,1755899308.523 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:28.528Z,1755899308.528 [DAT](INFO): DAT read: 21:48:29.1151 LVL= 22336, 18161, 31714, 25491, AGC= 34, IDX= 496, 0.04, 1.290, 0.634,-0.660, 1.535, PHS=-0.143,-0.856,-2.239, RAW= 49.5, 31.8, CAL= 46.1, 38.0, ROT= 103.9, -38.0
2025-08-22T21:48:28.529Z,1755899308.529 [DAT](INFO): got valid direction response:
21:48:29.1151 LVL= 22336, 18161, 31714, 25491, AGC= 34, IDX= 496, 0.04, 1.290, 0.634,-0.660, 1.535, PHS=-0.143,-0.856,-2.239, RAW= 49.5, 31.8, CAL= 46.1, 38.0, ROT= 103.9, -38.0
2025-08-22T21:48:28.529Z,1755899308.529 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:28.534Z,1755899308.534 [DAT](INFO): direction in FSK: [-0.189302,0.764935,0.615661]
2025-08-22T21:48:28.534Z,1755899308.534 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:28.537Z,1755899308.537 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:28.546Z,1755899308.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:28.770Z,1755899308.770 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:28.770Z,1755899308.770 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:28.771Z,1755899308.771 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:29.027Z,1755899309.027 [DAT](INFO): DAT read: Rx Time:21:48:29.6152
2025-08-22T21:48:29.028Z,1755899309.028 [DAT](INFO): Rx dataTimestamp_ set to:1755899309.027606
2025-08-22T21:48:29.032Z,1755899309.032 [DAT](INFO): DAT read: Bearing 41.9, 54.3 (Local)
2025-08-22T21:48:29.033Z,1755899309.033 [DAT](INFO): Local bearing/azimuth received:
Bearing 41.9, 54.3 (Local)
2025-08-22T21:48:29.039Z,1755899309.039 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:29.052Z,1755899309.052 [DAT](INFO): DAT read: 21:48:29.6152 LVL= 23584, 18545, 31378, 23715, AGC= 34, IDX= 497, 0.27, 1.463, 0.809,-0.454, 1.654, PHS=-0.089,-0.799,-2.152, RAW= 49.8, 30.6, CAL= 46.3, 36.6, ROT= 103.7, -36.6
2025-08-22T21:48:29.060Z,1755899309.060 [DAT](INFO): got valid direction response:
21:48:29.6152 LVL= 23584, 18545, 31378, 23715, AGC= 34, IDX= 497, 0.27, 1.463, 0.809,-0.454, 1.654, PHS=-0.089,-0.799,-2.152, RAW= 49.8, 30.6, CAL= 46.3, 36.6, ROT= 103.7, -36.6
2025-08-22T21:48:29.061Z,1755899309.061 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:29.081Z,1755899309.081 [DAT](INFO): direction in FSK: [-0.190138,0.779977,0.596225]
2025-08-22T21:48:29.098Z,1755899309.098 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:29.107Z,1755899309.107 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:29.107Z,1755899309.107 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:29.274Z,1755899309.274 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:29.274Z,1755899309.274 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:29.275Z,1755899309.275 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:29.527Z,1755899309.527 [DAT](INFO): DAT read: Rx Time:21:48:30.1151
2025-08-22T21:48:29.528Z,1755899309.528 [DAT](INFO): Rx dataTimestamp_ set to:1755899309.527284
2025-08-22T21:48:29.529Z,1755899309.529 [DAT](INFO): DAT read: Bearing 43.8, 56.4 (Local)
2025-08-22T21:48:29.529Z,1755899309.529 [DAT](INFO): Local bearing/azimuth received:
Bearing 43.8, 56.4 (Local)
2025-08-22T21:48:29.531Z,1755899309.531 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:29.536Z,1755899309.536 [DAT](INFO): DAT read: 21:48:30.1151 LVL= 23632, 21217, 32370, 25315, AGC= 33, IDX= 497,-0.40,-2.121,-2.726, 2.327,-1.986, PHS=-0.034,-0.695,-2.015, RAW= 49.1, 29.0, CAL= 45.5, 34.7, ROT= 104.5, -34.7
2025-08-22T21:48:29.537Z,1755899309.537 [DAT](INFO): got valid direction response:
21:48:30.1151 LVL= 23632, 21217, 32370, 25315, AGC= 33, IDX= 497,-0.40,-2.121,-2.726, 2.327,-1.986, PHS=-0.034,-0.695,-2.015, RAW= 49.1, 29.0, CAL= 45.5, 34.7, ROT= 104.5, -34.7
2025-08-22T21:48:29.537Z,1755899309.537 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:29.538Z,1755899309.538 [DAT](INFO): direction in FSK: [-0.205848,0.795957,0.569280]
2025-08-22T21:48:29.538Z,1755899309.538 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:29.542Z,1755899309.542 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:29.542Z,1755899309.542 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:29.779Z,1755899309.779 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:29.779Z,1755899309.779 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:29.779Z,1755899309.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:30.035Z,1755899310.035 [DAT](INFO): DAT read: Rx ime:21:48:30.6151
2025-08-22T21:48:30.036Z,1755899310.036 [DAT](INFO): unknown deviceResponse_: Rx ime:21:48:30.6151
2025-08-22T21:48:30.040Z,1755899310.040 [DAT](INFO): DAT read: Bearing 43.8, 55.8 (Local)
2025-08-22T21:48:30.041Z,1755899310.041 [DAT](INFO): Local bearing/azimuth received:
Bearing 43.8, 55.8 (Local)
2025-08-22T21:48:30.064Z,1755899310.064 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:30.069Z,1755899310.069 [DAT](INFO): DAT read: 21:48:30.6151 LVL= 23888, 21745, 30562, 25459, AGC= 33, IDX= 497,-0.20,-2.452,-3.033, 2.053,-2.288, PHS=-0.061,-0.699,-1.986, RAW= 49.0, 29.8, CAL= 45.4, 35.6, ROT= 104.6, -35.6
2025-08-22T21:48:30.074Z,1755899310.074 [DAT](INFO): got valid direction response:
21:48:30.6151 LVL= 23888, 21745, 30562, 25459, AGC= 33, IDX= 497,-0.20,-2.452,-3.033, 2.053,-2.288, PHS=-0.061,-0.699,-1.986, RAW= 49.0, 29.8, CAL= 45.4, 35.6, ROT= 104.6, -35.6
2025-08-22T21:48:30.075Z,1755899310.075 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:30.076Z,1755899310.076 [DAT](INFO): direction in FSK: [-0.204958,0.786845,0.582123]
2025-08-22T21:48:30.076Z,1755899310.076 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:30.123Z,1755899310.123 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:30.123Z,1755899310.123 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:30.284Z,1755899310.284 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:30.285Z,1755899310.285 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:30.286Z,1755899310.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:30.535Z,1755899310.535 [DAT](INFO): DAT read: Rx Time:21:48:31.1151
2025-08-22T21:48:30.536Z,1755899310.536 [DAT](INFO): Rx dataTimestamp_ set to:1755899310.535394
2025-08-22T21:48:30.537Z,1755899310.537 [DAT](INFO): DAT read: Berg 44.9, 54.7 (Local)
2025-08-22T21:48:30.537Z,1755899310.537 [DAT](INFO): Local bearing/azimuth received:
Berg 44.9, 54.7 (Local)
2025-08-22T21:48:30.539Z,1755899310.539 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-08-22T21:48:30.544Z,1755899310.544 [DAT](INFO): DAT read: 21:48:31.1151 LVL= 23664, 27505, 32754, 29763, AGC= 34, IDX= 496,-0.05, 2.412, 1.879, 0.683, 2.619, PHS=-0.105,-0.695,-1.980, RAW= 47.9, 30.6, CAL= 44.5, 36.6, ROT= 105.5, -36.6
2025-08-22T21:48:30.545Z,1755899310.545 [DAT](INFO): got valid direction response:
21:48:31.1151 LVL= 23664, 27505, 32754, 29763, AGC= 34, IDX= 496,-0.05, 2.412, 1.879, 0.683, 2.619, PHS=-0.105,-0.695,-1.980, RAW= 47.9, 30.6, CAL= 44.5, 36.6, ROT= 105.5, -36.6
2025-08-22T21:48:30.545Z,1755899310.545 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:30.546Z,1755899310.546 [DAT](INFO): direction in FSK: [-0.214544,0.773619,0.596225]
2025-08-22T21:48:30.546Z,1755899310.546 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:30.562Z,1755899310.562 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:30.562Z,1755899310.562 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:30.789Z,1755899310.789 [DAT](INFO): DAT read: Rx Time:21:48:31.6152
2025-08-22T21:48:30.790Z,1755899310.790 [DAT](INFO): Rx dataTimestamp_ set to:1755899310.789341
2025-08-22T21:48:30.791Z,1755899310.791 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:30.792Z,1755899310.792 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:30.792Z,1755899310.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:31.043Z,1755899311.043 [DAT](INFO): DAT read: Bearing 44.9, 53.3 (Local)
2025-08-22T21:48:31.045Z,1755899311.045 [DAT](INFO): Local bearing/azimuth received:
Bearing 44.9, 53.3 (Local)
2025-08-22T21:48:31.052Z,1755899311.052 [DAT](INFO): DAT read: Rage1 o 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:31.054Z,1755899311.054 [DAT](INFO): unknown deviceResponse_: Rage1 o 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:31.123Z,1755899311.123 [DAT](INFO): DAT read: 21:48:31.6152 LVL= 23792, 27633, 32754, 30707, AGC= 34, IDX= 497, 0.12,-1.502,-2.010, 3.092,-1.242, PHS=-0.157,-0.722,-1.993, RAW= 47.5, 31.9, CAL= 44.2, 38.2, ROT= 105.8, -38.2
2025-08-22T21:48:31.124Z,1755899311.124 [DAT](INFO): got valid direction response:
21:48:31.6152 LVL= 23792, 27633, 32754, 30707, AGC= 34, IDX= 497, 0.12,-1.502,-2.010, 3.092,-1.242, PHS=-0.157,-0.722,-1.993, RAW= 47.5, 31.9, CAL= 44.2, 38.2, ROT= 105.8, -38.2
2025-08-22T21:48:31.125Z,1755899311.125 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T21:48:31.134Z,1755899311.134 [DAT](INFO): direction in FSK: [-0.213973,0.756166,0.618408]
2025-08-22T21:48:31.137Z,1755899311.137 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:31.137Z,1755899311.137 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:31.140Z,1755899311.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:31.293Z,1755899311.293 [DAT](INFO): DAT read: Rx Time:21:48:32.1151
2025-08-22T21:48:31.295Z,1755899311.295 [DAT](INFO): Rx dataTimestamp_ set to:1755899311.293669
2025-08-22T21:48:31.297Z,1755899311.297 [DAT](INFO): DAT read: Bearing 45.4, 52.7 (Local)
2025-08-22T21:48:31.298Z,1755899311.298 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.4, 52.7 (Local)
2025-08-22T21:48:31.298Z,1755899311.298 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:31.299Z,1755899311.299 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:31.300Z,1755899311.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:31.544Z,1755899311.544 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time . m)seed 0.0
2025-08-22T21:48:31.548Z,1755899311.548 [DAT](INFO): DAT read: 21:48:32.1151 LVL= 23744, 28193, 32754, 31395, AGC= 33, IDX= 496, 0.32, 2.585, 2.120, 0.976, 2.866, PHS=-0.179,-0.700,-1.934, RAW= 46.8, 32.5, CAL= 43.7, 38.9, ROT= 106.3, -38.9
2025-08-22T21:48:31.552Z,1755899311.552 [DAT](INFO): got valid direction response:
21:48:32.1151 LVL= 23744, 28193, 32754, 31395, AGC= 33, IDX= 496, 0.32, 2.585, 2.120, 0.976, 2.866, PHS=-0.179,-0.700,-1.934, RAW= 46.8, 32.5, CAL= 43.7, 38.9, ROT= 106.3, -38.9
2025-08-22T21:48:31.553Z,1755899311.553 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:31.558Z,1755899311.558 [DAT](INFO): direction in FSK: [-0.218427,0.746962,0.627963]
2025-08-22T21:48:31.558Z,1755899311.558 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:31.562Z,1755899311.562 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:31.562Z,1755899311.562 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:31.798Z,1755899311.798 [DAT](INFO): DAT read: Rx Time:21:48:32.6152
2025-08-22T21:48:31.800Z,1755899311.800 [DAT](INFO): Rx dataTimestamp_ set to:1755899311.799091
2025-08-22T21:48:31.803Z,1755899311.803 [DAT](INFO): DAT read: Bearing 46.0, 51.5 (Local)
2025-08-22T21:48:31.804Z,1755899311.804 [DAT](INFO): Local bearing/azimuth received:
Bearing 46.0, 51.5 (Local)
2025-08-22T21:48:31.804Z,1755899311.804 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:31.805Z,1755899311.805 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:31.806Z,1755899311.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:32.053Z,1755899312.053 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-08-22T21:48:32.065Z,1755899312.065 [DAT](INFO): DAT read: 21:48:32.52LVL= 23856, 28401, 32754, 32563, AGC= 32, IDX= 498,-0.40, 2.015, 1.620, 0.544, 2.333, PHS=-0.216,-0.668,-1.834, RAW= 45.7, 33.6, CAL= 42.7, 40.2, ROT= 107.3, -40.2
2025-08-22T21:48:32.068Z,1755899312.068 [DAT](INFO): got valid direction response:
21:48:32.52LVL= 23856, 28401, 32754, 32563, AGC= 32, IDX= 498,-0.40, 2.015, 1.620, 0.544, 2.333, PHS=-0.216,-0.668,-1.834, RAW= 45.7, 33.6, CAL= 42.7, 40.2, ROT= 107.3, -40.2
2025-08-22T21:48:32.070Z,1755899312.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:32.092Z,1755899312.092 [DAT](INFO): direction in FSK: [-0.227134,0.729242,0.645458]
2025-08-22T21:48:32.093Z,1755899312.093 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:32.097Z,1755899312.097 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:32.097Z,1755899312.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:32.299Z,1755899312.299 [DAT](INFO): DAT read: user:2485>
2025-08-22T21:48:32.299Z,1755899312.299 [DAT](INFO): Reached modem response timeout
2025-08-22T21:48:32.300Z,1755899312.300 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:48:32.300Z,1755899312.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:48:32.551Z,1755899312.551 [DAT](INFO): DAT read: Command 'tr50' not found
2025-08-22T21:48:32.551Z,1755899312.551 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found
2025-08-22T21:48:32.551Z,1755899312.551 [DAT](INFO): DAT read: Error
2025-08-22T21:48:32.552Z,1755899312.552 [DAT](INFO): unknown deviceResponse_: Error
2025-08-22T21:48:32.552Z,1755899312.552 [DAT](INFO): DAT read: user:2486>
2025-08-22T21:48:32.553Z,1755899312.553 [DAT](INFO): DAT read: Tx time:21:48:33.6337
2025-08-22T21:48:32.553Z,1755899312.553 [DAT](INFO): Ping request sent.
2025-08-22T21:48:32.553Z,1755899312.553 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:48:32.553Z,1755899312.553 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:32.554Z,1755899312.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000832
2025-08-22T21:48:32.803Z,1755899312.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249444
2025-08-22T21:48:33.055Z,1755899313.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501518
2025-08-22T21:48:33.307Z,1755899313.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753424
2025-08-22T21:48:33.559Z,1755899313.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005477
2025-08-22T21:48:33.811Z,1755899313.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257819
2025-08-22T21:48:34.065Z,1755899314.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511701
2025-08-22T21:48:34.315Z,1755899314.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762063
2025-08-22T21:48:34.567Z,1755899314.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013483
2025-08-22T21:48:34.820Z,1755899314.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266232
2025-08-22T21:48:35.072Z,1755899315.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518218
2025-08-22T21:48:35.323Z,1755899315.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769742
2025-08-22T21:48:35.575Z,1755899315.575 [DAT](INFO): DAT read: Rx Time:21:48:36.0394
2025-08-22T21:48:35.575Z,1755899315.575 [DAT](INFO): Rx dataTimestamp_ set to:1755899315.574719
2025-08-22T21:48:35.576Z,1755899315.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022492
2025-08-22T21:48:35.828Z,1755899315.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274746
2025-08-22T21:48:36.083Z,1755899316.083 [DAT](INFO): DAT read: 21:48:36.0394 LVL= 26000, 30177, 32754, 32755, AGC= 35, IDX= 202,-0.15,-2.638,-2.891, 2.409,-2.161, PHS=-0.375,-0.685,-1.757, RAW= 42.3, 38.4, CAL= 39.9, 44.5, ROT= 110.1, -44.5
2025-08-22T21:48:36.085Z,1755899316.085 [DAT](INFO): got valid direction response:
21:48:36.0394 LVL= 26000, 30177, 32754, 32755, AGC= 35, IDX= 202,-0.15,-2.638,-2.891, 2.409,-2.161, PHS=-0.375,-0.685,-1.757, RAW= 42.3, 38.4, CAL= 39.9, 44.5, ROT= 110.1, -44.5
2025-08-22T21:48:36.087Z,1755899316.087 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:48:36.089Z,1755899316.089 [DAT](INFO): DAT read: user:2487>
2025-08-22T21:48:36.092Z,1755899316.092 [DAT](INFO): DAT read: Tx time:21:48:37.1337
2025-08-22T21:48:36.093Z,1755899316.093 [DAT](INFO): Ping request sent.
2025-08-22T21:48:36.093Z,1755899316.093 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:48:36.094Z,1755899316.094 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:48:36.097Z,1755899316.097 [DAT](INFO): direction in FSK: [-0.245115,0.669809,0.700909]
2025-08-22T21:48:36.098Z,1755899316.098 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:36.099Z,1755899316.099 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:36.154Z,1755899316.154 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:36.154Z,1755899316.154 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:39.103Z,1755899319.103 [DAT](INFO): DAT read: Rx Time:21:48:39.5395
2025-08-22T21:48:39.103Z,1755899319.103 [DAT](INFO): Rx dataTimestamp_ set to:1755899319.102689
2025-08-22T21:48:39.612Z,1755899319.612 [DAT](INFO): DAT read: 21:48:39.5395 LVL= 22896, 25809, 32050, 31027, AGC= 32, IDX= 442,-0.03,-2.888, 3.090, 2.022,-2.449, PHS=-0.336,-0.699,-1.856, RAW= 43.2, 36.6, CAL= 40.6, 42.9, ROT= 109.4, -42.9
2025-08-22T21:48:39.613Z,1755899319.613 [DAT](INFO): got valid direction response:
21:48:39.5395 LVL= 22896, 25809, 32050, 31027, AGC= 32, IDX= 442,-0.03,-2.888, 3.090, 2.022,-2.449, PHS=-0.336,-0.699,-1.856, RAW= 43.2, 36.6, CAL= 40.6, 42.9, ROT= 109.4, -42.9
2025-08-22T21:48:39.614Z,1755899319.614 [DAT](INFO): DAT read: Bearing 47.3, 49.0 (Local)
2025-08-22T21:48:39.615Z,1755899319.615 [DAT](INFO): Local bearing/azimuth received:
Bearing 47.3, 49.0 (Local)
2025-08-22T21:48:39.616Z,1755899319.616 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s
2025-08-22T21:48:39.617Z,1755899319.617 [DAT](INFO): DAT read: user:2488>
2025-08-22T21:48:39.617Z,1755899319.617 [DAT](INFO): DAT read: Tx time:21:48:40.6337
2025-08-22T21:48:39.618Z,1755899319.618 [DAT](INFO): Ping request sent.
2025-08-22T21:48:39.618Z,1755899319.618 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:48:39.618Z,1755899319.618 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T21:48:39.619Z,1755899319.619 [DAT](INFO): direction in FSK: [-0.243322,0.690951,0.680721]
2025-08-22T21:48:39.619Z,1755899319.619 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:39.619Z,1755899319.619 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:39.623Z,1755899319.623 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:39.623Z,1755899319.623 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:42.631Z,1755899322.631 [DAT](INFO): DAT read: Rx Time:21:48:43.0394
2025-08-22T21:48:42.631Z,1755899322.631 [DAT](INFO): Rx dataTimestamp_ set to:1755899322.630847
2025-08-22T21:48:43.143Z,1755899323.143 [DAT](INFO): DAT read: 21:48:43.0394 LVL= 22752, 27921, 32754, 31843, AGC= 34, IDX= 442, 0.16,-2.963, 2.883, 1.752,-2.681, PHS=-0.180,-0.674,-1.894, RAW= 46.3, 32.5, CAL= 43.2, 38.8, ROT= 106.8, -38.8
2025-08-22T21:48:43.144Z,1755899323.144 [DAT](INFO): got valid direction response:
21:48:43.0394 LVL= 22752, 27921, 32754, 31843, AGC= 34, IDX= 442, 0.16,-2.963, 2.883, 1.752,-2.681, PHS=-0.180,-0.674,-1.894, RAW= 46.3, 32.5, CAL= 43.2, 38.8, ROT= 106.8, -38.8
2025-08-22T21:48:43.145Z,1755899323.145 [DAT](INFO): DAT read: Bearing 49.1, 53.2 (Local)
2025-08-22T21:48:43.146Z,1755899323.146 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.1, 53.2 (Local)
2025-08-22T21:48:43.148Z,1755899323.148 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s
2025-08-22T21:48:43.149Z,1755899323.149 [DAT](INFO): DAT read: user:2489>
2025-08-22T21:48:43.150Z,1755899323.150 [DAT](INFO): DAT read: Tx time:21:48:44.1336
2025-08-22T21:48:43.150Z,1755899323.150 [DAT](INFO): Ping request sent.
2025-08-22T21:48:43.150Z,1755899323.150 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:48:43.151Z,1755899323.151 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T21:48:43.152Z,1755899323.152 [DAT](INFO): direction in FSK: [-0.225253,0.746075,0.626604]
2025-08-22T21:48:43.152Z,1755899323.152 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:43.153Z,1755899323.153 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:43.169Z,1755899323.169 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:43.211Z,1755899323.211 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:43.867Z,1755899323.867 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-22T21:48:43.867Z,1755899323.867 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-22T21:48:43.878Z,1755899323.878 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T21:48:44.395Z,1755899324.395 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T21:48:44.646Z,1755899324.646 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T21:48:44.898Z,1755899324.898 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T21:48:45.909Z,1755899325.909 [DAT](INFO): DAT read: Rx Time:21:48:46.5394
2025-08-22T21:48:45.909Z,1755899325.909 [DAT](INFO): Rx dataTimestamp_ set to:1755899325.908848
2025-08-22T21:48:46.411Z,1755899326.411 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s
2025-08-22T21:48:46.412Z,1755899326.412 [DAT](INFO): DAT read: user:2490>
2025-08-22T21:48:46.413Z,1755899326.413 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-08-22T21:48:46.663Z,1755899326.663 [DAT](INFO): DAT read: Tx time:21:48:47.6336
2025-08-22T21:48:46.663Z,1755899326.663 [DAT](INFO): Ping request sent.
2025-08-22T21:48:46.663Z,1755899326.663 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:48:46.663Z,1755899326.663 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:49.439Z,1755899329.439 [DAT](INFO): DAT read: Rx Time:21:48:50.0390
2025-08-22T21:48:49.440Z,1755899329.440 [DAT](INFO): Rx dataTimestamp_ set to:1755899329.439596
2025-08-22T21:48:49.964Z,1755899329.964 [DAT](INFO): DAT read: 21:48:50.0390 LVL= 16208, 8561, 32754, 21587, AGC= 33, IDX= 441, 0.33, 2.823, 2.228, 1.113, 2.974, PHS=-0.048,-0.701,-1.905, RAW= 50.3, 29.9, CAL= 46.6, 35.7, ROT= 103.4, -35.7
2025-08-22T21:48:49.970Z,1755899329.970 [DAT](INFO): got valid direction response:
21:48:50.0390 LVL= 16208, 8561, 32754, 21587, AGC= 33, IDX= 441, 0.33, 2.823, 2.228, 1.113, 2.974, PHS=-0.048,-0.701,-1.905, RAW= 50.3, 29.9, CAL= 46.6, 35.7, ROT= 103.4, -35.7
2025-08-22T21:48:49.971Z,1755899329.971 [DAT](INFO): DAT read: Bearing 53.3, 53.3 (Local)
2025-08-22T21:48:49.971Z,1755899329.971 [DAT](INFO): Local bearing/azimuth received:
Bearing 53.3, 53.3 (Local)
2025-08-22T21:48:49.972Z,1755899329.972 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (Round-trip 1.2 ms) speed 0.0 m/s
2025-08-22T21:48:49.973Z,1755899329.973 [DAT](INFO): DAT read: user:2491>
2025-08-22T21:48:49.978Z,1755899329.978 [DAT](INFO): DAT read: Tx time:21:48:51.1336
2025-08-22T21:48:49.979Z,1755899329.979 [DAT](INFO): Ping request sent.
2025-08-22T21:48:49.979Z,1755899329.979 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:48:49.979Z,1755899329.979 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T21:48:49.980Z,1755899329.980 [DAT](INFO): direction in FSK: [-0.188199,0.789975,0.583541]
2025-08-22T21:48:49.980Z,1755899329.980 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:49.981Z,1755899329.981 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:49.984Z,1755899329.984 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:49.984Z,1755899329.984 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:52.971Z,1755899332.971 [DAT](INFO): DAT read: Rx Time:21:48:53.5387
2025-08-22T21:48:52.972Z,1755899332.972 [DAT](INFO): Rx dataTimestamp_ set to:1755899332.971434
2025-08-22T21:48:53.480Z,1755899333.480 [DAT](INFO): DAT read: 21:48:53.5387 LVL= 16704, 10001, 31506, 21715, AGC= 34, IDX= 439,-0.37, 2.463, 2.165, 0.788, 2.492, PHS= 0.073,-0.282,-1.748, RAW= 40.6, 22.5, CAL= 37.0, 26.4, ROT= 113.0, -26.4
2025-08-22T21:48:53.481Z,1755899333.481 [DAT](INFO): got valid direction response:
21:48:53.5387 LVL= 16704, 10001, 31506, 21715, AGC= 34, IDX= 439,-0.37, 2.463, 2.165, 0.788, 2.492, PHS= 0.073,-0.282,-1.748, RAW= 40.6, 22.5, CAL= 37.0, 26.4, ROT= 113.0, -26.4
2025-08-22T21:48:53.482Z,1755899333.482 [DAT](INFO): DAT read: Bearing 75.7, 54.2 (Local)
2025-08-22T21:48:53.482Z,1755899333.482 [DAT](INFO): Local bearing/azimuth received:
Bearing 75.7, 54.2 (Local)
2025-08-22T21:48:53.484Z,1755899333.484 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:48:53.484Z,1755899333.484 [DAT](INFO): DAT read: user:2492>
2025-08-22T21:48:53.485Z,1755899333.485 [DAT](INFO): DAT read: Tx time:21:48:54.6336
2025-08-22T21:48:53.485Z,1755899333.485 [DAT](INFO): Ping request sent.
2025-08-22T21:48:53.485Z,1755899333.485 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:48:53.486Z,1755899333.486 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T21:48:53.487Z,1755899333.487 [DAT](INFO): direction in FSK: [-0.349982,0.824507,0.444635]
2025-08-22T21:48:53.487Z,1755899333.487 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:53.487Z,1755899333.487 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:53.490Z,1755899333.490 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:53.491Z,1755899333.491 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:56.475Z,1755899336.475 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000228013616 +10.2, 0.0,1490.9RA, 0.00, 70.61, 70.95, 67.89, 69.59
2025-08-22T21:48:56.499Z,1755899336.499 [DAT](INFO): DAT read: Rx Time:21:48:57.0386
2025-08-22T21:48:56.499Z,1755899336.499 [DAT](INFO): Rx dataTimestamp_ set to:1755899336.498778
2025-08-22T21:48:57.008Z,1755899337.008 [DAT](INFO): DAT read: 21:48:57.0386 LVL= 16080, 9761, 32754, 22451, AGC= 33, IDX= 439,-0.19, 1.248, 0.828,-0.306, 1.409, PHS=-0.060,-0.536,-1.759, RAW= 45.8, 28.7, CAL= 42.4, 34.3, ROT= 107.6, -34.3
2025-08-22T21:48:57.009Z,1755899337.009 [DAT](INFO): got valid direction response:
21:48:57.0386 LVL= 16080, 9761, 32754, 22451, AGC= 33, IDX= 439,-0.19, 1.248, 0.828,-0.306, 1.409, PHS=-0.060,-0.536,-1.759, RAW= 45.8, 28.7, CAL= 42.4, 34.3, ROT= 107.6, -34.3
2025-08-22T21:48:57.010Z,1755899337.010 [DAT](INFO): DAT read: Bearing 60.5, 53.1 (Local)
2025-08-22T21:48:57.010Z,1755899337.010 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.5, 53.1 (Local)
2025-08-22T21:48:57.012Z,1755899337.012 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:48:57.012Z,1755899337.012 [DAT](INFO): DAT read: user:2493>
2025-08-22T21:48:57.013Z,1755899337.013 [DAT](INFO): DAT read: Tx time:21:48:58.1335
2025-08-22T21:48:57.013Z,1755899337.013 [DAT](INFO): Ping request sent.
2025-08-22T21:48:57.014Z,1755899337.014 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:48:57.014Z,1755899337.014 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T21:48:57.015Z,1755899337.015 [DAT](INFO): direction in FSK: [-0.249787,0.787429,0.563526]
2025-08-22T21:48:57.015Z,1755899337.015 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:57.015Z,1755899337.015 [DAT](INFO): publishing direction and range info
2025-08-22T21:48:57.019Z,1755899337.019 [DAT](INFO): publishing transmit ping time
2025-08-22T21:48:57.019Z,1755899337.019 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:00.031Z,1755899340.031 [DAT](INFO): DAT read: Rx Time:21:49:00.5386
2025-08-22T21:49:00.031Z,1755899340.031 [DAT](INFO): Rx dataTimestamp_ set to:1755899340.030710
2025-08-22T21:49:00.540Z,1755899340.540 [DAT](INFO): DAT read: 21:49:00.5386 LVL= 17024, 8833, 32754, 20659, AGC= 33, IDX= 439,-0.13, 0.507,-0.244,-1.190, 0.694, PHS=-0.085,-0.894,-1.928, RAW= 56.0, 32.7, CAL= 52.0, 39.1, ROT= 98.0, -39.1
2025-08-22T21:49:00.541Z,1755899340.541 [DAT](INFO): got valid direction response:
21:49:00.5386 LVL= 17024, 8833, 32754, 20659, AGC= 33, IDX= 439,-0.13, 0.507,-0.244,-1.190, 0.694, PHS=-0.085,-0.894,-1.928, RAW= 56.0, 32.7, CAL= 52.0, 39.1, ROT= 98.0, -39.1
2025-08-22T21:49:00.546Z,1755899340.546 [DAT](INFO): DAT read: Bearing 45.7, 51.1 (Local)
2025-08-22T21:49:00.547Z,1755899340.547 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.7, 51.1 (Local)
2025-08-22T21:49:00.548Z,1755899340.548 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:49:00.549Z,1755899340.549 [DAT](INFO): DAT read: user:2494>
2025-08-22T21:49:00.550Z,1755899340.550 [DAT](INFO): DAT read: Tx time:21:49:01.6335
2025-08-22T21:49:00.550Z,1755899340.550 [DAT](INFO): Ping request sent.
2025-08-22T21:49:00.550Z,1755899340.550 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:00.550Z,1755899340.550 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T21:49:00.551Z,1755899340.551 [DAT](INFO): direction in FSK: [-0.108005,0.768494,0.630676]
2025-08-22T21:49:00.551Z,1755899340.551 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:00.552Z,1755899340.552 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:00.595Z,1755899340.595 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:00.595Z,1755899340.595 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:03.562Z,1755899343.562 [DAT](INFO): DAT read: Rx Time:21:49:04.0385
2025-08-22T21:49:03.563Z,1755899343.563 [DAT](INFO): Rx dataTimestamp_ set to:1755899343.562167
2025-08-22T21:49:04.068Z,1755899344.068 [DAT](INFO): DAT read: 21:49:04.0385 LVL= 16064, 9025, 32754, 22099, AGC= 32, IDX= 438, 0.01,-1.701,-2.609, 2.811,-1.668, PHS= 0.069,-0.895,-1.848, RAW= 60.2, 29.7, CAL= 55.9, 36.0, ROT= 94.1, -36.0
2025-08-22T21:49:04.069Z,1755899344.069 [DAT](INFO): got valid direction response:
21:49:04.0385 LVL= 16064, 9025, 32754, 22099, AGC= 32, IDX= 438, 0.01,-1.701,-2.609, 2.811,-1.668, PHS= 0.069,-0.895,-1.848, RAW= 60.2, 29.7, CAL= 55.9, 36.0, ROT= 94.1, -36.0
2025-08-22T21:49:04.070Z,1755899344.070 [DAT](INFO): DAT read: Bearing 42.1, 54.4 (Local)
2025-08-22T21:49:04.070Z,1755899344.070 [DAT](INFO): Local bearing/azimuth received:
Bearing 42.1, 54.4 (Local)
2025-08-22T21:49:04.072Z,1755899344.072 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s
2025-08-22T21:49:04.072Z,1755899344.072 [DAT](INFO): DAT read: user:2495>
2025-08-22T21:49:04.073Z,1755899344.073 [DAT](INFO): DAT read: Tx time:21:49:05.1335
2025-08-22T21:49:04.074Z,1755899344.074 [DAT](INFO): Ping request sent.
2025-08-22T21:49:04.074Z,1755899344.074 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:04.074Z,1755899344.074 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T21:49:04.075Z,1755899344.075 [DAT](INFO): direction in FSK: [-0.057843,0.806947,0.587785]
2025-08-22T21:49:04.075Z,1755899344.075 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:04.075Z,1755899344.075 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:04.115Z,1755899344.115 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:04.115Z,1755899344.115 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:07.087Z,1755899347.087 [DAT](INFO): DAT read: Rx Time:21:49:07.5386
2025-08-22T21:49:07.087Z,1755899347.087 [DAT](INFO): Rx dataTimestamp_ set to:1755899347.086753
2025-08-22T21:49:07.617Z,1755899347.617 [DAT](INFO): DAT read: 21:49:07.5386 LVL= 16192, 9009, 32754, 22387, AGC= 33, IDX= 438, 0.13,-2.542, 3.054, 2.090,-2.428, PHS=-0.012,-0.756,-1.809, RAW= 54.3, 30.2, CAL= 50.4, 36.1, ROT= 99.6, -36.1
2025-08-22T21:49:07.624Z,1755899347.624 [DAT](INFO): got valid direction response:
21:49:07.5386 LVL= 16192, 9009, 32754, 22387, AGC= 33, IDX= 438, 0.13,-2.542, 3.054, 2.090,-2.428, PHS=-0.012,-0.756,-1.809, RAW= 54.3, 30.2, CAL= 50.4, 36.1, ROT= 99.6, -36.1
2025-08-22T21:49:07.631Z,1755899347.631 [DAT](INFO): DAT read: Bearing 47.7, 53.8 (Local)
2025-08-22T21:49:07.632Z,1755899347.632 [DAT](INFO): Local bearing/azimuth received:
Bearing 47.7, 53.8 (Local)
2025-08-22T21:49:07.643Z,1755899347.643 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:49:07.643Z,1755899347.643 [DAT](INFO): DAT read: user:2496>
2025-08-22T21:49:07.644Z,1755899347.644 [DAT](INFO): DAT read: Tx time:21:49:08.6335
2025-08-22T21:49:07.644Z,1755899347.644 [DAT](INFO): Ping request sent.
2025-08-22T21:49:07.644Z,1755899347.644 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:07.645Z,1755899347.645 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T21:49:07.650Z,1755899347.650 [DAT](INFO): direction in FSK: [-0.134747,0.796675,0.589196]
2025-08-22T21:49:07.650Z,1755899347.650 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:07.651Z,1755899347.651 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:07.666Z,1755899347.666 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:07.666Z,1755899347.666 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:10.625Z,1755899350.625 [DAT](INFO): DAT read: Rx Time:21:49:11.0385
2025-08-22T21:49:10.627Z,1755899350.627 [DAT](INFO): Rx dataTimestamp_ set to:1755899350.625988
2025-08-22T21:49:11.133Z,1755899351.133 [DAT](INFO): DAT read: 21:49:11.0385 LVL= 17616, 9105, 32754, 25027, AGC= 34, IDX= 438, 0.19, 3.141, 2.617, 1.543,-2.916, PHS=-0.124,-0.704,-1.868, RAW= 49.1, 31.8, CAL= 45.7, 38.0, ROT= 104.3, -38.0
2025-08-22T21:49:11.135Z,1755899351.135 [DAT](INFO): got valid direction response:
21:49:11.0385 LVL= 17616, 9105, 32754, 25027, AGC= 34, IDX= 438, 0.19, 3.141, 2.617, 1.543,-2.916, PHS=-0.124,-0.704,-1.868, RAW= 49.1, 31.8, CAL= 45.7, 38.0, ROT= 104.3, -38.0
2025-08-22T21:49:11.135Z,1755899351.135 [DAT](INFO): DAT read: Bearing 52.0, 50.5 (Local)
2025-08-22T21:49:11.136Z,1755899351.136 [DAT](INFO): Local bearing/azimuth received:
Bearing 52.0, 50.5 (Local)
2025-08-22T21:49:11.137Z,1755899351.137 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:49:11.144Z,1755899351.144 [DAT](INFO): DAT read: user:2497>
2025-08-22T21:49:11.150Z,1755899351.150 [DAT](INFO): DAT read: Tx time:21:49:12.1334
2025-08-22T21:49:11.150Z,1755899351.150 [DAT](INFO): Ping request sent.
2025-08-22T21:49:11.150Z,1755899351.150 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:11.151Z,1755899351.151 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T21:49:11.152Z,1755899351.152 [DAT](INFO): direction in FSK: [-0.194638,0.763595,0.615661]
2025-08-22T21:49:11.152Z,1755899351.152 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:11.152Z,1755899351.152 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:11.156Z,1755899351.156 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:11.156Z,1755899351.156 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:13.903Z,1755899353.903 [DAT](INFO): DAT read: Rx Time:21:49:14.5385
2025-08-22T21:49:13.903Z,1755899353.903 [DAT](INFO): Rx dataTimestamp_ set to:1755899353.902851
2025-08-22T21:49:14.676Z,1755899354.676 [DAT](INFO): DAT read: 21:49:14.5385 LVL= 17520, 9249, 31346, 24499, AGC= 34, IDX= 438, 0.30, 2.672, 2.055, 1.031, 2.947, PHS=-0.174,-0.848,-1.960, RAW= 51.9, 34.0, CAL= 48.4, 40.4, ROT= 101.6, -40.4
2025-08-22T21:49:14.689Z,1755899354.689 [DAT](INFO): got valid direction response:
21:49:14.5385 LVL= 17520, 9249, 31346, 24499, AGC= 34, IDX= 438, 0.30, 2.672, 2.055, 1.031, 2.947, PHS=-0.174,-0.848,-1.960, RAW= 51.9, 34.0, CAL= 48.4, 40.4, ROT= 101.6, -40.4
2025-08-22T21:49:14.692Z,1755899354.692 [DAT](INFO): DAT read: Bearing 49.0, 48.8 (Local)
2025-08-22T21:49:14.693Z,1755899354.693 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.0, 48.8 (Local)
2025-08-22T21:49:14.710Z,1755899354.710 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:49:14.712Z,1755899354.712 [DAT](INFO): DAT read: user:2498>
2025-08-22T21:49:14.724Z,1755899354.724 [DAT](INFO): DAT read: Tx time:21:49:15.6334
2025-08-22T21:49:14.724Z,1755899354.724 [DAT](INFO): Ping request sent.
2025-08-22T21:49:14.724Z,1755899354.724 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:14.725Z,1755899354.725 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T21:49:14.738Z,1755899354.738 [DAT](INFO): direction in FSK: [-0.153129,0.745984,0.648120]
2025-08-22T21:49:14.738Z,1755899354.738 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:14.739Z,1755899354.739 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:14.753Z,1755899354.753 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:14.770Z,1755899354.770 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:17.431Z,1755899357.431 [DAT](INFO): DAT read: Rx Time:21:49:18.0385
2025-08-22T21:49:17.431Z,1755899357.431 [DAT](INFO): Rx dataTimestamp_ set to:1755899357.430735
2025-08-22T21:49:17.953Z,1755899357.953 [DAT](INFO): DAT read: 21:49:18.0385 LVL= 16928, 8753, 32754, 23731, AGC= 34, IDX= 439,-0.47, 0.132,-0.515,-1.560, 0.288, PHS=-0.054,-0.758,-1.893, RAW= 52.3, 30.8, CAL= 48.5, 36.7, ROT= 101.5, -36.7
2025-08-22T21:49:17.959Z,1755899357.959 [DAT](INFO): got valid direction response:
21:49:18.0385 LVL= 16928, 8753, 32754, 23731, AGC= 34, IDX= 439,-0.47, 0.132,-0.515,-1.560, 0.288, PHS=-0.054,-0.758,-1.893, RAW= 52.3, 30.8, CAL= 48.5, 36.7, ROT= 101.5, -36.7
2025-08-22T21:49:17.960Z,1755899357.960 [DAT](INFO): DAT read: Bearing 54.6, 52.9 (Local)
2025-08-22T21:49:17.960Z,1755899357.960 [DAT](INFO): Local bearing/azimuth received:
Bearing 54.6, 52.9 (Local)
2025-08-22T21:49:17.966Z,1755899357.966 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:49:17.967Z,1755899357.967 [DAT](INFO): DAT read: user:2499>
2025-08-22T21:49:17.967Z,1755899357.967 [DAT](INFO): DAT read: Tx time:21:49:19.1334
2025-08-22T21:49:17.968Z,1755899357.968 [DAT](INFO): Ping request sent.
2025-08-22T21:49:17.968Z,1755899357.968 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:17.968Z,1755899357.968 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T21:49:17.969Z,1755899357.969 [DAT](INFO): direction in FSK: [-0.159848,0.785680,0.597625]
2025-08-22T21:49:17.988Z,1755899357.988 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:17.989Z,1755899357.989 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:18.008Z,1755899358.008 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:18.008Z,1755899358.008 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:20.959Z,1755899360.959 [DAT](INFO): DAT read: Rx Time:21:49:21.5385
2025-08-22T21:49:20.959Z,1755899360.959 [DAT](INFO): Rx dataTimestamp_ set to:1755899360.958717
2025-08-22T21:49:21.468Z,1755899361.468 [DAT](INFO): DAT read: 21:49:21.5385 LVL= 15584, 9969, 32754, 24467, AGC= 34, IDX= 439,-0.15,-2.965, 2.437, 1.613,-3.065, PHS= 0.202,-0.736,-1.649, RAW= 60.5, 25.7, CAL= 56.2, 31.7, ROT= 93.8, -31.7
2025-08-22T21:49:21.469Z,1755899361.469 [DAT](INFO): got valid direction response:
21:49:21.5385 LVL= 15584, 9969, 32754, 24467, AGC= 34, IDX= 439,-0.15,-2.965, 2.437, 1.613,-3.065, PHS= 0.202,-0.736,-1.649, RAW= 60.5, 25.7, CAL= 56.2, 31.7, ROT= 93.8, -31.7
2025-08-22T21:49:21.470Z,1755899361.470 [DAT](INFO): DAT read: Bearing 43.8, 59.4 (Local)
2025-08-22T21:49:21.471Z,1755899361.471 [DAT](INFO): Local bearing/azimuth received:
Bearing 43.8, 59.4 (Local)
2025-08-22T21:49:21.472Z,1755899361.472 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:49:21.473Z,1755899361.473 [DAT](INFO): DAT read: user:2500>
2025-08-22T21:49:21.474Z,1755899361.474 [DAT](INFO): DAT read: Tx time:21:49:22.6334
2025-08-22T21:49:21.474Z,1755899361.474 [DAT](INFO): Ping request sent.
2025-08-22T21:49:21.474Z,1755899361.474 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:21.474Z,1755899361.474 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T21:49:21.475Z,1755899361.475 [DAT](INFO): direction in FSK: [-0.056387,0.848941,0.525472]
2025-08-22T21:49:21.476Z,1755899361.476 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:21.476Z,1755899361.476 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:21.481Z,1755899361.481 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:21.481Z,1755899361.481 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:24.499Z,1755899364.499 [DAT](INFO): DAT read: Rx Time:21:49:25.0384
2025-08-22T21:49:24.499Z,1755899364.499 [DAT](INFO): Rx dataTimestamp_ set to:1755899364.498710
2025-08-22T21:49:25.008Z,1755899365.008 [DAT](INFO): DAT read: 21:49:25.0384 LVL= 16864, 9137, 32754, 21779, AGC= 32, IDX= 438,-0.12, 1.459, 0.792,-0.145, 1.621, PHS=-0.061,-0.784,-1.810, RAW= 54.3, 31.7, CAL= 50.4, 37.7, ROT= 99.6, -37.7
2025-08-22T21:49:25.009Z,1755899365.009 [DAT](INFO): got valid direction response:
21:49:25.0384 LVL= 16864, 9137, 32754, 21779, AGC= 32, IDX= 438,-0.12, 1.459, 0.792,-0.145, 1.621, PHS=-0.061,-0.784,-1.810, RAW= 54.3, 31.7, CAL= 50.4, 37.7, ROT= 99.6, -37.7
2025-08-22T21:49:25.010Z,1755899365.010 [DAT](INFO): DAT read: Bearing 44.6, 52.0 (Local)
2025-08-22T21:49:25.010Z,1755899365.010 [DAT](INFO): Local bearing/azimuth received:
Bearing 44.6, 52.0 (Local)
2025-08-22T21:49:25.012Z,1755899365.012 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s
2025-08-22T21:49:25.012Z,1755899365.012 [DAT](INFO): DAT read: user:2501>
2025-08-22T21:49:25.013Z,1755899365.013 [DAT](INFO): DAT read: Tx time:21:49:26.1334
2025-08-22T21:49:25.013Z,1755899365.013 [DAT](INFO): Ping request sent.
2025-08-22T21:49:25.014Z,1755899365.014 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:25.014Z,1755899365.014 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T21:49:25.015Z,1755899365.015 [DAT](INFO): direction in FSK: [-0.131951,0.780143,0.611527]
2025-08-22T21:49:25.015Z,1755899365.015 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:25.015Z,1755899365.015 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:25.026Z,1755899365.026 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:25.026Z,1755899365.026 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:28.031Z,1755899368.031 [DAT](INFO): DAT read: Rx Time:21:49:28.5383
2025-08-22T21:49:28.031Z,1755899368.031 [DAT](INFO): Rx dataTimestamp_ set to:1755899368.030887
2025-08-22T21:49:28.540Z,1755899368.540 [DAT](INFO): DAT read: 21:49:28.5383 LVL= 17744, 8897, 31938, 24803, AGC= 34, IDX= 438,-0.08, 1.251, 0.767,-0.324, 1.493, PHS=-0.140,-0.681,-1.862, RAW= 47.9, 31.9, CAL= 44.6, 38.1, ROT= 105.4, -38.1
2025-08-22T21:49:28.541Z,1755899368.541 [DAT](INFO): got valid direction response:
21:49:28.5383 LVL= 17744, 8897, 31938, 24803, AGC= 34, IDX= 438,-0.08, 1.251, 0.767,-0.324, 1.493, PHS=-0.140,-0.681,-1.862, RAW= 47.9, 31.9, CAL= 44.6, 38.1, ROT= 105.4, -38.1
2025-08-22T21:49:28.542Z,1755899368.542 [DAT](INFO): DAT read: Bearing 53.3, 50.4 (Local)
2025-08-22T21:49:28.543Z,1755899368.543 [DAT](INFO): Local bearing/azimuth received:
Bearing 53.3, 50.4 (Local)
2025-08-22T21:49:28.544Z,1755899368.544 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s
2025-08-22T21:49:28.545Z,1755899368.545 [DAT](INFO): DAT read: user:2502>
2025-08-22T21:49:28.545Z,1755899368.545 [DAT](INFO): DAT read: Tx time:21:49:29.6333
2025-08-22T21:49:28.546Z,1755899368.546 [DAT](INFO): Ping request sent.
2025-08-22T21:49:28.546Z,1755899368.546 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:28.546Z,1755899368.546 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T21:49:28.547Z,1755899368.547 [DAT](INFO): direction in FSK: [-0.208975,0.758680,0.617036]
2025-08-22T21:49:28.547Z,1755899368.547 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:28.548Z,1755899368.548 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:28.551Z,1755899368.551 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:28.551Z,1755899368.551 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:31.571Z,1755899371.571 [DAT](INFO): DAT read: Rx Time:21:49:32.0383
2025-08-22T21:49:31.571Z,1755899371.571 [DAT](INFO): Rx dataTimestamp_ set to:1755899371.570769
2025-08-22T21:49:32.080Z,1755899372.080 [DAT](INFO): DAT read: 21:49:32.0383 LVL= 16176, 8545, 32754, 21491, AGC= 32, IDX= 438, 0.01, 0.443,-0.297,-1.271, 0.523, PHS= 0.022,-0.775,-1.837, RAW= 55.3, 29.5, CAL= 51.3, 35.4, ROT= 98.7, -35.4
2025-08-22T21:49:32.081Z,1755899372.081 [DAT](INFO): got valid direction response:
21:49:32.0383 LVL= 16176, 8545, 32754, 21491, AGC= 32, IDX= 438, 0.01, 0.443,-0.297,-1.271, 0.523, PHS= 0.022,-0.775,-1.837, RAW= 55.3, 29.5, CAL= 51.3, 35.4, ROT= 98.7, -35.4
2025-08-22T21:49:32.082Z,1755899372.082 [DAT](INFO): DAT read: Bearing 49.9, 55.0 (Local)
2025-08-22T21:49:32.083Z,1755899372.083 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.9, 55.0 (Local)
2025-08-22T21:49:32.084Z,1755899372.084 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s
2025-08-22T21:49:32.085Z,1755899372.085 [DAT](INFO): DAT read: user:2503>
2025-08-22T21:49:32.086Z,1755899372.086 [DAT](INFO): DAT read: Tx time:21:49:33.1333
2025-08-22T21:49:32.086Z,1755899372.086 [DAT](INFO): Ping request sent.
2025-08-22T21:49:32.086Z,1755899372.086 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:32.086Z,1755899372.086 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T21:49:32.087Z,1755899372.087 [DAT](INFO): direction in FSK: [-0.123297,0.805749,0.579281]
2025-08-22T21:49:32.087Z,1755899372.087 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:32.088Z,1755899372.088 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:32.099Z,1755899372.099 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:32.099Z,1755899372.099 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:35.103Z,1755899375.103 [DAT](INFO): DAT read: Rx Time:21:49:35.5383
2025-08-22T21:49:35.103Z,1755899375.103 [DAT](INFO): Rx dataTimestamp_ set to:1755899375.102697
2025-08-22T21:49:35.612Z,1755899375.612 [DAT](INFO): DAT read: 21:49:35.5383 LVL= 15984, 9025, 32754, 21699, AGC= 32, IDX= 438, 0.11,-0.379,-1.310,-2.156,-0.336, PHS= 0.060,-0.929,-1.864, RAW= 60.9, 30.1, CAL= 56.6, 36.6, ROT= 93.4, -36.6
2025-08-22T21:49:35.613Z,1755899375.613 [DAT](INFO): got valid direction response:
21:49:35.5383 LVL= 15984, 9025, 32754, 21699, AGC= 32, IDX= 438, 0.11,-0.379,-1.310,-2.156,-0.336, PHS= 0.060,-0.929,-1.864, RAW= 60.9, 30.1, CAL= 56.6, 36.6, ROT= 93.4, -36.6
2025-08-22T21:49:35.615Z,1755899375.615 [DAT](INFO): DAT read: Bearing 40.0, 54.2 (Local)
2025-08-22T21:49:35.615Z,1755899375.615 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.0, 54.2 (Local)
2025-08-22T21:49:35.616Z,1755899375.616 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s
2025-08-22T21:49:35.617Z,1755899375.617 [DAT](INFO): DAT read: user:2504>
2025-08-22T21:49:35.620Z,1755899375.620 [DAT](INFO): DAT read: Tx time:21:49:36.6333
2025-08-22T21:49:35.620Z,1755899375.620 [DAT](INFO): Ping request sent.
2025-08-22T21:49:35.620Z,1755899375.620 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:35.620Z,1755899375.620 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-22T21:49:35.621Z,1755899375.621 [DAT](INFO): direction in FSK: [-0.047612,0.801404,0.596225]
2025-08-22T21:49:35.622Z,1755899375.622 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:35.622Z,1755899375.622 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:35.625Z,1755899375.625 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:35.625Z,1755899375.625 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:38.631Z,1755899378.631 [DAT](INFO): DAT read: Rx Time:21:49:39.0384
2025-08-22T21:49:38.631Z,1755899378.631 [DAT](INFO): Rx dataTimestamp_ set to:1755899378.630750
2025-08-22T21:49:39.141Z,1755899379.141 [DAT](INFO): DAT read: 21:49:39.0384 LVL= 17136, 8609, 32754, 21971, AGC= 32, IDX= 438, 0.15,-1.043,-1.733,-2.713,-0.856, PHS=-0.086,-0.832,-1.902, RAW= 54.1, 32.2, CAL= 50.3, 38.4, ROT= 99.7, -38.4
2025-08-22T21:49:39.142Z,1755899379.142 [DAT](INFO): got valid direction response:
21:49:39.0384 LVL= 17136, 8609, 32754, 21971, AGC= 32, IDX= 438, 0.15,-1.043,-1.733,-2.713,-0.856, PHS=-0.086,-0.832,-1.902, RAW= 54.1, 32.2, CAL= 50.3, 38.4, ROT= 99.7, -38.4
2025-08-22T21:49:39.143Z,1755899379.143 [DAT](INFO): DAT read: Bearing 45.6, 51.6 (Local)
2025-08-22T21:49:39.143Z,1755899379.143 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.6, 51.6 (Local)
2025-08-22T21:49:39.144Z,1755899379.144 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:49:39.145Z,1755899379.145 [DAT](INFO): DAT read: user:2505>
2025-08-22T21:49:39.146Z,1755899379.146 [DAT](INFO): DAT read: Tx time:21:49:40.1333
2025-08-22T21:49:39.146Z,1755899379.146 [DAT](INFO): Ping request sent.
2025-08-22T21:49:39.146Z,1755899379.146 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:39.147Z,1755899379.147 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-22T21:49:39.148Z,1755899379.148 [DAT](INFO): direction in FSK: [-0.132044,0.772489,0.621148]
2025-08-22T21:49:39.148Z,1755899379.148 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:39.148Z,1755899379.148 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:39.151Z,1755899379.151 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:39.152Z,1755899379.152 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:39.756Z,1755899379.756 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-22T21:39:39.6Z
2025-08-22T21:49:39.756Z,1755899379.756 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T21:49:39.756Z,1755899379.756 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T21:49:39.756Z,1755899379.756 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T21:49:39.756Z,1755899379.756 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T21:49:39.757Z,1755899379.757 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-22T21:49:40.202Z,1755899380.202 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T21:49:40.203Z,1755899380.203 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T21:49:40.203Z,1755899380.203 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T21:49:40.203Z,1755899380.203 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T21:49:40.203Z,1755899380.203 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T21:49:41.907Z,1755899381.907 [DAT](INFO): DAT read: Rx Time:21:49:42.5383
2025-08-22T21:49:41.907Z,1755899381.907 [DAT](INFO): Rx dataTimestamp_ set to:1755899381.906689
2025-08-22T21:49:42.668Z,1755899382.668 [DAT](INFO): DAT read: 21:49:42.5383 LVL= 17776, 8945, 32754, 24723, AGC= 34, IDX= 438, 0.22,-1.947,-2.534, 2.703,-1.734, PHS=-0.111,-0.755,-1.890, RAW= 50.9, 32.0, CAL= 47.4, 38.2, ROT= 102.6, -38.2
2025-08-22T21:49:42.669Z,1755899382.669 [DAT](INFO): got valid direction response:
21:49:42.5383 LVL= 17776, 8945, 32754, 24723, AGC= 34, IDX= 438, 0.22,-1.947,-2.534, 2.703,-1.734, PHS=-0.111,-0.755,-1.890, RAW= 50.9, 32.0, CAL= 47.4, 38.2, ROT= 102.6, -38.2
2025-08-22T21:49:42.670Z,1755899382.670 [DAT](INFO): DAT read: Bearing 50.6, 51.8 (Local)
2025-08-22T21:49:42.670Z,1755899382.670 [DAT](INFO): Local bearing/azimuth received:
Bearing 50.6, 51.8 (Local)
2025-08-22T21:49:42.672Z,1755899382.672 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:49:42.672Z,1755899382.672 [DAT](INFO): DAT read: user:2506>
2025-08-22T21:49:42.673Z,1755899382.673 [DAT](INFO): DAT read: Tx time:21:49:43.6333
2025-08-22T21:49:42.674Z,1755899382.674 [DAT](INFO): Ping request sent.
2025-08-22T21:49:42.674Z,1755899382.674 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:42.674Z,1755899382.674 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T21:49:42.675Z,1755899382.675 [DAT](INFO): direction in FSK: [-0.171429,0.766931,0.618408]
2025-08-22T21:49:42.675Z,1755899382.675 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:42.675Z,1755899382.675 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:42.713Z,1755899382.713 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:42.713Z,1755899382.713 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:44.241Z,1755899384.241 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-22T21:49:44.258Z,1755899384.258 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-22T21:49:44.275Z,1755899384.275 [DockingStepper](INFO): Changing to mode: 4
2025-08-22T21:49:45.435Z,1755899385.435 [DAT](INFO): DAT read: Rx Time:21:49:46.0383
2025-08-22T21:49:45.435Z,1755899385.435 [DAT](INFO): Rx dataTimestamp_ set to:1755899385.434837
2025-08-22T21:49:45.956Z,1755899385.956 [DAT](INFO): DAT read: 21:49:46.0383 LVL= 17296, 10609, 32754, 26387, AGC= 33, IDX= 438, 0.42, 1.851, 1.110, 0.290, 2.013, PHS=-0.059,-0.858,-1.767, RAW= 57.9, 32.7, CAL= 53.7, 39.1, ROT= 96.3, -39.1
2025-08-22T21:49:45.959Z,1755899385.959 [DAT](INFO): got valid direction response:
21:49:46.0383 LVL= 17296, 10609, 32754, 26387, AGC= 33, IDX= 438, 0.42, 1.851, 1.110, 0.290, 2.013, PHS=-0.059,-0.858,-1.767, RAW= 57.9, 32.7, CAL= 53.7, 39.1, ROT= 96.3, -39.1
2025-08-22T21:49:45.962Z,1755899385.962 [DAT](INFO): DAT read: Bearing 43.6, 53.1 (Local)
2025-08-22T21:49:45.963Z,1755899385.963 [DAT](INFO): Local bearing/azimuth received:
Bearing 43.6, 53.1 (Local)
2025-08-22T21:49:45.964Z,1755899385.964 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:49:45.965Z,1755899385.965 [DAT](INFO): DAT read: user:2507>
2025-08-22T21:49:45.986Z,1755899385.986 [DAT](INFO): DAT read: Tx time:21:49:47.1348
2025-08-22T21:49:45.986Z,1755899385.986 [DAT](INFO): Ping request sent.
2025-08-22T21:49:45.986Z,1755899385.986 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:45.986Z,1755899385.986 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-22T21:49:45.987Z,1755899385.987 [DAT](INFO): direction in FSK: [-0.085159,0.771360,0.630676]
2025-08-22T21:49:45.988Z,1755899385.988 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:45.988Z,1755899385.988 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:45.000Z,1755899386.000 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:46.000Z,1755899386.000 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:48.963Z,1755899388.963 [DAT](INFO): DAT read: Rx Time:21:49:49.5399
2025-08-22T21:49:48.963Z,1755899388.963 [DAT](INFO): Rx dataTimestamp_ set to:1755899388.962705
2025-08-22T21:49:49.472Z,1755899389.472 [DAT](INFO): DAT read: 21:49:49.5399 LVL= 29808, 25841, 32754, 32755, AGC= 35, IDX= 439,-0.28, 3.097, 2.928, 2.306,-2.473, PHS=-0.611,-0.838,-1.548, RAW= 43.4, 51.4, CAL= 41.5, 55.9, ROT= 108.5, -55.9
2025-08-22T21:49:49.473Z,1755899389.473 [DAT](INFO): got valid direction response:
21:49:49.5399 LVL= 29808, 25841, 32754, 32755, AGC= 35, IDX= 439,-0.28, 3.097, 2.928, 2.306,-2.473, PHS=-0.611,-0.838,-1.548, RAW= 43.4, 51.4, CAL= 41.5, 55.9, ROT= 108.5, -55.9
2025-08-22T21:49:49.474Z,1755899389.474 [DAT](INFO): DAT read: Bearing 48.0, 37.2 (Local)
2025-08-22T21:49:49.475Z,1755899389.475 [DAT](INFO): Local bearing/azimuth received:
Bearing 48.0, 37.2 (Local)
2025-08-22T21:49:49.476Z,1755899389.476 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:49:49.477Z,1755899389.477 [DAT](INFO): DAT read: user:2508>
2025-08-22T21:49:49.485Z,1755899389.485 [DAT](INFO): DAT read: Tx time:21:49:50.6333
2025-08-22T21:49:49.486Z,1755899389.486 [DAT](INFO): Ping request sent.
2025-08-22T21:49:49.486Z,1755899389.486 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:49.487Z,1755899389.487 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-22T21:49:49.488Z,1755899389.488 [DAT](INFO): direction in FSK: [-0.177893,0.531667,0.828060]
2025-08-22T21:49:49.488Z,1755899389.488 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:49.488Z,1755899389.488 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:49.534Z,1755899389.534 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:49.534Z,1755899389.534 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:50.295Z,1755899390.295 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, , +0.00, +0.00, 20.00,1602.58
2025-08-22T21:49:52.510Z,1755899392.510 [DAT](INFO): DAT read: Rx Time:21:49:53.0389
2025-08-22T21:49:52.511Z,1755899392.511 [DAT](INFO): Rx dataTimestamp_ set to:1755899392.510674
2025-08-22T21:49:53.020Z,1755899393.020 [DAT](INFO): DAT read: 21:49:53.0389 LVL= 24880, 30545, 32754, 32755, AGC= 33, IDX= 426,-0.21,-1.003,-1.039,-1.863,-0.273, PHS=-0.628,-0.721,-1.634, RAW= 34.8, 47.6, CAL= 33.0, 52.4, ROT= 117.0, -52.4
2025-08-22T21:49:53.021Z,1755899393.021 [DAT](INFO): got valid direction response:
21:49:53.0389 LVL= 24880, 30545, 32754, 32755, AGC= 33, IDX= 426,-0.21,-1.003,-1.039,-1.863,-0.273, PHS=-0.628,-0.721,-1.634, RAW= 34.8, 47.6, CAL= 33.0, 52.4, ROT= 117.0, -52.4
2025-08-22T21:49:53.022Z,1755899393.022 [DAT](INFO): DAT read: Bearing 54.3, 39.6 (Local)
2025-08-22T21:49:53.023Z,1755899393.023 [DAT](INFO): Local bearing/azimuth received:
Bearing 54.3, 39.6 (Local)
2025-08-22T21:49:53.024Z,1755899393.024 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:49:53.025Z,1755899393.025 [DAT](INFO): DAT read: user:2509>
2025-08-22T21:49:53.025Z,1755899393.025 [DAT](INFO): DAT read: Tx time:21:49:54.1333
2025-08-22T21:49:53.026Z,1755899393.026 [DAT](INFO): Ping request sent.
2025-08-22T21:49:53.026Z,1755899393.026 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:53.026Z,1755899393.026 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-22T21:49:53.027Z,1755899393.027 [DAT](INFO): direction in FSK: [-0.277000,0.543643,0.792290]
2025-08-22T21:49:53.027Z,1755899393.027 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:53.028Z,1755899393.028 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:53.031Z,1755899393.031 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:53.031Z,1755899393.031 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:56.047Z,1755899396.047 [DAT](INFO): DAT read: Rx Time:21:49:56.5389
2025-08-22T21:49:56.047Z,1755899396.047 [DAT](INFO): Rx dataTimestamp_ set to:1755899396.046710
2025-08-22T21:49:56.556Z,1755899396.556 [DAT](INFO): DAT read: 21:49:56.5389 LVL= 23184, 29681, 32754, 32755, AGC= 32, IDX= 442,-0.18,-2.200,-2.469, 2.834,-1.763, PHS=-0.335,-0.661,-1.730, RAW= 42.9, 37.3, CAL= 40.4, 43.6, ROT= 109.6, -43.6
2025-08-22T21:49:56.557Z,1755899396.557 [DAT](INFO): got valid direction response:
21:49:56.5389 LVL= 23184, 29681, 32754, 32755, AGC= 32, IDX= 442,-0.18,-2.200,-2.469, 2.834,-1.763, PHS=-0.335,-0.661,-1.730, RAW= 42.9, 37.3, CAL= 40.4, 43.6, ROT= 109.6, -43.6
2025-08-22T21:49:56.558Z,1755899396.558 [DAT](INFO): DAT read: Bearing 51.4, 48.7 (Local)
2025-08-22T21:49:56.558Z,1755899396.558 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.4, 48.7 (Local)
2025-08-22T21:49:56.560Z,1755899396.560 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
10>
2025-08-22T21:49:56.561Z,1755899396.561 [DAT](INFO): DAT read: Tx time:21:49:57.6333
2025-08-22T21:49:56.561Z,1755899396.561 [DAT](INFO): Ping request sent.
2025-08-22T21:49:56.561Z,1755899396.561 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:49:56.561Z,1755899396.561 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-22T21:49:56.562Z,1755899396.562 [DAT](INFO): direction in FSK: [-0.242925,0.682212,0.689620]
2025-08-22T21:49:56.563Z,1755899396.563 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:56.563Z,1755899396.563 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:56.594Z,1755899396.594 [DAT](INFO): publishing transmit ping time
2025-08-22T21:49:56.594Z,1755899396.594 [DAT](INFO): publishing direction and range info
2025-08-22T21:49:59.575Z,1755899399.575 [DAT](INFO): DAT read: Rx Time:21:50:00.0389
2025-08-22T21:49:59.575Z,1755899399.575 [DAT](INFO): Rx dataTimestamp_ set to:1755899399.574961
2025-08-22T21:50:00.084Z,1755899400.084 [DAT](INFO): DAT read: 21:50:00.0389 LVL= 22000, 27953, 32754, 28243, AGC= 33, IDX= 442,-0.26,-1.207,-1.762,-2.963,-1.076, PHS=-0.029,-0.640,-1.931, RAW= 48.4, 28.7, CAL= 44.8, 34.2, ROT= 105.2, -34.2
2025-08-22T21:50:00.085Z,1755899400.085 [DAT](INFO): got valid direction response:
21:50:00.0389 LVL= 22000, 27953, 32754, 28243, AGC= 33, IDX= 442,-0.26,-1.207,-1.762,-2.963,-1.076, PHS=-0.029,-0.640,-1.931, RAW= 48.4, 28.7, CAL= 44.8, 34.2, ROT= 105.2, -34.2
2025-08-22T21:50:00.086Z,1755899400.086 [DAT](INFO): DAT read: Bearing 49.7, 57.4 (Local)
2025-08-22T21:50:00.087Z,1755899400.087 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.7, 57.4 (Local)
2025-08-22T21:50:00.088Z,1755899400.088 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:50:00.089Z,1755899400.089 [DAT](INFO): DAT read: user:2511>
2025-08-22T21:50:00.089Z,1755899400.089 [DAT](INFO): DAT read: Tx time:21:50:01.1333
2025-08-22T21:50:00.090Z,1755899400.090 [DAT](INFO): Ping request sent.
2025-08-22T21:50:00.090Z,1755899400.090 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:00.090Z,1755899400.090 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-22T21:50:00.091Z,1755899400.091 [DAT](INFO): direction in FSK: [-0.216851,0.798146,0.562083]
2025-08-22T21:50:00.091Z,1755899400.091 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:00.092Z,1755899400.092 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:00.095Z,1755899400.095 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:00.095Z,1755899400.095 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:03.103Z,1755899403.103 [DAT](INFO): DAT read: Rx Time:21:50:03.5389
2025-08-22T21:50:03.103Z,1755899403.103 [DAT](INFO): Rx dataTimestamp_ set to:1755899403.102747
2025-08-22T21:50:03.613Z,1755899403.613 [DAT](INFO): DAT read: 21:50:03.5389 LVL= 21280, 22513, 32754, 29123, AGC= 35, IDX= 442,-0.08, 2.799, 2.102, 0.954, 2.690, PHS= 0.211,-0.543,-1.779, RAW= 52.0, 23.2, CAL= 47.8, 27.9, ROT= 102.2, -27.9
2025-08-22T21:50:03.614Z,1755899403.614 [DAT](INFO): got valid direction response:
21:50:03.5389 LVL= 21280, 22513, 32754, 29123, AGC= 35, IDX= 442,-0.08, 2.799, 2.102, 0.954, 2.690, PHS= 0.211,-0.543,-1.779, RAW= 52.0, 23.2, CAL= 47.8, 27.9, ROT= 102.2, -27.9
2025-08-22T21:50:03.615Z,1755899403.615 [DAT](INFO): DAT read: Bearing 48.4, 63.9 (Local)
2025-08-22T21:50:03.615Z,1755899403.615 [DAT](INFO): Local bearing/azimuth received:
Bearing 48.4, 63.9 (Local)
2025-08-22T21:50:03.616Z,1755899403.616 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:50:03.617Z,1755899403.617 [DAT](INFO): DAT read: user:2512>
2025-08-22T21:50:03.618Z,1755899403.618 [DAT](INFO): DAT read: Tx time:21:50:04.6333
2025-08-22T21:50:03.618Z,1755899403.618 [DAT](INFO): Ping request sent.
2025-08-22T21:50:03.618Z,1755899403.618 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:03.619Z,1755899403.619 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-22T21:50:03.620Z,1755899403.620 [DAT](INFO): direction in FSK: [-0.186762,0.863807,0.467930]
2025-08-22T21:50:03.620Z,1755899403.620 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:03.620Z,1755899403.620 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:03.623Z,1755899403.623 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:03.624Z,1755899403.624 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:06.630Z,1755899406.630 [DAT](INFO): DAT read: Rx Time:21:50:07.0388
2025-08-22T21:50:06.631Z,1755899406.631 [DAT](INFO): Rx dataTimestamp_ set to:1755899406.630605
2025-08-22T21:50:07.141Z,1755899407.141 [DAT](INFO): DAT read: 21:50:07.0388 LVL= 21520, 32161, 32754, 30931, AGC= 35, IDX= 442, 0.05, 2.518, 1.965, 0.794, 2.573, PHS= 0.046,-0.563,-1.823, RAW= 48.6, 26.6, CAL= 44.9, 31.8, ROT= 105.1, -31.8
2025-08-22T21:50:07.143Z,1755899407.143 [DAT](INFO): got valid direction response:
21:50:07.0388 LVL= 21520, 32161, 32754, 30931, AGC= 35, IDX= 442, 0.05, 2.518, 1.965, 0.794, 2.573, PHS= 0.046,-0.563,-1.823, RAW= 48.6, 26.6, CAL= 44.9, 31.8, ROT= 105.1, -31.8
2025-08-22T21:50:07.145Z,1755899407.145 [DAT](INFO): DAT read: Bearing 51.0, 59.7 (Local)
2025-08-22T21:50:07.145Z,1755899407.145 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.0, 59.7 (Local)
2025-08-22T21:50:07.148Z,1755899407.148 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:50:07.149Z,1755899407.149 [DAT](INFO): DAT read: user:2513>
2025-08-22T21:50:07.154Z,1755899407.154 [DAT](INFO): DAT read: Tx time:21:50:08.1332
2025-08-22T21:50:07.155Z,1755899407.155 [DAT](INFO): Ping request sent.
2025-08-22T21:50:07.155Z,1755899407.155 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:07.156Z,1755899407.156 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-22T21:50:07.157Z,1755899407.157 [DAT](INFO): direction in FSK: [-0.221401,0.820548,0.526956]
2025-08-22T21:50:07.157Z,1755899407.157 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:07.158Z,1755899407.158 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:07.176Z,1755899407.176 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:07.176Z,1755899407.176 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:09.911Z,1755899409.911 [DAT](INFO): DAT read: Rx Time:21:50:10.5389
2025-08-22T21:50:09.911Z,1755899409.911 [DAT](INFO): Rx dataTimestamp_ set to:1755899409.910761
2025-08-22T21:50:10.684Z,1755899410.684 [DAT](INFO): DAT read: 21:50:10.5389 LVL= 22640, 32241, 32754, 32755, AGC= 34, IDX= 442, 0.15, 1.454, 0.983,-0.163, 1.636, PHS=-0.080,-0.608,-1.843, RAW= 47.0, 29.7, CAL= 43.6, 35.5, ROT= 106.4, -35.5
2025-08-22T21:50:10.685Z,1755899410.685 [DAT](INFO): got valid direction response:
21:50:10.5389 LVL= 22640, 32241, 32754, 32755, AGC= 34, IDX= 442, 0.15, 1.454, 0.983,-0.163, 1.636, PHS=-0.080,-0.608,-1.843, RAW= 47.0, 29.7, CAL= 43.6, 35.5, ROT= 106.4, -35.5
2025-08-22T21:50:10.690Z,1755899410.690 [DAT](INFO): DAT read: Bearing 49.7, 55.8 (Local)
2025-08-22T21:50:10.690Z,1755899410.690 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.7, 55.8 (Local)
2025-08-22T21:50:10.691Z,1755899410.691 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s
2025-08-22T21:50:10.692Z,1755899410.692 [DAT](INFO): DAT read: user:2514>
2025-08-22T21:50:10.693Z,1755899410.693 [DAT](INFO): DAT read: Tx time:21:50:11.6332
2025-08-22T21:50:10.693Z,1755899410.693 [DAT](INFO): Ping request sent.
2025-08-22T21:50:10.693Z,1755899410.693 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:10.722Z,1755899410.722 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-22T21:50:10.723Z,1755899410.723 [DAT](INFO): direction in FSK: [-0.229859,0.780992,0.580703]
2025-08-22T21:50:10.723Z,1755899410.723 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:10.723Z,1755899410.723 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:10.735Z,1755899410.735 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:10.735Z,1755899410.735 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:12.898Z,1755899412.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:50:12.947Z,1755899412.947 [DAT](INFO): ****** received valid address query ******
2025-08-22T21:50:12.947Z,1755899412.947 [DAT](INFO): ****** received valid ping request ******
2025-08-22T21:50:12.947Z,1755899412.947 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:50:13.198Z,1755899413.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505396
2025-08-22T21:50:13.451Z,1755899413.451 [DAT](INFO): DAT read: Rx Time:21:50:14.0389
2025-08-22T21:50:13.451Z,1755899413.451 [DAT](INFO): Rx dataTimestamp_ set to:1755899413.450815
2025-08-22T21:50:13.452Z,1755899413.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758558
2025-08-22T21:50:13.711Z,1755899413.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017500
2025-08-22T21:50:13.972Z,1755899413.972 [DAT](INFO): DAT read: 21:50:14.0389 LVL= 24480, 32753, 32754, 32755, AGC= 33, IDX= 442, 0.30, 0.073,-0.255,-1.312, 0.445, PHS=-0.270,-0.655,-1.802, RAW= 44.0, 34.9, CAL= 41.2, 41.4, ROT= 108.8, -41.4
2025-08-22T21:50:13.973Z,1755899413.973 [DAT](INFO): got valid direction response:
21:50:14.0389 LVL= 24480, 32753, 32754, 32755, AGC= 33, IDX= 442, 0.30, 0.073,-0.255,-1.312, 0.445, PHS=-0.270,-0.655,-1.802, RAW= 44.0, 34.9, CAL= 41.2, 41.4, ROT= 108.8, -41.4
2025-08-22T21:50:13.974Z,1755899413.974 [DAT](INFO): DAT read: Bearing 49.9, 50.1 (Local)
2025-08-22T21:50:13.974Z,1755899413.974 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.9, 50.1 (Local)
2025-08-22T21:50:13.976Z,1755899413.976 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s
2025-08-22T21:50:13.976Z,1755899413.976 [DAT](INFO): DAT read: user:2515>
2025-08-22T21:50:13.977Z,1755899413.977 [DAT](INFO): DAT read: Tx time:21:50:15.1332
2025-08-22T21:50:13.984Z,1755899413.984 [DAT](INFO): Ping request sent.
2025-08-22T21:50:13.984Z,1755899413.984 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:13.984Z,1755899413.984 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:50:13.989Z,1755899413.989 [DAT](INFO): direction in FSK: [-0.241735,0.710092,0.661312]
2025-08-22T21:50:13.990Z,1755899413.990 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:13.990Z,1755899413.990 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:13.993Z,1755899413.993 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:14.010Z,1755899414.010 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:16.987Z,1755899416.987 [DAT](INFO): DAT read: Rx Time:21:50:17.5389
2025-08-22T21:50:16.988Z,1755899416.988 [DAT](INFO): Rx dataTimestamp_ set to:1755899416.987578
2025-08-22T21:50:17.496Z,1755899417.496 [DAT](INFO): DAT read: 21:50:17.5389 LVL= 23904, 29569, 32754, 32755, AGC= 32, IDX= 442, 0.44,-0.886,-1.186,-2.229,-0.445, PHS=-0.339,-0.696,-1.828, RAW= 43.3, 36.9, CAL= 40.7, 43.2, ROT= 109.3, -43.2
2025-08-22T21:50:17.497Z,1755899417.497 [DAT](INFO): got valid direction response:
21:50:17.5389 LVL= 23904, 29569, 32754, 32755, AGC= 32, IDX= 442, 0.44,-0.886,-1.186,-2.229,-0.445, PHS=-0.339,-0.696,-1.828, RAW= 43.3, 36.9, CAL= 40.7, 43.2, ROT= 109.3, -43.2
2025-08-22T21:50:17.498Z,1755899417.498 [DAT](INFO): DAT read: Bearing 50.5, 48.2 (Local)
2025-08-22T21:50:17.498Z,1755899417.498 [DAT](INFO): Local bearing/azimuth received:
Bearing 50.5, 48.2 (Local)
2025-08-22T21:50:17.500Z,1755899417.500 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s
2025-08-22T21:50:17.501Z,1755899417.500 [DAT](INFO): DAT read: user:2516>
2025-08-22T21:50:17.501Z,1755899417.501 [DAT](INFO): DAT read: Tx time:21:50:18.6332
2025-08-22T21:50:17.502Z,1755899417.502 [DAT](INFO): Ping request sent.
2025-08-22T21:50:17.502Z,1755899417.502 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:17.503Z,1755899417.503 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T21:50:17.504Z,1755899417.504 [DAT](INFO): direction in FSK: [-0.240935,0.688001,0.684547]
2025-08-22T21:50:17.504Z,1755899417.504 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:17.504Z,1755899417.504 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:17.507Z,1755899417.507 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:17.507Z,1755899417.507 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:20.515Z,1755899420.515 [DAT](INFO): DAT read: Rx Time:21:50:21.0387
2025-08-22T21:50:20.515Z,1755899420.515 [DAT](INFO): Rx dataTimestamp_ set to:1755899420.514814
2025-08-22T21:50:21.024Z,1755899421.024 [DAT](INFO): DAT read: 21:50:21.0387 LVL= 22144, 28913, 32754, 31635, AGC= 34, IDX= 442,-0.37, 1.253, 0.834,-0.247, 1.522, PHS=-0.168,-0.644,-1.813, RAW= 46.3, 32.3, CAL= 43.2, 38.7, ROT= 106.8, -38.7
2025-08-22T21:50:21.025Z,1755899421.025 [DAT](INFO): got valid direction response:
21:50:21.0387 LVL= 22144, 28913, 32754, 31635, AGC= 34, IDX= 442,-0.37, 1.253, 0.834,-0.247, 1.522, PHS=-0.168,-0.644,-1.813, RAW= 46.3, 32.3, CAL= 43.2, 38.7, ROT= 106.8, -38.7
2025-08-22T21:50:21.026Z,1755899421.026 [DAT](INFO): DAT read: Bearing 51.3, 52.6 (Local)
2025-08-22T21:50:21.027Z,1755899421.027 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.3, 52.6 (Local)
2025-08-22T21:50:21.028Z,1755899421.028 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:50:21.029Z,1755899421.029 [DAT](INFO): DAT read: user:2517>
2025-08-22T21:50:21.030Z,1755899421.030 [DAT](INFO): DAT read: Tx time:21:50:22.1331
2025-08-22T21:50:21.030Z,1755899421.030 [DAT](INFO): Ping request sent.
2025-08-22T21:50:21.030Z,1755899421.030 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:21.030Z,1755899421.030 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T21:50:21.031Z,1755899421.031 [DAT](INFO): direction in FSK: [-0.225569,0.747121,0.625243]
2025-08-22T21:50:21.032Z,1755899421.032 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:21.032Z,1755899421.032 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:21.035Z,1755899421.035 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:21.035Z,1755899421.035 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:24.043Z,1755899424.043 [DAT](INFO): DAT read: Rx Time:21:50:24.5387
2025-08-22T21:50:24.043Z,1755899424.043 [DAT](INFO): Rx dataTimestamp_ set to:1755899424.042976
2025-08-22T21:50:24.559Z,1755899424.559 [DAT](INFO): DAT read: 21:50:24.5387 LVL= 20800, 32753, 32754, 31075, AGC= 34, IDX= 442,-0.13,-0.603,-1.108,-2.179,-0.542, PHS= 0.041,-0.521,-1.681, RAW= 48.7, 26.7, CAL= 44.9, 31.8, ROT= 105.1, -31.8
2025-08-22T21:50:24.560Z,1755899424.560 [DAT](INFO): got valid direction response:
21:50:24.5387 LVL= 20800, 32753, 32754, 31075, AGC= 34, IDX= 442,-0.13,-0.603,-1.108,-2.179,-0.542, PHS= 0.041,-0.521,-1.681, RAW= 48.7, 26.7, CAL= 44.9, 31.8, ROT= 105.1, -31.8
2025-08-22T21:50:24.561Z,1755899424.561 [DAT](INFO): DAT read: Bearing 52.8, 59.5 (Local)
2025-08-22T21:50:24.561Z,1755899424.561 [DAT](INFO): Local bearing/azimuth received:
Bearing 52.8, 59.5 (Local)
2025-08-22T21:50:24.563Z,1755899424.563 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:50:24.563Z,1755899424.563 [DAT](INFO): DAT read: user:2518>
2025-08-22T21:50:24.564Z,1755899424.564 [DAT](INFO): DAT read: Tx time:21:50:25.6331
2025-08-22T21:50:24.564Z,1755899424.564 [DAT](INFO): Ping request sent.
2025-08-22T21:50:24.565Z,1755899424.565 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:24.565Z,1755899424.565 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T21:50:24.574Z,1755899424.574 [DAT](INFO): direction in FSK: [-0.221401,0.820548,0.526956]
2025-08-22T21:50:24.574Z,1755899424.574 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:24.575Z,1755899424.575 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:24.578Z,1755899424.578 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:24.578Z,1755899424.578 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:27.570Z,1755899427.570 [DAT](INFO): DAT read: Rx Time:21:50:28.0387
2025-08-22T21:50:27.571Z,1755899427.571 [DAT](INFO): Rx dataTimestamp_ set to:1755899427.570635
2025-08-22T21:50:28.080Z,1755899428.080 [DAT](INFO): DAT read: 21:50:28.0387 LVL= 20656, 32753, 32754, 32755, AGC= 35, IDX= 442,-0.03,-1.415,-1.772,-2.853,-1.202, PHS=-0.111,-0.525,-1.695, RAW= 44.6, 30.1, CAL= 41.4, 36.0, ROT= 108.6, -36.0
2025-08-22T21:50:28.081Z,1755899428.081 [DAT](INFO): got valid direction response:
21:50:28.0387 LVL= 20656, 32753, 32754, 32755, AGC= 35, IDX= 442,-0.03,-1.415,-1.772,-2.853,-1.202, PHS=-0.111,-0.525,-1.695, RAW= 44.6, 30.1, CAL= 41.4, 36.0, ROT= 108.6, -36.0
2025-08-22T21:50:28.082Z,1755899428.082 [DAT](INFO): DAT read: Bearing 51.7, 54.3 (Local)
2025-08-22T21:50:28.083Z,1755899428.083 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.7, 54.3 (Local)
2025-08-22T21:50:28.084Z,1755899428.084 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:50:28.085Z,1755899428.085 [DAT](INFO): DAT read: user:2519>
2025-08-22T21:50:28.085Z,1755899428.085 [DAT](INFO): DAT read: Tx time:21:50:29.1331
2025-08-22T21:50:28.086Z,1755899428.086 [DAT](INFO): Ping request sent.
2025-08-22T21:50:28.086Z,1755899428.086 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:28.086Z,1755899428.086 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T21:50:28.087Z,1755899428.087 [DAT](INFO): direction in FSK: [-0.258044,0.766761,0.587785]
2025-08-22T21:50:28.087Z,1755899428.087 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:28.088Z,1755899428.088 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:28.091Z,1755899428.091 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:28.091Z,1755899428.091 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:31.122Z,1755899431.122 [DAT](INFO): DAT read: Rx Time:21:50:31.5388
2025-08-22T21:50:31.123Z,1755899431.123 [DAT](INFO): Rx dataTimestamp_ set to:1755899431.122846
2025-08-22T21:50:31.632Z,1755899431.632 [DAT](INFO): DAT read: 21:50:31.5388 LVL= 23872, 28529, 32754, 32179, AGC= 33, IDX= 442,-0.02,-0.663,-1.053,-2.169,-0.320, PHS=-0.242,-0.688,-1.893, RAW= 45.1, 34.0, CAL= 42.2, 40.6, ROT= 107.8, -40.6
2025-08-22T21:50:31.633Z,1755899431.633 [DAT](INFO): got valid direction response:
21:50:31.5388 LVL= 23872, 28529, 32754, 32179, AGC= 33, IDX= 442,-0.02,-0.663,-1.053,-2.169,-0.320, PHS=-0.242,-0.688,-1.893, RAW= 45.1, 34.0, CAL= 42.2, 40.6, ROT= 107.8, -40.6
2025-08-22T21:50:31.634Z,1755899431.634 [DAT](INFO): DAT read: Bearing 47.5, 50.0 (Local)
2025-08-22T21:50:31.634Z,1755899431.634 [DAT](INFO): Local bearing/azimuth received:
Bearing 47.5, 50.0 (Local)
2025-08-22T21:50:31.636Z,1755899431.636 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s
2025-08-22T21:50:31.636Z,1755899431.636 [DAT](INFO): DAT read: user:2520>
2025-08-22T21:50:31.637Z,1755899431.637 [DAT](INFO): DAT read: Tx time:21:50:32.6331
2025-08-22T21:50:31.637Z,1755899431.637 [DAT](INFO): Ping request sent.
2025-08-22T21:50:31.638Z,1755899431.638 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:31.638Z,1755899431.638 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T21:50:31.639Z,1755899431.639 [DAT](INFO): direction in FSK: [-0.232106,0.722925,0.650774]
2025-08-22T21:50:31.639Z,1755899431.639 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:31.639Z,1755899431.639 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:31.655Z,1755899431.655 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:31.655Z,1755899431.655 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:34.395Z,1755899434.395 [DAT](INFO): DAT read: Rx Time:21:50:35.0387
2025-08-22T21:50:34.395Z,1755899434.395 [DAT](INFO): Rx dataTimestamp_ set to:1755899434.394844
2025-08-22T21:50:35.157Z,1755899435.157 [DAT](INFO): DAT read: 21:50:35.0387 LVL= 22736, 28113, 32754, 30611, AGC= 33, IDX= 442, 0.14,-1.331,-1.805,-2.943,-1.078, PHS=-0.152,-0.683,-1.910, RAW= 47.1, 31.9, CAL= 43.9, 38.1, ROT= 106.1, -38.1
2025-08-22T21:50:35.158Z,1755899435.158 [DAT](INFO): got valid direction response:
21:50:35.0387 LVL= 22736, 28113, 32754, 30611, AGC= 33, IDX= 442, 0.14,-1.331,-1.805,-2.943,-1.078, PHS=-0.152,-0.683,-1.910, RAW= 47.1, 31.9, CAL= 43.9, 38.1, ROT= 106.1, -38.1
2025-08-22T21:50:35.160Z,1755899435.160 [DAT](INFO): DAT read: Bearing 51.7, 53.3 (Local)
2025-08-22T21:50:35.160Z,1755899435.160 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.7, 53.3 (Local)
2025-08-22T21:50:35.162Z,1755899435.162 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s
2025-08-22T21:50:35.163Z,1755899435.163 [DAT](INFO): DAT read: user:2521>
2025-08-22T21:50:35.164Z,1755899435.164 [DAT](INFO): DAT read: Tx time:21:50:36.1330
2025-08-22T21:50:35.164Z,1755899435.164 [DAT](INFO): Ping request sent.
2025-08-22T21:50:35.164Z,1755899435.164 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:35.165Z,1755899435.165 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T21:50:35.174Z,1755899435.174 [DAT](INFO): direction in FSK: [-0.218229,0.756071,0.617036]
2025-08-22T21:50:35.175Z,1755899435.175 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:35.175Z,1755899435.175 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:35.179Z,1755899435.179 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:35.180Z,1755899435.180 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:37.925Z,1755899437.925 [DAT](INFO): DAT read: Rx Time:21:50:38.5387
2025-08-22T21:50:37.926Z,1755899437.926 [DAT](INFO): Rx dataTimestamp_ set to:1755899437.925693
2025-08-22T21:50:38.684Z,1755899438.684 [DAT](INFO): DAT read: 21:50:38.5387 LVL= 21808, 32081, 32754, 31091, AGC= 34, IDX= 443,-0.44, 1.003, 0.457,-0.647, 1.035, PHS= 0.071,-0.532,-1.726, RAW= 49.3, 26.0, CAL= 45.4, 31.1, ROT= 104.6, -31.1
2025-08-22T21:50:38.685Z,1755899438.685 [DAT](INFO): got valid direction response:
21:50:38.5387 LVL= 21808, 32081, 32754, 31091, AGC= 34, IDX= 443,-0.44, 1.003, 0.457,-0.647, 1.035, PHS= 0.071,-0.532,-1.726, RAW= 49.3, 26.0, CAL= 45.4, 31.1, ROT= 104.6, -31.1
2025-08-22T21:50:38.686Z,1755899438.686 [DAT](INFO): DAT read: Bearing 55.5, 60.9 (Local)
2025-08-22T21:50:38.687Z,1755899438.687 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.5, 60.9 (Local)
2025-08-22T21:50:38.688Z,1755899438.688 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s
2025-08-22T21:50:38.689Z,1755899438.689 [DAT](INFO): DAT read: user:2522>
2025-08-22T21:50:38.710Z,1755899438.710 [DAT](INFO): DAT read: Tx time:21:50:39.6330
2025-08-22T21:50:38.710Z,1755899438.710 [DAT](INFO): Ping request sent.
2025-08-22T21:50:38.710Z,1755899438.710 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:38.710Z,1755899438.710 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T21:50:38.711Z,1755899438.711 [DAT](INFO): direction in FSK: [-0.215839,0.828618,0.516533]
2025-08-22T21:50:38.712Z,1755899438.712 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:38.712Z,1755899438.712 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:38.715Z,1755899438.715 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:38.715Z,1755899438.715 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:41.451Z,1755899441.451 [DAT](INFO): DAT read: Rx Time:21:50:42.0386
2025-08-22T21:50:41.451Z,1755899441.451 [DAT](INFO): Rx dataTimestamp_ set to:1755899441.450699
2025-08-22T21:50:41.985Z,1755899441.985 [DAT](INFO): DAT read: 21:50:42.0386 LVL= 19840, 32753, 32754, 30451, AGC= 34, IDX= 442,-0.23,-2.268,-2.716, 2.462,-2.240, PHS= 0.073,-0.432,-1.626, RAW= 46.8, 24.9, CAL= 43.0, 29.7, ROT= 107.0, -29.7
2025-08-22T21:50:41.993Z,1755899441.993 [DAT](INFO): got valid direction response:
21:50:42.0386 LVL= 19840, 32753, 32754, 30451, AGC= 34, IDX= 442,-0.23,-2.268,-2.716, 2.462,-2.240, PHS= 0.073,-0.432,-1.626, RAW= 46.8, 24.9, CAL= 43.0, 29.7, ROT= 107.0, -29.7
2025-08-22T21:50:42.018Z,1755899442.018 [DAT](INFO): DAT read: Bearing 56.8, 61.8 (Local)
2025-08-22T21:50:42.019Z,1755899442.019 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.8, 61.8 (Local)
2025-08-22T21:50:42.020Z,1755899442.020 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:50:42.021Z,1755899442.021 [DAT](INFO): DAT read: user:2523>
2025-08-22T21:50:42.031Z,1755899442.031 [DAT](INFO): DAT read: Tx time:21:50:43.1330
2025-08-22T21:50:42.032Z,1755899442.032 [DAT](INFO): Ping request sent.
2025-08-22T21:50:42.033Z,1755899442.033 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:42.046Z,1755899442.046 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T21:50:42.047Z,1755899442.047 [DAT](INFO): direction in FSK: [-0.253963,0.830676,0.495459]
2025-08-22T21:50:42.047Z,1755899442.047 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:42.047Z,1755899442.047 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:42.054Z,1755899442.054 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:42.055Z,1755899442.055 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:44.423Z,1755899444.423 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS32768,-32768,V
2025-08-22T21:50:44.979Z,1755899444.979 [DAT](INFO): DAT read: Rx Time:21:50:45.5386
2025-08-22T21:50:44.979Z,1755899444.979 [DAT](INFO): Rx dataTimestamp_ set to:1755899444.978723
2025-08-22T21:50:45.488Z,1755899445.488 [DAT](INFO): DAT read: 21:50:45.5385 LVL= 24048, 32721, 32754, 32755, AGC= 34, IDX= 442,-0.19,-1.665,-2.008,-3.076,-1.364, PHS=-0.198,-0.598,-1.755, RAW= 44.3, 32.8, CAL= 41.4, 39.3, ROT= 108.6, -39.3
2025-08-22T21:50:45.489Z,1755899445.489 [DAT](INFO): got valid direction response:
21:50:45.5385 LVL= 24048, 32721, 32754, 32755, AGC= 34, IDX= 442,-0.19,-1.665,-2.008,-3.076,-1.364, PHS=-0.198,-0.598,-1.755, RAW= 44.3, 32.8, CAL= 41.4, 39.3, ROT= 108.6, -39.3
2025-08-22T21:50:45.490Z,1755899445.490 [DAT](INFO): DAT read: Bearing 49.8, 52.7 (Local)
2025-08-22T21:50:45.491Z,1755899445.491 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.8, 52.7 (Local)
2025-08-22T21:50:45.492Z,1755899445.492 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:50:45.493Z,1755899445.493 [DAT](INFO): DAT read: user:2524>
2025-08-22T21:50:45.493Z,1755899445.493 [DAT](INFO): DAT read: Tx time:21:50:46.6329
2025-08-22T21:50:45.494Z,1755899445.494 [DAT](INFO): Ping request sent.
2025-08-22T21:50:45.494Z,1755899445.494 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:45.494Z,1755899445.494 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T21:50:45.495Z,1755899445.495 [DAT](INFO): direction in FSK: [-0.246824,0.733421,0.633381]
2025-08-22T21:50:45.495Z,1755899445.495 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:45.496Z,1755899445.496 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:45.499Z,1755899445.499 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:45.499Z,1755899445.499 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:48.511Z,1755899448.511 [DAT](INFO): DAT read: Rx Time:21:50:49.0385
2025-08-22T21:50:48.512Z,1755899448.512 [DAT](INFO): Rx dataTimestamp_ set to:1755899448.511336
2025-08-22T21:50:49.020Z,1755899449.020 [DAT](INFO): DAT read: 21:50:49.0385 LVL= 23904, 28497, 32754, 32659, AGC= 33, IDX= 442,-0.14,-2.108,-2.472, 2.730,-1.745, PHS=-0.261,-0.682,-1.852, RAW= 44.8, 34.7, CAL= 42.0, 41.2, ROT= 108.0, -41.2
2025-08-22T21:50:49.021Z,1755899449.021 [DAT](INFO): got valid direction response:
21:50:49.0385 LVL= 23904, 28497, 32754, 32659, AGC= 33, IDX= 442,-0.14,-2.108,-2.472, 2.730,-1.745, PHS=-0.261,-0.682,-1.852, RAW= 44.8, 34.7, CAL= 42.0, 41.2, ROT= 108.0, -41.2
2025-08-22T21:50:49.022Z,1755899449.022 [DAT](INFO): DAT read: Bearing 49.4, 51.3 (Local)
2025-08-22T21:50:49.022Z,1755899449.022 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.4, 51.3 (Local)
2025-08-22T21:50:49.024Z,1755899449.024 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:50:49.024Z,1755899449.024 [DAT](INFO): DAT read: user:2525>
2025-08-22T21:50:49.025Z,1755899449.025 [DAT](INFO): DAT read: Tx time:21:50:50.1329
2025-08-22T21:50:49.025Z,1755899449.025 [DAT](INFO): Ping request sent.
2025-08-22T21:50:49.025Z,1755899449.025 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:49.026Z,1755899449.026 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T21:50:49.027Z,1755899449.027 [DAT](INFO): direction in FSK: [-0.232509,0.715589,0.658689]
2025-08-22T21:50:49.027Z,1755899449.027 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:49.027Z,1755899449.027 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:49.030Z,1755899449.030 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:49.031Z,1755899449.031 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:52.045Z,1755899452.045 [DAT](INFO): DAT read: Rx Time:21:50:52.5386
2025-08-22T21:50:52.045Z,1755899452.045 [DAT](INFO): Rx dataTimestamp_ set to:1755899452.044708
2025-08-22T21:50:52.552Z,1755899452.552 [DAT](INFO): DAT read: 21:50:52.5386 LVL= 24048, 31009, 32754, 32435, AGC= 33, IDX= 442,-0.01,-2.878, 2.865, 1.737,-2.738, PHS=-0.039,-0.635,-1.852, RAW= 48.8, 29.2, CAL= 45.2, 34.8, ROT= 104.8, -34.8
2025-08-22T21:50:52.553Z,1755899452.553 [DAT](INFO): got valid direction response:
21:50:52.5386 LVL= 24048, 31009, 32754, 32435, AGC= 33, IDX= 442,-0.01,-2.878, 2.865, 1.737,-2.738, PHS=-0.039,-0.635,-1.852, RAW= 48.8, 29.2, CAL= 45.2, 34.8, ROT= 104.8, -34.8
2025-08-22T21:50:52.555Z,1755899452.555 [DAT](INFO): DAT read: Bearing 51.9, 58.2 (Local)
2025-08-22T21:50:52.555Z,1755899452.555 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.9, 58.2 (Local)
2025-08-22T21:50:52.558Z,1755899452.558 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s
2025-08-22T21:50:52.559Z,1755899452.559 [DAT](INFO): DAT read: user:2526>
2025-08-22T21:50:52.560Z,1755899452.560 [DAT](INFO): DAT read: Tx time:21:50:53.6329
2025-08-22T21:50:52.561Z,1755899452.561 [DAT](INFO): Ping request sent.
2025-08-22T21:50:52.561Z,1755899452.561 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:52.566Z,1755899452.566 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T21:50:52.567Z,1755899452.567 [DAT](INFO): direction in FSK: [-0.209759,0.793906,0.570714]
2025-08-22T21:50:52.568Z,1755899452.568 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:52.568Z,1755899452.568 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:52.626Z,1755899452.626 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:52.626Z,1755899452.626 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:55.572Z,1755899455.572 [DAT](INFO): DAT read: Rx Time:21:50:56.0386
2025-08-22T21:50:55.572Z,1755899455.572 [DAT](INFO): Rx dataTimestamp_ set to:1755899455.571706
2025-08-22T21:50:56.086Z,1755899456.086 [DAT](INFO): DAT read: 21:50:56.0386 LVL= 19616, 32433, 32754, 31139, AGC= 35, IDX= 442, 0.37, 0.648, 0.080,-1.063, 0.548, PHS= 0.202,-0.423,-1.655, RAW= 49.3, 22.1, CAL= 45.1, 26.3, ROT= 104.9, -26.3
2025-08-22T21:50:56.087Z,1755899456.087 [DAT](INFO): got valid direction response:
21:50:56.0386 LVL= 19616, 32433, 32754, 31139, AGC= 35, IDX= 442, 0.37, 0.648, 0.080,-1.063, 0.548, PHS= 0.202,-0.423,-1.655, RAW= 49.3, 22.1, CAL= 45.1, 26.3, ROT= 104.9, -26.3
2025-08-22T21:50:56.088Z,1755899456.088 [DAT](INFO): DAT read: Bearing 57.3, 66.3 (Local)
2025-08-22T21:50:56.088Z,1755899456.088 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.3, 66.3 (Local)
2025-08-22T21:50:56.089Z,1755899456.089 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s
2025-08-22T21:50:56.090Z,1755899456.090 [DAT](INFO): DAT read: user:2527>
2025-08-22T21:50:56.091Z,1755899456.091 [DAT](INFO): DAT read: Tx time:21:50:57.1329
2025-08-22T21:50:56.091Z,1755899456.091 [DAT](INFO): Ping request sent.
2025-08-22T21:50:56.091Z,1755899456.091 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:56.091Z,1755899456.091 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T21:50:56.092Z,1755899456.092 [DAT](INFO): direction in FSK: [-0.230516,0.866343,0.443071]
2025-08-22T21:50:56.093Z,1755899456.093 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:56.093Z,1755899456.093 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:56.124Z,1755899456.124 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:56.125Z,1755899456.125 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:59.107Z,1755899459.107 [DAT](INFO): DAT read: Rx Time:21:50:59.5384
2025-08-22T21:50:59.107Z,1755899459.107 [DAT](INFO): Rx dataTimestamp_ set to:1755899459.106972
2025-08-22T21:50:59.616Z,1755899459.616 [DAT](INFO): DAT read: 21:50:59.5384 LVL= 19952, 32737, 32754, 30963, AGC= 35, IDX= 441,-0.49, 2.242, 1.826, 0.692, 2.302, PHS= 0.042,-0.431,-1.654, RAW= 45.7, 25.5, CAL= 42.0, 30.3, ROT= 108.0, -30.3
2025-08-22T21:50:59.617Z,1755899459.617 [DAT](INFO): got valid direction response:
21:50:59.5384 LVL= 19952, 32737, 32754, 30963, AGC= 35, IDX= 441,-0.49, 2.242, 1.826, 0.692, 2.302, PHS= 0.042,-0.431,-1.654, RAW= 45.7, 25.5, CAL= 42.0, 30.3, ROT= 108.0, -30.3
2025-08-22T21:50:59.618Z,1755899459.618 [DAT](INFO): DAT read: Bearing 53.1, 61.0 (Local)
2025-08-22T21:50:59.618Z,1755899459.618 [DAT](INFO): Local bearing/azimuth received:
Bearing 53.1, 61.0 (Local)
2025-08-22T21:50:59.620Z,1755899459.620 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m (Round-trip 1.4 ms) speed 0.0 m/s
2025-08-22T21:50:59.620Z,1755899459.620 [DAT](INFO): DAT read: user:2528>
2025-08-22T21:50:59.621Z,1755899459.621 [DAT](INFO): DAT read: Tx time:21:51:00.6329
2025-08-22T21:50:59.632Z,1755899459.632 [DAT](INFO): Ping request sent.
2025-08-22T21:50:59.632Z,1755899459.632 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:50:59.632Z,1755899459.632 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T21:50:59.633Z,1755899459.633 [DAT](INFO): direction in FSK: [-0.266804,0.821138,0.504528]
2025-08-22T21:50:59.633Z,1755899459.633 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:59.634Z,1755899459.634 [DAT](INFO): publishing direction and range info
2025-08-22T21:50:59.637Z,1755899459.637 [DAT](INFO): publishing transmit ping time
2025-08-22T21:50:59.637Z,1755899459.637 [DAT](INFO): publishing direction and range info
2025-08-22T21:51:02.387Z,1755899462.387 [DAT](INFO): DAT read: Rx Time:21:51:03.0384
2025-08-22T21:51:02.388Z,1755899462.388 [DAT](INFO): Rx dataTimestamp_ set to:1755899462.387432
2025-08-22T21:51:03.148Z,1755899463.148 [DAT](INFO): DAT read: 21:51:03.0384 LVL= 22112, 28657, 32754, 30707, AGC= 34, IDX= 441, 0.41,-0.318,-0.746,-1.921,-0.055, PHS=-0.161,-0.646,-1.911, RAW= 45.6, 31.6, CAL= 42.4, 37.8, ROT= 107.6, -37.8
2025-08-22T21:51:03.149Z,1755899463.149 [DAT](INFO): got valid direction response:
21:51:03.0384 LVL= 22112, 28657, 32754, 30707, AGC= 34, IDX= 441, 0.41,-0.318,-0.746,-1.921,-0.055, PHS=-0.161,-0.646,-1.911, RAW= 45.6, 31.6, CAL= 42.4, 37.8, ROT= 107.6, -37.8
2025-08-22T21:51:03.150Z,1755899463.150 [DAT](INFO): DAT read: Bearing 46.0, 53.4 (Local)
2025-08-22T21:51:03.151Z,1755899463.151 [DAT](INFO): Local bearing/azimuth received:
Bearing 46.0, 53.4 (Local)
2025-08-22T21:51:03.152Z,1755899463.152 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:51:03.153Z,1755899463.153 [DAT](INFO): DAT read: user:2529>
2025-08-22T21:51:03.153Z,1755899463.153 [DAT](INFO): DAT read: Tx time:21:51:04.1328
2025-08-22T21:51:03.154Z,1755899463.154 [DAT](INFO): Ping request sent.
2025-08-22T21:51:03.154Z,1755899463.154 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:51:03.154Z,1755899463.154 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T21:51:03.156Z,1755899463.156 [DAT](INFO): direction in FSK: [-0.238919,0.753168,0.612907]
2025-08-22T21:51:03.156Z,1755899463.156 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:03.156Z,1755899463.156 [DAT](INFO): publishing direction and range info
2025-08-22T21:51:03.161Z,1755899463.161 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:03.161Z,1755899463.161 [DAT](INFO): publishing direction and range info
2025-08-22T21:51:05.923Z,1755899465.923 [DAT](INFO): DAT read: Rx Time:21:51:06.5384
2025-08-22T21:51:05.923Z,1755899465.923 [DAT](INFO): Rx dataTimestamp_ set to:1755899465.922831
2025-08-22T21:51:06.687Z,1755899466.687 [DAT](INFO): DAT read: 21:51:06.5384 LVL= 21920, 28641, 32754, 30995, AGC= 33, IDX= 442,-0.33, 2.804, 2.383, 1.285, 3.061, PHS=-0.155,-0.632,-1.819, RAW= 46.2, 31.8, CAL= 43.0, 38.1, ROT= 107.0, -38.1
2025-08-22T21:51:06.688Z,1755899466.688 [DAT](INFO): got valid direction response:
21:51:06.5384 LVL= 21920, 28641, 32754, 30995, AGC= 33, IDX= 442,-0.33, 2.804, 2.383, 1.285, 3.061, PHS=-0.155,-0.632,-1.819, RAW= 46.2, 31.8, CAL= 43.0, 38.1, ROT= 107.0, -38.1
2025-08-22T21:51:06.689Z,1755899466.689 [DAT](INFO): DAT read: Bearing 49.0, 53.4 (Local)
2025-08-22T21:51:06.690Z,1755899466.690 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.0, 53.4 (Local)
2025-08-22T21:51:06.692Z,1755899466.692 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:51:06.693Z,1755899466.693 [DAT](INFO): DAT read: user:2530>
2025-08-22T21:51:06.698Z,1755899466.698 [DAT](INFO): DAT read: Tx time:21:51:07.6328
2025-08-22T21:51:06.699Z,1755899466.699 [DAT](INFO): Ping request sent.
2025-08-22T21:51:06.699Z,1755899466.699 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:51:06.699Z,1755899466.699 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T21:51:06.701Z,1755899466.701 [DAT](INFO): direction in FSK: [-0.230078,0.752550,0.617036]
2025-08-22T21:51:06.701Z,1755899466.701 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:06.701Z,1755899466.701 [DAT](INFO): publishing direction and range info
2025-08-22T21:51:06.705Z,1755899466.705 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:06.705Z,1755899466.705 [DAT](INFO): publishing direction and range info
2025-08-22T21:51:09.451Z,1755899469.451 [DAT](INFO): DAT read: Rx Time:21:51:10.0384
2025-08-22T21:51:09.451Z,1755899469.451 [DAT](INFO): Rx dataTimestamp_ set to:1755899469.450831
2025-08-22T21:51:09.962Z,1755899469.962 [DAT](INFO): DAT read: 21:51:10.0384 LVL= 22768, 32577, 32754, 32755, AGC= 33, IDX= 442,-0.14, 1.111, 0.644,-0.433, 1.279, PHS=-0.066,-0.590,-1.755, RAW= 47.7, 29.6, CAL= 44.2, 35.4, ROT= 105.8, -35.4
2025-08-22T21:51:09.963Z,1755899469.963 [DAT](INFO): got valid direction response:
21:51:10.0384 LVL= 22768, 32577, 32754, 32755, AGC= 33, IDX= 442,-0.14, 1.111, 0.644,-0.433, 1.279, PHS=-0.066,-0.590,-1.755, RAW= 47.7, 29.6, CAL= 44.2, 35.4, ROT= 105.8, -35.4
2025-08-22T21:51:09.964Z,1755899469.964 [DAT](INFO): DAT read: Bearing 50.7, 56.4 (Local)
2025-08-22T21:51:09.965Z,1755899469.965 [DAT](INFO): Local bearing/azimuth received:
Bearing 50.7, 56.4 (Local)
2025-08-22T21:51:09.966Z,1755899469.966 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-08-22T21:51:09.967Z,1755899469.967 [DAT](INFO): DAT read: user:2531>
2025-08-22T21:51:09.968Z,1755899469.968 [DAT](INFO): DAT read: Tx time:21:51:11.1320
2025-08-22T21:51:09.968Z,1755899469.968 [DAT](INFO): Ping request sent.
2025-08-22T21:51:09.968Z,1755899469.968 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:51:09.968Z,1755899469.968 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T21:51:09.969Z,1755899469.969 [DAT](INFO): direction in FSK: [-0.221943,0.784331,0.579281]
2025-08-22T21:51:09.978Z,1755899469.978 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:09.982Z,1755899469.982 [DAT](INFO): publishing direction and range info
2025-08-22T21:51:09.985Z,1755899469.985 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:09.985Z,1755899469.985 [DAT](INFO): publishing direction and range info
2025-08-22T21:51:12.475Z,1755899472.475 [DAT](INFO): DAT read: Rx Time:21:51:13.0238
2025-08-22T21:51:12.475Z,1755899472.475 [DAT](INFO): Rx dataTimestamp_ set to:1755899472.474696
2025-08-22T21:51:12.984Z,1755899472.984 [DAT](INFO): DAT read: 21:51:13.0238 LVL= 20976, 26465, 32754, 31891, AGC= 35, IDX= 308,-0.08,-1.930,-2.382, 2.861,-1.874, PHS= 0.046,-0.464,-1.592, RAW= 47.7, 26.1, CAL= 43.9, 31.1, ROT= 106.1, -31.1
2025-08-22T21:51:12.986Z,1755899472.986 [DAT](INFO): got valid direction response:
21:51:13.0238 LVL= 20976, 26465, 32754, 31891, AGC= 35, IDX= 308,-0.08,-1.930,-2.382, 2.861,-1.874, PHS= 0.046,-0.464,-1.592, RAW= 47.7, 26.1, CAL= 43.9, 31.1, ROT= 106.1, -31.1
2025-08-22T21:51:12.986Z,1755899472.986 [DAT](INFO): DAT read: OK
2025-08-22T21:51:12.986Z,1755899472.986 [DAT](INFO): unknown deviceResponse_: OK
2025-08-22T21:51:12.987Z,1755899472.987 [DAT](INFO): DAT read: user:2532>
2025-08-22T21:51:12.987Z,1755899472.987 [DAT](INFO): DAT read: Tx time:21:51:14.1318
2025-08-22T21:51:12.988Z,1755899472.988 [DAT](INFO): Ping request sent.
2025-08-22T21:51:12.988Z,1755899472.988 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:51:12.988Z,1755899472.988 [DAT](INFO): #Rx 18: Read direction message, but no range.
2025-08-22T21:51:12.989Z,1755899472.989 [DAT](INFO): direction in FSK: [-0.237455,0.822684,0.516533]
2025-08-22T21:51:12.989Z,1755899472.989 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:12.992Z,1755899472.992 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:14.294Z,1755899474.294 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-22T21:51:14.295Z,1755899474.295 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-22T21:51:14.305Z,1755899474.305 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T21:51:14.742Z,1755899474.742 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T21:51:14.994Z,1755899474.994 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T21:51:15.246Z,1755899475.246 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T21:51:15.501Z,1755899475.501 [DAT](INFO): DAT read: Rx Time:21:51:16.0239
2025-08-22T21:51:15.502Z,1755899475.502 [DAT](INFO): Rx dataTimestamp_ set to:1755899475.501198
2025-08-22T21:51:16.008Z,1755899476.008 [DAT](INFO): DAT read: 21:51:16.0239 LVL= 19680, 20529, 32162, 24499, AGC= 34, IDX= 437,-0.11,-1.618,-2.428, 2.880,-1.741, PHS= 0.225,-0.642,-1.706, RAW= 56.6, 24.1, CAL= 52.4, 29.5, ROT= 97.6, -29.5
2025-08-22T21:51:16.010Z,1755899476.010 [DAT](INFO): got valid direction response:
21:51:16.0239 LVL= 19680, 20529, 32162, 24499, AGC= 34, IDX= 437,-0.11,-1.618,-2.428, 2.880,-1.741, PHS= 0.225,-0.642,-1.706, RAW= 56.6, 24.1, CAL= 52.4, 29.5, ROT= 97.6, -29.5
2025-08-22T21:51:16.010Z,1755899476.010 [DAT](INFO): DAT read: OK
2025-08-22T21:51:16.011Z,1755899476.011 [DAT](INFO): unknown deviceResponse_: OK
2025-08-22T21:51:16.012Z,1755899476.012 [DAT](INFO): DAT read: user:2533>
2025-08-22T21:51:16.013Z,1755899476.013 [DAT](INFO): DAT read: Tx time:21:51:17.1318
2025-08-22T21:51:16.021Z,1755899476.021 [DAT](INFO): Ping request sent.
2025-08-22T21:51:16.021Z,1755899476.021 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:51:16.031Z,1755899476.031 [DAT](INFO): #Rx 19: Read direction message, but no range.
2025-08-22T21:51:16.033Z,1755899476.033 [DAT](INFO): direction in FSK: [-0.115110,0.862710,0.492424]
2025-08-22T21:51:16.033Z,1755899476.033 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:16.074Z,1755899476.074 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:16.721Z,1755899476.721 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude. Device response is::BD, +4296.70, -21.43, 7.08,
2025-08-22T21:51:18.526Z,1755899478.526 [DAT](INFO): DAT read: Rx Time:21:51:19.0236
2025-08-22T21:51:18.528Z,1755899478.528 [DAT](INFO): Rx dataTimestamp_ set to:1755899478.526926
2025-08-22T21:51:19.055Z,1755899479.055 [DAT](INFO): DAT read: 21:51:19.0236 LVL= 18592, 9041, 31586, 18643, AGC= 32, IDX= 437, 0.41,-0.904,-1.913,-2.789,-0.681, PHS=-0.120,-1.187,-2.152, RAW= 61.6, 34.8, CAL= 57.3, 41.4, ROT= 92.7, -41.4
2025-08-22T21:51:19.056Z,1755899479.056 [DAT](INFO): got valid direction response:
21:51:19.0236 LVL= 18592, 9041, 31586, 18643, AGC= 32, IDX= 437, 0.41,-0.904,-1.913,-2.789,-0.681, PHS=-0.120,-1.187,-2.152, RAW= 61.6, 34.8, CAL= 57.3, 41.4, ROT= 92.7, -41.4
2025-08-22T21:51:19.057Z,1755899479.057 [DAT](INFO): DAT read: OK
2025-08-22T21:51:19.057Z,1755899479.057 [DAT](INFO): unknown deviceResponse_: OK
2025-08-22T21:51:19.062Z,1755899479.062 [DAT](INFO): DAT read: user:2534>
2025-08-22T21:51:19.062Z,1755899479.062 [DAT](INFO): DAT read: Tx time:21:51:20.1317
2025-08-22T21:51:19.063Z,1755899479.063 [DAT](INFO): Ping request sent.
2025-08-22T21:51:19.063Z,1755899479.063 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:51:19.063Z,1755899479.063 [DAT](INFO): #Rx 20: Read direction message, but no range.
2025-08-22T21:51:19.064Z,1755899479.064 [DAT](INFO): direction in FSK: [-0.035335,0.749278,0.661312]
2025-08-22T21:51:19.064Z,1755899479.064 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:19.071Z,1755899479.071 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:19.280Z,1755899479.280 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-22T21:51:21.561Z,1755899481.561 [DAT](INFO): DAT read: Rx Time:21:51:22.0237
2025-08-22T21:51:21.563Z,1755899481.563 [DAT](INFO): Rx dataTimestamp_ set to:1755899481.561675
2025-08-22T21:51:22.074Z,1755899482.074 [DAT](INFO): DAT read: 21:51:22.0237 LVL= 16432, 10481, 30866, 23091, AGC= 34, IDX= 439,-0.40, 2.921, 2.468, 1.273, 2.976, PHS= 0.047,-0.463,-1.747, RAW= 46.0, 25.5, CAL= 42.3, 30.4, ROT= 107.7, -30.4
2025-08-22T21:51:22.075Z,1755899482.075 [DAT](INFO): got valid direction response:
21:51:22.0237 LVL= 16432, 10481, 30866, 23091, AGC= 34, IDX= 439,-0.40, 2.921, 2.468, 1.273, 2.976, PHS= 0.047,-0.463,-1.747, RAW= 46.0, 25.5, CAL= 42.3, 30.4, ROT= 107.7, -30.4
2025-08-22T21:51:22.076Z,1755899482.076 [DAT](INFO): DAT read: OK
2025-08-22T21:51:22.076Z,1755899482.076 [DAT](INFO): unknown deviceResponse_: OK
2025-08-22T21:51:22.077Z,1755899482.077 [DAT](INFO): DAT read: user:2535>
2025-08-22T21:51:22.078Z,1755899482.078 [DAT](INFO): DAT read: Tx time:21:51:23.1317
2025-08-22T21:51:22.079Z,1755899482.079 [DAT](INFO): Ping request sent.
2025-08-22T21:51:22.079Z,1755899482.079 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:51:22.079Z,1755899482.079 [DAT](INFO): #Rx 21: Read direction message, but no range.
2025-08-22T21:51:22.081Z,1755899482.081 [DAT](INFO): direction in FSK: [-0.262233,0.821684,0.506034]
2025-08-22T21:51:22.081Z,1755899482.081 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:22.091Z,1755899482.091 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:24.585Z,1755899484.585 [DAT](INFO): DAT read: Rx Time:21:51:25.0238
2025-08-22T21:51:24.587Z,1755899484.587 [DAT](INFO): Rx dataTimestamp_ set to:1755899484.585836
2025-08-22T21:51:24.948Z,1755899484.948 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-08-22T21:51:25.091Z,1755899485.091 [DAT](INFO): DAT read: 21:51:25.0238 LVL= 19952, 10033, 29250, 26467, AGC= 35, IDX= 440,-0.43, 3.030, 2.755, 1.354, 3.086, PHS= 0.046,-0.285,-1.776, RAW= 39.8, 23.0, CAL= 36.4, 27.0, ROT= 113.6, -27.0
2025-08-22T21:51:25.092Z,1755899485.092 [DAT](INFO): got valid direction response:
21:51:25.0238 LVL= 19952, 10033, 29250, 26467, AGC= 35, IDX= 440,-0.43, 3.030, 2.755, 1.354, 3.086, PHS= 0.046,-0.285,-1.776, RAW= 39.8, 23.0, CAL= 36.4, 27.0, ROT= 113.6, -27.0
2025-08-22T21:51:25.092Z,1755899485.092 [DAT](INFO): DAT read: OK
2025-08-22T21:51:25.092Z,1755899485.092 [DAT](INFO): unknown deviceResponse_: OK
2025-08-22T21:51:25.093Z,1755899485.093 [DAT](INFO): DAT read: user:2536>
2025-08-22T21:51:25.094Z,1755899485.094 [DAT](INFO): DAT read: Tx time:21:51:26.1317
2025-08-22T21:51:25.094Z,1755899485.094 [DAT](INFO): Ping request sent.
2025-08-22T21:51:25.094Z,1755899485.094 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:51:25.094Z,1755899485.094 [DAT](INFO): #Rx 22: Read direction message, but no range.
2025-08-22T21:51:25.095Z,1755899485.095 [DAT](INFO): direction in FSK: [-0.356714,0.816485,0.453991]
2025-08-22T21:51:25.096Z,1755899485.096 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:25.099Z,1755899485.099 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:25.903Z,1755899485.903 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-08-22T21:51:25.905Z,1755899485.905 [CTD_Seabird](INFO): some bad data, not updating bins
2025-08-22T21:51:26.908Z,1755899486.908 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-08-22T21:51:26.910Z,1755899486.910 [CTD_Seabird](INFO): some bad data, not updating bins
2025-08-22T21:51:27.355Z,1755899487.355 [DAT](INFO): DAT read: Rx Time:21:51:28.0239
2025-08-22T21:51:27.355Z,1755899487.355 [DAT](INFO): Rx dataTimestamp_ set to:1755899487.354920
2025-08-22T21:51:27.918Z,1755899487.918 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-08-22T21:51:27.921Z,1755899487.921 [CTD_Seabird](INFO): some bad data, not updating bins
2025-08-22T21:51:28.117Z,1755899488.117 [DAT](INFO): DAT read: 21:51:28.0239 LVL= 14544, 10161, 32754, 23939, AGC= 32, IDX= 441,-0.35, 1.861, 1.101, 0.173, 1.793, PHS= 0.170,-0.648,-1.664, RAW= 56.4, 25.5, CAL= 52.2, 30.9, ROT= 97.8, -30.9
2025-08-22T21:51:28.119Z,1755899488.119 [DAT](INFO): got valid direction response:
21:51:28.0239 LVL= 14544, 10161, 32754, 23939, AGC= 32, IDX= 441,-0.35, 1.861, 1.101, 0.173, 1.793, PHS= 0.170,-0.648,-1.664, RAW= 56.4, 25.5, CAL= 52.2, 30.9, ROT= 97.8, -30.9
2025-08-22T21:51:28.120Z,1755899488.120 [DAT](INFO): DAT read: OK
2025-08-22T21:51:28.120Z,1755899488.120 [DAT](INFO): unknown deviceResponse_: OK
2025-08-22T21:51:28.121Z,1755899488.121 [DAT](INFO): DAT read: user:2537>
2025-08-22T21:51:28.122Z,1755899488.122 [DAT](INFO): DAT read: Tx time:21:51:29.1327
2025-08-22T21:51:28.122Z,1755899488.122 [DAT](INFO): Ping request sent.
2025-08-22T21:51:28.123Z,1755899488.123 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:51:28.123Z,1755899488.123 [DAT](INFO): #Rx 23: Read direction message, but no range.
2025-08-22T21:51:28.124Z,1755899488.124 [DAT](INFO): direction in FSK: [-0.116453,0.850126,0.513541]
2025-08-22T21:51:28.125Z,1755899488.125 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:28.129Z,1755899488.129 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:28.915Z,1755899488.915 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-08-22T21:51:28.916Z,1755899488.916 [CTD_Seabird](INFO): some bad data, not updating bins
2025-08-22T21:51:29.481Z,1755899489.481 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.005166
CHAN A1 (24V): -0.001256
CHAN A2 (12V): -0.000869
CHAN A3 (5V): 0.000478
CHAN B0 (3.3V): 0.000189
CHAN B1 (3.15aV): 0.000959
CHAN B2 (3.15bV): 0.000365
CHAN B3 (GND): 0.000473
OPEN: 0.015703
Full Scale: +/- 1 mA
2025-08-22T21:51:30.120Z,1755899490.120 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-22T21:51:31.135Z,1755899491.135 [DAT](INFO): DAT read: Rx Time:21:51:31.5377
2025-08-22T21:51:31.135Z,1755899491.135 [DAT](INFO): Rx dataTimestamp_ set to:1755899491.135184
2025-08-22T21:51:31.644Z,1755899491.644 [DAT](INFO): DAT read: 21:51:31.5377 LVL= 14240, 9793, 16962, 19955, AGC= 35, IDX= 55,-0.23,-2.075,-3.048, 2.496,-2.049, PHS= 0.077,-0.953,-1.782, RAW= 63.6, 30.2, CAL= 59.1, 36.9, ROT= 90.9, -36.9
2025-08-22T21:51:31.645Z,1755899491.645 [DAT](INFO): got valid direction response:
21:51:31.5377 LVL= 14240, 9793, 16962, 19955, AGC= 35, IDX= 55,-0.23,-2.075,-3.048, 2.496,-2.049, PHS= 0.077,-0.953,-1.782, RAW= 63.6, 30.2, CAL= 59.1, 36.9, ROT= 90.9, -36.9
2025-08-22T21:51:31.650Z,1755899491.650 [DAT](INFO): DAT read: Bearing 30.7, 54.8 (Local)
2025-08-22T21:51:31.650Z,1755899491.650 [DAT](INFO): Local bearing/azimuth received:
Bearing 30.7, 54.8 (Local)
2025-08-22T21:51:31.652Z,1755899491.652 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:51:31.652Z,1755899491.652 [DAT](INFO): DAT read: user:2538>
2025-08-22T21:51:31.653Z,1755899491.653 [DAT](INFO): DAT read: Tx time:21:51:32.6319
2025-08-22T21:51:31.664Z,1755899491.664 [DAT](INFO): Ping request sent.
2025-08-22T21:51:31.664Z,1755899491.664 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:51:31.664Z,1755899491.664 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-22T21:51:31.665Z,1755899491.665 [DAT](INFO): direction in FSK: [-0.012561,0.799586,0.600420]
2025-08-22T21:51:31.666Z,1755899491.666 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:31.666Z,1755899491.666 [DAT](INFO): publishing direction and range info
2025-08-22T21:51:31.669Z,1755899491.669 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:31.669Z,1755899491.669 [DAT](INFO): publishing direction and range info
2025-08-22T21:51:33.907Z,1755899493.907 [DAT](INFO): DAT read: Rx Time:21:51:34.5241
2025-08-22T21:51:33.907Z,1755899493.907 [DAT](INFO): Rx dataTimestamp_ set to:1755899493.906775
2025-08-22T21:51:34.667Z,1755899494.667 [DAT](INFO): DAT read: 21:51:34.5240 LVL= 16480, 10081, 32754, 22963, AGC= 34, IDX= 315,-0.35, 2.422, 1.609, 0.726, 2.552, PHS=-0.028,-0.898,-1.870, RAW= 58.2, 31.8, CAL= 54.0, 38.2, ROT= 96.0, -38.2
2025-08-22T21:51:34.668Z,1755899494.668 [DAT](INFO): got valid direction response:
21:51:34.5240 LVL= 16480, 10081, 32754, 22963, AGC= 34, IDX= 315,-0.35, 2.422, 1.609, 0.726, 2.552, PHS=-0.028,-0.898,-1.870, RAW= 58.2, 31.8, CAL= 54.0, 38.2, ROT= 96.0, -38.2
2025-08-22T21:51:34.669Z,1755899494.669 [DAT](INFO): DAT read: OK
2025-08-22T21:51:34.669Z,1755899494.669 [DAT](INFO): unknown deviceResponse_: OK
2025-08-22T21:51:34.671Z,1755899494.671 [DAT](INFO): DAT read: user:2539>
2025-08-22T21:51:34.672Z,1755899494.672 [DAT](INFO): DAT read: Tx time:21:51:35.6316
2025-08-22T21:51:34.672Z,1755899494.672 [DAT](INFO): Ping request sent.
2025-08-22T21:51:34.672Z,1755899494.672 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:51:34.673Z,1755899494.673 [DAT](INFO): #Rx 25: Read direction message, but no range.
2025-08-22T21:51:34.674Z,1755899494.674 [DAT](INFO): direction in FSK: [-0.082144,0.781552,0.618408]
2025-08-22T21:51:34.675Z,1755899494.675 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:34.703Z,1755899494.703 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:36.934Z,1755899496.934 [DAT](INFO): DAT read: Rx Time:21:51:37.5241
2025-08-22T21:51:36.935Z,1755899496.935 [DAT](INFO): Rx dataTimestamp_ set to:1755899496.934648
2025-08-22T21:51:37.446Z,1755899497.446 [DAT](INFO): DAT read: 21:51:37.5241 LVL= 15728, 9761, 32754, 24339, AGC= 32, IDX= 444,-0.31, 1.796, 1.131, 0.130, 1.826, PHS= 0.072,-0.650,-1.740, RAW= 53.3, 27.4, CAL= 49.3, 32.8, ROT= 100.7, -32.8
2025-08-22T21:51:37.447Z,1755899497.447 [DAT](INFO): got valid direction response:
21:51:37.5241 LVL= 15728, 9761, 32754, 24339, AGC= 32, IDX= 444,-0.31, 1.796, 1.131, 0.130, 1.826, PHS= 0.072,-0.650,-1.740, RAW= 53.3, 27.4, CAL= 49.3, 32.8, ROT= 100.7, -32.8
2025-08-22T21:51:37.447Z,1755899497.447 [DAT](INFO): DAT read: OK
2025-08-22T21:51:37.447Z,1755899497.447 [DAT](INFO): unknown deviceResponse_: OK
2025-08-22T21:51:37.448Z,1755899497.448 [DAT](INFO): DAT read: user:2540>
2025-08-22T21:51:37.448Z,1755899497.448 [DAT](INFO): DAT read: Tx time:21:51:38.6316
2025-08-22T21:51:37.449Z,1755899497.449 [DAT](INFO): Ping request sent.
2025-08-22T21:51:37.449Z,1755899497.449 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:51:37.449Z,1755899497.449 [DAT](INFO): #Rx 26: Read direction message, but no range.
2025-08-22T21:51:37.451Z,1755899497.451 [DAT](INFO): direction in FSK: [-0.156065,0.825952,0.541708]
2025-08-22T21:51:37.451Z,1755899497.451 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:37.454Z,1755899497.454 [DAT](INFO): publishing transmit ping time
2025-08-22T21:51:37.461Z,1755899497.461 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-08-22T21:51:39.958Z,1755899499.958 [DAT](INFO): DAT read: Rx Time:21:51:40.5242
2025-08-22T21:51:39.959Z,1755899499.959 [DAT](INFO): Rx dataTimestamp_ set to:1755899499.958670
2025-08-22T21:51:40.468Z,1755899500.468 [DAT](INFO): DAT read: 21:51:40.5242 LVL= 15600, 8993, 32754, 22851, AGC= 32, IDX= 445,-0.32, 2.197, 1.515, 0.570, 2.254, PHS= 0.044,-0.694,-1.728, RAW= 54.5, 28.6, CAL= 50.5, 34.3, ROT= 99.5, -34.3
2025-08-22T21:51:40.474Z,1755899500.474 [DAT](INFO): got valid direction response:
21:51:40.5242 LVL= 15600, 8993, 32754, 22851, AGC= 32, IDX= 445,-0.32, 2.197, 1.515, 0.570, 2.254, PHS= 0.044,-0.694,-1.728, RAW= 54.5, 28.6, CAL= 50.5, 34.3, ROT= 99.5, -34.3
2025-08-22T21:51:40.474Z,1755899500.474 [DAT](INFO): DAT read: OK
2025-08-22T21:51:40.474Z,1755899500.474 [DAT](INFO): unknown deviceResponse_: OK
2025-08-22T21:51:40.475Z,1755899500.475 [DAT](INFO): #Rx 27: Read direction message, but no range.
2025-08-22T21:51:40.477Z,1755899500.477 [DAT](INFO): direction in FSK: [-0.136346,0.814769,0.563526]
2025-08-22T21:51:41.501Z,1755899501.501 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-22T21:51:52.407Z,1755899512.407 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-22T21:52:02.923Z,1755899522.923 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-22T21:52:12.981Z,1755899532.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T21:52:13.234Z,1755899533.234 [DAT](DEBUG): Acoustic response timeout
2025-08-22T21:52:13.235Z,1755899533.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T21:52:13.487Z,1755899533.487 [DAT](INFO): DAT read: user:2541>
2025-08-22T21:52:13.488Z,1755899533.488 [DAT](INFO): DAT read: Tx time:21:52:14.4824
2025-08-22T21:52:13.489Z,1755899533.489 [DAT](INFO): Ping request sent.
2025-08-22T21:52:13.489Z,1755899533.489 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:52:13.489Z,1755899533.489 [DAT](INFO): publishing transmit ping time
2025-08-22T21:52:13.490Z,1755899533.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001282
2025-08-22T21:52:13.738Z,1755899533.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249823
2025-08-22T21:52:13.832Z,1755899533.832 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-22T21:52:13.994Z,1755899533.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505876
2025-08-22T21:52:14.243Z,1755899534.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754132
2025-08-22T21:52:14.495Z,1755899534.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005891
2025-08-22T21:52:14.636Z,1755899534.636 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging.
2025-08-22T21:52:14.747Z,1755899534.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258154
2025-08-22T21:52:14.999Z,1755899534.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510045
2025-08-22T21:52:15.251Z,1755899535.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761897
2025-08-22T21:52:15.503Z,1755899535.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013956
2025-08-22T21:52:15.755Z,1755899535.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265924
2025-08-22T21:52:16.007Z,1755899536.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517893
2025-08-22T21:52:16.259Z,1755899536.259 [DAT](INFO): DAT read: Rx Time:21:52:16.8875
2025-08-22T21:52:16.260Z,1755899536.260 [DAT](INFO): Rx dataTimestamp_ set to:1755899536.259393
2025-08-22T21:52:16.260Z,1755899536.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771902
2025-08-22T21:52:16.511Z,1755899536.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021968
2025-08-22T21:52:16.765Z,1755899536.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275743
2025-08-22T21:52:17.020Z,1755899537.020 [DAT](INFO): DAT read: 21:52:16.8875 LVL= 15408, 7585, 18850, 21603, AGC= 35, IDX= 54, 0.22, 1.078, 0.456,-0.630, 1.251, PHS=-0.072,-0.751,-1.926, RAW= 51.2, 30.9, CAL= 47.6, 36.9, ROT= 102.4, -36.9
2025-08-22T21:52:17.021Z,1755899537.021 [DAT](INFO): got valid direction response:
21:52:16.8875 LVL= 15408, 7585, 18850, 21603, AGC= 35, IDX= 54, 0.22, 1.078, 0.456,-0.630, 1.251, PHS=-0.072,-0.751,-1.926, RAW= 51.2, 30.9, CAL= 47.6, 36.9, ROT= 102.4, -36.9
2025-08-22T21:52:17.022Z,1755899537.022 [DAT](INFO): DAT read: Bearing 53.1, 53.1 (Local)
2025-08-22T21:52:17.022Z,1755899537.022 [DAT](INFO): Local bearing/azimuth received:
Bearing 53.1, 53.1 (Local)
2025-08-22T21:52:17.023Z,1755899537.023 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s
2025-08-22T21:52:17.024Z,1755899537.024 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T21:52:17.025Z,1755899537.025 [DAT](INFO): direction in FSK: [-0.171721,0.781030,0.600420]
2025-08-22T21:52:17.025Z,1755899537.025 [DAT](INFO): publishing direction and range info
2025-08-22T21:52:17.266Z,1755899537.266 [DAT](INFO): DAT read: user:2542>
2025-08-22T21:52:17.267Z,1755899537.267 [DAT](INFO): DAT read: Tx time:21:52:18.2814
2025-08-22T21:52:17.267Z,1755899537.267 [DAT](INFO): Ping request sent.
2025-08-22T21:52:17.268Z,1755899537.268 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:52:17.268Z,1755899537.268 [DAT](INFO): publishing transmit ping time
2025-08-22T21:52:19.535Z,1755899539.535 [DAT](INFO): DAT read: Rx Time:21:52:20.1753
2025-08-22T21:52:19.535Z,1755899539.535 [DAT](INFO): Rx dataTimestamp_ set to:1755899539.534839
2025-08-22T21:52:20.297Z,1755899540.297 [DAT](INFO): DAT read: 21:52:20.1753 LVL= 15216, 8689, 32754, 22051, AGC= 33, IDX= 330, 0.37,-2.194, 3.050, 2.196,-2.279, PHS= 0.187,-0.909,-1.851, RAW= 62.5, 27.2, CAL= 58.2, 33.6, ROT= 91.8, -33.6
2025-08-22T21:52:20.298Z,1755899540.298 [DAT](INFO): got valid direction response:
21:52:20.1753 LVL= 15216, 8689, 32754, 22051, AGC= 33, IDX= 330, 0.37,-2.194, 3.050, 2.196,-2.279, PHS= 0.187,-0.909,-1.851, RAW= 62.5, 27.2, CAL= 58.2, 33.6, ROT= 91.8, -33.6
2025-08-22T21:52:20.299Z,1755899540.299 [DAT](INFO): DAT read: OK
2025-08-22T21:52:20.299Z,1755899540.299 [DAT](INFO): unknown deviceResponse_: OK
2025-08-22T21:52:20.300Z,1755899540.300 [DAT](INFO): DAT read: user:2543>
2025-08-22T21:52:20.301Z,1755899540.301 [DAT](INFO): DAT read: Tx time:21:52:21.2814
2025-08-22T21:52:20.301Z,1755899540.301 [DAT](INFO): Ping request sent.
2025-08-22T21:52:20.302Z,1755899540.302 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:52:20.303Z,1755899540.303 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-22T21:52:20.304Z,1755899540.304 [DAT](INFO): direction in FSK: [-0.026163,0.832510,0.553392]
2025-08-22T21:52:20.304Z,1755899540.304 [DAT](INFO): publishing transmit ping time
2025-08-22T21:52:20.307Z,1755899540.307 [DAT](INFO): publishing transmit ping time
2025-08-22T21:52:22.575Z,1755899542.575 [DAT](INFO): DAT read: Rx Time:21:52:23.1754
2025-08-22T21:52:22.575Z,1755899542.575 [DAT](INFO): Rx dataTimestamp_ set to:1755899542.574763
2025-08-22T21:52:23.082Z,1755899543.082 [DAT](INFO): DAT read: 21:52:23.1754 LVL= 15808, 10721, 32754, 23651, AGC= 34, IDX= 443, 0.46, 2.424, 1.327, 0.587, 2.305, PHS= 0.221,-0.932,-1.762, RAW= 65.4, 26.9, CAL= 61.1, 33.5, ROT= 88.9, -33.5
2025-08-22T21:52:23.087Z,1755899543.087 [DAT](INFO): got valid direction response:
21:52:23.1754 LVL= 15808, 10721, 32754, 23651, AGC= 34, IDX= 443, 0.46, 2.424, 1.327, 0.587, 2.305, PHS= 0.221,-0.932,-1.762, RAW= 65.4, 26.9, CAL= 61.1, 33.5, ROT= 88.9, -33.5
2025-08-22T21:52:23.088Z,1755899543.088 [DAT](INFO): DAT read: OK
2025-08-22T21:52:23.088Z,1755899543.088 [DAT](INFO): unknown deviceResponse_: OK
2025-08-22T21:52:23.088Z,1755899543.088 [DAT](INFO): DAT read: user:2544>
2025-08-22T21:52:23.089Z,1755899543.089 [DAT](INFO): DAT read: Tx time:21:52:24.2814
2025-08-22T21:52:23.093Z,1755899543.093 [DAT](INFO): Ping request sent.
2025-08-22T21:52:23.093Z,1755899543.093 [DAT](INFO): transmitted an acoustic signal
2025-08-22T21:52:23.093Z,1755899543.093 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-22T21:52:23.094Z,1755899543.094 [DAT](INFO): direction in FSK: [0.016008,0.833732,0.551937]
2025-08-22T21:52:23.095Z,1755899543.095 [DAT](INFO): publishing transmit ping time
2025-08-22T21:52:23.114Z,1755899543.114 [DAT](INFO): publishing transmit ping time
2025-08-22T21:52:23.870Z,1755899543.870 [BPC1](ERROR): BPC1A got IPBS message with 4 sticks (min is 7).
2025-08-22T21:52:23.873Z,1755899543.873 [BPC1](ERROR): BPC1A failed to parse battery stick message.
2025-08-22T21:52:25.599Z,1755899545.599 [DAT](INFO): DAT read: Rx Time:21:52:26.1754
2025-08-22T21:52:25.599Z,1755899545.599 [DAT](INFO): Rx dataTimestamp_ set to:1755899545.598736
2025-08-22T21:52:26.106Z,1755899546.106 [DAT](INFO): DAT read: 21:52:26.1754 LVL= 17264, 9393, 32370, 24371, AGC= 34, IDX= 444, 0.28,-2.172,-2.805, 2.496,-1.942, PHS=-0.128,-0.818,-1.890, RAW= 52.9, 33.1, CAL= 49.2, 39.4, ROT= 100.8, -39.4
2025-08-22T21:52:26.107Z,1755899546.107 [DAT](INFO): got valid direction response:
21:52:26.1754 LVL= 17264, 9393, 32370, 24371, AGC= 34, IDX= 444, 0.28,-2.172,-2.805, 2.496,-1.942, PHS=-0.128,-0.818,-1.890, RAW= 52.9, 33.1, CAL= 49.2, 39.4, ROT= 100.8, -39.4
2025-08-22T21:52:26.108Z,1755899546.108 [DAT](INFO): DAT read: OK
2025-08-22T21:52:26.108Z,1755899546.108 [DAT](INFO): unknown deviceResponse_: OK
2025-08-22T21:52:26.108Z,1755899546.108 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-22T21:52:26.109Z,1755899546.109 [DAT](INFO): direction in FSK: [-0.144796,0.759046,0.634731]
2025-08-22T21:52:30.784Z,1755899550.784 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging.
2025-08-22T21:52:31.974Z,1755899551.974 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +45, +43,
2025-08-22T21:52:46.939Z,1755899566.939 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging.
2025-08-22T21:53:03.223Z,1755899583.223 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging.
2025-08-22T21:53:03.223Z,1755899583.223 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Reached max slide retries without successful comms, docking with charge only
2025-08-22T21:53:03.508Z,1755899583.508 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-08-22T21:53:12.356Z,1755899592.356 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-22T21:53:12.357Z,1755899592.357 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-22T21:53:12.358Z,1755899592.358 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-22T21:53:12.359Z,1755899592.359 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-22T21:53:12.359Z,1755899592.359 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-22T21:53:12.360Z,1755899592.360 [BPC1](INFO): Calculating totals. Valid battery stick count: 29. Valid reserve battery stick count: 3.
2025-08-22T21:53:12.365Z,1755899592.365 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 26, 27, 32, 33, 34, 35, 36, 37, 38, 39, 44, 58.
2025-08-22T21:53:19.243Z,1755899599.243 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-22T21:53:19.244Z,1755899599.244 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Reached max slide retries without successful comms or charge, attempt will be aborted
2025-08-22T21:53:19.244Z,1755899599.244 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-22T21:53:19.254Z,1755899599.254 [DockingStepper](INFO): Changing to mode: 4
2025-08-22T21:53:20.455Z,1755899600.455 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +218.25, +4 -21.35, 7.04, 0.00
2025-08-22T21:53:33.819Z,1755899613.819 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-08-22T21:53:33.820Z,1755899613.820 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-08-22T21:53:33.820Z,1755899613.820 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-08-22T21:53:33.820Z,1755899613.820 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-22T21:53:33.820Z,1755899613.820 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-08-22T21:53:33.846Z,1755899613.846 [DockingStepper](INFO): Changing to mode: 2
2025-08-22T21:53:34.216Z,1755899614.216 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-08-22T21:53:34.216Z,1755899614.216 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-22T21:53:34.216Z,1755899614.216 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-08-22T21:53:34.216Z,1755899614.216 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-08-22T21:53:34.216Z,1755899614.216 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-08-22T21:53:34.217Z,1755899614.217 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-08-22T21:53:34.629Z,1755899614.629 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-08-22T21:53:34.629Z,1755899614.629 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-08-22T21:53:34.629Z,1755899614.629 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-08-22T21:53:34.629Z,1755899614.629 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-08-22T21:53:34.629Z,1755899614.629 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-22T21:53:34.629Z,1755899614.629 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-08-22T21:53:34.629Z,1755899614.629 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-08-22T21:53:34.630Z,1755899614.630 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-08-22T21:53:34.630Z,1755899614.630 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-08-22T21:53:34.630Z,1755899614.630 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-08-22T21:53:35.005Z,1755899615.005 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-08-22T21:53:35.005Z,1755899615.005 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-22T21:53:35.005Z,1755899615.005 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-08-22T21:53:35.005Z,1755899615.005 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-08-22T21:53:35.005Z,1755899615.005 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-08-22T21:53:35.006Z,1755899615.006 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-08-22T21:53:35.006Z,1755899615.006 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-08-22T21:53:35.006Z,1755899615.006 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-08-22T21:53:35.006Z,1755899615.006 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-08-22T21:53:35.006Z,1755899615.006 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-22T21:53:35.006Z,1755899615.006 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-08-22T21:53:35.006Z,1755899615.006 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-08-22T21:53:35.006Z,1755899615.006 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-08-22T21:53:35.006Z,1755899615.006 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-08-22T21:53:35.007Z,1755899615.007 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-08-22T21:53:35.007Z,1755899615.007 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-08-22T21:53:35.007Z,1755899615.007 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-08-22T21:53:35.414Z,1755899615.414 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-08-22T21:53:35.414Z,1755899615.414 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-08-22T21:53:35.414Z,1755899615.414 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-08-22T21:53:35.414Z,1755899615.414 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-08-22T21:53:35.415Z,1755899615.415 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-22T21:53:35.415Z,1755899615.415 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-08-22T21:53:35.415Z,1755899615.415 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-08-22T21:53:35.415Z,1755899615.415 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-08-22T21:53:35.415Z,1755899615.415 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-08-22T21:53:35.415Z,1755899615.415 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-08-22T21:53:35.415Z,1755899615.415 [lineCaptureHoming:Lap:Docked] Stopped
2025-08-22T21:53:35.415Z,1755899615.415 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-08-22T21:53:35.415Z,1755899615.415 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-08-22T21:53:35.416Z,1755899615.416 [lineCaptureHoming:Lap] Stopped
2025-08-22T21:53:35.416Z,1755899615.416 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-08-22T21:53:35.424Z,1755899615.424 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-08-22T21:53:35.424Z,1755899615.424 [MissionManager](INFO): lineCaptureHoming is completed.
2025-08-22T21:53:35.424Z,1755899615.424 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-08-22T21:53:35.425Z,1755899615.425 [lineCaptureHoming] Stopped
2025-08-22T21:53:35.425Z,1755899615.425 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-08-22T21:53:35.425Z,1755899615.425 [lineCaptureHoming:Science] Stopped
2025-08-22T21:53:35.425Z,1755899615.425 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-08-22T21:53:35.425Z,1755899615.425 [lineCaptureHoming:Science:B] Stopped
2025-08-22T21:53:35.425Z,1755899615.425 [lineCaptureHoming:Science:C] Stopped
2025-08-22T21:53:35.425Z,1755899615.425 [lineCaptureHoming:Science:E] Stopped
2025-08-22T21:53:35.425Z,1755899615.425 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-08-22T21:53:35.425Z,1755899615.425 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-08-22T21:53:35.425Z,1755899615.425 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-08-22T21:53:35.426Z,1755899615.426 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-08-22T21:53:35.426Z,1755899615.426 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-08-22T21:53:35.426Z,1755899615.426 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-22T21:53:35.426Z,1755899615.426 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-22T21:53:35.426Z,1755899615.426 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-22T21:53:35.426Z,1755899615.426 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-22T21:53:35.426Z,1755899615.426 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-22T21:53:35.426Z,1755899615.426 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-22T21:53:35.426Z,1755899615.426 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-22T21:53:35.426Z,1755899615.426 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-22T21:53:35.426Z,1755899615.426 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T21:53:35.427Z,1755899615.427 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T21:53:35.427Z,1755899615.427 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T21:53:35.427Z,1755899615.427 [lineCaptureHoming:TrackAC.] Stopped
2025-08-22T21:53:35.427Z,1755899615.427 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-22T21:53:35.480Z,1755899615.480 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-08-22T21:53:35.602Z,1755899615.602 [WetLabsBB2FL](INFO): Powering down
2025-08-22T21:53:35.760Z,1755899615.760 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-08-22T21:53:35.760Z,1755899615.760 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-08-22T21:53:35.768Z,1755899615.768 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-08-22T21:53:40.794Z,1755899620.794 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
8
2
1
5
2
2
5
5
Restarting logs
restart logs
! ifconfig
Mission ending, breaking off. Range:
.
2025-08-22T21:53:40.799Z,1755899620.799 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-08-22T21:53:40.802Z,1755899620.802 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-08-22T21:53:40.804Z,1755899620.804 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-08-22T21:53:40.859Z,1755899620.859 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-08-22T21:53:40.861Z,1755899620.861 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-08-22T21:53:40.867Z,1755899620.867 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-08-22T21:53:40.898Z,1755899620.898 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-08-22T21:53:40.900Z,1755899620.900 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-08-22T21:53:40.906Z,1755899620.906 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-08-22T21:53:40.908Z,1755899620.908 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-08-22T21:53:40.935Z,1755899620.935 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-08-22T21:53:40.937Z,1755899620.937 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-08-22T21:53:40.944Z,1755899620.944 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-08-22T21:53:40.944Z,1755899620.944 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-22T21:53:40.945Z,1755899620.945 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-22T21:53:40.955Z,1755899620.955 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-22T21:53:41.107Z,1755899621.107 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-08-22T21:53:41.111Z,1755899621.111 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-22T21:53:41.113Z,1755899621.113 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-22T21:53:41.116Z,1755899621.116 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-22T21:53:41.118Z,1755899621.118 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-22T21:53:41.119Z,1755899621.119 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-22T21:53:41.125Z,1755899621.125 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-22T21:53:41.157Z,1755899621.157 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-22T21:53:41.168Z,1755899621.168 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-08-22T21:53:41.168Z,1755899621.168 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-08-22T21:53:41.169Z,1755899621.169 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-08-22T21:53:41.197Z,1755899621.197 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-08-22T21:53:41.200Z,1755899621.200 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-08-22T21:53:41.202Z,1755899621.202 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-08-22T21:53:41.204Z,1755899621.204 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-08-22T21:53:41.205Z,1755899621.205 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-08-22T21:53:41.206Z,1755899621.206 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-08-22T21:53:41.409Z,1755899621.409 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-08-22T21:53:41.413Z,1755899621.413 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-08-22T21:53:41.416Z,1755899621.416 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-08-22T21:53:41.419Z,1755899621.419 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-08-22T21:53:41.423Z,1755899621.423 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-08-22T21:53:41.426Z,1755899621.426 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-08-22T21:53:41.432Z,1755899621.432 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-08-22T21:53:41.471Z,1755899621.471 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-08-22T21:53:41.473Z,1755899621.473 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-22T21:53:41.473Z,1755899621.473 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-22T21:53:41.489Z,1755899621.489 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-22T21:53:41.762Z,1755899621.762 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-08-22T21:53:41.762Z,1755899621.762 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-08-22T21:53:41.762Z,1755899621.762 [RDI_Pathfinder](ERROR): Communications Fault
2025-08-22T21:53:41.925Z,1755899621.925 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-08-22T21:53:42.055Z,1755899622.055 [RDI_Pathfinder](INFO): Powering down
2025-08-22T21:53:43.030Z,1755899623.030 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-08-22T21:53:43.030Z,1755899623.030 [RDI_Pathfinder] No Fault, FailCount= 1
2025-08-22T21:53:43.267Z,1755899623.267 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-08-22T21:53:45.416Z,1755899625.416 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
NaN
3
100
80
20
5
NaN
NaN
2.0
NaN
NaN
0
1
NaN
NaN
5
0
0
0
0
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
PeakDetectVsDepth
EdgeDetectVsDepth
GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth =
,
,
,
,
,
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
_.planktivore_LM_AvgRois
EdgeDetectVsDepth
_.planktivore_LM_AvgRois
GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_HM_AvgRois
EdgeDetectVsDepth
_.planktivore_HM_AvgRois
GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_diatoms
EdgeDetectVsDepth
_.planktivore_diatoms
GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_dinoflagellates
EdgeDetectVsDepth
_.planktivore_dinoflagellates
GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth =
,
,
,
,
,
Triggered. PeakChl values on
consecutive yo-yo profiles fall in [
] (NaN bound is ignored).
2025-08-22T21:53:45.468Z,1755899625.468 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-08-22T21:53:45.470Z,1755899625.470 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-08-22T21:53:45.472Z,1755899625.472 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-08-22T21:53:45.475Z,1755899625.475 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-08-22T21:53:45.476Z,1755899625.476 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-08-22T21:53:45.479Z,1755899625.479 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-08-22T21:53:45.480Z,1755899625.480 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-08-22T21:53:45.483Z,1755899625.483 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-08-22T21:53:45.485Z,1755899625.485 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-22T21:53:45.487Z,1755899625.487 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-22T21:53:45.489Z,1755899625.489 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-08-22T21:53:45.504Z,1755899625.504 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-08-22T21:53:45.507Z,1755899625.507 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-08-22T21:53:45.509Z,1755899625.509 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-08-22T21:53:45.527Z,1755899625.527 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-22T21:53:45.529Z,1755899625.529 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-22T21:53:45.535Z,1755899625.535 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-22T21:53:45.537Z,1755899625.537 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-22T21:53:45.544Z,1755899625.544 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-22T21:53:45.555Z,1755899625.555 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-22T21:53:45.557Z,1755899625.557 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-22T21:53:45.563Z,1755899625.563 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-22T21:53:45.565Z,1755899625.565 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-22T21:53:45.572Z,1755899625.572 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-08-22T21:53:45.582Z,1755899625.582 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-08-22T21:53:45.585Z,1755899625.585 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-08-22T21:53:45.592Z,1755899625.592 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-08-22T21:53:45.598Z,1755899625.598 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-22T21:53:45.601Z,1755899625.601 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-22T21:53:45.608Z,1755899625.608 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-08-22T21:53:45.614Z,1755899625.614 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-08-22T21:53:45.616Z,1755899625.616 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-08-22T21:53:45.627Z,1755899625.627 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-08-22T21:53:45.633Z,1755899625.633 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-08-22T21:53:45.647Z,1755899625.647 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-22T21:53:45.654Z,1755899625.654 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-08-22T21:53:45.656Z,1755899625.656 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-08-22T21:53:45.663Z,1755899625.663 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-22T21:53:45.665Z,1755899625.665 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-08-22T21:53:45.707Z,1755899625.707 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-08-22T21:53:45.709Z,1755899625.709 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-08-22T21:53:45.730Z,1755899625.730 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-08-22T21:53:45.732Z,1755899625.732 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-08-22T21:53:45.743Z,1755899625.743 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-22T21:53:45.745Z,1755899625.745 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-22T21:53:45.751Z,1755899625.751 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-22T21:53:45.758Z,1755899625.758 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-22T21:53:45.762Z,1755899625.762 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-08-22T21:53:45.765Z,1755899625.765 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-08-22T21:53:45.783Z,1755899625.783 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-08-22T21:53:45.785Z,1755899625.785 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-08-22T21:53:45.793Z,1755899625.793 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-08-22T21:53:45.801Z,1755899625.801 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-08-22T21:53:45.816Z,1755899625.816 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-08-22T21:53:45.835Z,1755899625.835 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-08-22T21:53:45.837Z,1755899625.837 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-08-22T21:53:45.848Z,1755899625.848 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-08-22T21:53:45.852Z,1755899625.852 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-08-22T21:53:45.874Z,1755899625.874 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-08-22T21:53:45.877Z,1755899625.877 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-08-22T21:53:45.883Z,1755899625.883 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-08-22T21:53:45.890Z,1755899625.890 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-08-22T21:53:45.892Z,1755899625.892 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-08-22T21:53:45.946Z,1755899625.946 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-08-22T21:53:45.948Z,1755899625.948 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-08-22T21:53:45.971Z,1755899625.971 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-08-22T21:53:45.973Z,1755899625.973 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-08-22T21:53:45.980Z,1755899625.980 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-08-22T21:53:45.986Z,1755899625.986 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-08-22T21:53:45.988Z,1755899625.988 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-08-22T21:53:45.995Z,1755899625.995 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-08-22T21:53:45.997Z,1755899625.997 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-08-22T21:53:46.012Z,1755899626.012 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-08-22T21:53:46.018Z,1755899626.018 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-08-22T21:53:46.020Z,1755899626.020 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-08-22T21:53:46.035Z,1755899626.035 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-08-22T21:53:46.037Z,1755899626.037 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-22T21:53:46.048Z,1755899626.048 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-22T21:53:46.055Z,1755899626.055 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-22T21:53:46.062Z,1755899626.062 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-22T21:53:46.064Z,1755899626.064 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-22T21:53:46.110Z,1755899626.110 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-22T21:53:46.113Z,1755899626.113 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-22T21:53:46.142Z,1755899626.142 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-22T21:53:46.144Z,1755899626.144 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-22T21:53:46.151Z,1755899626.151 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-22T21:53:46.153Z,1755899626.153 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-22T21:53:46.191Z,1755899626.191 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-22T21:53:46.207Z,1755899626.207 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-22T21:53:46.215Z,1755899626.215 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-22T21:53:46.228Z,1755899626.228 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-22T21:53:46.239Z,1755899626.239 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-22T21:53:46.248Z,1755899626.248 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-22T21:53:46.259Z,1755899626.259 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-22T21:53:46.266Z,1755899626.266 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-22T21:53:46.274Z,1755899626.274 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-22T21:53:46.277Z,1755899626.277 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-22T21:53:46.289Z,1755899626.289 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-22T21:53:46.311Z,1755899626.311 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-22T21:53:46.318Z,1755899626.318 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-22T21:53:46.326Z,1755899626.326 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-22T21:53:46.344Z,1755899626.344 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-22T21:53:46.350Z,1755899626.350 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-22T21:53:46.353Z,1755899626.353 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-22T21:53:46.371Z,1755899626.371 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-22T21:53:46.373Z,1755899626.373 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-22T21:53:46.380Z,1755899626.380 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-22T21:53:46.387Z,1755899626.387 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-22T21:53:46.389Z,1755899626.389 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-22T21:53:46.395Z,1755899626.395 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-22T21:53:46.402Z,1755899626.402 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-22T21:53:46.404Z,1755899626.404 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-22T21:53:46.411Z,1755899626.411 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-22T21:53:46.417Z,1755899626.417 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-22T21:53:46.431Z,1755899626.431 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-22T21:53:46.438Z,1755899626.438 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-22T21:53:46.440Z,1755899626.440 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-08-22T21:53:46.448Z,1755899626.448 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-08-22T21:53:46.462Z,1755899626.462 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-08-22T21:53:46.465Z,1755899626.465 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-08-22T21:53:46.471Z,1755899626.471 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-08-22T21:53:46.510Z,1755899626.510 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-08-22T21:53:46.512Z,1755899626.512 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-08-22T21:53:46.523Z,1755899626.523 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-08-22T21:53:46.525Z,1755899626.525 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-08-22T21:53:46.551Z,1755899626.551 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-08-22T21:53:46.560Z,1755899626.560 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-08-22T21:53:46.568Z,1755899626.568 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-08-22T21:53:46.575Z,1755899626.575 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-08-22T21:53:46.582Z,1755899626.582 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-08-22T21:53:46.585Z,1755899626.585 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-08-22T21:53:46.593Z,1755899626.593 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-08-22T21:53:46.601Z,1755899626.601 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-08-22T21:53:46.712Z,1755899626.712 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T21:53:46.733Z,1755899626.733 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T21:53:46.783Z,1755899626.783 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T21:53:46.820Z,1755899626.820 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T21:53:46.843Z,1755899626.843 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T21:53:46.862Z,1755899626.862 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T21:53:46.932Z,1755899626.932 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T21:53:47.020Z,1755899627.020 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T21:53:47.057Z,1755899627.057 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T21:53:47.110Z,1755899627.110 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T21:53:47.143Z,1755899627.143 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T21:53:47.192Z,1755899627.192 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T21:53:47.220Z,1755899627.220 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T21:53:47.282Z,1755899627.282 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T21:53:47.363Z,1755899627.363 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T21:53:47.443Z,1755899627.443 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T21:53:47.480Z,1755899627.480 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T21:53:47.527Z,1755899627.527 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-22T21:53:47.547Z,1755899627.547 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-08-22T21:53:47.550Z,1755899627.550 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-08-22T21:53:47.551Z,1755899627.551 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-08-22T21:53:47.553Z,1755899627.553 [OnDock:N.Docked](DEBUG): Construct.
2025-08-22T21:53:47.553Z,1755899627.553 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-22T21:53:47.567Z,1755899627.567 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-08-22T21:53:47.567Z,1755899627.567 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T21:53:47.631Z,1755899627.631 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission {
"""
Wait on dock, communicating when possible
"""
arguments {
DockedTime = 8 hour
"""
Time to stay on dock. Mission timeout will be five minutes longer.
"""
DetachedTimeout = Dock:Docked.detachTimeout
"""
Time duration limit for determining if the vehicle is detached from the
dock.
"""
RangeTimeout = Dock:Docked.rangeTimeout
"""
Maximum allowed time without acoustic range.
"""
TrackingUpdatePeriod = 2 minute
"""
How long to wait between acoustic queries.
"""
NumberOfPings = 1 count
"""
Number of pings requested each time.
"""
TransponderCode = Dock:Dock.transponderCode
"""
Transponder Address.
"""
MaxDepth = BIT:CBIT.stopDepth
"""
Maximum depth while docked.
"""
MinAltitude = 5 meter
"""
Minimum altitude
"""
MinOffshore = 2 km
"""
Minimum offshore
"""
StayOnDock = false
"""
If true, don't detach from dock at end of mission
"""
IfconfigInterval = 2 hour
"""
How long to wait between ifconfig runs
"""
RunScience = false
"""
If true, run Science while on the dock.
"""
# Mission variables (do not change)
MissionTimeout = DockedTime
"""
Mission timeout (local variable, do not change)
"""
}
timeout duration=MissionTimeout
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
# End docking 5 minutes before end of mission to allow clean undock
assign in sequence MissionTimeout = DockedTime + 5 minute
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
# Send data when connection exists
aggregate dataRead {
run while ( true )
readDatum {
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = 5 minute
}
}
aggregate science {
run in parallel
break if ( not RunScience )
insert Insert/Science.tl
}
behavior Estimation:TrackAcousticContact {
run in parallel
set contactLabelSetting = TransponderCode
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
}
syslog important "Restarting logs"
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
aggregate PeriodicCheck {
run in parallel
aggregate CheckIP {
run in sequence
behavior Guidance:Execute {
run in sequence
set command = "! ifconfig"
}
behavior Guidance:Wait {
run in sequence
set duration = IfconfigInterval
}
}
}
behavior Dock:Docked {
run in sequence
timeout duration=DockedTime
set detachTimeout = DetachedTimeout
set rangeTimeout = RangeTimeout
}
# Undock cleanly, instead of relying on DefaultWithUndock to come next
aggregate Detach {
run in sequence
break if ( StayOnDock == true )
syslog important "Mission ending, breaking off. Range: "
+ Estimation:TrackAcousticContact.range_to_contact~meter + "."
behavior Dock:Undock {
run in sequence
}
}
}
2025-08-22T21:53:47.631Z,1755899627.631 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-08-22T21:53:47.751Z,1755899627.751 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-08-22T21:53:47.751Z,1755899627.751 [DefaultWithUndock] Running Loop=1
2025-08-22T21:53:47.751Z,1755899627.751 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-08-22T21:53:47.751Z,1755899627.751 [DefaultWithUndock:A.Wait] Running Loop=1
2025-08-22T21:53:47.751Z,1755899627.751 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-08-22T21:53:51.273Z,1755899631.273 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 24 hour
2025-08-22T21:53:51.273Z,1755899631.273 [CommandExec](IMPORTANT): got command run
2025-08-22T21:53:51.276Z,1755899631.276 [CommandExec](IMPORTANT): Running
2025-08-22T21:53:51.363Z,1755899631.363 [DefaultWithUndock] Stopped
2025-08-22T21:53:51.363Z,1755899631.363 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-08-22T21:53:51.363Z,1755899631.363 [DefaultWithUndock:A.Wait] Stopped
2025-08-22T21:53:51.363Z,1755899631.363 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T21:53:51.364Z,1755899631.364 [MissionManager](IMPORTANT): Started mission OnDock
2025-08-22T21:53:51.364Z,1755899631.364 [OnDock] Running Loop=1
2025-08-22T21:53:51.364Z,1755899631.364 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-08-22T21:53:51.364Z,1755899631.364 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-22T21:53:51.364Z,1755899631.364 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-08-22T21:53:51.364Z,1755899631.364 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T21:53:51.364Z,1755899631.364 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-22T21:53:51.365Z,1755899631.365 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T21:53:51.365Z,1755899631.365 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-22T21:53:51.365Z,1755899631.365 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T21:53:51.365Z,1755899631.365 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-22T21:53:51.365Z,1755899631.365 [OnDock:BackseatDriver] Running Loop=1
2025-08-22T21:53:51.365Z,1755899631.365 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-08-22T21:53:51.366Z,1755899631.366 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-08-22T21:53:51.366Z,1755899631.366 [OnDock:PowerOnly] Running Loop=1
2025-08-22T21:53:51.366Z,1755899631.366 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-08-22T21:53:51.366Z,1755899631.366 [OnDock:PowerOnly:A] Running Loop=1
2025-08-22T21:53:51.366Z,1755899631.366 [OnDock:PowerOnly:B] Running Loop=1
2025-08-22T21:53:51.366Z,1755899631.366 [OnDock:PowerOnly:C] Running Loop=1
2025-08-22T21:53:51.366Z,1755899631.366 [OnDock:PowerOnly:D] Running Loop=1
2025-08-22T21:53:51.366Z,1755899631.366 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-08-22T21:53:51.366Z,1755899631.366 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-08-22T21:53:51.366Z,1755899631.366 [OnDock:dataRead] Running Loop=1
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:dataRead:A] Running Loop=1
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:science] Running Loop=1
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:science:Science] Running Loop=1
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:science:Science:A] Running Loop=1
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:science:Science:B] Running Loop=1
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:science:Science:C] Running Loop=1
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:science:Science:D] Running Loop=1
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:science:Science:E] Running Loop=1
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:science:Science:F] Running Loop=1
2025-08-22T21:53:51.367Z,1755899631.367 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-08-22T21:53:51.368Z,1755899631.368 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-08-22T21:53:51.368Z,1755899631.368 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-08-22T21:53:51.368Z,1755899631.368 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-08-22T21:53:51.368Z,1755899631.368 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-08-22T21:53:51.368Z,1755899631.368 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-08-22T21:53:51.368Z,1755899631.368 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-08-22T21:53:51.368Z,1755899631.368 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-08-22T21:53:51.368Z,1755899631.368 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-08-22T21:53:51.368Z,1755899631.368 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T21:53:51.368Z,1755899631.368 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T21:53:51.369Z,1755899631.369 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-08-22T21:53:51.369Z,1755899631.369 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-08-22T21:53:51.369Z,1755899631.369 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-08-22T21:53:51.369Z,1755899631.369 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-08-22T21:53:51.370Z,1755899631.370 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-08-22T21:53:51.370Z,1755899631.370 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-08-22T21:53:51.370Z,1755899631.370 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-08-22T21:53:51.370Z,1755899631.370 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-08-22T21:53:51.370Z,1755899631.370 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T21:53:51.370Z,1755899631.370 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T21:53:51.370Z,1755899631.370 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-08-22T21:53:51.371Z,1755899631.371 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-08-22T21:53:51.371Z,1755899631.371 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-22T21:53:51.371Z,1755899631.371 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-08-22T21:53:51.371Z,1755899631.371 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-08-22T21:53:51.371Z,1755899631.371 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-22T21:53:51.371Z,1755899631.371 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-08-22T21:53:51.371Z,1755899631.371 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-08-22T21:53:51.371Z,1755899631.371 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T21:53:51.371Z,1755899631.371 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T21:53:51.372Z,1755899631.372 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-22T21:53:51.372Z,1755899631.372 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-22T21:53:51.372Z,1755899631.372 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-22T21:53:51.372Z,1755899631.372 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-22T21:53:51.372Z,1755899631.372 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-22T21:53:51.372Z,1755899631.372 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-22T21:53:51.372Z,1755899631.372 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-22T21:53:51.373Z,1755899631.373 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-22T21:53:51.373Z,1755899631.373 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-22T21:53:51.373Z,1755899631.373 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-22T21:53:51.373Z,1755899631.373 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-22T21:53:51.373Z,1755899631.373 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-22T21:53:51.373Z,1755899631.373 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-22T21:53:51.373Z,1755899631.373 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-22T21:53:51.374Z,1755899631.374 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-22T21:53:51.374Z,1755899631.374 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-22T21:53:51.374Z,1755899631.374 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-22T21:53:51.374Z,1755899631.374 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-22T21:53:51.374Z,1755899631.374 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-22T21:53:51.374Z,1755899631.374 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-22T21:53:51.375Z,1755899631.375 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-22T21:53:51.375Z,1755899631.375 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-22T21:53:51.375Z,1755899631.375 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-22T21:53:51.375Z,1755899631.375 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-22T21:53:51.375Z,1755899631.375 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-08-22T21:53:51.375Z,1755899631.375 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-08-22T21:53:51.375Z,1755899631.375 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-22T21:53:51.375Z,1755899631.375 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-22T21:53:51.376Z,1755899631.376 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-08-22T21:53:51.376Z,1755899631.376 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-08-22T21:53:51.376Z,1755899631.376 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-08-22T21:53:51.376Z,1755899631.376 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-22T21:53:51.376Z,1755899631.376 [OnDock:J.] Running Loop=1
2025-08-22T21:53:51.376Z,1755899631.376 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-08-22T21:53:51.376Z,1755899631.376 [OnDock:PeriodicCheck] Running Loop=1
2025-08-22T21:53:51.376Z,1755899631.376 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-08-22T21:53:51.376Z,1755899631.376 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-08-22T21:53:51.377Z,1755899631.377 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-08-22T21:53:51.377Z,1755899631.377 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-08-22T21:53:51.377Z,1755899631.377 [OnDock:B] Running Loop=1
2025-08-22T21:53:51.378Z,1755899631.378 [OnDock:PeriodicCheck] Running Loop=1
2025-08-22T21:53:51.378Z,1755899631.378 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-08-22T21:53:51.378Z,1755899631.378 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-08-22T21:53:51.378Z,1755899631.378 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-08-22T21:53:51.379Z,1755899631.379 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-08-22T21:53:51.379Z,1755899631.379 [OnDock:J.] Running Loop=1
2025-08-22T21:53:51.379Z,1755899631.379 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-22T21:53:51.379Z,1755899631.379 [OnDock:science] Stopped
2025-08-22T21:53:51.379Z,1755899631.379 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-08-22T21:53:51.379Z,1755899631.379 [OnDock:science:Science] Stopped
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:A] Stopped
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:B] Stopped
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:C] Stopped
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:D] Stopped
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:E] Stopped
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:F] Stopped
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:Read_Oil] Stopped
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:OceanCurrent] Stopped
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:PeakDetectChl] Stopped
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-08-22T21:53:51.380Z,1755899631.380 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-08-22T21:53:51.381Z,1755899631.381 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-08-22T21:53:51.381Z,1755899631.381 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-08-22T21:53:51.381Z,1755899631.381 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-08-22T21:53:51.381Z,1755899631.381 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-08-22T21:53:51.381Z,1755899631.381 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T21:53:51.381Z,1755899631.381 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T21:53:51.381Z,1755899631.381 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-08-22T21:53:51.381Z,1755899631.381 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-08-22T21:53:51.381Z,1755899631.381 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-08-22T21:53:51.387Z,1755899631.387 [CommandExec](IMPORTANT): got command ! ifconfig
2025-08-22T21:53:51.430Z,1755899631.430 [OnDock:science:Science:PeakDetectOil] Stopped
2025-08-22T21:53:51.430Z,1755899631.430 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-08-22T21:53:51.431Z,1755899631.431 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-08-22T21:53:51.431Z,1755899631.431 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-08-22T21:53:51.431Z,1755899631.431 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-08-22T21:53:51.432Z,1755899631.432 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T21:53:51.432Z,1755899631.432 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T21:53:51.432Z,1755899631.432 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-08-22T21:53:51.432Z,1755899631.432 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-08-22T21:53:51.433Z,1755899631.433 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-08-22T21:53:51.433Z,1755899631.433 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-08-22T21:53:51.433Z,1755899631.433 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-08-22T21:53:51.434Z,1755899631.434 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-08-22T21:53:51.434Z,1755899631.434 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-08-22T21:53:51.434Z,1755899631.434 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-08-22T21:53:51.435Z,1755899631.435 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T21:53:51.435Z,1755899631.435 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T21:53:51.435Z,1755899631.435 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-22T21:53:51.435Z,1755899631.435 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-22T21:53:51.436Z,1755899631.436 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-22T21:53:51.436Z,1755899631.436 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-22T21:53:51.436Z,1755899631.436 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-22T21:53:51.437Z,1755899631.437 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-22T21:53:51.437Z,1755899631.437 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-22T21:53:51.437Z,1755899631.437 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-22T21:53:51.446Z,1755899631.446 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-22T21:53:51.446Z,1755899631.446 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-22T21:53:51.446Z,1755899631.446 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-22T21:53:51.446Z,1755899631.446 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-22T21:53:51.446Z,1755899631.446 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-22T21:53:51.447Z,1755899631.447 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-22T21:53:51.447Z,1755899631.447 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-22T21:53:51.447Z,1755899631.447 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-22T21:53:51.447Z,1755899631.447 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-22T21:53:51.447Z,1755899631.447 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-22T21:53:51.447Z,1755899631.447 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-22T21:53:51.447Z,1755899631.447 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-22T21:53:51.447Z,1755899631.447 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-22T21:53:51.448Z,1755899631.448 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-22T21:53:51.448Z,1755899631.448 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-22T21:53:51.448Z,1755899631.448 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-22T21:53:51.448Z,1755899631.448 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-08-22T21:53:51.448Z,1755899631.448 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-08-22T21:53:51.448Z,1755899631.448 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-22T21:53:51.448Z,1755899631.448 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-22T21:53:51.448Z,1755899631.448 [OnDock:dataRead] Running Loop=1
2025-08-22T21:53:51.449Z,1755899631.449 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-22T21:53:51.458Z,1755899631.458 [OnDock:PowerOnly] Running Loop=1
2025-08-22T21:53:51.458Z,1755899631.458 [OnDock:PowerOnly:D] Stopped
2025-08-22T21:53:51.458Z,1755899631.458 [OnDock:PowerOnly:C] Stopped
2025-08-22T21:53:51.459Z,1755899631.459 [OnDock:PowerOnly:B] Stopped
2025-08-22T21:53:51.459Z,1755899631.459 [OnDock:PowerOnly:A] Stopped
2025-08-22T21:53:51.459Z,1755899631.459 [OnDock:BackseatDriver] Running Loop=1
2025-08-22T21:53:51.459Z,1755899631.459 [OnDock:B] Stopped
2025-08-22T21:53:51.460Z,1755899631.460 [OnDock:C] Running Loop=1
2025-08-22T21:53:51.460Z,1755899631.460 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-22T21:53:51.460Z,1755899631.460 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T21:53:51.460Z,1755899631.460 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T21:53:51.461Z,1755899631.461 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T21:53:51.623Z,1755899631.623 [CommandExec](IMPORTANT): eth0 Link encap:Ethernet HWaddr 50:2D:F4:07:45:37
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:9601 errors:0 dropped:0 overruns:0 frame:0
TX packets:12564 errors:0 dropped:0 overruns:0 carrier:0
collisions:32 txqueuelen:1000
RX bytes:4079913 (3.8 Mb) TX bytes:2306040 (2.1 Mb)
Interrupt:29
lo Link encap:Local Loopback
inet addr:127.0.0.1 Mask:255.0.0.0
UP LOOPBACK RUNNING MULTICAST MTU:16436 Metric:1
RX packets:1460 errors:0 dropped:0 overruns:0 frame:0
TX packets:1460 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:0
RX bytes:128640 (125.6 Kb) TX bytes:128640 (125.6 Kb)
2025-08-22T21:53:52.107Z,1755899632.107 [OnDock:C] Stopped
2025-08-22T21:53:52.107Z,1755899632.107 [OnDock:D] Running Loop=1
2025-08-22T21:53:52.488Z,1755899632.488 [OnDock:D] Stopped
2025-08-22T21:53:52.489Z,1755899632.489 [OnDock:E] Running Loop=1
2025-08-22T21:53:52.903Z,1755899632.903 [OnDock:E] Stopped
2025-08-22T21:53:52.904Z,1755899632.904 [OnDock:K] Running Loop=1
2025-08-22T21:53:53.306Z,1755899633.306 [OnDock:K](IMPORTANT): Restarting logs
2025-08-22T21:53:53.307Z,1755899633.307 [OnDock:K] Stopped
2025-08-22T21:53:53.307Z,1755899633.307 [OnDock:L.Execute] Running Loop=1
2025-08-22T21:53:53.703Z,1755899633.703 [OnDock:L.Execute](INFO): Executing command restart logs
2025-08-22T21:53:53.703Z,1755899633.703 [OnDock:L.Execute] Stopped
2025-08-22T21:53:53.703Z,1755899633.703 [OnDock:N.Docked] Running Loop=1
2025-08-22T21:53:53.703Z,1755899633.703 [OnDock:N.Docked](DEBUG): Initialize.
2025-08-22T21:53:53.704Z,1755899633.704 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-22T21:53:53.755Z,1755899633.755 [DockingStepper](INFO): Changing to mode: 1