2025-08-23T21:59:52.731Z,1755986392.731 [CommandExec](IMPORTANT): got command restart logs
2025-08-23T21:59:53.058Z,1755986393.058 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-23T21:59:53.059Z,1755986393.059 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-23T21:59:59.818Z,1755986399.818 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:00:02.377Z,1755986402.377 [NAL9602](INFO): SBD MO Status=1, MOMSN=1038, MT Status=0, MTMSN=0
2025-08-23T22:00:02.377Z,1755986402.377 [NAL9602](INFO): No messages in MT queue
2025-08-23T22:00:03.340Z,1755986403.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:00:03.518Z,1755986403.518 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:00:03.519Z,1755986403.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:00:03.771Z,1755986403.771 [DAT](INFO): DAT read: user:1575>
2025-08-23T22:00:03.772Z,1755986403.772 [DAT](INFO): DAT read: Tx time:22:00:03.4483
2025-08-23T22:00:03.772Z,1755986403.772 [DAT](INFO): Ping request sent.
2025-08-23T22:00:03.772Z,1755986403.772 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:00:03.772Z,1755986403.772 [DAT](INFO): publishing transmit ping time
2025-08-23T22:00:03.773Z,1755986403.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001058
2025-08-23T22:00:04.023Z,1755986404.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250301
2025-08-23T22:00:04.278Z,1755986404.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505513
2025-08-23T22:00:04.527Z,1755986404.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754264
2025-08-23T22:00:04.780Z,1755986404.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007361
2025-08-23T22:00:05.030Z,1755986405.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258238
2025-08-23T22:00:05.284Z,1755986405.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511365
2025-08-23T22:00:05.535Z,1755986405.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762287
2025-08-23T22:00:05.787Z,1755986405.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014919
2025-08-23T22:00:06.039Z,1755986406.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266416
2025-08-23T22:00:06.292Z,1755986406.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519210
2025-08-23T22:00:06.543Z,1755986406.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770306
2025-08-23T22:00:06.795Z,1755986406.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023047
2025-08-23T22:00:07.047Z,1755986407.047 [DAT](INFO): DAT read: Rx Time:22:00:06.1208
2025-08-23T22:00:07.047Z,1755986407.047 [DAT](INFO): Rx dataTimestamp_ set to:1755986407.046749
2025-08-23T22:00:07.048Z,1755986407.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275358
2025-08-23T22:00:07.300Z,1755986407.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527724
2025-08-23T22:00:07.556Z,1755986407.556 [DAT](INFO): DAT read: 22:00:06.1208 LVL= 9376, 14897, 12370, 14547, AGC= 65, IDX= 25,-0.46,-1.881, 2.813,-2.587,-2.704, PHS= 0.924,-0.722, 0.073, RAW= 118.9, -3.9, CAL= 120.0, -3.7, ROT= 30.0, 3.7
2025-08-23T22:00:07.557Z,1755986407.557 [DAT](INFO): got valid direction response:
22:00:06.1208 LVL= 9376, 14897, 12370, 14547, AGC= 65, IDX= 25,-0.46,-1.881, 2.813,-2.587,-2.704, PHS= 0.924,-0.722, 0.073, RAW= 118.9, -3.9, CAL= 120.0, -3.7, ROT= 30.0, 3.7
2025-08-23T22:00:07.558Z,1755986407.558 [DAT](INFO): DAT read: Bearing 10.5, 33.1 (Local)
2025-08-23T22:00:07.558Z,1755986407.558 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.5, 33.1 (Local)
2025-08-23T22:00:07.560Z,1755986407.560 [DAT](INFO): DAT read: Range 11 to 50 : 201.2 m (Round-trip 268.3 ms) speed -0.4 m/s
2025-08-23T22:00:07.560Z,1755986407.560 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:00:07.561Z,1755986407.561 [DAT](INFO): direction in FSK: [0.864220,0.498958,-0.064532]
2025-08-23T22:00:07.562Z,1755986407.562 [DAT](INFO): publishing direction and range info
2025-08-23T22:00:15.350Z,1755986415.350 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:00:25.882Z,1755986425.882 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:00:32.767Z,1755986432.767 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-23T22:00:35.466Z,1755986435.466 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:00:39.638Z,1755986439.638 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 16.80 mm (3 active estimators).
2025-08-23T22:01:03.475Z,1755986463.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:01:03.522Z,1755986463.522 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:01:03.522Z,1755986463.522 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:01:03.774Z,1755986463.774 [DAT](INFO): DAT read: user:1576>
2025-08-23T22:01:03.775Z,1755986463.775 [DAT](INFO): DAT read: Tx time:22:01:03.4483
2025-08-23T22:01:03.775Z,1755986463.775 [DAT](INFO): Ping request sent.
2025-08-23T22:01:03.776Z,1755986463.776 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:01:03.776Z,1755986463.776 [DAT](INFO): publishing transmit ping time
2025-08-23T22:01:03.776Z,1755986463.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-08-23T22:01:04.026Z,1755986464.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250758
2025-08-23T22:01:04.279Z,1755986464.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503198
2025-08-23T22:01:04.531Z,1755986464.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754978
2025-08-23T22:01:04.785Z,1755986464.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008938
2025-08-23T22:01:05.034Z,1755986465.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258833
2025-08-23T22:01:05.287Z,1755986465.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510903
2025-08-23T22:01:05.542Z,1755986465.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766283
2025-08-23T22:01:05.586Z,1755986465.586 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:01:05.791Z,1755986465.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014883
2025-08-23T22:01:06.043Z,1755986466.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267407
2025-08-23T22:01:06.295Z,1755986466.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518957
2025-08-23T22:01:06.546Z,1755986466.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770855
2025-08-23T22:01:06.591Z,1755986466.591 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:01:06.799Z,1755986466.799 [DAT](INFO): DAT read: Rx Time:22:01:06.1121
2025-08-23T22:01:06.799Z,1755986466.799 [DAT](INFO): Rx dataTimestamp_ set to:1755986466.798935
2025-08-23T22:01:06.800Z,1755986466.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024149
2025-08-23T22:01:07.051Z,1755986467.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274902
2025-08-23T22:01:07.303Z,1755986467.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526936
2025-08-23T22:01:07.560Z,1755986467.560 [DAT](INFO): DAT read: 22:01:06.1121 LVL= 16288, 22577, 16882, 20979, AGC= 63, IDX= 281,-0.06,-1.477, 3.120,-1.885,-2.259, PHS= 0.885,-0.859, 0.330, RAW= 131.9, -4.7, CAL= 132.6, -4.4, ROT= 17.4, 4.4
2025-08-23T22:01:07.561Z,1755986467.561 [DAT](INFO): got valid direction response:
22:01:06.1121 LVL= 16288, 22577, 16882, 20979, AGC= 63, IDX= 281,-0.06,-1.477, 3.120,-1.885,-2.259, PHS= 0.885,-0.859, 0.330, RAW= 131.9, -4.7, CAL= 132.6, -4.4, ROT= 17.4, 4.4
2025-08-23T22:01:07.562Z,1755986467.562 [DAT](INFO): DAT read: Bearing 21.9, 54.9 (Local)
2025-08-23T22:01:07.562Z,1755986467.562 [DAT](INFO): Local bearing/azimuth received:
Bearing 21.9, 54.9 (Local)
2025-08-23T22:01:07.564Z,1755986467.564 [DAT](INFO): DAT read: Range 11 to 50 : 194.7 m (Round-trip 259.6 ms) speed 0.4 m/s
2025-08-23T22:01:07.564Z,1755986467.564 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:01:07.565Z,1755986467.565 [DAT](INFO): direction in FSK: [0.951428,0.298159,-0.076719]
2025-08-23T22:01:07.566Z,1755986467.566 [DAT](INFO): publishing direction and range info
2025-08-23T22:01:34.730Z,1755986494.730 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.267445
2025-08-23T22:01:35.007Z,1755986495.007 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-23T22:01:35.007Z,1755986495.007 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-23T22:01:35.008Z,1755986495.008 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-23T22:01:35.008Z,1755986495.008 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-23T22:01:35.008Z,1755986495.008 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-23T22:01:35.734Z,1755986495.734 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:01:39.978Z,1755986499.978 [Radio_Surface](INFO): Powering down
2025-08-23T22:01:50.321Z,1755986510.321 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-08-23T22:02:03.728Z,1755986523.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:02:03.795Z,1755986523.795 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:02:03.795Z,1755986523.795 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:02:04.047Z,1755986524.047 [DAT](INFO): DAT read: user:1577>
2025-08-23T22:02:04.048Z,1755986524.048 [DAT](INFO): DAT read: Tx time:22:02:03.6984
2025-08-23T22:02:04.049Z,1755986524.049 [DAT](INFO): Ping request sent.
2025-08-23T22:02:04.049Z,1755986524.049 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:02:04.049Z,1755986524.049 [DAT](INFO): publishing transmit ping time
2025-08-23T22:02:04.051Z,1755986524.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001628
2025-08-23T22:02:04.299Z,1755986524.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249806
2025-08-23T22:02:04.551Z,1755986524.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501926
2025-08-23T22:02:04.805Z,1755986524.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756081
2025-08-23T22:02:05.055Z,1755986525.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005820
2025-08-23T22:02:05.307Z,1755986525.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257831
2025-08-23T22:02:05.558Z,1755986525.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509768
2025-08-23T22:02:05.811Z,1755986525.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761821
2025-08-23T22:02:05.862Z,1755986525.862 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:02:06.062Z,1755986526.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013715
2025-08-23T22:02:06.315Z,1755986526.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266123
2025-08-23T22:02:06.484Z,1755986526.484 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-23T22:02:06.570Z,1755986526.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520449
2025-08-23T22:02:06.818Z,1755986526.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769768
2025-08-23T22:02:06.866Z,1755986526.866 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-23T22:02:06.866Z,1755986526.866 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:02:07.070Z,1755986527.070 [DAT](INFO): DAT read: Rx Time:22:02:06.3041
2025-08-23T22:02:07.071Z,1755986527.071 [DAT](INFO): Rx dataTimestamp_ set to:1755986527.070610
2025-08-23T22:02:07.071Z,1755986527.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022721
2025-08-23T22:02:07.324Z,1755986527.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274490
2025-08-23T22:02:07.580Z,1755986527.580 [DAT](INFO): DAT read: 22:02:06.3041 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 365,-0.09,-0.646,-1.965,-0.076,-0.875, PHS= 0.330,-1.046, 0.754, RAW= 163.0, -0.5, CAL= 162.1, -2.4, ROT= 347.9, 2.4
2025-08-23T22:02:07.581Z,1755986527.581 [DAT](INFO): got valid direction response:
22:02:06.3041 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 365,-0.09,-0.646,-1.965,-0.076,-0.875, PHS= 0.330,-1.046, 0.754, RAW= 163.0, -0.5, CAL= 162.1, -2.4, ROT= 347.9, 2.4
2025-08-23T22:02:07.582Z,1755986527.582 [DAT](INFO): DAT read: Bearing 87.0, 17.8 (Local)
2025-08-23T22:02:07.582Z,1755986527.582 [DAT](INFO): Local bearing/azimuth received:
Bearing 87.0, 17.8 (Local)
2025-08-23T22:02:07.583Z,1755986527.583 [DAT](INFO): DAT read: Range 11 to 50 : 151.2 m (Round-trip 201.6 ms) speed 0.6 m/s
2025-08-23T22:02:07.584Z,1755986527.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:02:07.585Z,1755986527.585 [DAT](INFO): direction in FSK: [0.976926,-0.209435,-0.041876]
2025-08-23T22:02:07.585Z,1755986527.585 [DAT](INFO): publishing direction and range info
2025-08-23T22:02:36.987Z,1755986556.987 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:02:37.990Z,1755986557.990 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:03:03.949Z,1755986583.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:04.100Z,1755986584.100 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:03:04.101Z,1755986584.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:04.350Z,1755986584.350 [DAT](INFO): DAT read: user:1578>
2025-08-23T22:03:04.351Z,1755986584.351 [DAT](INFO): DAT read: Tx time:22:03:03.9985
2025-08-23T22:03:04.351Z,1755986584.351 [DAT](INFO): Ping request sent.
2025-08-23T22:03:04.352Z,1755986584.352 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:04.352Z,1755986584.352 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:04.353Z,1755986584.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001292
2025-08-23T22:03:04.602Z,1755986584.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250815
2025-08-23T22:03:04.856Z,1755986584.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503985
2025-08-23T22:03:05.111Z,1755986585.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758942
2025-08-23T22:03:05.363Z,1755986585.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011421
2025-08-23T22:03:05.615Z,1755986585.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262919
2025-08-23T22:03:05.867Z,1755986585.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515442
2025-08-23T22:03:05.956Z,1755986585.956 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-08-23T22:03:05.957Z,1755986585.957 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-08-23T22:03:05.957Z,1755986585.957 [lineCaptureHoming:InitialDive] Stopped
2025-08-23T22:03:05.957Z,1755986585.957 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-08-23T22:03:05.957Z,1755986585.957 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-08-23T22:03:05.957Z,1755986585.957 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-08-23T22:03:05.957Z,1755986585.957 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-08-23T22:03:05.961Z,1755986585.961 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-08-23T22:03:05.982Z,1755986585.982 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-08-23T22:03:05.982Z,1755986585.982 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-08-23T22:03:05.982Z,1755986585.982 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-08-23T22:03:06.122Z,1755986586.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770521
2025-08-23T22:03:06.374Z,1755986586.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022278
2025-08-23T22:03:06.429Z,1755986586.429 [lineCaptureHoming:RepeatHack] Stopped
2025-08-23T22:03:06.429Z,1755986586.429 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-08-23T22:03:06.430Z,1755986586.430 [lineCaptureHoming:RepeatHack:A] Stopped
2025-08-23T22:03:06.430Z,1755986586.430 [lineCaptureHoming:Lap] Running Loop=1
2025-08-23T22:03:06.430Z,1755986586.430 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-08-23T22:03:06.430Z,1755986586.430 [lineCaptureHoming:Lap:A] Running Loop=1
2025-08-23T22:03:06.622Z,1755986586.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270846
2025-08-23T22:03:06.767Z,1755986586.767 [lineCaptureHoming:Lap:A] Stopped
2025-08-23T22:03:06.767Z,1755986586.767 [lineCaptureHoming:Lap:B] Running Loop=1
2025-08-23T22:03:06.767Z,1755986586.767 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-08-23T22:03:06.876Z,1755986586.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523810
2025-08-23T22:03:07.129Z,1755986587.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777109
2025-08-23T22:03:07.236Z,1755986587.236 [lineCaptureHoming:LineCapture] Running Loop=1
2025-08-23T22:03:07.236Z,1755986587.236 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-08-23T22:03:07.236Z,1755986587.236 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-23T22:03:07.236Z,1755986587.236 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-23T22:03:07.236Z,1755986587.236 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-23T22:03:07.236Z,1755986587.236 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-23T22:03:07.236Z,1755986587.236 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-23T22:03:07.236Z,1755986587.236 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-23T22:03:07.236Z,1755986587.236 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-23T22:03:07.237Z,1755986587.237 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-23T22:03:07.237Z,1755986587.237 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-23T22:03:07.237Z,1755986587.237 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-23T22:03:07.237Z,1755986587.237 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-23T22:03:07.237Z,1755986587.237 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-08-23T22:03:07.237Z,1755986587.237 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-23T22:03:07.237Z,1755986587.237 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-23T22:03:07.237Z,1755986587.237 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-08-23T22:03:07.237Z,1755986587.237 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-23T22:03:07.238Z,1755986587.238 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-23T22:03:07.238Z,1755986587.238 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-23T22:03:07.238Z,1755986587.238 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-23T22:03:07.238Z,1755986587.238 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-08-23T22:03:07.238Z,1755986587.238 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-23T22:03:07.238Z,1755986587.238 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-23T22:03:07.239Z,1755986587.239 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-23T22:03:07.239Z,1755986587.239 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-23T22:03:07.239Z,1755986587.239 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-23T22:03:07.239Z,1755986587.239 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-23T22:03:07.239Z,1755986587.239 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-23T22:03:07.240Z,1755986587.240 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-23T22:03:07.240Z,1755986587.240 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-23T22:03:07.240Z,1755986587.240 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-23T22:03:07.240Z,1755986587.240 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-23T22:03:07.241Z,1755986587.241 [lineCaptureHoming:LineCapture:A] Stopped
2025-08-23T22:03:07.241Z,1755986587.241 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-08-23T22:03:07.379Z,1755986587.379 [DAT](INFO): DAT read: Rx Time:22:03:06.5539
2025-08-23T22:03:07.380Z,1755986587.380 [DAT](INFO): Rx dataTimestamp_ set to:1755986587.379508
2025-08-23T22:03:07.380Z,1755986587.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028734
2025-08-23T22:03:07.601Z,1755986587.601 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-23T22:03:07.601Z,1755986587.601 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-23T22:03:07.601Z,1755986587.601 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-23T22:03:07.606Z,1755986587.606 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 151.199997 m (mode 0.000000 count ).
2025-08-23T22:03:07.606Z,1755986587.606 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-23T22:03:07.607Z,1755986587.607 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-23T22:03:07.614Z,1755986587.614 [lineCaptureHoming:LineCapture:B] Stopped
2025-08-23T22:03:07.614Z,1755986587.614 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-08-23T22:03:07.631Z,1755986587.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279375
2025-08-23T22:03:07.888Z,1755986587.888 [DAT](INFO): DAT read: 22:03:06.5539 LVL= 30928, 28193, 26930, 32755, AGC= 65, IDX= 442,-0.12,-2.257,-2.825,-0.363,-1.427, PHS=-0.728,-1.354, 1.020, RAW= 195.3, 10.0, CAL= 195.5, 11.6, ROT= 314.5, -11.6
2025-08-23T22:03:07.889Z,1755986587.889 [DAT](INFO): got valid direction response:
22:03:06.5539 LVL= 30928, 28193, 26930, 32755, AGC= 65, IDX= 442,-0.12,-2.257,-2.825,-0.363,-1.427, PHS=-0.728,-1.354, 1.020, RAW= 195.3, 10.0, CAL= 195.5, 11.6, ROT= 314.5, -11.6
2025-08-23T22:03:07.890Z,1755986587.890 [DAT](INFO): DAT read: Bearing 139.8, -33.0 (Local)
2025-08-23T22:03:07.890Z,1755986587.890 [DAT](INFO): Local bearing/azimuth received:
Bearing 139.8, -33.0 (Local)
2025-08-23T22:03:07.891Z,1755986587.891 [DAT](INFO): DAT read: Range 11 to 50 : 113.4 m (Round-trip 151.2 ms) speed 0.4 m/s
2025-08-23T22:03:07.892Z,1755986587.892 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:07.893Z,1755986587.893 [DAT](INFO): direction in FSK: [0.686593,-0.698683,0.201078]
2025-08-23T22:03:07.893Z,1755986587.893 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:07.991Z,1755986587.991 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-23T22:03:07.992Z,1755986587.992 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-23T22:03:08.006Z,1755986588.006 [lineCaptureHoming:LineCapture:D] Stopped
2025-08-23T22:03:08.006Z,1755986588.006 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-08-23T22:03:08.119Z,1755986588.119 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:03:08.414Z,1755986588.414 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-23T22:03:08.414Z,1755986588.414 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-23T22:03:08.415Z,1755986588.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:08.417Z,1755986588.417 [lineCaptureHoming:LineCapture:E] Stopped
2025-08-23T22:03:08.417Z,1755986588.417 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-08-23T22:03:08.642Z,1755986588.642 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:08.642Z,1755986588.642 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:08.643Z,1755986588.643 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:08.792Z,1755986588.792 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-23T22:03:08.792Z,1755986588.792 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-23T22:03:08.792Z,1755986588.792 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-23T22:03:08.793Z,1755986588.793 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-23T22:03:08.795Z,1755986588.795 [lineCaptureHoming:LineCapture:F] Stopped
2025-08-23T22:03:08.795Z,1755986588.795 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-08-23T22:03:08.795Z,1755986588.795 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-23T22:03:08.795Z,1755986588.795 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-23T22:03:08.795Z,1755986588.795 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-23T22:03:08.796Z,1755986588.796 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-08-23T22:03:08.796Z,1755986588.796 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-23T22:03:08.796Z,1755986588.796 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-08-23T22:03:08.796Z,1755986588.796 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-23T22:03:08.796Z,1755986588.796 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-23T22:03:08.796Z,1755986588.796 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-23T22:03:08.796Z,1755986588.796 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-23T22:03:08.797Z,1755986588.797 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-23T22:03:08.797Z,1755986588.797 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-23T22:03:08.797Z,1755986588.797 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-23T22:03:08.797Z,1755986588.797 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-23T22:03:08.797Z,1755986588.797 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-23T22:03:08.797Z,1755986588.797 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-23T22:03:08.798Z,1755986588.798 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-23T22:03:08.798Z,1755986588.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-23T22:03:08.798Z,1755986588.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-23T22:03:08.798Z,1755986588.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-23T22:03:08.798Z,1755986588.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-23T22:03:08.799Z,1755986588.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-23T22:03:08.799Z,1755986588.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-23T22:03:08.799Z,1755986588.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-23T22:03:08.799Z,1755986588.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-23T22:03:08.799Z,1755986588.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-23T22:03:08.799Z,1755986588.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-23T22:03:08.799Z,1755986588.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-23T22:03:08.799Z,1755986588.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-23T22:03:08.799Z,1755986588.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-23T22:03:08.799Z,1755986588.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-23T22:03:08.800Z,1755986588.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-23T22:03:08.895Z,1755986588.895 [DAT](INFO): DAT read: user:1579>
2025-08-23T22:03:08.895Z,1755986588.895 [DAT](INFO): DAT read: Tx time:22:03:08.5485
2025-08-23T22:03:08.896Z,1755986588.896 [DAT](INFO): Ping request sent.
2025-08-23T22:03:08.896Z,1755986588.896 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:08.896Z,1755986588.896 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:08.896Z,1755986588.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-08-23T22:03:09.122Z,1755986589.122 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:03:09.150Z,1755986589.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253223
2025-08-23T22:03:09.252Z,1755986589.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-23T22:03:09.252Z,1755986589.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-23T22:03:09.252Z,1755986589.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-23T22:03:09.253Z,1755986589.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-23T22:03:09.253Z,1755986589.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-23T22:03:09.253Z,1755986589.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-23T22:03:09.253Z,1755986589.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-23T22:03:09.253Z,1755986589.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-23T22:03:09.253Z,1755986589.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-23T22:03:09.253Z,1755986589.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-23T22:03:09.253Z,1755986589.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-23T22:03:09.253Z,1755986589.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-23T22:03:09.253Z,1755986589.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-23T22:03:09.254Z,1755986589.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-23T22:03:09.254Z,1755986589.254 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-23T22:03:09.254Z,1755986589.254 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-23T22:03:09.254Z,1755986589.254 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-23T22:03:09.254Z,1755986589.254 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-23T22:03:09.254Z,1755986589.254 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-23T22:03:09.254Z,1755986589.254 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-23T22:03:09.254Z,1755986589.254 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-23T22:03:09.254Z,1755986589.254 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-23T22:03:09.254Z,1755986589.254 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-23T22:03:09.254Z,1755986589.254 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-23T22:03:09.255Z,1755986589.255 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-23T22:03:09.255Z,1755986589.255 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.479607 m.
2025-08-23T22:03:09.399Z,1755986589.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502779
2025-08-23T22:03:09.651Z,1755986589.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755068
2025-08-23T22:03:09.902Z,1755986589.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006758
2025-08-23T22:03:10.135Z,1755986590.135 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-23T22:03:10.155Z,1755986590.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258899
2025-08-23T22:03:10.250Z,1755986590.250 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-23T22:03:10.406Z,1755986590.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510768
2025-08-23T22:03:10.511Z,1755986590.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:10.659Z,1755986590.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762828
2025-08-23T22:03:10.911Z,1755986590.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015545
2025-08-23T22:03:11.165Z,1755986591.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269127
2025-08-23T22:03:11.416Z,1755986591.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519687
2025-08-23T22:03:11.667Z,1755986591.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770940
2025-08-23T22:03:11.919Z,1755986591.919 [DAT](INFO): DAT read: Rx Time:22:03:11.1008
2025-08-23T22:03:11.919Z,1755986591.919 [DAT](INFO): Rx dataTimestamp_ set to:1755986591.918746
2025-08-23T22:03:11.920Z,1755986591.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023873
2025-08-23T22:03:12.171Z,1755986592.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274835
2025-08-23T22:03:12.428Z,1755986592.428 [DAT](INFO): DAT read: 22:03:11.1008 LVL= 29680, 30033, 26386, 32755, AGC= 66, IDX= 411,-0.26,-2.660,-2.978,-0.629,-1.600, PHS=-0.959,-1.333, 0.926, RAW= 201.1, 13.0, CAL= 201.8, 16.2, ROT= 308.2, -16.2
2025-08-23T22:03:12.429Z,1755986592.429 [DAT](INFO): got valid direction response:
22:03:11.1008 LVL= 29680, 30033, 26386, 32755, AGC= 66, IDX= 411,-0.26,-2.660,-2.978,-0.629,-1.600, PHS=-0.959,-1.333, 0.926, RAW= 201.1, 13.0, CAL= 201.8, 16.2, ROT= 308.2, -16.2
2025-08-23T22:03:12.430Z,1755986592.430 [DAT](INFO): DAT read: Bearing 152.7, -40.5 (Local)
2025-08-23T22:03:12.430Z,1755986592.430 [DAT](INFO): Local bearing/azimuth received:
Bearing 152.7, -40.5 (Local)
2025-08-23T22:03:12.431Z,1755986592.431 [DAT](INFO): DAT read: Range 11 to 50 : 111.1 m (Round-trip 148.2 ms) speed 0.1 m/s
2025-08-23T22:03:12.432Z,1755986592.432 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:12.433Z,1755986592.433 [DAT](INFO): direction in FSK: [0.593854,-0.754653,0.278991]
2025-08-23T22:03:12.433Z,1755986592.433 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:12.437Z,1755986592.437 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:12.437Z,1755986592.437 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:12.437Z,1755986592.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:12.674Z,1755986592.674 [DAT](INFO): DAT read: user:1580>
2025-08-23T22:03:12.675Z,1755986592.675 [DAT](INFO): DAT read: Tx time:22:03:12.3485
2025-08-23T22:03:12.675Z,1755986592.675 [DAT](INFO): Ping request sent.
2025-08-23T22:03:12.676Z,1755986592.676 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:12.676Z,1755986592.676 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:12.676Z,1755986592.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-23T22:03:12.926Z,1755986592.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250891
2025-08-23T22:03:12.951Z,1755986592.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:13.181Z,1755986593.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504885
2025-08-23T22:03:13.430Z,1755986593.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754929
2025-08-23T22:03:13.683Z,1755986593.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006991
2025-08-23T22:03:13.935Z,1755986593.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258969
2025-08-23T22:03:14.155Z,1755986594.155 [DockingStepper](INFO): Changing to mode: 3
2025-08-23T22:03:14.187Z,1755986594.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511814
2025-08-23T22:03:14.438Z,1755986594.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762929
2025-08-23T22:03:14.691Z,1755986594.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014985
2025-08-23T22:03:14.945Z,1755986594.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269044
2025-08-23T22:03:15.195Z,1755986595.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519273
2025-08-23T22:03:15.375Z,1755986595.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:15.447Z,1755986595.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771928
2025-08-23T22:03:15.699Z,1755986595.699 [DAT](INFO): DAT read: Rx Time:22:03:14.8987
2025-08-23T22:03:15.699Z,1755986595.699 [DAT](INFO): Rx dataTimestamp_ set to:1755986595.698692
2025-08-23T22:03:15.700Z,1755986595.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023974
2025-08-23T22:03:15.950Z,1755986595.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274929
2025-08-23T22:03:16.210Z,1755986596.210 [DAT](INFO): DAT read: 22:03:14.8987 LVL= 32752, 32753, 29554, 32755, AGC= 65, IDX= 421,-0.16,-2.500,-2.774,-0.395,-1.327, PHS=-1.071,-1.402, 0.888, RAW= 202.3, 14.6, CAL= 203.3, 18.6, ROT= 306.7, -18.6
2025-08-23T22:03:16.211Z,1755986596.211 [DAT](INFO): got valid direction response:
22:03:14.8987 LVL= 32752, 32753, 29554, 32755, AGC= 65, IDX= 421,-0.16,-2.500,-2.774,-0.395,-1.327, PHS=-1.071,-1.402, 0.888, RAW= 202.3, 14.6, CAL= 203.3, 18.6, ROT= 306.7, -18.6
2025-08-23T22:03:16.213Z,1755986596.213 [DAT](INFO): DAT read: Bearing 160.5, -44.2 (Local)
2025-08-23T22:03:16.213Z,1755986596.213 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.5, -44.2 (Local)
2025-08-23T22:03:16.215Z,1755986596.215 [DAT](INFO): DAT read: Range 11 to 50 : 109.5 m (Round-trip 146.0 ms) speed 0.3 m/s
2025-08-23T22:03:16.216Z,1755986596.216 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:16.217Z,1755986596.217 [DAT](INFO): direction in FSK: [0.566410,-0.759898,0.318959]
2025-08-23T22:03:16.217Z,1755986596.217 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:16.240Z,1755986596.240 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:16.240Z,1755986596.240 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:16.240Z,1755986596.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:16.454Z,1755986596.454 [DAT](INFO): DAT read: user:1581>
2025-08-23T22:03:16.455Z,1755986596.455 [DAT](INFO): DAT read: Tx time:22:03:16.1485
2025-08-23T22:03:16.455Z,1755986596.455 [DAT](INFO): Ping request sent.
2025-08-23T22:03:16.456Z,1755986596.456 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:16.456Z,1755986596.456 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:16.456Z,1755986596.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-23T22:03:16.707Z,1755986596.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250903
2025-08-23T22:03:16.959Z,1755986596.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503226
2025-08-23T22:03:17.211Z,1755986597.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755626
2025-08-23T22:03:17.411Z,1755986597.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:17.463Z,1755986597.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007506
2025-08-23T22:03:17.715Z,1755986597.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259051
2025-08-23T22:03:17.966Z,1755986597.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510836
2025-08-23T22:03:18.221Z,1755986598.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765639
2025-08-23T22:03:18.475Z,1755986598.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018942
2025-08-23T22:03:18.726Z,1755986598.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270883
2025-08-23T22:03:18.979Z,1755986598.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523673
2025-08-23T22:03:19.231Z,1755986599.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774946
2025-08-23T22:03:19.482Z,1755986599.482 [DAT](INFO): DAT read: Rx Time:22:03:18.6971
2025-08-23T22:03:19.483Z,1755986599.483 [DAT](INFO): Rx dataTimestamp_ set to:1755986599.482653
2025-08-23T22:03:19.483Z,1755986599.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027910
2025-08-23T22:03:19.734Z,1755986599.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278904
2025-08-23T22:03:19.759Z,1755986599.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:19.992Z,1755986599.992 [DAT](INFO): DAT read: 22:03:18.6971 LVL= 29408, 28065, 27042, 32755, AGC= 65, IDX= 420, 0.05,-0.626,-0.936, 1.442, 0.543, PHS=-1.067,-1.434, 0.855, RAW= 201.4, 15.3, CAL= 202.4, 19.6, ROT= 307.6, -19.6
2025-08-23T22:03:19.993Z,1755986599.993 [DAT](INFO): got valid direction response:
22:03:18.6971 LVL= 29408, 28065, 27042, 32755, AGC= 65, IDX= 420, 0.05,-0.626,-0.936, 1.442, 0.543, PHS=-1.067,-1.434, 0.855, RAW= 201.4, 15.3, CAL= 202.4, 19.6, ROT= 307.6, -19.6
2025-08-23T22:03:19.994Z,1755986599.994 [DAT](INFO): DAT read: Bearing 165.2, -46.0 (Local)
2025-08-23T22:03:19.995Z,1755986599.995 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.2, -46.0 (Local)
2025-08-23T22:03:19.996Z,1755986599.996 [DAT](INFO): DAT read: Range 11 to 50 : 108.3 m (Round-trip 144.5 ms) speed 0.0 m/s
2025-08-23T22:03:19.996Z,1755986599.996 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:19.998Z,1755986599.998 [DAT](INFO): direction in FSK: [0.574792,-0.746382,0.335452]
2025-08-23T22:03:19.998Z,1755986599.998 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:20.001Z,1755986600.001 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:20.001Z,1755986600.001 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:20.003Z,1755986600.003 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:20.183Z,1755986600.183 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-23T22:03:20.239Z,1755986600.239 [DAT](INFO): DAT read: user:1582>
2025-08-23T22:03:20.240Z,1755986600.240 [DAT](INFO): DAT read: Tx time:22:03:19.8985
2025-08-23T22:03:20.240Z,1755986600.240 [DAT](INFO): Ping request sent.
2025-08-23T22:03:20.241Z,1755986600.241 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:20.241Z,1755986600.241 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:20.242Z,1755986600.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001010
2025-08-23T22:03:20.491Z,1755986600.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250200
2025-08-23T22:03:20.743Z,1755986600.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502215
2025-08-23T22:03:20.995Z,1755986600.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754654
2025-08-23T22:03:21.246Z,1755986601.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006149
2025-08-23T22:03:21.499Z,1755986601.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259043
2025-08-23T22:03:21.751Z,1755986601.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510218
2025-08-23T22:03:21.795Z,1755986601.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:22.003Z,1755986602.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762215
2025-08-23T22:03:22.255Z,1755986602.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014881
2025-08-23T22:03:22.506Z,1755986602.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266119
2025-08-23T22:03:22.758Z,1755986602.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518152
2025-08-23T22:03:23.011Z,1755986603.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770352
2025-08-23T22:03:23.262Z,1755986603.262 [DAT](INFO): DAT read: Rx Time:22:03:22.4458
2025-08-23T22:03:23.263Z,1755986603.263 [DAT](INFO): Rx dataTimestamp_ set to:1755986603.262684
2025-08-23T22:03:23.264Z,1755986603.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023203
2025-08-23T22:03:23.515Z,1755986603.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274850
2025-08-23T22:03:23.772Z,1755986603.772 [DAT](INFO): DAT read: 22:03:22.4458 LVL= 30944, 28401, 22130, 32755, AGC= 67, IDX= 423, 0.38, 2.215, 1.921,-2.006,-2.867, PHS=-1.100,-1.451, 0.816, RAW= 201.7, 16.2, CAL= 202.4, 21.1, ROT= 307.6, -21.1
2025-08-23T22:03:23.773Z,1755986603.773 [DAT](INFO): got valid direction response:
22:03:22.4458 LVL= 30944, 28401, 22130, 32755, AGC= 67, IDX= 423, 0.38, 2.215, 1.921,-2.006,-2.867, PHS=-1.100,-1.451, 0.816, RAW= 201.7, 16.2, CAL= 202.4, 21.1, ROT= 307.6, -21.1
2025-08-23T22:03:23.774Z,1755986603.774 [DAT](INFO): DAT read: Bearing 170.7, -47.4 (Local)
2025-08-23T22:03:23.774Z,1755986603.774 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.7, -47.4 (Local)
2025-08-23T22:03:23.775Z,1755986603.775 [DAT](INFO): DAT read: Range 11 to 50 : 107.4 m (Round-trip 143.2 ms) speed -0.1 m/s
2025-08-23T22:03:23.776Z,1755986603.776 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:23.777Z,1755986603.777 [DAT](INFO): direction in FSK: [0.569237,-0.739169,0.359997]
2025-08-23T22:03:23.786Z,1755986603.786 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:23.789Z,1755986603.789 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:23.789Z,1755986603.789 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:23.789Z,1755986603.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:24.019Z,1755986604.019 [DAT](INFO): DAT read: user:1583>
2025-08-23T22:03:24.019Z,1755986604.019 [DAT](INFO): DAT read: Tx time:22:03:23.6985
2025-08-23T22:03:24.020Z,1755986604.020 [DAT](INFO): Ping request sent.
2025-08-23T22:03:24.020Z,1755986604.020 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:24.020Z,1755986604.020 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:24.020Z,1755986604.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-08-23T22:03:24.233Z,1755986604.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:24.271Z,1755986604.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250889
2025-08-23T22:03:24.523Z,1755986604.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502831
2025-08-23T22:03:24.776Z,1755986604.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756640
2025-08-23T22:03:25.026Z,1755986605.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006722
2025-08-23T22:03:25.279Z,1755986605.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258846
2025-08-23T22:03:25.531Z,1755986605.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510829
2025-08-23T22:03:25.783Z,1755986605.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762802
2025-08-23T22:03:26.035Z,1755986606.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014795
2025-08-23T22:03:26.245Z,1755986606.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:26.286Z,1755986606.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266675
2025-08-23T22:03:26.538Z,1755986606.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518790
2025-08-23T22:03:26.790Z,1755986606.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770776
2025-08-23T22:03:27.043Z,1755986607.043 [DAT](INFO): DAT read: Rx Time:22:03:26.2446
2025-08-23T22:03:27.043Z,1755986607.043 [DAT](INFO): Rx dataTimestamp_ set to:1755986607.042817
2025-08-23T22:03:27.044Z,1755986607.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023961
2025-08-23T22:03:27.295Z,1755986607.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274882
2025-08-23T22:03:27.552Z,1755986607.552 [DAT](INFO): DAT read: 22:03:26.2446 LVL= 31712, 28577, 22194, 32755, AGC= 67, IDX= 410, 0.24,-1.364,-1.497, 0.816,-0.025, PHS=-1.237,-1.427, 0.797, RAW= 205.6, 17.2, CAL= 206.6, 22.3, ROT= 303.4, -22.3
2025-08-23T22:03:27.553Z,1755986607.553 [DAT](INFO): got valid direction response:
22:03:26.2446 LVL= 31712, 28577, 22194, 32755, AGC= 67, IDX= 410, 0.24,-1.364,-1.497, 0.816,-0.025, PHS=-1.237,-1.427, 0.797, RAW= 205.6, 17.2, CAL= 206.6, 22.3, ROT= 303.4, -22.3
2025-08-23T22:03:27.554Z,1755986607.554 [DAT](INFO): DAT read: Bearing 180.0, -50.9 (Local)
2025-08-23T22:03:27.554Z,1755986607.554 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.0, -50.9 (Local)
2025-08-23T22:03:27.556Z,1755986607.556 [DAT](INFO): DAT read: Range 11 to 50 : 106.4 m (Round-trip 141.9 ms) speed 0.2 m/s
2025-08-23T22:03:27.556Z,1755986607.556 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:27.557Z,1755986607.557 [DAT](INFO): direction in FSK: [0.509310,-0.772410,0.379456]
2025-08-23T22:03:27.558Z,1755986607.558 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:27.561Z,1755986607.561 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:27.561Z,1755986607.561 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:27.561Z,1755986607.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:27.799Z,1755986607.799 [DAT](INFO): DAT read: user:1584>
2025-08-23T22:03:27.801Z,1755986607.801 [DAT](INFO): DAT read: Tx time:22:03:27.4985
2025-08-23T22:03:27.801Z,1755986607.801 [DAT](INFO): Ping request sent.
2025-08-23T22:03:27.802Z,1755986607.802 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:27.802Z,1755986607.802 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:27.803Z,1755986607.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001653
2025-08-23T22:03:28.051Z,1755986608.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249264
2025-08-23T22:03:28.262Z,1755986608.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:28.304Z,1755986608.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502133
2025-08-23T22:03:28.554Z,1755986608.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753239
2025-08-23T22:03:28.807Z,1755986608.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005396
2025-08-23T22:03:29.059Z,1755986609.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257421
2025-08-23T22:03:29.311Z,1755986609.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510119
2025-08-23T22:03:29.563Z,1755986609.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761372
2025-08-23T22:03:29.815Z,1755986609.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013674
2025-08-23T22:03:30.066Z,1755986610.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265237
2025-08-23T22:03:30.286Z,1755986610.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:30.327Z,1755986610.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526010
2025-08-23T22:03:30.579Z,1755986610.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777267
2025-08-23T22:03:30.831Z,1755986610.831 [DAT](INFO): DAT read: Rx Time:22:03:30.0436
2025-08-23T22:03:30.831Z,1755986610.831 [DAT](INFO): Rx dataTimestamp_ set to:1755986610.830690
2025-08-23T22:03:30.832Z,1755986610.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030295
2025-08-23T22:03:31.083Z,1755986611.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281381
2025-08-23T22:03:31.340Z,1755986611.340 [DAT](INFO): DAT read: 22:03:30.0436 LVL= 32752, 32753, 29970, 32755, AGC= 63, IDX= 433,-0.47,-1.019,-0.941, 1.260, 0.433, PHS=-1.350,-1.329, 0.782, RAW= 210.5, 17.5, CAL= 212.2, 22.2, ROT= 297.8, -22.2
2025-08-23T22:03:31.341Z,1755986611.341 [DAT](INFO): got valid direction response:
22:03:30.0436 LVL= 32752, 32753, 29970, 32755, AGC= 63, IDX= 433,-0.47,-1.019,-0.941, 1.260, 0.433, PHS=-1.350,-1.329, 0.782, RAW= 210.5, 17.5, CAL= 212.2, 22.2, ROT= 297.8, -22.2
2025-08-23T22:03:31.342Z,1755986611.342 [DAT](INFO): DAT read: Bearing 189.9, -55.2 (Local)
2025-08-23T22:03:31.343Z,1755986611.343 [DAT](INFO): Local bearing/azimuth received:
Bearing 189.9, -55.2 (Local)
2025-08-23T22:03:31.344Z,1755986611.344 [DAT](INFO): DAT read: Range 11 to 50 : 105.7 m (Round-trip 141.0 ms) speed 0.0 m/s
2025-08-23T22:03:31.345Z,1755986611.345 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:31.346Z,1755986611.346 [DAT](INFO): direction in FSK: [0.431814,-0.819008,0.377841]
2025-08-23T22:03:31.346Z,1755986611.346 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:31.350Z,1755986611.350 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:31.350Z,1755986611.350 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:31.350Z,1755986611.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:31.586Z,1755986611.586 [DAT](INFO): DAT read: user:1585>
2025-08-23T22:03:31.587Z,1755986611.587 [DAT](INFO): DAT read: Tx time:22:03:31.2485
2025-08-23T22:03:31.588Z,1755986611.588 [DAT](INFO): Ping request sent.
2025-08-23T22:03:31.588Z,1755986611.588 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:31.588Z,1755986611.588 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:31.588Z,1755986611.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-23T22:03:31.839Z,1755986611.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250825
2025-08-23T22:03:32.092Z,1755986612.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503770
2025-08-23T22:03:32.322Z,1755986612.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:32.342Z,1755986612.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754702
2025-08-23T22:03:32.595Z,1755986612.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007062
2025-08-23T22:03:32.847Z,1755986612.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258851
2025-08-23T22:03:33.099Z,1755986613.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510891
2025-08-23T22:03:33.351Z,1755986613.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762971
2025-08-23T22:03:33.603Z,1755986613.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014920
2025-08-23T22:03:33.854Z,1755986613.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266770
2025-08-23T22:03:34.107Z,1755986614.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519663
2025-08-23T22:03:34.337Z,1755986614.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:34.359Z,1755986614.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770881
2025-08-23T22:03:34.611Z,1755986614.611 [DAT](INFO): DAT read: Rx Time:22:03:33.7929
2025-08-23T22:03:34.611Z,1755986614.611 [DAT](INFO): Rx dataTimestamp_ set to:1755986614.610706
2025-08-23T22:03:34.612Z,1755986614.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023876
2025-08-23T22:03:34.863Z,1755986614.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274882
2025-08-23T22:03:35.120Z,1755986615.120 [DAT](INFO): DAT read: 22:03:33.7929 LVL= 32176, 27505, 29026, 32755, AGC= 66, IDX= 441, 0.13,-3.004,-2.799,-0.694,-1.478, PHS=-1.423,-1.276, 0.741, RAW= 213.5, 18.3, CAL= 215.5, 23.1, ROT= 294.5, -23.1
2025-08-23T22:03:35.121Z,1755986615.121 [DAT](INFO): got valid direction response:
22:03:33.7929 LVL= 32176, 27505, 29026, 32755, AGC= 66, IDX= 441, 0.13,-3.004,-2.799,-0.694,-1.478, PHS=-1.423,-1.276, 0.741, RAW= 213.5, 18.3, CAL= 215.5, 23.1, ROT= 294.5, -23.1
2025-08-23T22:03:35.122Z,1755986615.122 [DAT](INFO): DAT read: Bearing 198.5, -56.7 (Local)
2025-08-23T22:03:35.122Z,1755986615.122 [DAT](INFO): Local bearing/azimuth received:
Bearing 198.5, -56.7 (Local)
2025-08-23T22:03:35.124Z,1755986615.124 [DAT](INFO): DAT read: Range 11 to 50 : 105.2 m (Round-trip 140.3 ms) speed 0.0 m/s
2025-08-23T22:03:35.124Z,1755986615.124 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:35.125Z,1755986615.125 [DAT](INFO): direction in FSK: [0.381444,-0.837002,0.392337]
2025-08-23T22:03:35.126Z,1755986615.126 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:35.129Z,1755986615.129 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:35.129Z,1755986615.129 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:35.129Z,1755986615.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:35.366Z,1755986615.366 [DAT](INFO): DAT read: user:1586>
2025-08-23T22:03:35.367Z,1755986615.367 [DAT](INFO): DAT read: Tx time:22:03:35.0485
2025-08-23T22:03:35.367Z,1755986615.367 [DAT](INFO): Ping request sent.
2025-08-23T22:03:35.368Z,1755986615.368 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:35.368Z,1755986615.368 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:35.368Z,1755986615.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000778
2025-08-23T22:03:35.619Z,1755986615.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251346
2025-08-23T22:03:35.871Z,1755986615.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502968
2025-08-23T22:03:36.122Z,1755986616.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754897
2025-08-23T22:03:36.340Z,1755986616.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:36.377Z,1755986616.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009125
2025-08-23T22:03:36.627Z,1755986616.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258962
2025-08-23T22:03:36.880Z,1755986616.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512037
2025-08-23T22:03:37.131Z,1755986617.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762982
2025-08-23T22:03:37.383Z,1755986617.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015169
2025-08-23T22:03:37.635Z,1755986617.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266976
2025-08-23T22:03:37.886Z,1755986617.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518901
2025-08-23T22:03:38.139Z,1755986618.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770973
2025-08-23T22:03:38.386Z,1755986618.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:38.403Z,1755986618.403 [DAT](INFO): DAT read: Rx Time:22:03:37.5922
2025-08-23T22:03:38.403Z,1755986618.403 [DAT](INFO): Rx dataTimestamp_ set to:1755986618.403207
2025-08-23T22:03:38.404Z,1755986618.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036472
2025-08-23T22:03:38.654Z,1755986618.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286875
2025-08-23T22:03:38.912Z,1755986618.912 [DAT](INFO): DAT read: 22:03:37.5922 LVL= 32752, 32753, 31074, 32755, AGC= 66, IDX= 434, 0.08,-0.423,-0.110, 1.963, 1.158, PHS=-1.479,-1.224, 0.761, RAW= 216.0, 17.9, CAL= 218.8, 22.0, ROT= 291.2, -22.0
2025-08-23T22:03:38.913Z,1755986618.913 [DAT](INFO): got valid direction response:
22:03:37.5922 LVL= 32752, 32753, 31074, 32755, AGC= 66, IDX= 434, 0.08,-0.423,-0.110, 1.963, 1.158, PHS=-1.479,-1.224, 0.761, RAW= 216.0, 17.9, CAL= 218.8, 22.0, ROT= 291.2, -22.0
2025-08-23T22:03:38.918Z,1755986618.918 [DAT](INFO): DAT read: Bearing 204.8, -59.2 (Local)
2025-08-23T22:03:38.918Z,1755986618.918 [DAT](INFO): Local bearing/azimuth received:
Bearing 204.8, -59.2 (Local)
2025-08-23T22:03:38.920Z,1755986618.920 [DAT](INFO): DAT read: Range 11 to 50 : 104.7 m (Round-trip 139.6 ms) speed 0.0 m/s
2025-08-23T22:03:38.920Z,1755986618.920 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:38.921Z,1755986618.921 [DAT](INFO): direction in FSK: [0.335293,-0.864436,0.374607]
2025-08-23T22:03:38.926Z,1755986618.926 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:38.929Z,1755986618.929 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:38.929Z,1755986618.929 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:38.929Z,1755986618.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:39.158Z,1755986619.158 [DAT](INFO): DAT read: user:1587>
2025-08-23T22:03:39.159Z,1755986619.159 [DAT](INFO): DAT read: Tx time:22:03:38.8485
2025-08-23T22:03:39.159Z,1755986619.159 [DAT](INFO): Ping request sent.
2025-08-23T22:03:39.160Z,1755986619.160 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:39.160Z,1755986619.160 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:39.160Z,1755986619.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-23T22:03:39.255Z,1755986619.255 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:03:39.410Z,1755986619.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250799
2025-08-23T22:03:39.663Z,1755986619.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502860
2025-08-23T22:03:39.914Z,1755986619.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754810
2025-08-23T22:03:40.166Z,1755986620.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006824
2025-08-23T22:03:40.258Z,1755986620.258 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:03:40.380Z,1755986620.380 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 104.70 m. Transitioning docking module to standby.
2025-08-23T22:03:40.419Z,1755986620.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259101
2025-08-23T22:03:40.673Z,1755986620.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512889
2025-08-23T22:03:40.812Z,1755986620.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:40.887Z,1755986620.887 [DockingStepper](INFO): Changing to mode: 1
2025-08-23T22:03:40.923Z,1755986620.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763434
2025-08-23T22:03:41.175Z,1755986621.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014998
2025-08-23T22:03:41.427Z,1755986621.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266857
2025-08-23T22:03:41.679Z,1755986621.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518998
2025-08-23T22:03:41.931Z,1755986621.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770980
2025-08-23T22:03:42.188Z,1755986622.188 [DAT](INFO): DAT read: Rx Time:22:03:41.3916
2025-08-23T22:03:42.189Z,1755986622.189 [DAT](INFO): Rx dataTimestamp_ set to:1755986622.188261
2025-08-23T22:03:42.189Z,1755986622.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029732
2025-08-23T22:03:42.439Z,1755986622.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278915
2025-08-23T22:03:42.695Z,1755986622.695 [DAT](INFO): DAT read: Range 11 to 50 : 104.1 m (Round-trip 138.9 ms) speed 0.1 m/s
2025-08-23T22:03:42.698Z,1755986622.698 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:03:42.700Z,1755986622.700 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:42.700Z,1755986622.700 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:42.701Z,1755986622.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:42.835Z,1755986622.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:42.942Z,1755986622.942 [DAT](INFO): DAT read: user:1588>
2025-08-23T22:03:42.943Z,1755986622.943 [DAT](INFO): DAT read: Tx time:22:03:42.6485
2025-08-23T22:03:42.943Z,1755986622.943 [DAT](INFO): Ping request sent.
2025-08-23T22:03:42.944Z,1755986622.944 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:42.944Z,1755986622.944 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:42.944Z,1755986622.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-23T22:03:43.195Z,1755986623.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251176
2025-08-23T22:03:43.447Z,1755986623.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502944
2025-08-23T22:03:43.701Z,1755986623.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756863
2025-08-23T22:03:43.950Z,1755986623.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875
2025-08-23T22:03:44.203Z,1755986624.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259362
2025-08-23T22:03:44.455Z,1755986624.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510998
2025-08-23T22:03:44.709Z,1755986624.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765013
2025-08-23T22:03:44.854Z,1755986624.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:44.959Z,1755986624.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014998
2025-08-23T22:03:45.211Z,1755986625.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267530
2025-08-23T22:03:45.462Z,1755986625.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518840
2025-08-23T22:03:45.718Z,1755986625.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773632
2025-08-23T22:03:45.966Z,1755986625.966 [DAT](INFO): DAT read: Rx Time:22:03:45.1910
2025-08-23T22:03:45.967Z,1755986625.967 [DAT](INFO): Rx dataTimestamp_ set to:1755986625.966637
2025-08-23T22:03:45.967Z,1755986625.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023886
2025-08-23T22:03:46.219Z,1755986626.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274940
2025-08-23T22:03:46.476Z,1755986626.476 [DAT](INFO): DAT read: 22:03:45.1910 LVL= 31008, 28609, 26610, 32755, AGC= 63, IDX= 437, 0.12, 0.099, 0.621, 2.549, 1.750, PHS=-1.549,-1.085, 0.755, RAW= 221.0, 17.5, CAL= 224.6, 20.6, ROT= 285.4, -20.6
2025-08-23T22:03:46.477Z,1755986626.477 [DAT](INFO): got valid direction response:
22:03:45.1910 LVL= 31008, 28609, 26610, 32755, AGC= 63, IDX= 437, 0.12, 0.099, 0.621, 2.549, 1.750, PHS=-1.549,-1.085, 0.755, RAW= 221.0, 17.5, CAL= 224.6, 20.6, ROT= 285.4, -20.6
2025-08-23T22:03:46.478Z,1755986626.478 [DAT](INFO): DAT read: Bearing 216.1, -62.2 (Local)
2025-08-23T22:03:46.478Z,1755986626.478 [DAT](INFO): Local bearing/azimuth received:
Bearing 216.1, -62.2 (Local)
2025-08-23T22:03:46.480Z,1755986626.480 [DAT](INFO): DAT read: Range 11 to 50 : 103.7 m (Round-trip 138.3 ms) speed 0.0 m/s
2025-08-23T22:03:46.480Z,1755986626.480 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:46.481Z,1755986626.481 [DAT](INFO): direction in FSK: [0.248576,-0.902451,0.351842]
2025-08-23T22:03:46.482Z,1755986626.482 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:46.485Z,1755986626.485 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:46.485Z,1755986626.485 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:46.485Z,1755986626.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:46.724Z,1755986626.724 [DAT](INFO): DAT read: user:1589>
2025-08-23T22:03:46.727Z,1755986626.727 [DAT](INFO): DAT read: Tx time:22:03:46.3985
2025-08-23T22:03:46.728Z,1755986626.728 [DAT](INFO): Ping request sent.
2025-08-23T22:03:46.729Z,1755986626.729 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:46.729Z,1755986626.729 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:46.731Z,1755986626.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002967
2025-08-23T22:03:46.867Z,1755986626.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:46.868Z,1755986626.868 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-08-23T22:03:46.974Z,1755986626.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246363
2025-08-23T22:03:47.227Z,1755986627.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498519
2025-08-23T22:03:47.248Z,1755986627.248 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-08-23T22:03:47.248Z,1755986627.248 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-08-23T22:03:47.249Z,1755986627.249 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-08-23T22:03:47.478Z,1755986627.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750298
2025-08-23T22:03:47.656Z,1755986627.656 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-08-23T22:03:47.657Z,1755986627.657 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-08-23T22:03:47.657Z,1755986627.657 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-08-23T22:03:47.733Z,1755986627.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004467
2025-08-23T22:03:47.983Z,1755986627.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254456
2025-08-23T22:03:48.086Z,1755986628.086 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-08-23T22:03:48.086Z,1755986628.086 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-23T22:03:48.086Z,1755986628.086 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-08-23T22:03:48.086Z,1755986628.086 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-23T22:03:48.086Z,1755986628.086 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-23T22:03:48.234Z,1755986628.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506389
2025-08-23T22:03:48.468Z,1755986628.468 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-23T22:03:48.469Z,1755986628.469 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-23T22:03:48.469Z,1755986628.469 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-23T22:03:48.469Z,1755986628.469 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-23T22:03:48.469Z,1755986628.469 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-23T22:03:48.469Z,1755986628.469 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-23T22:03:48.469Z,1755986628.469 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-23T22:03:48.469Z,1755986628.469 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-23T22:03:48.470Z,1755986628.470 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-23T22:03:48.470Z,1755986628.470 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-23T22:03:48.470Z,1755986628.470 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-23T22:03:48.470Z,1755986628.470 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-23T22:03:48.471Z,1755986628.471 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-08-23T22:03:48.471Z,1755986628.471 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-23T22:03:48.471Z,1755986628.471 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-08-23T22:03:48.471Z,1755986628.471 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 103.699997 m
2025-08-23T22:03:48.472Z,1755986628.472 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-08-23T22:03:48.472Z,1755986628.472 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-08-23T22:03:48.472Z,1755986628.473 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -122.859630 arcdeg )
2025-08-23T22:03:48.473Z,1755986628.473 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-23T22:03:48.473Z,1755986628.473 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-08-23T22:03:48.473Z,1755986628.473 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-08-23T22:03:48.474Z,1755986628.474 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-122.859630
2025-08-23T22:03:48.486Z,1755986628.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758403
2025-08-23T22:03:48.741Z,1755986628.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012416
2025-08-23T22:03:48.886Z,1755986628.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:48.888Z,1755986628.888 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-122.859630
2025-08-23T22:03:48.890Z,1755986628.890 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-08-23T22:03:48.890Z,1755986628.890 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-23T22:03:48.890Z,1755986628.890 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-08-23T22:03:48.890Z,1755986628.890 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-23T22:03:48.921Z,1755986628.921 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-08-23T22:03:48.991Z,1755986628.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262534
2025-08-23T22:03:49.242Z,1755986629.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514357
2025-08-23T22:03:49.296Z,1755986629.296 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-23T22:03:49.296Z,1755986629.296 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-23T22:03:49.297Z,1755986629.297 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-23T22:03:49.298Z,1755986629.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-23T22:03:49.299Z,1755986629.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-23T22:03:49.299Z,1755986629.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-23T22:03:49.299Z,1755986629.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-23T22:03:49.299Z,1755986629.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-23T22:03:49.299Z,1755986629.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-23T22:03:49.299Z,1755986629.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-23T22:03:49.299Z,1755986629.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-23T22:03:49.299Z,1755986629.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-23T22:03:49.299Z,1755986629.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-23T22:03:49.299Z,1755986629.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-23T22:03:49.300Z,1755986629.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-23T22:03:49.300Z,1755986629.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-23T22:03:49.300Z,1755986629.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-23T22:03:49.300Z,1755986629.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-23T22:03:49.300Z,1755986629.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-23T22:03:49.300Z,1755986629.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-23T22:03:49.301Z,1755986629.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-23T22:03:49.301Z,1755986629.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-23T22:03:49.301Z,1755986629.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-23T22:03:49.301Z,1755986629.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-23T22:03:49.301Z,1755986629.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-23T22:03:49.301Z,1755986629.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-23T22:03:49.302Z,1755986629.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-08-23T22:03:49.302Z,1755986629.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-23T22:03:49.302Z,1755986629.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-08-23T22:03:49.303Z,1755986629.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-08-23T22:03:49.303Z,1755986629.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-23T22:03:49.303Z,1755986629.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-23T22:03:49.303Z,1755986629.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-08-23T22:03:49.304Z,1755986629.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-08-23T22:03:49.304Z,1755986629.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-23T22:03:49.304Z,1755986629.304 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-23T22:03:49.305Z,1755986629.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-23T22:03:49.305Z,1755986629.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-23T22:03:49.305Z,1755986629.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-23T22:03:49.305Z,1755986629.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-23T22:03:49.305Z,1755986629.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-23T22:03:49.305Z,1755986629.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-23T22:03:49.305Z,1755986629.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-08-23T22:03:49.305Z,1755986629.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-23T22:03:49.495Z,1755986629.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766600
2025-08-23T22:03:49.680Z,1755986629.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 103.699997 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-08-23T22:03:49.726Z,1755986629.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 103.096169 m,
bearing: 268.536234 deg,
lat: 36.779527 deg,
lon: -121.859578 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-08-23T22:03:49.727Z,1755986629.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-23T22:03:49.732Z,1755986629.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 103.096169 m,
nav range: 100.323593 m,
bearing: 270.180023 deg,
approach rate: nan m/s,
LOS rate: nan deg/s,
cmd heading: 342.837165 deg,
new cmd heading: 270.180023 deg.
2025-08-23T22:03:49.751Z,1755986629.751 [DAT](INFO): DAT read: Rx Time:22:03:48.9406
2025-08-23T22:03:49.753Z,1755986629.753 [DAT](INFO): Rx dataTimestamp_ set to:1755986629.751730
2025-08-23T22:03:49.756Z,1755986629.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026858
2025-08-23T22:03:49.770Z,1755986629.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715531 target range: 103.096169 and range: 103.70 m.
2025-08-23T22:03:49.829Z,1755986629.829 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-23T22:03:49.834Z,1755986629.834 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-23T22:03:49.999Z,1755986629.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270772
2025-08-23T22:03:50.125Z,1755986630.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-23T22:03:50.132Z,1755986630.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 103.096169 m,
nav range: 100.277588 m,
bearing: 270.112256 deg,
approach rate: -0.103339 m/s,
LOS rate: nan deg/s,
cmd heading: 270.180017 deg,
new cmd heading: 270.112256 deg.
2025-08-23T22:03:50.132Z,1755986630.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714348 target range: 103.096169 and range: 103.70 m.
2025-08-23T22:03:50.261Z,1755986630.261 [DAT](INFO): DAT read: 22:03:48.9406 LVL= 30576, 28497, 26930, 32755, AGC= 64, IDX= 433, 0.10, 1.580, 2.212,-2.219,-3.041, PHS=-1.560,-0.986, 0.778, RAW= 223.6, 16.5, CAL= 227.2, 19.1, ROT= 282.8, -19.1
2025-08-23T22:03:50.263Z,1755986630.263 [DAT](INFO): got valid direction response:
22:03:48.9406 LVL= 30576, 28497, 26930, 32755, AGC= 64, IDX= 433, 0.10, 1.580, 2.212,-2.219,-3.041, PHS=-1.560,-0.986, 0.778, RAW= 223.6, 16.5, CAL= 227.2, 19.1, ROT= 282.8, -19.1
2025-08-23T22:03:50.265Z,1755986630.265 [DAT](INFO): DAT read: Bearing 221.5, -63.8 (Local)
2025-08-23T22:03:50.265Z,1755986630.265 [DAT](INFO): Local bearing/azimuth received:
Bearing 221.5, -63.8 (Local)
2025-08-23T22:03:50.267Z,1755986630.267 [DAT](INFO): DAT read: Range 11 to 50 : 103.4 m (Round-trip 137.9 ms) speed 0.0 m/s
2025-08-23T22:03:50.268Z,1755986630.268 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:50.271Z,1755986630.271 [DAT](INFO): direction in FSK: [0.209352,-0.921466,0.327218]
2025-08-23T22:03:50.271Z,1755986630.271 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:50.276Z,1755986630.276 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:50.276Z,1755986630.276 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:50.277Z,1755986630.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:50.502Z,1755986630.502 [DAT](INFO): DAT read: user:1590>
2025-08-23T22:03:50.503Z,1755986630.503 [DAT](INFO): DAT read: Tx time:22:03:50.1985
2025-08-23T22:03:50.503Z,1755986630.503 [DAT](INFO): Ping request sent.
2025-08-23T22:03:50.504Z,1755986630.504 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:50.504Z,1755986630.504 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:50.504Z,1755986630.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000782
2025-08-23T22:03:50.680Z,1755986630.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 103.400002 m,
deltaT: 3.780692 s,
deltaX: -0.299995 m,
approachRate: -0.079349 m/s,
rangeRepo size: 2
2025-08-23T22:03:50.686Z,1755986630.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 102.797218 m,
bearing: 267.393869 deg,
lat: 36.779513 deg,
lon: -121.859581 deg,
deltaT: 3.780692 s,
deltaX: -0.298950 m,
approachRate: -0.079073 m/s,
posRepo size: 2
2025-08-23T22:03:50.687Z,1755986630.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m.
2025-08-23T22:03:50.688Z,1755986630.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 267.393869 deg.
2025-08-23T22:03:50.689Z,1755986630.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666903 target range: 102.797218 and range: 103.40 m.
2025-08-23T22:03:50.756Z,1755986630.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252140
2025-08-23T22:03:50.950Z,1755986630.950 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-23T22:03:51.007Z,1755986631.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502977
2025-08-23T22:03:51.070Z,1755986631.070 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-23T22:03:51.215Z,1755986631.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:51.217Z,1755986631.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m.
2025-08-23T22:03:51.220Z,1755986631.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.797218 m,
nav range: 100.447739 m,
bearing: 269.046777 deg,
approach rate: -0.089838 m/s,
LOS rate: -0.152302 deg/s,
cmd heading: 267.393874 deg,
new cmd heading: 267.229973 deg.
2025-08-23T22:03:51.221Z,1755986631.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664043 target range: 102.797218 and range: 103.40 m.
2025-08-23T22:03:51.260Z,1755986631.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755612
2025-08-23T22:03:51.511Z,1755986631.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006862
2025-08-23T22:03:51.590Z,1755986631.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m.
2025-08-23T22:03:51.592Z,1755986631.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.797218 m,
nav range: 100.415253 m,
bearing: 268.990788 deg,
approach rate: -0.087275 m/s,
LOS rate: -0.150465 deg/s,
cmd heading: 267.229976 deg,
new cmd heading: 267.117962 deg.
2025-08-23T22:03:51.593Z,1755986631.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662088 target range: 102.797218 and range: 103.40 m.
2025-08-23T22:03:51.766Z,1755986631.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261594
2025-08-23T22:03:51.997Z,1755986631.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m.
2025-08-23T22:03:52.012Z,1755986632.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.797218 m,
nav range: 100.382317 m,
bearing: 268.929498 deg,
approach rate: -0.080787 m/s,
LOS rate: -0.150384 deg/s,
cmd heading: 267.117961 deg,
new cmd heading: 266.995341 deg.
2025-08-23T22:03:52.013Z,1755986632.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659948 target range: 102.797218 and range: 103.40 m.
2025-08-23T22:03:52.015Z,1755986632.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510960
2025-08-23T22:03:52.267Z,1755986632.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763212
2025-08-23T22:03:52.370Z,1755986632.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m.
2025-08-23T22:03:52.372Z,1755986632.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.797218 m,
nav range: 100.353638 m,
bearing: 268.875274 deg,
approach rate: -0.076991 m/s,
LOS rate: -0.145611 deg/s,
cmd heading: 266.995346 deg,
new cmd heading: 266.886867 deg.
2025-08-23T22:03:52.374Z,1755986632.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658054 target range: 102.797218 and range: 103.40 m.
2025-08-23T22:03:52.519Z,1755986632.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015444
2025-08-23T22:03:52.771Z,1755986632.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266964
2025-08-23T22:03:52.820Z,1755986632.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m.
2025-08-23T22:03:52.850Z,1755986632.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.797218 m,
nav range: 100.321587 m,
bearing: 268.813666 deg,
approach rate: -0.074872 m/s,
LOS rate: -0.143962 deg/s,
cmd heading: 266.886855 deg,
new cmd heading: 266.763600 deg.
2025-08-23T22:03:52.858Z,1755986632.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655903 target range: 102.797218 and range: 103.40 m.
2025-08-23T22:03:53.023Z,1755986633.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518931
2025-08-23T22:03:53.275Z,1755986633.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771035
2025-08-23T22:03:53.282Z,1755986633.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:53.284Z,1755986633.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m.
2025-08-23T22:03:53.287Z,1755986633.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.797218 m,
nav range: 100.286171 m,
bearing: 268.745301 deg,
approach rate: -0.072793 m/s,
LOS rate: -0.140565 deg/s,
cmd heading: 266.763611 deg,
new cmd heading: 266.626835 deg.
2025-08-23T22:03:53.288Z,1755986633.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653516 target range: 102.797218 and range: 103.40 m.
2025-08-23T22:03:53.527Z,1755986633.527 [DAT](INFO): DAT read: Rx Time:22:03:52.7402
2025-08-23T22:03:53.528Z,1755986633.528 [DAT](INFO): Rx dataTimestamp_ set to:1755986633.527477
2025-08-23T22:03:53.528Z,1755986633.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024693
2025-08-23T22:03:53.632Z,1755986633.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m.
2025-08-23T22:03:53.634Z,1755986633.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.797218 m,
nav range: 100.261139 m,
bearing: 268.696407 deg,
approach rate: -0.072050 m/s,
LOS rate: -0.140767 deg/s,
cmd heading: 266.626843 deg,
new cmd heading: 266.529031 deg.
2025-08-23T22:03:53.635Z,1755986633.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651809 target range: 102.797218 and range: 103.40 m.
2025-08-23T22:03:53.780Z,1755986633.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276118
2025-08-23T22:03:54.036Z,1755986634.036 [DAT](INFO): DAT read: 22:03:52.7402 LVL= 27600, 31297, 28530, 32563, AGC= 65, IDX= 445, 0.05, 0.329, 1.079, 2.836, 2.000, PHS=-1.568,-0.876, 0.792, RAW= 226.6, 15.5, CAL= 229.8, 17.9, ROT= 280.2, -17.9
2025-08-23T22:03:54.037Z,1755986634.037 [DAT](INFO): got valid direction response:
22:03:52.7402 LVL= 27600, 31297, 28530, 32563, AGC= 65, IDX= 445, 0.05, 0.329, 1.079, 2.836, 2.000, PHS=-1.568,-0.876, 0.792, RAW= 226.6, 15.5, CAL= 229.8, 17.9, ROT= 280.2, -17.9
2025-08-23T22:03:54.038Z,1755986634.038 [DAT](INFO): DAT read: Bearing 226.8, -65.6 (Local)
2025-08-23T22:03:54.038Z,1755986634.038 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.8, -65.6 (Local)
2025-08-23T22:03:54.040Z,1755986634.040 [DAT](INFO): DAT read: Range 11 to 50 : 103.1 m (Round-trip 137.5 ms) speed 0.0 m/s
2025-08-23T22:03:54.040Z,1755986634.040 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:54.042Z,1755986634.042 [DAT](INFO): direction in FSK: [0.168513,-0.936555,0.307357]
2025-08-23T22:03:54.042Z,1755986634.042 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:54.045Z,1755986634.045 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:54.045Z,1755986634.045 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:54.045Z,1755986634.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:54.195Z,1755986634.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 103.099998 m,
deltaT: 3.779434 s,
deltaX: -0.300003 m,
approachRate: -0.079378 m/s,
rangeRepo size: 3
2025-08-23T22:03:54.203Z,1755986634.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 102.498199 m,
bearing: 266.179740 deg,
lat: 36.779493 deg,
lon: -121.859582 deg,
deltaT: 3.779434 s,
deltaX: -0.299019 m,
approachRate: -0.079117 m/s,
posRepo size: 3
2025-08-23T22:03:54.204Z,1755986634.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m.
2025-08-23T22:03:54.212Z,1755986634.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.498199 m,
nav range: 100.454605 m,
bearing: 267.380124 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.140767 deg/s,
cmd heading: 266.529035 deg,
new cmd heading: 266.373087 deg.
2025-08-23T22:03:54.218Z,1755986634.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649087 target range: 102.498199 and range: 103.10 m.
2025-08-23T22:03:54.285Z,1755986634.285 [DAT](INFO): DAT read: user:1591>
2025-08-23T22:03:54.286Z,1755986634.286 [DAT](INFO): DAT read: Tx time:22:03:53.9485
2025-08-23T22:03:54.286Z,1755986634.286 [DAT](INFO): Ping request sent.
2025-08-23T22:03:54.286Z,1755986634.286 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:54.286Z,1755986634.286 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:54.287Z,1755986634.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-08-23T22:03:54.539Z,1755986634.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252611
2025-08-23T22:03:54.551Z,1755986634.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m.
2025-08-23T22:03:54.554Z,1755986634.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.498199 m,
nav range: 100.425613 m,
bearing: 267.327264 deg,
approach rate: -0.079226 m/s,
LOS rate: -0.144493 deg/s,
cmd heading: 266.373088 deg,
new cmd heading: 266.267337 deg.
2025-08-23T22:03:54.555Z,1755986634.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647242 target range: 102.498199 and range: 103.10 m.
2025-08-23T22:03:54.618Z,1755986634.618 [DockingStepper](INFO): Changing to mode: 1
2025-08-23T22:03:54.791Z,1755986634.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504577
2025-08-23T22:03:54.951Z,1755986634.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m.
2025-08-23T22:03:54.954Z,1755986634.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.498199 m,
nav range: 100.390198 m,
bearing: 267.266528 deg,
approach rate: -0.088665 m/s,
LOS rate: -0.152110 deg/s,
cmd heading: 266.267330 deg,
new cmd heading: 266.145815 deg.
2025-08-23T22:03:54.955Z,1755986634.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645121 target range: 102.498199 and range: 103.10 m.
2025-08-23T22:03:55.043Z,1755986635.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757182
2025-08-23T22:03:55.299Z,1755986635.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012606
2025-08-23T22:03:55.344Z,1755986635.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:55.347Z,1755986635.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m.
2025-08-23T22:03:55.349Z,1755986635.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.498199 m,
nav range: 100.355186 m,
bearing: 267.206447 deg,
approach rate: -0.088444 m/s,
LOS rate: -0.151826 deg/s,
cmd heading: 266.145807 deg,
new cmd heading: 266.025604 deg.
2025-08-23T22:03:55.350Z,1755986635.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643023 target range: 102.498199 and range: 103.10 m.
2025-08-23T22:03:55.552Z,1755986635.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266034
2025-08-23T22:03:55.747Z,1755986635.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m.
2025-08-23T22:03:55.752Z,1755986635.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.498199 m,
nav range: 100.320549 m,
bearing: 267.146895 deg,
approach rate: -0.086717 m/s,
LOS rate: -0.149142 deg/s,
cmd heading: 266.025596 deg,
new cmd heading: 265.906451 deg.
2025-08-23T22:03:55.754Z,1755986635.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640943 target range: 102.498199 and range: 103.10 m.
2025-08-23T22:03:55.808Z,1755986635.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519444
2025-08-23T22:03:56.055Z,1755986636.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768590
2025-08-23T22:03:56.185Z,1755986636.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m.
2025-08-23T22:03:56.191Z,1755986636.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.498199 m,
nav range: 100.268448 m,
bearing: 267.071072 deg,
approach rate: -0.118796 m/s,
LOS rate: -0.172974 deg/s,
cmd heading: 265.906450 deg,
new cmd heading: 265.754725 deg.
2025-08-23T22:03:56.192Z,1755986636.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638295 target range: 102.498199 and range: 103.10 m.
2025-08-23T22:03:56.307Z,1755986636.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021320
2025-08-23T22:03:56.559Z,1755986636.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272607
2025-08-23T22:03:56.590Z,1755986636.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m.
2025-08-23T22:03:56.592Z,1755986636.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.498199 m,
nav range: 100.222473 m,
bearing: 267.004542 deg,
approach rate: -0.113628 m/s,
LOS rate: -0.164506 deg/s,
cmd heading: 265.754738 deg,
new cmd heading: 265.621617 deg.
2025-08-23T22:03:56.598Z,1755986636.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635972 target range: 102.498199 and range: 103.10 m.
2025-08-23T22:03:56.811Z,1755986636.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524525
2025-08-23T22:03:57.000Z,1755986637.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m.
2025-08-23T22:03:57.003Z,1755986637.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.498199 m,
nav range: 100.166946 m,
bearing: 266.923375 deg,
approach rate: -0.135144 m/s,
LOS rate: -0.197659 deg/s,
cmd heading: 265.621604 deg,
new cmd heading: 265.459180 deg.
2025-08-23T22:03:57.004Z,1755986637.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633137 target range: 102.498199 and range: 103.10 m.
2025-08-23T22:03:57.063Z,1755986637.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777041
2025-08-23T22:03:57.315Z,1755986637.315 [DAT](INFO): DAT read: Rx Time:22:03:56.4897
2025-08-23T22:03:57.315Z,1755986637.315 [DAT](INFO): Rx dataTimestamp_ set to:1755986637.314804
2025-08-23T22:03:57.316Z,1755986637.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029670
2025-08-23T22:03:57.384Z,1755986637.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:57.386Z,1755986637.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m.
2025-08-23T22:03:57.389Z,1755986637.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.498199 m,
nav range: 100.116516 m,
bearing: 266.850235 deg,
approach rate: -0.130594 m/s,
LOS rate: -0.189499 deg/s,
cmd heading: 265.459182 deg,
new cmd heading: 265.312828 deg.
2025-08-23T22:03:57.406Z,1755986637.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630582 target range: 102.498199 and range: 103.10 m.
2025-08-23T22:03:57.567Z,1755986637.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280827
2025-08-23T22:03:57.800Z,1755986637.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m.
2025-08-23T22:03:57.803Z,1755986637.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.498199 m,
nav range: 100.061508 m,
bearing: 266.771179 deg,
approach rate: -0.132909 m/s,
LOS rate: -0.191117 deg/s,
cmd heading: 265.312824 deg,
new cmd heading: 265.154627 deg.
2025-08-23T22:03:57.804Z,1755986637.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627821 target range: 102.498199 and range: 103.10 m.
2025-08-23T22:03:57.824Z,1755986637.824 [DAT](INFO): DAT read: 22:03:56.4898 LVL= 31424, 27169, 24738, 31219, AGC= 64, IDX= 440, 0.13, 1.973, 2.766,-1.727,-2.655, PHS=-1.552,-0.817, 0.884, RAW= 227.1, 13.6, CAL= 229.6, 15.8, ROT= 280.4, -15.8
2025-08-23T22:03:57.826Z,1755986637.826 [DAT](INFO): got valid direction response:
22:03:56.4898 LVL= 31424, 27169, 24738, 31219, AGC= 64, IDX= 440, 0.13, 1.973, 2.766,-1.727,-2.655, PHS=-1.552,-0.817, 0.884, RAW= 227.1, 13.6, CAL= 229.6, 15.8, ROT= 280.4, -15.8
2025-08-23T22:03:57.827Z,1755986637.827 [DAT](INFO): DAT read: Bearing 221.9, -69.3 (Local)
2025-08-23T22:03:57.827Z,1755986637.827 [DAT](INFO): Local bearing/azimuth received:
Bearing 221.9, -69.3 (Local)
2025-08-23T22:03:57.829Z,1755986637.829 [DAT](INFO): DAT read: Range 11 to 50 : 102.8 m (Round-trip 137.1 ms) speed 0.0 m/s
2025-08-23T22:03:57.846Z,1755986637.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:03:57.847Z,1755986637.847 [DAT](INFO): direction in FSK: [0.173699,-0.946410,0.272280]
2025-08-23T22:03:57.847Z,1755986637.847 [DAT](INFO): publishing direction and range info
2025-08-23T22:03:57.852Z,1755986637.852 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:03:57.852Z,1755986637.852 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:03:57.853Z,1755986637.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:03:58.071Z,1755986638.071 [DAT](INFO): DAT read: user:1592>
2025-08-23T22:03:58.071Z,1755986638.071 [DAT](INFO): DAT read: Tx time:22:03:57.7986
2025-08-23T22:03:58.072Z,1755986638.072 [DAT](INFO): Ping request sent.
2025-08-23T22:03:58.072Z,1755986638.072 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:03:58.072Z,1755986638.072 [DAT](INFO): publishing transmit ping time
2025-08-23T22:03:58.072Z,1755986638.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-08-23T22:03:58.273Z,1755986638.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 102.800003 m,
deltaT: 3.787855 s,
deltaX: -0.299995 m,
approachRate: -0.079199 m/s,
rangeRepo size: 4
2025-08-23T22:03:58.275Z,1755986638.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 102.201347 m,
bearing: 265.044790 deg,
lat: 36.779485 deg,
lon: -121.859587 deg,
deltaT: 3.787855 s,
deltaX: -0.296852 m,
approachRate: -0.078369 m/s,
posRepo size: 4
2025-08-23T22:03:58.276Z,1755986638.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m.
2025-08-23T22:03:58.278Z,1755986638.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.201347 m,
nav range: 100.435349 m,
bearing: 266.183628 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.191117 deg/s,
cmd heading: 265.154637 deg,
new cmd heading: 264.974321 deg.
2025-08-23T22:03:58.279Z,1755986638.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624674 target range: 102.201347 and range: 102.80 m.
2025-08-23T22:03:58.324Z,1755986638.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252007
2025-08-23T22:03:58.575Z,1755986638.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503268
2025-08-23T22:03:58.656Z,1755986638.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m.
2025-08-23T22:03:58.658Z,1755986638.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.201347 m,
nav range: 100.385773 m,
bearing: 266.104584 deg,
approach rate: -0.129238 m/s,
LOS rate: -0.206159 deg/s,
cmd heading: 264.974320 deg,
new cmd heading: 264.816154 deg.
2025-08-23T22:03:58.659Z,1755986638.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621914 target range: 102.201347 and range: 102.80 m.
2025-08-23T22:03:58.827Z,1755986638.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754825
2025-08-23T22:03:59.069Z,1755986639.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m.
2025-08-23T22:03:59.078Z,1755986639.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006671
2025-08-23T22:03:59.088Z,1755986639.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.201347 m,
nav range: 100.330963 m,
bearing: 266.011204 deg,
approach rate: -0.132675 m/s,
LOS rate: -0.226164 deg/s,
cmd heading: 264.816160 deg,
new cmd heading: 264.629298 deg.
2025-08-23T22:03:59.088Z,1755986639.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618652 target range: 102.201347 and range: 102.80 m.
2025-08-23T22:03:59.331Z,1755986639.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259545
2025-08-23T22:03:59.447Z,1755986639.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:03:59.449Z,1755986639.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m.
2025-08-23T22:03:59.455Z,1755986639.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.201347 m,
nav range: 100.280022 m,
bearing: 265.925393 deg,
approach rate: -0.133894 m/s,
LOS rate: -0.225659 deg/s,
cmd heading: 264.629286 deg,
new cmd heading: 264.457578 deg.
2025-08-23T22:03:59.456Z,1755986639.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615655 target range: 102.201347 and range: 102.80 m.
2025-08-23T22:03:59.583Z,1755986639.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511235
2025-08-23T22:03:59.835Z,1755986639.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762930
2025-08-23T22:03:59.857Z,1755986639.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m.
2025-08-23T22:03:59.860Z,1755986639.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.201347 m,
nav range: 100.224739 m,
bearing: 265.833393 deg,
approach rate: -0.135470 m/s,
LOS rate: -0.225571 deg/s,
cmd heading: 264.457575 deg,
new cmd heading: 264.273474 deg.
2025-08-23T22:03:59.861Z,1755986639.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612442 target range: 102.201347 and range: 102.80 m.
2025-08-23T22:04:00.087Z,1755986640.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014801
2025-08-23T22:04:00.295Z,1755986640.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m.
2025-08-23T22:04:00.298Z,1755986640.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.201347 m,
nav range: 100.165268 m,
bearing: 265.727827 deg,
approach rate: -0.135935 m/s,
LOS rate: -0.241436 deg/s,
cmd heading: 264.273461 deg,
new cmd heading: 264.062206 deg.
2025-08-23T22:04:00.299Z,1755986640.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608755 target range: 102.201347 and range: 102.80 m.
2025-08-23T22:04:00.340Z,1755986640.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268553
2025-08-23T22:04:00.590Z,1755986640.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518723
2025-08-23T22:04:00.679Z,1755986640.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m.
2025-08-23T22:04:00.682Z,1755986640.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.201347 m,
nav range: 100.112564 m,
bearing: 265.635572 deg,
approach rate: -0.137072 m/s,
LOS rate: -0.240063 deg/s,
cmd heading: 264.062217 deg,
new cmd heading: 263.877610 deg.
2025-08-23T22:04:00.683Z,1755986640.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.605533 target range: 102.201347 and range: 102.80 m.
2025-08-23T22:04:00.843Z,1755986640.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771266
2025-08-23T22:04:01.095Z,1755986641.095 [DAT](INFO): DAT read: Rx Time:22:04:00.3393
2025-08-23T22:04:01.095Z,1755986641.095 [DAT](INFO): Rx dataTimestamp_ set to:1755986641.094797
2025-08-23T22:04:01.096Z,1755986641.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023921
2025-08-23T22:04:01.103Z,1755986641.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m.
2025-08-23T22:04:01.106Z,1755986641.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.201347 m,
nav range: 100.059052 m,
bearing: 265.525941 deg,
approach rate: -0.126170 m/s,
LOS rate: -0.258622 deg/s,
cmd heading: 263.877610 deg,
new cmd heading: 263.658232 deg.
2025-08-23T22:04:01.107Z,1755986641.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601704 target range: 102.201347 and range: 102.80 m.
2025-08-23T22:04:01.347Z,1755986641.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275077
2025-08-23T22:04:01.470Z,1755986641.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:01.472Z,1755986641.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m.
2025-08-23T22:04:01.477Z,1755986641.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.201347 m,
nav range: 100.011169 m,
bearing: 265.429428 deg,
approach rate: -0.129738 m/s,
LOS rate: -0.261629 deg/s,
cmd heading: 263.658225 deg,
new cmd heading: 263.465107 deg.
2025-08-23T22:04:01.478Z,1755986641.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598333 target range: 102.201347 and range: 102.80 m.
2025-08-23T22:04:01.605Z,1755986641.605 [DAT](INFO): DAT read: 22:04:00.3393 LVL= 24944, 26033, 21586, 26723, AGC= 62, IDX= 435, 0.10, 1.177, 1.885,-2.514, 2.717, PHS=-1.437,-0.787, 1.009, RAW= 224.9, 11.1, CAL= 226.3, 12.9, ROT= 283.7, -12.9
2025-08-23T22:04:01.606Z,1755986641.606 [DAT](INFO): got valid direction response:
22:04:00.3393 LVL= 24944, 26033, 21586, 26723, AGC= 62, IDX= 435, 0.10, 1.177, 1.885,-2.514, 2.717, PHS=-1.437,-0.787, 1.009, RAW= 224.9, 11.1, CAL= 226.3, 12.9, ROT= 283.7, -12.9
2025-08-23T22:04:01.607Z,1755986641.607 [DAT](INFO): DAT read: Bearing 202.8, -72.1 (Local)
2025-08-23T22:04:01.608Z,1755986641.608 [DAT](INFO): Local bearing/azimuth received:
Bearing 202.8, -72.1 (Local)
2025-08-23T22:04:01.609Z,1755986641.609 [DAT](INFO): DAT read: Range 11 to 50 : 102.4 m (Round-trip 136.6 ms) speed 0.0 m/s
2025-08-23T22:04:01.610Z,1755986641.610 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:01.611Z,1755986641.611 [DAT](INFO): direction in FSK: [0.230861,-0.947028,0.223250]
2025-08-23T22:04:01.611Z,1755986641.611 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:01.615Z,1755986641.615 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:01.615Z,1755986641.615 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:01.615Z,1755986641.615 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:01.850Z,1755986641.850 [DAT](INFO): DAT read: user:1593>
2025-08-23T22:04:01.851Z,1755986641.851 [DAT](INFO): DAT read: Tx time:22:04:01.5486
2025-08-23T22:04:01.852Z,1755986641.852 [DAT](INFO): Ping request sent.
2025-08-23T22:04:01.852Z,1755986641.852 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:01.852Z,1755986641.852 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:01.852Z,1755986641.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-08-23T22:04:01.947Z,1755986641.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 102.400002 m,
deltaT: 3.781306 s,
deltaX: -0.400002 m,
approachRate: -0.105784 m/s,
rangeRepo size: 4
2025-08-23T22:04:01.968Z,1755986641.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 101.803734 m,
bearing: 265.262117 deg,
lat: 36.779484 deg,
lon: -121.859587 deg,
deltaT: 3.781306 s,
deltaX: -0.397614 m,
approachRate: -0.105152 m/s,
posRepo size: 4
2025-08-23T22:04:01.982Z,1755986641.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:01.984Z,1755986641.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 100.016197 m,
bearing: 265.239690 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.261629 deg/s,
cmd heading: 263.465094 deg,
new cmd heading: 263.220850 deg.
2025-08-23T22:04:01.990Z,1755986641.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594070 target range: 101.803734 and range: 102.40 m.
2025-08-23T22:04:02.105Z,1755986642.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252883
2025-08-23T22:04:02.359Z,1755986642.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506984
2025-08-23T22:04:02.372Z,1755986642.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:02.395Z,1755986642.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.950630 m,
bearing: 265.106434 deg,
approach rate: -0.151480 m/s,
LOS rate: -0.308063 deg/s,
cmd heading: 263.220847 deg,
new cmd heading: 262.954162 deg.
2025-08-23T22:04:02.396Z,1755986642.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589416 target range: 101.803734 and range: 102.40 m.
2025-08-23T22:04:02.610Z,1755986642.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758761
2025-08-23T22:04:02.769Z,1755986642.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:02.772Z,1755986642.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.896652 m,
bearing: 264.998830 deg,
approach rate: -0.135953 m/s,
LOS rate: -0.271166 deg/s,
cmd heading: 262.954169 deg,
new cmd heading: 262.738845 deg.
2025-08-23T22:04:02.773Z,1755986642.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585658 target range: 101.803734 and range: 102.40 m.
2025-08-23T22:04:02.862Z,1755986642.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010835
2025-08-23T22:04:03.115Z,1755986643.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262895
2025-08-23T22:04:03.282Z,1755986643.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:03.284Z,1755986643.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.825676 m,
bearing: 264.853443 deg,
approach rate: -0.138504 m/s,
LOS rate: -0.283909 deg/s,
cmd heading: 262.738854 deg,
new cmd heading: 262.447878 deg.
2025-08-23T22:04:03.285Z,1755986643.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580580 target range: 101.803734 and range: 102.40 m.
2025-08-23T22:04:03.367Z,1755986643.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515815
2025-08-23T22:04:03.619Z,1755986643.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766928
2025-08-23T22:04:03.635Z,1755986643.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:03.637Z,1755986643.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:03.652Z,1755986643.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.773994 m,
bearing: 264.753076 deg,
approach rate: -0.145390 m/s,
LOS rate: -0.282499 deg/s,
cmd heading: 262.447888 deg,
new cmd heading: 262.247050 deg.
2025-08-23T22:04:03.653Z,1755986643.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577075 target range: 101.803734 and range: 102.40 m.
2025-08-23T22:04:03.871Z,1755986643.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018836
2025-08-23T22:04:04.123Z,1755986644.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270920
2025-08-23T22:04:04.131Z,1755986644.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:04.134Z,1755986644.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.697281 m,
bearing: 264.607211 deg,
approach rate: -0.155332 m/s,
LOS rate: -0.295579 deg/s,
cmd heading: 262.247053 deg,
new cmd heading: 261.955101 deg.
2025-08-23T22:04:04.135Z,1755986644.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571979 target range: 101.803734 and range: 102.40 m.
2025-08-23T22:04:04.374Z,1755986644.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522829
2025-08-23T22:04:04.473Z,1755986644.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:04.476Z,1755986644.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.642624 m,
bearing: 264.505651 deg,
approach rate: -0.161515 m/s,
LOS rate: -0.300280 deg/s,
cmd heading: 261.955103 deg,
new cmd heading: 261.751874 deg.
2025-08-23T22:04:04.477Z,1755986644.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568432 target range: 101.803734 and range: 102.40 m.
2025-08-23T22:04:04.627Z,1755986644.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774955
2025-08-23T22:04:04.876Z,1755986644.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:04.879Z,1755986644.879 [DAT](INFO): DAT read: Rx Time:22:04:04.0890
2025-08-23T22:04:04.879Z,1755986644.879 [DAT](INFO): Rx dataTimestamp_ set to:1755986644.878849
2025-08-23T22:04:04.880Z,1755986644.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028029
2025-08-23T22:04:04.882Z,1755986644.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.576561 m,
bearing: 264.386197 deg,
approach rate: -0.162502 m/s,
LOS rate: -0.294028 deg/s,
cmd heading: 261.751864 deg,
new cmd heading: 261.512799 deg.
2025-08-23T22:04:04.883Z,1755986644.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564260 target range: 101.803734 and range: 102.40 m.
2025-08-23T22:04:05.132Z,1755986645.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280182
2025-08-23T22:04:05.321Z,1755986645.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:05.335Z,1755986645.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.504822 m,
bearing: 264.256431 deg,
approach rate: -0.161086 m/s,
LOS rate: -0.291592 deg/s,
cmd heading: 261.512808 deg,
new cmd heading: 261.253091 deg.
2025-08-23T22:04:05.336Z,1755986645.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559727 target range: 101.803734 and range: 102.40 m.
2025-08-23T22:04:05.383Z,1755986645.383 [DAT](INFO): DAT read: Range 11 to 50 : 102.2 m (Round-trip 136.3 ms) speed 0.0 m/s
2025-08-23T22:04:05.384Z,1755986645.384 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:04:05.385Z,1755986645.385 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:05.385Z,1755986645.385 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:05.385Z,1755986645.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:05.634Z,1755986645.634 [DAT](INFO): DAT read: user:1594>
2025-08-23T22:04:05.635Z,1755986645.635 [DAT](INFO): DAT read: Tx time:22:04:05.2986
2025-08-23T22:04:05.635Z,1755986645.635 [DAT](INFO): Ping request sent.
2025-08-23T22:04:05.636Z,1755986645.636 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:05.636Z,1755986645.636 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:05.636Z,1755986645.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-23T22:04:05.748Z,1755986645.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:05.751Z,1755986645.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 102.199997 m,
deltaT: 3.782766 s,
deltaX: -0.200005 m,
approachRate: -0.052873 m/s,
rangeRepo size: 4
2025-08-23T22:04:05.752Z,1755986645.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:05.763Z,1755986645.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.427177 m,
bearing: 264.119700 deg,
approach rate: -0.180864 m/s,
LOS rate: -0.318750 deg/s,
cmd heading: 261.253097 deg,
new cmd heading: 260.979423 deg.
2025-08-23T22:04:05.764Z,1755986645.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.554950 target range: 101.803734 and range: 102.20 m.
2025-08-23T22:04:05.887Z,1755986645.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251403
2025-08-23T22:04:06.139Z,1755986646.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503069
2025-08-23T22:04:06.162Z,1755986646.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:06.164Z,1755986646.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.348534 m,
bearing: 263.993700 deg,
approach rate: -0.191393 m/s,
LOS rate: -0.306886 deg/s,
cmd heading: 260.979424 deg,
new cmd heading: 260.727226 deg.
2025-08-23T22:04:06.165Z,1755986646.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550549 target range: 101.803734 and range: 102.20 m.
2025-08-23T22:04:06.392Z,1755986646.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756095
2025-08-23T22:04:06.538Z,1755986646.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:06.540Z,1755986646.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.275932 m,
bearing: 263.880229 deg,
approach rate: -0.193074 m/s,
LOS rate: -0.301981 deg/s,
cmd heading: 260.727227 deg,
new cmd heading: 260.500121 deg.
2025-08-23T22:04:06.541Z,1755986646.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546585 target range: 101.803734 and range: 102.20 m.
2025-08-23T22:04:06.644Z,1755986646.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008080
2025-08-23T22:04:06.895Z,1755986646.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258965
2025-08-23T22:04:06.956Z,1755986646.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:06.964Z,1755986646.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.196144 m,
bearing: 263.758718 deg,
approach rate: -0.190722 m/s,
LOS rate: -0.290688 deg/s,
cmd heading: 260.500109 deg,
new cmd heading: 260.256893 deg.
2025-08-23T22:04:06.964Z,1755986646.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542340 target range: 101.803734 and range: 102.20 m.
2025-08-23T22:04:07.147Z,1755986647.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510918
2025-08-23T22:04:07.399Z,1755986647.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762923
2025-08-23T22:04:07.444Z,1755986647.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:07.447Z,1755986647.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.094582 m,
bearing: 263.597340 deg,
approach rate: -0.208160 m/s,
LOS rate: -0.331096 deg/s,
cmd heading: 260.256900 deg,
new cmd heading: 259.933817 deg.
2025-08-23T22:04:07.448Z,1755986647.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536701 target range: 101.803734 and range: 102.20 m.
2025-08-23T22:04:07.651Z,1755986647.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014954
2025-08-23T22:04:07.816Z,1755986647.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:07.818Z,1755986647.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:07.821Z,1755986647.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 99.013519 m,
bearing: 263.480959 deg,
approach rate: -0.216349 m/s,
LOS rate: -0.310866 deg/s,
cmd heading: 259.933804 deg,
new cmd heading: 259.700853 deg.
2025-08-23T22:04:07.823Z,1755986647.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532635 target range: 101.803734 and range: 102.20 m.
2025-08-23T22:04:07.903Z,1755986647.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267427
2025-08-23T22:04:08.154Z,1755986648.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518904
2025-08-23T22:04:08.270Z,1755986648.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:08.272Z,1755986648.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 98.909088 m,
bearing: 263.341534 deg,
approach rate: -0.231509 m/s,
LOS rate: -0.309412 deg/s,
cmd heading: 259.700840 deg,
new cmd heading: 259.421699 deg.
2025-08-23T22:04:08.274Z,1755986648.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527763 target range: 101.803734 and range: 102.20 m.
2025-08-23T22:04:08.407Z,1755986648.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771059
2025-08-23T22:04:08.643Z,1755986648.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:08.646Z,1755986648.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 98.823120 m,
bearing: 263.225951 deg,
approach rate: -0.229848 m/s,
LOS rate: -0.309297 deg/s,
cmd heading: 259.421704 deg,
new cmd heading: 259.190338 deg.
2025-08-23T22:04:08.647Z,1755986648.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523725 target range: 101.803734 and range: 102.20 m.
2025-08-23T22:04:08.659Z,1755986648.659 [DAT](INFO): DAT read: Rx Time:22:04:07.8382
2025-08-23T22:04:08.659Z,1755986648.659 [DAT](INFO): Rx dataTimestamp_ set to:1755986648.658802
2025-08-23T22:04:08.660Z,1755986648.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024056
2025-08-23T22:04:08.910Z,1755986648.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274900
2025-08-23T22:04:09.026Z,1755986649.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.80 m.
2025-08-23T22:04:09.030Z,1755986649.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.803734 m,
nav range: 98.730827 m,
bearing: 263.109771 deg,
approach rate: -0.240971 m/s,
LOS rate: -0.303620 deg/s,
cmd heading: 259.190325 deg,
new cmd heading: 258.957750 deg.
2025-08-23T22:04:09.033Z,1755986649.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519665 target range: 101.803734 and range: 102.20 m.
2025-08-23T22:04:09.170Z,1755986649.170 [DAT](INFO): DAT read: 22:04:07.8382 LVL= 25440, 21729, 20754, 26691, AGC= 63, IDX= 440, 0.14,-1.630,-1.377, 0.791,-0.337, PHS=-1.191,-0.995, 1.084, RAW= 214.5, 10.1, CAL= 215.4, 11.8, ROT= 294.6, -11.8
2025-08-23T22:04:09.172Z,1755986649.172 [DAT](INFO): got valid direction response:
22:04:07.8382 LVL= 25440, 21729, 20754, 26691, AGC= 63, IDX= 440, 0.14,-1.630,-1.377, 0.791,-0.337, PHS=-1.191,-0.995, 1.084, RAW= 214.5, 10.1, CAL= 215.4, 11.8, ROT= 294.6, -11.8
2025-08-23T22:04:09.173Z,1755986649.173 [DAT](INFO): DAT read: Bearing 158.3, -65.4 (Local)
2025-08-23T22:04:09.174Z,1755986649.174 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.3, -65.4 (Local)
2025-08-23T22:04:09.175Z,1755986649.175 [DAT](INFO): DAT read: Range 11 to 50 : 101.6 m (Round-trip 135.5 ms) speed 0.1 m/s
2025-08-23T22:04:09.176Z,1755986649.176 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:09.178Z,1755986649.178 [DAT](INFO): direction in FSK: [0.407484,-0.890022,0.204496]
2025-08-23T22:04:09.179Z,1755986649.179 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:09.184Z,1755986649.184 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:09.184Z,1755986649.184 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:09.185Z,1755986649.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:09.414Z,1755986649.414 [DAT](INFO): DAT read: user:1595>
2025-08-23T22:04:09.415Z,1755986649.415 [DAT](INFO): DAT read: Tx time:22:04:09.0986
2025-08-23T22:04:09.415Z,1755986649.415 [DAT](INFO): Ping request sent.
2025-08-23T22:04:09.416Z,1755986649.416 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:09.416Z,1755986649.416 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:09.416Z,1755986649.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-23T22:04:09.510Z,1755986649.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 101.599998 m,
deltaT: 3.779824 s,
deltaX: -0.599998 m,
approachRate: -0.158737 m/s,
rangeRepo size: 4
2025-08-23T22:04:09.512Z,1755986649.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 101.009880 m,
bearing: 264.621576 deg,
lat: 36.779484 deg,
lon: -121.859587 deg,
deltaT: 7.562590 s,
deltaX: -0.793854 m,
approachRate: -0.104971 m/s,
posRepo size: 4
2025-08-23T22:04:09.512Z,1755986649.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:09.519Z,1755986649.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 98.626923 m,
bearing: 262.966227 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.303620 deg/s,
cmd heading: 258.957743 deg,
new cmd heading: 258.667219 deg.
2025-08-23T22:04:09.520Z,1755986649.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514595 target range: 101.009880 and range: 101.60 m.
2025-08-23T22:04:09.667Z,1755986649.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250952
2025-08-23T22:04:09.899Z,1755986649.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:09.901Z,1755986649.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:09.918Z,1755986649.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502844
2025-08-23T22:04:09.922Z,1755986649.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 98.518768 m,
bearing: 262.838235 deg,
approach rate: -0.273048 m/s,
LOS rate: -0.323484 deg/s,
cmd heading: 258.667214 deg,
new cmd heading: 258.410952 deg.
2025-08-23T22:04:09.923Z,1755986649.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510122 target range: 101.009880 and range: 101.60 m.
2025-08-23T22:04:10.171Z,1755986650.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755296
2025-08-23T22:04:10.323Z,1755986650.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:10.327Z,1755986650.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 98.401550 m,
bearing: 262.708364 deg,
approach rate: -0.277448 m/s,
LOS rate: -0.307764 deg/s,
cmd heading: 258.410946 deg,
new cmd heading: 258.150896 deg.
2025-08-23T22:04:10.327Z,1755986650.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505583 target range: 101.009880 and range: 101.60 m.
2025-08-23T22:04:10.398Z,1755986650.398 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:04:10.424Z,1755986650.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007680
2025-08-23T22:04:10.674Z,1755986650.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258872
2025-08-23T22:04:10.747Z,1755986650.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:10.754Z,1755986650.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 98.283630 m,
bearing: 262.581409 deg,
approach rate: -0.278723 m/s,
LOS rate: -0.300438 deg/s,
cmd heading: 258.150907 deg,
new cmd heading: 257.896694 deg.
2025-08-23T22:04:10.755Z,1755986650.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501146 target range: 101.009880 and range: 101.60 m.
2025-08-23T22:04:10.927Z,1755986650.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510892
2025-08-23T22:04:11.179Z,1755986651.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763299
2025-08-23T22:04:11.229Z,1755986651.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:11.236Z,1755986651.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 98.139145 m,
bearing: 262.433177 deg,
approach rate: -0.299429 m/s,
LOS rate: -0.307644 deg/s,
cmd heading: 257.896687 deg,
new cmd heading: 257.599791 deg.
2025-08-23T22:04:11.237Z,1755986651.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495965 target range: 101.009880 and range: 101.60 m.
2025-08-23T22:04:11.402Z,1755986651.402 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:04:11.431Z,1755986651.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014998
2025-08-23T22:04:11.626Z,1755986651.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:11.629Z,1755986651.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 98.011475 m,
bearing: 262.305690 deg,
approach rate: -0.321653 m/s,
LOS rate: -0.321611 deg/s,
cmd heading: 257.599792 deg,
new cmd heading: 257.344487 deg.
2025-08-23T22:04:11.630Z,1755986651.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491508 target range: 101.009880 and range: 101.60 m.
2025-08-23T22:04:11.683Z,1755986651.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267038
2025-08-23T22:04:11.935Z,1755986651.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518972
2025-08-23T22:04:12.022Z,1755986652.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:12.024Z,1755986652.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:12.027Z,1755986652.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 97.885162 m,
bearing: 262.183203 deg,
approach rate: -0.317390 m/s,
LOS rate: -0.308174 deg/s,
cmd heading: 257.344480 deg,
new cmd heading: 257.099192 deg.
2025-08-23T22:04:12.028Z,1755986652.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487227 target range: 101.009880 and range: 101.60 m.
2025-08-23T22:04:12.188Z,1755986652.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772610
2025-08-23T22:04:12.439Z,1755986652.439 [DAT](INFO): DAT read: Rx Time:22:04:11.6371
2025-08-23T22:04:12.439Z,1755986652.439 [DAT](INFO): Rx dataTimestamp_ set to:1755986652.438796
2025-08-23T22:04:12.440Z,1755986652.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024026
2025-08-23T22:04:12.477Z,1755986652.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:12.484Z,1755986652.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 97.747696 m,
bearing: 262.050563 deg,
approach rate: -0.303685 m/s,
LOS rate: -0.293436 deg/s,
cmd heading: 257.099194 deg,
new cmd heading: 256.833542 deg.
2025-08-23T22:04:12.484Z,1755986652.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482591 target range: 101.009880 and range: 101.60 m.
2025-08-23T22:04:12.692Z,1755986652.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276239
2025-08-23T22:04:12.864Z,1755986652.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:12.882Z,1755986652.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 97.607933 m,
bearing: 261.919790 deg,
approach rate: -0.361160 m/s,
LOS rate: -0.338413 deg/s,
cmd heading: 256.833554 deg,
new cmd heading: 256.571636 deg.
2025-08-23T22:04:12.883Z,1755986652.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478020 target range: 101.009880 and range: 101.60 m.
2025-08-23T22:04:12.944Z,1755986652.944 [DAT](INFO): DAT read: Range 11 to 50 : 100.7 m (Round-trip 134.3 ms) speed 0.2 m/s
2025-08-23T22:04:12.945Z,1755986652.945 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:04:12.946Z,1755986652.946 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:12.946Z,1755986652.946 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:12.947Z,1755986652.947 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:13.196Z,1755986653.196 [DAT](INFO): DAT read: user:1596>
2025-08-23T22:04:13.197Z,1755986653.197 [DAT](INFO): DAT read: Tx time:22:04:12.8501
2025-08-23T22:04:13.198Z,1755986653.198 [DAT](INFO): Ping request sent.
2025-08-23T22:04:13.198Z,1755986653.198 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:13.199Z,1755986653.199 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:13.200Z,1755986653.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001677
2025-08-23T22:04:13.310Z,1755986653.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 100.699997 m,
deltaT: 3.780351 s,
deltaX: -0.900002 m,
approachRate: -0.238074 m/s,
rangeRepo size: 4
2025-08-23T22:04:13.311Z,1755986653.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:13.314Z,1755986653.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 97.465538 m,
bearing: 261.776589 deg,
approach rate: -0.319910 m/s,
LOS rate: -0.322190 deg/s,
cmd heading: 256.571630 deg,
new cmd heading: 256.284814 deg.
2025-08-23T22:04:13.315Z,1755986653.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473014 target range: 101.009880 and range: 100.70 m.
2025-08-23T22:04:13.447Z,1755986653.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248702
2025-08-23T22:04:13.695Z,1755986653.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:13.699Z,1755986653.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500851
2025-08-23T22:04:13.704Z,1755986653.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 97.339073 m,
bearing: 261.658146 deg,
approach rate: -0.327700 m/s,
LOS rate: -0.307313 deg/s,
cmd heading: 256.284817 deg,
new cmd heading: 256.047624 deg.
2025-08-23T22:04:13.711Z,1755986653.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468874 target range: 101.009880 and range: 100.70 m.
2025-08-23T22:04:13.951Z,1755986653.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752347
2025-08-23T22:04:14.162Z,1755986654.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:14.164Z,1755986654.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:14.171Z,1755986654.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 97.189194 m,
bearing: 261.522257 deg,
approach rate: -0.319329 m/s,
LOS rate: -0.289967 deg/s,
cmd heading: 256.047618 deg,
new cmd heading: 255.775424 deg.
2025-08-23T22:04:14.172Z,1755986654.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464123 target range: 101.009880 and range: 100.70 m.
2025-08-23T22:04:14.204Z,1755986654.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005704
2025-08-23T22:04:14.455Z,1755986654.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256730
2025-08-23T22:04:14.610Z,1755986654.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:14.613Z,1755986654.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 97.019585 m,
bearing: 261.368819 deg,
approach rate: -0.379910 m/s,
LOS rate: -0.344289 deg/s,
cmd heading: 255.775421 deg,
new cmd heading: 255.468012 deg.
2025-08-23T22:04:14.618Z,1755986654.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458758 target range: 101.009880 and range: 100.70 m.
2025-08-23T22:04:14.708Z,1755986654.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509817
2025-08-23T22:04:14.958Z,1755986654.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760334
2025-08-23T22:04:15.212Z,1755986655.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013712
2025-08-23T22:04:15.227Z,1755986655.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:15.235Z,1755986655.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 96.805794 m,
bearing: 261.181158 deg,
approach rate: -0.346478 m/s,
LOS rate: -0.304802 deg/s,
cmd heading: 255.468008 deg,
new cmd heading: 255.091863 deg.
2025-08-23T22:04:15.235Z,1755986655.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452193 target range: 101.009880 and range: 100.70 m.
2025-08-23T22:04:15.463Z,1755986655.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265339
2025-08-23T22:04:15.715Z,1755986655.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516423
2025-08-23T22:04:15.778Z,1755986655.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:15.780Z,1755986655.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 96.609779 m,
bearing: 261.005534 deg,
approach rate: -0.356385 m/s,
LOS rate: -0.319960 deg/s,
cmd heading: 255.091856 deg,
new cmd heading: 254.739900 deg.
2025-08-23T22:04:15.781Z,1755986655.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.446050 target range: 101.009880 and range: 100.70 m.
2025-08-23T22:04:15.967Z,1755986655.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768418
2025-08-23T22:04:16.220Z,1755986656.220 [DAT](INFO): DAT read: Rx Time:22:04:15.3874
2025-08-23T22:04:16.220Z,1755986656.220 [DAT](INFO): Rx dataTimestamp_ set to:1755986656.219775
2025-08-23T22:04:16.221Z,1755986656.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022840
2025-08-23T22:04:16.335Z,1755986656.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:16.337Z,1755986656.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.01 m.
2025-08-23T22:04:16.340Z,1755986656.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.009880 m,
nav range: 96.416473 m,
bearing: 260.827598 deg,
approach rate: -0.345401 m/s,
LOS rate: -0.318575 deg/s,
cmd heading: 254.739910 deg,
new cmd heading: 254.383329 deg.
2025-08-23T22:04:16.341Z,1755986656.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439826 target range: 101.009880 and range: 100.70 m.
2025-08-23T22:04:16.471Z,1755986656.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273111
2025-08-23T22:04:16.728Z,1755986656.728 [DAT](INFO): DAT read: 22:04:15.3874 LVL= 32752, 32753, 28514, 32755, AGC= 64, IDX= 431, 0.14, 0.265,-0.033, 2.396, 1.290, PHS=-0.923,-1.278, 1.062, RAW= 201.9, 10.4, CAL= 202.5, 12.3, ROT= 307.5, -12.3
2025-08-23T22:04:16.729Z,1755986656.729 [DAT](INFO): got valid direction response:
22:04:15.3874 LVL= 32752, 32753, 28514, 32755, AGC= 64, IDX= 431, 0.14, 0.265,-0.033, 2.396, 1.290, PHS=-0.923,-1.278, 1.062, RAW= 201.9, 10.4, CAL= 202.5, 12.3, ROT= 307.5, -12.3
2025-08-23T22:04:16.730Z,1755986656.730 [DAT](INFO): DAT read: Bearing 132.4, -51.0 (Local)
2025-08-23T22:04:16.730Z,1755986656.730 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.4, -51.0 (Local)
2025-08-23T22:04:16.732Z,1755986656.732 [DAT](INFO): DAT read: Range 11 to 50 : 99.8 m (Round-trip 133.1 ms) speed 0.3 m/s
2025-08-23T22:04:16.732Z,1755986656.732 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:16.733Z,1755986656.733 [DAT](INFO): direction in FSK: [0.594788,-0.775142,0.213030]
2025-08-23T22:04:16.734Z,1755986656.734 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:16.737Z,1755986656.737 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:16.737Z,1755986656.737 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:16.737Z,1755986656.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:16.789Z,1755986656.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 99.800003 m,
deltaT: 3.779779 s,
deltaX: -0.899994 m,
approachRate: -0.238108 m/s,
rangeRepo size: 4
2025-08-23T22:04:16.802Z,1755986656.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 99.224617 m,
bearing: 260.167534 deg,
lat: 36.779475 deg,
lon: -121.859587 deg,
deltaT: 7.560130 s,
deltaX: -1.785263 m,
approachRate: -0.236142 m/s,
posRepo size: 4
2025-08-23T22:04:16.803Z,1755986656.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.22 m.
2025-08-23T22:04:16.810Z,1755986656.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.224617 m,
nav range: 96.409752 m,
bearing: 260.167863 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.318575 deg/s,
cmd heading: 254.383320 deg,
new cmd heading: 254.095953 deg.
2025-08-23T22:04:16.811Z,1755986656.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434811 target range: 99.224617 and range: 99.80 m.
2025-08-23T22:04:16.975Z,1755986656.975 [DAT](INFO): DAT read: user:1597>
2025-08-23T22:04:16.975Z,1755986656.975 [DAT](INFO): DAT read: Tx time:22:04:16.6501
2025-08-23T22:04:16.976Z,1755986656.976 [DAT](INFO): Ping request sent.
2025-08-23T22:04:16.976Z,1755986656.976 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:16.976Z,1755986656.976 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:16.977Z,1755986656.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-23T22:04:17.227Z,1755986657.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250727
2025-08-23T22:04:17.312Z,1755986657.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.22 m.
2025-08-23T22:04:17.315Z,1755986657.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.224617 m,
nav range: 96.210663 m,
bearing: 260.000236 deg,
approach rate: -0.380408 m/s,
LOS rate: -0.320955 deg/s,
cmd heading: 254.095960 deg,
new cmd heading: 253.760017 deg.
2025-08-23T22:04:17.316Z,1755986657.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428948 target range: 99.224617 and range: 99.80 m.
2025-08-23T22:04:17.479Z,1755986657.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502694
2025-08-23T22:04:17.731Z,1755986657.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754768
2025-08-23T22:04:17.734Z,1755986657.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.22 m.
2025-08-23T22:04:17.737Z,1755986657.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.224617 m,
nav range: 96.060585 m,
bearing: 259.877913 deg,
approach rate: -0.354873 m/s,
LOS rate: -0.289696 deg/s,
cmd heading: 253.760024 deg,
new cmd heading: 253.514997 deg.
2025-08-23T22:04:17.741Z,1755986657.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.424671 target range: 99.224617 and range: 99.80 m.
2025-08-23T22:04:17.984Z,1755986657.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007666
2025-08-23T22:04:18.108Z,1755986658.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.22 m.
2025-08-23T22:04:18.111Z,1755986658.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.224617 m,
nav range: 95.910614 m,
bearing: 259.759903 deg,
approach rate: -0.401914 m/s,
LOS rate: -0.316755 deg/s,
cmd heading: 253.514984 deg,
new cmd heading: 253.278596 deg.
2025-08-23T22:04:18.111Z,1755986658.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.420546 target range: 99.224617 and range: 99.80 m.
2025-08-23T22:04:18.235Z,1755986658.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258855
2025-08-23T22:04:18.487Z,1755986658.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510666
2025-08-23T22:04:18.547Z,1755986658.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:18.549Z,1755986658.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.22 m.
2025-08-23T22:04:18.552Z,1755986658.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.224617 m,
nav range: 95.739349 m,
bearing: 259.630134 deg,
approach rate: -0.387953 m/s,
LOS rate: -0.294482 deg/s,
cmd heading: 253.278605 deg,
new cmd heading: 253.018604 deg.
2025-08-23T22:04:18.553Z,1755986658.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.416008 target range: 99.224617 and range: 99.80 m.
2025-08-23T22:04:18.738Z,1755986658.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762656
2025-08-23T22:04:18.932Z,1755986658.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.22 m.
2025-08-23T22:04:18.935Z,1755986658.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.224617 m,
nav range: 95.583588 m,
bearing: 259.516021 deg,
approach rate: -0.406269 m/s,
LOS rate: -0.298121 deg/s,
cmd heading: 253.018593 deg,
new cmd heading: 252.789997 deg.
2025-08-23T22:04:18.936Z,1755986658.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412018 target range: 99.224617 and range: 99.80 m.
2025-08-23T22:04:18.991Z,1755986658.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014996
2025-08-23T22:04:19.246Z,1755986659.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269163
2025-08-23T22:04:19.359Z,1755986659.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.22 m.
2025-08-23T22:04:19.368Z,1755986659.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.224617 m,
nav range: 95.417900 m,
bearing: 259.400286 deg,
approach rate: -0.388751 m/s,
LOS rate: -0.272021 deg/s,
cmd heading: 252.790000 deg,
new cmd heading: 252.558128 deg.
2025-08-23T22:04:19.370Z,1755986659.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407971 target range: 99.224617 and range: 99.80 m.
2025-08-23T22:04:19.495Z,1755986659.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519588
2025-08-23T22:04:19.747Z,1755986659.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771536
2025-08-23T22:04:19.763Z,1755986659.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.22 m.
2025-08-23T22:04:19.770Z,1755986659.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.224617 m,
nav range: 95.242119 m,
bearing: 259.281400 deg,
approach rate: -0.434262 m/s,
LOS rate: -0.294246 deg/s,
cmd heading: 252.558129 deg,
new cmd heading: 252.319920 deg.
2025-08-23T22:04:19.771Z,1755986659.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403813 target range: 99.224617 and range: 99.80 m.
2025-08-23T22:04:19.999Z,1755986659.999 [DAT](INFO): DAT read: Rx Time:22:04:19.1857
2025-08-23T22:04:19.999Z,1755986659.999 [DAT](INFO): Rx dataTimestamp_ set to:1755986659.998938
2025-08-23T22:04:19.000Z,1755986660.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023947
2025-08-23T22:04:20.155Z,1755986660.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.22 m.
2025-08-23T22:04:20.158Z,1755986660.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.224617 m,
nav range: 95.067070 m,
bearing: 259.166861 deg,
approach rate: -0.447050 m/s,
LOS rate: -0.293055 deg/s,
cmd heading: 252.319919 deg,
new cmd heading: 252.090421 deg.
2025-08-23T22:04:20.159Z,1755986660.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399808 target range: 99.224617 and range: 99.80 m.
2025-08-23T22:04:20.251Z,1755986660.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274808
2025-08-23T22:04:20.508Z,1755986660.508 [DAT](INFO): DAT read: 22:04:19.1857 LVL= 32752, 32753, 28370, 32755, AGC= 66, IDX= 430,-0.08, 2.309, 1.735,-2.070,-3.101, PHS=-0.772,-1.403, 0.986, RAW= 195.2, 11.1, CAL= 195.5, 13.4, ROT= 314.5, -13.4
2025-08-23T22:04:20.510Z,1755986660.510 [DAT](INFO): got valid direction response:
22:04:19.1857 LVL= 32752, 32753, 28370, 32755, AGC= 66, IDX= 430,-0.08, 2.309, 1.735,-2.070,-3.101, PHS=-0.772,-1.403, 0.986, RAW= 195.2, 11.1, CAL= 195.5, 13.4, ROT= 314.5, -13.4
2025-08-23T22:04:20.510Z,1755986660.510 [DAT](INFO): DAT read: Bearing 120.3, -43.3 (Local)
2025-08-23T22:04:20.511Z,1755986660.511 [DAT](INFO): Local bearing/azimuth received:
Bearing 120.3, -43.3 (Local)
2025-08-23T22:04:20.512Z,1755986660.512 [DAT](INFO): DAT read: Range 11 to 50 : 98.5 m (Round-trip 131.4 ms) speed 0.3 m/s
2025-08-23T22:04:20.513Z,1755986660.513 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:20.524Z,1755986660.524 [DAT](INFO): direction in FSK: [0.681828,-0.693833,0.231748]
2025-08-23T22:04:20.524Z,1755986660.524 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:20.561Z,1755986660.561 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:20.561Z,1755986660.561 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:20.565Z,1755986660.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:20.709Z,1755986660.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 98.500000 m,
deltaT: 3.780364 s,
deltaX: -1.300003 m,
approachRate: -0.343883 m/s,
rangeRepo size: 4
2025-08-23T22:04:20.715Z,1755986660.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 97.936485 m,
bearing: 258.418804 deg,
lat: 36.779475 deg,
lon: -121.859587 deg,
deltaT: 3.780364 s,
deltaX: -1.288132 m,
approachRate: -0.340743 m/s,
posRepo size: 4
2025-08-23T22:04:20.716Z,1755986660.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:20.730Z,1755986660.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 94.840820 m,
bearing: 259.016103 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.293055 deg/s,
cmd heading: 252.090425 deg,
new cmd heading: 251.766257 deg.
2025-08-23T22:04:20.731Z,1755986660.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394150 target range: 97.936485 and range: 98.50 m.
2025-08-23T22:04:20.755Z,1755986660.755 [DAT](INFO): DAT read: user:1598>
2025-08-23T22:04:20.755Z,1755986660.755 [DAT](INFO): DAT read: Tx time:22:04:20.4986
2025-08-23T22:04:20.756Z,1755986660.756 [DAT](INFO): Ping request sent.
2025-08-23T22:04:20.756Z,1755986660.756 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:20.756Z,1755986660.756 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:20.757Z,1755986660.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-23T22:04:21.007Z,1755986661.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250958
2025-08-23T22:04:21.059Z,1755986661.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:21.061Z,1755986661.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:21.064Z,1755986661.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 94.663338 m,
bearing: 258.910003 deg,
approach rate: -0.502543 m/s,
LOS rate: -0.300985 deg/s,
cmd heading: 251.766264 deg,
new cmd heading: 251.553668 deg.
2025-08-23T22:04:21.065Z,1755986661.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.390440 target range: 97.936485 and range: 98.50 m.
2025-08-23T22:04:21.261Z,1755986661.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504407
2025-08-23T22:04:21.493Z,1755986661.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:21.496Z,1755986661.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 94.457802 m,
bearing: 258.795634 deg,
approach rate: -0.476161 m/s,
LOS rate: -0.265533 deg/s,
cmd heading: 251.553681 deg,
new cmd heading: 251.324447 deg.
2025-08-23T22:04:21.497Z,1755986661.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386439 target range: 97.936485 and range: 98.50 m.
2025-08-23T22:04:21.510Z,1755986661.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754709
2025-08-23T22:04:21.767Z,1755986661.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010527
2025-08-23T22:04:21.945Z,1755986661.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:21.948Z,1755986661.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 94.246552 m,
bearing: 258.681636 deg,
approach rate: -0.467416 m/s,
LOS rate: -0.252797 deg/s,
cmd heading: 251.324460 deg,
new cmd heading: 251.095956 deg.
2025-08-23T22:04:21.949Z,1755986661.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382451 target range: 97.936485 and range: 98.50 m.
2025-08-23T22:04:22.016Z,1755986662.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259759
2025-08-23T22:04:22.269Z,1755986662.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512940
2025-08-23T22:04:22.339Z,1755986662.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:22.342Z,1755986662.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 94.048866 m,
bearing: 258.579046 deg,
approach rate: -0.502152 m/s,
LOS rate: -0.261143 deg/s,
cmd heading: 251.095950 deg,
new cmd heading: 250.890339 deg.
2025-08-23T22:04:22.343Z,1755986662.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.378862 target range: 97.936485 and range: 98.50 m.
2025-08-23T22:04:22.519Z,1755986662.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762739
2025-08-23T22:04:22.708Z,1755986662.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:22.727Z,1755986662.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 93.869286 m,
bearing: 258.488786 deg,
approach rate: -0.486186 m/s,
LOS rate: -0.244832 deg/s,
cmd heading: 250.890333 deg,
new cmd heading: 250.709469 deg.
2025-08-23T22:04:22.728Z,1755986662.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.375706 target range: 97.936485 and range: 98.50 m.
2025-08-23T22:04:22.771Z,1755986662.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014925
2025-08-23T22:04:23.022Z,1755986663.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266695
2025-08-23T22:04:23.102Z,1755986663.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:23.104Z,1755986663.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:23.108Z,1755986663.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 93.670174 m,
bearing: 258.391790 deg,
approach rate: -0.502011 m/s,
LOS rate: -0.245072 deg/s,
cmd heading: 250.709470 deg,
new cmd heading: 250.515066 deg.
2025-08-23T22:04:23.108Z,1755986663.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372313 target range: 97.936485 and range: 98.50 m.
2025-08-23T22:04:23.278Z,1755986663.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521519
2025-08-23T22:04:23.515Z,1755986663.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:23.518Z,1755986663.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 93.462677 m,
bearing: 258.293793 deg,
approach rate: -0.504978 m/s,
LOS rate: -0.239022 deg/s,
cmd heading: 250.515056 deg,
new cmd heading: 250.318627 deg.
2025-08-23T22:04:23.519Z,1755986663.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368884 target range: 97.936485 and range: 98.50 m.
2025-08-23T22:04:23.527Z,1755986663.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770892
2025-08-23T22:04:23.779Z,1755986663.779 [DAT](INFO): DAT read: Rx Time:22:04:23.0320
2025-08-23T22:04:23.780Z,1755986663.780 [DAT](INFO): Rx dataTimestamp_ set to:1755986663.779511
2025-08-23T22:04:23.781Z,1755986663.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024932
2025-08-23T22:04:23.895Z,1755986663.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:23.898Z,1755986663.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 93.271309 m,
bearing: 258.202909 deg,
approach rate: -0.504143 m/s,
LOS rate: -0.239917 deg/s,
cmd heading: 250.318619 deg,
new cmd heading: 250.136479 deg.
2025-08-23T22:04:23.899Z,1755986663.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365705 target range: 97.936485 and range: 98.50 m.
2025-08-23T22:04:24.030Z,1755986664.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274690
2025-08-23T22:04:24.287Z,1755986664.287 [DAT](INFO): DAT read: Range 11 to 50 : 96.9 m (Round-trip 129.2 ms) speed 0.4 m/s
2025-08-23T22:04:24.290Z,1755986664.290 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:04:24.292Z,1755986664.292 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:24.293Z,1755986664.293 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:24.294Z,1755986664.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:24.389Z,1755986664.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 96.900002 m,
deltaT: 3.781051 s,
deltaX: -1.599998 m,
approachRate: -0.423162 m/s,
rangeRepo size: 4
2025-08-23T22:04:24.390Z,1755986664.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:24.392Z,1755986664.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 93.015610 m,
bearing: 258.090450 deg,
approach rate: -0.518538 m/s,
LOS rate: -0.228685 deg/s,
cmd heading: 250.136472 deg,
new cmd heading: 249.910937 deg.
2025-08-23T22:04:24.394Z,1755986664.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361769 target range: 97.936485 and range: 96.90 m.
2025-08-23T22:04:24.534Z,1755986664.534 [DAT](INFO): DAT read: user:1599>
2025-08-23T22:04:24.535Z,1755986664.535 [DAT](INFO): DAT read: Tx time:22:04:24.1986
2025-08-23T22:04:24.535Z,1755986664.535 [DAT](INFO): Ping request sent.
2025-08-23T22:04:24.535Z,1755986664.535 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:24.536Z,1755986664.536 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:24.536Z,1755986664.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-23T22:04:24.744Z,1755986664.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:24.751Z,1755986664.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 92.836960 m,
bearing: 258.014479 deg,
approach rate: -0.502376 m/s,
LOS rate: -0.214046 deg/s,
cmd heading: 249.910939 deg,
new cmd heading: 249.758705 deg.
2025-08-23T22:04:24.752Z,1755986664.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359112 target range: 97.936485 and range: 96.90 m.
2025-08-23T22:04:24.787Z,1755986664.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251068
2025-08-23T22:04:25.039Z,1755986665.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503332
2025-08-23T22:04:25.136Z,1755986665.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:25.142Z,1755986665.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:25.145Z,1755986665.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 92.625443 m,
bearing: 257.927717 deg,
approach rate: -0.530564 m/s,
LOS rate: -0.218128 deg/s,
cmd heading: 249.758708 deg,
new cmd heading: 249.584788 deg.
2025-08-23T22:04:25.151Z,1755986665.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356076 target range: 97.936485 and range: 96.90 m.
2025-08-23T22:04:25.294Z,1755986665.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757676
2025-08-23T22:04:25.543Z,1755986665.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007026
2025-08-23T22:04:25.570Z,1755986665.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:25.572Z,1755986665.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 92.390816 m,
bearing: 257.832802 deg,
approach rate: -0.549641 m/s,
LOS rate: -0.222914 deg/s,
cmd heading: 249.584784 deg,
new cmd heading: 249.394473 deg.
2025-08-23T22:04:25.573Z,1755986665.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352755 target range: 97.936485 and range: 96.90 m.
2025-08-23T22:04:25.795Z,1755986665.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259009
2025-08-23T22:04:25.936Z,1755986665.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:25.939Z,1755986665.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 92.194458 m,
bearing: 257.756237 deg,
approach rate: -0.535348 m/s,
LOS rate: -0.209191 deg/s,
cmd heading: 249.394467 deg,
new cmd heading: 249.241012 deg.
2025-08-23T22:04:25.940Z,1755986665.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350076 target range: 97.936485 and range: 96.90 m.
2025-08-23T22:04:26.047Z,1755986666.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511113
2025-08-23T22:04:26.301Z,1755986666.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764948
2025-08-23T22:04:26.390Z,1755986666.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:26.392Z,1755986666.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 91.952950 m,
bearing: 257.656961 deg,
approach rate: -0.532684 m/s,
LOS rate: -0.219543 deg/s,
cmd heading: 249.241007 deg,
new cmd heading: 249.041935 deg.
2025-08-23T22:04:26.394Z,1755986666.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346602 target range: 97.936485 and range: 96.90 m.
2025-08-23T22:04:26.554Z,1755986666.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018193
2025-08-23T22:04:26.756Z,1755986666.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:26.759Z,1755986666.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 91.752930 m,
bearing: 257.580868 deg,
approach rate: -0.545397 m/s,
LOS rate: -0.207937 deg/s,
cmd heading: 249.041948 deg,
new cmd heading: 248.889430 deg.
2025-08-23T22:04:26.760Z,1755986666.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343940 target range: 97.936485 and range: 96.90 m.
2025-08-23T22:04:26.803Z,1755986666.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267102
2025-08-23T22:04:27.056Z,1755986667.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520075
2025-08-23T22:04:27.182Z,1755986667.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:27.190Z,1755986667.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:27.199Z,1755986667.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 91.532318 m,
bearing: 257.499972 deg,
approach rate: -0.514136 m/s,
LOS rate: -0.188983 deg/s,
cmd heading: 248.889443 deg,
new cmd heading: 248.727261 deg.
2025-08-23T22:04:27.200Z,1755986667.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341110 target range: 97.936485 and range: 96.90 m.
2025-08-23T22:04:27.310Z,1755986667.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773448
2025-08-23T22:04:27.559Z,1755986667.559 [DAT](INFO): DAT read: Rx Time:22:04:26.7295
2025-08-23T22:04:27.559Z,1755986667.559 [DAT](INFO): Rx dataTimestamp_ set to:1755986667.558752
2025-08-23T22:04:27.560Z,1755986667.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024053
2025-08-23T22:04:27.600Z,1755986667.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:27.607Z,1755986667.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 91.299141 m,
bearing: 257.417474 deg,
approach rate: -0.562442 m/s,
LOS rate: -0.199498 deg/s,
cmd heading: 248.727267 deg,
new cmd heading: 248.561852 deg.
2025-08-23T22:04:27.608Z,1755986667.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338223 target range: 97.936485 and range: 96.90 m.
2025-08-23T22:04:27.814Z,1755986667.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278416
2025-08-23T22:04:28.023Z,1755986668.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.94 m.
2025-08-23T22:04:28.026Z,1755986668.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.936485 m,
nav range: 91.061020 m,
bearing: 257.336419 deg,
approach rate: -0.562397 m/s,
LOS rate: -0.191937 deg/s,
cmd heading: 248.561840 deg,
new cmd heading: 248.399307 deg.
2025-08-23T22:04:28.027Z,1755986668.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335386 target range: 97.936485 and range: 96.90 m.
2025-08-23T22:04:28.071Z,1755986668.071 [DAT](INFO): DAT read: 22:04:26.7295 LVL= 32752, 32753, 31346, 32755, AGC= 64, IDX= 415, 0.43, 3.029, 1.939,-1.901,-2.807, PHS=-0.345,-1.492, 0.862, RAW= 180.9, 9.6, CAL= 180.7, 10.9, ROT= 329.3, -10.9
2025-08-23T22:04:28.072Z,1755986668.072 [DAT](INFO): got valid direction response:
22:04:26.7295 LVL= 32752, 32753, 31346, 32755, AGC= 64, IDX= 415, 0.43, 3.029, 1.939,-1.901,-2.807, PHS=-0.345,-1.492, 0.862, RAW= 180.9, 9.6, CAL= 180.7, 10.9, ROT= 329.3, -10.9
2025-08-23T22:04:28.074Z,1755986668.074 [DAT](INFO): DAT read: Bearing 95.3, -26.3 (Local)
2025-08-23T22:04:28.074Z,1755986668.074 [DAT](INFO): Local bearing/azimuth received:
Bearing 95.3, -26.3 (Local)
2025-08-23T22:04:28.076Z,1755986668.076 [DAT](INFO): DAT read: Range 11 to 50 : 95.1 m (Round-trip 126.8 ms) speed 0.4 m/s
2025-08-23T22:04:28.077Z,1755986668.077 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:28.084Z,1755986668.084 [DAT](INFO): direction in FSK: [0.844339,-0.501332,0.189095]
2025-08-23T22:04:28.084Z,1755986668.084 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:28.088Z,1755986668.088 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:28.088Z,1755986668.088 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:28.088Z,1755986668.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:28.317Z,1755986668.317 [DAT](INFO): DAT read: user:1600>
2025-08-23T22:04:28.319Z,1755986668.319 [DAT](INFO): DAT read: Tx time:22:04:27.9986
2025-08-23T22:04:28.320Z,1755986668.320 [DAT](INFO): Ping request sent.
2025-08-23T22:04:28.321Z,1755986668.321 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:28.322Z,1755986668.322 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:28.324Z,1755986668.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002891
2025-08-23T22:04:28.465Z,1755986668.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 95.099998 m,
deltaT: 3.779032 s,
deltaX: -1.800003 m,
approachRate: -0.476313 m/s,
rangeRepo size: 4
2025-08-23T22:04:28.472Z,1755986668.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 94.555336 m,
bearing: 250.345293 deg,
lat: 36.779475 deg,
lon: -121.859587 deg,
deltaT: 7.560083 s,
deltaX: -3.381149 m,
approachRate: -0.447237 m/s,
posRepo size: 4
2025-08-23T22:04:28.472Z,1755986668.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.56 m.
2025-08-23T22:04:28.479Z,1755986668.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.555336 m,
nav range: 90.814240 m,
bearing: 257.255154 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.191937 deg/s,
cmd heading: 248.399309 deg,
new cmd heading: 248.230065 deg.
2025-08-23T22:04:28.480Z,1755986668.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332432 target range: 94.555336 and range: 95.10 m.
2025-08-23T22:04:28.567Z,1755986668.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246392
2025-08-23T22:04:28.774Z,1755986668.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.56 m.
2025-08-23T22:04:28.777Z,1755986668.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.555336 m,
nav range: 90.633560 m,
bearing: 257.198012 deg,
approach rate: -0.582425 m/s,
LOS rate: -0.184566 deg/s,
cmd heading: 248.230057 deg,
new cmd heading: 248.115545 deg.
2025-08-23T22:04:28.778Z,1755986668.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330433 target range: 94.555336 and range: 95.10 m.
2025-08-23T22:04:28.821Z,1755986668.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500280
2025-08-23T22:04:29.070Z,1755986669.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749969
2025-08-23T22:04:29.201Z,1755986669.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:29.204Z,1755986669.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.56 m.
2025-08-23T22:04:29.209Z,1755986669.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.555336 m,
nav range: 90.393501 m,
bearing: 257.125212 deg,
approach rate: -0.558622 m/s,
LOS rate: -0.169856 deg/s,
cmd heading: 248.115555 deg,
new cmd heading: 247.969570 deg.
2025-08-23T22:04:29.210Z,1755986669.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327886 target range: 94.555336 and range: 95.10 m.
2025-08-23T22:04:29.324Z,1755986669.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003466
2025-08-23T22:04:29.575Z,1755986669.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254176
2025-08-23T22:04:29.623Z,1755986669.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.56 m.
2025-08-23T22:04:29.626Z,1755986669.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.555336 m,
nav range: 90.155472 m,
bearing: 257.054280 deg,
approach rate: -0.567707 m/s,
LOS rate: -0.169623 deg/s,
cmd heading: 247.969581 deg,
new cmd heading: 247.827341 deg.
2025-08-23T22:04:29.627Z,1755986669.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325403 target range: 94.555336 and range: 95.10 m.
2025-08-23T22:04:29.827Z,1755986669.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506735
2025-08-23T22:04:29.986Z,1755986669.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.56 m.
2025-08-23T22:04:29.988Z,1755986669.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.555336 m,
nav range: 89.946480 m,
bearing: 256.994737 deg,
approach rate: -0.577313 m/s,
LOS rate: -0.164861 deg/s,
cmd heading: 247.827349 deg,
new cmd heading: 247.707987 deg.
2025-08-23T22:04:29.989Z,1755986669.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323320 target range: 94.555336 and range: 95.10 m.
2025-08-23T22:04:30.079Z,1755986670.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758554
2025-08-23T22:04:30.334Z,1755986670.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012383
2025-08-23T22:04:30.505Z,1755986670.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.56 m.
2025-08-23T22:04:30.507Z,1755986670.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.555336 m,
nav range: 89.658348 m,
bearing: 256.916428 deg,
approach rate: -0.554937 m/s,
LOS rate: -0.151307 deg/s,
cmd heading: 247.707984 deg,
new cmd heading: 247.550863 deg.
2025-08-23T22:04:30.508Z,1755986670.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320578 target range: 94.555336 and range: 95.10 m.
2025-08-23T22:04:30.584Z,1755986670.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262966
2025-08-23T22:04:30.835Z,1755986670.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514104
2025-08-23T22:04:30.870Z,1755986670.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.56 m.
2025-08-23T22:04:30.872Z,1755986670.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.555336 m,
nav range: 89.460327 m,
bearing: 256.865104 deg,
approach rate: -0.548291 m/s,
LOS rate: -0.142424 deg/s,
cmd heading: 247.550863 deg,
new cmd heading: 247.447987 deg.
2025-08-23T22:04:30.878Z,1755986670.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318782 target range: 94.555336 and range: 95.10 m.
2025-08-23T22:04:31.087Z,1755986671.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766712
2025-08-23T22:04:31.252Z,1755986671.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:31.255Z,1755986671.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.56 m.
2025-08-23T22:04:31.258Z,1755986671.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.555336 m,
nav range: 89.236938 m,
bearing: 256.809982 deg,
approach rate: -0.574522 m/s,
LOS rate: -0.142119 deg/s,
cmd heading: 247.448000 deg,
new cmd heading: 247.337481 deg.
2025-08-23T22:04:31.259Z,1755986671.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316854 target range: 94.555336 and range: 95.10 m.
2025-08-23T22:04:31.339Z,1755986671.339 [DAT](INFO): DAT read: Rx Time:22:04:30.5270
2025-08-23T22:04:31.339Z,1755986671.339 [DAT](INFO): Rx dataTimestamp_ set to:1755986671.338979
2025-08-23T22:04:31.340Z,1755986671.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019707
2025-08-23T22:04:31.590Z,1755986671.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270036
2025-08-23T22:04:31.691Z,1755986671.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.56 m.
2025-08-23T22:04:31.695Z,1755986671.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.555336 m,
nav range: 88.990227 m,
bearing: 256.751637 deg,
approach rate: -0.564754 m/s,
LOS rate: -0.133929 deg/s,
cmd heading: 247.337488 deg,
new cmd heading: 247.220475 deg.
2025-08-23T22:04:31.695Z,1755986671.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314811 target range: 94.555336 and range: 95.10 m.
2025-08-23T22:04:31.848Z,1755986671.848 [DAT](INFO): DAT read: 22:04:30.5271 LVL= 28656, 32753, 22882, 32755, AGC= 62, IDX= 421,-0.08, 2.865, 1.523,-2.499, 3.120, PHS=-0.153,-1.552, 0.620, RAW= 170.6, 11.4, CAL= 170.6, 13.2, ROT= 339.4, -13.2
2025-08-23T22:04:31.849Z,1755986671.849 [DAT](INFO): got valid direction response:
22:04:30.5271 LVL= 28656, 32753, 22882, 32755, AGC= 62, IDX= 421,-0.08, 2.865, 1.523,-2.499, 3.120, PHS=-0.153,-1.552, 0.620, RAW= 170.6, 11.4, CAL= 170.6, 13.2, ROT= 339.4, -13.2
2025-08-23T22:04:31.850Z,1755986671.850 [DAT](INFO): DAT read: Bearing 87.3, -15.1 (Local)
2025-08-23T22:04:31.850Z,1755986671.850 [DAT](INFO): Local bearing/azimuth received:
Bearing 87.3, -15.1 (Local)
2025-08-23T22:04:31.852Z,1755986671.852 [DAT](INFO): DAT read: Range 11 to 50 : 93.2 m (Round-trip 124.3 ms) speed 0.8 m/s
2025-08-23T22:04:31.852Z,1755986671.852 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:31.853Z,1755986671.853 [DAT](INFO): direction in FSK: [0.911328,-0.342546,0.228351]
2025-08-23T22:04:31.854Z,1755986671.854 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:31.857Z,1755986671.857 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:31.857Z,1755986671.857 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:31.857Z,1755986671.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:32.036Z,1755986672.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 93.199997 m,
deltaT: 3.779530 s,
deltaX: -1.900002 m,
approachRate: -0.502708 m/s,
rangeRepo size: 4
2025-08-23T22:04:32.038Z,1755986672.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 92.665092 m,
bearing: 250.852268 deg,
lat: 36.779468 deg,
lon: -121.859578 deg,
deltaT: 3.779530 s,
deltaX: -1.890244 m,
approachRate: -0.500127 m/s,
posRepo size: 4
2025-08-23T22:04:32.038Z,1755986672.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.67 m.
2025-08-23T22:04:32.041Z,1755986672.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.665092 m,
nav range: 88.156021 m,
bearing: 256.053353 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.133929 deg/s,
cmd heading: 247.220473 deg,
new cmd heading: 247.128466 deg.
2025-08-23T22:04:32.042Z,1755986672.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313205 target range: 92.665092 and range: 93.20 m.
2025-08-23T22:04:32.095Z,1755986672.095 [DAT](INFO): DAT read: user:1601>
2025-08-23T22:04:32.096Z,1755986672.096 [DAT](INFO): DAT read: Tx time:22:04:31.7987
2025-08-23T22:04:32.097Z,1755986672.097 [DAT](INFO): Ping request sent.
2025-08-23T22:04:32.097Z,1755986672.097 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:32.097Z,1755986672.097 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:32.098Z,1755986672.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001667
2025-08-23T22:04:32.349Z,1755986672.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252332
2025-08-23T22:04:32.472Z,1755986672.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.67 m.
2025-08-23T22:04:32.475Z,1755986672.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.665092 m,
nav range: 87.910225 m,
bearing: 256.000988 deg,
approach rate: -0.562245 m/s,
LOS rate: -0.120118 deg/s,
cmd heading: 247.128457 deg,
new cmd heading: 247.023433 deg.
2025-08-23T22:04:32.476Z,1755986672.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311372 target range: 92.665092 and range: 93.20 m.
2025-08-23T22:04:32.599Z,1755986672.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502544
2025-08-23T22:04:32.851Z,1755986672.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754065
2025-08-23T22:04:32.863Z,1755986672.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.67 m.
2025-08-23T22:04:32.870Z,1755986672.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.665092 m,
nav range: 87.695892 m,
bearing: 255.958048 deg,
approach rate: -0.548500 m/s,
LOS rate: -0.110158 deg/s,
cmd heading: 247.023436 deg,
new cmd heading: 246.937345 deg.
2025-08-23T22:04:32.871Z,1755986672.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309870 target range: 92.665092 and range: 93.20 m.
2025-08-23T22:04:33.103Z,1755986673.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006097
2025-08-23T22:04:33.255Z,1755986673.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:33.258Z,1755986673.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.67 m.
2025-08-23T22:04:33.260Z,1755986673.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.665092 m,
nav range: 87.476433 m,
bearing: 255.916767 deg,
approach rate: -0.556325 m/s,
LOS rate: -0.104909 deg/s,
cmd heading: 246.937348 deg,
new cmd heading: 246.854579 deg.
2025-08-23T22:04:33.261Z,1755986673.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308425 target range: 92.665092 and range: 93.20 m.
2025-08-23T22:04:33.355Z,1755986673.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258219
2025-08-23T22:04:33.606Z,1755986673.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509985
2025-08-23T22:04:33.711Z,1755986673.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.67 m.
2025-08-23T22:04:33.718Z,1755986673.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.665092 m,
nav range: 87.217445 m,
bearing: 255.867970 deg,
approach rate: -0.571476 m/s,
LOS rate: -0.107992 deg/s,
cmd heading: 246.854566 deg,
new cmd heading: 246.756684 deg.
2025-08-23T22:04:33.719Z,1755986673.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306716 target range: 92.665092 and range: 93.20 m.
2025-08-23T22:04:33.859Z,1755986673.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762143
2025-08-23T22:04:34.059Z,1755986674.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.67 m.
2025-08-23T22:04:34.061Z,1755986674.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.665092 m,
nav range: 87.011002 m,
bearing: 255.831556 deg,
approach rate: -0.593137 m/s,
LOS rate: -0.104871 deg/s,
cmd heading: 246.756676 deg,
new cmd heading: 246.683674 deg.
2025-08-23T22:04:34.062Z,1755986674.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305442 target range: 92.665092 and range: 93.20 m.
2025-08-23T22:04:34.111Z,1755986674.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014935
2025-08-23T22:04:34.362Z,1755986674.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266016
2025-08-23T22:04:34.505Z,1755986674.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.67 m.
2025-08-23T22:04:34.508Z,1755986674.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.665092 m,
nav range: 86.755287 m,
bearing: 255.789774 deg,
approach rate: -0.573186 m/s,
LOS rate: -0.093930 deg/s,
cmd heading: 246.683675 deg,
new cmd heading: 246.599865 deg.
2025-08-23T22:04:34.509Z,1755986674.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303979 target range: 92.665092 and range: 93.20 m.
2025-08-23T22:04:34.615Z,1755986674.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518364
2025-08-23T22:04:34.866Z,1755986674.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769990
2025-08-23T22:04:34.871Z,1755986674.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.67 m.
2025-08-23T22:04:34.873Z,1755986674.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.665092 m,
nav range: 86.551498 m,
bearing: 255.758914 deg,
approach rate: -0.557074 m/s,
LOS rate: -0.084558 deg/s,
cmd heading: 246.599855 deg,
new cmd heading: 246.537988 deg.
2025-08-23T22:04:34.878Z,1755986674.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302900 target range: 92.665092 and range: 93.20 m.
2025-08-23T22:04:35.119Z,1755986675.119 [DAT](INFO): DAT read: Rx Time:22:04:34.3243
2025-08-23T22:04:35.119Z,1755986675.119 [DAT](INFO): Rx dataTimestamp_ set to:1755986675.118761
2025-08-23T22:04:35.120Z,1755986675.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023141
2025-08-23T22:04:35.270Z,1755986675.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:35.272Z,1755986675.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.67 m.
2025-08-23T22:04:35.275Z,1755986675.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.665092 m,
nav range: 86.312561 m,
bearing: 255.725720 deg,
approach rate: -0.594792 m/s,
LOS rate: -0.082860 deg/s,
cmd heading: 246.538000 deg,
new cmd heading: 246.471428 deg.
2025-08-23T22:04:35.276Z,1755986675.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301738 target range: 92.665092 and range: 93.20 m.
2025-08-23T22:04:35.371Z,1755986675.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274266
2025-08-23T22:04:35.648Z,1755986675.648 [DAT](INFO): DAT read: 22:04:34.3243 LVL= 26160, 32433, 22754, 32755, AGC= 66, IDX= 408, 0.49,-0.289,-1.861, 0.289,-0.282, PHS= 0.095,-1.534, 0.527, RAW= 161.5, 9.7, CAL= 161.4, 10.4, ROT= 348.6, -10.4
2025-08-23T22:04:35.664Z,1755986675.664 [DAT](INFO): got valid direction response:
22:04:34.3243 LVL= 26160, 32433, 22754, 32755, AGC= 66, IDX= 408, 0.49,-0.289,-1.861, 0.289,-0.282, PHS= 0.095,-1.534, 0.527, RAW= 161.5, 9.7, CAL= 161.4, 10.4, ROT= 348.6, -10.4
2025-08-23T22:04:35.665Z,1755986675.665 [DAT](INFO): DAT read: Bearing 74.3, -5.3 (Local)
2025-08-23T22:04:35.665Z,1755986675.665 [DAT](INFO): Local bearing/azimuth received:
Bearing 74.3, -5.3 (Local)
2025-08-23T22:04:35.667Z,1755986675.667 [DAT](INFO): DAT read: Range 11 to 50 : 91.0 m (Round-trip 121.4 ms) speed 0.4 m/s
2025-08-23T22:04:35.667Z,1755986675.667 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:35.668Z,1755986675.668 [DAT](INFO): direction in FSK: [0.964167,-0.194410,0.180519]
2025-08-23T22:04:35.668Z,1755986675.668 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:35.680Z,1755986675.680 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:35.680Z,1755986675.680 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:35.680Z,1755986675.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:35.791Z,1755986675.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 91.000000 m,
deltaT: 3.780897 s,
deltaX: -2.199997 m,
approachRate: -0.581872 m/s,
rangeRepo size: 4
2025-08-23T22:04:35.798Z,1755986675.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 90.478760 m,
bearing: 250.555471 deg,
lat: 36.779400 deg,
lon: -121.859559 deg,
deltaT: 3.780897 s,
deltaX: -2.186333 m,
approachRate: -0.578258 m/s,
posRepo size: 4
2025-08-23T22:04:35.798Z,1755986675.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.48 m.
2025-08-23T22:04:35.801Z,1755986675.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.478760 m,
nav range: 86.647484 m,
bearing: 250.606284 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.082860 deg/s,
cmd heading: 246.471420 deg,
new cmd heading: 246.385478 deg.
2025-08-23T22:04:35.807Z,1755986675.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300238 target range: 90.478760 and range: 91.00 m.
2025-08-23T22:04:35.875Z,1755986675.875 [DAT](INFO): DAT read: user:1602>
2025-08-23T22:04:35.876Z,1755986675.876 [DAT](INFO): DAT read: Tx time:22:04:35.5987
2025-08-23T22:04:35.877Z,1755986675.877 [DAT](INFO): Ping request sent.
2025-08-23T22:04:35.877Z,1755986675.877 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:35.877Z,1755986675.877 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:35.878Z,1755986675.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001202
2025-08-23T22:04:36.128Z,1755986676.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250994
2025-08-23T22:04:36.292Z,1755986676.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.48 m.
2025-08-23T22:04:36.316Z,1755986676.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.478760 m,
nav range: 86.356873 m,
bearing: 250.551119 deg,
approach rate: -0.580243 m/s,
LOS rate: -0.110515 deg/s,
cmd heading: 246.385469 deg,
new cmd heading: 246.274767 deg.
2025-08-23T22:04:36.317Z,1755986676.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298306 target range: 90.478760 and range: 91.00 m.
2025-08-23T22:04:36.380Z,1755986676.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502796
2025-08-23T22:04:36.632Z,1755986676.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754672
2025-08-23T22:04:36.664Z,1755986676.664 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022901515741,35.0, +11.6, 5.7, 0
2025-08-23T22:04:36.704Z,1755986676.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.48 m.
2025-08-23T22:04:36.711Z,1755986676.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.478760 m,
nav range: 86.116058 m,
bearing: 250.514941 deg,
approach rate: -0.584014 m/s,
LOS rate: -0.087983 deg/s,
cmd heading: 246.274765 deg,
new cmd heading: 246.202207 deg.
2025-08-23T22:04:36.712Z,1755986676.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297039 target range: 90.478760 and range: 91.00 m.
2025-08-23T22:04:36.882Z,1755986676.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005648
2025-08-23T22:04:37.071Z,1755986677.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.48 m.
2025-08-23T22:04:37.078Z,1755986677.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.478760 m,
nav range: 85.909760 m,
bearing: 250.486527 deg,
approach rate: -0.562147 m/s,
LOS rate: -0.077610 deg/s,
cmd heading: 246.202201 deg,
new cmd heading: 246.145237 deg.
2025-08-23T22:04:37.079Z,1755986677.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296045 target range: 90.478760 and range: 91.00 m.
2025-08-23T22:04:37.136Z,1755986677.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259328
2025-08-23T22:04:37.387Z,1755986677.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509680
2025-08-23T22:04:37.522Z,1755986677.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:37.524Z,1755986677.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.48 m.
2025-08-23T22:04:37.527Z,1755986677.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.478760 m,
nav range: 85.638161 m,
bearing: 250.452435 deg,
approach rate: -0.599164 m/s,
LOS rate: -0.075450 deg/s,
cmd heading: 246.145237 deg,
new cmd heading: 246.076835 deg.
2025-08-23T22:04:37.528Z,1755986677.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294851 target range: 90.478760 and range: 91.00 m.
2025-08-23T22:04:37.639Z,1755986677.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762495
2025-08-23T22:04:37.871Z,1755986677.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.48 m.
2025-08-23T22:04:37.890Z,1755986677.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013615
2025-08-23T22:04:37.892Z,1755986677.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.478760 m,
nav range: 85.425659 m,
bearing: 250.427794 deg,
approach rate: -0.612211 m/s,
LOS rate: -0.071166 deg/s,
cmd heading: 246.076826 deg,
new cmd heading: 246.027422 deg.
2025-08-23T22:04:37.897Z,1755986677.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293989 target range: 90.478760 and range: 91.00 m.
2025-08-23T22:04:38.144Z,1755986678.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266906
2025-08-23T22:04:38.301Z,1755986678.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.48 m.
2025-08-23T22:04:38.304Z,1755986678.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.478760 m,
nav range: 85.164825 m,
bearing: 250.400804 deg,
approach rate: -0.606857 m/s,
LOS rate: -0.062988 deg/s,
cmd heading: 246.027430 deg,
new cmd heading: 245.973284 deg.
2025-08-23T22:04:38.305Z,1755986678.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293044 target range: 90.478760 and range: 91.00 m.
2025-08-23T22:04:38.395Z,1755986678.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518264
2025-08-23T22:04:38.647Z,1755986678.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769797
2025-08-23T22:04:38.714Z,1755986678.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.48 m.
2025-08-23T22:04:38.717Z,1755986678.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.478760 m,
nav range: 84.917801 m,
bearing: 250.375892 deg,
approach rate: -0.597781 m/s,
LOS rate: -0.060458 deg/s,
cmd heading: 245.973280 deg,
new cmd heading: 245.923313 deg.
2025-08-23T22:04:38.718Z,1755986678.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292171 target range: 90.478760 and range: 91.00 m.
2025-08-23T22:04:38.898Z,1755986678.898 [DAT](INFO): DAT read: Rx Time:22:04:38.1213
2025-08-23T22:04:38.899Z,1755986678.899 [DAT](INFO): Rx dataTimestamp_ set to:1755986678.898656
2025-08-23T22:04:38.899Z,1755986678.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022653
2025-08-23T22:04:39.079Z,1755986679.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.48 m.
2025-08-23T22:04:39.082Z,1755986679.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.478760 m,
nav range: 84.700089 m,
bearing: 250.356392 deg,
approach rate: -0.597402 m/s,
LOS rate: -0.053647 deg/s,
cmd heading: 245.923311 deg,
new cmd heading: 245.884209 deg.
2025-08-23T22:04:39.083Z,1755986679.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291489 target range: 90.478760 and range: 91.00 m.
2025-08-23T22:04:39.151Z,1755986679.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273891
2025-08-23T22:04:39.408Z,1755986679.408 [DAT](INFO): DAT read: 22:04:38.1213 LVL= 29648, 32753, 31154, 32755, AGC= 67, IDX= 410,-0.07,-1.526, 2.961,-1.443,-1.836, PHS= 0.412,-1.441, 0.348, RAW= 148.3, 7.5, CAL= 147.8, 8.1, ROT= 2.2, -8.1
2025-08-23T22:04:39.409Z,1755986679.409 [DAT](INFO): got valid direction response:
22:04:38.1213 LVL= 29648, 32753, 31154, 32755, AGC= 67, IDX= 410,-0.07,-1.526, 2.961,-1.443,-1.836, PHS= 0.412,-1.441, 0.348, RAW= 148.3, 7.5, CAL= 147.8, 8.1, ROT= 2.2, -8.1
2025-08-23T22:04:39.410Z,1755986679.410 [DAT](INFO): DAT read: Bearing 62.3, 9.0 (Local)
2025-08-23T22:04:39.410Z,1755986679.410 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.3, 9.0 (Local)
2025-08-23T22:04:39.411Z,1755986679.411 [DAT](INFO): DAT read: Range 11 to 50 : 88.8 m (Round-trip 118.5 ms) speed 0.6 m/s
2025-08-23T22:04:39.412Z,1755986679.412 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:39.413Z,1755986679.413 [DAT](INFO): direction in FSK: [0.989294,0.038005,0.140901]
2025-08-23T22:04:39.413Z,1755986679.413 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:39.416Z,1755986679.416 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:39.417Z,1755986679.417 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:39.417Z,1755986679.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:39.593Z,1755986679.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 88.800003 m,
deltaT: 3.779011 s,
deltaX: -2.199997 m,
approachRate: -0.582162 m/s,
rangeRepo size: 4
2025-08-23T22:04:39.595Z,1755986679.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 88.291512 m,
bearing: 253.728015 deg,
lat: 36.779400 deg,
lon: -121.859559 deg,
deltaT: 3.779011 s,
deltaX: -2.187248 m,
approachRate: -0.578789 m/s,
posRepo size: 4
2025-08-23T22:04:39.596Z,1755986679.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.29 m.
2025-08-23T22:04:39.602Z,1755986679.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.291512 m,
nav range: 84.404884 m,
bearing: 250.333242 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.053647 deg/s,
cmd heading: 245.884215 deg,
new cmd heading: 245.829146 deg.
2025-08-23T22:04:39.603Z,1755986679.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290528 target range: 88.291512 and range: 88.80 m.
2025-08-23T22:04:39.655Z,1755986679.655 [DAT](INFO): DAT read: user:1603>
2025-08-23T22:04:39.656Z,1755986679.656 [DAT](INFO): DAT read: Tx time:22:04:39.3487
2025-08-23T22:04:39.656Z,1755986679.656 [DAT](INFO): Ping request sent.
2025-08-23T22:04:39.656Z,1755986679.656 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:39.657Z,1755986679.657 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:39.657Z,1755986679.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-23T22:04:39.907Z,1755986679.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250110
2025-08-23T22:04:39.930Z,1755986679.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:39.932Z,1755986679.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.29 m.
2025-08-23T22:04:39.939Z,1755986679.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.291512 m,
nav range: 84.190239 m,
bearing: 250.319316 deg,
approach rate: -0.630648 m/s,
LOS rate: -0.041020 deg/s,
cmd heading: 245.829136 deg,
new cmd heading: 245.801213 deg.
2025-08-23T22:04:39.940Z,1755986679.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290040 target range: 88.291512 and range: 88.80 m.
2025-08-23T22:04:40.159Z,1755986680.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502098
2025-08-23T22:04:40.274Z,1755986680.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.29 m.
2025-08-23T22:04:40.277Z,1755986680.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.291512 m,
nav range: 83.976929 m,
bearing: 250.307479 deg,
approach rate: -0.625191 m/s,
LOS rate: -0.034781 deg/s,
cmd heading: 245.801214 deg,
new cmd heading: 245.777481 deg.
2025-08-23T22:04:40.278Z,1755986680.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289626 target range: 88.291512 and range: 88.80 m.
2025-08-23T22:04:40.411Z,1755986680.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754500
2025-08-23T22:04:40.670Z,1755986680.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013101
2025-08-23T22:04:40.705Z,1755986680.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.29 m.
2025-08-23T22:04:40.727Z,1755986680.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.291512 m,
nav range: 83.716492 m,
bearing: 250.294010 deg,
approach rate: -0.604501 m/s,
LOS rate: -0.031360 deg/s,
cmd heading: 245.777472 deg,
new cmd heading: 245.750451 deg.
2025-08-23T22:04:40.728Z,1755986680.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289155 target range: 88.291512 and range: 88.80 m.
2025-08-23T22:04:40.923Z,1755986680.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266101
2025-08-23T22:04:41.093Z,1755986681.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.29 m.
2025-08-23T22:04:41.096Z,1755986681.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.291512 m,
nav range: 83.481163 m,
bearing: 250.283821 deg,
approach rate: -0.606005 m/s,
LOS rate: -0.026313 deg/s,
cmd heading: 245.750452 deg,
new cmd heading: 245.730016 deg.
2025-08-23T22:04:41.097Z,1755986681.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288798 target range: 88.291512 and range: 88.80 m.
2025-08-23T22:04:41.175Z,1755986681.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518166
2025-08-23T22:04:41.428Z,1755986681.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771334
2025-08-23T22:04:41.523Z,1755986681.523 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:04:41.638Z,1755986681.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.29 m.
2025-08-23T22:04:41.640Z,1755986681.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.291512 m,
nav range: 83.157837 m,
bearing: 250.274299 deg,
approach rate: -0.593541 m/s,
LOS rate: -0.017548 deg/s,
cmd heading: 245.730016 deg,
new cmd heading: 245.710899 deg.
2025-08-23T22:04:41.642Z,1755986681.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288464 target range: 88.291512 and range: 88.80 m.
2025-08-23T22:04:41.679Z,1755986681.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022257
2025-08-23T22:04:41.931Z,1755986681.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274085
2025-08-23T22:04:42.016Z,1755986682.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:42.018Z,1755986682.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.29 m.
2025-08-23T22:04:42.021Z,1755986682.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.291512 m,
nav range: 82.923401 m,
bearing: 250.268881 deg,
approach rate: -0.615452 m/s,
LOS rate: -0.014264 deg/s,
cmd heading: 245.710892 deg,
new cmd heading: 245.700025 deg.
2025-08-23T22:04:42.022Z,1755986682.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288274 target range: 88.291512 and range: 88.80 m.
2025-08-23T22:04:42.185Z,1755986682.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528732
2025-08-23T22:04:42.435Z,1755986682.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778105
2025-08-23T22:04:42.488Z,1755986682.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.29 m.
2025-08-23T22:04:42.502Z,1755986682.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.291512 m,
nav range: 82.644501 m,
bearing: 250.264094 deg,
approach rate: -0.593531 m/s,
LOS rate: -0.010222 deg/s,
cmd heading: 245.700018 deg,
new cmd heading: 245.690412 deg.
2025-08-23T22:04:42.503Z,1755986682.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288106 target range: 88.291512 and range: 88.80 m.
2025-08-23T22:04:42.527Z,1755986682.527 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:04:42.686Z,1755986682.686 [DAT](INFO): DAT read: Rx Time:22:04:41.8683
2025-08-23T22:04:42.687Z,1755986682.687 [DAT](INFO): Rx dataTimestamp_ set to:1755986682.686599
2025-08-23T22:04:42.687Z,1755986682.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030997
2025-08-23T22:04:42.922Z,1755986682.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.29 m.
2025-08-23T22:04:42.924Z,1755986682.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.291512 m,
nav range: 82.376694 m,
bearing: 250.261319 deg,
approach rate: -0.618606 m/s,
LOS rate: -0.006429 deg/s,
cmd heading: 245.690401 deg,
new cmd heading: 245.684835 deg.
2025-08-23T22:04:42.925Z,1755986682.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288009 target range: 88.291512 and range: 88.80 m.
2025-08-23T22:04:42.939Z,1755986682.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282132
2025-08-23T22:04:43.198Z,1755986683.198 [DAT](INFO): DAT read: 22:04:41.8683 LVL= 25120, 30465, 32162, 32755, AGC= 68, IDX= 411, 0.07,-0.228,-2.209,-0.470,-0.652, PHS= 0.526,-1.512, 0.137, RAW= 139.6, 9.1, CAL= 139.2, 10.0, ROT= 10.8, -10.0
2025-08-23T22:04:43.200Z,1755986683.200 [DAT](INFO): got valid direction response:
22:04:41.8683 LVL= 25120, 30465, 32162, 32755, AGC= 68, IDX= 411, 0.07,-0.228,-2.209,-0.470,-0.652, PHS= 0.526,-1.512, 0.137, RAW= 139.6, 9.1, CAL= 139.2, 10.0, ROT= 10.8, -10.0
2025-08-23T22:04:43.201Z,1755986683.201 [DAT](INFO): DAT read: Bearing 57.5, 18.3 (Local)
2025-08-23T22:04:43.202Z,1755986683.202 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.5, 18.3 (Local)
2025-08-23T22:04:43.204Z,1755986683.204 [DAT](INFO): DAT read: Range 11 to 50 : 86.6 m (Round-trip 115.5 ms) speed 0.6 m/s
2025-08-23T22:04:43.205Z,1755986683.205 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:43.207Z,1755986683.207 [DAT](INFO): direction in FSK: [0.967364,0.184535,0.173648]
2025-08-23T22:04:43.207Z,1755986683.207 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:43.235Z,1755986683.235 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:43.235Z,1755986683.235 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:43.235Z,1755986683.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:43.336Z,1755986683.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 86.599998 m,
deltaT: 3.788418 s,
deltaX: -2.200005 m,
approachRate: -0.580719 m/s,
rangeRepo size: 4
2025-08-23T22:04:43.343Z,1755986683.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 86.103661 m,
bearing: 256.756728 deg,
lat: 36.779400 deg,
lon: -121.859559 deg,
deltaT: 3.788418 s,
deltaX: -2.187851 m,
approachRate: -0.577510 m/s,
posRepo size: 4
2025-08-23T22:04:43.343Z,1755986683.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m.
2025-08-23T22:04:43.350Z,1755986683.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.103661 m,
nav range: 82.135239 m,
bearing: 250.259811 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006429 deg/s,
cmd heading: 245.684828 deg,
new cmd heading: 245.679498 deg.
2025-08-23T22:04:43.351Z,1755986683.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287916 target range: 86.103661 and range: 86.60 m.
2025-08-23T22:04:43.443Z,1755986683.443 [DAT](INFO): DAT read: user:1604>
2025-08-23T22:04:43.443Z,1755986683.443 [DAT](INFO): DAT read: Tx time:22:04:43.1487
2025-08-23T22:04:43.444Z,1755986683.444 [DAT](INFO): Ping request sent.
2025-08-23T22:04:43.444Z,1755986683.444 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:43.444Z,1755986683.444 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:43.444Z,1755986683.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-23T22:04:43.695Z,1755986683.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250764
2025-08-23T22:04:43.786Z,1755986683.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m.
2025-08-23T22:04:43.788Z,1755986683.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.103661 m,
nav range: 81.855392 m,
bearing: 250.261355 deg,
approach rate: -0.622381 m/s,
LOS rate: 0.003446 deg/s,
cmd heading: 245.679500 deg,
new cmd heading: 245.682599 deg.
2025-08-23T22:04:43.789Z,1755986683.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287970 target range: 86.103661 and range: 86.60 m.
2025-08-23T22:04:43.947Z,1755986683.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502813
2025-08-23T22:04:44.124Z,1755986684.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:44.129Z,1755986684.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m.
2025-08-23T22:04:44.152Z,1755986684.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.103661 m,
nav range: 81.654373 m,
bearing: 250.263017 deg,
approach rate: -0.587108 m/s,
LOS rate: 0.004866 deg/s,
cmd heading: 245.682587 deg,
new cmd heading: 245.685919 deg.
2025-08-23T22:04:44.153Z,1755986684.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288028 target range: 86.103661 and range: 86.60 m.
2025-08-23T22:04:44.199Z,1755986684.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755738
2025-08-23T22:04:44.451Z,1755986684.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006756
2025-08-23T22:04:44.536Z,1755986684.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m.
2025-08-23T22:04:44.540Z,1755986684.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.103661 m,
nav range: 81.408363 m,
bearing: 250.265589 deg,
approach rate: -0.602606 m/s,
LOS rate: 0.006319 deg/s,
cmd heading: 245.685921 deg,
new cmd heading: 245.691080 deg.
2025-08-23T22:04:44.544Z,1755986684.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288118 target range: 86.103661 and range: 86.60 m.
2025-08-23T22:04:44.704Z,1755986684.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259434
2025-08-23T22:04:44.955Z,1755986684.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510843
2025-08-23T22:04:44.965Z,1755986684.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m.
2025-08-23T22:04:44.972Z,1755986684.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.103661 m,
nav range: 81.147606 m,
bearing: 250.267508 deg,
approach rate: -0.607822 m/s,
LOS rate: 0.004488 deg/s,
cmd heading: 245.691084 deg,
new cmd heading: 245.694935 deg.
2025-08-23T22:04:44.974Z,1755986684.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288186 target range: 86.103661 and range: 86.60 m.
2025-08-23T22:04:45.207Z,1755986685.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763282
2025-08-23T22:04:45.331Z,1755986685.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m.
2025-08-23T22:04:45.338Z,1755986685.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.103661 m,
nav range: 80.937614 m,
bearing: 250.269249 deg,
approach rate: -0.574160 m/s,
LOS rate: 0.004771 deg/s,
cmd heading: 245.694936 deg,
new cmd heading: 245.698426 deg.
2025-08-23T22:04:45.339Z,1755986685.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288247 target range: 86.103661 and range: 86.60 m.
2025-08-23T22:04:45.459Z,1755986685.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015574
2025-08-23T22:04:45.710Z,1755986685.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266679
2025-08-23T22:04:45.762Z,1755986685.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m.
2025-08-23T22:04:45.764Z,1755986685.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.103661 m,
nav range: 80.680725 m,
bearing: 250.273112 deg,
approach rate: -0.619249 m/s,
LOS rate: 0.009343 deg/s,
cmd heading: 245.698434 deg,
new cmd heading: 245.706185 deg.
2025-08-23T22:04:45.766Z,1755986685.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288382 target range: 86.103661 and range: 86.60 m.
2025-08-23T22:04:45.966Z,1755986685.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521828
2025-08-23T22:04:46.138Z,1755986686.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:46.140Z,1755986686.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m.
2025-08-23T22:04:46.143Z,1755986686.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.103661 m,
nav range: 80.445938 m,
bearing: 250.276725 deg,
approach rate: -0.594763 m/s,
LOS rate: 0.009179 deg/s,
cmd heading: 245.706193 deg,
new cmd heading: 245.713439 deg.
2025-08-23T22:04:46.144Z,1755986686.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288508 target range: 86.103661 and range: 86.60 m.
2025-08-23T22:04:46.215Z,1755986686.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771624
2025-08-23T22:04:46.467Z,1755986686.467 [DAT](INFO): DAT read: Rx Time:22:04:45.6652
2025-08-23T22:04:46.467Z,1755986686.467 [DAT](INFO): Rx dataTimestamp_ set to:1755986686.466706
2025-08-23T22:04:46.468Z,1755986686.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023805
2025-08-23T22:04:46.544Z,1755986686.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m.
2025-08-23T22:04:46.547Z,1755986686.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.103661 m,
nav range: 80.205544 m,
bearing: 250.280478 deg,
approach rate: -0.596101 m/s,
LOS rate: 0.009334 deg/s,
cmd heading: 245.713433 deg,
new cmd heading: 245.720961 deg.
2025-08-23T22:04:46.548Z,1755986686.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288640 target range: 86.103661 and range: 86.60 m.
2025-08-23T22:04:46.719Z,1755986686.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274990
2025-08-23T22:04:46.980Z,1755986686.980 [DAT](INFO): DAT read: 22:04:45.6652 LVL= 26016, 32753, 31218, 32755, AGC= 67, IDX= 411,-0.12,-2.193, 2.152,-2.409,-2.573, PHS= 0.482,-1.513, 0.120, RAW= 140.2, 9.9, CAL= 139.7, 10.8, ROT= 10.3, -10.8
2025-08-23T22:04:46.981Z,1755986686.981 [DAT](INFO): got valid direction response:
22:04:45.6652 LVL= 26016, 32753, 31218, 32755, AGC= 67, IDX= 411,-0.12,-2.193, 2.152,-2.409,-2.573, PHS= 0.482,-1.513, 0.120, RAW= 140.2, 9.9, CAL= 139.7, 10.8, ROT= 10.3, -10.8
2025-08-23T22:04:46.982Z,1755986686.982 [DAT](INFO): DAT read: Bearing 56.5, 19.4 (Local)
2025-08-23T22:04:46.983Z,1755986686.983 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.5, 19.4 (Local)
2025-08-23T22:04:46.984Z,1755986686.984 [DAT](INFO): DAT read: Range 11 to 50 : 84.3 m (Round-trip 112.4 ms) speed 0.5 m/s
2025-08-23T22:04:46.984Z,1755986686.984 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:46.990Z,1755986686.990 [DAT](INFO): direction in FSK: [0.966458,0.175635,0.187381]
2025-08-23T22:04:46.990Z,1755986686.990 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:46.993Z,1755986686.993 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:46.993Z,1755986686.993 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:46.998Z,1755986686.998 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:47.084Z,1755986687.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 84.300003 m,
deltaT: 3.781663 s,
deltaX: -2.299995 m,
approachRate: -0.608197 m/s,
rangeRepo size: 4
2025-08-23T22:04:47.093Z,1755986687.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 83.817566 m,
bearing: 255.220980 deg,
lat: 36.779441 deg,
lon: -121.859570 deg,
deltaT: 3.781663 s,
deltaX: -2.286095 m,
approachRate: -0.604521 m/s,
posRepo size: 4
2025-08-23T22:04:47.098Z,1755986687.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.82 m.
2025-08-23T22:04:47.107Z,1755986687.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.817566 m,
nav range: 79.425819 m,
bearing: 253.575791 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009334 deg/s,
cmd heading: 245.720973 deg,
new cmd heading: 245.731054 deg.
2025-08-23T22:04:47.109Z,1755986687.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288816 target range: 83.817566 and range: 84.30 m.
2025-08-23T22:04:47.223Z,1755986687.223 [DAT](INFO): DAT read: user:1605>
2025-08-23T22:04:47.223Z,1755986687.223 [DAT](INFO): DAT read: Tx time:22:04:46.8987
2025-08-23T22:04:47.224Z,1755986687.224 [DAT](INFO): Ping request sent.
2025-08-23T22:04:47.224Z,1755986687.224 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:47.224Z,1755986687.224 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:47.225Z,1755986687.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000783
2025-08-23T22:04:47.474Z,1755986687.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250597
2025-08-23T22:04:47.488Z,1755986687.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.82 m.
2025-08-23T22:04:47.491Z,1755986687.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.817566 m,
nav range: 79.169922 m,
bearing: 253.587551 deg,
approach rate: -0.633204 m/s,
LOS rate: 0.029193 deg/s,
cmd heading: 245.731054 deg,
new cmd heading: 245.754650 deg.
2025-08-23T22:04:47.492Z,1755986687.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289228 target range: 83.817566 and range: 84.30 m.
2025-08-23T22:04:47.727Z,1755986687.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503257
2025-08-23T22:04:47.910Z,1755986687.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.82 m.
2025-08-23T22:04:47.912Z,1755986687.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.817566 m,
nav range: 78.921463 m,
bearing: 253.599614 deg,
approach rate: -0.612562 m/s,
LOS rate: 0.029834 deg/s,
cmd heading: 245.754660 deg,
new cmd heading: 245.778861 deg.
2025-08-23T22:04:47.913Z,1755986687.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289650 target range: 83.817566 and range: 84.30 m.
2025-08-23T22:04:47.979Z,1755986687.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755715
2025-08-23T22:04:48.231Z,1755986688.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006732
2025-08-23T22:04:48.284Z,1755986688.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:48.302Z,1755986688.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.82 m.
2025-08-23T22:04:48.305Z,1755986688.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.817566 m,
nav range: 78.681587 m,
bearing: 253.611380 deg,
approach rate: -0.586447 m/s,
LOS rate: 0.028853 deg/s,
cmd heading: 245.778866 deg,
new cmd heading: 245.802470 deg.
2025-08-23T22:04:48.310Z,1755986688.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290062 target range: 83.817566 and range: 84.30 m.
2025-08-23T22:04:48.483Z,1755986688.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258862
2025-08-23T22:04:48.735Z,1755986688.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511241
2025-08-23T22:04:48.854Z,1755986688.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.82 m.
2025-08-23T22:04:48.856Z,1755986688.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.817566 m,
nav range: 78.348969 m,
bearing: 253.626781 deg,
approach rate: -0.608080 m/s,
LOS rate: 0.028275 deg/s,
cmd heading: 245.802471 deg,
new cmd heading: 245.833403 deg.
2025-08-23T22:04:48.858Z,1755986688.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290602 target range: 83.817566 and range: 84.30 m.
2025-08-23T22:04:48.987Z,1755986688.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762860
2025-08-23T22:04:49.227Z,1755986689.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.82 m.
2025-08-23T22:04:49.230Z,1755986689.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.817566 m,
nav range: 78.105827 m,
bearing: 253.638163 deg,
approach rate: -0.644139 m/s,
LOS rate: 0.030248 deg/s,
cmd heading: 245.833398 deg,
new cmd heading: 245.856233 deg.
2025-08-23T22:04:49.231Z,1755986689.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291001 target range: 83.817566 and range: 84.30 m.
2025-08-23T22:04:49.247Z,1755986689.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022826
2025-08-23T22:04:49.498Z,1755986689.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274679
2025-08-23T22:04:49.751Z,1755986689.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526835
2025-08-23T22:04:49.753Z,1755986689.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.82 m.
2025-08-23T22:04:49.756Z,1755986689.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.817566 m,
nav range: 77.779381 m,
bearing: 253.658361 deg,
approach rate: -0.620779 m/s,
LOS rate: 0.038571 deg/s,
cmd heading: 245.856238 deg,
new cmd heading: 245.896804 deg.
2025-08-23T22:04:49.757Z,1755986689.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291709 target range: 83.817566 and range: 84.30 m.
2025-08-23T22:04:50.003Z,1755986690.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779280
2025-08-23T22:04:50.141Z,1755986690.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.82 m.
2025-08-23T22:04:50.144Z,1755986690.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.817566 m,
nav range: 77.544182 m,
bearing: 253.673137 deg,
approach rate: -0.605669 m/s,
LOS rate: 0.038165 deg/s,
cmd heading: 245.896810 deg,
new cmd heading: 245.926450 deg.
2025-08-23T22:04:50.145Z,1755986690.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292226 target range: 83.817566 and range: 84.30 m.
2025-08-23T22:04:50.255Z,1755986690.255 [DAT](INFO): DAT read: Rx Time:22:04:49.4121
2025-08-23T22:04:50.255Z,1755986690.255 [DAT](INFO): Rx dataTimestamp_ set to:1755986690.254757
2025-08-23T22:04:50.256Z,1755986690.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031833
2025-08-23T22:04:50.506Z,1755986690.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282709
2025-08-23T22:04:50.598Z,1755986690.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:50.628Z,1755986690.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.82 m.
2025-08-23T22:04:50.653Z,1755986690.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.817566 m,
nav range: 77.255562 m,
bearing: 253.691441 deg,
approach rate: -0.626660 m/s,
LOS rate: 0.039891 deg/s,
cmd heading: 245.926453 deg,
new cmd heading: 245.963198 deg.
2025-08-23T22:04:50.666Z,1755986690.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292868 target range: 83.817566 and range: 84.30 m.
2025-08-23T22:04:50.786Z,1755986690.786 [DAT](INFO): DAT read: 22:04:49.4121 LVL= 31568, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.19,-2.543, 1.790,-2.728,-2.915, PHS= 0.475,-1.533, 0.143, RAW= 141.1, 9.8, CAL= 140.7, 10.7, ROT= 9.3, -10.7
2025-08-23T22:04:50.787Z,1755986690.787 [DAT](INFO): got valid direction response:
22:04:49.4121 LVL= 31568, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.19,-2.543, 1.790,-2.728,-2.915, PHS= 0.475,-1.533, 0.143, RAW= 141.1, 9.8, CAL= 140.7, 10.7, ROT= 9.3, -10.7
2025-08-23T22:04:50.788Z,1755986690.788 [DAT](INFO): DAT read: Bearing 56.4, 20.3 (Local)
2025-08-23T22:04:50.788Z,1755986690.788 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.4, 20.3 (Local)
2025-08-23T22:04:50.794Z,1755986690.794 [DAT](INFO): DAT read: Range 11 to 50 : 81.9 m (Round-trip 109.2 ms) speed 0.6 m/s
2025-08-23T22:04:50.794Z,1755986690.794 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:50.795Z,1755986690.795 [DAT](INFO): direction in FSK: [0.969697,0.158794,0.185667]
2025-08-23T22:04:50.796Z,1755986690.796 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:50.812Z,1755986690.812 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:50.812Z,1755986690.812 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:50.813Z,1755986690.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:51.010Z,1755986691.010 [DAT](INFO): DAT read: user:1606>
2025-08-23T22:04:51.011Z,1755986691.011 [DAT](INFO): DAT read: Tx time:22:04:50.7487
2025-08-23T22:04:51.011Z,1755986691.011 [DAT](INFO): Ping request sent.
2025-08-23T22:04:51.012Z,1755986691.012 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:51.012Z,1755986691.012 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:51.012Z,1755986691.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-23T22:04:51.158Z,1755986691.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 81.900002 m,
deltaT: 3.786621 s,
deltaX: -2.400002 m,
approachRate: -0.633811 m/s,
rangeRepo size: 4
2025-08-23T22:04:51.160Z,1755986691.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.432106 m,
bearing: 254.047312 deg,
lat: 36.779448 deg,
lon: -121.859570 deg,
deltaT: 3.786621 s,
deltaX: -2.385460 m,
approachRate: -0.629971 m/s,
posRepo size: 4
2025-08-23T22:04:51.161Z,1755986691.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m.
2025-08-23T22:04:51.163Z,1755986691.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.432106 m,
nav range: 76.673767 m,
bearing: 254.325410 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.039891 deg/s,
cmd heading: 245.963199 deg,
new cmd heading: 246.007501 deg.
2025-08-23T22:04:51.164Z,1755986691.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293641 target range: 81.432106 and range: 81.90 m.
2025-08-23T22:04:51.263Z,1755986691.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251155
2025-08-23T22:04:51.514Z,1755986691.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502771
2025-08-23T22:04:51.531Z,1755986691.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m.
2025-08-23T22:04:51.534Z,1755986691.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.432106 m,
nav range: 76.438408 m,
bearing: 254.345270 deg,
approach rate: -0.628726 m/s,
LOS rate: 0.053214 deg/s,
cmd heading: 246.007513 deg,
new cmd heading: 246.047354 deg.
2025-08-23T22:04:51.535Z,1755986691.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294336 target range: 81.432106 and range: 81.90 m.
2025-08-23T22:04:51.771Z,1755986691.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759237
2025-08-23T22:04:51.948Z,1755986691.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m.
2025-08-23T22:04:51.955Z,1755986691.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.432106 m,
nav range: 76.175514 m,
bearing: 254.367282 deg,
approach rate: -0.630808 m/s,
LOS rate: 0.053001 deg/s,
cmd heading: 246.047347 deg,
new cmd heading: 246.091524 deg.
2025-08-23T22:04:51.956Z,1755986691.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295107 target range: 81.432106 and range: 81.90 m.
2025-08-23T22:04:52.023Z,1755986692.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010973
2025-08-23T22:04:52.275Z,1755986692.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262883
2025-08-23T22:04:52.319Z,1755986692.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m.
2025-08-23T22:04:52.322Z,1755986692.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.432106 m,
nav range: 75.941597 m,
bearing: 254.386820 deg,
approach rate: -0.630915 m/s,
LOS rate: 0.052861 deg/s,
cmd heading: 246.091525 deg,
new cmd heading: 246.130722 deg.
2025-08-23T22:04:52.323Z,1755986692.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295792 target range: 81.432106 and range: 81.90 m.
2025-08-23T22:04:52.528Z,1755986692.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515782
2025-08-23T22:04:52.779Z,1755986692.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766979
2025-08-23T22:04:52.782Z,1755986692.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:52.784Z,1755986692.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m.
2025-08-23T22:04:52.787Z,1755986692.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.432106 m,
nav range: 75.646172 m,
bearing: 254.412696 deg,
approach rate: -0.635455 m/s,
LOS rate: 0.055876 deg/s,
cmd heading: 246.130730 deg,
new cmd heading: 246.182684 deg.
2025-08-23T22:04:52.788Z,1755986692.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296699 target range: 81.432106 and range: 81.90 m.
2025-08-23T22:04:53.031Z,1755986693.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019571
2025-08-23T22:04:53.130Z,1755986693.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m.
2025-08-23T22:04:53.133Z,1755986693.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.432106 m,
nav range: 75.423630 m,
bearing: 254.432165 deg,
approach rate: -0.642151 m/s,
LOS rate: 0.056344 deg/s,
cmd heading: 246.182694 deg,
new cmd heading: 246.221746 deg.
2025-08-23T22:04:53.134Z,1755986693.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297380 target range: 81.432106 and range: 81.90 m.
2025-08-23T22:04:53.283Z,1755986693.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271025
2025-08-23T22:04:53.525Z,1755986693.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m.
2025-08-23T22:04:53.528Z,1755986693.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.432106 m,
nav range: 75.172295 m,
bearing: 254.454153 deg,
approach rate: -0.636420 m/s,
LOS rate: 0.055863 deg/s,
cmd heading: 246.221735 deg,
new cmd heading: 246.265858 deg.
2025-08-23T22:04:53.529Z,1755986693.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298150 target range: 81.432106 and range: 81.90 m.
2025-08-23T22:04:53.535Z,1755986693.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522998
2025-08-23T22:04:53.787Z,1755986693.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774995
2025-08-23T22:04:53.956Z,1755986693.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m.
2025-08-23T22:04:53.975Z,1755986693.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.432106 m,
nav range: 74.891785 m,
bearing: 254.477893 deg,
approach rate: -0.651044 m/s,
LOS rate: 0.055307 deg/s,
cmd heading: 246.265858 deg,
new cmd heading: 246.313517 deg.
2025-08-23T22:04:53.976Z,1755986693.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298982 target range: 81.432106 and range: 81.90 m.
2025-08-23T22:04:54.039Z,1755986694.039 [DAT](INFO): DAT read: Rx Time:22:04:53.2586
2025-08-23T22:04:54.039Z,1755986694.039 [DAT](INFO): Rx dataTimestamp_ set to:1755986694.038999
2025-08-23T22:04:54.040Z,1755986694.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028225
2025-08-23T22:04:54.291Z,1755986694.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278884
2025-08-23T22:04:54.346Z,1755986694.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m.
2025-08-23T22:04:54.349Z,1755986694.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.432106 m,
nav range: 74.650993 m,
bearing: 254.498159 deg,
approach rate: -0.617252 m/s,
LOS rate: 0.052117 deg/s,
cmd heading: 246.313506 deg,
new cmd heading: 246.354168 deg.
2025-08-23T22:04:54.355Z,1755986694.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299691 target range: 81.432106 and range: 81.90 m.
2025-08-23T22:04:54.548Z,1755986694.548 [DAT](INFO): DAT read: 22:04:53.2586 LVL= 32224, 32753, 32754, 32755, AGC= 66, IDX= 408,-0.01,-2.976, 1.382,-3.126, 2.922, PHS= 0.488,-1.495, 0.191, RAW= 142.0, 8.9, CAL= 141.6, 9.7, ROT= 8.4, -9.7
2025-08-23T22:04:54.549Z,1755986694.549 [DAT](INFO): got valid direction response:
22:04:53.2586 LVL= 32224, 32753, 32754, 32755, AGC= 66, IDX= 408,-0.01,-2.976, 1.382,-3.126, 2.922, PHS= 0.488,-1.495, 0.191, RAW= 142.0, 8.9, CAL= 141.6, 9.7, ROT= 8.4, -9.7
2025-08-23T22:04:54.553Z,1755986694.553 [DAT](INFO): DAT read: Bearing 54.8, 21.4 (Local)
2025-08-23T22:04:54.553Z,1755986694.553 [DAT](INFO): Local bearing/azimuth received:
Bearing 54.8, 21.4 (Local)
2025-08-23T22:04:54.584Z,1755986694.584 [DAT](INFO): DAT read: Range 11 to 50 : 79.3 m (Round-trip 105.8 ms) speed 0.6 m/s
2025-08-23T22:04:54.590Z,1755986694.590 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:54.591Z,1755986694.591 [DAT](INFO): direction in FSK: [0.975129,0.143995,0.168489]
2025-08-23T22:04:54.591Z,1755986694.591 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:54.604Z,1755986694.604 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:54.604Z,1755986694.604 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:54.604Z,1755986694.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:54.794Z,1755986694.794 [DAT](INFO): DAT read: user:1607>
2025-08-23T22:04:54.795Z,1755986694.795 [DAT](INFO): DAT read: Tx time:22:04:54.4987
2025-08-23T22:04:54.795Z,1755986694.795 [DAT](INFO): Ping request sent.
2025-08-23T22:04:54.796Z,1755986694.796 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:54.796Z,1755986694.796 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:54.796Z,1755986694.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-23T22:04:54.816Z,1755986694.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 79.300003 m,
deltaT: 3.783375 s,
deltaX: -2.599998 m,
approachRate: -0.687217 m/s,
rangeRepo size: 4
2025-08-23T22:04:54.862Z,1755986694.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 78.845375 m,
bearing: 253.601187 deg,
lat: 36.779448 deg,
lon: -121.859570 deg,
deltaT: 3.783375 s,
deltaX: -2.586731 m,
approachRate: -0.683710 m/s,
posRepo size: 4
2025-08-23T22:04:54.863Z,1755986694.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-08-23T22:04:54.870Z,1755986694.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.845375 m,
nav range: 74.334732 m,
bearing: 254.525612 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.052117 deg/s,
cmd heading: 246.354159 deg,
new cmd heading: 246.403045 deg.
2025-08-23T22:04:54.871Z,1755986694.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300544 target range: 78.845375 and range: 79.30 m.
2025-08-23T22:04:55.048Z,1755986695.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252143
2025-08-23T22:04:55.244Z,1755986695.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:55.264Z,1755986695.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-08-23T22:04:55.267Z,1755986695.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.845375 m,
nav range: 74.050880 m,
bearing: 254.550453 deg,
approach rate: -0.632835 m/s,
LOS rate: 0.055594 deg/s,
cmd heading: 246.403036 deg,
new cmd heading: 246.452908 deg.
2025-08-23T22:04:55.268Z,1755986695.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301414 target range: 78.845375 and range: 79.30 m.
2025-08-23T22:04:55.319Z,1755986695.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.523566
2025-08-23T22:04:55.572Z,1755986695.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.775777
2025-08-23T22:04:55.699Z,1755986695.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-08-23T22:04:55.702Z,1755986695.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.845375 m,
nav range: 73.754753 m,
bearing: 254.576232 deg,
approach rate: -0.679546 m/s,
LOS rate: 0.059394 deg/s,
cmd heading: 246.452896 deg,
new cmd heading: 246.504661 deg.
2025-08-23T22:04:55.705Z,1755986695.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302318 target range: 78.845375 and range: 79.30 m.
2025-08-23T22:04:55.823Z,1755986695.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.027661
2025-08-23T22:04:56.076Z,1755986696.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.279672
2025-08-23T22:04:56.161Z,1755986696.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-08-23T22:04:56.168Z,1755986696.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.845375 m,
nav range: 73.467995 m,
bearing: 254.597112 deg,
approach rate: -0.621572 m/s,
LOS rate: 0.045435 deg/s,
cmd heading: 246.504669 deg,
new cmd heading: 246.546591 deg.
2025-08-23T22:04:56.169Z,1755986696.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303050 target range: 78.845375 and range: 79.30 m.
2025-08-23T22:04:56.327Z,1755986696.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.530965
2025-08-23T22:04:56.544Z,1755986696.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-08-23T22:04:56.551Z,1755986696.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.845375 m,
nav range: 73.216621 m,
bearing: 254.615274 deg,
approach rate: -0.656516 m/s,
LOS rate: 0.047597 deg/s,
cmd heading: 246.546579 deg,
new cmd heading: 246.583028 deg.
2025-08-23T22:04:56.552Z,1755986696.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303686 target range: 78.845375 and range: 79.30 m.
2025-08-23T22:04:56.579Z,1755986696.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.783475
2025-08-23T22:04:56.830Z,1755986696.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.034870
2025-08-23T22:04:57.025Z,1755986697.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-08-23T22:04:57.028Z,1755986697.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.845375 m,
nav range: 72.895386 m,
bearing: 254.640370 deg,
approach rate: -0.667652 m/s,
LOS rate: 0.052390 deg/s,
cmd heading: 246.583025 deg,
new cmd heading: 246.633439 deg.
2025-08-23T22:04:57.029Z,1755986697.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304565 target range: 78.845375 and range: 79.30 m.
2025-08-23T22:04:57.084Z,1755986697.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.288498
2025-08-23T22:04:57.335Z,1755986697.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.539000
2025-08-23T22:04:57.364Z,1755986697.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:57.370Z,1755986697.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-08-23T22:04:57.373Z,1755986697.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.845375 m,
nav range: 72.691017 m,
bearing: 254.656219 deg,
approach rate: -0.599888 m/s,
LOS rate: 0.046652 deg/s,
cmd heading: 246.633432 deg,
new cmd heading: 246.665218 deg.
2025-08-23T22:04:57.379Z,1755986697.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305120 target range: 78.845375 and range: 79.30 m.
2025-08-23T22:04:57.588Z,1755986697.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.792003
2025-08-23T22:04:57.821Z,1755986697.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-08-23T22:04:57.828Z,1755986697.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.845375 m,
nav range: 72.417679 m,
bearing: 254.677175 deg,
approach rate: -0.600634 m/s,
LOS rate: 0.046223 deg/s,
cmd heading: 246.665206 deg,
new cmd heading: 246.707276 deg.
2025-08-23T22:04:57.829Z,1755986697.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305854 target range: 78.845375 and range: 79.30 m.
2025-08-23T22:04:57.839Z,1755986697.839 [DAT](INFO): DAT read: Rx Time:22:04:57.0051
2025-08-23T22:04:57.839Z,1755986697.839 [DAT](INFO): Rx dataTimestamp_ set to:1755986697.838827
2025-08-23T22:04:57.840Z,1755986697.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.044055
2025-08-23T22:04:58.092Z,1755986698.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.295904
2025-08-23T22:04:58.244Z,1755986698.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-08-23T22:04:58.266Z,1755986698.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.845375 m,
nav range: 72.138138 m,
bearing: 254.696540 deg,
approach rate: -0.662481 m/s,
LOS rate: 0.046069 deg/s,
cmd heading: 246.707280 deg,
new cmd heading: 246.746159 deg.
2025-08-23T22:04:58.267Z,1755986698.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306533 target range: 78.845375 and range: 79.30 m.
2025-08-23T22:04:58.348Z,1755986698.348 [DAT](INFO): DAT read: 22:04:57.0051 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 404, 0.38,-0.836,-2.754,-0.964,-1.224, PHS= 0.490,-1.485, 0.215, RAW= 142.6, 8.5, CAL= 142.2, 9.3, ROT= 7.8, -9.3
2025-08-23T22:04:58.349Z,1755986698.349 [DAT](INFO): got valid direction response:
22:04:57.0051 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 404, 0.38,-0.836,-2.754,-0.964,-1.224, PHS= 0.490,-1.485, 0.215, RAW= 142.6, 8.5, CAL= 142.2, 9.3, ROT= 7.8, -9.3
2025-08-23T22:04:58.350Z,1755986698.350 [DAT](INFO): DAT read: Bearing 55.1, 21.9 (Local)
2025-08-23T22:04:58.350Z,1755986698.350 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.1, 21.9 (Local)
2025-08-23T22:04:58.351Z,1755986698.351 [DAT](INFO): DAT read: Range 11 to 50 : 76.7 m (Round-trip 102.3 ms) speed 0.6 m/s
2025-08-23T22:04:58.352Z,1755986698.352 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:04:58.353Z,1755986698.353 [DAT](INFO): direction in FSK: [0.977725,0.133932,0.161604]
2025-08-23T22:04:58.354Z,1755986698.354 [DAT](INFO): publishing direction and range info
2025-08-23T22:04:58.357Z,1755986698.357 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:04:58.357Z,1755986698.357 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:04:58.357Z,1755986698.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:04:58.595Z,1755986698.595 [DAT](INFO): DAT read: user:1608>
2025-08-23T22:04:58.596Z,1755986698.596 [DAT](INFO): DAT read: Tx time:22:04:58.2987
2025-08-23T22:04:58.596Z,1755986698.596 [DAT](INFO): Ping request sent.
2025-08-23T22:04:58.597Z,1755986698.597 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:04:58.597Z,1755986698.597 [DAT](INFO): publishing transmit ping time
2025-08-23T22:04:58.598Z,1755986698.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001669
2025-08-23T22:04:58.710Z,1755986698.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 76.699997 m,
deltaT: 3.799990 s,
deltaX: -2.600006 m,
approachRate: -0.684214 m/s,
rangeRepo size: 4
2025-08-23T22:04:58.712Z,1755986698.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 76.258270 m,
bearing: 253.872719 deg,
lat: 36.779448 deg,
lon: -121.859555 deg,
deltaT: 3.799990 s,
deltaX: -2.587105 m,
approachRate: -0.680819 m/s,
posRepo size: 4
2025-08-23T22:04:58.713Z,1755986698.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.26 m.
2025-08-23T22:04:58.720Z,1755986698.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.258270 m,
nav range: 70.527435 m,
bearing: 254.426557 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.046069 deg/s,
cmd heading: 246.746157 deg,
new cmd heading: 246.788800 deg.
2025-08-23T22:04:58.721Z,1755986698.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307277 target range: 76.258270 and range: 76.70 m.
2025-08-23T22:04:58.848Z,1755986698.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251223
2025-08-23T22:04:59.099Z,1755986699.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502250
2025-08-23T22:04:59.152Z,1755986699.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.26 m.
2025-08-23T22:04:59.159Z,1755986699.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.258270 m,
nav range: 70.228745 m,
bearing: 254.444774 deg,
approach rate: -0.669335 m/s,
LOS rate: 0.040997 deg/s,
cmd heading: 246.788805 deg,
new cmd heading: 246.825395 deg.
2025-08-23T22:04:59.160Z,1755986699.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307916 target range: 76.258270 and range: 76.70 m.
2025-08-23T22:04:59.352Z,1755986699.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755322
2025-08-23T22:04:59.585Z,1755986699.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:04:59.588Z,1755986699.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.26 m.
2025-08-23T22:04:59.602Z,1755986699.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006089
2025-08-23T22:04:59.611Z,1755986699.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.258270 m,
nav range: 69.949921 m,
bearing: 254.461501 deg,
approach rate: -0.638854 m/s,
LOS rate: 0.038477 deg/s,
cmd heading: 246.825387 deg,
new cmd heading: 246.858974 deg.
2025-08-23T22:04:59.612Z,1755986699.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308502 target range: 76.258270 and range: 76.70 m.
2025-08-23T22:04:59.855Z,1755986699.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258735
2025-08-23T22:04:59.988Z,1755986699.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.26 m.
2025-08-23T22:04:59.991Z,1755986699.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.258270 m,
nav range: 69.690605 m,
bearing: 254.475523 deg,
approach rate: -0.648731 m/s,
LOS rate: 0.035209 deg/s,
cmd heading: 246.858965 deg,
new cmd heading: 246.887113 deg.
2025-08-23T22:04:59.992Z,1755986699.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308993 target range: 76.258270 and range: 76.70 m.
2025-08-23T22:05:00.107Z,1755986700.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510569
2025-08-23T22:05:00.359Z,1755986700.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762258
2025-08-23T22:05:00.372Z,1755986700.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.26 m.
2025-08-23T22:05:00.375Z,1755986700.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.258270 m,
nav range: 69.445595 m,
bearing: 254.488593 deg,
approach rate: -0.637930 m/s,
LOS rate: 0.034152 deg/s,
cmd heading: 246.887105 deg,
new cmd heading: 246.913338 deg.
2025-08-23T22:05:00.376Z,1755986700.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309451 target range: 76.258270 and range: 76.70 m.
2025-08-23T22:05:00.612Z,1755986700.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015638
2025-08-23T22:05:00.848Z,1755986700.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.26 m.
2025-08-23T22:05:00.855Z,1755986700.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.258270 m,
nav range: 69.172112 m,
bearing: 254.502913 deg,
approach rate: -0.574629 m/s,
LOS rate: 0.030208 deg/s,
cmd heading: 246.913333 deg,
new cmd heading: 246.942087 deg.
2025-08-23T22:05:00.856Z,1755986700.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309952 target range: 76.258270 and range: 76.70 m.
2025-08-23T22:05:00.863Z,1755986700.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266234
2025-08-23T22:05:01.114Z,1755986701.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518052
2025-08-23T22:05:01.217Z,1755986701.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.26 m.
2025-08-23T22:05:01.240Z,1755986701.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.258270 m,
nav range: 68.906029 m,
bearing: 254.516484 deg,
approach rate: -0.720966 m/s,
LOS rate: 0.036912 deg/s,
cmd heading: 246.942074 deg,
new cmd heading: 246.969320 deg.
2025-08-23T22:05:01.241Z,1755986701.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310428 target range: 76.258270 and range: 76.70 m.
2025-08-23T22:05:01.367Z,1755986701.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770599
2025-08-23T22:05:01.603Z,1755986701.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:01.605Z,1755986701.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.26 m.
2025-08-23T22:05:01.608Z,1755986701.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.258270 m,
nav range: 68.653732 m,
bearing: 254.529145 deg,
approach rate: -0.650319 m/s,
LOS rate: 0.032754 deg/s,
cmd heading: 246.969313 deg,
new cmd heading: 246.994728 deg.
2025-08-23T22:05:01.609Z,1755986701.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310871 target range: 76.258270 and range: 76.70 m.
2025-08-23T22:05:01.619Z,1755986701.619 [DAT](INFO): DAT read: Rx Time:22:05:00.8018
2025-08-23T22:05:01.619Z,1755986701.619 [DAT](INFO): Rx dataTimestamp_ set to:1755986701.618821
2025-08-23T22:05:01.620Z,1755986701.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023269
2025-08-23T22:05:01.878Z,1755986701.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281276
2025-08-23T22:05:02.098Z,1755986702.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.26 m.
2025-08-23T22:05:02.100Z,1755986702.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.258270 m,
nav range: 68.346748 m,
bearing: 254.544225 deg,
approach rate: -0.629592 m/s,
LOS rate: 0.031066 deg/s,
cmd heading: 246.994721 deg,
new cmd heading: 247.025017 deg.
2025-08-23T22:05:02.102Z,1755986702.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311400 target range: 76.258270 and range: 76.70 m.
2025-08-23T22:05:02.136Z,1755986702.136 [DAT](INFO): DAT read: 22:05:00.8018 LVL= 32528, 32753, 32722, 32755, AGC= 67, IDX= 402, 0.33,-2.277, 2.105,-2.368,-2.667, PHS= 0.492,-1.466, 0.255, RAW= 143.6, 7.8, CAL= 143.2, 8.5, ROT= 6.8, -8.5
2025-08-23T22:05:02.137Z,1755986702.137 [DAT](INFO): got valid direction response:
22:05:00.8018 LVL= 32528, 32753, 32722, 32755, AGC= 67, IDX= 402, 0.33,-2.277, 2.105,-2.368,-2.667, PHS= 0.492,-1.466, 0.255, RAW= 143.6, 7.8, CAL= 143.2, 8.5, ROT= 6.8, -8.5
2025-08-23T22:05:02.138Z,1755986702.138 [DAT](INFO): DAT read: Bearing 55.3, 21.5 (Local)
2025-08-23T22:05:02.138Z,1755986702.138 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.3, 21.5 (Local)
2025-08-23T22:05:02.140Z,1755986702.140 [DAT](INFO): DAT read: Range 11 to 50 : 74.2 m (Round-trip 99.0 ms) speed 0.7 m/s
2025-08-23T22:05:02.141Z,1755986702.141 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:02.143Z,1755986702.143 [DAT](INFO): direction in FSK: [0.982059,0.117103,0.147809]
2025-08-23T22:05:02.143Z,1755986702.143 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:02.159Z,1755986702.159 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:02.159Z,1755986702.159 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:02.160Z,1755986702.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:02.384Z,1755986702.384 [DAT](INFO): DAT read: user:1609>
2025-08-23T22:05:02.384Z,1755986702.384 [DAT](INFO): DAT read: Tx time:22:05:02.0987
2025-08-23T22:05:02.385Z,1755986702.385 [DAT](INFO): Ping request sent.
2025-08-23T22:05:02.385Z,1755986702.385 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:02.385Z,1755986702.385 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:02.386Z,1755986702.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000868
2025-08-23T22:05:02.429Z,1755986702.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 74.199997 m,
deltaT: 3.788049 s,
deltaX: -2.500000 m,
approachRate: -0.659970 m/s,
rangeRepo size: 4
2025-08-23T22:05:02.431Z,1755986702.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 73.772675 m,
bearing: 253.541668 deg,
lat: 36.779444 deg,
lon: -121.859550 deg,
deltaT: 3.788049 s,
deltaX: -2.485596 m,
approachRate: -0.656168 m/s,
posRepo size: 4
2025-08-23T22:05:02.432Z,1755986702.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.77 m.
2025-08-23T22:05:02.467Z,1755986702.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.772675 m,
nav range: 67.776390 m,
bearing: 254.046052 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.031066 deg/s,
cmd heading: 247.025020 deg,
new cmd heading: 247.045901 deg.
2025-08-23T22:05:02.468Z,1755986702.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311764 target range: 73.772675 and range: 74.20 m.
2025-08-23T22:05:02.635Z,1755986702.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249888
2025-08-23T22:05:02.887Z,1755986702.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501930
2025-08-23T22:05:02.892Z,1755986702.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.77 m.
2025-08-23T22:05:02.895Z,1755986702.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.772675 m,
nav range: 67.481804 m,
bearing: 254.058212 deg,
approach rate: -0.635721 m/s,
LOS rate: 0.026354 deg/s,
cmd heading: 247.045893 deg,
new cmd heading: 247.070318 deg.
2025-08-23T22:05:02.896Z,1755986702.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312191 target range: 73.772675 and range: 74.20 m.
2025-08-23T22:05:03.139Z,1755986703.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754769
2025-08-23T22:05:03.265Z,1755986703.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.77 m.
2025-08-23T22:05:03.268Z,1755986703.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.772675 m,
nav range: 67.226662 m,
bearing: 254.068572 deg,
approach rate: -0.683811 m/s,
LOS rate: 0.027872 deg/s,
cmd heading: 247.070318 deg,
new cmd heading: 247.091117 deg.
2025-08-23T22:05:03.269Z,1755986703.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312553 target range: 73.772675 and range: 74.20 m.
2025-08-23T22:05:03.393Z,1755986703.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008055
2025-08-23T22:05:03.643Z,1755986703.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257884
2025-08-23T22:05:03.700Z,1755986703.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:03.702Z,1755986703.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.77 m.
2025-08-23T22:05:03.704Z,1755986703.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.772675 m,
nav range: 66.937698 m,
bearing: 254.080458 deg,
approach rate: -0.661907 m/s,
LOS rate: 0.027344 deg/s,
cmd heading: 247.091109 deg,
new cmd heading: 247.114984 deg.
2025-08-23T22:05:03.706Z,1755986703.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312970 target range: 73.772675 and range: 74.20 m.
2025-08-23T22:05:03.899Z,1755986703.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513684
2025-08-23T22:05:04.147Z,1755986704.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761900
2025-08-23T22:05:04.148Z,1755986704.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.77 m.
2025-08-23T22:05:04.151Z,1755986704.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.772675 m,
nav range: 66.637131 m,
bearing: 254.085168 deg,
approach rate: -0.672975 m/s,
LOS rate: 0.010595 deg/s,
cmd heading: 247.114987 deg,
new cmd heading: 247.124451 deg.
2025-08-23T22:05:04.152Z,1755986704.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313135 target range: 73.772675 and range: 74.20 m.
2025-08-23T22:05:04.399Z,1755986704.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014524
2025-08-23T22:05:04.651Z,1755986704.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266004
2025-08-23T22:05:04.676Z,1755986704.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.77 m.
2025-08-23T22:05:04.678Z,1755986704.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.772675 m,
nav range: 66.291359 m,
bearing: 254.090640 deg,
approach rate: -0.655709 m/s,
LOS rate: 0.010431 deg/s,
cmd heading: 247.124440 deg,
new cmd heading: 247.135441 deg.
2025-08-23T22:05:04.679Z,1755986704.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313327 target range: 73.772675 and range: 74.20 m.
2025-08-23T22:05:04.906Z,1755986704.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520679
2025-08-23T22:05:05.153Z,1755986705.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.77 m.
2025-08-23T22:05:05.155Z,1755986705.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770109
2025-08-23T22:05:05.157Z,1755986705.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.772675 m,
nav range: 65.960396 m,
bearing: 254.100020 deg,
approach rate: -0.693743 m/s,
LOS rate: 0.019760 deg/s,
cmd heading: 247.135451 deg,
new cmd heading: 247.154305 deg.
2025-08-23T22:05:05.158Z,1755986705.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313656 target range: 73.772675 and range: 74.20 m.
2025-08-23T22:05:05.408Z,1755986705.408 [DAT](INFO): DAT read: Rx Time:22:05:04.5983
2025-08-23T22:05:05.409Z,1755986705.409 [DAT](INFO): Rx dataTimestamp_ set to:1755986705.408639
2025-08-23T22:05:05.410Z,1755986705.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025221
2025-08-23T22:05:05.498Z,1755986705.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.77 m.
2025-08-23T22:05:05.500Z,1755986705.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.772675 m,
nav range: 65.729942 m,
bearing: 254.107152 deg,
approach rate: -0.667898 m/s,
LOS rate: 0.020741 deg/s,
cmd heading: 247.154302 deg,
new cmd heading: 247.168615 deg.
2025-08-23T22:05:05.502Z,1755986705.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313906 target range: 73.772675 and range: 74.20 m.
2025-08-23T22:05:05.659Z,1755986705.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273807
2025-08-23T22:05:05.931Z,1755986705.931 [DAT](INFO): DAT read: 22:05:04.5983 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 398,-0.22, 0.512,-1.373, 0.422, 0.161, PHS= 0.453,-1.489, 0.217, RAW= 143.6, 9.0, CAL= 143.2, 9.8, ROT= 6.8, -9.8
2025-08-23T22:05:05.942Z,1755986705.942 [DAT](INFO): got valid direction response:
22:05:04.5983 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 398,-0.22, 0.512,-1.373, 0.422, 0.161, PHS= 0.453,-1.489, 0.217, RAW= 143.6, 9.0, CAL= 143.2, 9.8, ROT= 6.8, -9.8
2025-08-23T22:05:05.943Z,1755986705.943 [DAT](INFO): DAT read: Bearing 56.0, 21.5 (Local)
2025-08-23T22:05:05.943Z,1755986705.943 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.0, 21.5 (Local)
2025-08-23T22:05:05.945Z,1755986705.945 [DAT](INFO): DAT read: Range 11 to 50 : 71.6 m (Round-trip 95.5 ms) speed 0.8 m/s
2025-08-23T22:05:05.950Z,1755986705.950 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:05.951Z,1755986705.951 [DAT](INFO): direction in FSK: [0.978476,0.116676,0.170209]
2025-08-23T22:05:05.951Z,1755986705.951 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:05.963Z,1755986705.963 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:05.963Z,1755986705.963 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:05.963Z,1755986705.963 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:05.988Z,1755986705.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 71.599998 m,
deltaT: 3.781590 s,
deltaX: -2.599998 m,
approachRate: -0.687541 m/s,
rangeRepo size: 4
2025-08-23T22:05:05.994Z,1755986705.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 71.189003 m,
bearing: 253.364216 deg,
lat: 36.779443 deg,
lon: -121.859548 deg,
deltaT: 3.781590 s,
deltaX: -2.583672 m,
approachRate: -0.683224 m/s,
posRepo size: 4
2025-08-23T22:05:05.995Z,1755986705.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.19 m.
2025-08-23T22:05:06.002Z,1755986706.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.189003 m,
nav range: 65.308922 m,
bearing: 253.934555 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.020741 deg/s,
cmd heading: 247.168618 deg,
new cmd heading: 247.188938 deg.
2025-08-23T22:05:06.003Z,1755986706.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314261 target range: 71.189003 and range: 71.60 m.
2025-08-23T22:05:06.162Z,1755986706.162 [DAT](INFO): DAT read: user:1610>
2025-08-23T22:05:06.163Z,1755986706.163 [DAT](INFO): DAT read: Tx time:22:05:05.8987
2025-08-23T22:05:06.163Z,1755986706.163 [DAT](INFO): Ping request sent.
2025-08-23T22:05:06.163Z,1755986706.163 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:06.164Z,1755986706.164 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:06.164Z,1755986706.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-23T22:05:06.404Z,1755986706.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:06.406Z,1755986706.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.19 m.
2025-08-23T22:05:06.409Z,1755986706.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.189003 m,
nav range: 65.011444 m,
bearing: 253.945749 deg,
approach rate: -0.710642 m/s,
LOS rate: 0.026863 deg/s,
cmd heading: 247.188945 deg,
new cmd heading: 247.211435 deg.
2025-08-23T22:05:06.410Z,1755986706.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314653 target range: 71.189003 and range: 71.60 m.
2025-08-23T22:05:06.415Z,1755986706.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251115
2025-08-23T22:05:06.671Z,1755986706.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506988
2025-08-23T22:05:06.755Z,1755986706.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.19 m.
2025-08-23T22:05:06.762Z,1755986706.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.189003 m,
nav range: 64.784760 m,
bearing: 253.954490 deg,
approach rate: -0.648925 m/s,
LOS rate: 0.025110 deg/s,
cmd heading: 247.211430 deg,
new cmd heading: 247.228972 deg.
2025-08-23T22:05:06.763Z,1755986706.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314960 target range: 71.189003 and range: 71.60 m.
2025-08-23T22:05:06.921Z,1755986706.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757203
2025-08-23T22:05:07.170Z,1755986707.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006913
2025-08-23T22:05:07.196Z,1755986707.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.19 m.
2025-08-23T22:05:07.204Z,1755986707.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.189003 m,
nav range: 64.496590 m,
bearing: 253.964523 deg,
approach rate: -0.654375 m/s,
LOS rate: 0.022884 deg/s,
cmd heading: 247.228970 deg,
new cmd heading: 247.249124 deg.
2025-08-23T22:05:07.210Z,1755986707.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315311 target range: 71.189003 and range: 71.60 m.
2025-08-23T22:05:07.423Z,1755986707.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259043
2025-08-23T22:05:07.571Z,1755986707.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.19 m.
2025-08-23T22:05:07.578Z,1755986707.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.189003 m,
nav range: 64.227127 m,
bearing: 253.974119 deg,
approach rate: -0.718121 m/s,
LOS rate: 0.025682 deg/s,
cmd heading: 247.249132 deg,
new cmd heading: 247.268406 deg.
2025-08-23T22:05:07.579Z,1755986707.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315648 target range: 71.189003 and range: 71.60 m.
2025-08-23T22:05:07.675Z,1755986707.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511117
2025-08-23T22:05:07.929Z,1755986707.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765212
2025-08-23T22:05:08.013Z,1755986708.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.19 m.
2025-08-23T22:05:08.015Z,1755986708.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.189003 m,
nav range: 63.933319 m,
bearing: 253.984403 deg,
approach rate: -0.665490 m/s,
LOS rate: 0.023400 deg/s,
cmd heading: 247.268393 deg,
new cmd heading: 247.289055 deg.
2025-08-23T22:05:08.016Z,1755986708.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316008 target range: 71.189003 and range: 71.60 m.
2025-08-23T22:05:08.180Z,1755986708.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016165
2025-08-23T22:05:08.368Z,1755986708.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.19 m.
2025-08-23T22:05:08.371Z,1755986708.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.189003 m,
nav range: 63.696606 m,
bearing: 253.992695 deg,
approach rate: -0.665587 m/s,
LOS rate: 0.023403 deg/s,
cmd heading: 247.289048 deg,
new cmd heading: 247.305694 deg.
2025-08-23T22:05:08.372Z,1755986708.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316298 target range: 71.189003 and range: 71.60 m.
2025-08-23T22:05:08.431Z,1755986708.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267925
2025-08-23T22:05:08.683Z,1755986708.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519139
2025-08-23T22:05:08.769Z,1755986708.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:08.771Z,1755986708.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.19 m.
2025-08-23T22:05:08.774Z,1755986708.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.189003 m,
nav range: 63.429237 m,
bearing: 254.002091 deg,
approach rate: -0.663923 m/s,
LOS rate: 0.023429 deg/s,
cmd heading: 247.305686 deg,
new cmd heading: 247.324556 deg.
2025-08-23T22:05:08.775Z,1755986708.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316628 target range: 71.189003 and range: 71.60 m.
2025-08-23T22:05:08.938Z,1755986708.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773612
2025-08-23T22:05:09.188Z,1755986709.188 [DAT](INFO): DAT read: Rx Time:22:05:08.3948
2025-08-23T22:05:09.188Z,1755986709.188 [DAT](INFO): Rx dataTimestamp_ set to:1755986709.187969
2025-08-23T22:05:09.189Z,1755986709.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025668
2025-08-23T22:05:09.224Z,1755986709.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.19 m.
2025-08-23T22:05:09.227Z,1755986709.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.189003 m,
nav range: 63.138493 m,
bearing: 254.010813 deg,
approach rate: -0.641882 m/s,
LOS rate: 0.019346 deg/s,
cmd heading: 247.324565 deg,
new cmd heading: 247.342091 deg.
2025-08-23T22:05:09.228Z,1755986709.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316934 target range: 71.189003 and range: 71.60 m.
2025-08-23T22:05:09.439Z,1755986709.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275058
2025-08-23T22:05:09.611Z,1755986709.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.19 m.
2025-08-23T22:05:09.621Z,1755986709.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.189003 m,
nav range: 62.882603 m,
bearing: 254.018465 deg,
approach rate: -0.663042 m/s,
LOS rate: 0.019906 deg/s,
cmd heading: 247.342078 deg,
new cmd heading: 247.357443 deg.
2025-08-23T22:05:09.625Z,1755986709.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317202 target range: 71.189003 and range: 71.60 m.
2025-08-23T22:05:09.698Z,1755986709.698 [DAT](INFO): DAT read: 22:05:08.3948 LVL= 27632, 30017, 29938, 32755, AGC= 65, IDX= 410,-0.21, 1.683,-0.206, 1.586, 1.302, PHS= 0.483,-1.463, 0.240, RAW= 143.4, 8.1, CAL= 143.0, 8.9, ROT= 7.0, -8.9
2025-08-23T22:05:09.699Z,1755986709.699 [DAT](INFO): got valid direction response:
22:05:08.3948 LVL= 27632, 30017, 29938, 32755, AGC= 65, IDX= 410,-0.21, 1.683,-0.206, 1.586, 1.302, PHS= 0.483,-1.463, 0.240, RAW= 143.4, 8.1, CAL= 143.0, 8.9, ROT= 7.0, -8.9
2025-08-23T22:05:09.700Z,1755986709.700 [DAT](INFO): DAT read: Bearing 53.1, 21.0 (Local)
2025-08-23T22:05:09.700Z,1755986709.700 [DAT](INFO): Local bearing/azimuth received:
Bearing 53.1, 21.0 (Local)
2025-08-23T22:05:09.702Z,1755986709.702 [DAT](INFO): DAT read: Range 11 to 50 : 68.9 m (Round-trip 91.9 ms) speed 0.5 m/s
2025-08-23T22:05:09.702Z,1755986709.702 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:09.703Z,1755986709.703 [DAT](INFO): direction in FSK: [0.980596,0.120402,0.154710]
2025-08-23T22:05:09.703Z,1755986709.703 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:09.708Z,1755986709.708 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:09.708Z,1755986709.708 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:09.708Z,1755986709.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:09.945Z,1755986709.945 [DAT](INFO): DAT read: user:1611>
2025-08-23T22:05:09.947Z,1755986709.947 [DAT](INFO): DAT read: Tx time:22:05:09.6487
2025-08-23T22:05:09.949Z,1755986709.949 [DAT](INFO): Ping request sent.
2025-08-23T22:05:09.949Z,1755986709.949 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:09.950Z,1755986709.950 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:09.952Z,1755986709.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002840
2025-08-23T22:05:10.199Z,1755986710.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249526
2025-08-23T22:05:10.230Z,1755986710.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.900002 m,
deltaT: 3.779051 s,
deltaX: -2.699997 m,
approachRate: -0.714464 m/s,
rangeRepo size: 4
2025-08-23T22:05:10.232Z,1755986710.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 68.504768 m,
bearing: 253.561605 deg,
lat: 36.779439 deg,
lon: -121.859548 deg,
deltaT: 3.779051 s,
deltaX: -2.684235 m,
approachRate: -0.710293 m/s,
posRepo size: 4
2025-08-23T22:05:10.233Z,1755986710.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-23T22:05:10.240Z,1755986710.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.504768 m,
nav range: 62.612026 m,
bearing: 253.635098 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.019906 deg/s,
cmd heading: 247.357432 deg,
new cmd heading: 247.381787 deg.
2025-08-23T22:05:10.241Z,1755986710.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317626 target range: 68.504768 and range: 68.90 m.
2025-08-23T22:05:10.447Z,1755986710.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498824
2025-08-23T22:05:10.689Z,1755986710.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-23T22:05:10.692Z,1755986710.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.504768 m,
nav range: 62.263313 m,
bearing: 253.644331 deg,
approach rate: -0.746006 m/s,
LOS rate: 0.019862 deg/s,
cmd heading: 247.381775 deg,
new cmd heading: 247.400344 deg.
2025-08-23T22:05:10.693Z,1755986710.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317951 target range: 68.504768 and range: 68.90 m.
2025-08-23T22:05:10.699Z,1755986710.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750166
2025-08-23T22:05:10.953Z,1755986710.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004175
2025-08-23T22:05:11.171Z,1755986711.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:11.173Z,1755986711.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-23T22:05:11.176Z,1755986711.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.504768 m,
nav range: 61.939659 m,
bearing: 253.652398 deg,
approach rate: -0.668898 m/s,
LOS rate: 0.016758 deg/s,
cmd heading: 247.400353 deg,
new cmd heading: 247.416570 deg.
2025-08-23T22:05:11.177Z,1755986711.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318234 target range: 68.504768 and range: 68.90 m.
2025-08-23T22:05:11.203Z,1755986711.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254656
2025-08-23T22:05:11.455Z,1755986711.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506508
2025-08-23T22:05:11.571Z,1755986711.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-23T22:05:11.574Z,1755986711.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.504768 m,
nav range: 61.672550 m,
bearing: 253.658920 deg,
approach rate: -0.670831 m/s,
LOS rate: 0.016452 deg/s,
cmd heading: 247.416581 deg,
new cmd heading: 247.429683 deg.
2025-08-23T22:05:11.575Z,1755986711.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318463 target range: 68.504768 and range: 68.90 m.
2025-08-23T22:05:11.706Z,1755986711.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758061
2025-08-23T22:05:11.952Z,1755986711.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-23T22:05:11.955Z,1755986711.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.504768 m,
nav range: 61.420502 m,
bearing: 253.664925 deg,
approach rate: -0.661545 m/s,
LOS rate: 0.015824 deg/s,
cmd heading: 247.429695 deg,
new cmd heading: 247.441753 deg.
2025-08-23T22:05:11.956Z,1755986711.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318673 target range: 68.504768 and range: 68.90 m.
2025-08-23T22:05:11.960Z,1755986711.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011043
2025-08-23T22:05:12.211Z,1755986712.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262695
2025-08-23T22:05:12.373Z,1755986712.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-23T22:05:12.375Z,1755986712.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.504768 m,
nav range: 61.134628 m,
bearing: 253.669346 deg,
approach rate: -0.679648 m/s,
LOS rate: 0.010560 deg/s,
cmd heading: 247.441744 deg,
new cmd heading: 247.450627 deg.
2025-08-23T22:05:12.376Z,1755986712.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318828 target range: 68.504768 and range: 68.90 m.
2025-08-23T22:05:12.464Z,1755986712.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514736
2025-08-23T22:05:12.650Z,1755986712.650 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:05:12.715Z,1755986712.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766099
2025-08-23T22:05:12.756Z,1755986712.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-23T22:05:12.759Z,1755986712.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.504768 m,
nav range: 60.877041 m,
bearing: 253.673258 deg,
approach rate: -0.672273 m/s,
LOS rate: 0.010255 deg/s,
cmd heading: 247.450623 deg,
new cmd heading: 247.458481 deg.
2025-08-23T22:05:12.760Z,1755986712.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318965 target range: 68.504768 and range: 68.90 m.
2025-08-23T22:05:12.972Z,1755986712.972 [DAT](INFO): DAT read: Rx Time:22:05:12.1413
2025-08-23T22:05:12.974Z,1755986712.974 [DAT](INFO): Rx dataTimestamp_ set to:1755986712.973354
2025-08-23T22:05:12.977Z,1755986712.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027583
2025-08-23T22:05:13.219Z,1755986713.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270165
2025-08-23T22:05:13.296Z,1755986713.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:13.298Z,1755986713.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-23T22:05:13.301Z,1755986713.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.504768 m,
nav range: 60.503727 m,
bearing: 253.686506 deg,
approach rate: -0.688500 m/s,
LOS rate: 0.024584 deg/s,
cmd heading: 247.458491 deg,
new cmd heading: 247.485150 deg.
2025-08-23T22:05:13.302Z,1755986713.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319431 target range: 68.504768 and range: 68.90 m.
2025-08-23T22:05:13.478Z,1755986713.478 [DAT](INFO): DAT read: 22:05:12.1413 LVL= 32192, 32753, 32578, 32755, AGC= 67, IDX= 406,-0.12,-1.349, 2.983,-1.441,-1.726, PHS= 0.480,-1.528, 0.242, RAW= 143.8, 8.5, CAL= 143.3, 9.3, ROT= 6.7, -9.3
2025-08-23T22:05:13.479Z,1755986713.479 [DAT](INFO): got valid direction response:
22:05:12.1413 LVL= 32192, 32753, 32578, 32755, AGC= 67, IDX= 406,-0.12,-1.349, 2.983,-1.441,-1.726, PHS= 0.480,-1.528, 0.242, RAW= 143.8, 8.5, CAL= 143.3, 9.3, ROT= 6.7, -9.3
2025-08-23T22:05:13.480Z,1755986713.480 [DAT](INFO): DAT read: Bearing 52.6, 19.6 (Local)
2025-08-23T22:05:13.481Z,1755986713.481 [DAT](INFO): Local bearing/azimuth received:
Bearing 52.6, 19.6 (Local)
2025-08-23T22:05:13.483Z,1755986713.483 [DAT](INFO): DAT read: Range 11 to 50 : 66.3 m (Round-trip 88.4 ms) speed 0.7 m/s
2025-08-23T22:05:13.484Z,1755986713.484 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:13.486Z,1755986713.486 [DAT](INFO): direction in FSK: [0.980116,0.115137,0.161604]
2025-08-23T22:05:13.486Z,1755986713.486 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:13.490Z,1755986713.490 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:13.490Z,1755986713.490 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:13.491Z,1755986713.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:13.655Z,1755986713.655 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:05:13.727Z,1755986713.727 [DAT](INFO): DAT read: user:1612>
2025-08-23T22:05:13.727Z,1755986713.727 [DAT](INFO): DAT read: Tx time:22:05:13.3987
2025-08-23T22:05:13.728Z,1755986713.728 [DAT](INFO): Ping request sent.
2025-08-23T22:05:13.728Z,1755986713.728 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:13.728Z,1755986713.728 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:13.728Z,1755986713.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-23T22:05:13.745Z,1755986713.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 66.300003 m,
deltaT: 3.781371 s,
deltaX: -2.599998 m,
approachRate: -0.687581 m/s,
rangeRepo size: 4
2025-08-23T22:05:13.755Z,1755986713.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 65.919487 m,
bearing: 253.524303 deg,
lat: 36.779438 deg,
lon: -121.859550 deg,
deltaT: 3.781371 s,
deltaX: -2.585281 m,
approachRate: -0.683689 m/s,
posRepo size: 4
2025-08-23T22:05:13.756Z,1755986713.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.92 m.
2025-08-23T22:05:13.763Z,1755986713.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.919487 m,
nav range: 60.387760 m,
bearing: 253.660258 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.024584 deg/s,
cmd heading: 247.485156 deg,
new cmd heading: 247.507099 deg.
2025-08-23T22:05:13.764Z,1755986713.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319814 target range: 65.919487 and range: 66.30 m.
2025-08-23T22:05:13.979Z,1755986713.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251558
2025-08-23T22:05:14.209Z,1755986714.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.92 m.
2025-08-23T22:05:14.216Z,1755986714.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.919487 m,
nav range: 60.073650 m,
bearing: 253.667695 deg,
approach rate: -0.677136 m/s,
LOS rate: 0.016116 deg/s,
cmd heading: 247.507095 deg,
new cmd heading: 247.522047 deg.
2025-08-23T22:05:14.217Z,1755986714.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320075 target range: 65.919487 and range: 66.30 m.
2025-08-23T22:05:14.231Z,1755986714.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502983
2025-08-23T22:05:14.482Z,1755986714.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754759
2025-08-23T22:05:14.567Z,1755986714.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.92 m.
2025-08-23T22:05:14.570Z,1755986714.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.919487 m,
nav range: 59.813156 m,
bearing: 253.673716 deg,
approach rate: -0.725182 m/s,
LOS rate: 0.016836 deg/s,
cmd heading: 247.522039 deg,
new cmd heading: 247.534135 deg.
2025-08-23T22:05:14.571Z,1755986714.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320286 target range: 65.919487 and range: 66.30 m.
2025-08-23T22:05:14.734Z,1755986714.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772
2025-08-23T22:05:14.950Z,1755986714.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.92 m.
2025-08-23T22:05:14.953Z,1755986714.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.919487 m,
nav range: 59.552612 m,
bearing: 253.679754 deg,
approach rate: -0.680330 m/s,
LOS rate: 0.015835 deg/s,
cmd heading: 247.534142 deg,
new cmd heading: 247.546271 deg.
2025-08-23T22:05:14.954Z,1755986714.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320498 target range: 65.919487 and range: 66.30 m.
2025-08-23T22:05:14.988Z,1755986714.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260670
2025-08-23T22:05:15.238Z,1755986715.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510766
2025-08-23T22:05:15.405Z,1755986715.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:15.408Z,1755986715.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.92 m.
2025-08-23T22:05:15.410Z,1755986715.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.919487 m,
nav range: 59.238953 m,
bearing: 253.690261 deg,
approach rate: -0.686046 m/s,
LOS rate: 0.023102 deg/s,
cmd heading: 247.546273 deg,
new cmd heading: 247.567397 deg.
2025-08-23T22:05:15.411Z,1755986715.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320866 target range: 65.919487 and range: 66.30 m.
2025-08-23T22:05:15.491Z,1755986715.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763262
2025-08-23T22:05:15.743Z,1755986715.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014923
2025-08-23T22:05:15.761Z,1755986715.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.92 m.
2025-08-23T22:05:15.780Z,1755986715.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.919487 m,
nav range: 58.989555 m,
bearing: 253.698262 deg,
approach rate: -0.706192 m/s,
LOS rate: 0.022753 deg/s,
cmd heading: 247.567392 deg,
new cmd heading: 247.583462 deg.
2025-08-23T22:05:15.781Z,1755986715.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321146 target range: 65.919487 and range: 66.30 m.
2025-08-23T22:05:15.994Z,1755986715.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266722
2025-08-23T22:05:16.221Z,1755986716.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.92 m.
2025-08-23T22:05:16.228Z,1755986716.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.919487 m,
nav range: 58.680786 m,
bearing: 253.709271 deg,
approach rate: -0.671179 m/s,
LOS rate: 0.024056 deg/s,
cmd heading: 247.583456 deg,
new cmd heading: 247.605590 deg.
2025-08-23T22:05:16.228Z,1755986716.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321533 target range: 65.919487 and range: 66.30 m.
2025-08-23T22:05:16.247Z,1755986716.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518934
2025-08-23T22:05:16.499Z,1755986716.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770856
2025-08-23T22:05:16.588Z,1755986716.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.92 m.
2025-08-23T22:05:16.592Z,1755986716.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.919487 m,
nav range: 58.419891 m,
bearing: 253.718487 deg,
approach rate: -0.709412 m/s,
LOS rate: 0.025173 deg/s,
cmd heading: 247.605586 deg,
new cmd heading: 247.624101 deg.
2025-08-23T22:05:16.593Z,1755986716.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321856 target range: 65.919487 and range: 66.30 m.
2025-08-23T22:05:16.750Z,1755986716.750 [DAT](INFO): DAT read: Rx Time:22:05:15.8876
2025-08-23T22:05:16.751Z,1755986716.751 [DAT](INFO): Rx dataTimestamp_ set to:1755986716.750679
2025-08-23T22:05:16.751Z,1755986716.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023822
2025-08-23T22:05:16.971Z,1755986716.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.92 m.
2025-08-23T22:05:16.974Z,1755986716.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.919487 m,
nav range: 58.140255 m,
bearing: 253.728299 deg,
approach rate: -0.731728 m/s,
LOS rate: 0.025798 deg/s,
cmd heading: 247.624110 deg,
new cmd heading: 247.643828 deg.
2025-08-23T22:05:16.975Z,1755986716.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322200 target range: 65.919487 and range: 66.30 m.
2025-08-23T22:05:17.007Z,1755986717.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278351
2025-08-23T22:05:17.260Z,1755986717.260 [DAT](INFO): DAT read: 22:05:15.8876 LVL= 27680, 32673, 32754, 32755, AGC= 67, IDX= 401, 0.22,-3.109, 1.249, 3.091, 2.799, PHS= 0.478,-1.505, 0.248, RAW= 143.9, 8.3, CAL= 143.5, 9.1, ROT= 6.5, -9.1
2025-08-23T22:05:17.261Z,1755986717.261 [DAT](INFO): got valid direction response:
22:05:15.8876 LVL= 27680, 32673, 32754, 32755, AGC= 67, IDX= 401, 0.22,-3.109, 1.249, 3.091, 2.799, PHS= 0.478,-1.505, 0.248, RAW= 143.9, 8.3, CAL= 143.5, 9.1, ROT= 6.5, -9.1
2025-08-23T22:05:17.262Z,1755986717.262 [DAT](INFO): DAT read: Bearing 52.0, 18.1 (Local)
2025-08-23T22:05:17.262Z,1755986717.262 [DAT](INFO): Local bearing/azimuth received:
Bearing 52.0, 18.1 (Local)
2025-08-23T22:05:17.263Z,1755986717.263 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m (Round-trip 84.8 ms) speed 0.6 m/s
2025-08-23T22:05:17.264Z,1755986717.264 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:17.265Z,1755986717.265 [DAT](INFO): direction in FSK: [0.981067,0.111778,0.158158]
2025-08-23T22:05:17.265Z,1755986717.265 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:17.269Z,1755986717.269 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:17.269Z,1755986717.269 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:17.269Z,1755986717.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:17.466Z,1755986717.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 63.599998 m,
deltaT: 3.781856 s,
deltaX: -2.700005 m,
approachRate: -0.713936 m/s,
rangeRepo size: 4
2025-08-23T22:05:17.468Z,1755986717.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 63.235123 m,
bearing: 253.533310 deg,
lat: 36.779436 deg,
lon: -121.859556 deg,
deltaT: 3.781856 s,
deltaX: -2.684364 m,
approachRate: -0.709801 m/s,
posRepo size: 4
2025-08-23T22:05:17.469Z,1755986717.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.24 m.
2025-08-23T22:05:17.476Z,1755986717.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.235123 m,
nav range: 58.433971 m,
bearing: 253.693199 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.025798 deg/s,
cmd heading: 247.643835 deg,
new cmd heading: 247.669157 deg.
2025-08-23T22:05:17.482Z,1755986717.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322642 target range: 63.235123 and range: 63.60 m.
2025-08-23T22:05:17.508Z,1755986717.508 [DAT](INFO): DAT read: user:1613>
2025-08-23T22:05:17.510Z,1755986717.510 [DAT](INFO): DAT read: Tx time:22:05:17.2002
2025-08-23T22:05:17.511Z,1755986717.510 [DAT](INFO): Ping request sent.
2025-08-23T22:05:17.511Z,1755986717.511 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:17.511Z,1755986717.511 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:17.512Z,1755986717.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001632
2025-08-23T22:05:17.759Z,1755986717.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248650
2025-08-23T22:05:17.843Z,1755986717.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:17.850Z,1755986717.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.24 m.
2025-08-23T22:05:17.852Z,1755986717.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.235123 m,
nav range: 58.170132 m,
bearing: 253.699460 deg,
approach rate: -0.687117 m/s,
LOS rate: 0.016379 deg/s,
cmd heading: 247.669162 deg,
new cmd heading: 247.681740 deg.
2025-08-23T22:05:17.853Z,1755986717.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322862 target range: 63.235123 and range: 63.60 m.
2025-08-23T22:05:18.011Z,1755986718.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500850
2025-08-23T22:05:18.258Z,1755986718.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.24 m.
2025-08-23T22:05:18.261Z,1755986718.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.235123 m,
nav range: 57.866211 m,
bearing: 253.705380 deg,
approach rate: -0.735948 m/s,
LOS rate: 0.014411 deg/s,
cmd heading: 247.681729 deg,
new cmd heading: 247.693632 deg.
2025-08-23T22:05:18.263Z,1755986718.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752027
2025-08-23T22:05:18.264Z,1755986718.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323070 target range: 63.235123 and range: 63.60 m.
2025-08-23T22:05:18.516Z,1755986718.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005736
2025-08-23T22:05:18.631Z,1755986718.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.24 m.
2025-08-23T22:05:18.634Z,1755986718.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.235123 m,
nav range: 57.606850 m,
bearing: 253.710481 deg,
approach rate: -0.695311 m/s,
LOS rate: 0.013738 deg/s,
cmd heading: 247.693641 deg,
new cmd heading: 247.703890 deg.
2025-08-23T22:05:18.635Z,1755986718.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323248 target range: 63.235123 and range: 63.60 m.
2025-08-23T22:05:18.767Z,1755986718.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255992
2025-08-23T22:05:19.020Z,1755986719.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508633
2025-08-23T22:05:19.130Z,1755986719.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.24 m.
2025-08-23T22:05:19.132Z,1755986719.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.235123 m,
nav range: 57.315880 m,
bearing: 253.715895 deg,
approach rate: -0.593645 m/s,
LOS rate: 0.011102 deg/s,
cmd heading: 247.703886 deg,
new cmd heading: 247.714770 deg.
2025-08-23T22:05:19.142Z,1755986719.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323438 target range: 63.235123 and range: 63.60 m.
2025-08-23T22:05:19.271Z,1755986719.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760385
2025-08-23T22:05:19.524Z,1755986719.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013005
2025-08-23T22:05:19.557Z,1755986719.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.24 m.
2025-08-23T22:05:19.559Z,1755986719.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.235123 m,
nav range: 56.960991 m,
bearing: 253.724418 deg,
approach rate: -0.815820 m/s,
LOS rate: 0.019713 deg/s,
cmd heading: 247.714760 deg,
new cmd heading: 247.731910 deg.
2025-08-23T22:05:19.560Z,1755986719.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323738 target range: 63.235123 and range: 63.60 m.
2025-08-23T22:05:19.775Z,1755986719.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263978
2025-08-23T22:05:19.880Z,1755986719.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:19.899Z,1755986719.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.24 m.
2025-08-23T22:05:19.906Z,1755986719.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.235123 m,
nav range: 56.738605 m,
bearing: 253.729472 deg,
approach rate: -0.649107 m/s,
LOS rate: 0.014812 deg/s,
cmd heading: 247.731917 deg,
new cmd heading: 247.742067 deg.
2025-08-23T22:05:19.907Z,1755986719.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323915 target range: 63.235123 and range: 63.60 m.
2025-08-23T22:05:20.028Z,1755986720.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516909
2025-08-23T22:05:20.279Z,1755986720.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768092
2025-08-23T22:05:20.289Z,1755986720.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.24 m.
2025-08-23T22:05:20.328Z,1755986720.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.235123 m,
nav range: 56.448875 m,
bearing: 253.736088 deg,
approach rate: -0.743155 m/s,
LOS rate: 0.017057 deg/s,
cmd heading: 247.742053 deg,
new cmd heading: 247.755353 deg.
2025-08-23T22:05:20.329Z,1755986720.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324147 target range: 63.235123 and range: 63.60 m.
2025-08-23T22:05:20.531Z,1755986720.531 [DAT](INFO): DAT read: Rx Time:22:05:19.6856
2025-08-23T22:05:20.531Z,1755986720.531 [DAT](INFO): Rx dataTimestamp_ set to:1755986720.530850
2025-08-23T22:05:20.532Z,1755986720.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021129
2025-08-23T22:05:20.687Z,1755986720.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.24 m.
2025-08-23T22:05:20.690Z,1755986720.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.235123 m,
nav range: 56.173428 m,
bearing: 253.741932 deg,
approach rate: -0.691889 m/s,
LOS rate: 0.014752 deg/s,
cmd heading: 247.755359 deg,
new cmd heading: 247.767104 deg.
2025-08-23T22:05:20.691Z,1755986720.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324352 target range: 63.235123 and range: 63.60 m.
2025-08-23T22:05:20.784Z,1755986720.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272742
2025-08-23T22:05:21.040Z,1755986721.040 [DAT](INFO): DAT read: 22:05:19.6856 LVL= 23728, 29745, 27938, 32755, AGC= 67, IDX= 412, 0.05,-2.453, 1.885,-2.566,-2.851, PHS= 0.500,-1.502, 0.241, RAW= 143.2, 8.1, CAL= 142.7, 8.9, ROT= 7.3, -8.9
2025-08-23T22:05:21.041Z,1755986721.041 [DAT](INFO): got valid direction response:
22:05:19.6856 LVL= 23728, 29745, 27938, 32755, AGC= 67, IDX= 412, 0.05,-2.453, 1.885,-2.566,-2.851, PHS= 0.500,-1.502, 0.241, RAW= 143.2, 8.1, CAL= 142.7, 8.9, ROT= 7.3, -8.9
2025-08-23T22:05:21.043Z,1755986721.043 [DAT](INFO): DAT read: Bearing 52.3, 17.5 (Local)
2025-08-23T22:05:21.043Z,1755986721.043 [DAT](INFO): Local bearing/azimuth received:
Bearing 52.3, 17.5 (Local)
2025-08-23T22:05:21.044Z,1755986721.044 [DAT](INFO): DAT read: Range 11 to 50 : 60.9 m (Round-trip 81.2 ms) speed 0.7 m/s
2025-08-23T22:05:21.045Z,1755986721.045 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:21.046Z,1755986721.046 [DAT](INFO): direction in FSK: [0.979952,0.125535,0.154710]
2025-08-23T22:05:21.046Z,1755986721.046 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:21.053Z,1755986721.053 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:21.054Z,1755986721.054 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:21.054Z,1755986721.054 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:21.173Z,1755986721.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 60.900002 m,
deltaT: 3.780135 s,
deltaX: -2.699997 m,
approachRate: -0.714259 m/s,
rangeRepo size: 4
2025-08-23T22:05:21.192Z,1755986721.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 60.550247 m,
bearing: 254.935901 deg,
lat: 36.779436 deg,
lon: -121.859559 deg,
deltaT: 3.780135 s,
deltaX: -2.684875 m,
approachRate: -0.710259 m/s,
posRepo size: 4
2025-08-23T22:05:21.193Z,1755986721.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.55 m.
2025-08-23T22:05:21.206Z,1755986721.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.550247 m,
nav range: 56.072689 m,
bearing: 253.817438 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.014752 deg/s,
cmd heading: 247.767107 deg,
new cmd heading: 247.781418 deg.
2025-08-23T22:05:21.208Z,1755986721.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324602 target range: 60.550247 and range: 60.90 m.
2025-08-23T22:05:21.287Z,1755986721.287 [DAT](INFO): DAT read: user:1614>
2025-08-23T22:05:21.288Z,1755986721.288 [DAT](INFO): DAT read: Tx time:22:05:20.9487
2025-08-23T22:05:21.289Z,1755986721.289 [DAT](INFO): Ping request sent.
2025-08-23T22:05:21.289Z,1755986721.289 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:21.289Z,1755986721.289 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:21.290Z,1755986721.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001571
2025-08-23T22:05:21.539Z,1755986721.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249874
2025-08-23T22:05:21.585Z,1755986721.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.55 m.
2025-08-23T22:05:21.587Z,1755986721.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.550247 m,
nav range: 55.777107 m,
bearing: 253.818072 deg,
approach rate: -0.716892 m/s,
LOS rate: 0.001544 deg/s,
cmd heading: 247.781423 deg,
new cmd heading: 247.782696 deg.
2025-08-23T22:05:21.588Z,1755986721.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324624 target range: 60.550247 and range: 60.90 m.
2025-08-23T22:05:21.791Z,1755986721.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501809
2025-08-23T22:05:21.960Z,1755986721.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:21.963Z,1755986721.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.55 m.
2025-08-23T22:05:21.966Z,1755986721.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.550247 m,
nav range: 55.514542 m,
bearing: 253.818407 deg,
approach rate: -0.693930 m/s,
LOS rate: 0.000890 deg/s,
cmd heading: 247.782707 deg,
new cmd heading: 247.783380 deg.
2025-08-23T22:05:21.967Z,1755986721.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324636 target range: 60.550247 and range: 60.90 m.
2025-08-23T22:05:22.043Z,1755986722.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753906
2025-08-23T22:05:22.295Z,1755986722.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005809
2025-08-23T22:05:22.406Z,1755986722.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.55 m.
2025-08-23T22:05:22.409Z,1755986722.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.550247 m,
nav range: 55.214638 m,
bearing: 253.816161 deg,
approach rate: -0.676361 m/s,
LOS rate: -0.005093 deg/s,
cmd heading: 247.783390 deg,
new cmd heading: 247.778873 deg.
2025-08-23T22:05:22.414Z,1755986722.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324557 target range: 60.550247 and range: 60.90 m.
2025-08-23T22:05:22.547Z,1755986722.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257845
2025-08-23T22:05:22.766Z,1755986722.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.55 m.
2025-08-23T22:05:22.768Z,1755986722.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.550247 m,
nav range: 54.945530 m,
bearing: 253.813849 deg,
approach rate: -0.749493 m/s,
LOS rate: -0.006471 deg/s,
cmd heading: 247.778882 deg,
new cmd heading: 247.774235 deg.
2025-08-23T22:05:22.769Z,1755986722.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324476 target range: 60.550247 and range: 60.90 m.
2025-08-23T22:05:22.799Z,1755986722.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509871
2025-08-23T22:05:23.051Z,1755986723.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762332
2025-08-23T22:05:23.246Z,1755986723.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.55 m.
2025-08-23T22:05:23.249Z,1755986723.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.550247 m,
nav range: 54.610554 m,
bearing: 253.810423 deg,
approach rate: -0.696442 m/s,
LOS rate: -0.007167 deg/s,
cmd heading: 247.774237 deg,
new cmd heading: 247.767343 deg.
2025-08-23T22:05:23.258Z,1755986723.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324356 target range: 60.550247 and range: 60.90 m.
2025-08-23T22:05:23.304Z,1755986723.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015033
2025-08-23T22:05:23.555Z,1755986723.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265832
2025-08-23T22:05:23.634Z,1755986723.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.55 m.
2025-08-23T22:05:23.636Z,1755986723.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.550247 m,
nav range: 54.340137 m,
bearing: 253.807618 deg,
approach rate: -0.698364 m/s,
LOS rate: -0.007279 deg/s,
cmd heading: 247.767352 deg,
new cmd heading: 247.761716 deg.
2025-08-23T22:05:23.637Z,1755986723.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324258 target range: 60.550247 and range: 60.90 m.
2025-08-23T22:05:23.807Z,1755986723.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517780
2025-08-23T22:05:23.982Z,1755986723.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:23.984Z,1755986723.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.55 m.
2025-08-23T22:05:23.989Z,1755986723.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.550247 m,
nav range: 54.096115 m,
bearing: 253.805218 deg,
approach rate: -0.696799 m/s,
LOS rate: -0.006883 deg/s,
cmd heading: 247.761724 deg,
new cmd heading: 247.756903 deg.
2025-08-23T22:05:23.991Z,1755986723.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324174 target range: 60.550247 and range: 60.90 m.
2025-08-23T22:05:24.060Z,1755986724.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771068
2025-08-23T22:05:24.310Z,1755986724.310 [DAT](INFO): DAT read: Rx Time:22:05:23.4306
2025-08-23T22:05:24.311Z,1755986724.311 [DAT](INFO): Rx dataTimestamp_ set to:1755986724.310686
2025-08-23T22:05:24.312Z,1755986724.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022815
2025-08-23T22:05:24.424Z,1755986724.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.55 m.
2025-08-23T22:05:24.427Z,1755986724.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.550247 m,
nav range: 53.782871 m,
bearing: 253.804130 deg,
approach rate: -0.711023 m/s,
LOS rate: -0.002485 deg/s,
cmd heading: 247.756916 deg,
new cmd heading: 247.754727 deg.
2025-08-23T22:05:24.428Z,1755986724.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324136 target range: 60.550247 and range: 60.90 m.
2025-08-23T22:05:24.563Z,1755986724.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274220
2025-08-23T22:05:24.810Z,1755986724.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.55 m.
2025-08-23T22:05:24.813Z,1755986724.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.550247 m,
nav range: 53.508331 m,
bearing: 253.803113 deg,
approach rate: -0.711254 m/s,
LOS rate: -0.002648 deg/s,
cmd heading: 247.754730 deg,
new cmd heading: 247.752686 deg.
2025-08-23T22:05:24.832Z,1755986724.832 [DAT](INFO): DAT read: 22:05:23.4306 LVL= 26928, 32305, 29266, 32755, AGC= 67, IDX= 409,-0.14, 0.047,-1.919,-0.103,-0.375, PHS= 0.524,-1.499, 0.229, RAW= 142.2, 7.9, CAL= 141.8, 8.7, ROT= 8.2, -8.7
2025-08-23T22:05:24.833Z,1755986724.833 [DAT](INFO): got valid direction response:
22:05:23.4306 LVL= 26928, 32305, 29266, 32755, AGC= 67, IDX= 409,-0.14, 0.047,-1.919,-0.103,-0.375, PHS= 0.524,-1.499, 0.229, RAW= 142.2, 7.9, CAL= 141.8, 8.7, ROT= 8.2, -8.7
2025-08-23T22:05:24.834Z,1755986724.834 [DAT](INFO): DAT read: Bearing 52.9, 17.0 (Local)
2025-08-23T22:05:24.834Z,1755986724.834 [DAT](INFO): Local bearing/azimuth received:
Bearing 52.9, 17.0 (Local)
2025-08-23T22:05:24.835Z,1755986724.835 [DAT](INFO): DAT read: Range 11 to 50 : 58.3 m (Round-trip 77.8 ms) speed 0.7 m/s
2025-08-23T22:05:24.836Z,1755986724.836 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:24.837Z,1755986724.837 [DAT](INFO): direction in FSK: [0.978388,0.140988,0.151261]
2025-08-23T22:05:24.837Z,1755986724.837 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:24.841Z,1755986724.841 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:24.841Z,1755986724.841 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:24.841Z,1755986724.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:24.879Z,1755986724.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324100 target range: 60.550247 and range: 60.90 m.
2025-08-23T22:05:25.078Z,1755986725.078 [DAT](INFO): DAT read: user:1615>
2025-08-23T22:05:25.079Z,1755986725.079 [DAT](INFO): DAT read: Tx time:22:05:24.7487
2025-08-23T22:05:25.079Z,1755986725.079 [DAT](INFO): Ping request sent.
2025-08-23T22:05:25.079Z,1755986725.079 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:25.080Z,1755986725.080 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:25.080Z,1755986725.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-08-23T22:05:25.283Z,1755986725.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 58.299999 m,
deltaT: 3.791948 s,
deltaX: -2.600002 m,
approachRate: -0.685664 m/s,
rangeRepo size: 4
2025-08-23T22:05:25.285Z,1755986725.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 57.962811 m,
bearing: 256.225991 deg,
lat: 36.779436 deg,
lon: -121.859566 deg,
deltaT: 3.791948 s,
deltaX: -2.587437 m,
approachRate: -0.682350 m/s,
posRepo size: 4
2025-08-23T22:05:25.286Z,1755986725.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.96 m.
2025-08-23T22:05:25.286Z,1755986725.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-23T22:05:25.289Z,1755986725.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.962811 m,
nav range: 53.786110 m,
bearing: 253.984912 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002648 deg/s,
cmd heading: 247.752681 deg,
new cmd heading: 247.750181 deg.
2025-08-23T22:05:25.290Z,1755986725.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324057 target range: 57.962811 and range: 58.30 m.
2025-08-23T22:05:25.327Z,1755986725.327 [DockingStepper](INFO): Changing to mode: 2
2025-08-23T22:05:25.333Z,1755986725.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253114
2025-08-23T22:05:25.583Z,1755986725.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502966
2025-08-23T22:05:25.668Z,1755986725.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.96 m.
2025-08-23T22:05:25.669Z,1755986725.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-23T22:05:25.672Z,1755986725.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.962811 m,
nav range: 53.509312 m,
bearing: 253.980288 deg,
approach rate: -0.717233 m/s,
LOS rate: -0.012045 deg/s,
cmd heading: 247.750195 deg,
new cmd heading: 247.740898 deg.
2025-08-23T22:05:25.673Z,1755986725.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323895 target range: 57.962811 and range: 58.30 m.
2025-08-23T22:05:25.834Z,1755986725.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754878
2025-08-23T22:05:26.081Z,1755986726.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:26.083Z,1755986726.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.96 m.
2025-08-23T22:05:26.084Z,1755986726.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-23T22:05:26.087Z,1755986726.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007088
2025-08-23T22:05:26.088Z,1755986726.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.962811 m,
nav range: 53.226048 m,
bearing: 253.975617 deg,
approach rate: -0.682024 m/s,
LOS rate: -0.011305 deg/s,
cmd heading: 247.740906 deg,
new cmd heading: 247.731516 deg.
2025-08-23T22:05:26.090Z,1755986726.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323730 target range: 57.962811 and range: 58.30 m.
2025-08-23T22:05:26.339Z,1755986726.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259563
2025-08-23T22:05:26.535Z,1755986726.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.96 m.
2025-08-23T22:05:26.535Z,1755986726.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-23T22:05:26.538Z,1755986726.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.962811 m,
nav range: 52.895351 m,
bearing: 253.970944 deg,
approach rate: -0.732869 m/s,
LOS rate: -0.010422 deg/s,
cmd heading: 247.731508 deg,
new cmd heading: 247.722102 deg.
2025-08-23T22:05:26.539Z,1755986726.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323566 target range: 57.962811 and range: 58.30 m.
2025-08-23T22:05:26.592Z,1755986726.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511701
2025-08-23T22:05:26.842Z,1755986726.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762898
2025-08-23T22:05:26.939Z,1755986726.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.96 m.
2025-08-23T22:05:26.939Z,1755986726.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-23T22:05:26.942Z,1755986726.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.962811 m,
nav range: 52.609230 m,
bearing: 253.966803 deg,
approach rate: -0.707829 m/s,
LOS rate: -0.010299 deg/s,
cmd heading: 247.722109 deg,
new cmd heading: 247.713783 deg.
2025-08-23T22:05:26.943Z,1755986726.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323421 target range: 57.962811 and range: 58.30 m.
2025-08-23T22:05:27.095Z,1755986727.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015081
2025-08-23T22:05:27.316Z,1755986727.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.96 m.
2025-08-23T22:05:27.316Z,1755986727.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-23T22:05:27.319Z,1755986727.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.962811 m,
nav range: 52.340874 m,
bearing: 253.966752 deg,
approach rate: -0.712206 m/s,
LOS rate: -0.000135 deg/s,
cmd heading: 247.713776 deg,
new cmd heading: 247.713675 deg.
2025-08-23T22:05:27.320Z,1755986727.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323419 target range: 57.962811 and range: 58.30 m.
2025-08-23T22:05:27.347Z,1755986727.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267045
2025-08-23T22:05:27.598Z,1755986727.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518924
2025-08-23T22:05:27.689Z,1755986727.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.96 m.
2025-08-23T22:05:27.690Z,1755986727.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-23T22:05:27.693Z,1755986727.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.962811 m,
nav range: 52.074776 m,
bearing: 253.966702 deg,
approach rate: -0.712744 m/s,
LOS rate: -0.000136 deg/s,
cmd heading: 247.713667 deg,
new cmd heading: 247.713565 deg.
2025-08-23T22:05:27.694Z,1755986727.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323417 target range: 57.962811 and range: 58.30 m.
2025-08-23T22:05:27.851Z,1755986727.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771068
2025-08-23T22:05:28.089Z,1755986728.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:28.091Z,1755986728.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.96 m.
2025-08-23T22:05:28.092Z,1755986728.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-23T22:05:28.095Z,1755986728.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.962811 m,
nav range: 51.788353 m,
bearing: 253.966679 deg,
approach rate: -0.711947 m/s,
LOS rate: -0.000057 deg/s,
cmd heading: 247.713558 deg,
new cmd heading: 247.713512 deg.
2025-08-23T22:05:28.096Z,1755986728.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323416 target range: 57.962811 and range: 58.30 m.
2025-08-23T22:05:28.103Z,1755986728.103 [DAT](INFO): DAT read: Rx Time:22:05:27.2269
2025-08-23T22:05:28.103Z,1755986728.103 [DAT](INFO): Rx dataTimestamp_ set to:1755986728.102778
2025-08-23T22:05:28.104Z,1755986728.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024075
2025-08-23T22:05:28.358Z,1755986728.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278658
2025-08-23T22:05:28.541Z,1755986728.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.96 m.
2025-08-23T22:05:28.558Z,1755986728.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-23T22:05:28.561Z,1755986728.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.962811 m,
nav range: 51.467964 m,
bearing: 253.963456 deg,
approach rate: -0.712414 m/s,
LOS rate: -0.007212 deg/s,
cmd heading: 247.713503 deg,
new cmd heading: 247.707016 deg.
2025-08-23T22:05:28.566Z,1755986728.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323303 target range: 57.962811 and range: 58.30 m.
2025-08-23T22:05:28.612Z,1755986728.612 [DAT](INFO): DAT read: 22:05:27.2269 LVL= 31936, 32753, 32754, 32755, AGC= 63, IDX= 403, 0.17,-2.985, 1.292, 3.033, 2.825, PHS= 0.575,-1.488, 0.164, RAW= 139.1, 8.0, CAL= 138.8, 8.8, ROT= 11.2, -8.8
2025-08-23T22:05:28.613Z,1755986728.613 [DAT](INFO): got valid direction response:
22:05:27.2269 LVL= 31936, 32753, 32754, 32755, AGC= 63, IDX= 403, 0.17,-2.985, 1.292, 3.033, 2.825, PHS= 0.575,-1.488, 0.164, RAW= 139.1, 8.0, CAL= 138.8, 8.8, ROT= 11.2, -8.8
2025-08-23T22:05:28.616Z,1755986728.616 [DAT](INFO): DAT read: Bearing 53.1, 18.8 (Local)
2025-08-23T22:05:28.619Z,1755986728.619 [DAT](INFO): Local bearing/azimuth received:
Bearing 53.1, 18.8 (Local)
2025-08-23T22:05:28.621Z,1755986728.621 [DAT](INFO): DAT read: Range 11 to 50 : 55.5 m (Round-trip 74.1 ms) speed 0.6 m/s
2025-08-23T22:05:28.622Z,1755986728.622 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:28.624Z,1755986728.624 [DAT](INFO): direction in FSK: [0.969408,0.191948,0.152986]
2025-08-23T22:05:28.624Z,1755986728.624 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:28.634Z,1755986728.634 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:28.634Z,1755986728.634 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:28.634Z,1755986728.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:28.858Z,1755986728.858 [DAT](INFO): DAT read: user:1616>
2025-08-23T22:05:28.859Z,1755986728.859 [DAT](INFO): DAT read: Tx time:22:05:28.5487
2025-08-23T22:05:28.859Z,1755986728.859 [DAT](INFO): Ping request sent.
2025-08-23T22:05:28.860Z,1755986728.860 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:28.860Z,1755986728.860 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:28.860Z,1755986728.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-08-23T22:05:28.943Z,1755986728.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 55.500000 m,
deltaT: 3.780162 s,
deltaX: -2.799999 m,
approachRate: -0.740709 m/s,
rangeRepo size: 4
2025-08-23T22:05:28.945Z,1755986728.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 55.179325 m,
bearing: 259.307676 deg,
lat: 36.779442 deg,
lon: -121.859577 deg,
deltaT: 3.780162 s,
deltaX: -2.783485 m,
approachRate: -0.736340 m/s,
posRepo size: 4
2025-08-23T22:05:28.950Z,1755986728.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.18 m.
2025-08-23T22:05:28.951Z,1755986728.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-23T22:05:28.953Z,1755986728.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.179325 m,
nav range: 51.931316 m,
bearing: 255.000456 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007212 deg/s,
cmd heading: 247.707028 deg,
new cmd heading: 247.701238 deg.
2025-08-23T22:05:28.958Z,1755986728.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323202 target range: 55.179325 and range: 55.50 m.
2025-08-23T22:05:29.111Z,1755986729.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251106
2025-08-23T22:05:29.337Z,1755986729.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.18 m.
2025-08-23T22:05:29.337Z,1755986729.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-23T22:05:29.340Z,1755986729.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.179325 m,
nav range: 51.642097 m,
bearing: 255.001805 deg,
approach rate: -0.734000 m/s,
LOS rate: 0.003443 deg/s,
cmd heading: 247.701236 deg,
new cmd heading: 247.703949 deg.
2025-08-23T22:05:29.341Z,1755986729.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323249 target range: 55.179325 and range: 55.50 m.
2025-08-23T22:05:29.363Z,1755986729.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503100
2025-08-23T22:05:29.615Z,1755986729.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755024
2025-08-23T22:05:29.718Z,1755986729.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.18 m.
2025-08-23T22:05:29.718Z,1755986729.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-23T22:05:29.721Z,1755986729.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.179325 m,
nav range: 51.373219 m,
bearing: 255.002950 deg,
approach rate: -0.704990 m/s,
LOS rate: 0.003019 deg/s,
cmd heading: 247.703941 deg,
new cmd heading: 247.706244 deg.
2025-08-23T22:05:29.723Z,1755986729.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323289 target range: 55.179325 and range: 55.50 m.
2025-08-23T22:05:29.867Z,1755986729.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006942
2025-08-23T22:05:30.112Z,1755986730.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:30.114Z,1755986730.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.18 m.
2025-08-23T22:05:30.115Z,1755986730.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-23T22:05:30.119Z,1755986730.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259123
2025-08-23T22:05:30.119Z,1755986730.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.179325 m,
nav range: 51.094032 m,
bearing: 255.004141 deg,
approach rate: -0.705541 m/s,
LOS rate: 0.003026 deg/s,
cmd heading: 247.706236 deg,
new cmd heading: 247.708631 deg.
2025-08-23T22:05:30.120Z,1755986730.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323331 target range: 55.179325 and range: 55.50 m.
2025-08-23T22:05:30.373Z,1755986730.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513645
2025-08-23T22:05:30.561Z,1755986730.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.18 m.
2025-08-23T22:05:30.562Z,1755986730.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-23T22:05:30.564Z,1755986730.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.179325 m,
nav range: 50.776798 m,
bearing: 255.003676 deg,
approach rate: -0.709386 m/s,
LOS rate: -0.001046 deg/s,
cmd heading: 247.708640 deg,
new cmd heading: 247.707705 deg.
2025-08-23T22:05:30.565Z,1755986730.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323315 target range: 55.179325 and range: 55.50 m.
2025-08-23T22:05:30.623Z,1755986730.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763347
2025-08-23T22:05:30.875Z,1755986730.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014990
2025-08-23T22:05:31.051Z,1755986731.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.18 m.
2025-08-23T22:05:31.051Z,1755986731.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-23T22:05:31.052Z,1755986731.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 55.50 m.
2025-08-23T22:05:31.052Z,1755986731.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-23T22:05:31.055Z,1755986731.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.179325 m,
nav range: 50.429131 m,
bearing: 255.002479 deg,
approach rate: -0.709652 m/s,
LOS rate: -0.002460 deg/s,
cmd heading: 247.707711 deg,
new cmd heading: 247.705300 deg.
2025-08-23T22:05:31.056Z,1755986731.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323273 target range: 55.179325 and range: 55.50 m.
2025-08-23T22:05:31.095Z,1755986731.095 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-08-23T22:05:31.096Z,1755986731.096 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-23T22:05:31.127Z,1755986731.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267212
2025-08-23T22:05:31.379Z,1755986731.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519359
2025-08-23T22:05:31.533Z,1755986731.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.18 m.
2025-08-23T22:05:31.540Z,1755986731.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.179325 m,
nav range: 50.089256 m,
bearing: 254.998431 deg,
approach rate: -0.705079 m/s,
LOS rate: -0.008456 deg/s,
cmd heading: 247.705307 deg,
new cmd heading: 247.697155 deg.
2025-08-23T22:05:31.541Z,1755986731.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323131 target range: 55.179325 and range: 55.50 m.
2025-08-23T22:05:31.631Z,1755986731.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770937
2025-08-23T22:05:31.883Z,1755986731.883 [DAT](INFO): DAT read: Rx Time:22:05:31.0234
2025-08-23T22:05:31.884Z,1755986731.884 [DAT](INFO): Rx dataTimestamp_ set to:1755986731.883397
2025-08-23T22:05:31.884Z,1755986731.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024684
2025-08-23T22:05:32.035Z,1755986732.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.18 m.
2025-08-23T22:05:32.038Z,1755986732.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.179325 m,
nav range: 49.738544 m,
bearing: 254.994082 deg,
approach rate: -0.698564 m/s,
LOS rate: -0.008723 deg/s,
cmd heading: 247.697165 deg,
new cmd heading: 247.688406 deg.
2025-08-23T22:05:32.039Z,1755986732.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322978 target range: 55.179325 and range: 55.50 m.
2025-08-23T22:05:32.143Z,1755986732.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282956
2025-08-23T22:05:32.402Z,1755986732.402 [DAT](INFO): DAT read: 22:05:31.0234 LVL= 21456, 32753, 23730, 32755, AGC= 65, IDX= 399,-0.19, 2.768, 0.754, 2.445, 2.299, PHS= 0.571,-1.500, 0.102, RAW= 137.5, 8.8, CAL= 137.2, 9.8, ROT= 12.8, -9.8
2025-08-23T22:05:32.404Z,1755986732.404 [DAT](INFO): got valid direction response:
22:05:31.0234 LVL= 21456, 32753, 23730, 32755, AGC= 65, IDX= 399,-0.19, 2.768, 0.754, 2.445, 2.299, PHS= 0.571,-1.500, 0.102, RAW= 137.5, 8.8, CAL= 137.2, 9.8, ROT= 12.8, -9.8
2025-08-23T22:05:32.405Z,1755986732.405 [DAT](INFO): DAT read: Bearing 54.5, 19.2 (Local)
2025-08-23T22:05:32.405Z,1755986732.405 [DAT](INFO): Local bearing/azimuth received:
Bearing 54.5, 19.2 (Local)
2025-08-23T22:05:32.406Z,1755986732.406 [DAT](INFO): DAT read: Range 11 to 50 : 52.9 m (Round-trip 70.6 ms) speed 0.8 m/s
2025-08-23T22:05:32.407Z,1755986732.407 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:32.408Z,1755986732.408 [DAT](INFO): direction in FSK: [0.960920,0.218316,0.170209]
2025-08-23T22:05:32.408Z,1755986732.408 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:32.412Z,1755986732.412 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:32.412Z,1755986732.412 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:32.412Z,1755986732.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:32.582Z,1755986732.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.900002 m,
deltaT: 3.788070 s,
deltaX: -2.599998 m,
approachRate: -0.686365 m/s,
rangeRepo size: 4
2025-08-23T22:05:32.584Z,1755986732.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.593876 m,
bearing: 261.120016 deg,
lat: 36.779451 deg,
lon: -121.859590 deg,
deltaT: 3.788070 s,
deltaX: -2.585449 m,
approachRate: -0.682524 m/s,
posRepo size: 4
2025-08-23T22:05:32.584Z,1755986732.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-08-23T22:05:32.591Z,1755986732.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.593876 m,
nav range: 50.272686 m,
bearing: 256.370403 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008723 deg/s,
cmd heading: 247.688395 deg,
new cmd heading: 247.678940 deg.
2025-08-23T22:05:32.592Z,1755986732.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322813 target range: 52.593876 and range: 52.90 m.
2025-08-23T22:05:32.647Z,1755986732.647 [DAT](INFO): DAT read: user:1617>
2025-08-23T22:05:32.648Z,1755986732.648 [DAT](INFO): DAT read: Tx time:22:05:32.3487
2025-08-23T22:05:32.649Z,1755986732.649 [DAT](INFO): Ping request sent.
2025-08-23T22:05:32.649Z,1755986732.649 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:32.649Z,1755986732.649 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:32.650Z,1755986732.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001237
2025-08-23T22:05:32.899Z,1755986732.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249420
2025-08-23T22:05:32.927Z,1755986732.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:32.929Z,1755986732.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-08-23T22:05:32.932Z,1755986732.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.593876 m,
nav range: 50.011333 m,
bearing: 256.374779 deg,
approach rate: -0.742825 m/s,
LOS rate: 0.012502 deg/s,
cmd heading: 247.678942 deg,
new cmd heading: 247.687739 deg.
2025-08-23T22:05:32.933Z,1755986732.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322967 target range: 52.593876 and range: 52.90 m.
2025-08-23T22:05:33.151Z,1755986733.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501889
2025-08-23T22:05:33.394Z,1755986733.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-08-23T22:05:33.397Z,1755986733.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.593876 m,
nav range: 49.688614 m,
bearing: 256.378778 deg,
approach rate: -0.694507 m/s,
LOS rate: 0.008661 deg/s,
cmd heading: 247.687740 deg,
new cmd heading: 247.695789 deg.
2025-08-23T22:05:33.398Z,1755986733.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323107 target range: 52.593876 and range: 52.90 m.
2025-08-23T22:05:33.403Z,1755986733.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753442
2025-08-23T22:05:33.656Z,1755986733.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006312
2025-08-23T22:05:33.803Z,1755986733.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-08-23T22:05:33.806Z,1755986733.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.593876 m,
nav range: 49.404362 m,
bearing: 256.381980 deg,
approach rate: -0.696415 m/s,
LOS rate: 0.007890 deg/s,
cmd heading: 247.695799 deg,
new cmd heading: 247.702240 deg.
2025-08-23T22:05:33.807Z,1755986733.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323220 target range: 52.593876 and range: 52.90 m.
2025-08-23T22:05:33.907Z,1755986733.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258156
2025-08-23T22:05:34.159Z,1755986734.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509405
2025-08-23T22:05:34.176Z,1755986734.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-08-23T22:05:34.180Z,1755986734.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.593876 m,
nav range: 49.143810 m,
bearing: 256.384534 deg,
approach rate: -0.695542 m/s,
LOS rate: 0.006855 deg/s,
cmd heading: 247.702247 deg,
new cmd heading: 247.707383 deg.
2025-08-23T22:05:34.182Z,1755986734.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323309 target range: 52.593876 and range: 52.90 m.
2025-08-23T22:05:34.410Z,1755986734.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761285
2025-08-23T22:05:34.610Z,1755986734.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-08-23T22:05:34.613Z,1755986734.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.593876 m,
nav range: 48.842045 m,
bearing: 256.390060 deg,
approach rate: -0.695493 m/s,
LOS rate: 0.012814 deg/s,
cmd heading: 247.707383 deg,
new cmd heading: 247.718503 deg.
2025-08-23T22:05:34.614Z,1755986734.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323503 target range: 52.593876 and range: 52.90 m.
2025-08-23T22:05:34.664Z,1755986734.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014817
2025-08-23T22:05:34.915Z,1755986734.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265393
2025-08-23T22:05:34.994Z,1755986734.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:34.996Z,1755986734.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-08-23T22:05:34.999Z,1755986734.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.593876 m,
nav range: 48.575279 m,
bearing: 256.395002 deg,
approach rate: -0.691231 m/s,
LOS rate: 0.012876 deg/s,
cmd heading: 247.718503 deg,
new cmd heading: 247.728441 deg.
2025-08-23T22:05:34.000Z,1755986735.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323677 target range: 52.593876 and range: 52.90 m.
2025-08-23T22:05:35.166Z,1755986735.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517332
2025-08-23T22:05:35.419Z,1755986735.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769485
2025-08-23T22:05:35.429Z,1755986735.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-08-23T22:05:35.432Z,1755986735.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.593876 m,
nav range: 48.277611 m,
bearing: 256.396186 deg,
approach rate: -0.687515 m/s,
LOS rate: 0.002753 deg/s,
cmd heading: 247.728448 deg,
new cmd heading: 247.730832 deg.
2025-08-23T22:05:35.433Z,1755986735.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323719 target range: 52.593876 and range: 52.90 m.
2025-08-23T22:05:35.671Z,1755986735.671 [DAT](INFO): DAT read: Rx Time:22:05:34.8198
2025-08-23T22:05:35.672Z,1755986735.672 [DAT](INFO): Rx dataTimestamp_ set to:1755986735.671611
2025-08-23T22:05:35.672Z,1755986735.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023315
2025-08-23T22:05:35.778Z,1755986735.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-08-23T22:05:35.781Z,1755986735.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.593876 m,
nav range: 48.030621 m,
bearing: 256.396897 deg,
approach rate: -0.706595 m/s,
LOS rate: 0.002043 deg/s,
cmd heading: 247.730825 deg,
new cmd heading: 247.732253 deg.
2025-08-23T22:05:35.782Z,1755986735.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323743 target range: 52.593876 and range: 52.90 m.
2025-08-23T22:05:35.923Z,1755986735.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273779
2025-08-23T22:05:36.181Z,1755986736.181 [DAT](INFO): DAT read: 22:05:34.8198 LVL= 26400, 28625, 25682, 32755, AGC= 65, IDX= 410,-0.11,-2.011, 2.276,-2.378,-2.451, PHS= 0.542,-1.511, 0.030, RAW= 136.1, 10.2, CAL= 135.7, 11.2, ROT= 14.3, -11.2
2025-08-23T22:05:36.183Z,1755986736.183 [DAT](INFO): got valid direction response:
22:05:34.8198 LVL= 26400, 28625, 25682, 32755, AGC= 65, IDX= 410,-0.11,-2.011, 2.276,-2.378,-2.451, PHS= 0.542,-1.511, 0.030, RAW= 136.1, 10.2, CAL= 135.7, 11.2, ROT= 14.3, -11.2
2025-08-23T22:05:36.184Z,1755986736.184 [DAT](INFO): DAT read: Bearing 56.3, 18.1 (Local)
2025-08-23T22:05:36.185Z,1755986736.185 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.3, 18.1 (Local)
2025-08-23T22:05:36.187Z,1755986736.187 [DAT](INFO): DAT read: Range 11 to 50 : 50.1 m (Round-trip 66.9 ms) speed 0.8 m/s
2025-08-23T22:05:36.187Z,1755986736.187 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:36.189Z,1755986736.189 [DAT](INFO): direction in FSK: [0.950561,0.242295,0.194234]
2025-08-23T22:05:36.189Z,1755986736.189 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:36.195Z,1755986736.195 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:36.195Z,1755986736.195 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:36.195Z,1755986736.195 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:36.284Z,1755986736.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.099998 m,
deltaT: 3.779717 s,
deltaX: -2.800003 m,
approachRate: -0.740797 m/s,
rangeRepo size: 4
2025-08-23T22:05:36.290Z,1755986736.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.810070 m,
bearing: 263.115067 deg,
lat: 36.779475 deg,
lon: -121.859598 deg,
deltaT: 3.779717 s,
deltaX: -2.783806 m,
approachRate: -0.736512 m/s,
posRepo size: 4
2025-08-23T22:05:36.290Z,1755986736.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-08-23T22:05:36.293Z,1755986736.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.810070 m,
nav range: 47.877720 m,
bearing: 259.713080 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002043 deg/s,
cmd heading: 247.732245 deg,
new cmd heading: 247.734307 deg.
2025-08-23T22:05:36.298Z,1755986736.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323779 target range: 49.810070 and range: 50.10 m.
2025-08-23T22:05:36.428Z,1755986736.428 [DAT](INFO): DAT read: user:1618>
2025-08-23T22:05:36.429Z,1755986736.429 [DAT](INFO): DAT read: Tx time:22:05:36.0987
2025-08-23T22:05:36.429Z,1755986736.429 [DAT](INFO): Ping request sent.
2025-08-23T22:05:36.430Z,1755986736.430 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:36.430Z,1755986736.430 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:36.431Z,1755986736.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001430
2025-08-23T22:05:36.678Z,1755986736.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248947
2025-08-23T22:05:36.762Z,1755986736.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-08-23T22:05:36.765Z,1755986736.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.810070 m,
nav range: 47.501194 m,
bearing: 259.735082 deg,
approach rate: -0.786354 m/s,
LOS rate: 0.046313 deg/s,
cmd heading: 247.734294 deg,
new cmd heading: 247.778646 deg.
2025-08-23T22:05:36.767Z,1755986736.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324553 target range: 49.810070 and range: 50.10 m.
2025-08-23T22:05:36.931Z,1755986736.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501776
2025-08-23T22:05:37.179Z,1755986737.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:37.183Z,1755986737.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753555
2025-08-23T22:05:37.186Z,1755986737.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-08-23T22:05:37.195Z,1755986737.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.810070 m,
nav range: 47.208279 m,
bearing: 259.751545 deg,
approach rate: -0.697971 m/s,
LOS rate: 0.039473 deg/s,
cmd heading: 247.778636 deg,
new cmd heading: 247.811767 deg.
2025-08-23T22:05:37.196Z,1755986737.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325131 target range: 49.810070 and range: 50.10 m.
2025-08-23T22:05:37.434Z,1755986737.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004904
2025-08-23T22:05:37.596Z,1755986737.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-08-23T22:05:37.599Z,1755986737.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.810070 m,
nav range: 46.916893 m,
bearing: 259.764251 deg,
approach rate: -0.702319 m/s,
LOS rate: 0.030815 deg/s,
cmd heading: 247.811776 deg,
new cmd heading: 247.837346 deg.
2025-08-23T22:05:37.600Z,1755986737.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325578 target range: 49.810070 and range: 50.10 m.
2025-08-23T22:05:37.687Z,1755986737.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257052
2025-08-23T22:05:37.938Z,1755986737.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508877
2025-08-23T22:05:38.097Z,1755986738.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-08-23T22:05:38.103Z,1755986738.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.810070 m,
nav range: 46.580082 m,
bearing: 259.778700 deg,
approach rate: -0.672384 m/s,
LOS rate: 0.029052 deg/s,
cmd heading: 247.837348 deg,
new cmd heading: 247.866454 deg.
2025-08-23T22:05:38.104Z,1755986738.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326086 target range: 49.810070 and range: 50.10 m.
2025-08-23T22:05:38.191Z,1755986738.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761697
2025-08-23T22:05:38.443Z,1755986738.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013027
2025-08-23T22:05:38.516Z,1755986738.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-08-23T22:05:38.519Z,1755986738.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.810070 m,
nav range: 46.274967 m,
bearing: 259.790135 deg,
approach rate: -0.728191 m/s,
LOS rate: 0.027471 deg/s,
cmd heading: 247.866445 deg,
new cmd heading: 247.889466 deg.
2025-08-23T22:05:38.520Z,1755986738.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326488 target range: 49.810070 and range: 50.10 m.
2025-08-23T22:05:38.694Z,1755986738.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264930
2025-08-23T22:05:38.865Z,1755986738.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-08-23T22:05:38.890Z,1755986738.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.810070 m,
nav range: 46.032192 m,
bearing: 259.799102 deg,
approach rate: -0.696808 m/s,
LOS rate: 0.025874 deg/s,
cmd heading: 247.889476 deg,
new cmd heading: 247.907506 deg.
2025-08-23T22:05:38.891Z,1755986738.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326802 target range: 49.810070 and range: 50.10 m.
2025-08-23T22:05:38.948Z,1755986738.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518631
2025-08-23T22:05:39.199Z,1755986739.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769523
2025-08-23T22:05:39.273Z,1755986739.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:39.275Z,1755986739.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-08-23T22:05:39.278Z,1755986739.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.810070 m,
nav range: 45.746414 m,
bearing: 259.809525 deg,
approach rate: -0.695633 m/s,
LOS rate: 0.025530 deg/s,
cmd heading: 247.907508 deg,
new cmd heading: 247.928484 deg.
2025-08-23T22:05:39.279Z,1755986739.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327168 target range: 49.810070 and range: 50.10 m.
2025-08-23T22:05:39.453Z,1755986739.453 [DAT](INFO): DAT read: Rx Time:22:05:38.5663
2025-08-23T22:05:39.454Z,1755986739.454 [DAT](INFO): Rx dataTimestamp_ set to:1755986739.453605
2025-08-23T22:05:39.455Z,1755986739.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025251
2025-08-23T22:05:39.703Z,1755986739.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273083
2025-08-23T22:05:39.759Z,1755986739.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-08-23T22:05:39.766Z,1755986739.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.810070 m,
nav range: 45.416801 m,
bearing: 259.819890 deg,
approach rate: -0.681170 m/s,
LOS rate: 0.021575 deg/s,
cmd heading: 247.928490 deg,
new cmd heading: 247.949370 deg.
2025-08-23T22:05:39.767Z,1755986739.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327533 target range: 49.810070 and range: 50.10 m.
2025-08-23T22:05:39.969Z,1755986739.969 [DAT](INFO): DAT read: 22:05:38.5663 LVL= 27008, 28065, 23506, 32339, AGC= 65, IDX= 406, 0.25, 2.905, 0.947, 2.702, 2.603, PHS= 0.404,-1.611, 0.054, RAW= 140.7, 12.3, CAL= 140.0, 13.3, ROT= 10.0, -13.3
2025-08-23T22:05:39.971Z,1755986739.971 [DAT](INFO): got valid direction response:
22:05:38.5663 LVL= 27008, 28065, 23506, 32339, AGC= 65, IDX= 406, 0.25, 2.905, 0.947, 2.702, 2.603, PHS= 0.404,-1.611, 0.054, RAW= 140.7, 12.3, CAL= 140.0, 13.3, ROT= 10.0, -13.3
2025-08-23T22:05:39.972Z,1755986739.972 [DAT](INFO): DAT read: Bearing 59.0, 11.2 (Local)
2025-08-23T22:05:39.973Z,1755986739.973 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.0, 11.2 (Local)
2025-08-23T22:05:39.976Z,1755986739.976 [DAT](INFO): DAT read: Range 11 to 50 : 47.5 m (Round-trip 63.4 ms) speed 0.5 m/s
2025-08-23T22:05:39.977Z,1755986739.977 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:39.978Z,1755986739.978 [DAT](INFO): direction in FSK: [0.958394,0.168991,0.230050]
2025-08-23T22:05:39.978Z,1755986739.978 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:39.981Z,1755986739.981 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:39.982Z,1755986739.982 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:39.982Z,1755986739.982 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:40.207Z,1755986740.207 [DAT](INFO): DAT read: user:1619>
2025-08-23T22:05:40.208Z,1755986740.208 [DAT](INFO): DAT read: Tx time:22:05:39.8987
2025-08-23T22:05:40.209Z,1755986740.209 [DAT](INFO): Ping request sent.
2025-08-23T22:05:40.209Z,1755986740.209 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:40.209Z,1755986740.209 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:40.210Z,1755986740.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001261
2025-08-23T22:05:40.328Z,1755986740.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.500000 m,
deltaT: 3.782968 s,
deltaX: -2.599998 m,
approachRate: -0.687291 m/s,
rangeRepo size: 4
2025-08-23T22:05:40.330Z,1755986740.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.224545 m,
bearing: 259.081164 deg,
lat: 36.779475 deg,
lon: -121.859602 deg,
deltaT: 3.782968 s,
deltaX: -2.585526 m,
approachRate: -0.683465 m/s,
posRepo size: 4
2025-08-23T22:05:40.331Z,1755986740.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.22 m.
2025-08-23T22:05:40.334Z,1755986740.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.224545 m,
nav range: 45.370754 m,
bearing: 259.910556 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021575 deg/s,
cmd heading: 247.949363 deg,
new cmd heading: 247.973863 deg.
2025-08-23T22:05:40.335Z,1755986740.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327960 target range: 47.224545 and range: 47.50 m.
2025-08-23T22:05:40.460Z,1755986740.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250692
2025-08-23T22:05:40.711Z,1755986740.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501764
2025-08-23T22:05:40.803Z,1755986740.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.22 m.
2025-08-23T22:05:40.806Z,1755986740.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.224545 m,
nav range: 45.054195 m,
bearing: 259.925822 deg,
approach rate: -0.665892 m/s,
LOS rate: 0.032338 deg/s,
cmd heading: 247.973870 deg,
new cmd heading: 248.004617 deg.
2025-08-23T22:05:40.807Z,1755986740.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328497 target range: 47.224545 and range: 47.50 m.
2025-08-23T22:05:40.963Z,1755986740.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754519
2025-08-23T22:05:41.164Z,1755986741.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.22 m.
2025-08-23T22:05:41.167Z,1755986741.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.224545 m,
nav range: 44.805779 m,
bearing: 259.937456 deg,
approach rate: -0.687220 m/s,
LOS rate: 0.032363 deg/s,
cmd heading: 248.004606 deg,
new cmd heading: 248.028003 deg.
2025-08-23T22:05:41.168Z,1755986741.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328905 target range: 47.224545 and range: 47.50 m.
2025-08-23T22:05:41.216Z,1755986741.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006777
2025-08-23T22:05:41.468Z,1755986741.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259369
2025-08-23T22:05:41.598Z,1755986741.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:41.600Z,1755986741.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.22 m.
2025-08-23T22:05:41.603Z,1755986741.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.224545 m,
nav range: 44.511875 m,
bearing: 259.950723 deg,
approach rate: -0.674316 m/s,
LOS rate: 0.030639 deg/s,
cmd heading: 248.027992 deg,
new cmd heading: 248.054701 deg.
2025-08-23T22:05:41.604Z,1755986741.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329371 target range: 47.224545 and range: 47.50 m.
2025-08-23T22:05:41.719Z,1755986741.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509647
2025-08-23T22:05:41.971Z,1755986741.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762379
2025-08-23T22:05:41.998Z,1755986741.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.22 m.
2025-08-23T22:05:42.001Z,1755986742.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.224545 m,
nav range: 44.242859 m,
bearing: 259.962591 deg,
approach rate: -0.676088 m/s,
LOS rate: 0.030008 deg/s,
cmd heading: 248.054712 deg,
new cmd heading: 248.078593 deg.
2025-08-23T22:05:42.002Z,1755986742.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329788 target range: 47.224545 and range: 47.50 m.
2025-08-23T22:05:42.223Z,1755986742.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013749
2025-08-23T22:05:42.476Z,1755986742.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267090
2025-08-23T22:05:42.532Z,1755986742.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.22 m.
2025-08-23T22:05:42.535Z,1755986742.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.224545 m,
nav range: 43.879387 m,
bearing: 259.984338 deg,
approach rate: -0.680574 m/s,
LOS rate: 0.041056 deg/s,
cmd heading: 248.078591 deg,
new cmd heading: 248.122444 deg.
2025-08-23T22:05:42.536Z,1755986742.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330554 target range: 47.224545 and range: 47.50 m.
2025-08-23T22:05:42.727Z,1755986742.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517867
2025-08-23T22:05:42.908Z,1755986742.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.22 m.
2025-08-23T22:05:42.911Z,1755986742.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.224545 m,
nav range: 43.623436 m,
bearing: 259.999596 deg,
approach rate: -0.680699 m/s,
LOS rate: 0.040817 deg/s,
cmd heading: 248.122440 deg,
new cmd heading: 248.153136 deg.
2025-08-23T22:05:42.912Z,1755986742.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331089 target range: 47.224545 and range: 47.50 m.
2025-08-23T22:05:42.979Z,1755986742.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769842
2025-08-23T22:05:43.231Z,1755986743.231 [DAT](INFO): DAT read: Rx Time:22:05:42.3629
2025-08-23T22:05:43.231Z,1755986743.231 [DAT](INFO): Rx dataTimestamp_ set to:1755986743.230710
2025-08-23T22:05:43.232Z,1755986743.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022708
2025-08-23T22:05:43.341Z,1755986743.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.22 m.
2025-08-23T22:05:43.348Z,1755986743.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.224545 m,
nav range: 43.335381 m,
bearing: 260.016629 deg,
approach rate: -0.665353 m/s,
LOS rate: 0.039605 deg/s,
cmd heading: 248.153149 deg,
new cmd heading: 248.187442 deg.
2025-08-23T22:05:43.349Z,1755986743.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331688 target range: 47.224545 and range: 47.50 m.
2025-08-23T22:05:43.483Z,1755986743.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273719
2025-08-23T22:05:43.741Z,1755986743.741 [DAT](INFO): DAT read: 22:05:42.3629 LVL= 26208, 28257, 20946, 31027, AGC= 65, IDX= 405,-0.49,-1.538, 2.886,-1.506,-1.725, PHS= 0.289,-1.627, 0.175, RAW= 147.0, 12.5, CAL= 146.7, 13.7, ROT= 3.3, -13.7
2025-08-23T22:05:43.742Z,1755986743.742 [DAT](INFO): got valid direction response:
22:05:42.3629 LVL= 26208, 28257, 20946, 31027, AGC= 65, IDX= 405,-0.49,-1.538, 2.886,-1.506,-1.725, PHS= 0.289,-1.627, 0.175, RAW= 147.0, 12.5, CAL= 146.7, 13.7, ROT= 3.3, -13.7
2025-08-23T22:05:43.743Z,1755986743.743 [DAT](INFO): DAT read: Bearing 59.8, 2.8 (Local)
2025-08-23T22:05:43.744Z,1755986743.744 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.8, 2.8 (Local)
2025-08-23T22:05:43.745Z,1755986743.745 [DAT](INFO): DAT read: Range 11 to 50 : 45.0 m (Round-trip 60.1 ms) speed 0.6 m/s
2025-08-23T22:05:43.746Z,1755986743.746 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:43.746Z,1755986743.746 [DAT](INFO): direction in FSK: [0.969938,0.055926,0.236838]
2025-08-23T22:05:43.747Z,1755986743.747 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:43.750Z,1755986743.750 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:43.750Z,1755986743.750 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:43.751Z,1755986743.751 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:43.794Z,1755986743.794 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:05:43.873Z,1755986743.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.000000 m,
deltaT: 3.776922 s,
deltaX: -2.500000 m,
approachRate: -0.661915 m/s,
rangeRepo size: 4
2025-08-23T22:05:43.880Z,1755986743.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.739330 m,
bearing: 252.999181 deg,
lat: 36.779475 deg,
lon: -121.859602 deg,
deltaT: 3.776922 s,
deltaX: -2.485214 m,
approachRate: -0.658000 m/s,
posRepo size: 4
2025-08-23T22:05:43.880Z,1755986743.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.74 m.
2025-08-23T22:05:43.891Z,1755986743.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.739330 m,
nav range: 42.976070 m,
bearing: 260.031029 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.039605 deg/s,
cmd heading: 248.187436 deg,
new cmd heading: 248.229559 deg.
2025-08-23T22:05:43.892Z,1755986743.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332423 target range: 44.739330 and range: 45.00 m.
2025-08-23T22:05:43.987Z,1755986743.987 [DAT](INFO): DAT read: user:1620>
2025-08-23T22:05:43.988Z,1755986743.988 [DAT](INFO): DAT read: Tx time:22:05:43.6487
2025-08-23T22:05:43.989Z,1755986743.989 [DAT](INFO): Ping request sent.
2025-08-23T22:05:43.989Z,1755986743.989 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:43.989Z,1755986743.989 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:43.990Z,1755986743.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001215
2025-08-23T22:05:44.168Z,1755986744.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:44.171Z,1755986744.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.74 m.
2025-08-23T22:05:44.174Z,1755986744.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.739330 m,
nav range: 42.757519 m,
bearing: 260.039576 deg,
approach rate: -0.733213 m/s,
LOS rate: 0.028820 deg/s,
cmd heading: 248.229565 deg,
new cmd heading: 248.246746 deg.
2025-08-23T22:05:44.175Z,1755986744.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332723 target range: 44.739330 and range: 45.00 m.
2025-08-23T22:05:44.239Z,1755986744.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250126
2025-08-23T22:05:44.494Z,1755986744.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504168
2025-08-23T22:05:44.623Z,1755986744.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.74 m.
2025-08-23T22:05:44.626Z,1755986744.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.739330 m,
nav range: 42.444500 m,
bearing: 260.050039 deg,
approach rate: -0.692408 m/s,
LOS rate: 0.023315 deg/s,
cmd heading: 248.246750 deg,
new cmd heading: 248.267830 deg.
2025-08-23T22:05:44.627Z,1755986744.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333091 target range: 44.739330 and range: 45.00 m.
2025-08-23T22:05:44.743Z,1755986744.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753977
2025-08-23T22:05:44.798Z,1755986744.798 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:05:44.995Z,1755986744.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005622
2025-08-23T22:05:45.015Z,1755986745.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.74 m.
2025-08-23T22:05:45.038Z,1755986745.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.739330 m,
nav range: 42.173172 m,
bearing: 260.059076 deg,
approach rate: -0.691294 m/s,
LOS rate: 0.023173 deg/s,
cmd heading: 248.267841 deg,
new cmd heading: 248.286032 deg.
2025-08-23T22:05:45.039Z,1755986745.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333409 target range: 44.739330 and range: 45.00 m.
2025-08-23T22:05:45.247Z,1755986745.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257784
2025-08-23T22:05:45.395Z,1755986745.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.74 m.
2025-08-23T22:05:45.398Z,1755986745.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.739330 m,
nav range: 41.913631 m,
bearing: 260.067745 deg,
approach rate: -0.683437 m/s,
LOS rate: 0.022969 deg/s,
cmd heading: 248.286037 deg,
new cmd heading: 248.303482 deg.
2025-08-23T22:05:45.399Z,1755986745.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333714 target range: 44.739330 and range: 45.00 m.
2025-08-23T22:05:45.502Z,1755986745.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512004
2025-08-23T22:05:45.750Z,1755986745.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761366
2025-08-23T22:05:45.916Z,1755986745.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.74 m.
2025-08-23T22:05:45.923Z,1755986745.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.739330 m,
nav range: 41.561531 m,
bearing: 260.079693 deg,
approach rate: -0.675600 m/s,
LOS rate: 0.023120 deg/s,
cmd heading: 248.303495 deg,
new cmd heading: 248.327594 deg.
2025-08-23T22:05:45.924Z,1755986745.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334134 target range: 44.739330 and range: 45.00 m.
2025-08-23T22:05:46.005Z,1755986746.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015932
2025-08-23T22:05:46.258Z,1755986746.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269345
2025-08-23T22:05:46.305Z,1755986746.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:46.307Z,1755986746.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.74 m.
2025-08-23T22:05:46.311Z,1755986746.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.739330 m,
nav range: 41.274754 m,
bearing: 260.089412 deg,
approach rate: -0.733103 m/s,
LOS rate: 0.025017 deg/s,
cmd heading: 248.327592 deg,
new cmd heading: 248.347164 deg.
2025-08-23T22:05:46.311Z,1755986746.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334476 target range: 44.739330 and range: 45.00 m.
2025-08-23T22:05:46.515Z,1755986746.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525338
2025-08-23T22:05:46.763Z,1755986746.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773497
2025-08-23T22:05:46.767Z,1755986746.767 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 158.43, 154.35, 161.83
2025-08-23T22:05:46.782Z,1755986746.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.74 m.
2025-08-23T22:05:46.785Z,1755986746.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.739330 m,
nav range: 40.943478 m,
bearing: 260.100808 deg,
approach rate: -0.698198 m/s,
LOS rate: 0.024213 deg/s,
cmd heading: 248.347154 deg,
new cmd heading: 248.370130 deg.
2025-08-23T22:05:46.786Z,1755986746.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334877 target range: 44.739330 and range: 45.00 m.
2025-08-23T22:05:47.015Z,1755986747.015 [DAT](INFO): DAT read: Rx Time:22:05:46.1096
2025-08-23T22:05:47.016Z,1755986747.016 [DAT](INFO): Rx dataTimestamp_ set to:1755986747.015325
2025-08-23T22:05:47.017Z,1755986747.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027296
2025-08-23T22:05:47.163Z,1755986747.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.74 m.
2025-08-23T22:05:47.166Z,1755986747.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.739330 m,
nav range: 40.677399 m,
bearing: 260.109405 deg,
approach rate: -0.697500 m/s,
LOS rate: 0.022684 deg/s,
cmd heading: 248.370130 deg,
new cmd heading: 248.387437 deg.
2025-08-23T22:05:47.167Z,1755986747.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335178 target range: 44.739330 and range: 45.00 m.
2025-08-23T22:05:47.267Z,1755986747.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277808
2025-08-23T22:05:47.537Z,1755986747.537 [DAT](INFO): DAT read: 22:05:46.1096 LVL= 25328, 26945, 21346, 30371, AGC= 64, IDX= 402, 0.10,-2.935, 1.571,-2.757,-3.028, PHS= 0.195,-1.640, 0.227, RAW= 150.9, 13.1, CAL= 150.9, 14.5, ROT= 359.1, -14.5
2025-08-23T22:05:47.548Z,1755986747.548 [DAT](INFO): got valid direction response:
22:05:46.1096 LVL= 25328, 26945, 21346, 30371, AGC= 64, IDX= 402, 0.10,-2.935, 1.571,-2.757,-3.028, PHS= 0.195,-1.640, 0.227, RAW= 150.9, 13.1, CAL= 150.9, 14.5, ROT= 359.1, -14.5
2025-08-23T22:05:47.548Z,1755986747.548 [DAT](INFO): DAT read: Bearing 61.0, -2.0 (Local)
2025-08-23T22:05:47.549Z,1755986747.549 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.0, -2.0 (Local)
2025-08-23T22:05:47.550Z,1755986747.550 [DAT](INFO): DAT read: Range 11 to 50 : 42.6 m (Round-trip 56.8 ms) speed 0.6 m/s
2025-08-23T22:05:47.551Z,1755986747.551 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:47.552Z,1755986747.552 [DAT](INFO): direction in FSK: [0.968028,-0.015207,0.250380]
2025-08-23T22:05:47.552Z,1755986747.552 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:47.568Z,1755986747.568 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:47.568Z,1755986747.568 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:47.569Z,1755986747.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:47.719Z,1755986747.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.599998 m,
deltaT: 3.785381 s,
deltaX: -2.400002 m,
approachRate: -0.634018 m/s,
rangeRepo size: 4
2025-08-23T22:05:47.721Z,1755986747.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.352234 m,
bearing: 249.138988 deg,
lat: 36.779468 deg,
lon: -121.859602 deg,
deltaT: 3.785381 s,
deltaX: -2.387096 m,
approachRate: -0.630609 m/s,
posRepo size: 4
2025-08-23T22:05:47.726Z,1755986747.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.35 m.
2025-08-23T22:05:47.728Z,1755986747.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.352234 m,
nav range: 40.428135 m,
bearing: 259.126628 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.022684 deg/s,
cmd heading: 248.387424 deg,
new cmd heading: 248.412597 deg.
2025-08-23T22:05:47.734Z,1755986747.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335618 target range: 42.352234 and range: 42.60 m.
2025-08-23T22:05:47.771Z,1755986747.771 [DAT](INFO): DAT read: user:1621>
2025-08-23T22:05:47.771Z,1755986747.771 [DAT](INFO): DAT read: Tx time:22:05:47.4987
2025-08-23T22:05:47.772Z,1755986747.772 [DAT](INFO): Ping request sent.
2025-08-23T22:05:47.772Z,1755986747.772 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:47.772Z,1755986747.772 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:47.772Z,1755986747.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-08-23T22:05:48.023Z,1755986748.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250801
2025-08-23T22:05:48.075Z,1755986748.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.35 m.
2025-08-23T22:05:48.078Z,1755986748.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.352234 m,
nav range: 40.155811 m,
bearing: 259.134623 deg,
approach rate: -0.763487 m/s,
LOS rate: 0.022566 deg/s,
cmd heading: 248.412587 deg,
new cmd heading: 248.428685 deg.
2025-08-23T22:05:48.079Z,1755986748.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335898 target range: 42.352234 and range: 42.60 m.
2025-08-23T22:05:48.275Z,1755986748.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502827
2025-08-23T22:05:48.438Z,1755986748.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:48.446Z,1755986748.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.35 m.
2025-08-23T22:05:48.455Z,1755986748.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.352234 m,
nav range: 39.907597 m,
bearing: 259.141695 deg,
approach rate: -0.677479 m/s,
LOS rate: 0.019423 deg/s,
cmd heading: 248.428679 deg,
new cmd heading: 248.442911 deg.
2025-08-23T22:05:48.456Z,1755986748.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336147 target range: 42.352234 and range: 42.60 m.
2025-08-23T22:05:48.531Z,1755986748.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758528
2025-08-23T22:05:48.779Z,1755986748.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006873
2025-08-23T22:05:48.851Z,1755986748.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.35 m.
2025-08-23T22:05:48.854Z,1755986748.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.352234 m,
nav range: 39.615208 m,
bearing: 259.145946 deg,
approach rate: -0.714023 m/s,
LOS rate: 0.010457 deg/s,
cmd heading: 248.442913 deg,
new cmd heading: 248.451477 deg.
2025-08-23T22:05:48.855Z,1755986748.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336296 target range: 42.352234 and range: 42.60 m.
2025-08-23T22:05:49.031Z,1755986749.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258801
2025-08-23T22:05:49.238Z,1755986749.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.35 m.
2025-08-23T22:05:49.241Z,1755986749.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.352234 m,
nav range: 39.350628 m,
bearing: 259.149174 deg,
approach rate: -0.684024 m/s,
LOS rate: 0.008402 deg/s,
cmd heading: 248.451464 deg,
new cmd heading: 248.457964 deg.
2025-08-23T22:05:49.242Z,1755986749.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336410 target range: 42.352234 and range: 42.60 m.
2025-08-23T22:05:49.283Z,1755986749.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511050
2025-08-23T22:05:49.537Z,1755986749.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764973
2025-08-23T22:05:49.762Z,1755986749.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.35 m.
2025-08-23T22:05:49.765Z,1755986749.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.352234 m,
nav range: 38.993782 m,
bearing: 259.148835 deg,
approach rate: -0.680627 m/s,
LOS rate: -0.000652 deg/s,
cmd heading: 248.457967 deg,
new cmd heading: 248.457283 deg.
2025-08-23T22:05:49.766Z,1755986749.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336398 target range: 42.352234 and range: 42.60 m.
2025-08-23T22:05:49.787Z,1755986749.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014902
2025-08-23T22:05:50.040Z,1755986750.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267897
2025-08-23T22:05:50.230Z,1755986750.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.35 m.
2025-08-23T22:05:50.233Z,1755986750.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.352234 m,
nav range: 38.674320 m,
bearing: 259.147998 deg,
approach rate: -0.682528 m/s,
LOS rate: -0.001803 deg/s,
cmd heading: 248.457284 deg,
new cmd heading: 248.455595 deg.
2025-08-23T22:05:50.234Z,1755986750.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336368 target range: 42.352234 and range: 42.60 m.
2025-08-23T22:05:50.291Z,1755986750.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518925
2025-08-23T22:05:50.545Z,1755986750.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772880
2025-08-23T22:05:50.753Z,1755986750.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:50.760Z,1755986750.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.35 m.
2025-08-23T22:05:50.766Z,1755986750.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.352234 m,
nav range: 38.320385 m,
bearing: 259.139858 deg,
approach rate: -0.668167 m/s,
LOS rate: -0.015508 deg/s,
cmd heading: 248.455590 deg,
new cmd heading: 248.439160 deg.
2025-08-23T22:05:50.767Z,1755986750.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336082 target range: 42.352234 and range: 42.60 m.
2025-08-23T22:05:50.798Z,1755986750.798 [DAT](INFO): DAT read: Rx Time:22:05:49.9563
2025-08-23T22:05:50.798Z,1755986750.798 [DAT](INFO): Rx dataTimestamp_ set to:1755986750.797862
2025-08-23T22:05:50.799Z,1755986750.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027009
2025-08-23T22:05:51.046Z,1755986751.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274750
2025-08-23T22:05:51.126Z,1755986751.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.35 m.
2025-08-23T22:05:51.129Z,1755986751.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.352234 m,
nav range: 38.065884 m,
bearing: 259.133547 deg,
approach rate: -0.694119 m/s,
LOS rate: -0.017329 deg/s,
cmd heading: 248.439170 deg,
new cmd heading: 248.426462 deg.
2025-08-23T22:05:51.130Z,1755986751.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335860 target range: 42.352234 and range: 42.60 m.
2025-08-23T22:05:51.304Z,1755986751.304 [DAT](INFO): DAT read: 22:05:49.9563 LVL= 24832, 27249, 21490, 31843, AGC= 61, IDX= 400,-0.01,-1.530, 3.062,-1.300,-1.541, PHS= 0.114,-1.634, 0.198, RAW= 152.3, 14.6, CAL= 152.7, 16.4, ROT= 357.3, -16.4
2025-08-23T22:05:51.305Z,1755986751.305 [DAT](INFO): got valid direction response:
22:05:49.9563 LVL= 24832, 27249, 21490, 31843, AGC= 61, IDX= 400,-0.01,-1.530, 3.062,-1.300,-1.541, PHS= 0.114,-1.634, 0.198, RAW= 152.3, 14.6, CAL= 152.7, 16.4, ROT= 357.3, -16.4
2025-08-23T22:05:51.306Z,1755986751.306 [DAT](INFO): DAT read: Bearing 63.4, -3.0 (Local)
2025-08-23T22:05:51.306Z,1755986751.306 [DAT](INFO): Local bearing/azimuth received:
Bearing 63.4, -3.0 (Local)
2025-08-23T22:05:51.307Z,1755986751.307 [DAT](INFO): DAT read: Range 11 to 50 : 40.1 m (Round-trip 53.5 ms) speed 0.7 m/s
2025-08-23T22:05:51.308Z,1755986751.308 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:51.309Z,1755986751.309 [DAT](INFO): direction in FSK: [0.958249,-0.045190,0.282341]
2025-08-23T22:05:51.309Z,1755986751.309 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:51.312Z,1755986751.312 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:51.312Z,1755986751.312 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:51.313Z,1755986751.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:51.561Z,1755986751.561 [DAT](INFO): DAT read: user:1622>
2025-08-23T22:05:51.564Z,1755986751.564 [DAT](INFO): DAT read: Tx time:22:05:51.2487
2025-08-23T22:05:51.565Z,1755986751.565 [DAT](INFO): Ping request sent.
2025-08-23T22:05:51.565Z,1755986751.565 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:51.567Z,1755986751.567 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:51.570Z,1755986751.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004249
2025-08-23T22:05:51.624Z,1755986751.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.099998 m,
deltaT: 3.778675 s,
deltaX: -2.500000 m,
approachRate: -0.661608 m/s,
rangeRepo size: 4
2025-08-23T22:05:51.630Z,1755986751.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.865742 m,
bearing: 248.075769 deg,
lat: 36.779427 deg,
lon: -121.859596 deg,
deltaT: 3.778675 s,
deltaX: -2.486492 m,
approachRate: -0.658033 m/s,
posRepo size: 4
2025-08-23T22:05:51.630Z,1755986751.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.87 m.
2025-08-23T22:05:51.633Z,1755986751.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.865742 m,
nav range: 38.299660 m,
bearing: 252.181683 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.017329 deg/s,
cmd heading: 248.426466 deg,
new cmd heading: 248.409251 deg.
2025-08-23T22:05:51.638Z,1755986751.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335559 target range: 39.865742 and range: 40.10 m.
2025-08-23T22:05:51.811Z,1755986751.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246088
2025-08-23T22:05:51.980Z,1755986751.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.87 m.
2025-08-23T22:05:51.987Z,1755986751.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.865742 m,
nav range: 38.057106 m,
bearing: 252.129720 deg,
approach rate: -0.678776 m/s,
LOS rate: -0.146344 deg/s,
cmd heading: 248.409254 deg,
new cmd heading: 248.304665 deg.
2025-08-23T22:05:51.988Z,1755986751.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333734 target range: 39.865742 and range: 40.10 m.
2025-08-23T22:05:52.063Z,1755986752.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498704
2025-08-23T22:05:52.315Z,1755986752.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749921
2025-08-23T22:05:52.326Z,1755986752.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.87 m.
2025-08-23T22:05:52.329Z,1755986752.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.865742 m,
nav range: 37.811615 m,
bearing: 252.076034 deg,
approach rate: -0.710575 m/s,
LOS rate: -0.156402 deg/s,
cmd heading: 248.304670 deg,
new cmd heading: 248.196602 deg.
2025-08-23T22:05:52.330Z,1755986752.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331848 target range: 39.865742 and range: 40.10 m.
2025-08-23T22:05:52.570Z,1755986752.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004406
2025-08-23T22:05:52.742Z,1755986752.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.87 m.
2025-08-23T22:05:52.744Z,1755986752.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.865742 m,
nav range: 37.531773 m,
bearing: 252.009151 deg,
approach rate: -0.673140 m/s,
LOS rate: -0.162083 deg/s,
cmd heading: 248.196589 deg,
new cmd heading: 248.061825 deg.
2025-08-23T22:05:52.746Z,1755986752.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329495 target range: 39.865742 and range: 40.10 m.
2025-08-23T22:05:52.819Z,1755986752.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253835
2025-08-23T22:05:53.071Z,1755986753.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505839
2025-08-23T22:05:53.128Z,1755986753.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:53.130Z,1755986753.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.87 m.
2025-08-23T22:05:53.133Z,1755986753.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.865742 m,
nav range: 37.270302 m,
bearing: 251.945467 deg,
approach rate: -0.672220 m/s,
LOS rate: -0.164875 deg/s,
cmd heading: 248.061816 deg,
new cmd heading: 247.933554 deg.
2025-08-23T22:05:53.134Z,1755986753.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327257 target range: 39.865742 and range: 40.10 m.
2025-08-23T22:05:53.323Z,1755986753.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757895
2025-08-23T22:05:53.531Z,1755986753.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.87 m.
2025-08-23T22:05:53.533Z,1755986753.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.865742 m,
nav range: 37.000542 m,
bearing: 251.878703 deg,
approach rate: -0.674013 m/s,
LOS rate: -0.168031 deg/s,
cmd heading: 247.933545 deg,
new cmd heading: 247.799043 deg.
2025-08-23T22:05:53.534Z,1755986753.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324909 target range: 39.865742 and range: 40.10 m.
2025-08-23T22:05:53.577Z,1755986753.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012290
2025-08-23T22:05:53.826Z,1755986753.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261751
2025-08-23T22:05:54.079Z,1755986754.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513889
2025-08-23T22:05:54.111Z,1755986754.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.87 m.
2025-08-23T22:05:54.113Z,1755986754.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.865742 m,
nav range: 36.608665 m,
bearing: 251.779550 deg,
approach rate: -0.675795 m/s,
LOS rate: -0.172819 deg/s,
cmd heading: 247.799045 deg,
new cmd heading: 247.598618 deg.
2025-08-23T22:05:54.114Z,1755986754.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321411 target range: 39.865742 and range: 40.10 m.
2025-08-23T22:05:54.331Z,1755986754.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765993
2025-08-23T22:05:54.481Z,1755986754.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.87 m.
2025-08-23T22:05:54.484Z,1755986754.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.865742 m,
nav range: 36.358322 m,
bearing: 251.714866 deg,
approach rate: -0.675669 m/s,
LOS rate: -0.175784 deg/s,
cmd heading: 247.598619 deg,
new cmd heading: 247.468360 deg.
2025-08-23T22:05:54.485Z,1755986754.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319138 target range: 39.865742 and range: 40.10 m.
2025-08-23T22:05:54.583Z,1755986754.583 [DAT](INFO): DAT read: Rx Time:22:05:53.7032
2025-08-23T22:05:54.583Z,1755986754.583 [DAT](INFO): Rx dataTimestamp_ set to:1755986754.582872
2025-08-23T22:05:54.584Z,1755986754.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019038
2025-08-23T22:05:54.835Z,1755986754.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269828
2025-08-23T22:05:54.000Z,1755986755.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.87 m.
2025-08-23T22:05:55.007Z,1755986755.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.865742 m,
nav range: 36.020344 m,
bearing: 251.625105 deg,
approach rate: -0.651444 m/s,
LOS rate: -0.174635 deg/s,
cmd heading: 247.468354 deg,
new cmd heading: 247.287149 deg.
2025-08-23T22:05:55.008Z,1755986755.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315975 target range: 39.865742 and range: 40.10 m.
2025-08-23T22:05:55.092Z,1755986755.092 [DAT](INFO): DAT read: 22:05:53.7032 LVL= 25440, 26449, 24946, 32755, AGC= 62, IDX= 416,-0.29, 2.923, 1.201,-3.097, 2.939, PHS= 0.086,-1.693, 0.203, RAW= 153.2, 15.1, CAL= 153.6, 17.1, ROT= 356.4, -17.1
2025-08-23T22:05:55.093Z,1755986755.093 [DAT](INFO): got valid direction response:
22:05:53.7032 LVL= 25440, 26449, 24946, 32755, AGC= 62, IDX= 416,-0.29, 2.923, 1.201,-3.097, 2.939, PHS= 0.086,-1.693, 0.203, RAW= 153.2, 15.1, CAL= 153.6, 17.1, ROT= 356.4, -17.1
2025-08-23T22:05:55.095Z,1755986755.095 [DAT](INFO): DAT read: Bearing 62.6, -2.7 (Local)
2025-08-23T22:05:55.095Z,1755986755.095 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.6, -2.7 (Local)
2025-08-23T22:05:55.097Z,1755986755.097 [DAT](INFO): DAT read: Range 11 to 50 : 37.7 m (Round-trip 50.3 ms) speed 0.5 m/s
2025-08-23T22:05:55.098Z,1755986755.098 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:55.100Z,1755986755.100 [DAT](INFO): direction in FSK: [0.953907,-0.060015,0.294040]
2025-08-23T22:05:55.100Z,1755986755.100 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:55.106Z,1755986755.106 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:55.106Z,1755986755.106 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:55.106Z,1755986755.106 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:05:55.309Z,1755986755.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.700001 m,
deltaT: 3.788235 s,
deltaX: -2.399998 m,
approachRate: -0.633540 m/s,
rangeRepo size: 4
2025-08-23T22:05:55.312Z,1755986755.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.476864 m,
bearing: 247.362250 deg,
lat: 36.779405 deg,
lon: -121.859590 deg,
deltaT: 3.788235 s,
deltaX: -2.388878 m,
approachRate: -0.630604 m/s,
posRepo size: 4
2025-08-23T22:05:55.312Z,1755986755.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-08-23T22:05:55.315Z,1755986755.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.476864 m,
nav range: 36.150215 m,
bearing: 247.655185 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.174635 deg/s,
cmd heading: 247.287136 deg,
new cmd heading: 247.179293 deg.
2025-08-23T22:05:55.316Z,1755986755.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314093 target range: 37.476864 and range: 37.70 m.
2025-08-23T22:05:55.338Z,1755986755.338 [DAT](INFO): DAT read: user:1623>
2025-08-23T22:05:55.339Z,1755986755.339 [DAT](INFO): DAT read: Tx time:22:05:55.0487
2025-08-23T22:05:55.339Z,1755986755.339 [DAT](INFO): Ping request sent.
2025-08-23T22:05:55.339Z,1755986755.339 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:55.340Z,1755986755.340 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:55.340Z,1755986755.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-23T22:05:55.594Z,1755986755.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253439
2025-08-23T22:05:55.732Z,1755986755.732 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-23T22:05:55.732Z,1755986755.732 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-23T22:05:55.733Z,1755986755.733 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-23T22:05:55.734Z,1755986755.734 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 37.700001 m (mode 2.000000 count ).
2025-08-23T22:05:55.734Z,1755986755.734 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-23T22:05:55.734Z,1755986755.734 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-23T22:05:55.735Z,1755986755.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:55.737Z,1755986755.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-08-23T22:05:55.740Z,1755986755.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.476864 m,
nav range: 35.867603 m,
bearing: 247.549297 deg,
approach rate: -0.659728 m/s,
LOS rate: -0.249133 deg/s,
cmd heading: 247.179300 deg,
new cmd heading: 246.965857 deg.
2025-08-23T22:05:55.741Z,1755986755.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310367 target range: 37.476864 and range: 37.70 m.
2025-08-23T22:05:55.846Z,1755986755.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505335
2025-08-23T22:05:56.095Z,1755986756.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755085
2025-08-23T22:05:56.140Z,1755986756.140 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-23T22:05:56.140Z,1755986756.140 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-23T22:05:56.147Z,1755986756.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-08-23T22:05:56.155Z,1755986756.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.476864 m,
nav range: 35.609985 m,
bearing: 247.451268 deg,
approach rate: -0.628540 m/s,
LOS rate: -0.240901 deg/s,
cmd heading: 246.965843 deg,
new cmd heading: 246.768369 deg.
2025-08-23T22:05:56.156Z,1755986756.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306921 target range: 37.476864 and range: 37.70 m.
2025-08-23T22:05:56.350Z,1755986756.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010487
2025-08-23T22:05:56.554Z,1755986756.554 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-23T22:05:56.554Z,1755986756.554 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-23T22:05:56.556Z,1755986756.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-08-23T22:05:56.559Z,1755986756.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.476864 m,
nav range: 35.327065 m,
bearing: 247.342040 deg,
approach rate: -0.690743 m/s,
LOS rate: -0.268814 deg/s,
cmd heading: 246.768369 deg,
new cmd heading: 246.548163 deg.
2025-08-23T22:05:56.560Z,1755986756.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303077 target range: 37.476864 and range: 37.70 m.
2025-08-23T22:05:56.599Z,1755986756.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259950
2025-08-23T22:05:56.851Z,1755986756.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511058
2025-08-23T22:05:56.955Z,1755986756.955 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-23T22:05:56.955Z,1755986756.955 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-23T22:05:56.956Z,1755986756.956 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-23T22:05:56.956Z,1755986756.956 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-23T22:05:56.974Z,1755986756.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-08-23T22:05:56.977Z,1755986756.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.476864 m,
nav range: 35.059620 m,
bearing: 247.235169 deg,
approach rate: -0.640377 m/s,
LOS rate: -0.257846 deg/s,
cmd heading: 246.548164 deg,
new cmd heading: 246.332793 deg.
2025-08-23T22:05:56.978Z,1755986756.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299318 target range: 37.476864 and range: 37.70 m.
2025-08-23T22:05:57.103Z,1755986757.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763146
2025-08-23T22:05:57.322Z,1755986757.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-08-23T22:05:57.324Z,1755986757.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.476864 m,
nav range: 34.816055 m,
bearing: 247.136649 deg,
approach rate: -0.701214 m/s,
LOS rate: -0.285620 deg/s,
cmd heading: 246.332794 deg,
new cmd heading: 246.134376 deg.
2025-08-23T22:05:57.341Z,1755986757.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295855 target range: 37.476864 and range: 37.70 m.
2025-08-23T22:05:57.355Z,1755986757.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015256
2025-08-23T22:05:57.611Z,1755986757.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271377
2025-08-23T22:05:57.744Z,1755986757.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:57.746Z,1755986757.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-08-23T22:05:57.749Z,1755986757.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.476864 m,
nav range: 34.533813 m,
bearing: 247.026263 deg,
approach rate: -0.665089 m/s,
LOS rate: -0.262243 deg/s,
cmd heading: 246.134363 deg,
new cmd heading: 245.911790 deg.
2025-08-23T22:05:57.751Z,1755986757.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291970 target range: 37.476864 and range: 37.70 m.
2025-08-23T22:05:57.860Z,1755986757.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520123
2025-08-23T22:05:58.111Z,1755986758.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771191
2025-08-23T22:05:58.132Z,1755986758.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-08-23T22:05:58.135Z,1755986758.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.476864 m,
nav range: 34.276268 m,
bearing: 246.924025 deg,
approach rate: -0.666274 m/s,
LOS rate: -0.266478 deg/s,
cmd heading: 245.911781 deg,
new cmd heading: 245.705770 deg.
2025-08-23T22:05:58.136Z,1755986758.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288375 target range: 37.476864 and range: 37.70 m.
2025-08-23T22:05:58.362Z,1755986758.362 [DAT](INFO): DAT read: Rx Time:22:05:57.4999
2025-08-23T22:05:58.363Z,1755986758.363 [DAT](INFO): Rx dataTimestamp_ set to:1755986758.362639
2025-08-23T22:05:58.363Z,1755986758.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024048
2025-08-23T22:05:58.554Z,1755986758.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-08-23T22:05:58.557Z,1755986758.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.476864 m,
nav range: 34.006359 m,
bearing: 246.815399 deg,
approach rate: -0.639610 m/s,
LOS rate: -0.259459 deg/s,
cmd heading: 245.705783 deg,
new cmd heading: 245.486806 deg.
2025-08-23T22:05:58.559Z,1755986758.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284553 target range: 37.476864 and range: 37.70 m.
2025-08-23T22:05:58.615Z,1755986758.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275132
2025-08-23T22:05:58.872Z,1755986758.872 [DAT](INFO): DAT read: 22:05:57.4999 LVL= 26000, 28801, 24562, 31315, AGC= 61, IDX= 414,-0.17, 1.448,-0.275, 1.715, 1.458, PHS= 0.091,-1.689, 0.212, RAW= 153.3, 14.9, CAL= 153.7, 16.8, ROT= 356.3, -16.8
2025-08-23T22:05:58.873Z,1755986758.873 [DAT](INFO): got valid direction response:
22:05:57.4999 LVL= 26000, 28801, 24562, 31315, AGC= 61, IDX= 414,-0.17, 1.448,-0.275, 1.715, 1.458, PHS= 0.091,-1.689, 0.212, RAW= 153.3, 14.9, CAL= 153.7, 16.8, ROT= 356.3, -16.8
2025-08-23T22:05:58.874Z,1755986758.874 [DAT](INFO): DAT read: Bearing 60.5, -1.1 (Local)
2025-08-23T22:05:58.874Z,1755986758.874 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.5, -1.1 (Local)
2025-08-23T22:05:58.875Z,1755986758.875 [DAT](INFO): DAT read: Range 11 to 50 : 35.2 m (Round-trip 47.0 ms) speed 0.6 m/s
2025-08-23T22:05:58.876Z,1755986758.876 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:05:58.877Z,1755986758.877 [DAT](INFO): direction in FSK: [0.955324,-0.061778,0.289032]
2025-08-23T22:05:58.877Z,1755986758.877 [DAT](INFO): publishing direction and range info
2025-08-23T22:05:58.880Z,1755986758.880 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:05:58.880Z,1755986758.880 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:05:58.881Z,1755986758.881 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:05:59.080Z,1755986759.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.200001 m,
deltaT: 3.779800 s,
deltaX: -2.500000 m,
approachRate: -0.661411 m/s,
rangeRepo size: 4
2025-08-23T22:05:59.086Z,1755986759.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.989132 m,
bearing: 247.288136 deg,
lat: 36.779405 deg,
lon: -121.859586 deg,
deltaT: 3.779800 s,
deltaX: -2.487732 m,
approachRate: -0.658165 m/s,
posRepo size: 4
2025-08-23T22:05:59.087Z,1755986759.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.99 m.
2025-08-23T22:05:59.089Z,1755986759.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.989132 m,
nav range: 33.374306 m,
bearing: 246.444159 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.259459 deg/s,
cmd heading: 245.486807 deg,
new cmd heading: 245.214531 deg.
2025-08-23T22:05:59.114Z,1755986759.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279801 target range: 34.989132 and range: 35.20 m.
2025-08-23T22:05:59.119Z,1755986759.119 [DAT](INFO): DAT read: user:1624>
2025-08-23T22:05:59.119Z,1755986759.119 [DAT](INFO): DAT read: Tx time:22:05:58.7987
2025-08-23T22:05:59.120Z,1755986759.120 [DAT](INFO): Ping request sent.
2025-08-23T22:05:59.120Z,1755986759.120 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:05:59.120Z,1755986759.120 [DAT](INFO): publishing transmit ping time
2025-08-23T22:05:59.120Z,1755986759.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-23T22:05:59.371Z,1755986759.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251461
2025-08-23T22:05:59.464Z,1755986759.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.99 m.
2025-08-23T22:05:59.467Z,1755986759.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.989132 m,
nav range: 33.107025 m,
bearing: 246.315066 deg,
approach rate: -0.694073 m/s,
LOS rate: -0.337934 deg/s,
cmd heading: 245.214528 deg,
new cmd heading: 244.954260 deg.
2025-08-23T22:05:59.468Z,1755986759.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275259 target range: 34.989132 and range: 35.20 m.
2025-08-23T22:05:59.623Z,1755986759.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502846
2025-08-23T22:05:59.867Z,1755986759.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:05:59.869Z,1755986759.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.99 m.
2025-08-23T22:05:59.875Z,1755986759.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754881
2025-08-23T22:05:59.882Z,1755986759.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.989132 m,
nav range: 32.849655 m,
bearing: 246.192012 deg,
approach rate: -0.635390 m/s,
LOS rate: -0.306175 deg/s,
cmd heading: 244.954271 deg,
new cmd heading: 244.706235 deg.
2025-08-23T22:05:59.883Z,1755986759.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.270929 target range: 34.989132 and range: 35.20 m.
2025-08-23T22:06:00.127Z,1755986760.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007215
2025-08-23T22:06:00.246Z,1755986760.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.99 m.
2025-08-23T22:06:00.254Z,1755986760.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.989132 m,
nav range: 32.584000 m,
bearing: 246.063744 deg,
approach rate: -0.706063 m/s,
LOS rate: -0.343691 deg/s,
cmd heading: 244.706226 deg,
new cmd heading: 244.447601 deg.
2025-08-23T22:06:00.255Z,1755986760.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266416 target range: 34.989132 and range: 35.20 m.
2025-08-23T22:06:00.379Z,1755986760.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259379
2025-08-23T22:06:00.631Z,1755986760.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510895
2025-08-23T22:06:00.641Z,1755986760.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.99 m.
2025-08-23T22:06:00.644Z,1755986760.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.989132 m,
nav range: 32.319241 m,
bearing: 245.934714 deg,
approach rate: -0.669596 m/s,
LOS rate: -0.329000 deg/s,
cmd heading: 244.447607 deg,
new cmd heading: 244.187435 deg.
2025-08-23T22:06:00.645Z,1755986760.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261875 target range: 34.989132 and range: 35.20 m.
2025-08-23T22:06:00.882Z,1755986760.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762767
2025-08-23T22:06:01.135Z,1755986761.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014957
2025-08-23T22:06:01.159Z,1755986761.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.99 m.
2025-08-23T22:06:01.166Z,1755986761.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.989132 m,
nav range: 31.979815 m,
bearing: 245.769098 deg,
approach rate: -0.655035 m/s,
LOS rate: -0.323003 deg/s,
cmd heading: 244.187432 deg,
new cmd heading: 243.852689 deg.
2025-08-23T22:06:01.167Z,1755986761.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256032 target range: 34.989132 and range: 35.20 m.
2025-08-23T22:06:01.387Z,1755986761.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266866
2025-08-23T22:06:01.619Z,1755986761.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.99 m.
2025-08-23T22:06:01.626Z,1755986761.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.989132 m,
nav range: 31.662882 m,
bearing: 245.613108 deg,
approach rate: -0.688320 m/s,
LOS rate: -0.342173 deg/s,
cmd heading: 243.852698 deg,
new cmd heading: 243.537598 deg.
2025-08-23T22:06:01.627Z,1755986761.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250533 target range: 34.989132 and range: 35.20 m.
2025-08-23T22:06:01.639Z,1755986761.639 [DAT](INFO): DAT read: Rx Time:22:06:00.9716
2025-08-23T22:06:01.640Z,1755986761.640 [DAT](INFO): Rx dataTimestamp_ set to:1755986761.639398
2025-08-23T22:06:01.641Z,1755986761.641 [DAT](INFO): DAT read: Bearing 58.6, -0.3 (Local)
2025-08-23T22:06:01.641Z,1755986761.641 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.6, -0.3 (Local)
2025-08-23T22:06:01.643Z,1755986761.643 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.5
2025-08-23T22:06:01.648Z,1755986761.648 [DAT](INFO): DAT read: 22:06:00.9716 LVL= 23888, 27057, 22418, 28723, AGC= 63, IDX= 157, 0.11, 1.632,-0.075, 1.934, 1.634, PHS= 0.100,-1.664, 0.256, RAW= 154.2, 14.1, CAL= 154.6, 15.9, ROT= 355.4, -15.9
2025-08-23T22:06:01.649Z,1755986761.649 [DAT](INFO): got valid direction response:
22:06:00.9716 LVL= 23888, 27057, 22418, 28723, AGC= 63, IDX= 157, 0.11, 1.632,-0.075, 1.934, 1.634, PHS= 0.100,-1.664, 0.256, RAW= 154.2, 14.1, CAL= 154.6, 15.9, ROT= 355.4, -15.9
2025-08-23T22:06:01.650Z,1755986761.650 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:06:01.651Z,1755986761.651 [DAT](INFO): direction in FSK: [0.958643,-0.077131,0.273959]
2025-08-23T22:06:01.651Z,1755986761.651 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:01.655Z,1755986761.655 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.535669
2025-08-23T22:06:01.892Z,1755986761.892 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.772030
2025-08-23T22:06:02.142Z,1755986762.142 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.022762
2025-08-23T22:06:02.370Z,1755986762.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.900002 m,
deltaT: 2.773446 s,
deltaX: -2.299999 m,
approachRate: -0.829293 m/s,
rangeRepo size: 4
2025-08-23T22:06:02.372Z,1755986762.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.701672 m,
bearing: 245.323314 deg,
lat: 36.779405 deg,
lon: -121.859585 deg,
deltaT: 2.773446 s,
deltaX: -2.287460 m,
approachRate: -0.824772 m/s,
posRepo size: 4
2025-08-23T22:06:02.372Z,1755986762.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-23T22:06:02.380Z,1755986762.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.701672 m,
nav range: 31.057835 m,
bearing: 245.272034 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.342173 deg/s,
cmd heading: 243.537608 deg,
new cmd heading: 243.038509 deg.
2025-08-23T22:06:02.381Z,1755986762.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.241822 target range: 32.701672 and range: 32.90 m.
2025-08-23T22:06:02.397Z,1755986762.397 [DAT](INFO): DAT read: Rx Time:22:06:01.6706
2025-08-23T22:06:02.398Z,1755986762.398 [DAT](INFO): Rx dataTimestamp_ set to:1755986762.397663
2025-08-23T22:06:02.400Z,1755986762.400 [DAT](INFO): DAT read: Bearing 57.8, 0.1 (Local)
2025-08-23T22:06:02.401Z,1755986762.401 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.8, 0.1 (Local)
2025-08-23T22:06:02.405Z,1755986762.405 [DAT](INFO): DAT read: Range 11 to 50 : 331.2 m (trip time 220.8 ms) speed 0.5
2025-08-23T22:06:02.412Z,1755986762.412 [DAT](INFO): DAT read: 22:06:01.6706 LVL= 21792, 25729, 20466, 28659, AGC= 58, IDX= 498, 0.15,-1.927, 2.683,-1.629,-1.937, PHS= 0.113,-1.617, 0.264, RAW= 154.1, 13.6, CAL= 154.5, 15.3, ROT= 355.5, -15.3
2025-08-23T22:06:02.422Z,1755986762.422 [DAT](INFO): got valid direction response:
22:06:01.6706 LVL= 21792, 25729, 20466, 28659, AGC= 58, IDX= 498, 0.15,-1.927, 2.683,-1.629,-1.937, PHS= 0.113,-1.617, 0.264, RAW= 154.1, 13.6, CAL= 154.5, 15.3, ROT= 355.5, -15.3
2025-08-23T22:06:02.422Z,1755986762.422 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-23T22:06:02.423Z,1755986762.423 [DAT](INFO): direction in FSK: [0.961584,-0.075678,0.263873]
2025-08-23T22:06:02.424Z,1755986762.424 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:02.432Z,1755986762.432 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.312320
2025-08-23T22:06:02.647Z,1755986762.647 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.527604
2025-08-23T22:06:02.900Z,1755986762.900 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.779901
2025-08-23T22:06:02.972Z,1755986762.972 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-08-23T22:06:02.972Z,1755986762.972 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-23T22:06:02.972Z,1755986762.972 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-08-23T22:06:02.978Z,1755986762.978 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 331.200012 m (mode 2.000000 count ).
2025-08-23T22:06:02.978Z,1755986762.978 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-08-23T22:06:02.978Z,1755986762.978 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-08-23T22:06:02.993Z,1755986762.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 331.200012 m,
deltaT: 0.758265 s,
deltaX: 298.300018 m,
approachRate: 393.398102 m/s,
rangeRepo size: 4
2025-08-23T22:06:02.994Z,1755986762.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-23T22:06:02.997Z,1755986762.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.701672 m,
nav range: 30.630322 m,
bearing: 245.050168 deg,
approach rate: -0.668122 m/s,
LOS rate: -0.351573 deg/s,
cmd heading: 243.038512 deg,
new cmd heading: 242.588597 deg.
2025-08-23T22:06:03.002Z,1755986763.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.233970 target range: 32.701672 and range: 32.90 m.
2025-08-23T22:06:03.151Z,1755986763.151 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=4.030837
2025-08-23T22:06:03.407Z,1755986763.407 [DAT](INFO): DAT read: Rx Time:22:06:02.7209
2025-08-23T22:06:03.408Z,1755986763.408 [DAT](INFO): Rx dataTimestamp_ set to:1755986763.407680
2025-08-23T22:06:03.418Z,1755986763.418 [DAT](INFO): DAT read: Bearing 59.0, 1.2 (Local)
2025-08-23T22:06:03.419Z,1755986763.419 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.0, 1.2 (Local)
2025-08-23T22:06:03.421Z,1755986763.421 [DAT](INFO): DAT read: Range 11 to 50 : 406.8 m (trip time 271.2 ms) speed 0.5
2025-08-23T22:06:03.426Z,1755986763.427 [DAT](INFO): DAT read: 22:06:02.7209 LVL= 19584, 26705, 19330, 30819, AGC= 58, IDX= 502,-0.11,-0.852,-2.519,-0.588,-0.837, PHS= 0.087,-1.637, 0.205, RAW= 153.3, 14.9, CAL= 153.7, 16.8, ROT= 356.3, -16.8
2025-08-23T22:06:03.428Z,1755986763.428 [DAT](INFO): got valid direction response:
22:06:02.7209 LVL= 19584, 26705, 19330, 30819, AGC= 58, IDX= 502,-0.11,-0.852,-2.519,-0.588,-0.837, PHS= 0.087,-1.637, 0.205, RAW= 153.3, 14.9, CAL= 153.7, 16.8, ROT= 356.3, -16.8
2025-08-23T22:06:03.428Z,1755986763.428 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-23T22:06:03.429Z,1755986763.429 [DAT](INFO): direction in FSK: [0.955324,-0.061778,0.289032]
2025-08-23T22:06:03.429Z,1755986763.429 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:03.475Z,1755986763.475 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=4.355261
2025-08-23T22:06:03.655Z,1755986763.655 [DAT](INFO): DAT read: Rx Time:22:06:03.0457
2025-08-23T22:06:03.656Z,1755986763.656 [DAT](INFO): Rx dataTimestamp_ set to:1755986763.655253
2025-08-23T22:06:03.657Z,1755986763.657 [DAT](INFO): DAT read: Bearing 58.4, 0.9 (Local)
2025-08-23T22:06:03.657Z,1755986763.657 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.4, 0.9 (Local)
2025-08-23T22:06:03.659Z,1755986763.659 [DAT](INFO): DAT read: Range 11 to 50 : 143.9 m (trip time 95.9 ms) speed 0.5
2025-08-23T22:06:03.664Z,1755986763.664 [DAT](INFO): DAT read: 22:06:03.0457 LVL= 24688, 27569, 24018, 32435, AGC= 61, IDX= 243, 0.45,-0.084,-1.764, 0.200,-0.073, PHS= 0.091,-1.646, 0.230, RAW= 153.8, 14.5, CAL= 154.2, 16.4, ROT= 355.8, -16.4
2025-08-23T22:06:03.665Z,1755986763.665 [DAT](INFO): got valid direction response:
22:06:03.0457 LVL= 24688, 27569, 24018, 32435, AGC= 61, IDX= 243, 0.45,-0.084,-1.764, 0.200,-0.073, PHS= 0.091,-1.646, 0.230, RAW= 153.8, 14.5, CAL= 154.2, 16.4, ROT= 355.8, -16.4
2025-08-23T22:06:03.665Z,1755986763.665 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-23T22:06:03.666Z,1755986763.666 [DAT](INFO): direction in FSK: [0.956738,-0.070259,0.282341]
2025-08-23T22:06:03.666Z,1755986763.666 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:03.682Z,1755986763.682 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.562586
2025-08-23T22:06:03.800Z,1755986763.800 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-08-23T22:06:03.800Z,1755986763.800 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-08-23T22:06:03.824Z,1755986763.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 143.899994 m,
deltaT: 2.015855 s,
deltaX: 110.999992 m,
approachRate: 55.063480 m/s,
rangeRepo size: 4
2025-08-23T22:06:03.824Z,1755986763.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-23T22:06:03.831Z,1755986763.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.701672 m,
nav range: 30.091269 m,
bearing: 244.766956 deg,
approach rate: -0.646116 m/s,
LOS rate: -0.345540 deg/s,
cmd heading: 242.588594 deg,
new cmd heading: 242.012046 deg.
2025-08-23T22:06:03.832Z,1755986763.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223907 target range: 32.701672 and range: 32.90 m.
2025-08-23T22:06:03.912Z,1755986763.912 [DAT](INFO): DAT read: Rx Time:22:06:03.3706
2025-08-23T22:06:03.914Z,1755986763.914 [DAT](INFO): Rx dataTimestamp_ set to:1755986763.912651
2025-08-23T22:06:03.918Z,1755986763.918 [DAT](INFO): DAT read: Bearing 58.3, 1.1 (Local)
2025-08-23T22:06:03.919Z,1755986763.919 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.3, 1.1 (Local)
2025-08-23T22:06:03.928Z,1755986763.928 [DAT](INFO): DAT read: Range 11 to 50 : 631.2 m (trip time 420.8 ms) speed 0.7
2025-08-23T22:06:03.931Z,1755986763.931 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-08-23T22:06:03.974Z,1755986763.974 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.854134
2025-08-23T22:06:04.162Z,1755986764.162 [DAT](INFO): DAT read: 22:06:03.3706 LVL= 22288, 24593, 22242, 28531, AGC= 60, IDX= 242, 0.11, 0.563,-1.105, 0.847, 0.576, PHS= 0.089,-1.636, 0.227, RAW= 153.8, 14.5, CAL= 154.2, 16.4, ROT= 355.8, -16.4
2025-08-23T22:06:04.163Z,1755986764.163 [DAT](INFO): got valid direction response:
22:06:03.3706 LVL= 22288, 24593, 22242, 28531, AGC= 60, IDX= 242, 0.11, 0.563,-1.105, 0.847, 0.576, PHS= 0.089,-1.636, 0.227, RAW= 153.8, 14.5, CAL= 154.2, 16.4, ROT= 355.8, -16.4
2025-08-23T22:06:04.164Z,1755986764.164 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-23T22:06:04.165Z,1755986764.165 [DAT](INFO): direction in FSK: [0.956738,-0.070259,0.282341]
2025-08-23T22:06:04.168Z,1755986764.168 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.048252
2025-08-23T22:06:04.275Z,1755986764.275 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-08-23T22:06:04.275Z,1755986764.275 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-08-23T22:06:04.290Z,1755986764.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 631.200012 m,
deltaT: 2.273253 s,
deltaX: 598.299988 m,
approachRate: 263.191101 m/s,
rangeRepo size: 4
2025-08-23T22:06:04.291Z,1755986764.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-23T22:06:04.298Z,1755986764.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.701672 m,
nav range: 29.800867 m,
bearing: 244.613696 deg,
approach rate: -0.627816 m/s,
LOS rate: -0.334560 deg/s,
cmd heading: 242.012044 deg,
new cmd heading: 241.702540 deg.
2025-08-23T22:06:04.299Z,1755986764.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.218505 target range: 32.701672 and range: 32.90 m.
2025-08-23T22:06:04.413Z,1755986764.413 [DAT](INFO): DAT read: Rx Time:22:06:03.6954
2025-08-23T22:06:04.413Z,1755986764.413 [DAT](INFO): Rx dataTimestamp_ set to:1755986764.412812
2025-08-23T22:06:04.416Z,1755986764.416 [DAT](INFO): DAT read: Bearing 58.6, 1.9 (Local)
2025-08-23T22:06:04.416Z,1755986764.416 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.6, 1.9 (Local)
2025-08-23T22:06:04.419Z,1755986764.419 [DAT](INFO): DAT read: Range 11 to 50 : 368.6 m (trip time 245.7 ms) speed 0.5
2025-08-23T22:06:04.423Z,1755986764.423 [DAT](INFO): DAT read: 22:06:03.6954 LVL= 21952, 23793, 21122, 26531, AGC= 60, IDX= 240,-0.09,-2.725, 1.883,-2.467,-2.714, PHS= 0.091,-1.642, 0.202, RAW= 153.1, 14.9, CAL= 153.5, 16.8, ROT= 356.5, -16.8
2025-08-23T22:06:04.424Z,1755986764.424 [DAT](INFO): got valid direction response:
22:06:03.6954 LVL= 21952, 23793, 21122, 26531, AGC= 60, IDX= 240,-0.09,-2.725, 1.883,-2.467,-2.714, PHS= 0.091,-1.642, 0.202, RAW= 153.1, 14.9, CAL= 153.5, 16.8, ROT= 356.5, -16.8
2025-08-23T22:06:04.424Z,1755986764.424 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-23T22:06:04.434Z,1755986764.434 [DAT](INFO): direction in FSK: [0.955534,-0.058443,0.289032]
2025-08-23T22:06:04.438Z,1755986764.438 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:04.441Z,1755986764.441 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.321492
2025-08-23T22:06:04.636Z,1755986764.636 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-08-23T22:06:04.637Z,1755986764.637 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-23T22:06:04.637Z,1755986764.637 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-08-23T22:06:04.637Z,1755986764.637 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-23T22:06:04.663Z,1755986764.663 [DAT](INFO): DAT read: Rx Time:22:06:04.0203
2025-08-23T22:06:04.664Z,1755986764.664 [DAT](INFO): Rx dataTimestamp_ set to:1755986764.663437
2025-08-23T22:06:04.665Z,1755986764.665 [DAT](INFO): DAT read: Bearing 58.3, 2.1 (Local)
2025-08-23T22:06:04.665Z,1755986764.665 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.3, 2.1 (Local)
2025-08-23T22:06:04.667Z,1755986764.667 [DAT](INFO): DAT read: Range 11 to 50 : 105.9 m (trip time 70.6 ms) speed 0.6
2025-08-23T22:06:04.672Z,1755986764.672 [DAT](INFO): DAT read: 22:06:04.0203 LVL= 23344, 25473, 22450, 30291, AGC= 60, IDX= 256,-0.43,-1.384,-3.071,-1.127,-1.378, PHS= 0.096,-1.648, 0.207, RAW= 153.1, 14.8, CAL= 153.5, 16.7, ROT= 356.5, -16.7
2025-08-23T22:06:04.673Z,1755986764.673 [DAT](INFO): got valid direction response:
22:06:04.0203 LVL= 23344, 25473, 22450, 30291, AGC= 60, IDX= 256,-0.43,-1.384,-3.071,-1.127,-1.378, PHS= 0.096,-1.648, 0.207, RAW= 153.1, 14.8, CAL= 153.5, 16.7, ROT= 356.5, -16.7
2025-08-23T22:06:04.673Z,1755986764.673 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-23T22:06:04.674Z,1755986764.674 [DAT](INFO): direction in FSK: [0.956036,-0.058474,0.287361]
2025-08-23T22:06:04.675Z,1755986764.675 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:04.687Z,1755986764.687 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.567266
2025-08-23T22:06:04.688Z,1755986764.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 368.600006 m,
deltaT: 2.773414 s,
deltaX: 335.700012 m,
approachRate: 121.042160 m/s,
rangeRepo size: 4
2025-08-23T22:06:04.689Z,1755986764.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-23T22:06:04.708Z,1755986764.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.701672 m,
nav range: 29.545017 m,
bearing: 244.477542 deg,
approach rate: -0.681273 m/s,
LOS rate: -0.365687 deg/s,
cmd heading: 241.702527 deg,
new cmd heading: 241.427864 deg.
2025-08-23T22:06:04.709Z,1755986764.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213711 target range: 32.701672 and range: 32.90 m.
2025-08-23T22:06:04.920Z,1755986764.920 [DAT](INFO): DAT read: Rx Time:22:06:04.3451
2025-08-23T22:06:04.920Z,1755986764.920 [DAT](INFO): Rx dataTimestamp_ set to:1755986764.919717
2025-08-23T22:06:04.921Z,1755986764.921 [DAT](INFO): DAT read: Bearing 57.5, 1.9 (Local)
2025-08-23T22:06:04.922Z,1755986764.922 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.5, 1.9 (Local)
2025-08-23T22:06:04.924Z,1755986764.924 [DAT](INFO): DAT read: Range 11 to 50 : 593.1 m (trip time 395.4 ms) speed 0.5
2025-08-23T22:06:04.924Z,1755986764.924 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-08-23T22:06:04.925Z,1755986764.925 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.805417
2025-08-23T22:06:05.144Z,1755986765.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 593.099976 m,
deltaT: 3.280319 s,
deltaX: 560.199951 m,
approachRate: 170.776062 m/s,
rangeRepo size: 4
2025-08-23T22:06:05.144Z,1755986765.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): addTargetRange::Reached target pos rejection count limit. Clearing pos repo.
2025-08-23T22:06:05.145Z,1755986765.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-23T22:06:05.158Z,1755986765.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.701672 m,
nav range: 29.247726 m,
bearing: 244.304955 deg,
approach rate: -0.616177 m/s,
LOS rate: -0.361347 deg/s,
cmd heading: 241.427871 deg,
new cmd heading: 241.079193 deg.
2025-08-23T22:06:05.159Z,1755986765.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207626 target range: 32.701672 and range: nan m.
2025-08-23T22:06:05.170Z,1755986765.170 [DAT](INFO): DAT read: 22:06:04.3451 LVL= 24176, 25121, 23762, 30627, AGC= 60, IDX= 253, 0.21,-0.946,-2.630,-0.671,-0.948, PHS= 0.104,-1.637, 0.232, RAW= 153.5, 14.3, CAL= 153.9, 16.1, ROT= 356.1, -16.1
2025-08-23T22:06:05.171Z,1755986765.171 [DAT](INFO): got valid direction response:
22:06:04.3451 LVL= 24176, 25121, 23762, 30627, AGC= 60, IDX= 253, 0.21,-0.946,-2.630,-0.671,-0.948, PHS= 0.104,-1.637, 0.232, RAW= 153.5, 14.3, CAL= 153.9, 16.1, ROT= 356.1, -16.1
2025-08-23T22:06:05.172Z,1755986765.172 [DAT](INFO): #Rx 10: Read direction message, but no range.
2025-08-23T22:06:05.173Z,1755986765.173 [DAT](INFO): direction in FSK: [0.958554,-0.065348,0.277315]
2025-08-23T22:06:05.176Z,1755986765.176 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.056748
2025-08-23T22:06:05.419Z,1755986765.419 [DAT](INFO): DAT read: Rx Time:22:06:04.6701
2025-08-23T22:06:05.420Z,1755986765.420 [DAT](INFO): Rx dataTimestamp_ set to:1755986765.419499
2025-08-23T22:06:05.421Z,1755986765.421 [DAT](INFO): DAT read: Bearing 57.3, 2.6 (Local)
2025-08-23T22:06:05.422Z,1755986765.422 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.3, 2.6 (Local)
2025-08-23T22:06:05.424Z,1755986765.424 [DAT](INFO): DAT read: Range 11 to 50 : 330.6 m (trip time 220.4 ms) speed 0.5
2025-08-23T22:06:05.428Z,1755986765.428 [DAT](INFO): DAT read: 22:06:04.6701 LVL= 24560, 25841, 24802, 31779, AGC= 60, IDX= 253,-0.02,-0.925,-2.628,-0.667,-0.938, PHS= 0.115,-1.645, 0.227, RAW= 153.1, 14.2, CAL= 153.4, 16.0, ROT= 356.6, -16.0
2025-08-23T22:06:05.429Z,1755986765.429 [DAT](INFO): got valid direction response:
22:06:04.6701 LVL= 24560, 25841, 24802, 31779, AGC= 60, IDX= 253,-0.02,-0.925,-2.628,-0.667,-0.938, PHS= 0.115,-1.645, 0.227, RAW= 153.1, 14.2, CAL= 153.4, 16.0, ROT= 356.6, -16.0
2025-08-23T22:06:05.430Z,1755986765.430 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-23T22:06:05.431Z,1755986765.431 [DAT](INFO): direction in FSK: [0.959570,-0.057009,0.275637]
2025-08-23T22:06:05.431Z,1755986765.431 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:05.435Z,1755986765.435 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.315149
2025-08-23T22:06:05.655Z,1755986765.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 330.600006 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-08-23T22:06:05.656Z,1755986765.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetPos::Rejecting new target pos. Approach rate out of bounds.
range: 328.593506 m,
bearing: nan deg,
deltaT: 3.780101 s,
deltaX: 295.891846 m,
approachRate: 78.276176 m/s,
posRepo size: 4
2025-08-23T22:06:05.657Z,1755986765.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-23T22:06:05.664Z,1755986765.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.701672 m,
nav range: 28.910820 m,
bearing: 244.110730 deg,
approach rate: -0.659752 m/s,
LOS rate: -0.384777 deg/s,
cmd heading: 241.079204 deg,
new cmd heading: 240.686233 deg.
2025-08-23T22:06:05.665Z,1755986765.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200767 target range: 32.701672 and range: 330.60 m.
2025-08-23T22:06:05.671Z,1755986765.671 [DAT](INFO): DAT read: Rx Time:22:06:04.9948
2025-08-23T22:06:05.672Z,1755986765.672 [DAT](INFO): Rx dataTimestamp_ set to:1755986765.671451
2025-08-23T22:06:05.673Z,1755986765.673 [DAT](INFO): DAT read: Bearing 57.0, 3.2 (Local)
2025-08-23T22:06:05.673Z,1755986765.673 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.0, 3.2 (Local)
2025-08-23T22:06:05.675Z,1755986765.675 [DAT](INFO): DAT read: Range 11 to 50 : 67.7 m (trip time 45.1 ms) speed 0.6
2025-08-23T22:06:05.680Z,1755986765.680 [DAT](INFO): DAT read: 22:06:04.9948 LVL= 23984, 26353, 24242, 30403, AGC= 60, IDX= 251,-0.25,-2.488, 2.075,-2.244,-2.513, PHS= 0.127,-1.650, 0.225, RAW= 152.7, 14.1, CAL= 153.0, 15.8, ROT= 357.0, -15.8
2025-08-23T22:06:05.681Z,1755986765.681 [DAT](INFO): got valid direction response:
22:06:04.9948 LVL= 23984, 26353, 24242, 30403, AGC= 60, IDX= 251,-0.25,-2.488, 2.075,-2.244,-2.513, PHS= 0.127,-1.650, 0.225, RAW= 152.7, 14.1, CAL= 153.0, 15.8, ROT= 357.0, -15.8
2025-08-23T22:06:05.681Z,1755986765.681 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-23T22:06:05.682Z,1755986765.682 [DAT](INFO): direction in FSK: [0.960899,-0.050359,0.272280]
2025-08-23T22:06:05.683Z,1755986765.683 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:05.690Z,1755986765.690 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.570658
2025-08-23T22:06:05.923Z,1755986765.923 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.802844
2025-08-23T22:06:06.175Z,1755986766.175 [DAT](INFO): DAT read: Rx Time:22:06:05.4698
2025-08-23T22:06:06.176Z,1755986766.176 [DAT](INFO): Rx dataTimestamp_ set to:1755986766.175381
2025-08-23T22:06:06.177Z,1755986766.177 [DAT](INFO): DAT read: Bearing 56.9, 3.7 (Local)
2025-08-23T22:06:06.178Z,1755986766.178 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.9, 3.7 (Local)
2025-08-23T22:06:06.180Z,1755986766.180 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.5
2025-08-23T22:06:06.187Z,1755986766.187 [DAT](INFO): DAT read: 22:06:05.4698 LVL= 24928, 29601, 24562, 29939, AGC= 60, IDX= 250,-0.14,-1.386,-3.104,-1.154,-1.413, PHS= 0.129,-1.646, 0.215, RAW= 152.3, 14.2, CAL= 152.6, 15.9, ROT= 357.4, -15.9
2025-08-23T22:06:06.188Z,1755986766.188 [DAT](INFO): got valid direction response:
22:06:05.4698 LVL= 24928, 29601, 24562, 29939, AGC= 60, IDX= 250,-0.14,-1.386,-3.104,-1.154,-1.413, PHS= 0.129,-1.646, 0.215, RAW= 152.3, 14.2, CAL= 152.6, 15.9, ROT= 357.4, -15.9
2025-08-23T22:06:06.189Z,1755986766.189 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-23T22:06:06.197Z,1755986766.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 67.699997 m,
deltaT: 0.251952 s,
deltaX: -262.900024 m,
approachRate: -1043.452759 m/s,
rangeRepo size: 1
2025-08-23T22:06:06.199Z,1755986766.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-23T22:06:06.198Z,1755986766.198 [DAT](INFO): direction in FSK: [0.960751,-0.043627,0.273959]
2025-08-23T22:06:06.202Z,1755986766.202 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:06.212Z,1755986766.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.701672 m,
nav range: 28.565966 m,
bearing: 243.925014 deg,
approach rate: -0.636655 m/s,
LOS rate: -0.346999 deg/s,
cmd heading: 240.686222 deg,
new cmd heading: 240.310312 deg.
2025-08-23T22:06:06.215Z,1755986766.215 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.095701
2025-08-23T22:06:06.218Z,1755986766.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194206 target range: 32.701672 and range: 330.60 m.
2025-08-23T22:06:06.427Z,1755986766.427 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.307637
2025-08-23T22:06:06.620Z,1755986766.620 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-23T22:06:06.620Z,1755986766.620 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-23T22:06:06.620Z,1755986766.620 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-23T22:06:06.626Z,1755986766.626 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 30.200001 m (mode 2.000000 count ).
2025-08-23T22:06:06.626Z,1755986766.626 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-23T22:06:06.626Z,1755986766.626 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-23T22:06:06.637Z,1755986766.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 30.200001 m,
deltaT: 0.755882 s,
deltaX: -300.399994 m,
approachRate: -397.416534 m/s,
rangeRepo size: 1
2025-08-23T22:06:06.637Z,1755986766.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-23T22:06:06.644Z,1755986766.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.701672 m,
nav range: 28.269239 m,
bearing: 243.763961 deg,
approach rate: -0.674090 m/s,
LOS rate: -0.369712 deg/s,
cmd heading: 240.310316 deg,
new cmd heading: 239.984834 deg.
2025-08-23T22:06:06.649Z,1755986766.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.188526 target range: 32.701672 and range: 330.60 m.
2025-08-23T22:06:06.682Z,1755986766.682 [DAT](INFO): DAT read: Rx Time:22:06:05.9695
2025-08-23T22:06:06.682Z,1755986766.682 [DAT](INFO): Rx dataTimestamp_ set to:1755986766.681773
2025-08-23T22:06:06.683Z,1755986766.683 [DAT](INFO): DAT read: Bearing 56.4, 4.1 (Local)
2025-08-23T22:06:06.684Z,1755986766.684 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.4, 4.1 (Local)
2025-08-23T22:06:06.686Z,1755986766.686 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.5
2025-08-23T22:06:06.690Z,1755986766.690 [DAT](INFO): DAT read: 22:06:05.9695 LVL= 25392, 2630, 30595, AGC= 59, IDX= 503,-0.14,-2.402, 2.173,-2.175,-2.437, PHS= 0.138,-1.628, 0.218, RAW= 152.2, 14.0, CAL= 152.5, 15.7, ROT= 357.5, -15.7
2025-08-23T22:06:06.691Z,1755986766.691 [DAT](INFO): unknown deviceResponse_: 22:06:05.9695 LVL= 25392, 2630, 30595, AGC= 59, IDX= 503,-0.14,-2.402, 2.173,-2.175,-2.437, PHS= 0.138,-1.628, 0.218, RAW= 152.2, 14.0, CAL= 152.5, 15.7, ROT= 357.5, -15.7
2025-08-23T22:06:06.692Z,1755986766.692 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-08-23T22:06:06.693Z,1755986766.693 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.573025
2025-08-23T22:06:06.931Z,1755986766.931 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.811380
2025-08-23T22:06:07.114Z,1755986767.114 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-23T22:06:07.114Z,1755986767.114 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-23T22:06:07.115Z,1755986767.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:06:07.122Z,1755986767.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 29.700001 m,
deltaT: 1.262274 s,
deltaX: -300.899994 m,
approachRate: -238.379303 m/s,
rangeRepo size: 1
2025-08-23T22:06:07.122Z,1755986767.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-23T22:06:07.125Z,1755986767.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.701672 m,
nav range: 27.954138 m,
bearing: 243.585683 deg,
approach rate: -0.655132 m/s,
LOS rate: -0.374839 deg/s,
cmd heading: 239.984844 deg,
new cmd heading: 239.624273 deg.
2025-08-23T22:06:07.130Z,1755986767.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182232 target range: 32.701672 and range: 330.60 m.
2025-08-23T22:06:07.184Z,1755986767.184 [DAT](INFO): DAT read: Rx Time:22:06:06.4693
2025-08-23T22:06:07.185Z,1755986767.185 [DAT](INFO): Rx dataTimestamp_ set to:1755986767.184523
2025-08-23T22:06:07.187Z,1755986767.187 [DAT](INFO): DAT read: Bearing 55.9, 4.7 (Local)
2025-08-23T22:06:07.188Z,1755986767.188 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.9, 4.7 (Local)
2025-08-23T22:06:07.191Z,1755986767.191 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.5
2025-08-23T22:06:07.199Z,1755986767.199 [DAT](INFO): DAT read: 22:06:06.4693 LVL= 25648, 26737, 24882, 30979, AGC= 59, IDX= 501,-0.14,-2.379, 2.179,-2.164,-2.425, PHS= 0.148,-1.634, 0.216, RAW= 151.9, 13.9, CAL= 152.1, 15.5, ROT= 357.9, -15.5
2025-08-23T22:06:07.200Z,1755986767.200 [DAT](INFO): got valid direction response:
22:06:06.4693 LVL= 25648, 26737, 24882, 30979, AGC= 59, IDX= 501,-0.14,-2.379, 2.179,-2.164,-2.425, PHS= 0.148,-1.634, 0.216, RAW= 151.9, 13.9, CAL= 152.1, 15.5, ROT= 357.9, -15.5
2025-08-23T22:06:07.201Z,1755986767.201 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-23T22:06:07.203Z,1755986767.203 [DAT](INFO): direction in FSK: [0.962983,-0.035311,0.267238]
2025-08-23T22:06:07.203Z,1755986767.203 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:07.209Z,1755986767.209 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.089140
2025-08-23T22:06:07.435Z,1755986767.435 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.315231
2025-08-23T22:06:07.511Z,1755986767.511 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-23T22:06:07.511Z,1755986767.511 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-23T22:06:07.552Z,1755986767.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 29.400000 m,
deltaT: 1.765024 s,
deltaX: -301.200012 m,
approachRate: -170.649246 m/s,
rangeRepo size: 1
2025-08-23T22:06:07.552Z,1755986767.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-23T22:06:07.556Z,1755986767.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.701672 m,
nav range: 27.714605 m,
bearing: 243.449892 deg,
approach rate: -0.551758 m/s,
LOS rate: -0.315493 deg/s,
cmd heading: 239.624264 deg,
new cmd heading: 239.350339 deg.
2025-08-23T22:06:07.557Z,1755986767.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177452 target range: 32.701672 and range: 330.60 m.
2025-08-23T22:06:07.687Z,1755986767.687 [DAT](INFO): DAT read: Rx Time:22:06:06.9690
2025-08-23T22:06:07.688Z,1755986767.688 [DAT](INFO): Rx dataTimestamp_ set to:1755986767.687297
2025-08-23T22:06:07.689Z,1755986767.689 [DAT](INFO): DAT read: Bearing 55.9, 5.3 (Local)
2025-08-23T22:06:07.689Z,1755986767.689 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.9, 5.3 (Local)
2025-08-23T22:06:07.692Z,1755986767.692 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.5
2025-08-23T22:06:07.696Z,1755986767.696 [DAT](INFO): DAT read: 22:06:06.9690 LVL= 26352, 27537, 24626, 32755, AGC= 59, IDX= 498,-0.16, 2.583, 0.848, 2.781, 2.535, PHS= 0.150,-1.642, 0.203, RAW= 151.4, 14.1, CAL= 151.6, 15.7, ROT= 358.4, -15.7
2025-08-23T22:06:07.698Z,1755986767.698 [DAT](INFO): got valid direction response:
22:06:06.9690 LVL= 26352, 27537, 24626, 32755, AGC= 59, IDX= 498,-0.16, 2.583, 0.848, 2.781, 2.535, PHS= 0.150,-1.642, 0.203, RAW= 151.4, 14.1, CAL= 151.6, 15.7, ROT= 358.4, -15.7
2025-08-23T22:06:07.698Z,1755986767.698 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-23T22:06:07.699Z,1755986767.699 [DAT](INFO): direction in FSK: [0.962316,-0.026880,0.270600]
2025-08-23T22:06:07.699Z,1755986767.699 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:07.711Z,1755986767.711 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.591287
2025-08-23T22:06:07.939Z,1755986767.939 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.818919
2025-08-23T22:06:07.956Z,1755986767.956 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-23T22:06:07.956Z,1755986767.956 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-23T22:06:07.956Z,1755986767.956 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-23T22:06:07.956Z,1755986767.956 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-23T22:06:07.963Z,1755986767.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 29.000000 m,
deltaT: 2.267798 s,
deltaX: -301.600006 m,
approachRate: -132.992447 m/s,
rangeRepo size: 1
2025-08-23T22:06:07.963Z,1755986767.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): addTargetRange::Reached target pos rejection count limit. Clearing pos repo.
2025-08-23T22:06:07.964Z,1755986767.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-23T22:06:07.967Z,1755986767.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.701672 m,
nav range: 27.405289 m,
bearing: 243.265237 deg,
approach rate: -0.752273 m/s,
LOS rate: -0.454159 deg/s,
cmd heading: 239.350346 deg,
new cmd heading: 238.976873 deg.
2025-08-23T22:06:07.967Z,1755986767.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170933 target range: 32.701672 and range: nan m.
2025-08-23T22:06:08.192Z,1755986768.192 [DAT](INFO): DAT read: Rx Time:22:06:07.4688
2025-08-23T22:06:08.193Z,1755986768.193 [DAT](INFO): Rx dataTimestamp_ set to:1755986768.192360
2025-08-23T22:06:08.195Z,1755986768.195 [DAT](INFO): DAT read: Bearing 55.8, 5.8 (Local)
2025-08-23T22:06:08.195Z,1755986768.195 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.8, 5.8 (Local)
2025-08-23T22:06:08.198Z,1755986768.198 [DAT](INFO): DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.5
2025-08-23T22:06:08.205Z,1755986768.205 [DAT](INFO): DAT read: 22:06:07.4688 LVL= 24800, 26289, 23186, 32755, AGC= 58, IDX= 497,-0.19,-2.260, 2.307,-2.074,-2.305, PHS= 0.147,-1.626, 0.187, RAW= 151.1, 14.3, CAL= 151.3, 16.0, ROT= 358.7, -16.0
2025-08-23T22:06:08.207Z,1755986768.207 [DAT](INFO): got valid direction response:
22:06:07.4688 LVL= 24800, 26289, 23186, 32755, AGC= 58, IDX= 497,-0.19,-2.260, 2.307,-2.074,-2.305, PHS= 0.147,-1.626, 0.187, RAW= 151.1, 14.3, CAL= 151.3, 16.0, ROT= 358.7, -16.0
2025-08-23T22:06:08.207Z,1755986768.207 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-23T22:06:08.209Z,1755986768.209 [DAT](INFO): direction in FSK: [0.961014,-0.021808,0.275637]
2025-08-23T22:06:08.209Z,1755986768.209 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:08.230Z,1755986768.230 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.105624
2025-08-23T22:06:08.397Z,1755986768.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.700001 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-08-23T22:06:08.405Z,1755986768.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.524923 m,
bearing: 245.353952 deg,
lat: 36.779415 deg,
lon: -121.859583 deg,
deltaT: 6.552962 s,
deltaX: -4.176748 m,
approachRate: -0.637383 m/s,
posRepo size: 4
2025-08-23T22:06:08.409Z,1755986768.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-08-23T22:06:08.412Z,1755986768.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.524923 m,
nav range: 26.483295 m,
bearing: 245.124116 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.454159 deg/s,
cmd heading: 238.976872 deg,
new cmd heading: 238.582947 deg.
2025-08-23T22:06:08.413Z,1755986768.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164058 target range: 28.524923 and range: 28.70 m.
2025-08-23T22:06:08.443Z,1755986768.443 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.323774
2025-08-23T22:06:08.695Z,1755986768.695 [DAT](INFO): DAT read: Rx Time:22:06:07.9685
2025-08-23T22:06:08.696Z,1755986768.696 [DAT](INFO): Rx dataTimestamp_ set to:1755986768.695303
2025-08-23T22:06:08.697Z,1755986768.697 [DAT](INFO): DAT read: Bearing 55.1, 6.4 (Local)
2025-08-23T22:06:08.697Z,1755986768.697 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.1, 6.4 (Local)
2025-08-23T22:06:08.699Z,1755986768.699 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.5
2025-08-23T22:06:08.704Z,1755986768.704 [DAT](INFO): DAT read: 22:06:07.9685 LVL= 26464, 28545, 23506, 32755, AGC= 59, IDX= 510,-0.28, 2.908, 1.153, 3.082, 2.845, PHS= 0.166,-1.647, 0.193, RAW= 150.7, 14.0, CAL= 150.9, 15.6, ROT= 359.1, -15.6
2025-08-23T22:06:08.705Z,1755986768.705 [DAT](INFO): got valid direction response:
22:06:07.9685 LVL= 26464, 28545, 23506, 32755, AGC= 59, IDX= 510,-0.28, 2.908, 1.153, 3.082, 2.845, PHS= 0.166,-1.647, 0.193, RAW= 150.7, 14.0, CAL= 150.9, 15.6, ROT= 359.1, -15.6
2025-08-23T22:06:08.705Z,1755986768.705 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-23T22:06:08.706Z,1755986768.706 [DAT](INFO): direction in FSK: [0.963044,-0.015129,0.268920]
2025-08-23T22:06:08.706Z,1755986768.706 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:08.711Z,1755986768.711 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.590849
2025-08-23T22:06:08.868Z,1755986768.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.200001 m,
deltaT: 0.502943 s,
deltaX: -0.500000 m,
approachRate: -0.994148 m/s,
rangeRepo size: 2
2025-08-23T22:06:08.883Z,1755986768.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.027973 m,
bearing: 245.465690 deg,
lat: 36.779417 deg,
lon: -121.859582 deg,
deltaT: 0.502943 s,
deltaX: -0.496950 m,
approachRate: -0.988084 m/s,
posRepo size: 4
2025-08-23T22:06:08.885Z,1755986768.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.03 m.
2025-08-23T22:06:08.899Z,1755986768.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.027973 m,
nav range: 26.069597 m,
bearing: 245.404085 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.454159 deg/s,
cmd heading: 238.582961 deg,
new cmd heading: 238.154541 deg.
2025-08-23T22:06:08.900Z,1755986768.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156581 target range: 28.027973 and range: 28.20 m.
2025-08-23T22:06:08.947Z,1755986768.947 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.826858
2025-08-23T22:06:09.201Z,1755986769.201 [DAT](INFO): DAT read: Rx Time:22:06:08.4684
2025-08-23T22:06:09.202Z,1755986769.202 [DAT](INFO): Rx dataTimestamp_ set to:1755986769.201508
2025-08-23T22:06:09.204Z,1755986769.204 [DAT](INFO): DAT read: Bearing 54.4, 7.0 (Local)
2025-08-23T22:06:09.204Z,1755986769.204 [DAT](INFO): Local bearing/azimuth received:
Bearing 54.4, 7.0 (Local)
2025-08-23T22:06:09.207Z,1755986769.207 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.5
2025-08-23T22:06:09.225Z,1755986769.225 [DAT](INFO): DAT read: 22:06:08.4684 LVL= 26512, 30913, 23762, 32755, AGC= 59, IDX= 509,-0.38,-1.784, 2.740,-1.624,-1.861, PHS= 0.179,-1.638, 0.193, RAW= 150.4, 13.8, CAL= 150.5, 15.3, ROT= 359.5, -15.3
2025-08-23T22:06:09.226Z,1755986769.226 [DAT](INFO): got valid direction response:
22:06:08.4684 LVL= 26512, 30913, 23762, 32755, AGC= 59, IDX= 509,-0.38,-1.784, 2.740,-1.624,-1.861, PHS= 0.179,-1.638, 0.193, RAW= 150.4, 13.8, CAL= 150.5, 15.3, ROT= 359.5, -15.3
2025-08-23T22:06:09.226Z,1755986769.226 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-23T22:06:09.227Z,1755986769.227 [DAT](INFO): direction in FSK: [0.964521,-0.008417,0.263873]
2025-08-23T22:06:09.227Z,1755986769.227 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:09.239Z,1755986769.239 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.119316
2025-08-23T22:06:09.349Z,1755986769.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.100000 m,
deltaT: 0.506205 s,
deltaX: -0.100000 m,
approachRate: -0.197549 m/s,
rangeRepo size: 3
2025-08-23T22:06:09.355Z,1755986769.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.928537 m,
bearing: 245.585582 deg,
lat: 36.779418 deg,
lon: -121.859582 deg,
deltaT: 0.506205 s,
deltaX: -0.099436 m,
approachRate: -0.196434 m/s,
posRepo size: 4
2025-08-23T22:06:09.356Z,1755986769.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-08-23T22:06:09.363Z,1755986769.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.928537 m,
nav range: 25.679905 m,
bearing: 245.436999 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.454159 deg/s,
cmd heading: 238.154544 deg,
new cmd heading: 237.717995 deg.
2025-08-23T22:06:09.364Z,1755986769.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.148962 target range: 27.928537 and range: 28.10 m.
2025-08-23T22:06:09.451Z,1755986769.451 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.331646
2025-08-23T22:06:09.703Z,1755986769.703 [DAT](INFO): DAT read: Rx Time:22:06:08.9681
2025-08-23T22:06:09.704Z,1755986769.704 [DAT](INFO): Rx dataTimestamp_ set to:1755986769.703359
2025-08-23T22:06:09.705Z,1755986769.705 [DAT](INFO): DAT read: Bearing 53.7, 7.4 (Local)
2025-08-23T22:06:09.705Z,1755986769.705 [DAT](INFO): Local bearing/azimuth received:
Bearing 53.7, 7.4 (Local)
2025-08-23T22:06:09.708Z,1755986769.708 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.6
2025-08-23T22:06:09.721Z,1755986769.721 [DAT](INFO): DAT read: 22:06:08.9681 LVL= 26464, 30273, 23906, 32755, AGC= 59, IDX= 505, 0.43,-1.292,-3.049,-1.139,-1.377, PHS= 0.186,-1.627, 0.193, RAW= 150.2, 13.6, CAL= 150.3, 15.2, ROT= 359.7, -15.2
2025-08-23T22:06:09.722Z,1755986769.722 [DAT](INFO): got valid direction response:
22:06:08.9681 LVL= 26464, 30273, 23906, 32755, AGC= 59, IDX= 505, 0.43,-1.292,-3.049,-1.139,-1.377, PHS= 0.186,-1.627, 0.193, RAW= 150.2, 13.6, CAL= 150.3, 15.2, ROT= 359.7, -15.2
2025-08-23T22:06:09.722Z,1755986769.722 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-23T22:06:09.723Z,1755986769.723 [DAT](INFO): direction in FSK: [0.965003,-0.005053,0.262189]
2025-08-23T22:06:09.724Z,1755986769.724 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:09.735Z,1755986769.735 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.615551
2025-08-23T22:06:09.742Z,1755986769.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.600000 m,
deltaT: 0.501851 s,
deltaX: -0.500000 m,
approachRate: -0.996312 m/s,
rangeRepo size: 4
2025-08-23T22:06:09.744Z,1755986769.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.431589 m,
bearing: 245.457212 deg,
lat: 36.779419 deg,
lon: -121.859580 deg,
deltaT: 0.501851 s,
deltaX: -0.496948 m,
approachRate: -0.990231 m/s,
posRepo size: 4
2025-08-23T22:06:09.745Z,1755986769.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-08-23T22:06:09.756Z,1755986769.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.431589 m,
nav range: 25.243551 m,
bearing: 245.276560 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.454159 deg/s,
cmd heading: 237.717986 deg,
new cmd heading: 237.364442 deg.
2025-08-23T22:06:09.757Z,1755986769.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142791 target range: 27.431589 and range: 27.60 m.
2025-08-23T22:06:09.955Z,1755986769.955 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.835073
2025-08-23T22:06:10.174Z,1755986770.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-08-23T22:06:10.177Z,1755986770.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.431589 m,
nav range: 24.947916 m,
bearing: 245.140310 deg,
approach rate: -0.677349 m/s,
LOS rate: -0.315870 deg/s,
cmd heading: 237.364455 deg,
new cmd heading: 237.088729 deg.
2025-08-23T22:06:10.183Z,1755986770.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137979 target range: 27.431589 and range: 27.60 m.
2025-08-23T22:06:10.208Z,1755986770.208 [DAT](INFO): DAT read: Rx Time:22:06:09.4680
2025-08-23T22:06:10.209Z,1755986770.209 [DAT](INFO): Rx dataTimestamp_ set to:1755986770.208407
2025-08-23T22:06:10.211Z,1755986770.211 [DAT](INFO): DAT read: Bearing 52.8, 8.1 (Local)
2025-08-23T22:06:10.211Z,1755986770.211 [DAT](INFO): Local bearing/azimuth received:
Bearing 52.8, 8.1 (Local)
2025-08-23T22:06:10.214Z,1755986770.214 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.7
2025-08-23T22:06:10.219Z,1755986770.219 [DAT](INFO): DAT read: 22:06:09.4680 LVL= 26448, 30081, 22866, 32755, AGC= 58, IDX= 504, 0.29, 0.041,-1.736, 0.177,-0.059, PHS= 0.202,-1.632, 0.192, RAW= 149.7, 13.5, CAL= 149.8, 14.9, ROT= 0.2, -14.9
2025-08-23T22:06:10.220Z,1755986770.220 [DAT](INFO): got valid direction response:
22:06:09.4680 LVL= 26448, 30081, 22866, 32755, AGC= 58, IDX= 504, 0.29, 0.041,-1.736, 0.177,-0.059, PHS= 0.202,-1.632, 0.192, RAW= 149.7, 13.5, CAL= 149.8, 14.9, ROT= 0.2, -14.9
2025-08-23T22:06:10.220Z,1755986770.220 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-23T22:06:10.226Z,1755986770.226 [DAT](INFO): direction in FSK: [0.966370,0.003373,0.257133]
2025-08-23T22:06:10.226Z,1755986770.226 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:10.242Z,1755986770.242 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.122373
2025-08-23T22:06:10.459Z,1755986770.459 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.338779
2025-08-23T22:06:10.572Z,1755986770.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.500000 m,
deltaT: 0.505048 s,
deltaX: -0.100000 m,
approachRate: -0.198002 m/s,
rangeRepo size: 4
2025-08-23T22:06:10.594Z,1755986770.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.332176 m,
bearing: 245.653443 deg,
lat: 36.779419 deg,
lon: -121.859582 deg,
deltaT: 0.505048 s,
deltaX: -0.099413 m,
approachRate: -0.196839 m/s,
posRepo size: 4
2025-08-23T22:06:10.594Z,1755986770.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-23T22:06:10.597Z,1755986770.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.332176 m,
nav range: 24.860250 m,
bearing: 245.212089 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.315870 deg/s,
cmd heading: 237.088734 deg,
new cmd heading: 236.837968 deg.
2025-08-23T22:06:10.610Z,1755986770.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133602 target range: 27.332176 and range: 27.50 m.
2025-08-23T22:06:10.712Z,1755986770.712 [DAT](INFO): DAT read: Rx Time:22:06:09.9677
2025-08-23T22:06:10.713Z,1755986770.713 [DAT](INFO): Rx dataTimestamp_ set to:1755986770.712659
2025-08-23T22:06:10.715Z,1755986770.715 [DAT](INFO): DAT read: Bearing 52.0, 8.8 (Local)
2025-08-23T22:06:10.715Z,1755986770.715 [DAT](INFO): Local bearing/azimuth received:
Bearing 52.0, 8.8 (Local)
2025-08-23T22:06:10.718Z,1755986770.718 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.5
2025-08-23T22:06:10.722Z,1755986770.722 [DAT](INFO): DAT read: 22:06:09.9677 LVL= 25584, 27473, 22594, 32755, AGC= 58, IDX= 501, 0.18,-1.069,-2.839,-0.951,-1.176, PHS= 0.209,-1.618, 0.181, RAW= 149.2, 13.5, CAL= 149.3, 14.9, ROT= 0.7, -14.9
2025-08-23T22:06:10.723Z,1755986770.723 [DAT](INFO): got valid direction response:
22:06:09.9677 LVL= 25584, 27473, 22594, 32755, AGC= 58, IDX= 501, 0.18,-1.069,-2.839,-0.951,-1.176, PHS= 0.209,-1.618, 0.181, RAW= 149.2, 13.5, CAL= 149.3, 14.9, ROT= 0.7, -14.9
2025-08-23T22:06:10.723Z,1755986770.723 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-23T22:06:10.724Z,1755986770.724 [DAT](INFO): direction in FSK: [0.966304,0.011806,0.257133]
2025-08-23T22:06:10.725Z,1755986770.725 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:10.729Z,1755986770.729 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.609240
2025-08-23T22:06:10.962Z,1755986770.962 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.842752
2025-08-23T22:06:11.038Z,1755986771.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.000000 m,
deltaT: 0.504252 s,
deltaX: -0.500000 m,
approachRate: -0.991568 m/s,
rangeRepo size: 4
2025-08-23T22:06:11.040Z,1755986771.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.835228 m,
bearing: 245.461097 deg,
lat: 36.779419 deg,
lon: -121.859582 deg,
deltaT: 0.504252 s,
deltaX: -0.496948 m,
approachRate: -0.985516 m/s,
posRepo size: 4
2025-08-23T22:06:11.041Z,1755986771.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.84 m.
2025-08-23T22:06:11.055Z,1755986771.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.835228 m,
nav range: 24.587700 m,
bearing: 245.231389 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.315870 deg/s,
cmd heading: 236.837957 deg,
new cmd heading: 236.550731 deg.
2025-08-23T22:06:11.056Z,1755986771.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128589 target range: 26.835228 and range: 27.00 m.
2025-08-23T22:06:11.216Z,1755986771.216 [DAT](INFO): DAT read: Rx Time:22:06:10.4675
2025-08-23T22:06:11.216Z,1755986771.216 [DAT](INFO): Rx dataTimestamp_ set to:1755986771.216064
2025-08-23T22:06:11.218Z,1755986771.218 [DAT](INFO): DAT read: Bearing 51.3, 9.5 (Local)
2025-08-23T22:06:11.218Z,1755986771.218 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.3, 9.5 (Local)
2025-08-23T22:06:11.220Z,1755986771.220 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.8
2025-08-23T22:06:11.225Z,1755986771.225 [DAT](INFO): DAT read: 22:06:10.4675 LVL= 27312, 30497, 24050, 32755, AGC= 59, IDX= 499, 0.08,-1.672, 2.813,-1.574,-1.791, PHS= 0.221,-1.634, 0.173, RAW= 148.7, 13.5, CAL= 148.7, 14.9, ROT= 1.3, -14.9
2025-08-23T22:06:11.226Z,1755986771.226 [DAT](INFO): got valid direction response:
22:06:10.4675 LVL= 27312, 30497, 24050, 32755, AGC= 59, IDX= 499, 0.08,-1.672, 2.813,-1.574,-1.791, PHS= 0.221,-1.634, 0.173, RAW= 148.7, 13.5, CAL= 148.7, 14.9, ROT= 1.3, -14.9
2025-08-23T22:06:11.226Z,1755986771.226 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-23T22:06:11.227Z,1755986771.227 [DAT](INFO): direction in FSK: [0.966127,0.021924,0.257133]
2025-08-23T22:06:11.228Z,1755986771.228 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:11.231Z,1755986771.231 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.111522
2025-08-23T22:06:11.406Z,1755986771.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.700001 m,
deltaT: 0.503405 s,
deltaX: -0.299999 m,
approachRate: -0.595940 m/s,
rangeRepo size: 4
2025-08-23T22:06:11.408Z,1755986771.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.537052 m,
bearing: 245.737899 deg,
lat: 36.779419 deg,
lon: -121.859583 deg,
deltaT: 0.503405 s,
deltaX: -0.298176 m,
approachRate: -0.592318 m/s,
posRepo size: 4
2025-08-23T22:06:11.408Z,1755986771.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.54 m.
2025-08-23T22:06:11.415Z,1755986771.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.537052 m,
nav range: 24.374336 m,
bearing: 245.245795 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.315870 deg/s,
cmd heading: 236.550734 deg,
new cmd heading: 236.313692 deg.
2025-08-23T22:06:11.416Z,1755986771.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124452 target range: 26.537052 and range: 26.70 m.
2025-08-23T22:06:11.467Z,1755986771.467 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.347712
2025-08-23T22:06:11.719Z,1755986771.719 [DAT](INFO): DAT read: Rx Time:22:06:10.9672
2025-08-23T22:06:11.720Z,1755986771.720 [DAT](INFO): Rx dataTimestamp_ set to:1755986771.719278
2025-08-23T22:06:11.721Z,1755986771.721 [DAT](INFO): DAT read: Bearing 50.4, 10.4 (Local)
2025-08-23T22:06:11.721Z,1755986771.721 [DAT](INFO): Local bearing/azimuth received:
Bearing 50.4, 10.4 (Local)
2025-08-23T22:06:11.723Z,1755986771.723 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.7
2025-08-23T22:06:11.727Z,1755986771.727 [DAT](INFO): DAT read: 22:06:10.9672 LVL= 28832, 30177, 2455, AGC= 57, IDX= 496,-0.02, 2.737, 0.916, 2.810, 2.603, PHS= 0.236,-1.642, 0.163, RAW= 148.0, 13.4, CAL= 147.9, 14.8, ROT= 2.1, -14.8
2025-08-23T22:06:11.728Z,1755986771.728 [DAT](INFO): unknown deviceResponse_: 22:06:10.9672 LVL= 28832, 30177, 2455, AGC= 57, IDX= 496,-0.02, 2.737, 0.916, 2.810, 2.603, PHS= 0.236,-1.642, 0.163, RAW= 148.0, 13.4, CAL= 147.9, 14.8, ROT= 2.1, -14.8
2025-08-23T22:06:11.728Z,1755986771.728 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-08-23T22:06:11.729Z,1755986771.729 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.609624
2025-08-23T22:06:11.765Z,1755986771.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:06:11.776Z,1755986771.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.299999 m,
deltaT: 0.503214 s,
deltaX: -0.400002 m,
approachRate: -0.794894 m/s,
rangeRepo size: 4
2025-08-23T22:06:11.777Z,1755986771.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.54 m.
2025-08-23T22:06:11.788Z,1755986771.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.537052 m,
nav range: 24.112789 m,
bearing: 245.135484 deg,
approach rate: -0.697852 m/s,
LOS rate: -0.297519 deg/s,
cmd heading: 236.313699 deg,
new cmd heading: 236.090686 deg.
2025-08-23T22:06:11.789Z,1755986771.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.120560 target range: 26.537052 and range: 26.30 m.
2025-08-23T22:06:11.971Z,1755986771.971 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.851362
2025-08-23T22:06:12.216Z,1755986772.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.54 m.
2025-08-23T22:06:12.219Z,1755986772.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.537052 m,
nav range: 23.816622 m,
bearing: 245.002764 deg,
approach rate: -0.672619 m/s,
LOS rate: -0.305165 deg/s,
cmd heading: 236.090680 deg,
new cmd heading: 235.821941 deg.
2025-08-23T22:06:12.220Z,1755986772.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.115870 target range: 26.537052 and range: 26.30 m.
2025-08-23T22:06:12.223Z,1755986772.223 [DAT](INFO): DAT read: Rx Time:22:06:11.4671
2025-08-23T22:06:12.224Z,1755986772.224 [DAT](INFO): Rx dataTimestamp_ set to:1755986772.223377
2025-08-23T22:06:12.225Z,1755986772.225 [DAT](INFO): DAT read: Bearing 49.8, 11.2 (Local)
2025-08-23T22:06:12.225Z,1755986772.225 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.8, 11.2 (Local)
2025-08-23T22:06:12.235Z,1755986772.235 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.8
2025-08-23T22:06:12.240Z,1755986772.240 [DAT](INFO): DAT read: 22:06:11.4671 LVL= 30304, 32065, 25506, 32755, AGC= 57, IDX= 511,-0.11,-3.043, 1.404,-2.993, 3.097, PHS= 0.245,-1.649, 0.149, RAW= 147.4, 13.5, CAL= 147.3, 14.9, ROT= 2.7, -14.9
2025-08-23T22:06:12.241Z,1755986772.241 [DAT](INFO): got valid direction response:
22:06:11.4671 LVL= 30304, 32065, 25506, 32755, AGC= 57, IDX= 511,-0.11,-3.043, 1.404,-2.993, 3.097, PHS= 0.245,-1.649, 0.149, RAW= 147.4, 13.5, CAL= 147.3, 14.9, ROT= 2.7, -14.9
2025-08-23T22:06:12.249Z,1755986772.249 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-23T22:06:12.251Z,1755986772.251 [DAT](INFO): direction in FSK: [0.965303,0.045523,0.257133]
2025-08-23T22:06:12.251Z,1755986772.251 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:12.256Z,1755986772.256 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.136186
2025-08-23T22:06:12.475Z,1755986772.475 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.355668
2025-08-23T22:06:12.592Z,1755986772.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.100000 m,
deltaT: 0.504099 s,
deltaX: -0.199999 m,
approachRate: -0.396745 m/s,
rangeRepo size: 4
2025-08-23T22:06:12.594Z,1755986772.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.940742 m,
bearing: 246.508213 deg,
lat: 36.779420 deg,
lon: -121.859584 deg,
deltaT: 1.007313 s,
deltaX: -0.596310 m,
approachRate: -0.591981 m/s,
posRepo size: 4
2025-08-23T22:06:12.595Z,1755986772.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-23T22:06:12.598Z,1755986772.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.940742 m,
nav range: 23.583906 m,
bearing: 245.033438 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.305165 deg/s,
cmd heading: 235.821953 deg,
new cmd heading: 235.592700 deg.
2025-08-23T22:06:12.599Z,1755986772.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111868 target range: 25.940742 and range: 26.10 m.
2025-08-23T22:06:12.727Z,1755986772.727 [DAT](INFO): DAT read: Rx Time:22:06:11.9667
2025-08-23T22:06:12.728Z,1755986772.728 [DAT](INFO): Rx dataTimestamp_ set to:1755986772.727300
2025-08-23T22:06:12.729Z,1755986772.729 [DAT](INFO): DAT read: Bearing 49.0, 11.8 (Local)
2025-08-23T22:06:12.729Z,1755986772.729 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.0, 11.8 (Local)
2025-08-23T22:06:12.732Z,1755986772.732 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.5
2025-08-23T22:06:12.737Z,1755986772.737 [DAT](INFO): DAT read: 22:06:11.9667 LVL= 30848, 32753, 25842, 32755, AGC= 57, IDX= 508,-0.20, 2.294, 0.456, 2.330, 2.144, PHS= 0.252,-1.643, 0.141, RAW= 147.0, 13.5, CAL= 146.8, 14.8, ROT= 3.2, -14.8
2025-08-23T22:06:12.738Z,1755986772.738 [DAT](INFO): got valid direction response:
22:06:11.9667 LVL= 30848, 32753, 25842, 32755, AGC= 57, IDX= 508,-0.20, 2.294, 0.456, 2.330, 2.144, PHS= 0.252,-1.643, 0.141, RAW= 147.0, 13.5, CAL= 146.8, 14.8, ROT= 3.2, -14.8
2025-08-23T22:06:12.738Z,1755986772.738 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-23T22:06:12.739Z,1755986772.739 [DAT](INFO): direction in FSK: [0.965316,0.053970,0.255446]
2025-08-23T22:06:12.739Z,1755986772.739 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:12.751Z,1755986772.751 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.630953
2025-08-23T22:06:12.982Z,1755986772.982 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.862238
2025-08-23T22:06:13.145Z,1755986773.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.500000 m,
deltaT: 0.503923 s,
deltaX: -0.600000 m,
approachRate: -1.190659 m/s,
rangeRepo size: 4
2025-08-23T22:06:13.148Z,1755986773.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.344345 m,
bearing: 245.816138 deg,
lat: 36.779421 deg,
lon: -121.859584 deg,
deltaT: 0.503923 s,
deltaX: -0.596397 m,
approachRate: -1.183509 m/s,
posRepo size: 4
2025-08-23T22:06:13.149Z,1755986773.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-23T22:06:13.171Z,1755986773.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.344345 m,
nav range: 23.207495 m,
bearing: 245.306574 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.305165 deg/s,
cmd heading: 235.592704 deg,
new cmd heading: 235.255391 deg.
2025-08-23T22:06:13.172Z,1755986773.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105981 target range: 25.344345 and range: 25.50 m.
2025-08-23T22:06:13.231Z,1755986773.231 [DAT](INFO): DAT read: Rx Time:22:06:12.4666
2025-08-23T22:06:13.232Z,1755986773.232 [DAT](INFO): Rx dataTimestamp_ set to:1755986773.231629
2025-08-23T22:06:13.233Z,1755986773.233 [DAT](INFO): DAT read: Bearing 48.4, 12.7 (Local)
2025-08-23T22:06:13.234Z,1755986773.234 [DAT](INFO): Local bearing/azimuth received:
Bearing 48.4, 12.7 (Local)
2025-08-23T22:06:13.236Z,1755986773.236 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.6
2025-08-23T22:06:13.240Z,1755986773.240 [DAT](INFO): DAT read: 22:06:12.4666 LVL= 28560, 29089, 22770, 32755, AGC= 58, IDX= 507,-0.28,-3.127, 1.304,-3.115, 2.996, PHS= 0.262,-1.646, 0.129, RAW= 146.4, 13.5, CAL= 146.2, 14.8, ROT= 3.8, -14.8
2025-08-23T22:06:13.242Z,1755986773.242 [DAT](INFO): got valid direction response:
22:06:12.4666 LVL= 28560, 29089, 22770, 32755, AGC= 58, IDX= 507,-0.28,-3.127, 1.304,-3.115, 2.996, PHS= 0.262,-1.646, 0.129, RAW= 146.4, 13.5, CAL= 146.2, 14.8, ROT= 3.8, -14.8
2025-08-23T22:06:13.242Z,1755986773.242 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-23T22:06:13.243Z,1755986773.243 [DAT](INFO): direction in FSK: [0.964698,0.064075,0.255446]
2025-08-23T22:06:13.243Z,1755986773.243 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:13.247Z,1755986773.247 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.126988
2025-08-23T22:06:13.486Z,1755986773.486 [DAT](INFO): DAT read: Rx Time:22:06:12.9664
2025-08-23T22:06:13.487Z,1755986773.487 [DAT](INFO): Rx dataTimestamp_ set to:1755986773.486178
2025-08-23T22:06:13.489Z,1755986773.489 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.368880
2025-08-23T22:06:13.718Z,1755986773.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.400000 m,
deltaT: 0.504329 s,
deltaX: -0.100000 m,
approachRate: -0.198284 m/s,
rangeRepo size: 4
2025-08-23T22:06:13.720Z,1755986773.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.244955 m,
bearing: 246.027391 deg,
lat: 36.779423 deg,
lon: -121.859584 deg,
deltaT: 0.504329 s,
deltaX: -0.099390 m,
approachRate: -0.197074 m/s,
posRepo size: 4
2025-08-23T22:06:13.721Z,1755986773.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m.
2025-08-23T22:06:13.724Z,1755986773.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.244955 m,
nav range: 22.739450 m,
bearing: 245.669941 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.305165 deg/s,
cmd heading: 235.255402 deg,
new cmd heading: 234.905737 deg.
2025-08-23T22:06:13.724Z,1755986773.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099878 target range: 25.244955 and range: 25.40 m.
2025-08-23T22:06:13.735Z,1755986773.735 [DAT](INFO): DAT read: Bearing 47.4, 12.9 (Local)
2025-08-23T22:06:13.736Z,1755986773.736 [DAT](INFO): Local bearing/azimuth received:
Bearing 47.4, 12.9 (Local)
2025-08-23T22:06:13.738Z,1755986773.738 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.6
2025-08-23T22:06:13.742Z,1755986773.742 [DAT](INFO): DAT read: 22:06:12.9664 LVL= 26416, 27441, 20466, 32755, AGC= 57, IDX= 504,-0.38, 2.404, 0.562, 2.417, 2.239, PHS= 0.267,-1.632, 0.134, RAW= 146.4, 13.3, CAL= 146.1, 14.6, ROT= 3.9, -14.6
2025-08-23T22:06:13.743Z,1755986773.743 [DAT](INFO): got valid direction response:
22:06:12.9664 LVL= 26416, 27441, 20466, 32755, AGC= 57, IDX= 504,-0.38, 2.404, 0.562, 2.417, 2.239, PHS= 0.267,-1.632, 0.134, RAW= 146.4, 13.3, CAL= 146.1, 14.6, ROT= 3.9, -14.6
2025-08-23T22:06:13.744Z,1755986773.744 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-23T22:06:13.745Z,1755986773.745 [DAT](INFO): direction in FSK: [0.965468,0.065819,0.252069]
2025-08-23T22:06:13.745Z,1755986773.745 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:13.757Z,1755986773.757 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.636978
2025-08-23T22:06:13.993Z,1755986773.993 [DAT](INFO): DAT read: Rx Time:22:06:13.4663
2025-08-23T22:06:13.995Z,1755986773.995 [DAT](INFO): Rx dataTimestamp_ set to:1755986773.993966
2025-08-23T22:06:13.997Z,1755986773.997 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.876547
2025-08-23T22:06:14.174Z,1755986774.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.900000 m,
deltaT: 0.502442 s,
deltaX: -0.500000 m,
approachRate: -0.995140 m/s,
rangeRepo size: 4
2025-08-23T22:06:14.176Z,1755986774.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.748030 m,
bearing: 246.127522 deg,
lat: 36.779424 deg,
lon: -121.859587 deg,
deltaT: 0.502442 s,
deltaX: -0.496925 m,
approachRate: -0.989020 m/s,
posRepo size: 4
2025-08-23T22:06:14.176Z,1755986774.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-23T22:06:14.189Z,1755986774.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.748030 m,
nav range: 22.630056 m,
bearing: 245.834553 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.305165 deg/s,
cmd heading: 234.905724 deg,
new cmd heading: 234.630036 deg.
2025-08-23T22:06:14.191Z,1755986774.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095067 target range: 24.748030 and range: 24.90 m.
2025-08-23T22:06:14.245Z,1755986774.245 [DAT](INFO): DAT read: Bearing 46.8, 13.6 (Local)
2025-08-23T22:06:14.245Z,1755986774.245 [DAT](INFO): Local bearing/azimuth received:
Bearing 46.8, 13.6 (Local)
2025-08-23T22:06:14.248Z,1755986774.248 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.5
2025-08-23T22:06:14.253Z,1755986774.253 [DAT](INFO): DAT read: 22:06:13.4663 LVL= 26784, 28561, 21538, 32755, AGC= 57, IDX= 503,-0.48,-2.787, 1.657,-2.793,-2.957, PHS= 0.271,-1.625, 0.120, RAW= 145.9, 13.4, CAL= 145.6, 14.7, ROT= 4.4, -14.7
2025-08-23T22:06:14.254Z,1755986774.254 [DAT](INFO): got valid direction response:
22:06:13.4663 LVL= 26784, 28561, 21538, 32755, AGC= 57, IDX= 503,-0.48,-2.787, 1.657,-2.793,-2.957, PHS= 0.271,-1.625, 0.120, RAW= 145.9, 13.4, CAL= 145.6, 14.7, ROT= 4.4, -14.7
2025-08-23T22:06:14.255Z,1755986774.255 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-23T22:06:14.256Z,1755986774.256 [DAT](INFO): direction in FSK: [0.964417,0.074208,0.253758]
2025-08-23T22:06:14.256Z,1755986774.256 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:14.281Z,1755986774.281 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.161039
2025-08-23T22:06:14.498Z,1755986774.498 [DAT](INFO): DAT read: Rx Time:22:06:13.9660
2025-08-23T22:06:14.499Z,1755986774.499 [DAT](INFO): Rx dataTimestamp_ set to:1755986774.498183
2025-08-23T22:06:14.502Z,1755986774.502 [DAT](INFO): DAT read: Bearing 45.6, 14.1 (Local)
2025-08-23T22:06:14.503Z,1755986774.503 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.6, 14.1 (Local)
2025-08-23T22:06:14.504Z,1755986774.504 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.384166
2025-08-23T22:06:14.671Z,1755986774.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.900000 m,
deltaT: 0.508672 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:14.674Z,1755986774.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.748030 m,
bearing: 245.875029 deg,
lat: 36.779424 deg,
lon: -121.859588 deg,
deltaT: 0.508672 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:06:14.674Z,1755986774.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-23T22:06:14.677Z,1755986774.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.748030 m,
nav range: 22.363171 m,
bearing: 245.795865 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.305165 deg/s,
cmd heading: 234.630030 deg,
new cmd heading: 234.323684 deg.
2025-08-23T22:06:14.698Z,1755986774.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.089720 target range: 24.748030 and range: 24.90 m.
2025-08-23T22:06:14.748Z,1755986774.748 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.6
2025-08-23T22:06:14.753Z,1755986774.753 [DAT](INFO): DAT read: 22:06:13.9660 LVL= 27216, 28017, 20594, 32755, AGC= 57, IDX= 499, 0.40,-2.494, 1.935,-2.508,-2.679, PHS= 0.287,-1.624, 0.127, RAW= 145.7, 13.1, CAL= 145.4, 14.3, ROT= 4.6, -14.3
2025-08-23T22:06:14.754Z,1755986774.754 [DAT](INFO): got valid direction response:
22:06:13.9660 LVL= 27216, 28017, 20594, 32755, AGC= 57, IDX= 499, 0.40,-2.494, 1.935,-2.508,-2.679, PHS= 0.287,-1.624, 0.127, RAW= 145.7, 13.1, CAL= 145.4, 14.3, ROT= 4.6, -14.3
2025-08-23T22:06:14.754Z,1755986774.754 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-23T22:06:14.755Z,1755986774.755 [DAT](INFO): direction in FSK: [0.965894,0.077714,0.246999]
2025-08-23T22:06:14.755Z,1755986774.755 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:14.759Z,1755986774.759 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.639328
2025-08-23T22:06:14.952Z,1755986774.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:06:15.002Z,1755986775.002 [DAT](INFO): DAT read: Rx Time:22:06:14.4658
2025-08-23T22:06:15.004Z,1755986775.004 [DAT](INFO): Rx dataTimestamp_ set to:1755986775.002840
2025-08-23T22:06:15.007Z,1755986775.007 [DAT](INFO): DAT read: Bearing 44.9, 14.6 (Local)
2025-08-23T22:06:15.008Z,1755986775.008 [DAT](INFO): Local bearing/azimuth received:
Bearing 44.9, 14.6 (Local)
2025-08-23T22:06:15.012Z,1755986775.012 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.5
2025-08-23T22:06:15.019Z,1755986775.019 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-08-23T22:06:15.058Z,1755986775.058 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.938138
2025-08-23T22:06:15.194Z,1755986775.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.760097 s,
deltaX: -0.699999 m,
approachRate: -0.920934 m/s,
rangeRepo size: 4
2025-08-23T22:06:15.202Z,1755986775.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.052292 m,
bearing: 245.261756 deg,
lat: 36.779423 deg,
lon: -121.859587 deg,
deltaT: 0.760097 s,
deltaX: -0.695738 m,
approachRate: -0.915328 m/s,
posRepo size: 4
2025-08-23T22:06:15.203Z,1755986775.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m.
2025-08-23T22:06:15.211Z,1755986775.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.052292 m,
nav range: 21.965014 m,
bearing: 245.532308 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.305165 deg/s,
cmd heading: 234.323682 deg,
new cmd heading: 234.007614 deg.
2025-08-23T22:06:15.213Z,1755986775.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.084203 target range: 24.052292 and range: 24.20 m.
2025-08-23T22:06:15.254Z,1755986775.254 [DAT](INFO): DAT read: 22:06:14.4658 LVL= 24864, 27617, 19666, 32755, AGC= 56, IDX= 497, 0.36,-2.358, 2.080,-2.381,-2.550, PHS= 0.294,-1.608, 0.125, RAW= 145.4, 13.0, CAL= 145.1, 14.2, ROT= 4.9, -14.2
2025-08-23T22:06:15.255Z,1755986775.255 [DAT](INFO): got valid direction response:
22:06:14.4658 LVL= 24864, 27617, 19666, 32755, AGC= 56, IDX= 497, 0.36,-2.358, 2.080,-2.381,-2.550, PHS= 0.294,-1.608, 0.125, RAW= 145.4, 13.0, CAL= 145.1, 14.2, ROT= 4.9, -14.2
2025-08-23T22:06:15.256Z,1755986775.256 [DAT](INFO): #Rx 32: Read direction message, but no range.
2025-08-23T22:06:15.257Z,1755986775.257 [DAT](INFO): direction in FSK: [0.965902,0.082807,0.245307]
2025-08-23T22:06:15.260Z,1755986775.260 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.140570
2025-08-23T22:06:15.506Z,1755986775.506 [DAT](INFO): DAT read: Rx Time:22:06:14.9655
2025-08-23T22:06:15.507Z,1755986775.507 [DAT](INFO): Rx dataTimestamp_ set to:1755986775.506474
2025-08-23T22:06:15.511Z,1755986775.511 [DAT](INFO): DAT read: Bearing 44.4, 15.0 (Local)
2025-08-23T22:06:15.512Z,1755986775.512 [DAT](INFO): Local bearing/azimuth received:
Bearing 44.4, 15.0 (Local)
2025-08-23T22:06:15.516Z,1755986775.516 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.6
2025-08-23T22:06:15.527Z,1755986775.527 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-08-23T22:06:15.533Z,1755986775.533 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.412268
2025-08-23T22:06:15.588Z,1755986775.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.700001 m,
deltaT: 0.503634 s,
deltaX: -0.500000 m,
approachRate: -0.992784 m/s,
rangeRepo size: 4
2025-08-23T22:06:15.595Z,1755986775.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.555344 m,
bearing: 245.140416 deg,
lat: 36.779423 deg,
lon: -121.859587 deg,
deltaT: 0.503634 s,
deltaX: -0.496948 m,
approachRate: -0.986725 m/s,
posRepo size: 4
2025-08-23T22:06:15.595Z,1755986775.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-08-23T22:06:15.602Z,1755986775.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.555344 m,
nav range: 21.693190 m,
bearing: 245.460264 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.305165 deg/s,
cmd heading: 234.007609 deg,
new cmd heading: 233.764397 deg.
2025-08-23T22:06:15.603Z,1755986775.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.079958 target range: 23.555344 and range: 23.70 m.
2025-08-23T22:06:15.758Z,1755986775.758 [DAT](INFO): DAT read: 22:06:14.9655 LVL= 25744, 26337, 19746, 32755, AGC= 56, IDX= 510, 0.30, 3.068, 1.215, 3.034, 2.869, PHS= 0.301,-1.609, 0.121, RAW= 145.1, 12.9, CAL= 144.7, 14.1, ROT= 5.3, -14.1
2025-08-23T22:06:15.759Z,1755986775.759 [DAT](INFO): got valid direction response:
22:06:14.9655 LVL= 25744, 26337, 19746, 32755, AGC= 56, IDX= 510, 0.30, 3.068, 1.215, 3.034, 2.869, PHS= 0.301,-1.609, 0.121, RAW= 145.1, 12.9, CAL= 144.7, 14.1, ROT= 5.3, -14.1
2025-08-23T22:06:15.760Z,1755986775.760 [DAT](INFO): #Rx 34: Read direction message, but no range.
2025-08-23T22:06:15.761Z,1755986775.761 [DAT](INFO): direction in FSK: [0.965726,0.089588,0.243615]
2025-08-23T22:06:15.764Z,1755986775.764 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.644503
2025-08-23T22:06:15.955Z,1755986775.955 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:06:15.967Z,1755986775.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:06:15.970Z,1755986775.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-08-23T22:06:15.973Z,1755986775.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.555344 m,
nav range: 21.432262 m,
bearing: 245.371750 deg,
approach rate: -0.682753 m/s,
LOS rate: -0.234429 deg/s,
cmd heading: 233.764399 deg,
new cmd heading: 233.585217 deg.
2025-08-23T22:06:15.974Z,1755986775.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076831 target range: 23.555344 and range: 23.70 m.
2025-08-23T22:06:16.010Z,1755986776.010 [DAT](INFO): DAT read: Rx Time:22:06:15.4655
2025-08-23T22:06:16.012Z,1755986776.012 [DAT](INFO): Rx dataTimestamp_ set to:1755986776.011038
2025-08-23T22:06:16.016Z,1755986776.016 [DAT](INFO): DAT read: Bearing 43.7, 15.6 (Local)
2025-08-23T22:06:16.017Z,1755986776.017 [DAT](INFO): Local bearing/azimuth received:
Bearing 43.7, 15.6 (Local)
2025-08-23T22:06:16.026Z,1755986776.026 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.5
2025-08-23T22:06:16.029Z,1755986776.029 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-08-23T22:06:16.039Z,1755986776.039 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=16.919374
2025-08-23T22:06:16.263Z,1755986776.263 [DAT](INFO): DAT read: 22:06:15.4655 LVL= 28720, 29937, 22130, 32755, AGC= 57, IDX= 510, 0.27,-1.117,-2.985,-1.167,-1.330, PHS= 0.315,-1.610, 0.119, RAW= 144.7, 12.8, CAL= 144.3, 13.9, ROT= 5.7, -13.9
2025-08-23T22:06:16.283Z,1755986776.283 [DAT](INFO): got valid direction response:
22:06:15.4655 LVL= 28720, 29937, 22130, 32755, AGC= 57, IDX= 510, 0.27,-1.117,-2.985,-1.167,-1.330, PHS= 0.315,-1.610, 0.119, RAW= 144.7, 12.8, CAL= 144.3, 13.9, ROT= 5.7, -13.9
2025-08-23T22:06:16.284Z,1755986776.284 [DAT](INFO): #Rx 36: Read direction message, but no range.
2025-08-23T22:06:16.285Z,1755986776.285 [DAT](INFO): direction in FSK: [0.965917,0.096411,0.240228]
2025-08-23T22:06:16.288Z,1755986776.288 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.168388
2025-08-23T22:06:16.396Z,1755986776.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.700001 m,
deltaT: 0.504564 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:16.402Z,1755986776.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.555330 m,
bearing: 245.276787 deg,
lat: 36.779423 deg,
lon: -121.859587 deg,
deltaT: 0.504564 s,
deltaX: -0.000013 m,
approachRate: -0.000026 m/s,
posRepo size: 4
2025-08-23T22:06:16.403Z,1755986776.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-08-23T22:06:16.409Z,1755986776.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.555330 m,
nav range: 21.184811 m,
bearing: 245.254545 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.234429 deg/s,
cmd heading: 233.585230 deg,
new cmd heading: 233.385636 deg.
2025-08-23T22:06:16.410Z,1755986776.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.073348 target range: 23.555330 and range: 23.70 m.
2025-08-23T22:06:16.517Z,1755986776.517 [DAT](INFO): DAT read: Rx Time:22:06:15.9652
2025-08-23T22:06:16.519Z,1755986776.519 [DAT](INFO): Rx dataTimestamp_ set to:1755986776.517669
2025-08-23T22:06:16.522Z,1755986776.522 [DAT](INFO): DAT read: Bearing 43.3, 16.0 (Local)
2025-08-23T22:06:16.523Z,1755986776.523 [DAT](INFO): Local bearing/azimuth received:
Bearing 43.3, 16.0 (Local)
2025-08-23T22:06:16.531Z,1755986776.531 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.5
2025-08-23T22:06:16.538Z,1755986776.538 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-08-23T22:06:16.560Z,1755986776.560 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=17.424650
2025-08-23T22:06:16.770Z,1755986776.770 [DAT](INFO): DAT read: 22:06:15.9652 LVL= 26144, 28369, 19986, 32755, AGC= 56, IDX= 507, 0.26,-2.498, 1.924,-2.556,-2.713, PHS= 0.317,-1.602, 0.113, RAW= 144.4, 12.8, CAL= 144.0, 13.9, ROT= 6.0, -13.9
2025-08-23T22:06:16.771Z,1755986776.771 [DAT](INFO): got valid direction response:
22:06:15.9652 LVL= 26144, 28369, 19986, 32755, AGC= 56, IDX= 507, 0.26,-2.498, 1.924,-2.556,-2.713, PHS= 0.317,-1.602, 0.113, RAW= 144.4, 12.8, CAL= 144.0, 13.9, ROT= 6.0, -13.9
2025-08-23T22:06:16.772Z,1755986776.772 [DAT](INFO): #Rx 38: Read direction message, but no range.
2025-08-23T22:06:16.773Z,1755986776.773 [DAT](INFO): direction in FSK: [0.965399,0.101468,0.240228]
2025-08-23T22:06:16.776Z,1755986776.776 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.656378
2025-08-23T22:06:17.015Z,1755986777.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.299999 m,
deltaT: 0.506631 s,
deltaX: -0.400002 m,
approachRate: -0.789532 m/s,
rangeRepo size: 4
2025-08-23T22:06:17.023Z,1755986777.023 [DAT](INFO): DAT read: Rx Time:22:06:16.4651
2025-08-23T22:06:17.024Z,1755986777.024 [DAT](INFO): Rx dataTimestamp_ set to:1755986777.023542
2025-08-23T22:06:17.029Z,1755986777.029 [DAT](INFO): DAT read: Bearing 42.5, 16.4 (Local)
2025-08-23T22:06:17.032Z,1755986777.032 [DAT](INFO): Local bearing/azimuth received:
Bearing 42.5, 16.4 (Local)
2025-08-23T22:06:17.043Z,1755986777.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.157770 m,
bearing: 245.239790 deg,
lat: 36.779423 deg,
lon: -121.859589 deg,
deltaT: 0.506631 s,
deltaX: -0.397560 m,
approachRate: -0.784713 m/s,
posRepo size: 4
2025-08-23T22:06:17.044Z,1755986777.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m.
2025-08-23T22:06:17.048Z,1755986777.048 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.6
2025-08-23T22:06:17.051Z,1755986777.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.157770 m,
nav range: 21.030622 m,
bearing: 245.241708 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.234429 deg/s,
cmd heading: 233.385624 deg,
new cmd heading: 233.101176 deg.
2025-08-23T22:06:17.051Z,1755986777.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.068383 target range: 23.157770 and range: 23.30 m.
2025-08-23T22:06:17.060Z,1755986777.060 [DAT](INFO): DAT read: 22:06:16.4651 LVL= 27280, 27473, 20978, 32755, AGC= 56, IDX= 506, 0.22,-0.830,-2.711,-0.899,-1.061, PHS= 0.333,-1.605, 0.118, RAW= 144.2, 12.5, CAL= 143.8, 13.6, ROT= 6.2, -13.6
2025-08-23T22:06:17.074Z,1755986777.074 [DAT](INFO): got valid direction response:
22:06:16.4651 LVL= 27280, 27473, 20978, 32755, AGC= 56, IDX= 506, 0.22,-0.830,-2.711,-0.899,-1.061, PHS= 0.333,-1.605, 0.118, RAW= 144.2, 12.5, CAL= 143.8, 13.6, ROT= 6.2, -13.6
2025-08-23T22:06:17.075Z,1755986777.075 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-23T22:06:17.075Z,1755986777.075 [DAT](INFO): direction in FSK: [0.966276,0.104971,0.235142]
2025-08-23T22:06:17.076Z,1755986777.076 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:17.092Z,1755986777.092 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.972040
2025-08-23T22:06:17.272Z,1755986777.272 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.151472
2025-08-23T22:06:17.528Z,1755986777.528 [DAT](INFO): DAT read: Rx Time:22:06:16.9648
2025-08-23T22:06:17.529Z,1755986777.529 [DAT](INFO): Rx dataTimestamp_ set to:1755986777.528536
2025-08-23T22:06:17.534Z,1755986777.534 [DAT](INFO): DAT read: Bearing 42.2, 16.9 (Local)
2025-08-23T22:06:17.535Z,1755986777.535 [DAT](INFO): Local bearing/azimuth received:
Bearing 42.2, 16.9 (Local)
2025-08-23T22:06:17.539Z,1755986777.539 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.6
2025-08-23T22:06:17.540Z,1755986777.540 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-08-23T22:06:17.541Z,1755986777.541 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=18.421234
2025-08-23T22:06:17.742Z,1755986777.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.700001 m,
deltaT: 1.010867 s,
deltaX: -0.599998 m,
approachRate: -0.593548 m/s,
rangeRepo size: 4
2025-08-23T22:06:17.744Z,1755986777.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.561420 m,
bearing: 244.723264 deg,
lat: 36.779423 deg,
lon: -121.859589 deg,
deltaT: 1.010867 s,
deltaX: -0.596350 m,
approachRate: -0.589939 m/s,
posRepo size: 4
2025-08-23T22:06:17.745Z,1755986777.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-08-23T22:06:17.748Z,1755986777.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.561420 m,
nav range: 20.486296 m,
bearing: 245.008605 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.234429 deg/s,
cmd heading: 233.101188 deg,
new cmd heading: 232.754367 deg.
2025-08-23T22:06:17.749Z,1755986777.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.062330 target range: 22.561420 and range: 22.70 m.
2025-08-23T22:06:17.778Z,1755986777.778 [DAT](INFO): DAT read: 22:06:16.9648 LVL= 24944, 24689, 18178, 32755, AGC= 55, IDX= 503, 0.21,-2.207, 2.207,-2.284,-2.438, PHS= 0.333,-1.593, 0.109, RAW= 143.9, 12.6, CAL= 143.5, 13.7, ROT= 6.5, -13.7
2025-08-23T22:06:17.779Z,1755986777.779 [DAT](INFO): got valid direction response:
22:06:16.9648 LVL= 24944, 24689, 18178, 32755, AGC= 55, IDX= 503, 0.21,-2.207, 2.207,-2.284,-2.438, PHS= 0.333,-1.593, 0.109, RAW= 143.9, 12.6, CAL= 143.5, 13.7, ROT= 6.5, -13.7
2025-08-23T22:06:17.780Z,1755986777.780 [DAT](INFO): #Rx 41: Read direction message, but no range.
2025-08-23T22:06:17.781Z,1755986777.781 [DAT](INFO): direction in FSK: [0.965304,0.109982,0.236838]
2025-08-23T22:06:17.784Z,1755986777.784 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.664364
2025-08-23T22:06:18.031Z,1755986778.031 [DAT](INFO): DAT read: Rx Time:22:06:17.4647
2025-08-23T22:06:18.033Z,1755986778.033 [DAT](INFO): Rx dataTimestamp_ set to:1755986778.032160
2025-08-23T22:06:18.039Z,1755986778.039 [DAT](INFO): DAT read: Bearing 41.7, 17.2 (Local)
2025-08-23T22:06:18.039Z,1755986778.039 [DAT](INFO): Local bearing/azimuth received:
Bearing 41.7, 17.2 (Local)
2025-08-23T22:06:18.041Z,1755986778.041 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.6
2025-08-23T22:06:18.046Z,1755986778.046 [DAT](INFO): DAT read: 22:06:17.4647 LVL= 25072, 25921, 18242, 32755, AGC= 55, IDX= 502, 0.20,-1.219,-3.090,-1.302,-1.456, PHS= 0.338,-1.589, 0.109, RAW= 143.8, 12.5, CAL= 143.3, 13.6, ROT= 6.7, -13.6
2025-08-23T22:06:18.047Z,1755986778.047 [DAT](INFO): got valid direction response:
22:06:17.4647 LVL= 25072, 25921, 18242, 32755, AGC= 55, IDX= 502, 0.20,-1.219,-3.090,-1.302,-1.456, PHS= 0.338,-1.589, 0.109, RAW= 143.8, 12.5, CAL= 143.3, 13.6, ROT= 6.7, -13.6
2025-08-23T22:06:18.047Z,1755986778.047 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-23T22:06:18.048Z,1755986778.048 [DAT](INFO): direction in FSK: [0.965323,0.113399,0.235142]
2025-08-23T22:06:18.049Z,1755986778.049 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:18.065Z,1755986778.065 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.944801
2025-08-23T22:06:18.279Z,1755986778.279 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.158888
2025-08-23T22:06:18.398Z,1755986778.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.500000 m,
deltaT: 0.503624 s,
deltaX: -0.200001 m,
approachRate: -0.397123 m/s,
rangeRepo size: 4
2025-08-23T22:06:18.400Z,1755986778.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.362677 m,
bearing: 244.921308 deg,
lat: 36.779422 deg,
lon: -121.859589 deg,
deltaT: 0.503624 s,
deltaX: -0.198744 m,
approachRate: -0.394627 m/s,
posRepo size: 4
2025-08-23T22:06:18.400Z,1755986778.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-23T22:06:18.414Z,1755986778.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.362677 m,
nav range: 20.138754 m,
bearing: 244.878540 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.234429 deg/s,
cmd heading: 232.754378 deg,
new cmd heading: 232.449030 deg.
2025-08-23T22:06:18.415Z,1755986778.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.057001 target range: 22.362677 and range: 22.50 m.
2025-08-23T22:06:18.535Z,1755986778.535 [DAT](INFO): DAT read: Rx Time:22:06:17.9644
2025-08-23T22:06:18.537Z,1755986778.537 [DAT](INFO): Rx dataTimestamp_ set to:1755986778.535613
2025-08-23T22:06:18.539Z,1755986778.539 [DAT](INFO): DAT read: Bearing 41.1, 17.6 (Local)
2025-08-23T22:06:18.540Z,1755986778.540 [DAT](INFO): Local bearing/azimuth received:
Bearing 41.1, 17.6 (Local)
2025-08-23T22:06:18.542Z,1755986778.542 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.5
2025-08-23T22:06:18.550Z,1755986778.550 [DAT](INFO): DAT read: 22:06:17.9644 LVL= 25584, 25809, 18162, 32755, AGC= 55, IDX= 499, 0.17,-1.966, 2.430,-2.058,-2.215, PHS= 0.352,-1.592, 0.113, RAW= 143.5, 12.2, CAL= 143.1, 13.3, ROT= 6.9, -13.3
2025-08-23T22:06:18.551Z,1755986778.551 [DAT](INFO): got valid direction response:
22:06:17.9644 LVL= 25584, 25809, 18162, 32755, AGC= 55, IDX= 499, 0.17,-1.966, 2.430,-2.058,-2.215, PHS= 0.352,-1.592, 0.113, RAW= 143.5, 12.2, CAL= 143.1, 13.3, ROT= 6.9, -13.3
2025-08-23T22:06:18.552Z,1755986778.552 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-23T22:06:18.553Z,1755986778.553 [DAT](INFO): direction in FSK: [0.966130,0.116915,0.230050]
2025-08-23T22:06:18.553Z,1755986778.553 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:18.568Z,1755986778.568 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.448109
2025-08-23T22:06:18.783Z,1755986778.783 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.663389
2025-08-23T22:06:18.899Z,1755986778.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.100000 m,
deltaT: 0.503453 s,
deltaX: -0.400000 m,
approachRate: -0.794512 m/s,
rangeRepo size: 4
2025-08-23T22:06:18.901Z,1755986778.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.965118 m,
bearing: 244.440364 deg,
lat: 36.779422 deg,
lon: -121.859590 deg,
deltaT: 0.503453 s,
deltaX: -0.397558 m,
approachRate: -0.789663 m/s,
posRepo size: 4
2025-08-23T22:06:18.908Z,1755986778.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-08-23T22:06:18.911Z,1755986778.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.965118 m,
nav range: 19.831671 m,
bearing: 244.613814 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.234429 deg/s,
cmd heading: 232.449041 deg,
new cmd heading: 232.212054 deg.
2025-08-23T22:06:18.911Z,1755986778.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.052865 target range: 21.965118 and range: 22.10 m.
2025-08-23T22:06:19.039Z,1755986779.039 [DAT](INFO): DAT read: Rx Time:22:06:18.4642
2025-08-23T22:06:19.039Z,1755986779.039 [DAT](INFO): Rx dataTimestamp_ set to:1755986779.039174
2025-08-23T22:06:19.041Z,1755986779.041 [DAT](INFO): DAT read: Bearing 40.8, 17.9 (Local)
2025-08-23T22:06:19.041Z,1755986779.041 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.8, 17.9 (Local)
2025-08-23T22:06:19.043Z,1755986779.043 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.7
2025-08-23T22:06:19.048Z,1755986779.048 [DAT](INFO): DAT read: 22:06:18.4642 LVL= 29936, 29329, 20306, 32755, AGC= 56, IDX= 497, 0.13,-2.311, 2.060,-2.413,-2.567, PHS= 0.358,-1.611, 0.110, RAW= 143.4, 12.3, CAL= 142.9, 13.3, ROT= 7.1, -13.3
2025-08-23T22:06:19.049Z,1755986779.049 [DAT](INFO): got valid direction response:
22:06:18.4642 LVL= 29936, 29329, 20306, 32755, AGC= 56, IDX= 497, 0.13,-2.311, 2.060,-2.413,-2.567, PHS= 0.358,-1.611, 0.110, RAW= 143.4, 12.3, CAL= 142.9, 13.3, ROT= 7.1, -13.3
2025-08-23T22:06:19.049Z,1755986779.049 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-23T22:06:19.063Z,1755986779.063 [DAT](INFO): direction in FSK: [0.965716,0.120286,0.230050]
2025-08-23T22:06:19.064Z,1755986779.064 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:19.088Z,1755986779.088 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.968451
2025-08-23T22:06:19.287Z,1755986779.287 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.166895
2025-08-23T22:06:19.424Z,1755986779.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.799999 m,
deltaT: 0.503561 s,
deltaX: -0.300001 m,
approachRate: -0.595759 m/s,
rangeRepo size: 4
2025-08-23T22:06:19.427Z,1755986779.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.666960 m,
bearing: 244.374187 deg,
lat: 36.779422 deg,
lon: -121.859591 deg,
deltaT: 0.503561 s,
deltaX: -0.298159 m,
approachRate: -0.592100 m/s,
posRepo size: 4
2025-08-23T22:06:19.428Z,1755986779.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-08-23T22:06:19.431Z,1755986779.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.666960 m,
nav range: 19.621866 m,
bearing: 244.645013 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.234429 deg/s,
cmd heading: 232.212061 deg,
new cmd heading: 231.965737 deg.
2025-08-23T22:06:19.432Z,1755986779.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.048566 target range: 21.666960 and range: 21.80 m.
2025-08-23T22:06:19.540Z,1755986779.540 [DAT](INFO): DAT read: Rx Time:22:06:18.9639
2025-08-23T22:06:19.541Z,1755986779.541 [DAT](INFO): Rx dataTimestamp_ set to:1755986779.540564
2025-08-23T22:06:19.542Z,1755986779.542 [DAT](INFO): DAT read: Bearing 40.4, 17.8 (Local)
2025-08-23T22:06:19.543Z,1755986779.543 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.4, 17.8 (Local)
2025-08-23T22:06:19.544Z,1755986779.544 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.5
2025-08-23T22:06:19.545Z,1755986779.545 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-08-23T22:06:19.546Z,1755986779.546 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.426588
2025-08-23T22:06:19.797Z,1755986779.797 [DAT](INFO): DAT read: 22:06:18.9639 LVL= 26688, 25569, 18930, 32755, AGC= 55, IDX= 510, 0.10, 3.001, 1.119, 2.909, 2.753, PHS= 0.350,-1.589, 0.111, RAW= 143.5, 12.3, CAL= 143.0, 13.4, ROT= 7.0, -13.4
2025-08-23T22:06:19.799Z,1755986779.799 [DAT](INFO): got valid direction response:
22:06:18.9639 LVL= 26688, 25569, 18930, 32755, AGC= 55, IDX= 510, 0.10, 3.001, 1.119, 2.909, 2.753, PHS= 0.350,-1.589, 0.111, RAW= 143.5, 12.3, CAL= 143.0, 13.4, ROT= 7.0, -13.4
2025-08-23T22:06:19.799Z,1755986779.799 [DAT](INFO): #Rx 46: Read direction message, but no range.
2025-08-23T22:06:19.801Z,1755986779.801 [DAT](INFO): direction in FSK: [0.965525,0.118552,0.231748]
2025-08-23T22:06:19.813Z,1755986779.813 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.692865
2025-08-23T22:06:19.931Z,1755986779.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.299999 m,
deltaT: 0.501390 s,
deltaX: -0.500000 m,
approachRate: -0.997228 m/s,
rangeRepo size: 4
2025-08-23T22:06:19.939Z,1755986779.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.170012 m,
bearing: 243.986674 deg,
lat: 36.779421 deg,
lon: -121.859591 deg,
deltaT: 0.501390 s,
deltaX: -0.496948 m,
approachRate: -0.991141 m/s,
posRepo size: 4
2025-08-23T22:06:19.940Z,1755986779.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.17 m.
2025-08-23T22:06:19.947Z,1755986779.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.170012 m,
nav range: 19.332952 m,
bearing: 244.261563 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.234429 deg/s,
cmd heading: 231.965737 deg,
new cmd heading: 231.727925 deg.
2025-08-23T22:06:19.954Z,1755986779.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.044415 target range: 21.170012 and range: 21.30 m.
2025-08-23T22:06:20.043Z,1755986780.043 [DAT](INFO): DAT read: Rx Time:22:06:19.4638
2025-08-23T22:06:20.044Z,1755986780.044 [DAT](INFO): Rx dataTimestamp_ set to:1755986780.043538
2025-08-23T22:06:20.045Z,1755986780.045 [DAT](INFO): DAT read: Bearing 39.8, 18.0 (Local)
2025-08-23T22:06:20.045Z,1755986780.045 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.8, 18.0 (Local)
2025-08-23T22:06:20.047Z,1755986780.047 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.5
2025-08-23T22:06:20.052Z,1755986780.052 [DAT](INFO): DAT read: 22:06:19.4638 LVL= 26400, 25745, 18818, 32755, AGC= 55, IDX= 509, 0.06,-1.856, 2.538,-1.953,-2.114, PHS= 0.360,-1.586, 0.117, RAW= 143.4, 12.1, CAL= 142.9, 13.1, ROT= 7.1, -13.1
2025-08-23T22:06:20.054Z,1755986780.054 [DAT](INFO): got valid direction response:
22:06:19.4638 LVL= 26400, 25745, 18818, 32755, AGC= 55, IDX= 509, 0.06,-1.856, 2.538,-1.953,-2.114, PHS= 0.360,-1.586, 0.117, RAW= 143.4, 12.1, CAL= 142.9, 13.1, ROT= 7.1, -13.1
2025-08-23T22:06:20.054Z,1755986780.054 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-23T22:06:20.055Z,1755986780.055 [DAT](INFO): direction in FSK: [0.966507,0.120385,0.226651]
2025-08-23T22:06:20.055Z,1755986780.055 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:20.059Z,1755986780.059 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=20.939175
2025-08-23T22:06:20.295Z,1755986780.295 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.174845
2025-08-23T22:06:20.440Z,1755986780.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.200001 m,
deltaT: 0.502974 s,
deltaX: -0.099998 m,
approachRate: -0.198814 m/s,
rangeRepo size: 4
2025-08-23T22:06:20.443Z,1755986780.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.070639 m,
bearing: 243.495152 deg,
lat: 36.779421 deg,
lon: -121.859591 deg,
deltaT: 0.502974 s,
deltaX: -0.099373 m,
approachRate: -0.197571 m/s,
posRepo size: 4
2025-08-23T22:06:20.444Z,1755986780.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-08-23T22:06:20.454Z,1755986780.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.070639 m,
nav range: 19.057831 m,
bearing: 244.214528 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.234429 deg/s,
cmd heading: 231.727937 deg,
new cmd heading: 231.489609 deg.
2025-08-23T22:06:20.455Z,1755986780.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.040256 target range: 21.070639 and range: 21.20 m.
2025-08-23T22:06:20.547Z,1755986780.547 [DAT](INFO): DAT read: Rx Time:22:06:19.9635
2025-08-23T22:06:20.548Z,1755986780.548 [DAT](INFO): Rx dataTimestamp_ set to:1755986780.547310
2025-08-23T22:06:20.549Z,1755986780.549 [DAT](INFO): DAT read: Bearing 39.4, 18.1 (Local)
2025-08-23T22:06:20.549Z,1755986780.549 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.4, 18.1 (Local)
2025-08-23T22:06:20.551Z,1755986780.551 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.6
2025-08-23T22:06:20.556Z,1755986780.556 [DAT](INFO): DAT read: 22:06:19.9635 LVL= 26768, 25873, 18418, 32755, AGC= 55, IDX= 506, 0.03, 2.684, 0.777, 2.582, 2.423, PHS= 0.363,-1.601, 0.115, RAW= 143.3, 12.1, CAL= 142.8, 13.1, ROT= 7.2, -13.1
2025-08-23T22:06:20.557Z,1755986780.557 [DAT](INFO): got valid direction response:
22:06:19.9635 LVL= 26768, 25873, 18418, 32755, AGC= 55, IDX= 506, 0.03, 2.684, 0.777, 2.582, 2.423, PHS= 0.363,-1.601, 0.115, RAW= 143.3, 12.1, CAL= 142.8, 13.1, ROT= 7.2, -13.1
2025-08-23T22:06:20.557Z,1755986780.557 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-23T22:06:20.558Z,1755986780.558 [DAT](INFO): direction in FSK: [0.966296,0.122072,0.226651]
2025-08-23T22:06:20.559Z,1755986780.559 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:20.579Z,1755986780.579 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.459526
2025-08-23T22:06:20.799Z,1755986780.799 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.678854
2025-08-23T22:06:20.918Z,1755986780.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.700001 m,
deltaT: 0.503772 s,
deltaX: -0.500000 m,
approachRate: -0.992512 m/s,
rangeRepo size: 4
2025-08-23T22:06:20.920Z,1755986780.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.573690 m,
bearing: 243.272590 deg,
lat: 36.779420 deg,
lon: -121.859591 deg,
deltaT: 0.503772 s,
deltaX: -0.496948 m,
approachRate: -0.986455 m/s,
posRepo size: 4
2025-08-23T22:06:20.920Z,1755986780.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-08-23T22:06:20.928Z,1755986780.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.573690 m,
nav range: 18.712025 m,
bearing: 244.007268 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.234429 deg/s,
cmd heading: 231.489618 deg,
new cmd heading: 231.265640 deg.
2025-08-23T22:06:20.929Z,1755986780.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.036347 target range: 20.573690 and range: 20.70 m.
2025-08-23T22:06:21.052Z,1755986781.052 [DAT](INFO): DAT read: Rx Time:22:06:20.4634
2025-08-23T22:06:21.053Z,1755986781.053 [DAT](INFO): Rx dataTimestamp_ set to:1755986781.051948
2025-08-23T22:06:21.055Z,1755986781.055 [DAT](INFO): DAT read: Bearing 39.3, 18.3 (Local)
2025-08-23T22:06:21.055Z,1755986781.055 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.3, 18.3 (Local)
2025-08-23T22:06:21.059Z,1755986781.059 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.6
2025-08-23T22:06:21.064Z,1755986781.064 [DAT](INFO): DAT read: 22:06:20.4634 LVL= 27344, 25889, 18290, 32755, AGC= 55, IDX= 505,-0.02,-3.117, 1.280, 3.063, 2.913, PHS= 0.356,-1.588, 0.107, RAW= 143.2, 12.3, CAL= 142.7, 13.3, ROT= 7.3, -13.3
2025-08-23T22:06:21.065Z,1755986781.065 [DAT](INFO): got valid direction response:
22:06:20.4634 LVL= 27344, 25889, 18290, 32755, AGC= 55, IDX= 505,-0.02,-3.117, 1.280, 3.063, 2.913, PHS= 0.356,-1.588, 0.107, RAW= 143.2, 12.3, CAL= 142.7, 13.3, ROT= 7.3, -13.3
2025-08-23T22:06:21.065Z,1755986781.065 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-23T22:06:21.066Z,1755986781.066 [DAT](INFO): direction in FSK: [0.965291,0.123657,0.230050]
2025-08-23T22:06:21.066Z,1755986781.066 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:21.078Z,1755986781.078 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=21.958509
2025-08-23T22:06:21.303Z,1755986781.303 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.183033
2025-08-23T22:06:21.330Z,1755986781.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.600000 m,
deltaT: 0.504638 s,
deltaX: -0.100000 m,
approachRate: -0.198163 m/s,
rangeRepo size: 4
2025-08-23T22:06:21.332Z,1755986781.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.474308 m,
bearing: 243.107109 deg,
lat: 36.779418 deg,
lon: -121.859591 deg,
deltaT: 0.504638 s,
deltaX: -0.099382 m,
approachRate: -0.196938 m/s,
posRepo size: 4
2025-08-23T22:06:21.333Z,1755986781.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m.
2025-08-23T22:06:21.362Z,1755986781.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.474308 m,
nav range: 18.545855 m,
bearing: 243.354850 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.234429 deg/s,
cmd heading: 231.265643 deg,
new cmd heading: 231.072183 deg.
2025-08-23T22:06:21.364Z,1755986781.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.032970 target range: 20.474308 and range: 20.60 m.
2025-08-23T22:06:21.559Z,1755986781.559 [DAT](INFO): DAT read: Rx Time:22:06:20.9631
2025-08-23T22:06:21.560Z,1755986781.560 [DAT](INFO): Rx dataTimestamp_ set to:1755986781.559294
2025-08-23T22:06:21.561Z,1755986781.561 [DAT](INFO): DAT read: Bearing 39.0, 18.4 (Local)
2025-08-23T22:06:21.561Z,1755986781.561 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.0, 18.4 (Local)
2025-08-23T22:06:21.563Z,1755986781.563 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.6
2025-08-23T22:06:21.568Z,1755986781.568 [DAT](INFO): DAT read: 22:06:20.9631 LVL= 24368, 25953, 16706, 32755, AGC= 54, IDX= 502,-0.05, 1.297,-0.564, 1.199, 1.052, PHS= 0.348,-1.571, 0.103, RAW= 143.3, 12.4, CAL= 142.8,ROT= 7.2, -13.4
2025-08-23T22:06:21.571Z,1755986781.571 [DAT](INFO): unknown deviceResponse_: 22:06:20.9631 LVL= 24368, 25953, 16706, 32755, AGC= 54, IDX= 502,-0.05, 1.297,-0.564, 1.199, 1.052, PHS= 0.348,-1.571, 0.103, RAW= 143.3, 12.4, CAL= 142.8,ROT= 7.2, -13.4
2025-08-23T22:06:21.571Z,1755986781.571 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-08-23T22:06:21.573Z,1755986781.573 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.452778
2025-08-23T22:06:21.741Z,1755986781.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:06:21.748Z,1755986781.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.100000 m,
deltaT: 0.507346 s,
deltaX: -0.500000 m,
approachRate: -0.985521 m/s,
rangeRepo size: 4
2025-08-23T22:06:21.748Z,1755986781.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m.
2025-08-23T22:06:21.755Z,1755986781.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.474308 m,
nav range: 18.283955 m,
bearing: 243.285052 deg,
approach rate: -0.626907 m/s,
LOS rate: -0.169466 deg/s,
cmd heading: 231.072184 deg,
new cmd heading: 230.930591 deg.
2025-08-23T22:06:21.756Z,1755986781.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.030499 target range: 20.474308 and range: 20.10 m.
2025-08-23T22:06:21.807Z,1755986781.807 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.686922
2025-08-23T22:06:22.059Z,1755986782.059 [DAT](INFO): DAT read: Rx Time:22:06:21.4629
2025-08-23T22:06:22.060Z,1755986782.060 [DAT](INFO): Rx dataTimestamp_ set to:1755986782.059261
2025-08-23T22:06:22.061Z,1755986782.061 [DAT](INFO): DAT read: Bearing 38.8, 18.7 (Local)
2025-08-23T22:06:22.061Z,1755986782.061 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.8, 18.7 (Local)
2025-08-23T22:06:22.063Z,1755986782.063 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.6
2025-08-23T22:06:22.068Z,1755986782.068 [DAT](INFO): DAT read: 22:06:21.4629 LVL= 27616, 25889, 19090, 32755, AGC= 55, IDX= 500,-0.11, 1.368,-0.522, 1.261, 1.115, PHS= 0.356,-1.591, 0.102, RAW= 143.1, 12.3, CAL= 142.6, 13.4, ROT= 7.4, -13.4
2025-08-23T22:06:22.069Z,1755986782.069 [DAT](INFO): got valid direction response:
22:06:21.4629 LVL= 27616, 25889, 19090, 32755, AGC= 55, IDX= 500,-0.11, 1.368,-0.522, 1.261, 1.115, PHS= 0.356,-1.591, 0.102, RAW= 143.1, 12.3, CAL= 142.6, 13.4, ROT= 7.4, -13.4
2025-08-23T22:06:22.069Z,1755986782.069 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-23T22:06:22.070Z,1755986782.070 [DAT](INFO): direction in FSK: [0.964674,0.125289,0.231748]
2025-08-23T22:06:22.071Z,1755986782.071 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:22.074Z,1755986782.074 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=22.954365
2025-08-23T22:06:22.309Z,1755986782.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.799999 m,
deltaT: 0.499967 s,
deltaX: -0.300001 m,
approachRate: -0.600042 m/s,
rangeRepo size: 4
2025-08-23T22:06:22.311Z,1755986782.311 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.190990
2025-08-23T22:06:22.313Z,1755986782.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.679180 m,
bearing: 242.934170 deg,
lat: 36.779418 deg,
lon: -121.859590 deg,
deltaT: 1.007313 s,
deltaX: -0.795128 m,
approachRate: -0.789355 m/s,
posRepo size: 4
2025-08-23T22:06:22.313Z,1755986782.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m.
2025-08-23T22:06:22.316Z,1755986782.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.679180 m,
nav range: 17.836849 m,
bearing: 242.968476 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.169466 deg/s,
cmd heading: 230.930581 deg,
new cmd heading: 230.740484 deg.
2025-08-23T22:06:22.317Z,1755986782.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.027181 target range: 19.679180 and range: 19.80 m.
2025-08-23T22:06:22.563Z,1755986782.563 [DAT](INFO): DAT read: Rx Time:22:06:21.9626
2025-08-23T22:06:22.563Z,1755986782.563 [DAT](INFO): Rx dataTimestamp_ set to:1755986782.563212
2025-08-23T22:06:22.565Z,1755986782.565 [DAT](INFO): DAT read: Bearing 38.3, 18.6 (Local)
2025-08-23T22:06:22.565Z,1755986782.565 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.3, 18.6 (Local)
2025-08-23T22:06:22.567Z,1755986782.567 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.7
2025-08-23T22:06:22.572Z,1755986782.572 [DAT](INFO): DAT read: 22:06:21.9626 LVL= 27024, 24977, 18866, 32755, AGC= 55, IDX= 497,-0.14, 0.292,-1.584, 0.193, 0.039, PHS= 0.355,-1.578, 0.110, RAW= 143.3, 12.2, CAL= 142.8, 13.2, ROT= 7.2, -13.2
2025-08-23T22:06:22.573Z,1755986782.573 [DAT](INFO): got valid direction response:
22:06:21.9626 LVL= 27024, 24977, 18866, 32755, AGC= 55, IDX= 497,-0.14, 0.292,-1.584, 0.193, 0.039, PHS= 0.355,-1.578, 0.110, RAW= 143.3, 12.2, CAL= 142.8, 13.2, ROT= 7.2, -13.2
2025-08-23T22:06:22.573Z,1755986782.573 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-23T22:06:22.574Z,1755986782.574 [DAT](INFO): direction in FSK: [0.965902,0.122022,0.228351]
2025-08-23T22:06:22.574Z,1755986782.574 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:22.578Z,1755986782.578 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.458101
2025-08-23T22:06:22.814Z,1755986782.814 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.694641
2025-08-23T22:06:22.882Z,1755986782.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.400000 m,
deltaT: 0.503951 s,
deltaX: -0.400000 m,
approachRate: -0.793727 m/s,
rangeRepo size: 4
2025-08-23T22:06:22.884Z,1755986782.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.281622 m,
bearing: 241.950467 deg,
lat: 36.779418 deg,
lon: -121.859590 deg,
deltaT: 0.503951 s,
deltaX: -0.397558 m,
approachRate: -0.788883 m/s,
posRepo size: 4
2025-08-23T22:06:22.884Z,1755986782.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.28 m.
2025-08-23T22:06:22.887Z,1755986782.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.281622 m,
nav range: 17.491692 m,
bearing: 242.837669 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.169466 deg/s,
cmd heading: 230.740483 deg,
new cmd heading: 230.546327 deg.
2025-08-23T22:06:22.888Z,1755986782.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.023792 target range: 19.281622 and range: 19.40 m.
2025-08-23T22:06:23.070Z,1755986783.070 [DAT](INFO): DAT read: Rx Time:22:06:22.4625
2025-08-23T22:06:23.071Z,1755986783.071 [DAT](INFO): Rx dataTimestamp_ set to:1755986783.070152
2025-08-23T22:06:23.076Z,1755986783.076 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.7
2025-08-23T22:06:23.078Z,1755986783.078 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-08-23T22:06:23.079Z,1755986783.079 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=23.959242
2025-08-23T22:06:23.318Z,1755986783.318 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.198757
2025-08-23T22:06:23.414Z,1755986783.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.200001 m,
deltaT: 0.506940 s,
deltaX: -0.199999 m,
approachRate: -0.394522 m/s,
rangeRepo size: 4
2025-08-23T22:06:23.415Z,1755986783.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.28 m.
2025-08-23T22:06:23.418Z,1755986783.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.281622 m,
nav range: 17.133635 m,
bearing: 242.726060 deg,
approach rate: -0.673223 m/s,
LOS rate: -0.214233 deg/s,
cmd heading: 230.546315 deg,
new cmd heading: 230.318434 deg.
2025-08-23T22:06:23.419Z,1755986783.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.019815 target range: 19.281622 and range: 19.20 m.
2025-08-23T22:06:23.571Z,1755986783.571 [DAT](INFO): DAT read: Rx Time:22:06:22.9623
2025-08-23T22:06:23.572Z,1755986783.572 [DAT](INFO): Rx dataTimestamp_ set to:1755986783.571614
2025-08-23T22:06:23.573Z,1755986783.573 [DAT](INFO): DAT read: Bearing 37.8, 18.4 (Local)
2025-08-23T22:06:23.574Z,1755986783.574 [DAT](INFO): Local bearing/azimuth received:
Bearing 37.8, 18.4 (Local)
2025-08-23T22:06:23.576Z,1755986783.576 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.6
2025-08-23T22:06:23.584Z,1755986783.584 [DAT](INFO): DAT read: 22:06:22.9623 LVL= 24896, 25953, 16802, 32755, AGC= 54, IDX= 509,-0.16,-0.479,-2.319,-0.560,-0.719, PHS= 0.342,-1.555, 0.115, RAW= 143.7, 12.2, CAL= 143.2, 13.3, ROT= 6.8, -13.3
2025-08-23T22:06:23.591Z,1755986783.591 [DAT](INFO): got valid direction response:
22:06:22.9623 LVL= 24896, 25953, 16802, 32755, AGC= 54, IDX= 509,-0.16,-0.479,-2.319,-0.560,-0.719, PHS= 0.342,-1.555, 0.115, RAW= 143.7, 12.2, CAL= 143.2, 13.3, ROT= 6.8, -13.3
2025-08-23T22:06:23.591Z,1755986783.591 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-23T22:06:23.593Z,1755986783.593 [DAT](INFO): direction in FSK: [0.966333,0.115228,0.230050]
2025-08-23T22:06:23.593Z,1755986783.593 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:23.606Z,1755986783.606 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.486244
2025-08-23T22:06:23.796Z,1755986783.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 0.501462 s,
deltaX: -0.400002 m,
approachRate: -0.797671 m/s,
rangeRepo size: 4
2025-08-23T22:06:23.802Z,1755986783.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.685228 m,
bearing: 241.096649 deg,
lat: 36.779418 deg,
lon: -121.859590 deg,
deltaT: 1.008402 s,
deltaX: -0.596394 m,
approachRate: -0.591424 m/s,
posRepo size: 4
2025-08-23T22:06:23.806Z,1755986783.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-08-23T22:06:23.809Z,1755986783.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.685228 m,
nav range: 16.913116 m,
bearing: 242.465902 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.214233 deg/s,
cmd heading: 230.318432 deg,
new cmd heading: 230.154578 deg.
2025-08-23T22:06:23.810Z,1755986783.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.016955 target range: 18.685228 and range: 18.80 m.
2025-08-23T22:06:23.823Z,1755986783.823 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.702852
2025-08-23T22:06:24.076Z,1755986784.076 [DAT](INFO): DAT read: Rx Time:22:06:23.4622
2025-08-23T22:06:24.077Z,1755986784.077 [DAT](INFO): Rx dataTimestamp_ set to:1755986784.076236
2025-08-23T22:06:24.078Z,1755986784.078 [DAT](INFO): DAT read: Bearing 37.3, 18.1 (Local)
2025-08-23T22:06:24.078Z,1755986784.078 [DAT](INFO): Local bearing/azimuth received:
Bearing 37.3, 18.1 (Local)
2025-08-23T22:06:24.080Z,1755986784.080 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.7
2025-08-23T22:06:24.085Z,1755986784.085 [DAT](INFO): DAT read: 22:06:23.4622 LVL= 25008, 26705, 17426, 32755, AGC= 54, IDX= 508,-0.15, 0.569,-1.256, 0.502, 0.332, PHS= 0.340,-1.543, 0.126, RAW= 144.0, 12.0, CAL= 143.6, 13.1, ROT= 6.4, -13.1
2025-08-23T22:06:24.086Z,1755986784.086 [DAT](INFO): got valid direction response:
22:06:23.4622 LVL= 25008, 26705, 17426, 32755, AGC= 54, IDX= 508,-0.15, 0.569,-1.256, 0.502, 0.332, PHS= 0.340,-1.543, 0.126, RAW= 144.0, 12.0, CAL= 143.6, 13.1, ROT= 6.4, -13.1
2025-08-23T22:06:24.087Z,1755986784.087 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-23T22:06:24.088Z,1755986784.088 [DAT](INFO): direction in FSK: [0.967906,0.108568,0.226651]
2025-08-23T22:06:24.088Z,1755986784.088 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:24.091Z,1755986784.091 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=24.971773
2025-08-23T22:06:24.292Z,1755986784.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 0.504622 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:24.296Z,1755986784.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.685234 m,
bearing: 240.452218 deg,
lat: 36.779416 deg,
lon: -121.859590 deg,
deltaT: 0.504622 s,
deltaX: 0.000006 m,
approachRate: 0.000011 m/s,
posRepo size: 4
2025-08-23T22:06:24.297Z,1755986784.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-08-23T22:06:24.307Z,1755986784.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.685234 m,
nav range: 16.702852 m,
bearing: 241.835758 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.214233 deg/s,
cmd heading: 230.154590 deg,
new cmd heading: 229.942111 deg.
2025-08-23T22:06:24.308Z,1755986784.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.013247 target range: 18.685234 and range: 18.80 m.
2025-08-23T22:06:24.327Z,1755986784.327 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.206829
2025-08-23T22:06:24.580Z,1755986784.580 [DAT](INFO): DAT read: Rx Time:22:06:23.9619
2025-08-23T22:06:24.580Z,1755986784.580 [DAT](INFO): Rx dataTimestamp_ set to:1755986784.580145
2025-08-23T22:06:24.582Z,1755986784.582 [DAT](INFO): DAT read: Bearing 37.2, 18.1 (Local)
2025-08-23T22:06:24.582Z,1755986784.582 [DAT](INFO): Local bearing/azimuth received:
Bearing 37.2, 18.1 (Local)
2025-08-23T22:06:24.584Z,1755986784.584 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.6
2025-08-23T22:06:24.589Z,1755986784.589 [DAT](INFO): DAT read: 22:06:23.9619 LVL= 25584, 24497, 16834, 32755, AGC= 54, IDX= 505,-0.15,-0.536,-2.365,-0.601,-0.768, PHS= 0.334,-1.552, 0.123, RAW= 144.1, 12.2, CAL= 143.7, 13.3, ROT= 6.3, -13.3
2025-08-23T22:06:24.590Z,1755986784.590 [DAT](INFO): got valid direction response:
22:06:23.9619 LVL= 25584, 24497, 16834, 32755, AGC= 54, IDX= 505,-0.15,-0.536,-2.365,-0.601,-0.768, PHS= 0.334,-1.552, 0.123, RAW= 144.1, 12.2, CAL= 143.7, 13.3, ROT= 6.3, -13.3
2025-08-23T22:06:24.590Z,1755986784.591 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-23T22:06:24.591Z,1755986784.591 [DAT](INFO): direction in FSK: [0.967302,0.106791,0.230050]
2025-08-23T22:06:24.592Z,1755986784.592 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:24.615Z,1755986784.615 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.495575
2025-08-23T22:06:24.716Z,1755986784.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.503909 s,
deltaX: -0.500000 m,
approachRate: -0.992243 m/s,
rangeRepo size: 4
2025-08-23T22:06:24.722Z,1755986784.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.188288 m,
bearing: 240.102005 deg,
lat: 36.779414 deg,
lon: -121.859588 deg,
deltaT: 0.503909 s,
deltaX: -0.496946 m,
approachRate: -0.986183 m/s,
posRepo size: 4
2025-08-23T22:06:24.723Z,1755986784.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-08-23T22:06:24.729Z,1755986784.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.188288 m,
nav range: 16.417313 m,
bearing: 240.996132 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.214233 deg/s,
cmd heading: 229.942116 deg,
new cmd heading: 229.760460 deg.
2025-08-23T22:06:24.730Z,1755986784.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.010077 target range: 18.188288 and range: 18.30 m.
2025-08-23T22:06:24.832Z,1755986784.832 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.711777
2025-08-23T22:06:25.090Z,1755986785.090 [DAT](INFO): DAT read: Rx Time:22:06:24.4618
2025-08-23T22:06:25.092Z,1755986785.092 [DAT](INFO): Rx dataTimestamp_ set to:1755986785.090856
2025-08-23T22:06:25.095Z,1755986785.095 [DAT](INFO): DAT read: Bearing 37.1, 17.7 (Local)
2025-08-23T22:06:25.096Z,1755986785.096 [DAT](INFO): Local bearing/azimuth received:
Bearing 37.1, 17.7 (Local)
2025-08-23T22:06:25.105Z,1755986785.105 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.6
2025-08-23T22:06:25.126Z,1755986785.126 [DAT](INFO): DAT read: 22:06:24.4618 LVL= 25904, 27729, 17650, 32755, AGC= 54, IDX= 504,-0.09, 0.233,-1.571, 0.183, 0.011, PHS= 0.323,-1.537, 0.128, RAW= 144.5, 12.2, CAL= 144.1, 13.3, ROT= 5.9, -13.3
2025-08-23T22:06:25.127Z,1755986785.127 [DAT](INFO): got valid direction response:
22:06:24.4618 LVL= 25904, 27729, 17650, 32755, AGC= 54, IDX= 504,-0.09, 0.233,-1.571, 0.183, 0.011, PHS= 0.323,-1.537, 0.128, RAW= 144.5, 12.2, CAL= 144.1, 13.3, ROT= 5.9, -13.3
2025-08-23T22:06:25.127Z,1755986785.127 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-23T22:06:25.128Z,1755986785.128 [DAT](INFO): direction in FSK: [0.968024,0.100036,0.230050]
2025-08-23T22:06:25.128Z,1755986785.128 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:25.136Z,1755986785.136 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.016266
2025-08-23T22:06:25.243Z,1755986785.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.510711 s,
deltaX: -0.099998 m,
approachRate: -0.195802 m/s,
rangeRepo size: 4
2025-08-23T22:06:25.250Z,1755986785.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.088882 m,
bearing: 239.671569 deg,
lat: 36.779412 deg,
lon: -121.859588 deg,
deltaT: 0.510711 s,
deltaX: -0.099405 m,
approachRate: -0.194641 m/s,
posRepo size: 4
2025-08-23T22:06:25.251Z,1755986785.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-08-23T22:06:25.258Z,1755986785.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.088882 m,
nav range: 16.201662 m,
bearing: 240.113395 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.214233 deg/s,
cmd heading: 229.760460 deg,
new cmd heading: 229.534329 deg.
2025-08-23T22:06:25.259Z,1755986785.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.006130 target range: 18.088882 and range: 18.20 m.
2025-08-23T22:06:25.341Z,1755986785.341 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.220528
2025-08-23T22:06:25.591Z,1755986785.591 [DAT](INFO): DAT read: Rx Time:22:06:24.9615
2025-08-23T22:06:25.592Z,1755986785.592 [DAT](INFO): Rx dataTimestamp_ set to:1755986785.591332
2025-08-23T22:06:25.593Z,1755986785.593 [DAT](INFO): DAT read: Bearing 36.9, 17.6 (Local)
2025-08-23T22:06:25.593Z,1755986785.593 [DAT](INFO): Local bearing/azimuth received:
Bearing 36.9, 17.6 (Local)
2025-08-23T22:06:25.595Z,1755986785.595 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.7
2025-08-23T22:06:25.600Z,1755986785.600 [DAT](INFO): DAT read: 22:06:24.9615 LVL= 26688, 26449, 18978, 32755, AGC= 54, IDX= 501,-0.03,-1.088,-2.882,-1.128,-1.302, PHS= 0.317,-1.535, 0.130, RAW= 144.8, 12.3, CAL= 144.4, 13.4, ROT= 5.6, -13.4
2025-08-23T22:06:25.601Z,1755986785.601 [DAT](INFO): got valid direction response:
22:06:24.9615 LVL= 26688, 26449, 18978, 32755, AGC= 54, IDX= 501,-0.03,-1.088,-2.882,-1.128,-1.302, PHS= 0.317,-1.535, 0.130, RAW= 144.8, 12.3, CAL= 144.4, 13.4, ROT= 5.6, -13.4
2025-08-23T22:06:25.602Z,1755986785.602 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-23T22:06:25.603Z,1755986785.603 [DAT](INFO): direction in FSK: [0.968133,0.094926,0.231748]
2025-08-23T22:06:25.603Z,1755986785.603 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:25.606Z,1755986785.606 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.486654
2025-08-23T22:06:25.684Z,1755986785.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.700001 m,
deltaT: 0.500476 s,
deltaX: -0.500000 m,
approachRate: -0.999049 m/s,
rangeRepo size: 4
2025-08-23T22:06:25.690Z,1755986785.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.591936 m,
bearing: 239.350509 deg,
lat: 36.779412 deg,
lon: -121.859588 deg,
deltaT: 0.500476 s,
deltaX: -0.496946 m,
approachRate: -0.992947 m/s,
posRepo size: 4
2025-08-23T22:06:25.691Z,1755986785.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-23T22:06:25.698Z,1755986785.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.591936 m,
nav range: 15.880666 m,
bearing: 239.665934 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.214233 deg/s,
cmd heading: 229.534326 deg,
new cmd heading: 229.345640 deg.
2025-08-23T22:06:25.699Z,1755986785.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.002837 target range: 17.591936 and range: 17.70 m.
2025-08-23T22:06:25.843Z,1755986785.843 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.723269
2025-08-23T22:06:26.099Z,1755986786.099 [DAT](INFO): DAT read: Rx Time:22:06:25.4613
2025-08-23T22:06:26.100Z,1755986786.100 [DAT](INFO): Rx dataTimestamp_ set to:1755986786.099097
2025-08-23T22:06:26.104Z,1755986786.104 [DAT](INFO): DAT read: Bearing 35.8, 17.2 (Local)
2025-08-23T22:06:26.104Z,1755986786.104 [DAT](INFO): Local bearing/azimuth received:
Bearing 35.8, 17.2 (Local)
2025-08-23T22:06:26.106Z,1755986786.106 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.5
2025-08-23T22:06:26.115Z,1755986786.115 [DAT](INFO): DAT read: 22:06:25.4613 LVL= 25200, 23953, 16850, 32755, AGC= 53, IDX= 499, 0.06,-0.197,-2.011,-0.221,-0.429, PHS= 0.334,-1.537, 0.164, RAW= 145.3, 11.6, CAL= 144.9, 12.6, ROT= 5.1, -12.6
2025-08-23T22:06:26.117Z,1755986786.117 [DAT](INFO): got valid direction response:
22:06:25.4613 LVL= 25200, 23953, 16850, 32755, AGC= 53, IDX= 499, 0.06,-0.197,-2.011,-0.221,-0.429, PHS= 0.334,-1.537, 0.164, RAW= 145.3, 11.6, CAL= 144.9, 12.6, ROT= 5.1, -12.6
2025-08-23T22:06:26.117Z,1755986786.117 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-23T22:06:26.118Z,1755986786.118 [DAT](INFO): direction in FSK: [0.972053,0.086753,0.218143]
2025-08-23T22:06:26.118Z,1755986786.118 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:26.122Z,1755986786.122 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.002317
2025-08-23T22:06:26.183Z,1755986786.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.400000 m,
deltaT: 0.507765 s,
deltaX: -0.300001 m,
approachRate: -0.590827 m/s,
rangeRepo size: 4
2025-08-23T22:06:26.190Z,1755986786.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.293791 m,
bearing: 238.001139 deg,
lat: 36.779411 deg,
lon: -121.859587 deg,
deltaT: 0.507765 s,
deltaX: -0.298145 m,
approachRate: -0.587172 m/s,
posRepo size: 4
2025-08-23T22:06:26.191Z,1755986786.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-23T22:06:26.200Z,1755986786.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.293791 m,
nav range: 15.590685 m,
bearing: 239.205392 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.214233 deg/s,
cmd heading: 229.345649 deg,
new cmd heading: 229.137342 deg.
2025-08-23T22:06:26.201Z,1755986786.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.999201 target range: 17.293791 and range: 17.40 m.
2025-08-23T22:06:26.348Z,1755986786.348 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.228506
2025-08-23T22:06:26.599Z,1755986786.599 [DAT](INFO): DAT read: Rx Time:22:06:25.9610
2025-08-23T22:06:26.600Z,1755986786.600 [DAT](INFO): Rx dataTimestamp_ set to:1755986786.599348
2025-08-23T22:06:26.601Z,1755986786.601 [DAT](INFO): DAT read: Bearing 35.1, 16.7 (Local)
2025-08-23T22:06:26.601Z,1755986786.601 [DAT](INFO): Local bearing/azimuth received:
Bearing 35.1, 16.7 (Local)
2025-08-23T22:06:26.603Z,1755986786.603 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.5
2025-08-23T22:06:26.608Z,1755986786.608 [DAT](INFO): DAT read: 22:06:25.9610 LVL= 22560, 27121, 17858, 32755, AGC= 52, IDX= 496, 0.17,-1.777, 2.736,-1.776,-2.006, PHS= 0.331,-1.496, 0.186, RAW= 145.9, 11.1, CAL= 145.5, 12.1, ROT= 4.5, -12.1
2025-08-23T22:06:26.609Z,1755986786.609 [DAT](INFO): got valid direction response:
22:06:25.9610 LVL= 22560, 27121, 17858, 32755, AGC= 52, IDX= 496, 0.17,-1.777, 2.736,-1.776,-2.006, PHS= 0.331,-1.496, 0.186, RAW= 145.9, 11.1, CAL= 145.5, 12.1, ROT= 4.5, -12.1
2025-08-23T22:06:26.609Z,1755986786.609 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-23T22:06:26.610Z,1755986786.610 [DAT](INFO): direction in FSK: [0.974769,0.076716,0.209619]
2025-08-23T22:06:26.611Z,1755986786.611 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:26.618Z,1755986786.618 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.498646
2025-08-23T22:06:26.686Z,1755986786.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.000000 m,
deltaT: 0.500251 s,
deltaX: -0.400000 m,
approachRate: -0.799598 m/s,
rangeRepo size: 4
2025-08-23T22:06:26.688Z,1755986786.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.896233 m,
bearing: 237.200097 deg,
lat: 36.779411 deg,
lon: -121.859587 deg,
deltaT: 0.500251 s,
deltaX: -0.397558 m,
approachRate: -0.794717 m/s,
posRepo size: 4
2025-08-23T22:06:26.689Z,1755986786.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m.
2025-08-23T22:06:26.700Z,1755986786.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.896233 m,
nav range: 15.302281 m,
bearing: 238.878502 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.214233 deg/s,
cmd heading: 229.137342 deg,
new cmd heading: 228.920268 deg.
2025-08-23T22:06:26.701Z,1755986786.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.995412 target range: 16.896233 and range: 17.00 m.
2025-08-23T22:06:26.852Z,1755986786.852 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.731928
2025-08-23T22:06:27.045Z,1755986787.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:06:27.052Z,1755986787.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m.
2025-08-23T22:06:27.068Z,1755986787.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.896233 m,
nav range: 15.044652 m,
bearing: 238.747715 deg,
approach rate: -0.685759 m/s,
LOS rate: -0.354090 deg/s,
cmd heading: 228.920265 deg,
new cmd heading: 228.654214 deg.
2025-08-23T22:06:27.077Z,1755986787.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.990769 target range: 16.896233 and range: 17.00 m.
2025-08-23T22:06:27.107Z,1755986787.107 [DAT](INFO): DAT read: Rx Time:22:06:26.4609
2025-08-23T22:06:27.109Z,1755986787.109 [DAT](INFO): Rx dataTimestamp_ set to:1755986787.107677
2025-08-23T22:06:27.113Z,1755986787.113 [DAT](INFO): DAT read: Bearing 35.0, 16.4 (Local)
2025-08-23T22:06:27.128Z,1755986787.128 [DAT](INFO): Local bearing/azimuth received:
Bearing 35.0, 16.4 (Local)
2025-08-23T22:06:27.150Z,1755986787.150 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.5
2025-08-23T22:06:27.167Z,1755986787.167 [DAT](INFO): DAT read: 22:06:26.4609 LVL= 25328, 27345, 17650, 32755, AGC= 53, IDX= 511, 0.28,-0.820,-2.610,-0.809,-1.045, PHS= 0.327,-1.520, 0.192, RAW= 146.2, 11.2, CAL= 145.9, 12.3, ROT= 4.1, -12.3
2025-08-23T22:06:27.168Z,1755986787.168 [DAT](INFO): got valid direction response:
22:06:26.4609 LVL= 25328, 27345, 17650, 32755, AGC= 53, IDX= 511, 0.28,-0.820,-2.610,-0.809,-1.045, PHS= 0.327,-1.520, 0.192, RAW= 146.2, 11.2, CAL= 145.9, 12.3, ROT= 4.1, -12.3
2025-08-23T22:06:27.168Z,1755986787.168 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-23T22:06:27.169Z,1755986787.169 [DAT](INFO): direction in FSK: [0.974545,0.069856,0.213030]
2025-08-23T22:06:27.180Z,1755986787.180 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:27.201Z,1755986787.201 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.081079
2025-08-23T22:06:27.356Z,1755986787.356 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.235977
2025-08-23T22:06:27.563Z,1755986787.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.799999 m,
deltaT: 0.508329 s,
deltaX: -0.200001 m,
approachRate: -0.393447 m/s,
rangeRepo size: 4
2025-08-23T22:06:27.565Z,1755986787.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.697474 m,
bearing: 236.390672 deg,
lat: 36.779408 deg,
lon: -121.859587 deg,
deltaT: 0.508329 s,
deltaX: -0.198759 m,
approachRate: -0.391005 m/s,
posRepo size: 4
2025-08-23T22:06:27.566Z,1755986787.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-23T22:06:27.568Z,1755986787.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.697474 m,
nav range: 14.880806 m,
bearing: 237.629446 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.354090 deg/s,
cmd heading: 228.654216 deg,
new cmd heading: 228.292956 deg.
2025-08-23T22:06:27.569Z,1755986787.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.984464 target range: 16.697474 and range: 16.80 m.
2025-08-23T22:06:27.607Z,1755986787.607 [DAT](INFO): DAT read: Rx Time:22:06:26.9606
2025-08-23T22:06:27.608Z,1755986787.608 [DAT](INFO): Rx dataTimestamp_ set to:1755986787.607412
2025-08-23T22:06:27.609Z,1755986787.609 [DAT](INFO): DAT read: Bearing 35.3, 16.0 (Local)
2025-08-23T22:06:27.609Z,1755986787.609 [DAT](INFO): Local bearing/azimuth received:
Bearing 35.3, 16.0 (Local)
2025-08-23T22:06:27.612Z,1755986787.612 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.5
2025-08-23T22:06:27.619Z,1755986787.619 [DAT](INFO): DAT read: 22:06:26.9606 LVL= 26160, 27297, 18034, 32755, AGC= 53, IDX= 508, 0.40,-2.210, 2.296,-2.184,-2.414, PHS= 0.305,-1.529, 0.185, RAW= 146.6, 11.7, CAL= 146.3, 12.8, ROT= 3.7, -12.8
2025-08-23T22:06:27.620Z,1755986787.620 [DAT](INFO): got valid direction response:
22:06:26.9606 LVL= 26160, 27297, 18034, 32755, AGC= 53, IDX= 508, 0.40,-2.210, 2.296,-2.184,-2.414, PHS= 0.305,-1.529, 0.185, RAW= 146.6, 11.7, CAL= 146.3, 12.8, ROT= 3.7, -12.8
2025-08-23T22:06:27.621Z,1755986787.621 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-23T22:06:27.627Z,1755986787.627 [DAT](INFO): direction in FSK: [0.973117,0.062929,0.221548]
2025-08-23T22:06:27.627Z,1755986787.627 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:27.635Z,1755986787.635 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.514875
2025-08-23T22:06:27.860Z,1755986787.860 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.739801
2025-08-23T22:06:28.116Z,1755986788.116 [DAT](INFO): DAT read: Rx Time:22:06:27.4606
2025-08-23T22:06:28.135Z,1755986788.135 [DAT](INFO): Rx dataTimestamp_ set to:1755986788.116789
2025-08-23T22:06:28.136Z,1755986788.136 [DAT](INFO): DAT read: Bearing 35.9, 15.5 (Local)
2025-08-23T22:06:28.137Z,1755986788.137 [DAT](INFO): Local bearing/azimuth received:
Bearing 35.9, 15.5 (Local)
2025-08-23T22:06:28.139Z,1755986788.139 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.5
2025-08-23T22:06:28.143Z,1755986788.143 [DAT](INFO): DAT read: 22:06:27.4606 LVL= 23232, 28705, 16530, 32755, AGC= 52, IDX= 508,-0.40,-2.706, 1.899,-2.655,-2.862, PHS= 0.258,-1.477, 0.162, RAW= 147.2, 12.5, CAL= 147.0, 13.7, ROT= 3.0, -13.7
2025-08-23T22:06:28.144Z,1755986788.144 [DAT](INFO): got valid direction response:
22:06:27.4606 LVL= 23232, 28705, 16530, 32755, AGC= 52, IDX= 508,-0.40,-2.706, 1.899,-2.655,-2.862, PHS= 0.258,-1.477, 0.162, RAW= 147.2, 12.5, CAL= 147.0, 13.7, ROT= 3.0, -13.7
2025-08-23T22:06:28.145Z,1755986788.145 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-23T22:06:28.147Z,1755986788.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.400000 m,
deltaT: 0.499735 s,
deltaX: -0.400000 m,
approachRate: -0.800423 m/s,
rangeRepo size: 4
2025-08-23T22:06:28.149Z,1755986788.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.299915 m,
bearing: 235.584690 deg,
lat: 36.779407 deg,
lon: -121.859586 deg,
deltaT: 0.499735 s,
deltaX: -0.397558 m,
approachRate: -0.795538 m/s,
posRepo size: 4
2025-08-23T22:06:28.154Z,1755986788.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-23T22:06:28.157Z,1755986788.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.299915 m,
nav range: 14.586071 m,
bearing: 236.806517 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.354090 deg/s,
cmd heading: 228.292953 deg,
new cmd heading: 227.878948 deg.
2025-08-23T22:06:28.162Z,1755986788.162 [DAT](INFO): direction in FSK: [0.970218,0.050847,0.236838]
2025-08-23T22:06:28.162Z,1755986788.162 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:28.167Z,1755986788.167 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.047016
2025-08-23T22:06:28.166Z,1755986788.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.977238 target range: 16.299915 and range: 16.40 m.
2025-08-23T22:06:28.365Z,1755986788.365 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.245312
2025-08-23T22:06:28.615Z,1755986788.615 [DAT](INFO): DAT read: Rx Time:22:06:27.9603
2025-08-23T22:06:28.615Z,1755986788.615 [DAT](INFO): Rx dataTimestamp_ set to:1755986788.615139
2025-08-23T22:06:28.617Z,1755986788.617 [DAT](INFO): DAT read: Bearing 36.1, 14.8 (Local)
2025-08-23T22:06:28.617Z,1755986788.617 [DAT](INFO): Local bearing/azimuth received:
Bearing 36.1, 14.8 (Local)
2025-08-23T22:06:28.619Z,1755986788.619 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.5
2025-08-23T22:06:28.623Z,1755986788.623 [DAT](INFO): DAT read: 22:06:27.9603 LVL= 23536, 28097, 17234, 32755, AGC= 52, IDX= 505,-0.27, 2.026, 0.373, 2.098, 1.892, PHS= 0.237,-1.474, 0.163, RAW= 147.8, 12.8, CAL= 147.7, 14.1, ROT= 2.3, -14.1
2025-08-23T22:06:28.624Z,1755986788.624 [DAT](INFO): got valid direction response:
22:06:27.9603 LVL= 23536, 28097, 17234, 32755, AGC= 52, IDX= 505,-0.27, 2.026, 0.373, 2.098, 1.892, PHS= 0.237,-1.474, 0.163, RAW= 147.8, 12.8, CAL= 147.7, 14.1, ROT= 2.3, -14.1
2025-08-23T22:06:28.625Z,1755986788.625 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-23T22:06:28.626Z,1755986788.626 [DAT](INFO): direction in FSK: [0.969091,0.038923,0.243615]
2025-08-23T22:06:28.626Z,1755986788.626 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:28.630Z,1755986788.630 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.510021
2025-08-23T22:06:28.758Z,1755986788.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 1.007727 s,
deltaX: -0.500000 m,
approachRate: -0.496166 m/s,
rangeRepo size: 4
2025-08-23T22:06:28.760Z,1755986788.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.802958 m,
bearing: 233.881147 deg,
lat: 36.779404 deg,
lon: -121.859586 deg,
deltaT: 1.007727 s,
deltaX: -0.496957 m,
approachRate: -0.493146 m/s,
posRepo size: 4
2025-08-23T22:06:28.761Z,1755986788.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-23T22:06:28.768Z,1755986788.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.802958 m,
nav range: 14.295049 m,
bearing: 235.455457 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.354090 deg/s,
cmd heading: 227.878948 deg,
new cmd heading: 227.455157 deg.
2025-08-23T22:06:28.769Z,1755986788.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.969841 target range: 15.802958 and range: 15.90 m.
2025-08-23T22:06:28.867Z,1755986788.867 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.746948
2025-08-23T22:06:29.140Z,1755986789.140 [DAT](INFO): DAT read: Rx Time:22:06:28.4602
2025-08-23T22:06:29.144Z,1755986789.144 [DAT](INFO): Rx dataTimestamp_ set to:1755986789.140665
2025-08-23T22:06:29.159Z,1755986789.159 [DAT](INFO): DAT read: Bearing 36.1, 13.9 (Local)
2025-08-23T22:06:29.160Z,1755986789.160 [DAT](INFO): Local bearing/azimuth received:
Bearing 36.1, 13.9 (Local)
2025-08-23T22:06:29.168Z,1755986789.168 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.5
2025-08-23T22:06:29.183Z,1755986789.183 [DAT](INFO): DAT read: 22:06:28.4602 LVL= 24048, 28657, 17842, 32755, AGC= 52, IDX= 504,-0.17, 2.735, 1.124, 2.840, 2.626, PHS= 0.211,-1.457, 0.170, RAW= 148.8, 13.0, CAL= 148.7, 14.3, ROT= 1.3, -14.3
2025-08-23T22:06:29.185Z,1755986789.185 [DAT](INFO): got valid direction response:
22:06:28.4602 LVL= 24048, 28657, 17842, 32755, AGC= 52, IDX= 504,-0.17, 2.735, 1.124, 2.840, 2.626, PHS= 0.211,-1.457, 0.170, RAW= 148.8, 13.0, CAL= 148.7, 14.3, ROT= 1.3, -14.3
2025-08-23T22:06:29.185Z,1755986789.185 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-23T22:06:29.195Z,1755986789.195 [DAT](INFO): direction in FSK: [0.968766,0.021984,0.246999]
2025-08-23T22:06:29.195Z,1755986789.195 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:29.236Z,1755986789.236 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.116083
2025-08-23T22:06:29.371Z,1755986789.371 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.251009
2025-08-23T22:06:29.390Z,1755986789.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.525526 s,
deltaX: -0.099999 m,
approachRate: -0.190284 m/s,
rangeRepo size: 4
2025-08-23T22:06:29.392Z,1755986789.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.703544 m,
bearing: 232.398852 deg,
lat: 36.779404 deg,
lon: -121.859585 deg,
deltaT: 0.525526 s,
deltaX: -0.099415 m,
approachRate: -0.189172 m/s,
posRepo size: 4
2025-08-23T22:06:29.393Z,1755986789.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:06:29.400Z,1755986789.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.703544 m,
nav range: 13.894325 m,
bearing: 234.846002 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.354090 deg/s,
cmd heading: 227.455162 deg,
new cmd heading: 227.001810 deg.
2025-08-23T22:06:29.400Z,1755986789.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.961929 target range: 15.703544 and range: 15.80 m.
2025-08-23T22:06:29.624Z,1755986789.624 [DAT](INFO): DAT read: Rx Time:22:06:28.9599
2025-08-23T22:06:29.625Z,1755986789.625 [DAT](INFO): Rx dataTimestamp_ set to:1755986789.624296
2025-08-23T22:06:29.627Z,1755986789.627 [DAT](INFO): DAT read: Bearing 35.7, 12.6 (Local)
2025-08-23T22:06:29.627Z,1755986789.627 [DAT](INFO): Local bearing/azimuth received:
Bearing 35.7, 12.6 (Local)
2025-08-23T22:06:29.630Z,1755986789.630 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.6
2025-08-23T22:06:29.635Z,1755986789.635 [DAT](INFO): DAT read: 22:06:28.9599 LVL= 24656, 27873, 17394, 32531, AGC= 51, IDX= 501,-0.10, 1.698, 0.106, 1.846, 1.609, PHS= 0.191,-1.459, 0.193, RAW= 150.1, 13.0, CAL= 150.1, 14.4, ROT= 359.9, -14.4
2025-08-23T22:06:29.636Z,1755986789.636 [DAT](INFO): got valid direction response:
22:06:28.9599 LVL= 24656, 27873, 17394, 32531, AGC= 51, IDX= 501,-0.10, 1.698, 0.106, 1.846, 1.609, PHS= 0.191,-1.459, 0.193, RAW= 150.1, 13.0, CAL= 150.1, 14.4, ROT= 359.9, -14.4
2025-08-23T22:06:29.637Z,1755986789.637 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-23T22:06:29.638Z,1755986789.638 [DAT](INFO): direction in FSK: [0.968582,-0.001691,0.248690]
2025-08-23T22:06:29.639Z,1755986789.639 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:29.642Z,1755986789.642 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.522556
2025-08-23T22:06:29.795Z,1755986789.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 0.483631 s,
deltaX: -0.500000 m,
approachRate: -1.033846 m/s,
rangeRepo size: 4
2025-08-23T22:06:29.797Z,1755986789.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.206596 m,
bearing: 230.706284 deg,
lat: 36.779402 deg,
lon: -121.859582 deg,
deltaT: 0.483631 s,
deltaX: -0.496947 m,
approachRate: -1.027534 m/s,
posRepo size: 4
2025-08-23T22:06:29.802Z,1755986789.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-08-23T22:06:29.804Z,1755986789.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.206596 m,
nav range: 13.515180 m,
bearing: 233.405419 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.354090 deg/s,
cmd heading: 227.001815 deg,
new cmd heading: 226.712003 deg.
2025-08-23T22:06:29.813Z,1755986789.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.956871 target range: 15.206596 and range: 15.30 m.
2025-08-23T22:06:29.875Z,1755986789.875 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.755548
2025-08-23T22:06:30.131Z,1755986790.131 [DAT](INFO): DAT read: Rx Time:22:06:29.4597
2025-08-23T22:06:30.133Z,1755986790.133 [DAT](INFO): Rx dataTimestamp_ set to:1755986790.132019
2025-08-23T22:06:30.137Z,1755986790.137 [DAT](INFO): DAT read: Bearing 35.7, 12.5 (Local)
2025-08-23T22:06:30.138Z,1755986790.138 [DAT](INFO): Local bearing/azimuth received:
Bearing 35.7, 12.5 (Local)
2025-08-23T22:06:30.158Z,1755986790.158 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.5
2025-08-23T22:06:30.206Z,1755986790.206 [DAT](INFO): DAT read: 22:06:29.4597 LVL= 23168, 26865, 17234, 32755, AGC= 52, IDX= 499,-0.07, 2.328, 0.723, 2.480, 2.244, PHS= 0.186,-1.476, 0.192, RAW= 150.2, 13.1, CAL= 150.2, 14.6, ROT= 359.8, -14.6
2025-08-23T22:06:30.207Z,1755986790.207 [DAT](INFO): got valid direction response:
22:06:29.4597 LVL= 23168, 26865, 17234, 32755, AGC= 52, IDX= 499,-0.07, 2.328, 0.723, 2.480, 2.244, PHS= 0.186,-1.476, 0.192, RAW= 150.2, 13.1, CAL= 150.2, 14.6, ROT= 359.8, -14.6
2025-08-23T22:06:30.208Z,1755986790.208 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-23T22:06:30.209Z,1755986790.209 [DAT](INFO): direction in FSK: [0.967703,-0.003378,0.252069]
2025-08-23T22:06:30.230Z,1755986790.230 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:30.233Z,1755986790.233 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.113413
2025-08-23T22:06:30.351Z,1755986790.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.000000 m,
deltaT: 0.507723 s,
deltaX: -0.300000 m,
approachRate: -0.590874 m/s,
rangeRepo size: 4
2025-08-23T22:06:30.358Z,1755986790.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.908439 m,
bearing: 230.347118 deg,
lat: 36.779399 deg,
lon: -121.859582 deg,
deltaT: 0.507723 s,
deltaX: -0.298158 m,
approachRate: -0.587245 m/s,
posRepo size: 4
2025-08-23T22:06:30.359Z,1755986790.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-08-23T22:06:30.366Z,1755986790.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.908439 m,
nav range: 13.353414 m,
bearing: 231.635579 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.354090 deg/s,
cmd heading: 226.712010 deg,
new cmd heading: 226.322682 deg.
2025-08-23T22:06:30.367Z,1755986790.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.950076 target range: 14.908439 and range: 15.00 m.
2025-08-23T22:06:30.379Z,1755986790.379 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.258875
2025-08-23T22:06:30.631Z,1755986790.631 [DAT](INFO): DAT read: Rx Time:22:06:29.9594
2025-08-23T22:06:30.632Z,1755986790.632 [DAT](INFO): Rx dataTimestamp_ set to:1755986790.631296
2025-08-23T22:06:30.633Z,1755986790.633 [DAT](INFO): DAT read: Bearing 34.3, 11.4 (Local)
2025-08-23T22:06:30.633Z,1755986790.633 [DAT](INFO): Local bearing/azimuth received:
Bearing 34.3, 11.4 (Local)
2025-08-23T22:06:30.635Z,1755986790.635 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.5
2025-08-23T22:06:30.640Z,1755986790.640 [DAT](INFO): DAT read: 22:06:29.9594 LVL= 23184, 27889, 17506, 32755, AGC= 52, IDX= 496,-0.03, 0.967,-0.610, 1.161, 0.879, PHS= 0.190,-1.444, 0.238, RAW= 151.4, 12.2, CAL= 151.4, 13.5, ROT= 358.6, -13.5
2025-08-23T22:06:30.641Z,1755986790.641 [DAT](INFO): got valid direction response:
22:06:29.9594 LVL= 23184, 27889, 17506, 32755, AGC= 52, IDX= 496,-0.03, 0.967,-0.610, 1.161, 0.879, PHS= 0.190,-1.444, 0.238, RAW= 151.4, 12.2, CAL= 151.4, 13.5, ROT= 358.6, -13.5
2025-08-23T22:06:30.641Z,1755986790.641 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-23T22:06:30.642Z,1755986790.642 [DAT](INFO): direction in FSK: [0.972080,-0.023757,0.233445]
2025-08-23T22:06:30.642Z,1755986790.642 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:30.648Z,1755986790.648 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=31.528694
2025-08-23T22:06:30.801Z,1755986790.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.600000 m,
deltaT: 0.499277 s,
deltaX: -0.400000 m,
approachRate: -0.801158 m/s,
rangeRepo size: 4
2025-08-23T22:06:30.807Z,1755986790.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.510880 m,
bearing: 229.059172 deg,
lat: 36.779397 deg,
lon: -121.859579 deg,
deltaT: 0.499277 s,
deltaX: -0.397558 m,
approachRate: -0.796268 m/s,
posRepo size: 4
2025-08-23T22:06:30.808Z,1755986790.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-08-23T22:06:30.815Z,1755986790.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.510880 m,
nav range: 12.943181 m,
bearing: 230.090438 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.354090 deg/s,
cmd heading: 226.322676 deg,
new cmd heading: 225.999628 deg.
2025-08-23T22:06:30.816Z,1755986790.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.944438 target range: 14.510880 and range: 14.60 m.
2025-08-23T22:06:30.883Z,1755986790.884 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=31.763762
2025-08-23T22:06:31.105Z,1755986791.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:06:31.108Z,1755986791.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-08-23T22:06:31.117Z,1755986791.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.510880 m,
nav range: 12.744532 m,
bearing: 229.852932 deg,
approach rate: -0.646311 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 225.999622 deg,
new cmd heading: 225.517218 deg.
2025-08-23T22:06:31.123Z,1755986791.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.936018 target range: 14.510880 and range: 14.60 m.
2025-08-23T22:06:31.140Z,1755986791.140 [DAT](INFO): DAT read: Rx Time:22:06:30.4593
2025-08-23T22:06:31.141Z,1755986791.141 [DAT](INFO): Rx dataTimestamp_ set to:1755986791.140100
2025-08-23T22:06:31.161Z,1755986791.161 [DAT](INFO): DAT read: Bearing 33.7, 11.4 (Local)
2025-08-23T22:06:31.162Z,1755986791.162 [DAT](INFO): Local bearing/azimuth received:
Bearing 33.7, 11.4 (Local)
2025-08-23T22:06:31.184Z,1755986791.184 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.5
2025-08-23T22:06:31.213Z,1755986791.213 [DAT](INFO): DAT read: 22:06:30.4593 LVL= 22864, 28033, 17650, 32755, AGC= 51, IDX= 511,-0.01, 2.508, 0.910, 2.707, 2.411, PHS= 0.199,-1.456, 0.252, RAW= 151.6, 11.9, CAL= 151.5, 13.2, ROT= 358.5, -13.2
2025-08-23T22:06:31.238Z,1755986791.238 [DAT](INFO): got valid direction response:
22:06:30.4593 LVL= 22864, 28033, 17650, 32755, AGC= 51, IDX= 511,-0.01, 2.508, 0.910, 2.707, 2.411, PHS= 0.199,-1.456, 0.252, RAW= 151.6, 11.9, CAL= 151.5, 13.2, ROT= 358.5, -13.2
2025-08-23T22:06:31.238Z,1755986791.238 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-23T22:06:31.239Z,1755986791.239 [DAT](INFO): direction in FSK: [0.973245,-0.025485,0.228351]
2025-08-23T22:06:31.240Z,1755986791.240 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:31.252Z,1755986791.252 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.132565
2025-08-23T22:06:31.387Z,1755986791.387 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.267014
2025-08-23T22:06:31.580Z,1755986791.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 0.508804 s,
deltaX: -0.200001 m,
approachRate: -0.393080 m/s,
rangeRepo size: 4
2025-08-23T22:06:31.582Z,1755986791.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.312128 m,
bearing: 228.264644 deg,
lat: 36.779397 deg,
lon: -121.859579 deg,
deltaT: 0.508804 s,
deltaX: -0.198752 m,
approachRate: -0.390627 m/s,
posRepo size: 4
2025-08-23T22:06:31.583Z,1755986791.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-08-23T22:06:31.586Z,1755986791.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.312128 m,
nav range: 12.466578 m,
bearing: 229.405773 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 225.517219 deg,
new cmd heading: 224.777050 deg.
2025-08-23T22:06:31.587Z,1755986791.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.923100 target range: 14.312128 and range: 14.40 m.
2025-08-23T22:06:31.640Z,1755986791.640 [DAT](INFO): DAT read: Rx Time:22:06:30.9590
2025-08-23T22:06:31.641Z,1755986791.641 [DAT](INFO): Rx dataTimestamp_ set to:1755986791.640401
2025-08-23T22:06:31.643Z,1755986791.643 [DAT](INFO): DAT read: Bearing 33.7, 11.2 (Local)
2025-08-23T22:06:31.643Z,1755986791.643 [DAT](INFO): Local bearing/azimuth received:
Bearing 33.7, 11.2 (Local)
2025-08-23T22:06:31.651Z,1755986791.651 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.6
2025-08-23T22:06:31.660Z,1755986791.660 [DAT](INFO): DAT read: 22:06:30.9590 LVL= 22464, 25681, 17810, 32755, AGC= 51, IDX= 508,-0.02, 1.580,-0.029, 1.785, 1.489, PHS= 0.193,-1.472, 0.252, RAW= 151.7, 12.1, CAL= 151.7, 13.4, ROT= 358.3, -13.4
2025-08-23T22:06:31.667Z,1755986791.667 [DAT](INFO): got valid direction response:
22:06:30.9590 LVL= 22464, 25681, 17810, 32755, AGC= 51, IDX= 508,-0.02, 1.580,-0.029, 1.785, 1.489, PHS= 0.193,-1.472, 0.252, RAW= 151.7, 12.1, CAL= 151.7, 13.4, ROT= 358.3, -13.4
2025-08-23T22:06:31.668Z,1755986791.668 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-23T22:06:31.674Z,1755986791.674 [DAT](INFO): direction in FSK: [0.972348,-0.028859,0.231748]
2025-08-23T22:06:31.674Z,1755986791.674 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:31.686Z,1755986791.686 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=32.566280
2025-08-23T22:06:31.891Z,1755986791.891 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=32.770939
2025-08-23T22:06:31.972Z,1755986791.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.000000 m,
deltaT: 0.500301 s,
deltaX: -0.400000 m,
approachRate: -0.799518 m/s,
rangeRepo size: 4
2025-08-23T22:06:31.988Z,1755986791.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.914569 m,
bearing: 227.532563 deg,
lat: 36.779395 deg,
lon: -121.859579 deg,
deltaT: 0.500301 s,
deltaX: -0.397559 m,
approachRate: -0.794640 m/s,
posRepo size: 4
2025-08-23T22:06:31.995Z,1755986791.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:06:32.020Z,1755986792.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.914569 m,
nav range: 12.342353 m,
bearing: 228.306185 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 224.777045 deg,
new cmd heading: 224.161723 deg.
2025-08-23T22:06:32.028Z,1755986792.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.912360 target range: 13.914569 and range: 14.00 m.
2025-08-23T22:06:32.147Z,1755986792.147 [DAT](INFO): DAT read: Rx Time:22:06:31.4589
2025-08-23T22:06:32.149Z,1755986792.149 [DAT](INFO): Rx dataTimestamp_ set to:1755986792.147925
2025-08-23T22:06:32.180Z,1755986792.180 [DAT](INFO): DAT read: Bearing 32.5, 11.3 (Local)
2025-08-23T22:06:32.196Z,1755986792.196 [DAT](INFO): Local bearing/azimuth received:
Bearing 32.5, 11.3 (Local)
2025-08-23T22:06:32.199Z,1755986792.199 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.5
2025-08-23T22:06:32.217Z,1755986792.217 [DAT](INFO): DAT read: 22:06:31.4589 LVL= 22320, 25697, 19250, 32755, AGC= 51, IDX= 507,-0.04, 2.961, 1.328,-3.113, 2.845, PHS= 0.218,-1.472, 0.281, RAW= 151.8, 11.3, CAL= 151.7, 12.4, ROT= 358.3, -12.4
2025-08-23T22:06:32.223Z,1755986792.223 [DAT](INFO): got valid direction response:
22:06:31.4589 LVL= 22320, 25697, 19250, 32755, AGC= 51, IDX= 507,-0.04, 2.961, 1.328,-3.113, 2.845, PHS= 0.218,-1.472, 0.281, RAW= 151.8, 11.3, CAL= 151.7, 12.4, ROT= 358.3, -12.4
2025-08-23T22:06:32.223Z,1755986792.223 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-23T22:06:32.224Z,1755986792.224 [DAT](INFO): direction in FSK: [0.976242,-0.028975,0.214735]
2025-08-23T22:06:32.224Z,1755986792.224 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:32.229Z,1755986792.229 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.109016
2025-08-23T22:06:32.395Z,1755986792.395 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.274784
2025-08-23T22:06:32.446Z,1755986792.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 0.507524 s,
deltaX: -0.200000 m,
approachRate: -0.394070 m/s,
rangeRepo size: 4
2025-08-23T22:06:32.448Z,1755986792.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.715799 m,
bearing: 227.323166 deg,
lat: 36.779393 deg,
lon: -121.859579 deg,
deltaT: 0.507524 s,
deltaX: -0.198770 m,
approachRate: -0.391646 m/s,
posRepo size: 4
2025-08-23T22:06:32.449Z,1755986792.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-08-23T22:06:32.459Z,1755986792.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.715799 m,
nav range: 12.229618 m,
bearing: 227.225402 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 224.161727 deg,
new cmd heading: 223.418790 deg.
2025-08-23T22:06:32.460Z,1755986792.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.899394 target range: 13.715799 and range: 13.80 m.
2025-08-23T22:06:32.647Z,1755986792.647 [DAT](INFO): DAT read: Rx Time:22:06:31.9586
2025-08-23T22:06:32.648Z,1755986792.648 [DAT](INFO): Rx dataTimestamp_ set to:1755986792.647477
2025-08-23T22:06:32.649Z,1755986792.649 [DAT](INFO): DAT read: Bearing 28.2, 12.0 (Local)
2025-08-23T22:06:32.650Z,1755986792.650 [DAT](INFO): Local bearing/azimuth received:
Bearing 28.2, 12.0 (Local)
2025-08-23T22:06:32.652Z,1755986792.652 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.6
2025-08-23T22:06:32.656Z,1755986792.656 [DAT](INFO): DAT read: 22:06:31.9586 LVL= 21312, 31521, 18802, 32755, AGC= 51, IDX= 504,-0.05, 2.194, 0.450, 2.403, 1.958, PHS= 0.338,-1.463, 0.401, RAW= 151.7, 7.9, CAL= 151.2, 8.5, ROT= 358.8, -8.5
2025-08-23T22:06:32.657Z,1755986792.657 [DAT](INFO): got valid direction response:
22:06:31.9586 LVL= 21312, 31521, 18802, 32755, AGC= 51, IDX= 504,-0.05, 2.194, 0.450, 2.403, 1.958, PHS= 0.338,-1.463, 0.401, RAW= 151.7, 7.9, CAL= 151.2, 8.5, ROT= 358.8, -8.5
2025-08-23T22:06:32.658Z,1755986792.658 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-23T22:06:32.659Z,1755986792.659 [DAT](INFO): direction in FSK: [0.988799,-0.020712,0.147809]
2025-08-23T22:06:32.659Z,1755986792.659 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:32.663Z,1755986792.663 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=33.543407
2025-08-23T22:06:32.899Z,1755986792.899 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=33.779224
2025-08-23T22:06:33.120Z,1755986793.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.400000 m,
deltaT: 0.499552 s,
deltaX: -0.400001 m,
approachRate: -0.800719 m/s,
rangeRepo size: 4
2025-08-23T22:06:33.122Z,1755986793.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.318240 m,
bearing: 227.710875 deg,
lat: 36.779393 deg,
lon: -121.859580 deg,
deltaT: 0.499552 s,
deltaX: -0.397559 m,
approachRate: -0.795831 m/s,
posRepo size: 4
2025-08-23T22:06:33.123Z,1755986793.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m.
2025-08-23T22:06:33.126Z,1755986793.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.318240 m,
nav range: 11.935333 m,
bearing: 226.984377 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 223.418794 deg,
new cmd heading: 222.359972 deg.
2025-08-23T22:06:33.127Z,1755986793.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880914 target range: 13.318240 and range: 13.40 m.
2025-08-23T22:06:33.185Z,1755986793.185 [DAT](INFO): DAT read: Rx Time:22:06:32.4585
2025-08-23T22:06:33.187Z,1755986793.187 [DAT](INFO): Rx dataTimestamp_ set to:1755986793.185965
2025-08-23T22:06:33.192Z,1755986793.192 [DAT](INFO): DAT read: Bearing 28.0, 13.3 (Local)
2025-08-23T22:06:33.193Z,1755986793.193 [DAT](INFO): Local bearing/azimuth received:
Bearing 28.0, 13.3 (Local)
2025-08-23T22:06:33.216Z,1755986793.216 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.5
2025-08-23T22:06:33.234Z,1755986793.234 [DAT](INFO): DAT read: 22:06:32.4585 LVL= 23024, 30881, 19698, 32755, AGC= 52, IDX= 503,-0.10,-1.817, 2.635,-1.657,-2.088, PHS= 0.373,-1.515, 0.387, RAW= 150.4, 8.0, CAL= 149.9, 8.6, ROT= 0.1, -8.6
2025-08-23T22:06:33.235Z,1755986793.235 [DAT](INFO): got valid direction response:
22:06:32.4585 LVL= 23024, 30881, 19698, 32755, AGC= 52, IDX= 503,-0.10,-1.817, 2.635,-1.657,-2.088, PHS= 0.373,-1.515, 0.387, RAW= 150.4, 8.0, CAL= 149.9, 8.6, ROT= 0.1, -8.6
2025-08-23T22:06:33.235Z,1755986793.235 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-23T22:06:33.236Z,1755986793.236 [DAT](INFO): direction in FSK: [0.988755,0.001726,0.149535]
2025-08-23T22:06:33.236Z,1755986793.236 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:33.244Z,1755986793.244 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.124290
2025-08-23T22:06:33.431Z,1755986793.431 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.311073
2025-08-23T22:06:33.657Z,1755986793.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.200000 m,
deltaT: 0.538488 s,
deltaX: -0.200000 m,
approachRate: -0.371410 m/s,
rangeRepo size: 4
2025-08-23T22:06:33.663Z,1755986793.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.119429 m,
bearing: 228.563444 deg,
lat: 36.779392 deg,
lon: -121.859581 deg,
deltaT: 0.538488 s,
deltaX: -0.198812 m,
approachRate: -0.369203 m/s,
posRepo size: 4
2025-08-23T22:06:33.664Z,1755986793.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-08-23T22:06:33.671Z,1755986793.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.119429 m,
nav range: 11.682037 m,
bearing: 226.275227 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 222.359978 deg,
new cmd heading: 221.517205 deg.
2025-08-23T22:06:33.672Z,1755986793.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.866205 target range: 13.119429 and range: 13.20 m.
2025-08-23T22:06:33.683Z,1755986793.683 [DAT](INFO): DAT read: Rx Time:22:06:32.9583
2025-08-23T22:06:33.684Z,1755986793.684 [DAT](INFO): Rx dataTimestamp_ set to:1755986793.683428
2025-08-23T22:06:33.685Z,1755986793.685 [DAT](INFO): DAT read: Bearing 28.1, 14.4 (Local)
2025-08-23T22:06:33.685Z,1755986793.685 [DAT](INFO): Local bearing/azimuth received:
Bearing 28.1, 14.4 (Local)
2025-08-23T22:06:33.687Z,1755986793.687 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.5
2025-08-23T22:06:33.692Z,1755986793.692 [DAT](INFO): DAT read: 22:06:32.9583 LVL= 18848, 24369, 16274, 32755, AGC= 51, IDX= 500,-0.15,-1.735, 2.665,-1.622,-2.024, PHS= 0.392,-1.549, 0.358, RAW= 149.1, 8.4, CAL= 148.7, 9.0, ROT= 1.3, -9.0
2025-08-23T22:06:33.693Z,1755986793.693 [DAT](INFO): got valid direction response:
22:06:32.9583 LVL= 18848, 24369, 16274, 32755, AGC= 51, IDX= 500,-0.15,-1.735, 2.665,-1.622,-2.024, PHS= 0.392,-1.549, 0.358, RAW= 149.1, 8.4, CAL= 148.7, 9.0, ROT= 1.3, -9.0
2025-08-23T22:06:33.693Z,1755986793.693 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-23T22:06:33.694Z,1755986793.694 [DAT](INFO): direction in FSK: [0.987434,0.022408,0.156434]
2025-08-23T22:06:33.695Z,1755986793.695 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:33.706Z,1755986793.706 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=34.586555
2025-08-23T22:06:33.935Z,1755986793.935 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=34.814934
2025-08-23T22:06:34.066Z,1755986794.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.800000 m,
deltaT: 0.497463 s,
deltaX: -0.400000 m,
approachRate: -0.804079 m/s,
rangeRepo size: 4
2025-08-23T22:06:34.068Z,1755986794.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.721871 m,
bearing: 229.528008 deg,
lat: 36.779392 deg,
lon: -121.859586 deg,
deltaT: 0.497463 s,
deltaX: -0.397557 m,
approachRate: -0.799169 m/s,
posRepo size: 4
2025-08-23T22:06:34.069Z,1755986794.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m.
2025-08-23T22:06:34.076Z,1755986794.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.721871 m,
nav range: 11.767763 m,
bearing: 227.436967 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 221.517201 deg,
new cmd heading: 220.887861 deg.
2025-08-23T22:06:34.077Z,1755986794.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.855221 target range: 12.721871 and range: 12.80 m.
2025-08-23T22:06:34.191Z,1755986794.191 [DAT](INFO): DAT read: Rx Time:22:06:33.4581
2025-08-23T22:06:34.193Z,1755986794.193 [DAT](INFO): Rx dataTimestamp_ set to:1755986794.192022
2025-08-23T22:06:34.198Z,1755986794.198 [DAT](INFO): DAT read: Bearing 27.2, 16.9 (Local)
2025-08-23T22:06:34.199Z,1755986794.199 [DAT](INFO): Local bearing/azimuth received:
Bearing 27.2, 16.9 (Local)
2025-08-23T22:06:34.222Z,1755986794.222 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.5
2025-08-23T22:06:34.241Z,1755986794.241 [DAT](INFO): DAT read: 22:06:33.4581 LVL= 26720, 32753, 25442, 32755, AGC= 52, IDX= 498,-0.20,-0.141,-2.180,-0.134,-0.523, PHS= 0.484,-1.611, 0.345, RAW= 146.6, 7.8, CAL= 146.1, 8.4, ROT= 3.9, -8.4
2025-08-23T22:06:34.248Z,1755986794.248 [DAT](INFO): got valid direction response:
22:06:33.4581 LVL= 26720, 32753, 25442, 32755, AGC= 52, IDX= 498,-0.20,-0.141,-2.180,-0.134,-0.523, PHS= 0.484,-1.611, 0.345, RAW= 146.6, 7.8, CAL= 146.1, 8.4, ROT= 3.9, -8.4
2025-08-23T22:06:34.248Z,1755986794.248 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-23T22:06:34.274Z,1755986794.274 [DAT](INFO): direction in FSK: [0.986981,0.067286,0.146083]
2025-08-23T22:06:34.274Z,1755986794.274 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:34.287Z,1755986794.287 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.157673
2025-08-23T22:06:34.439Z,1755986794.439 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.319305
2025-08-23T22:06:34.609Z,1755986794.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.508594 s,
deltaX: -0.300000 m,
approachRate: -0.589862 m/s,
rangeRepo size: 4
2025-08-23T22:06:34.611Z,1755986794.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.423630 m,
bearing: 231.988298 deg,
lat: 36.779392 deg,
lon: -121.859589 deg,
deltaT: 0.508594 s,
deltaX: -0.298242 m,
approachRate: -0.586404 m/s,
posRepo size: 4
2025-08-23T22:06:34.612Z,1755986794.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-23T22:06:34.615Z,1755986794.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.423630 m,
nav range: 11.617899 m,
bearing: 227.902911 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 220.887867 deg,
new cmd heading: 220.023170 deg.
2025-08-23T22:06:34.616Z,1755986794.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840129 target range: 12.423630 and range: 12.50 m.
2025-08-23T22:06:34.692Z,1755986794.692 [DAT](INFO): DAT read: Rx Time:22:06:33.9578
2025-08-23T22:06:34.692Z,1755986794.692 [DAT](INFO): Rx dataTimestamp_ set to:1755986794.692192
2025-08-23T22:06:34.694Z,1755986794.694 [DAT](INFO): DAT read: Bearing 28.0, 18.4 (Local)
2025-08-23T22:06:34.695Z,1755986794.695 [DAT](INFO): Local bearing/azimuth received:
Bearing 28.0, 18.4 (Local)
2025-08-23T22:06:34.698Z,1755986794.698 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.5
2025-08-23T22:06:34.703Z,1755986794.703 [DAT](INFO): DAT read: 22:06:33.9578 LVL= 29568, 31089, 27506, 32755, AGC= 52, IDX= 495,-0.18,-0.885,-2.963,-0.942,-1.268, PHS= 0.484,-1.650, 0.282, RAW= 145.1, 8.7, CAL= 144.6, 9.5, ROT= 5.4, -9.5
2025-08-23T22:06:34.704Z,1755986794.704 [DAT](INFO): got valid direction response:
22:06:33.9578 LVL= 29568, 31089, 27506, 32755, AGC= 52, IDX= 495,-0.18,-0.885,-2.963,-0.942,-1.268, PHS= 0.484,-1.650, 0.282, RAW= 145.1, 8.7, CAL= 144.6, 9.5, ROT= 5.4, -9.5
2025-08-23T22:06:34.705Z,1755986794.705 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-23T22:06:34.711Z,1755986794.711 [DAT](INFO): direction in FSK: [0.981908,0.092818,0.165048]
2025-08-23T22:06:34.711Z,1755986794.711 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:34.724Z,1755986794.724 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=35.604588
2025-08-23T22:06:34.943Z,1755986794.943 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=35.822914
2025-08-23T22:06:35.016Z,1755986795.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.500170 s,
deltaX: -0.300000 m,
approachRate: -0.599796 m/s,
rangeRepo size: 4
2025-08-23T22:06:35.031Z,1755986795.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.125463 m,
bearing: 233.303105 deg,
lat: 36.779395 deg,
lon: -121.859589 deg,
deltaT: 0.500170 s,
deltaX: -0.298167 m,
approachRate: -0.596132 m/s,
posRepo size: 4
2025-08-23T22:06:35.032Z,1755986795.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-08-23T22:06:35.046Z,1755986795.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.125463 m,
nav range: 11.243595 m,
bearing: 228.918518 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 220.023165 deg,
new cmd heading: 219.396615 deg.
2025-08-23T22:06:35.047Z,1755986795.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829193 target range: 12.125463 and range: 12.20 m.
2025-08-23T22:06:35.202Z,1755986795.202 [DAT](INFO): DAT read: Rx Time:22:06:34.4577
2025-08-23T22:06:35.203Z,1755986795.203 [DAT](INFO): Rx dataTimestamp_ set to:1755986795.202723
2025-08-23T22:06:35.208Z,1755986795.208 [DAT](INFO): DAT read: Bearing 28.8, 19.8 (Local)
2025-08-23T22:06:35.210Z,1755986795.210 [DAT](INFO): Local bearing/azimuth received:
Bearing 28.8, 19.8 (Local)
2025-08-23T22:06:35.216Z,1755986795.216 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5
2025-08-23T22:06:35.255Z,1755986795.255 [DAT](INFO): DAT read: 22:06:34.4577 LVL= 32656, 32753, 32754, 32755, AGC= 52, IDX= 510,-0.12, 0.943,-1.180, 0.823, 0.561, PHS= 0.484,-1.696, 0.218, RAW= 143.6, 9.7, CAL= 143.1, 10.6, ROT= 6.9, -10.6
2025-08-23T22:06:35.256Z,1755986795.256 [DAT](INFO): got valid direction response:
22:06:34.4577 LVL= 32656, 32753, 32754, 32755, AGC= 52, IDX= 510,-0.12, 0.943,-1.180, 0.823, 0.561, PHS= 0.484,-1.696, 0.218, RAW= 143.6, 9.7, CAL= 143.1, 10.6, ROT= 6.9, -10.6
2025-08-23T22:06:35.257Z,1755986795.257 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-23T22:06:35.262Z,1755986795.262 [DAT](INFO): direction in FSK: [0.975816,0.118087,0.183951]
2025-08-23T22:06:35.262Z,1755986795.262 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:35.271Z,1755986795.271 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.150108
2025-08-23T22:06:35.447Z,1755986795.447 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.326870
2025-08-23T22:06:35.554Z,1755986795.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.510531 s,
deltaX: -0.200000 m,
approachRate: -0.391749 m/s,
rangeRepo size: 4
2025-08-23T22:06:35.556Z,1755986795.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926600 m,
bearing: 234.578562 deg,
lat: 36.779398 deg,
lon: -121.859594 deg,
deltaT: 0.510531 s,
deltaX: -0.198862 m,
approachRate: -0.389520 m/s,
posRepo size: 4
2025-08-23T22:06:35.557Z,1755986795.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:06:35.564Z,1755986795.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.926600 m,
nav range: 11.009395 m,
bearing: 231.563101 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 219.396618 deg,
new cmd heading: 218.558382 deg.
2025-08-23T22:06:35.565Z,1755986795.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.814563 target range: 11.926600 and range: 12.00 m.
2025-08-23T22:06:35.699Z,1755986795.699 [DAT](INFO): DAT read: Rx Time:22:06:34.9574
2025-08-23T22:06:35.700Z,1755986795.700 [DAT](INFO): Rx dataTimestamp_ set to:1755986795.699427
2025-08-23T22:06:35.701Z,1755986795.701 [DAT](INFO): DAT read: Bearing 31.1, 21.9 (Local)
2025-08-23T22:06:35.702Z,1755986795.702 [DAT](INFO): Local bearing/azimuth received:
Bearing 31.1, 21.9 (Local)
2025-08-23T22:06:35.704Z,1755986795.704 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4
2025-08-23T22:06:35.709Z,1755986795.709 [DAT](INFO): DAT read: 22:06:34.9574 LVL= 31056, 30929, 31954, 32755, AGC= 53, IDX= 507,-0.01, 0.823,-1.285, 0.619, 0.487, PHS= 0.438,-1.727, 0.088, RAW= 141.3, 11.9, CAL= 140.7, 12.9, ROT= 9.3, -12.9
2025-08-23T22:06:35.710Z,1755986795.710 [DAT](INFO): got valid direction response:
22:06:34.9574 LVL= 31056, 30929, 31954, 32755, AGC= 53, IDX= 507,-0.01, 0.823,-1.285, 0.619, 0.487, PHS= 0.438,-1.727, 0.088, RAW= 141.3, 11.9, CAL= 140.7, 12.9, ROT= 9.3, -12.9
2025-08-23T22:06:35.711Z,1755986795.711 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-23T22:06:35.711Z,1755986795.711 [DAT](INFO): direction in FSK: [0.961949,0.157525,0.223250]
2025-08-23T22:06:35.712Z,1755986795.712 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:35.735Z,1755986795.735 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=36.615261
2025-08-23T22:06:35.875Z,1755986795.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.496704 s,
deltaX: -0.400000 m,
approachRate: -0.805308 m/s,
rangeRepo size: 4
2025-08-23T22:06:35.877Z,1755986795.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.529048 m,
bearing: 236.845534 deg,
lat: 36.779401 deg,
lon: -121.859595 deg,
deltaT: 0.496704 s,
deltaX: -0.397552 m,
approachRate: -0.800381 m/s,
posRepo size: 4
2025-08-23T22:06:35.881Z,1755986795.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:06:35.885Z,1755986795.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.529048 m,
nav range: 10.652032 m,
bearing: 232.984081 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 218.558376 deg,
new cmd heading: 218.043175 deg.
2025-08-23T22:06:35.891Z,1755986795.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.805571 target range: 11.529048 and range: 11.60 m.
2025-08-23T22:06:35.951Z,1755986795.951 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=36.830921
2025-08-23T22:06:36.211Z,1755986796.211 [DAT](INFO): DAT read: Rx Time:22:06:35.4573
2025-08-23T22:06:36.212Z,1755986796.212 [DAT](INFO): Rx dataTimestamp_ set to:1755986796.211302
2025-08-23T22:06:36.216Z,1755986796.216 [DAT](INFO): DAT read: Bearing 32.4, 24.3 (Local)
2025-08-23T22:06:36.218Z,1755986796.218 [DAT](INFO): Local bearing/azimuth received:
Bearing 32.4, 24.3 (Local)
2025-08-23T22:06:36.227Z,1755986796.227 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.4
2025-08-23T22:06:36.256Z,1755986796.256 [DAT](INFO): DAT read: 22:06:35.4573 LVL= 32752, 32417, 32754, 32755, AGC= 55, IDX= 506, 0.18, 2.937, 0.813, 2.637, 2.606, PHS= 0.433,-1.748,-0.013, RAW= 138.9, 13.2, CAL= 138.1, 14.3, ROT= 11.9, -14.3
2025-08-23T22:06:36.262Z,1755986796.262 [DAT](INFO): got valid direction response:
22:06:35.4573 LVL= 32752, 32417, 32754, 32755, AGC= 55, IDX= 506, 0.18, 2.937, 0.813, 2.637, 2.606, PHS= 0.433,-1.748,-0.013, RAW= 138.9, 13.2, CAL= 138.1, 14.3, ROT= 11.9, -14.3
2025-08-23T22:06:36.262Z,1755986796.262 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-23T22:06:36.263Z,1755986796.263 [DAT](INFO): direction in FSK: [0.948191,0.199815,0.246999]
2025-08-23T22:06:36.263Z,1755986796.263 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:36.285Z,1755986796.285 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.164848
2025-08-23T22:06:36.455Z,1755986796.455 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.334866
2025-08-23T22:06:36.455Z,1755986796.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.400000 m,
deltaT: 0.511875 s,
deltaX: -0.200001 m,
approachRate: -0.390722 m/s,
rangeRepo size: 4
2025-08-23T22:06:36.462Z,1755986796.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.330030 m,
bearing: 238.925911 deg,
lat: 36.779403 deg,
lon: -121.859597 deg,
deltaT: 0.511875 s,
deltaX: -0.199018 m,
approachRate: -0.388801 m/s,
posRepo size: 4
2025-08-23T22:06:36.462Z,1755986796.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:06:36.472Z,1755986796.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.330030 m,
nav range: 10.352355 m,
bearing: 234.211113 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 218.043175 deg,
new cmd heading: 217.140300 deg.
2025-08-23T22:06:36.481Z,1755986796.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789813 target range: 11.330030 and range: 11.40 m.
2025-08-23T22:06:36.707Z,1755986796.707 [DAT](INFO): DAT read: Rx Time:22:06:35.9570
2025-08-23T22:06:36.708Z,1755986796.708 [DAT](INFO): Rx dataTimestamp_ set to:1755986796.707380
2025-08-23T22:06:36.709Z,1755986796.709 [DAT](INFO): DAT read: Bearing 34.0, 24.2 (Local)
2025-08-23T22:06:36.709Z,1755986796.709 [DAT](INFO): Local bearing/azimuth received:
Bearing 34.0, 24.2 (Local)
2025-08-23T22:06:36.711Z,1755986796.711 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4
2025-08-23T22:06:36.716Z,1755986796.716 [DAT](INFO): DAT read: 22:06:35.9570 LVL= 27168, 25793, 29682, 32755, AGC= 55, IDX= 504,-0.35,-1.796, 2.339,-2.102,-2.067, PHS= 0.373,-1.832,-0.079, RAW= 138.8, 15.1, CAL= 138.0, 16.2, ROT= 12.0, -16.2
2025-08-23T22:06:36.717Z,1755986796.717 [DAT](INFO): got valid direction response:
22:06:35.9570 LVL= 27168, 25793, 29682, 32755, AGC= 55, IDX= 504,-0.35,-1.796, 2.339,-2.102,-2.067, PHS= 0.373,-1.832,-0.079, RAW= 138.8, 15.1, CAL= 138.0, 16.2, ROT= 12.0, -16.2
2025-08-23T22:06:36.717Z,1755986796.717 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-23T22:06:36.718Z,1755986796.718 [DAT](INFO): direction in FSK: [0.939309,0.199656,0.278991]
2025-08-23T22:06:36.719Z,1755986796.719 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:36.730Z,1755986796.730 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=37.610638
2025-08-23T22:06:36.912Z,1755986796.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 0.496078 s,
deltaX: -0.400000 m,
approachRate: -0.806324 m/s,
rangeRepo size: 4
2025-08-23T22:06:36.919Z,1755986796.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.932487 m,
bearing: 238.742221 deg,
lat: 36.779408 deg,
lon: -121.859598 deg,
deltaT: 0.496078 s,
deltaX: -0.397544 m,
approachRate: -0.801374 m/s,
posRepo size: 4
2025-08-23T22:06:36.919Z,1755986796.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-08-23T22:06:36.926Z,1755986796.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.932487 m,
nav range: 9.781757 m,
bearing: 236.803822 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 217.140306 deg,
new cmd heading: 216.408073 deg.
2025-08-23T22:06:36.927Z,1755986796.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777033 target range: 10.932487 and range: 11.00 m.
2025-08-23T22:06:36.959Z,1755986796.959 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=37.838844
2025-08-23T22:06:37.213Z,1755986797.213 [DAT](INFO): DAT read: Rx Time:22:06:36.4570
2025-08-23T22:06:37.213Z,1755986797.213 [DAT](INFO): Rx dataTimestamp_ set to:1755986797.212701
2025-08-23T22:06:37.215Z,1755986797.215 [DAT](INFO): DAT read: Bearing 38.2, 24.1 (Local)
2025-08-23T22:06:37.215Z,1755986797.215 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.2, 24.1 (Local)
2025-08-23T22:06:37.218Z,1755986797.218 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4
2025-08-23T22:06:37.253Z,1755986797.253 [DAT](INFO): DAT read: 22:06:36.4570 LVL= 27056, 24241, 28978, 32755, AGC= 55, IDX= 503, 0.09,-1.814, 2.440,-2.116,-1.939, PHS= 0.227,-1.859,-0.221, RAW= 138.2, 19.0, CAL= 137.2, 20.4, ROT= 12.8, -20.4
2025-08-23T22:06:37.261Z,1755986797.261 [DAT](INFO): got valid direction response:
22:06:36.4570 LVL= 27056, 24241, 28978, 32755, AGC= 55, IDX= 503, 0.09,-1.814, 2.440,-2.116,-1.939, PHS= 0.227,-1.859,-0.221, RAW= 138.2, 19.0, CAL= 137.2, 20.4, ROT= 12.8, -20.4
2025-08-23T22:06:37.271Z,1755986797.271 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-23T22:06:37.280Z,1755986797.280 [DAT](INFO): direction in FSK: [0.913990,0.207653,0.348572]
2025-08-23T22:06:37.294Z,1755986797.294 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:37.297Z,1755986797.297 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.177292
2025-08-23T22:06:37.463Z,1755986797.463 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.342949
2025-08-23T22:06:37.504Z,1755986797.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 0.505321 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:37.526Z,1755986797.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.932320 m,
bearing: 239.935913 deg,
lat: 36.779410 deg,
lon: -121.859598 deg,
deltaT: 0.505321 s,
deltaX: -0.000167 m,
approachRate: -0.000330 m/s,
posRepo size: 4
2025-08-23T22:06:37.527Z,1755986797.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-08-23T22:06:37.534Z,1755986797.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.932320 m,
nav range: 9.314294 m,
bearing: 238.204623 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 216.408069 deg,
new cmd heading: 215.509961 deg.
2025-08-23T22:06:37.535Z,1755986797.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.761358 target range: 10.932320 and range: 11.00 m.
2025-08-23T22:06:37.716Z,1755986797.716 [DAT](INFO): DAT read: Rx Time:22:06:36.9567
2025-08-23T22:06:37.717Z,1755986797.717 [DAT](INFO): Rx dataTimestamp_ set to:1755986797.716319
2025-08-23T22:06:37.719Z,1755986797.719 [DAT](INFO): DAT read: Bearing 55.1, 12.1 (Local)
2025-08-23T22:06:37.719Z,1755986797.719 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.1, 12.1 (Local)
2025-08-23T22:06:37.722Z,1755986797.722 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.6
2025-08-23T22:06:37.729Z,1755986797.729 [DAT](INFO): DAT read: 22:06:36.9567 LVL= 22256, 20977, 24498, 32755, AGC= 54, IDX= 501,-0.26,-1.081,-2.780,-1.241,-0.898, PHS=-0.081,-1.837,-0.388, RAW= 140.6, 26.6, CAL= 147.0, 39.1, ROT= 3.0, -39.1
2025-08-23T22:06:37.731Z,1755986797.731 [DAT](INFO): got valid direction response:
22:06:36.9567 LVL= 22256, 20977, 24498, 32755, AGC= 54, IDX= 501,-0.26,-1.081,-2.780,-1.241,-0.898, PHS=-0.081,-1.837,-0.388, RAW= 140.6, 26.6, CAL= 147.0, 39.1, ROT= 3.0, -39.1
2025-08-23T22:06:37.732Z,1755986797.732 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-23T22:06:37.733Z,1755986797.733 [DAT](INFO): direction in FSK: [0.774983,0.040615,0.630676]
2025-08-23T22:06:37.750Z,1755986797.750 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:37.759Z,1755986797.759 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.638992
2025-08-23T22:06:37.969Z,1755986797.969 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.848785
2025-08-23T22:06:38.064Z,1755986798.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.500000 m,
deltaT: 0.503618 s,
deltaX: -0.500000 m,
approachRate: -0.992816 m/s,
rangeRepo size: 4
2025-08-23T22:06:38.066Z,1755986798.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.435396 m,
bearing: 228.595780 deg,
lat: 36.779411 deg,
lon: -121.859598 deg,
deltaT: 0.503618 s,
deltaX: -0.496923 m,
approachRate: -0.986707 m/s,
posRepo size: 4
2025-08-23T22:06:38.067Z,1755986798.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m.
2025-08-23T22:06:38.074Z,1755986798.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.435396 m,
nav range: 8.905461 m,
bearing: 238.695529 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 215.509967 deg,
new cmd heading: 214.600698 deg.
2025-08-23T22:06:38.075Z,1755986798.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745489 target range: 10.435396 and range: 10.50 m.
2025-08-23T22:06:38.225Z,1755986798.225 [DAT](INFO): DAT read: Rx Time:22:06:37.4566
2025-08-23T22:06:38.229Z,1755986798.229 [DAT](INFO): Rx dataTimestamp_ set to:1755986798.227530
2025-08-23T22:06:38.233Z,1755986798.233 [DAT](INFO): DAT read: Bearing 62.2, 11.2 (Local)
2025-08-23T22:06:38.236Z,1755986798.236 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.2, 11.2 (Local)
2025-08-23T22:06:38.256Z,1755986798.256 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4
2025-08-23T22:06:38.297Z,1755986798.297 [DAT](INFO): DAT read: 22:06:37.4566 LVL= 20864, 21153, 24690, 32755, AGC= 54, IDX= 499, 0.20,-2.220, 2.771,-2.323,-1.817, PHS=-0.301,-1.650,-0.551, RAW= 140.0, 35.4, CAL= 145.8, 46.6, ROT= 4.2, -46.6
2025-08-23T22:06:38.302Z,1755986798.302 [DAT](INFO): got valid direction response:
22:06:37.4566 LVL= 20864, 21153, 24690, 32755, AGC= 54, IDX= 499, 0.20,-2.220, 2.771,-2.323,-1.817, PHS=-0.301,-1.650,-0.551, RAW= 140.0, 35.4, CAL= 145.8, 46.6, ROT= 4.2, -46.6
2025-08-23T22:06:38.303Z,1755986798.303 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-23T22:06:38.311Z,1755986798.311 [DAT](INFO): direction in FSK: [0.685242,0.050321,0.726575]
2025-08-23T22:06:38.312Z,1755986798.312 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:38.329Z,1755986798.329 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.209362
2025-08-23T22:06:38.462Z,1755986798.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.400000 m,
deltaT: 0.511211 s,
deltaX: -0.100000 m,
approachRate: -0.195615 m/s,
rangeRepo size: 4
2025-08-23T22:06:38.464Z,1755986798.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.336014 m,
bearing: 230.478726 deg,
lat: 36.779413 deg,
lon: -121.859598 deg,
deltaT: 0.511211 s,
deltaX: -0.099382 m,
approachRate: -0.194406 m/s,
posRepo size: 4
2025-08-23T22:06:38.474Z,1755986798.474 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.353245
2025-08-23T22:06:38.475Z,1755986798.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-08-23T22:06:38.487Z,1755986798.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.336014 m,
nav range: 8.565543 m,
bearing: 239.888464 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.784774 deg/s,
cmd heading: 214.600691 deg,
new cmd heading: 213.981771 deg.
2025-08-23T22:06:38.488Z,1755986798.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734686 target range: 10.336014 and range: 10.40 m.
2025-08-23T22:06:38.723Z,1755986798.723 [DAT](INFO): DAT read: Rx Time:22:06:37.9564
2025-08-23T22:06:38.723Z,1755986798.723 [DAT](INFO): Rx dataTimestamp_ set to:1755986798.722791
2025-08-23T22:06:38.724Z,1755986798.724 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.2
2025-08-23T22:06:38.725Z,1755986798.725 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-08-23T22:06:38.726Z,1755986798.726 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.606152
2025-08-23T22:06:38.937Z,1755986798.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:06:38.940Z,1755986798.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.100000 m,
deltaT: 0.495261 s,
deltaX: -0.299999 m,
approachRate: -0.605740 m/s,
rangeRepo size: 4
2025-08-23T22:06:38.940Z,1755986798.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-08-23T22:06:38.943Z,1755986798.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.336014 m,
nav range: 8.264586 m,
bearing: 239.935574 deg,
approach rate: -0.624978 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 213.981767 deg,
new cmd heading: 214.079419 deg.
2025-08-23T22:06:38.944Z,1755986798.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.736391 target range: 10.336014 and range: 10.10 m.
2025-08-23T22:06:38.978Z,1755986798.978 [DAT](INFO): DAT read: Rx Time:22:06:38.4563
2025-08-23T22:06:38.979Z,1755986798.979 [DAT](INFO): Rx dataTimestamp_ set to:1755986798.978266
2025-08-23T22:06:38.981Z,1755986798.981 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.860981
2025-08-23T22:06:39.227Z,1755986799.227 [DAT](INFO): DAT read: Bearing 150.1, -83.1 (Local)
2025-08-23T22:06:39.228Z,1755986799.228 [DAT](INFO): Local bearing/azimuth received:
Bearing 150.1, -83.1 (Local)
2025-08-23T22:06:39.230Z,1755986799.230 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4
2025-08-23T22:06:39.266Z,1755986799.266 [DAT](INFO): DAT read: 22:06:38.4563 LVL= 23728, 20369, 26066, 32755, AGC= 56, IDX= 512, 0.18, 2.005,-2.886,-2.514,-3.010, PHS=-1.166, 0.169, 0.452, RAW= 260.6, 7.3, CAL= 258.6, 6.0, ROT= 251.4, -6.0
2025-08-23T22:06:39.279Z,1755986799.279 [DAT](INFO): got valid direction response:
22:06:38.4563 LVL= 23728, 20369, 26066, 32755, AGC= 56, IDX= 512, 0.18, 2.005,-2.886,-2.514,-3.010, PHS=-1.166, 0.169, 0.452, RAW= 260.6, 7.3, CAL= 258.6, 6.0, ROT= 251.4, -6.0
2025-08-23T22:06:39.280Z,1755986799.280 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-23T22:06:39.288Z,1755986799.288 [DAT](INFO): direction in FSK: [-0.317212,-0.942576,0.104528]
2025-08-23T22:06:39.289Z,1755986799.289 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:39.341Z,1755986799.341 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.221371
2025-08-23T22:06:39.451Z,1755986799.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.900000 m,
deltaT: 0.503146 s,
deltaX: -0.200001 m,
approachRate: -0.397500 m/s,
rangeRepo size: 4
2025-08-23T22:06:39.453Z,1755986799.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.838998 m,
bearing: 112.739308 deg,
lat: 36.779414 deg,
lon: -121.859567 deg,
deltaT: 0.998407 s,
deltaX: -0.497016 m,
approachRate: -0.497809 m/s,
posRepo size: 4
2025-08-23T22:06:39.458Z,1755986799.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-08-23T22:06:39.458Z,1755986799.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m.
2025-08-23T22:06:39.459Z,1755986799.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-23T22:06:39.461Z,1755986799.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 5.618081 m,
bearing: 227.192824 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 214.079425 deg,
new cmd heading: 214.183119 deg.
2025-08-23T22:06:39.469Z,1755986799.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.738201 target range: 9.838998 and range: 9.90 m.
2025-08-23T22:06:39.482Z,1755986799.482 [DAT](INFO): DAT read: Rx Time:22:06:38.9561
2025-08-23T22:06:39.483Z,1755986799.483 [DAT](INFO): Rx dataTimestamp_ set to:1755986799.482291
2025-08-23T22:06:39.486Z,1755986799.486 [DAT](INFO): DAT read: Bearing 117.9, -22.7 (Local)
2025-08-23T22:06:39.488Z,1755986799.488 [DAT](INFO): Local bearing/azimuth received:
Bearing 117.9, -22.7 (Local)
2025-08-23T22:06:39.491Z,1755986799.491 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.369663
2025-08-23T22:06:39.502Z,1755986799.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 60.675198 m.
2025-08-23T22:06:39.733Z,1755986799.733 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4
2025-08-23T22:06:39.739Z,1755986799.739 [DAT](INFO): DAT read: 22:06:38.9561 LVL= 21072, 22353, 32482, 32755, AGC= 55, IDX= 510,-0.23,-3.141,-2.321,-2.455,-1.488, PHS=-1.551,-0.788,-1.011, RAW= 286.5, 60.2, CAL= 288.5, 63.7, ROT= 221.5, -63.7
2025-08-23T22:06:39.740Z,1755986799.740 [DAT](INFO): got valid direction response:
22:06:38.9561 LVL= 21072, 22353, 32482, 32755, AGC= 55, IDX= 510,-0.23,-3.141,-2.321,-2.455,-1.488, PHS=-1.551,-0.788,-1.011, RAW= 286.5, 60.2, CAL= 288.5, 63.7, ROT= 221.5, -63.7
2025-08-23T22:06:39.741Z,1755986799.741 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-23T22:06:39.743Z,1755986799.743 [DAT](INFO): direction in FSK: [-0.331841,-0.293588,0.896486]
2025-08-23T22:06:39.744Z,1755986799.744 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:39.747Z,1755986799.747 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.627422
2025-08-23T22:06:39.866Z,1755986799.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 0.504057 s,
deltaX: -0.299999 m,
approachRate: -0.595169 m/s,
rangeRepo size: 4
2025-08-23T22:06:39.868Z,1755986799.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.540847 m,
bearing: 69.330130 deg,
lat: 36.779414 deg,
lon: -121.859560 deg,
deltaT: 0.504057 s,
deltaX: -0.298151 m,
approachRate: -0.591503 m/s,
posRepo size: 4
2025-08-23T22:06:39.869Z,1755986799.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.84 m.
2025-08-23T22:06:39.879Z,1755986799.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 5.385550 m,
bearing: 226.797545 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 214.183121 deg,
new cmd heading: 214.265587 deg.
2025-08-23T22:06:39.880Z,1755986799.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.739640 target range: 9.838998 and range: 9.60 m.
2025-08-23T22:06:39.987Z,1755986799.987 [DAT](INFO): DAT read: Rx Time:22:06:39.4560
2025-08-23T22:06:39.988Z,1755986799.988 [DAT](INFO): Rx dataTimestamp_ set to:1755986799.987647
2025-08-23T22:06:39.992Z,1755986799.992 [DAT](INFO): DAT read: Bearing 128.9, -24.5 (Local)
2025-08-23T22:06:39.993Z,1755986799.993 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.9, -24.5 (Local)
2025-08-23T22:06:39.997Z,1755986799.997 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4
2025-08-23T22:06:40.003Z,1755986800.003 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-08-23T22:06:40.008Z,1755986800.008 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=40.888096
2025-08-23T22:06:40.225Z,1755986800.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.500000 m,
deltaT: 0.257653 s,
deltaX: -0.100000 m,
approachRate: -0.388120 m/s,
rangeRepo size: 4
2025-08-23T22:06:40.226Z,1755986800.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-08-23T22:06:40.228Z,1755986800.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 5.145217 m,
bearing: 226.350908 deg,
approach rate: -0.655150 m/s,
LOS rate: -1.274393 deg/s,
cmd heading: 214.265589 deg,
new cmd heading: 213.330683 deg.
2025-08-23T22:06:40.229Z,1755986800.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723323 target range: 9.838998 and range: 9.50 m.
2025-08-23T22:06:40.241Z,1755986800.241 [DAT](INFO): DAT read: 22:06:39.4560 LVL= 21888, 22609, 31922, 32755, AGC= 56, IDX= 509, 0.16,-0.923, 0.314,-0.167, 0.959, PHS=-1.780,-0.600,-1.171, RAW= 298.9, 50.9, CAL= 300.8, 54.8, ROT= 209.2, -54.8
2025-08-23T22:06:40.242Z,1755986800.242 [DAT](INFO): got valid direction response:
22:06:39.4560 LVL= 21888, 22609, 31922, 32755, AGC= 56, IDX= 509, 0.16,-0.923, 0.314,-0.167, 0.959, PHS=-1.780,-0.600,-1.171, RAW= 298.9, 50.9, CAL= 300.8, 54.8, ROT= 209.2, -54.8
2025-08-23T22:06:40.242Z,1755986800.242 [DAT](INFO): #Rx 88: Read direction message, but no range.
2025-08-23T22:06:40.243Z,1755986800.243 [DAT](INFO): direction in FSK: [-0.503181,-0.281218,0.817145]
2025-08-23T22:06:40.267Z,1755986800.267 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.146851
2025-08-23T22:06:40.490Z,1755986800.490 [DAT](INFO): DAT read: Rx Time:22:06:39.9558
2025-08-23T22:06:40.492Z,1755986800.492 [DAT](INFO): Rx dataTimestamp_ set to:1755986800.491074
2025-08-23T22:06:40.498Z,1755986800.498 [DAT](INFO): DAT read: Bearing 136.7, -27.7 (Local)
2025-08-23T22:06:40.500Z,1755986800.500 [DAT](INFO): Local bearing/azimuth received:
Bearing 136.7, -27.7 (Local)
2025-08-23T22:06:40.509Z,1755986800.509 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4
2025-08-23T22:06:40.516Z,1755986800.516 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-08-23T22:06:40.534Z,1755986800.534 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=41.414104
2025-08-23T22:06:40.742Z,1755986800.742 [DAT](INFO): DAT read: 22:06:39.9558 LVL= 27376, 21809, 31074, 32755, AGC= 57, IDX= 507,-0.24, 1.254, 2.778, 2.103,-3.128, PHS=-1.799,-0.332,-1.096, RAW= 301.4, 41.9, CAL= 303.4, 46.7, ROT= 206.6, -46.7
2025-08-23T22:06:40.743Z,1755986800.743 [DAT](INFO): got valid direction response:
22:06:39.9558 LVL= 27376, 21809, 31074, 32755, AGC= 57, IDX= 507,-0.24, 1.254, 2.778, 2.103,-3.128, PHS=-1.799,-0.332,-1.096, RAW= 301.4, 41.9, CAL= 303.4, 46.7, ROT= 206.6, -46.7
2025-08-23T22:06:40.744Z,1755986800.744 [DAT](INFO): #Rx 90: Read direction message, but no range.
2025-08-23T22:06:40.745Z,1755986800.745 [DAT](INFO): direction in FSK: [-0.613227,-0.307082,0.727773]
2025-08-23T22:06:40.749Z,1755986800.749 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=41.628998
2025-08-23T22:06:40.886Z,1755986800.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.503427 s,
deltaX: -0.300000 m,
approachRate: -0.595916 m/s,
rangeRepo size: 4
2025-08-23T22:06:40.888Z,1755986800.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.143310 m,
bearing: 61.049399 deg,
lat: 36.779421 deg,
lon: -121.859463 deg,
deltaT: 1.265137 s,
deltaX: -0.695688 m,
approachRate: -0.549892 m/s,
posRepo size: 4
2025-08-23T22:06:40.894Z,1755986800.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.14 m. 9.84 m.
2025-08-23T22:06:40.896Z,1755986800.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 4.767187 m,
bearing: 225.665575 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 213.330686 deg,
new cmd heading: 213.464051 deg.
2025-08-23T22:06:40.897Z,1755986800.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.725651 target range: 9.838998 and range: 9.20 m.
2025-08-23T22:06:40.994Z,1755986800.994 [DAT](INFO): DAT read: Rx Time:22:06:40.4557
2025-08-23T22:06:40.996Z,1755986800.996 [DAT](INFO): Rx dataTimestamp_ set to:1755986800.994320
2025-08-23T22:06:40.998Z,1755986800.998 [DAT](INFO): DAT read: Bearing 141.8, -27.0 (Local)
2025-08-23T22:06:40.000Z,1755986801.000 [DAT](INFO): Local bearing/azimuth received:
Bearing 141.8, -27.0 (Local)
2025-08-23T22:06:41.002Z,1755986801.002 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=41.881470
2025-08-23T22:06:41.245Z,1755986801.245 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4
2025-08-23T22:06:41.255Z,1755986801.255 [DAT](INFO): DAT read: 22:06:40.4557 LVL= 31856, 23505, 30898, 32755, AGC= 57, IDX= 506, 0.16,-2.344,-0.741,-1.562,-0.545, PHS=-1.697,-0.151,-1.061, RAW= 305.9, 37.4, CAL= 307.5, 42.5, ROT= 202.5, -42.5
2025-08-23T22:06:41.257Z,1755986801.257 [DAT](INFO): got valid direction response:
22:06:40.4557 LVL= 31856, 23505, 30898, 32755, AGC= 57, IDX= 506, 0.16,-2.344,-0.741,-1.562,-0.545, PHS=-1.697,-0.151,-1.061, RAW= 305.9, 37.4, CAL= 307.5, 42.5, ROT= 202.5, -42.5
2025-08-23T22:06:41.258Z,1755986801.258 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-23T22:06:41.259Z,1755986801.259 [DAT](INFO): direction in FSK: [-0.681155,-0.282144,0.675590]
2025-08-23T22:06:41.260Z,1755986801.260 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:41.269Z,1755986801.269 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=42.149338
2025-08-23T22:06:41.499Z,1755986801.499 [DAT](INFO): DAT read: Rx Time:22:06:40.9555
2025-08-23T22:06:41.501Z,1755986801.501 [DAT](INFO): Rx dataTimestamp_ set to:1755986801.499769
2025-08-23T22:06:41.505Z,1755986801.505 [DAT](INFO): DAT read: Bearing 143.3, -29.0 (Local)
2025-08-23T22:06:41.506Z,1755986801.506 [DAT](INFO): Local bearing/azimuth received:
Bearing 143.3, -29.0 (Local)
2025-08-23T22:06:41.516Z,1755986801.516 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4
2025-08-23T22:06:41.531Z,1755986801.531 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-08-23T22:06:41.548Z,1755986801.548 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=42.425232
2025-08-23T22:06:41.565Z,1755986801.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 1.008695 s,
deltaX: -0.500000 m,
approachRate: -0.495690 m/s,
rangeRepo size: 4
2025-08-23T22:06:41.571Z,1755986801.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.646364 m,
bearing: 57.866708 deg,
lat: 36.779465 deg,
lon: -121.859461 deg,
deltaT: 2.273832 s,
deltaX: -1.192634 m,
approachRate: -0.524504 m/s,
posRepo size: 4
2025-08-23T22:06:41.572Z,1755986801.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.65 m. 9.84 m.
2025-08-23T22:06:41.583Z,1755986801.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 4.412729 m,
bearing: 224.933902 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 213.464052 deg,
new cmd heading: 213.602444 deg.
2025-08-23T22:06:41.584Z,1755986801.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728066 target range: 9.838998 and range: 8.70 m.
2025-08-23T22:06:41.750Z,1755986801.750 [DAT](INFO): DAT read: 22:06:40.9555 LVL= 32752, 20033, 31410, 32755, AGC= 56, IDX= 504,-0.27, 0.867, 2.430, 1.671, 2.538, PHS=-1.569,-0.063,-0.911, RAW= 304.2, 34.5, CAL= 306.1, 39.9, ROT= 203.9, -39.9
2025-08-23T22:06:41.751Z,1755986801.751 [DAT](INFO): got valid direction response:
22:06:40.9555 LVL= 32752, 20033, 31410, 32755, AGC= 56, IDX= 504,-0.27, 0.867, 2.430, 1.671, 2.538, PHS=-1.569,-0.063,-0.911, RAW= 304.2, 34.5, CAL= 306.1, 39.9, ROT= 203.9, -39.9
2025-08-23T22:06:41.752Z,1755986801.752 [DAT](INFO): #Rx 93: Read direction message, but no range.
2025-08-23T22:06:41.753Z,1755986801.753 [DAT](INFO): direction in FSK: [-0.701384,-0.310810,0.641450]
2025-08-23T22:06:41.756Z,1755986801.756 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=42.636490
2025-08-23T22:06:41.899Z,1755986801.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:06:41.906Z,1755986801.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-08-23T22:06:41.908Z,1755986801.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 4.167539 m,
bearing: 224.353819 deg,
approach rate: -0.727597 m/s,
LOS rate: -1.822622 deg/s,
cmd heading: 213.602446 deg,
new cmd heading: 212.374234 deg.
2025-08-23T22:06:41.909Z,1755986801.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.706630 target range: 9.838998 and range: 8.70 m.
2025-08-23T22:06:42.004Z,1755986802.004 [DAT](INFO): DAT read: Rx Time:22:06:41.4553
2025-08-23T22:06:42.005Z,1755986802.005 [DAT](INFO): Rx dataTimestamp_ set to:1755986802.004134
2025-08-23T22:06:42.010Z,1755986802.010 [DAT](INFO): DAT read: Bearing 137.6, -31.6 (Local)
2025-08-23T22:06:42.011Z,1755986802.011 [DAT](INFO): Local bearing/azimuth received:
Bearing 137.6, -31.6 (Local)
2025-08-23T22:06:42.016Z,1755986802.016 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4
2025-08-23T22:06:42.018Z,1755986802.018 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-08-23T22:06:42.021Z,1755986802.021 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=42.900620
2025-08-23T22:06:42.254Z,1755986802.254 [DAT](INFO): DAT read: 22:06:41.4553 LVL= 25504, 18609, 27250, 30707, AGC= 57, IDX= 502, 0.11, 2.605,-2.251,-2.797,-2.027, PHS=-1.550,-0.179,-0.814, RAW= 297.6, 37.1, CAL= 300.3, 42.5, ROT= 209.7, -42.5
2025-08-23T22:06:42.255Z,1755986802.255 [DAT](INFO): got valid direction response:
22:06:41.4553 LVL= 25504, 18609, 27250, 30707, AGC= 57, IDX= 502, 0.11, 2.605,-2.251,-2.797,-2.027, PHS=-1.550,-0.179,-0.814, RAW= 297.6, 37.1, CAL= 300.3, 42.5, ROT= 209.7, -42.5
2025-08-23T22:06:42.256Z,1755986802.256 [DAT](INFO): #Rx 95: Read direction message, but no range.
2025-08-23T22:06:42.257Z,1755986802.257 [DAT](INFO): direction in FSK: [-0.640422,-0.365290,0.675590]
2025-08-23T22:06:42.260Z,1755986802.260 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=43.140404
2025-08-23T22:06:42.439Z,1755986802.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.400000 m,
deltaT: 0.504365 s,
deltaX: -0.300000 m,
approachRate: -0.594808 m/s,
rangeRepo size: 4
2025-08-23T22:06:42.440Z,1755986802.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.348231 m,
bearing: 63.036281 deg,
lat: 36.779468 deg,
lon: -121.859461 deg,
deltaT: 2.778197 s,
deltaX: -1.490767 m,
approachRate: -0.536595 m/s,
posRepo size: 4
2025-08-23T22:06:42.446Z,1755986802.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.84 m.
2025-08-23T22:06:42.448Z,1755986802.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 3.855070 m,
bearing: 223.578997 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 212.374227 deg,
new cmd heading: 212.483042 deg.
2025-08-23T22:06:42.449Z,1755986802.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.708529 target range: 9.838998 and range: 8.40 m.
2025-08-23T22:06:42.507Z,1755986802.507 [DAT](INFO): DAT read: Rx Time:22:06:41.9551
2025-08-23T22:06:42.508Z,1755986802.508 [DAT](INFO): Rx dataTimestamp_ set to:1755986802.507454
2025-08-23T22:06:42.512Z,1755986802.512 [DAT](INFO): DAT read: Bearing 123.0, -38.1 (Local)
2025-08-23T22:06:42.514Z,1755986802.514 [DAT](INFO): Local bearing/azimuth received:
Bearing 123.0, -38.1 (Local)
2025-08-23T22:06:42.523Z,1755986802.523 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.3
2025-08-23T22:06:42.530Z,1755986802.530 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-08-23T22:06:42.531Z,1755986802.531 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=43.411209
2025-08-23T22:06:42.758Z,1755986802.758 [DAT](INFO): DAT read: 22:06:41.9551 LVL= 24496, 20689, 26338, 32755, AGC= 56, IDX= 500,-0.28,-1.055, 0.287, 0.149, 0.773, PHS=-1.726,-0.441,-0.668, RAW= 279.5, 40.2, CAL= 282.6, 46.7, ROT= 227.4, -46.7
2025-08-23T22:06:42.759Z,1755986802.759 [DAT](INFO): got valid direction response:
22:06:41.9551 LVL= 24496, 20689, 26338, 32755, AGC= 56, IDX= 500,-0.28,-1.055, 0.287, 0.149, 0.773, PHS=-1.726,-0.441,-0.668, RAW= 279.5, 40.2, CAL= 282.6, 46.7, ROT= 227.4, -46.7
2025-08-23T22:06:42.759Z,1755986802.759 [DAT](INFO): #Rx 97: Read direction message, but no range.
2025-08-23T22:06:42.760Z,1755986802.760 [DAT](INFO): direction in FSK: [-0.464214,-0.504829,0.727773]
2025-08-23T22:06:42.764Z,1755986802.764 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=43.644104
2025-08-23T22:06:42.958Z,1755986802.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 0.503320 s,
deltaX: -0.299999 m,
approachRate: -0.596041 m/s,
rangeRepo size: 4
2025-08-23T22:06:42.960Z,1755986802.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.050081 m,
bearing: 76.581565 deg,
lat: 36.779468 deg,
lon: -121.859463 deg,
deltaT: 3.281517 s,
deltaX: -1.788917 m,
approachRate: -0.545149 m/s,
posRepo size: 4
2025-08-23T22:06:42.961Z,1755986802.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 9.84 m.
2025-08-23T22:06:42.964Z,1755986802.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 3.547220 m,
bearing: 222.765989 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 212.483046 deg,
new cmd heading: 212.585163 deg.
2025-08-23T22:06:42.965Z,1755986802.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.710311 target range: 9.838998 and range: 8.10 m.
2025-08-23T22:06:43.010Z,1755986803.010 [DAT](INFO): DAT read: Rx Time:22:06:42.4551
2025-08-23T22:06:43.012Z,1755986803.012 [DAT](INFO): Rx dataTimestamp_ set to:1755986803.011154
2025-08-23T22:06:43.016Z,1755986803.016 [DAT](INFO): DAT read: Bearing 115.9, -46.6 (Local)
2025-08-23T22:06:43.017Z,1755986803.017 [DAT](INFO): Local bearing/azimuth received:
Bearing 115.9, -46.6 (Local)
2025-08-23T22:06:43.027Z,1755986803.027 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.3
2025-08-23T22:06:43.028Z,1755986803.028 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-08-23T22:06:43.029Z,1755986803.029 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=43.909210
2025-08-23T22:06:43.262Z,1755986803.262 [DAT](INFO): DAT read: 22:06:42.4551 LVL= 24176, 21281, 21586, 32499, AGC= 59, IDX= 499, 0.22, 0.371, 2.160, 2.327, 2.731, PHS=-2.258,-0.526,-0.448, RAW= 267.8, 32.8, CAL= 270.3, 41.7, ROT= 239.7, -41.7
2025-08-23T22:06:43.263Z,1755986803.263 [DAT](INFO): got valid direction response:
22:06:42.4551 LVL= 24176, 21281, 21586, 32499, AGC= 59, IDX= 499, 0.22, 0.371, 2.160, 2.327, 2.731, PHS=-2.258,-0.526,-0.448, RAW= 267.8, 32.8, CAL= 270.3, 41.7, ROT= 239.7, -41.7
2025-08-23T22:06:43.264Z,1755986803.264 [DAT](INFO): #Rx 99: Read direction message, but no range.
2025-08-23T22:06:43.265Z,1755986803.265 [DAT](INFO): direction in FSK: [-0.376700,-0.644644,0.665230]
2025-08-23T22:06:43.268Z,1755986803.268 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=44.148396
2025-08-23T22:06:43.460Z,1755986803.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 0.503700 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:43.468Z,1755986803.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.050074 m,
bearing: 88.435849 deg,
lat: 36.779468 deg,
lon: -121.859465 deg,
deltaT: 3.785217 s,
deltaX: -1.788924 m,
approachRate: -0.472608 m/s,
posRepo size: 4
2025-08-23T22:06:43.477Z,1755986803.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 9.84 m.
2025-08-23T22:06:43.485Z,1755986803.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 3.240843 m,
bearing: 221.947525 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 212.585157 deg,
new cmd heading: 212.690293 deg.
2025-08-23T22:06:43.490Z,1755986803.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.712146 target range: 9.838998 and range: 8.10 m.
2025-08-23T22:06:43.511Z,1755986803.511 [DAT](INFO): DAT read: Rx Time:22:06:42.9546
2025-08-23T22:06:43.511Z,1755986803.511 [DAT](INFO): Rx dataTimestamp_ set to:1755986803.511160
2025-08-23T22:06:43.513Z,1755986803.513 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4
2025-08-23T22:06:43.513Z,1755986803.513 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-08-23T22:06:43.514Z,1755986803.514 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.394615
2025-08-23T22:06:43.764Z,1755986803.764 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.643669
2025-08-23T22:06:43.881Z,1755986803.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.500006 s,
deltaX: -0.700000 m,
approachRate: -1.399984 m/s,
rangeRepo size: 4
2025-08-23T22:06:43.886Z,1755986803.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-08-23T22:06:43.888Z,1755986803.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 2.983936 m,
bearing: 221.171084 deg,
approach rate: -0.611020 m/s,
LOS rate: -2.005594 deg/s,
cmd heading: 212.690288 deg,
new cmd heading: 211.004246 deg.
2025-08-23T22:06:43.895Z,1755986803.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.682719 target range: 9.838998 and range: 7.40 m.
2025-08-23T22:06:44.016Z,1755986804.016 [DAT](INFO): DAT read: Rx Time:22:06:43.4546
2025-08-23T22:06:44.016Z,1755986804.016 [DAT](INFO): Rx dataTimestamp_ set to:1755986804.015718
2025-08-23T22:06:44.018Z,1755986804.018 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4
2025-08-23T22:06:44.019Z,1755986804.019 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-08-23T22:06:44.021Z,1755986804.021 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=44.901218
2025-08-23T22:06:44.267Z,1755986804.267 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=45.146778
2025-08-23T22:06:44.278Z,1755986804.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:06:44.280Z,1755986804.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.504558 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:44.286Z,1755986804.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-08-23T22:06:44.288Z,1755986804.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 2.738729 m,
bearing: 220.330173 deg,
approach rate: -0.613354 m/s,
LOS rate: -2.291680 deg/s,
cmd heading: 211.004242 deg,
new cmd heading: 209.172531 deg.
2025-08-23T22:06:44.297Z,1755986804.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.650749 target range: 9.838998 and range: 7.40 m.
2025-08-23T22:06:44.519Z,1755986804.519 [DAT](INFO): DAT read: Rx Time:22:06:43.9544
2025-08-23T22:06:44.519Z,1755986804.519 [DAT](INFO): Rx dataTimestamp_ set to:1755986804.518810
2025-08-23T22:06:44.520Z,1755986804.520 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4
2025-08-23T22:06:44.521Z,1755986804.521 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-08-23T22:06:44.522Z,1755986804.522 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.402172
2025-08-23T22:06:44.740Z,1755986804.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.100000 m,
deltaT: 0.503092 s,
deltaX: -0.300000 m,
approachRate: -0.596313 m/s,
rangeRepo size: 4
2025-08-23T22:06:44.741Z,1755986804.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-08-23T22:06:44.744Z,1755986804.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 2.449276 m,
bearing: 219.129268 deg,
approach rate: -0.630100 m/s,
LOS rate: -2.922938 deg/s,
cmd heading: 209.172535 deg,
new cmd heading: 206.489044 deg.
2025-08-23T22:06:44.745Z,1755986804.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603914 target range: 9.838998 and range: 7.10 m.
2025-08-23T22:06:44.771Z,1755986804.771 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.650829
2025-08-23T22:06:45.028Z,1755986805.028 [DAT](INFO): DAT read: Rx Time:22:06:44.4544
2025-08-23T22:06:45.028Z,1755986805.028 [DAT](INFO): Rx dataTimestamp_ set to:1755986805.027949
2025-08-23T22:06:45.030Z,1755986805.030 [DAT](INFO): DAT read: Bearing 147.0, 4.6 (Local)
2025-08-23T22:06:45.030Z,1755986805.030 [DAT](INFO): Local bearing/azimuth received:
Bearing 147.0, 4.6 (Local)
2025-08-23T22:06:45.032Z,1755986805.032 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4
2025-08-23T22:06:45.032Z,1755986805.032 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-23T22:06:45.037Z,1755986805.037 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=45.913589
2025-08-23T22:06:45.128Z,1755986805.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.100000 m,
deltaT: 0.509139 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:45.130Z,1755986805.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-08-23T22:06:45.133Z,1755986805.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 2.218157 m,
bearing: 218.021749 deg,
approach rate: -0.595851 m/s,
LOS rate: -3.152618 deg/s,
cmd heading: 206.489050 deg,
new cmd heading: 204.044852 deg.
2025-08-23T22:06:45.134Z,1755986805.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561255 target range: 9.838998 and range: 7.10 m.
2025-08-23T22:06:45.278Z,1755986805.278 [DAT](INFO): DAT read: 22:06:44.4544 LVL= 17520, 15857, 19010, 28371, AGC= 57, IDX= 510,-0.31,-2.364,-1.104,-2.846,-1.081, PHS=-1.181, 0.022,-1.809, RAW= 349.7, 33.1, CAL= 348.3, 38.3, ROT= 161.7, -38.3
2025-08-23T22:06:45.280Z,1755986805.280 [DAT](INFO): got valid direction response:
22:06:44.4544 LVL= 17520, 15857, 19010, 28371, AGC= 57, IDX= 510,-0.31,-2.364,-1.104,-2.846,-1.081, PHS=-1.181, 0.022,-1.809, RAW= 349.7, 33.1, CAL= 348.3, 38.3, ROT= 161.7, -38.3
2025-08-23T22:06:45.280Z,1755986805.280 [DAT](INFO): #Rx 104: Read direction message, but no range.
2025-08-23T22:06:45.281Z,1755986805.281 [DAT](INFO): direction in FSK: [-0.745087,0.246414,0.619779]
2025-08-23T22:06:45.285Z,1755986805.285 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.164818
2025-08-23T22:06:45.529Z,1755986805.529 [DAT](INFO): DAT read: Rx Time:22:06:44.9542
2025-08-23T22:06:45.529Z,1755986805.529 [DAT](INFO): Rx dataTimestamp_ set to:1755986805.528890
2025-08-23T22:06:45.531Z,1755986805.531 [DAT](INFO): DAT read: Bearing 149.6, -4.2 (Local)
2025-08-23T22:06:45.531Z,1755986805.531 [DAT](INFO): Local bearing/azimuth received:
Bearing 149.6, -4.2 (Local)
2025-08-23T22:06:45.533Z,1755986805.533 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4
2025-08-23T22:06:45.534Z,1755986805.534 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-08-23T22:06:45.535Z,1755986805.535 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=46.414822
2025-08-23T22:06:45.650Z,1755986805.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.500941 s,
deltaX: -0.300000 m,
approachRate: -0.598872 m/s,
rangeRepo size: 4
2025-08-23T22:06:45.652Z,1755986805.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.758086 m,
bearing: 18.898266 deg,
lat: 36.779468 deg,
lon: -121.859468 deg,
deltaT: 6.302953 s,
deltaX: -3.080912 m,
approachRate: -0.488804 m/s,
posRepo size: 4
2025-08-23T22:06:45.657Z,1755986805.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 9.84 m.
2025-08-23T22:06:45.668Z,1755986805.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 1.902271 m,
bearing: 216.198394 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 204.044853 deg,
new cmd heading: 204.149985 deg.
2025-08-23T22:06:45.668Z,1755986805.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.563089 target range: 9.838998 and range: 6.80 m.
2025-08-23T22:06:45.783Z,1755986805.783 [DAT](INFO): DAT read: 22:06:44.9542 LVL= 17200, 14705, 19826, 25331, AGC= 57, IDX= 507, 0.37,-2.072,-0.348,-2.202,-0.502, PHS=-1.468, 0.199,-1.745, RAW= 337.6, 30.3, CAL= 336.8, 35.5, ROT= 173.2, -35.5
2025-08-23T22:06:45.784Z,1755986805.784 [DAT](INFO): got valid direction response:
22:06:44.9542 LVL= 17200, 14705, 19826, 25331, AGC= 57, IDX= 507, 0.37,-2.072,-0.348,-2.202,-0.502, PHS=-1.468, 0.199,-1.745, RAW= 337.6, 30.3, CAL= 336.8, 35.5, ROT= 173.2, -35.5
2025-08-23T22:06:45.785Z,1755986805.785 [DAT](INFO): #Rx 106: Read direction message, but no range.
2025-08-23T22:06:45.789Z,1755986805.789 [DAT](INFO): direction in FSK: [-0.808389,0.096395,0.580703]
2025-08-23T22:06:45.796Z,1755986805.796 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=46.675838
2025-08-23T22:06:46.031Z,1755986806.031 [DAT](INFO): DAT read: Rx Time:22:06:45.4542
2025-08-23T22:06:46.031Z,1755986806.031 [DAT](INFO): Rx dataTimestamp_ set to:1755986806.030951
2025-08-23T22:06:46.032Z,1755986806.032 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.3
2025-08-23T22:06:46.033Z,1755986806.033 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-08-23T22:06:46.034Z,1755986806.034 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=46.914284
2025-08-23T22:06:46.034Z,1755986806.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-08-23T22:06:46.037Z,1755986806.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 1.667331 m,
bearing: 214.435187 deg,
approach rate: -0.612793 m/s,
LOS rate: -5.246182 deg/s,
cmd heading: 204.149983 deg,
new cmd heading: 200.133895 deg.
2025-08-23T22:06:46.038Z,1755986806.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492996 target range: 9.838998 and range: 6.80 m.
2025-08-23T22:06:46.078Z,1755986806.078 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:06:46.283Z,1755986806.283 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=47.163433
2025-08-23T22:06:46.463Z,1755986806.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:06:46.466Z,1755986806.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.502061 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:46.467Z,1755986806.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-08-23T22:06:46.478Z,1755986806.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 1.391931 m,
bearing: 211.532628 deg,
approach rate: -0.631961 m/s,
LOS rate: -7.974900 deg/s,
cmd heading: 200.133900 deg,
new cmd heading: 193.216984 deg.
2025-08-23T22:06:46.482Z,1755986806.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.372272 target range: 9.838998 and range: 6.80 m.
2025-08-23T22:06:46.535Z,1755986806.535 [DAT](INFO): DAT read: Rx Time:22:06:45.9542
2025-08-23T22:06:46.536Z,1755986806.536 [DAT](INFO): Rx dataTimestamp_ set to:1755986806.535240
2025-08-23T22:06:46.537Z,1755986806.537 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4
2025-08-23T22:06:46.538Z,1755986806.538 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-08-23T22:06:46.538Z,1755986806.538 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=47.418694
2025-08-23T22:06:46.788Z,1755986806.788 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=47.668068
2025-08-23T22:06:46.856Z,1755986806.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.504289 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:46.857Z,1755986806.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 6.80 m.
2025-08-23T22:06:46.858Z,1755986806.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-08-23T22:06:46.860Z,1755986806.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 1.157890 m,
bearing: 208.003591 deg,
approach rate: -0.598788 m/s,
LOS rate: -10.847104 deg/s,
cmd heading: 193.216981 deg,
new cmd heading: 184.798751 deg.
2025-08-23T22:06:46.861Z,1755986806.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.225347 target range: 9.838998 and range: 6.80 m.
2025-08-23T22:06:47.042Z,1755986807.042 [DAT](INFO): DAT read: Rx Time:22:06:46.4542
2025-08-23T22:06:47.042Z,1755986807.042 [DAT](INFO): Rx dataTimestamp_ set to:1755986807.042037
2025-08-23T22:06:47.044Z,1755986807.044 [DAT](INFO): DAT read: Bearing 164.7, 3.7 (Local)
2025-08-23T22:06:47.044Z,1755986807.044 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.7, 3.7 (Local)
2025-08-23T22:06:47.046Z,1755986807.046 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.2
2025-08-23T22:06:47.052Z,1755986807.052 [DAT](INFO): DAT read: 22:06:46.4542 LVL= 24192, 27889, 22610, 32755, AGC= 59, IDX= 507, 0.29,-1.988,-0.335,-2.374,-1.047, PHS=-0.839, 0.757,-1.371, RAW= 343.9, 15.0, CAL= 344.4, 19.0, ROT= 165.6, -19.0
2025-08-23T22:06:47.053Z,1755986807.053 [DAT](INFO): got valid direction response:
22:06:46.4542 LVL= 24192, 27889, 22610, 32755, AGC= 59, IDX= 507, 0.29,-1.988,-0.335,-2.374,-1.047, PHS=-0.839, 0.757,-1.371, RAW= 343.9, 15.0, CAL= 344.4, 19.0, ROT= 165.6, -19.0
2025-08-23T22:06:47.054Z,1755986807.054 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-23T22:06:47.055Z,1755986807.055 [DAT](INFO): direction in FSK: [-0.915813,0.235141,0.325568]
2025-08-23T22:06:47.056Z,1755986807.056 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:47.083Z,1755986807.083 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:06:47.094Z,1755986807.094 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=47.973518
2025-08-23T22:06:47.260Z,1755986807.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.506797 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:47.262Z,1755986807.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.758093 m,
bearing: 19.770204 deg,
lat: 36.779468 deg,
lon: -121.859470 deg,
deltaT: 7.816100 s,
deltaX: -3.080905 m,
approachRate: -0.394174 m/s,
posRepo size: 4
2025-08-23T22:06:47.263Z,1755986807.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 9.84 m.
2025-08-23T22:06:47.265Z,1755986807.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 0.924230 m,
bearing: 202.661839 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 184.798746 deg,
new cmd heading: 184.880544 deg.
2025-08-23T22:06:47.266Z,1755986807.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.226774 target range: 9.838998 and range: 6.80 m.
2025-08-23T22:06:47.292Z,1755986807.292 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=48.172070
2025-08-23T22:06:47.543Z,1755986807.543 [DAT](INFO): DAT read: Rx Time:22:06:46.9541
2025-08-23T22:06:47.544Z,1755986807.544 [DAT](INFO): Rx dataTimestamp_ set to:1755986807.543320
2025-08-23T22:06:47.545Z,1755986807.545 [DAT](INFO): DAT read: Bearing 136.7, 11.8 (Local)
2025-08-23T22:06:47.545Z,1755986807.545 [DAT](INFO): Local bearing/azimuth received:
Bearing 136.7, 11.8 (Local)
2025-08-23T22:06:47.547Z,1755986807.547 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4
2025-08-23T22:06:47.552Z,1755986807.552 [DAT](INFO): DAT read: 22:06:46.9541 LVL= 32112, 25585, 32754, 32755, AGC= 57, IDX= 502,-0.12, 2.872,-2.643, 2.358,-2.341, PHS=-0.968,-0.257,-1.628, RAW= 358.8, 40.3, CAL= 357.2, 45.3, ROT= 152.8, -45.3
2025-08-23T22:06:47.553Z,1755986807.553 [DAT](INFO): got valid direction response:
22:06:46.9541 LVL= 32112, 25585, 32754, 32755, AGC= 57, IDX= 502,-0.12, 2.872,-2.643, 2.358,-2.341, PHS=-0.968,-0.257,-1.628, RAW= 358.8, 40.3, CAL= 357.2, 45.3, ROT= 152.8, -45.3
2025-08-23T22:06:47.553Z,1755986807.553 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-23T22:06:47.554Z,1755986807.554 [DAT](INFO): direction in FSK: [-0.625611,0.321520,0.710799]
2025-08-23T22:06:47.555Z,1755986807.555 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:47.562Z,1755986807.562 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=48.442490
2025-08-23T22:06:47.796Z,1755986807.796 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=48.675781
2025-08-23T22:06:47.851Z,1755986807.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.500000 m,
deltaT: 0.501283 s,
deltaX: -0.300000 m,
approachRate: -0.598465 m/s,
rangeRepo size: 4
2025-08-23T22:06:47.853Z,1755986807.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.459941 m,
bearing: 9.889984 deg,
lat: 36.779466 deg,
lon: -121.859532 deg,
deltaT: 8.317383 s,
deltaX: -3.379056 m,
approachRate: -0.406264 m/s,
posRepo size: 4
2025-08-23T22:06:47.854Z,1755986807.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.50 m.
2025-08-23T22:06:47.855Z,1755986807.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.84 m.
2025-08-23T22:06:47.857Z,1755986807.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 0.625888 m,
bearing: 189.117872 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 184.880544 deg,
new cmd heading: 185.000520 deg.
2025-08-23T22:06:47.858Z,1755986807.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.228868 target range: 9.838998 and range: 6.50 m.
2025-08-23T22:06:48.047Z,1755986808.047 [DAT](INFO): DAT read: Rx Time:22:06:47.4539
2025-08-23T22:06:48.048Z,1755986808.048 [DAT](INFO): Rx dataTimestamp_ set to:1755986808.047948
2025-08-23T22:06:48.050Z,1755986808.050 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.2
2025-08-23T22:06:48.051Z,1755986808.051 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-08-23T22:06:48.052Z,1755986808.052 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=48.932732
2025-08-23T22:06:48.303Z,1755986808.303 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=49.182190
2025-08-23T22:06:48.359Z,1755986808.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.504628 s,
deltaX: -0.300000 m,
approachRate: -0.594498 m/s,
rangeRepo size: 4
2025-08-23T22:06:48.360Z,1755986808.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-08-23T22:06:48.361Z,1755986808.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -76.893236 deg/s. Setting heading cmd to target acoustic bearing of 112.739308 deg.
2025-08-23T22:06:48.362Z,1755986808.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.967672 target range: 9.838998 and range: 6.20 m.
2025-08-23T22:06:48.551Z,1755986808.551 [DAT](INFO): DAT read: Rx Time:22:06:47.9538
2025-08-23T22:06:48.552Z,1755986808.552 [DAT](INFO): Rx dataTimestamp_ set to:1755986808.551392
2025-08-23T22:06:48.553Z,1755986808.553 [DAT](INFO): DAT read: Bearing 125.1, -4.0 (Local)
2025-08-23T22:06:48.553Z,1755986808.553 [DAT](INFO): Local bearing/azimuth received:
Bearing 125.1, -4.0 (Local)
2025-08-23T22:06:48.555Z,1755986808.555 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.3
2025-08-23T22:06:48.560Z,1755986808.560 [DAT](INFO): DAT read: 22:06:47.9538 LVL= 25840, 32753, 24866, 32755, AGC= 53, IDX= 501, 0.30, 1.430, 2.350, 1.504, 2.931, PHS=-1.400,-0.537,-1.471, RAW= 333.9, 53.2, CAL= 333.3, 56.8, ROT= 176.7, -56.8
2025-08-23T22:06:48.561Z,1755986808.561 [DAT](INFO): got valid direction response:
22:06:47.9538 LVL= 25840, 32753, 24866, 32755, AGC= 53, IDX= 501, 0.30, 1.430, 2.350, 1.504, 2.931, PHS=-1.400,-0.537,-1.471, RAW= 333.9, 53.2, CAL= 333.3, 56.8, ROT= 176.7, -56.8
2025-08-23T22:06:48.561Z,1755986808.561 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-23T22:06:48.562Z,1755986808.562 [DAT](INFO): direction in FSK: [-0.546655,0.031520,0.836764]
2025-08-23T22:06:48.563Z,1755986808.563 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:48.578Z,1755986808.578 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=49.458561
2025-08-23T22:06:48.804Z,1755986808.804 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=49.684032
2025-08-23T22:06:48.847Z,1755986808.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.503444 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:48.849Z,1755986808.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.161773 m,
bearing: 27.270375 deg,
lat: 36.779466 deg,
lon: -121.859537 deg,
deltaT: 9.325455 s,
deltaX: -3.677225 m,
approachRate: -0.394321 m/s,
posRepo size: 4
2025-08-23T22:06:48.866Z,1755986808.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.84 m.
2025-08-23T22:06:48.868Z,1755986808.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 0.401536 m,
bearing: 119.504403 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 112.739307 deg,
new cmd heading: 112.838265 deg.
2025-08-23T22:06:48.874Z,1755986808.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.969399 target range: 9.838998 and range: 6.20 m.
2025-08-23T22:06:49.055Z,1755986809.055 [DAT](INFO): DAT read: Rx Time:22:06:48.4539
2025-08-23T22:06:49.056Z,1755986809.056 [DAT](INFO): Rx dataTimestamp_ set to:1755986809.055373
2025-08-23T22:06:49.057Z,1755986809.057 [DAT](INFO): DAT read: Bearing 347.0, -6.2 (Local)
2025-08-23T22:06:49.057Z,1755986809.057 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.0, -6.2 (Local)
2025-08-23T22:06:49.059Z,1755986809.059 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.2
2025-08-23T22:06:49.064Z,1755986809.064 [DAT](INFO): DAT read: 22:06:48.4539 LVL= 14624, 26241, 21378, 22403, AGC= 50, IDX= 505, 0.27, 1.758, 0.132, 2.467, 1.060, PHS= 0.800,-0.883, 1.363, RAW= 163.9, -12.6, CAL= 165.4, -14.0, ROT= 344.6, 14.0
2025-08-23T22:06:49.065Z,1755986809.065 [DAT](INFO): got valid direction response:
22:06:48.4539 LVL= 14624, 26241, 21378, 22403, AGC= 50, IDX= 505, 0.27, 1.758, 0.132, 2.467, 1.060, PHS= 0.800,-0.883, 1.363, RAW= 163.9, -12.6, CAL= 165.4, -14.0, ROT= 344.6, 14.0
2025-08-23T22:06:49.065Z,1755986809.065 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-23T22:06:49.066Z,1755986809.066 [DAT](INFO): direction in FSK: [0.935458,-0.257668,-0.241922]
2025-08-23T22:06:49.067Z,1755986809.067 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:49.070Z,1755986809.070 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=49.950745
2025-08-23T22:06:49.293Z,1755986809.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.503981 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:49.296Z,1755986809.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.161767 m,
bearing: 195.479198 deg,
lat: 36.779466 deg,
lon: -121.859550 deg,
deltaT: 9.829436 s,
deltaX: -3.677230 m,
approachRate: -0.374104 m/s,
posRepo size: 4
2025-08-23T22:06:49.299Z,1755986809.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.84 m.
2025-08-23T22:06:49.303Z,1755986809.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 0.540825 m,
bearing: 91.017498 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 112.838263 deg,
new cmd heading: 112.928405 deg.
2025-08-23T22:06:49.304Z,1755986809.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.970973 target range: 9.838998 and range: 6.20 m.
2025-08-23T22:06:49.307Z,1755986809.307 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=50.187405
2025-08-23T22:06:49.559Z,1755986809.559 [DAT](INFO): DAT read: Rx Time:22:06:48.9536
2025-08-23T22:06:49.559Z,1755986809.559 [DAT](INFO): Rx dataTimestamp_ set to:1755986809.558883
2025-08-23T22:06:49.560Z,1755986809.560 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.0
2025-08-23T22:06:49.561Z,1755986809.561 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-08-23T22:06:49.562Z,1755986809.562 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=50.442196
2025-08-23T22:06:49.738Z,1755986809.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:06:49.741Z,1755986809.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.900000 m,
deltaT: 0.503510 s,
deltaX: -0.300000 m,
approachRate: -0.595817 m/s,
rangeRepo size: 4
2025-08-23T22:06:49.742Z,1755986809.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-08-23T22:06:49.743Z,1755986809.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.814402 deg/s. Setting heading cmd to target acoustic bearing of 112.739308 deg.
2025-08-23T22:06:49.744Z,1755986809.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.967672 target range: 9.838998 and range: 5.90 m.
2025-08-23T22:06:49.811Z,1755986809.811 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=50.690792
2025-08-23T22:06:50.063Z,1755986810.063 [DAT](INFO): DAT read: Rx Time:22:06:49.4535
2025-08-23T22:06:50.064Z,1755986810.064 [DAT](INFO): Rx dataTimestamp_ set to:1755986810.063350
2025-08-23T22:06:50.065Z,1755986810.065 [DAT](INFO): DAT read: Bearing 146.7, -28.0 (Local)
2025-08-23T22:06:50.065Z,1755986810.065 [DAT](INFO): Local bearing/azimuth received:
Bearing 146.7, -28.0 (Local)
2025-08-23T22:06:50.067Z,1755986810.067 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.1
2025-08-23T22:06:50.072Z,1755986810.072 [DAT](INFO): DAT read: 22:06:49.4535 LVL= 29952, 17073, 32754, 26067, AGC= 46, IDX= 500, 0.30,-0.734, 1.126, 0.138, 0.877, PHS=-1.509, 0.295,-0.783, RAW= 306.4, 24.2, CAL= 306.4, 29.7, ROT= 203.6, -29.7
2025-08-23T22:06:50.073Z,1755986810.073 [DAT](INFO): got valid direction response:
22:06:49.4535 LVL= 29952, 17073, 32754, 26067, AGC= 46, IDX= 500, 0.30,-0.734, 1.126, 0.138, 0.877, PHS=-1.509, 0.295,-0.783, RAW= 306.4, 24.2, CAL= 306.4, 29.7, ROT= 203.6, -29.7
2025-08-23T22:06:50.073Z,1755986810.073 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-23T22:06:50.074Z,1755986810.074 [DAT](INFO): direction in FSK: [-0.795982,-0.347756,0.495459]
2025-08-23T22:06:50.074Z,1755986810.074 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:50.078Z,1755986810.078 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=50.958538
2025-08-23T22:06:50.136Z,1755986810.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.700000 m,
deltaT: 0.504467 s,
deltaX: -0.200000 m,
approachRate: -0.396459 m/s,
rangeRepo size: 4
2025-08-23T22:06:50.142Z,1755986810.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.664851 m,
bearing: 50.443856 deg,
lat: 36.779449 deg,
lon: -121.859550 deg,
deltaT: 10.837413 s,
deltaX: -4.174147 m,
approachRate: -0.385161 m/s,
posRepo size: 4
2025-08-23T22:06:50.143Z,1755986810.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.66 m. 9.84 m.
2025-08-23T22:06:50.154Z,1755986810.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 0.933843 m,
bearing: 69.124253 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 112.739307 deg,
new cmd heading: 112.819344 deg.
2025-08-23T22:06:50.155Z,1755986810.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.969069 target range: 9.838998 and range: 5.70 m.
2025-08-23T22:06:50.315Z,1755986810.315 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=51.195084
2025-08-23T22:06:50.567Z,1755986810.567 [DAT](INFO): DAT read: Rx Time:22:06:49.9534
2025-08-23T22:06:50.568Z,1755986810.568 [DAT](INFO): Rx dataTimestamp_ set to:1755986810.567291
2025-08-23T22:06:50.569Z,1755986810.569 [DAT](INFO): DAT read: Bearing 123.1, -25.9 (Local)
2025-08-23T22:06:50.569Z,1755986810.569 [DAT](INFO): Local bearing/azimuth received:
Bearing 123.1, -25.9 (Local)
2025-08-23T22:06:50.571Z,1755986810.571 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed -0.2
2025-08-23T22:06:50.580Z,1755986810.580 [DAT](INFO): DAT read: 22:06:49.9534 LVL= 32752, 29473, 32754, 32755, AGC= 50, IDX= 499,-0.03,-0.092, 1.423, 0.859, 1.949, PHS=-1.938,-0.480,-1.134, RAW= 296.6, 44.8, CAL= 299.0, 49.5, ROT= 211.0, -49.5
2025-08-23T22:06:50.581Z,1755986810.581 [DAT](INFO): got valid direction response:
22:06:49.9534 LVL= 32752, 29473, 32754, 32755, AGC= 50, IDX= 499,-0.03,-0.092, 1.423, 0.859, 1.949, PHS=-1.938,-0.480,-1.134, RAW= 296.6, 44.8, CAL= 299.0, 49.5, ROT= 211.0, -49.5
2025-08-23T22:06:50.581Z,1755986810.581 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-23T22:06:50.582Z,1755986810.582 [DAT](INFO): direction in FSK: [-0.556686,-0.334490,0.760406]
2025-08-23T22:06:50.583Z,1755986810.583 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:50.592Z,1755986810.592 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=51.471992
2025-08-23T22:06:50.648Z,1755986810.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.600000 m,
deltaT: 0.503941 s,
deltaX: -0.100000 m,
approachRate: -0.198436 m/s,
rangeRepo size: 4
2025-08-23T22:06:50.654Z,1755986810.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.565467 m,
bearing: 53.698725 deg,
lat: 36.779441 deg,
lon: -121.859550 deg,
deltaT: 11.341354 s,
deltaX: -4.273531 m,
approachRate: -0.376810 m/s,
posRepo size: 4
2025-08-23T22:06:50.655Z,1755986810.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.84 m.
2025-08-23T22:06:50.662Z,1755986810.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 1.213011 m,
bearing: 62.535360 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 112.819344 deg,
new cmd heading: 112.923237 deg.
2025-08-23T22:06:50.663Z,1755986810.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.970882 target range: 9.838998 and range: 5.60 m.
2025-08-23T22:06:50.819Z,1755986810.819 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=51.698975
2025-08-23T22:06:51.053Z,1755986811.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-08-23T22:06:51.055Z,1755986811.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 1.442473 m,
bearing: 59.148207 deg,
approach rate: 0.570933 m/s,
LOS rate: -7.082916 deg/s,
cmd heading: 112.923238 deg,
new cmd heading: 107.248505 deg.
2025-08-23T22:06:51.056Z,1755986811.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.871840 target range: 9.838998 and range: 5.60 m.
2025-08-23T22:06:51.075Z,1755986811.075 [DAT](INFO): DAT read: Rx Time:22:06:50.4535
2025-08-23T22:06:51.075Z,1755986811.075 [DAT](INFO): Rx dataTimestamp_ set to:1755986811.074871
2025-08-23T22:06:51.076Z,1755986811.076 [DAT](INFO): DAT read: Bearing 112.8, -28.9 (Local)
2025-08-23T22:06:51.077Z,1755986811.077 [DAT](INFO): Local bearing/azimuth received:
Bearing 112.8, -28.9 (Local)
2025-08-23T22:06:51.079Z,1755986811.079 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.3
2025-08-23T22:06:51.083Z,1755986811.083 [DAT](INFO): DAT read: 22:06:50.4535 LVL= 32752, 21825, 32754, 32755, AGC= 53, IDX= 500,-0.08, 2.223,-2.619,-2.883,-1.774, PHS=-2.184,-0.800,-1.153, RAW= 284.2, 49.6, CAL= 286.8, 54.6, ROT= 223.2, -54.6
2025-08-23T22:06:51.084Z,1755986811.084 [DAT](INFO): got valid direction response:
22:06:50.4535 LVL= 32752, 21825, 32754, 32755, AGC= 53, IDX= 500,-0.08, 2.223,-2.619,-2.883,-1.774, PHS=-2.184,-0.800,-1.153, RAW= 284.2, 49.6, CAL= 286.8, 54.6, ROT= 223.2, -54.6
2025-08-23T22:06:51.085Z,1755986811.085 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-23T22:06:51.091Z,1755986811.091 [DAT](INFO): direction in FSK: [-0.422278,-0.396545,0.815128]
2025-08-23T22:06:51.091Z,1755986811.091 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:51.128Z,1755986811.128 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=52.007473
2025-08-23T22:06:51.327Z,1755986811.327 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=52.206810
2025-08-23T22:06:51.424Z,1755986811.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.700000 m,
deltaT: 0.507580 s,
deltaX: 0.100000 m,
approachRate: 0.197013 m/s,
rangeRepo size: 4
2025-08-23T22:06:51.426Z,1755986811.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.664846 m,
bearing: 62.231118 deg,
lat: 36.779430 deg,
lon: -121.859547 deg,
deltaT: 11.848934 s,
deltaX: -4.174151 m,
approachRate: -0.352281 m/s,
posRepo size: 4
2025-08-23T22:06:51.428Z,1755986811.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.66 m. 9.84 m.
2025-08-23T22:06:51.471Z,1755986811.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 1.649202 m,
bearing: 56.723840 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 107.248505 deg,
new cmd heading: 107.324346 deg.
2025-08-23T22:06:51.480Z,1755986811.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.873163 target range: 9.838998 and range: 5.70 m.
2025-08-23T22:06:51.579Z,1755986811.579 [DAT](INFO): DAT read: Rx Time:22:06:50.9542
2025-08-23T22:06:51.580Z,1755986811.580 [DAT](INFO): Rx dataTimestamp_ set to:1755986811.579455
2025-08-23T22:06:51.581Z,1755986811.581 [DAT](INFO): DAT read: Bearing 190.3, -50.8 (Local)
2025-08-23T22:06:51.581Z,1755986811.581 [DAT](INFO): Local bearing/azimuth received:
Bearing 190.3, -50.8 (Local)
2025-08-23T22:06:51.583Z,1755986811.583 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.3
2025-08-23T22:06:51.590Z,1755986811.590 [DAT](INFO): DAT read: 22:06:50.9542 LVL= 23008, 26513, 27202, 26931, AGC= 55, IDX= 507, 0.07,-2.687,-1.029,-1.377,-1.689, PHS=-0.897, 0.705, 0.267, RAW= 285.3, -1.1, CAL= 284.4, -6.3, ROT= 225.6, 6.3
2025-08-23T22:06:51.592Z,1755986811.592 [DAT](INFO): got valid direction response:
22:06:50.9542 LVL= 23008, 26513, 27202, 26931, AGC= 55, IDX= 507, 0.07,-2.687,-1.029,-1.377,-1.689, PHS=-0.897, 0.705, 0.267, RAW= 285.3, -1.1, CAL= 284.4, -6.3, ROT= 225.6, 6.3
2025-08-23T22:06:51.592Z,1755986811.592 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-23T22:06:51.599Z,1755986811.599 [DAT](INFO): direction in FSK: [-0.695438,-0.710158,-0.109734]
2025-08-23T22:06:51.599Z,1755986811.599 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:51.609Z,1755986811.609 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=52.489113
2025-08-23T22:06:51.831Z,1755986811.831 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=52.710922
2025-08-23T22:06:51.936Z,1755986811.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.504584 s,
deltaX: 1.100000 m,
approachRate: 2.180014 m/s,
rangeRepo size: 4
2025-08-23T22:06:51.943Z,1755986811.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.758063 m,
bearing: 72.466149 deg,
lat: 36.779422 deg,
lon: -121.859543 deg,
deltaT: 12.353518 s,
deltaX: -3.080935 m,
approachRate: -0.249397 m/s,
posRepo size: 4
2025-08-23T22:06:51.944Z,1755986811.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 9.84 m.
2025-08-23T22:06:51.948Z,1755986811.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 1.918218 m,
bearing: 54.159195 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 107.324347 deg,
new cmd heading: 107.426882 deg.
2025-08-23T22:06:51.948Z,1755986811.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.874953 target range: 9.838998 and range: 6.80 m.
2025-08-23T22:06:52.084Z,1755986812.084 [DAT](INFO): DAT read: Rx Time:22:06:51.4545
2025-08-23T22:06:52.085Z,1755986812.085 [DAT](INFO): Rx dataTimestamp_ set to:1755986812.084446
2025-08-23T22:06:52.087Z,1755986812.087 [DAT](INFO): DAT read: Bearing 191.7, -43.2 (Local)
2025-08-23T22:06:52.088Z,1755986812.088 [DAT](INFO): Local bearing/azimuth received:
Bearing 191.7, -43.2 (Local)
2025-08-23T22:06:52.091Z,1755986812.091 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed -0.4
2025-08-23T22:06:52.098Z,1755986812.098 [DAT](INFO): DAT read: 22:06:51.4545 LVL= 31056, 22193, 29330, 29619, AGC= 58, IDX= 510, 0.13, 1.277,-2.990, 2.660, 2.310, PHS=-0.931, 1.029, 0.306, RAW= 291.4, -4.8, CAL= 291.1, -9.7, ROT= 218.9, 9.7
2025-08-23T22:06:52.099Z,1755986812.099 [DAT](INFO): got valid direction response:
22:06:51.4545 LVL= 31056, 22193, 29330, 29619, AGC= 58, IDX= 510, 0.13, 1.277,-2.990, 2.660, 2.310, PHS=-0.931, 1.029, 0.306, RAW= 291.4, -4.8, CAL= 291.1, -9.7, ROT= 218.9, 9.7
2025-08-23T22:06:52.099Z,1755986812.099 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-23T22:06:52.100Z,1755986812.100 [DAT](INFO): direction in FSK: [-0.767117,-0.618985,-0.168489]
2025-08-23T22:06:52.101Z,1755986812.101 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:52.105Z,1755986812.105 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=52.985348
2025-08-23T22:06:52.335Z,1755986812.335 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=53.215023
2025-08-23T22:06:52.354Z,1755986812.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.504991 s,
deltaX: 0.400000 m,
approachRate: 0.792093 m/s,
rangeRepo size: 4
2025-08-23T22:06:52.356Z,1755986812.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.155604 m,
bearing: 64.341633 deg,
lat: 36.779430 deg,
lon: -121.859532 deg,
deltaT: 12.858509 s,
deltaX: -2.683393 m,
approachRate: -0.208686 m/s,
posRepo size: 4
2025-08-23T22:06:52.357Z,1755986812.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.16 m. 9.84 m.
2025-08-23T22:06:52.375Z,1755986812.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 2.159692 m,
bearing: 52.222857 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 107.426882 deg,
new cmd heading: 107.512881 deg.
2025-08-23T22:06:52.376Z,1755986812.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.876454 target range: 9.838998 and range: 7.20 m.
2025-08-23T22:06:52.587Z,1755986812.587 [DAT](INFO): DAT read: Rx Time:22:06:51.9546
2025-08-23T22:06:52.588Z,1755986812.588 [DAT](INFO): Rx dataTimestamp_ set to:1755986812.587399
2025-08-23T22:06:52.589Z,1755986812.589 [DAT](INFO): DAT read: Bearing 181.5, -26.9 (Local)
2025-08-23T22:06:52.590Z,1755986812.590 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.5, -26.9 (Local)
2025-08-23T22:06:52.592Z,1755986812.592 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4
2025-08-23T22:06:52.596Z,1755986812.596 [DAT](INFO): DAT read: 22:06:51.9546 LVL= 30288, 32753, 27794, 31699, AGC= 60, IDX= 511, 0.00,-0.672, 1.359, 0.173, 0.276, PHS=-0.846, 1.128,-0.147, RAW= 309.6, -1.6, CAL= 308.1, -5.0, ROT= 201.9, 5.0
2025-08-23T22:06:52.598Z,1755986812.598 [DAT](INFO): got valid direction response:
22:06:51.9546 LVL= 30288, 32753, 27794, 31699, AGC= 60, IDX= 511, 0.00,-0.672, 1.359, 0.173, 0.276, PHS=-0.846, 1.128,-0.147, RAW= 309.6, -1.6, CAL= 308.1, -5.0, ROT= 201.9, 5.0
2025-08-23T22:06:52.598Z,1755986812.598 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-23T22:06:52.599Z,1755986812.599 [DAT](INFO): direction in FSK: [-0.924306,-0.371568,-0.087156]
2025-08-23T22:06:52.599Z,1755986812.599 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:52.603Z,1755986812.603 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:06:52.603Z,1755986812.603 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:06:52.603Z,1755986812.603 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:52.835Z,1755986812.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.502953 s,
deltaX: 0.200000 m,
approachRate: 0.397652 m/s,
rangeRepo size: 4
2025-08-23T22:06:52.837Z,1755986812.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.354372 m,
bearing: 46.879921 deg,
lat: 36.779430 deg,
lon: -121.859528 deg,
deltaT: 13.361462 s,
deltaX: -2.484626 m,
approachRate: -0.185955 m/s,
posRepo size: 4
2025-08-23T22:06:52.838Z,1755986812.838 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:52.838Z,1755986812.838 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:52.839Z,1755986812.839 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:52.842Z,1755986812.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.35 m. 9.84 m.
2025-08-23T22:06:52.846Z,1755986812.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.838998 m,
nav range: 2.417885 m,
bearing: 50.471807 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101394 deg/s,
cmd heading: 107.512881 deg,
new cmd heading: 107.610481 deg.
2025-08-23T22:06:52.847Z,1755986812.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.878157 target range: 9.838998 and range: 7.40 m.
2025-08-23T22:06:53.091Z,1755986813.091 [DAT](INFO): DAT read: Rx Time:22:06:52.4548
2025-08-23T22:06:53.092Z,1755986813.092 [DAT](INFO): Rx dataTimestamp_ set to:1755986813.091254
2025-08-23T22:06:53.093Z,1755986813.093 [DAT](INFO): DAT read: Bearing 186.7, -43.9 (Local)
2025-08-23T22:06:53.093Z,1755986813.093 [DAT](INFO): Local bearing/azimuth received:
Bearing 186.7, -43.9 (Local)
2025-08-23T22:06:53.095Z,1755986813.095 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4
2025-08-23T22:06:53.120Z,1755986813.120 [DAT](INFO): DAT read: 22:06:52.4548 LVL= 24384, 17249, 32754, 29379, AGC= 62, IDX= 513,-0.21, 3.054,-1.092,-1.746,-2.074, PHS=-1.053, 1.027, 0.284, RAW= 290.6, -2.9, CAL= 290.0, -7.8, ROT= 220.0, 7.8
2025-08-23T22:06:53.123Z,1755986813.123 [DAT](INFO): got valid direction response:
22:06:52.4548 LVL= 24384, 17249, 32754, 29379, AGC= 62, IDX= 513,-0.21, 3.054,-1.092,-1.746,-2.074, PHS=-1.053, 1.027, 0.284, RAW= 290.6, -2.9, CAL= 290.0, -7.8, ROT= 220.0, 7.8
2025-08-23T22:06:53.123Z,1755986813.123 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:06:53.124Z,1755986813.124 [DAT](INFO): direction in FSK: [-0.758957,-0.636840,-0.135716]
2025-08-23T22:06:53.124Z,1755986813.124 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:53.148Z,1755986813.148 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:53.148Z,1755986813.148 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:53.250Z,1755986813.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.700000 m,
deltaT: 0.503855 s,
deltaX: 0.300000 m,
approachRate: 0.595409 m/s,
rangeRepo size: 4
2025-08-23T22:06:53.252Z,1755986813.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.652522 m,
bearing: 63.499400 deg,
lat: 36.779429 deg,
lon: -121.859515 deg,
deltaT: 13.865317 s,
deltaX: -2.186476 m,
approachRate: -0.157694 m/s,
posRepo size: 4
2025-08-23T22:06:53.253Z,1755986813.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 7.70 m. Rolling out.
2025-08-23T22:06:53.266Z,1755986813.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-08-23T22:06:53.311Z,1755986813.311 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-23T22:06:53.311Z,1755986813.311 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-23T22:06:53.318Z,1755986813.318 [DockingStepper](INFO): Changing to mode: 1
2025-08-23T22:06:53.343Z,1755986813.343 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:53.344Z,1755986813.344 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:53.344Z,1755986813.344 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:53.595Z,1755986813.595 [DAT](INFO): DAT read: Rx Time:22:06:52.9548
2025-08-23T22:06:53.596Z,1755986813.596 [DAT](INFO): Rx dataTimestamp_ set to:1755986813.595542
2025-08-23T22:06:53.599Z,1755986813.599 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4
2025-08-23T22:06:53.600Z,1755986813.600 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:06:53.601Z,1755986813.601 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:53.602Z,1755986813.602 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:53.696Z,1755986813.696 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 16.80 mm.
2025-08-23T22:06:53.703Z,1755986813.703 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-08-23T22:06:53.703Z,1755986813.703 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-23T22:06:53.703Z,1755986813.703 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-08-23T22:06:53.705Z,1755986813.705 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 7.700000 m (mode 5.000000 count ).
2025-08-23T22:06:53.705Z,1755986813.705 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-08-23T22:06:53.705Z,1755986813.705 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-08-23T22:06:53.706Z,1755986813.706 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-08-23T22:06:53.706Z,1755986813.706 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-23T22:06:53.706Z,1755986813.706 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-08-23T22:06:53.707Z,1755986813.707 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 7.700000 m (mode 5.000000 count ).
2025-08-23T22:06:53.707Z,1755986813.707 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-08-23T22:06:53.707Z,1755986813.707 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-08-23T22:06:53.708Z,1755986813.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:06:53.711Z,1755986813.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.700000 m,
deltaT: 0.504288 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:53.711Z,1755986813.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-23T22:06:53.713Z,1755986813.713 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-23T22:06:53.713Z,1755986813.713 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-23T22:06:53.713Z,1755986813.713 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-23T22:06:53.713Z,1755986813.713 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-23T22:06:53.847Z,1755986813.847 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:53.847Z,1755986813.847 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:53.847Z,1755986813.847 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:54.099Z,1755986814.099 [DAT](INFO): DAT read: Rx Time:22:06:53.4541
2025-08-23T22:06:54.099Z,1755986814.099 [DAT](INFO): Rx dataTimestamp_ set to:1755986814.098912
2025-08-23T22:06:54.100Z,1755986814.100 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed -0.3
2025-08-23T22:06:54.101Z,1755986814.101 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:06:54.102Z,1755986814.102 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:54.102Z,1755986814.102 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:54.227Z,1755986814.227 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-08-23T22:06:54.227Z,1755986814.227 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-08-23T22:06:54.228Z,1755986814.228 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-08-23T22:06:54.228Z,1755986814.228 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-08-23T22:06:54.231Z,1755986814.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.500000 m,
deltaT: 0.503370 s,
deltaX: -1.200000 m,
approachRate: -2.383932 m/s,
rangeRepo size: 4
2025-08-23T22:06:54.231Z,1755986814.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-23T22:06:54.351Z,1755986814.351 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:54.352Z,1755986814.352 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:54.352Z,1755986814.352 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:54.603Z,1755986814.603 [DAT](INFO): DAT read: Rx Time:22:06:53.9538
2025-08-23T22:06:54.603Z,1755986814.603 [DAT](INFO): Rx dataTimestamp_ set to:1755986814.602742
2025-08-23T22:06:54.604Z,1755986814.604 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.3
2025-08-23T22:06:54.605Z,1755986814.605 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:06:54.606Z,1755986814.606 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:54.606Z,1755986814.606 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:54.665Z,1755986814.665 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-08-23T22:06:54.665Z,1755986814.665 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-08-23T22:06:54.668Z,1755986814.668 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-08-23T22:06:54.668Z,1755986814.668 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-08-23T22:06:54.675Z,1755986814.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.503830 s,
deltaX: -0.300000 m,
approachRate: -0.595439 m/s,
rangeRepo size: 4
2025-08-23T22:06:54.676Z,1755986814.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-23T22:06:54.854Z,1755986814.854 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:54.854Z,1755986814.854 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:54.855Z,1755986814.855 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:55.053Z,1755986815.053 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-08-23T22:06:55.053Z,1755986815.053 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-23T22:06:55.053Z,1755986815.053 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-08-23T22:06:55.053Z,1755986815.053 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-23T22:06:55.054Z,1755986815.054 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-08-23T22:06:55.054Z,1755986815.054 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-23T22:06:55.054Z,1755986815.054 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-08-23T22:06:55.054Z,1755986815.054 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-23T22:06:55.056Z,1755986815.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-23T22:06:55.111Z,1755986815.111 [DAT](INFO): DAT read: Rx Time:22:06:54.4539
2025-08-23T22:06:55.112Z,1755986815.112 [DAT](INFO): Rx dataTimestamp_ set to:1755986815.111430
2025-08-23T22:06:55.115Z,1755986815.115 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.2
2025-08-23T22:06:55.116Z,1755986815.116 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:06:55.116Z,1755986815.116 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:55.117Z,1755986815.117 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:55.362Z,1755986815.362 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:55.362Z,1755986815.362 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:55.363Z,1755986815.363 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:55.482Z,1755986815.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.508688 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:55.482Z,1755986815.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-23T22:06:55.615Z,1755986815.615 [DAT](INFO): DAT read: Rx Time:22:06:54.9539
2025-08-23T22:06:55.616Z,1755986815.616 [DAT](INFO): Rx dataTimestamp_ set to:1755986815.615923
2025-08-23T22:06:55.619Z,1755986815.619 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.2
2025-08-23T22:06:55.620Z,1755986815.620 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:06:55.622Z,1755986815.622 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:55.622Z,1755986815.622 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:55.866Z,1755986815.866 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:55.866Z,1755986815.866 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:55.867Z,1755986815.867 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:55.912Z,1755986815.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.504493 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:55.912Z,1755986815.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-23T22:06:56.119Z,1755986816.119 [DAT](INFO): DAT read: Rx Time:22:06:55.4541
2025-08-23T22:06:56.120Z,1755986816.120 [DAT](INFO): Rx dataTimestamp_ set to:1755986816.119408
2025-08-23T22:06:56.121Z,1755986816.121 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed -0.2
2025-08-23T22:06:56.122Z,1755986816.122 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:06:56.122Z,1755986816.122 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:56.123Z,1755986816.123 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:56.313Z,1755986816.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.500000 m,
deltaT: 0.503485 s,
deltaX: 0.300000 m,
approachRate: 0.595847 m/s,
rangeRepo size: 4
2025-08-23T22:06:56.318Z,1755986816.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-23T22:06:56.371Z,1755986816.371 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:56.371Z,1755986816.371 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:56.372Z,1755986816.372 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:56.623Z,1755986816.623 [DAT](INFO): DAT read: Rx Time:22:06:55.9541
2025-08-23T22:06:56.623Z,1755986816.623 [DAT](INFO): Rx dataTimestamp_ set to:1755986816.622814
2025-08-23T22:06:56.624Z,1755986816.624 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed -0.3
2025-08-23T22:06:56.625Z,1755986816.625 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:06:56.626Z,1755986816.626 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:56.626Z,1755986816.626 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:56.749Z,1755986816.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.500000 m,
deltaT: 0.503406 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:56.750Z,1755986816.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-23T22:06:56.875Z,1755986816.875 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:56.875Z,1755986816.875 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:56.875Z,1755986816.875 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:57.102Z,1755986817.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-23T22:06:57.128Z,1755986817.128 [DAT](INFO): DAT read: Rx Time:22:06:56.4541
2025-08-23T22:06:57.128Z,1755986817.128 [DAT](INFO): Rx dataTimestamp_ set to:1755986817.127969
2025-08-23T22:06:57.130Z,1755986817.130 [DAT](INFO): DAT read: Bearing 109.6, 1.4 (Local)
2025-08-23T22:06:57.130Z,1755986817.130 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.6, 1.4 (Local)
2025-08-23T22:06:57.132Z,1755986817.132 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.3
2025-08-23T22:06:57.136Z,1755986817.136 [DAT](INFO): DAT read: 22:06:56.4541 LVL= 24176, 20849, 18018, 32531, AGC= 54, IDX= 507,-0.44, 1.203, 1.988, 1.302, 2.457, PHS=-1.152,-0.423,-1.198, RAW= 333.1, 52.5, CAL= 332.4, 56.2, ROT= 177.6, -56.2
2025-08-23T22:06:57.138Z,1755986817.138 [DAT](INFO): got valid direction response:
22:06:56.4541 LVL= 24176, 20849, 18018, 32531, AGC= 54, IDX= 507,-0.44, 1.203, 1.988, 1.302, 2.457, PHS=-1.152,-0.423,-1.198, RAW= 333.1, 52.5, CAL= 332.4, 56.2, ROT= 177.6, -56.2
2025-08-23T22:06:57.138Z,1755986817.138 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:06:57.139Z,1755986817.139 [DAT](INFO): direction in FSK: [-0.555808,0.023295,0.830984]
2025-08-23T22:06:57.139Z,1755986817.139 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:57.147Z,1755986817.147 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:57.147Z,1755986817.147 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:57.378Z,1755986817.378 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:57.378Z,1755986817.378 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:57.379Z,1755986817.379 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:57.628Z,1755986817.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.600000 m,
deltaT: 0.505155 s,
deltaX: 0.100000 m,
approachRate: 0.197959 m/s,
rangeRepo size: 4
2025-08-23T22:06:57.631Z,1755986817.631 [DAT](INFO): DAT read: Rx Time:22:06:56.9541
2025-08-23T22:06:57.632Z,1755986817.632 [DAT](INFO): Rx dataTimestamp_ set to:1755986817.631389
2025-08-23T22:06:57.633Z,1755986817.633 [DAT](INFO): DAT read: Bearing 116.9, 2.4 (Local)
2025-08-23T22:06:57.633Z,1755986817.633 [DAT](INFO): Local bearing/azimuth received:
Bearing 116.9, 2.4 (Local)
2025-08-23T22:06:57.635Z,1755986817.635 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.3
2025-08-23T22:06:57.640Z,1755986817.640 [DAT](INFO): DAT read: 22:06:56.9541 LVL= 20800, 18273, 14706, 26659, AGC= 52, IDX= 507,-0.35,-1.326,-0.300,-1.256,-0.033, PHS=-1.191,-0.222,-1.267, RAW= 333.8, 43.2, CAL= 333.0, 47.8, ROT= 177.0, -47.8
2025-08-23T22:06:57.641Z,1755986817.641 [DAT](INFO): got valid direction response:
22:06:56.9541 LVL= 20800, 18273, 14706, 26659, AGC= 52, IDX= 507,-0.35,-1.326,-0.300,-1.256,-0.033, PHS=-1.191,-0.222,-1.267, RAW= 333.8, 43.2, CAL= 333.0, 47.8, ROT= 177.0, -47.8
2025-08-23T22:06:57.641Z,1755986817.641 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:06:57.642Z,1755986817.642 [DAT](INFO): direction in FSK: [-0.670800,0.035155,0.740805]
2025-08-23T22:06:57.643Z,1755986817.643 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:57.662Z,1755986817.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.559324 m,
bearing: 14.011999 deg,
lat: 36.779429 deg,
lon: -121.859515 deg,
deltaT: 4.036715 s,
deltaX: -1.093197 m,
approachRate: -0.270814 m/s,
posRepo size: 4
2025-08-23T22:06:57.662Z,1755986817.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.56 m.
2025-08-23T22:06:57.666Z,1755986817.666 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:57.667Z,1755986817.667 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:57.882Z,1755986817.882 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:57.882Z,1755986817.882 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:57.883Z,1755986817.883 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:58.014Z,1755986818.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.600000 m,
deltaT: 0.503420 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:58.024Z,1755986818.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.559324 m,
bearing: 11.930669 deg,
lat: 36.779429 deg,
lon: -121.859528 deg,
deltaT: 0.503420 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:06:58.024Z,1755986818.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.56 m.
2025-08-23T22:06:58.135Z,1755986818.135 [DAT](INFO): DAT read: Rx Time:22:06:57.4543
2025-08-23T22:06:58.136Z,1755986818.136 [DAT](INFO): Rx dataTimestamp_ set to:1755986818.135413
2025-08-23T22:06:58.137Z,1755986818.137 [DAT](INFO): DAT read: Bearing 121.1, -15.5 (Local)
2025-08-23T22:06:58.137Z,1755986818.137 [DAT](INFO): Local bearing/azimuth received:
Bearing 121.1, -15.5 (Local)
2025-08-23T22:06:58.139Z,1755986818.139 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed -0.3
2025-08-23T22:06:58.144Z,1755986818.144 [DAT](INFO): DAT read: 22:06:57.4543 LVL= 19120, 17313, 15522, 19779, AGC= 51, IDX= 508, 0.33,-1.923,-0.232,-1.136,-0.126, PHS=-1.695,-0.060,-1.054, RAW= 307.1, 34.8, CAL= 308.6, 40.2, ROT= 201.4, -40.2
2025-08-23T22:06:58.145Z,1755986818.145 [DAT](INFO): got valid direction response:
22:06:57.4543 LVL= 19120, 17313, 15522, 19779, AGC= 51, IDX= 508, 0.33,-1.923,-0.232,-1.136,-0.126, PHS=-1.695,-0.060,-1.054, RAW= 307.1, 34.8, CAL= 308.6, 40.2, ROT= 201.4, -40.2
2025-08-23T22:06:58.146Z,1755986818.146 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:06:58.147Z,1755986818.147 [DAT](INFO): direction in FSK: [-0.711137,-0.278691,0.645458]
2025-08-23T22:06:58.147Z,1755986818.147 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:58.150Z,1755986818.150 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:58.151Z,1755986818.151 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:58.367Z,1755986818.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.900000 m,
deltaT: 0.504024 s,
deltaX: 0.300000 m,
approachRate: 0.595210 m/s,
rangeRepo size: 4
2025-08-23T22:06:58.369Z,1755986818.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.857467 m,
bearing: 35.682661 deg,
lat: 36.779419 deg,
lon: -121.859570 deg,
deltaT: 0.504024 s,
deltaX: 0.298143 m,
approachRate: 0.591525 m/s,
posRepo size: 4
2025-08-23T22:06:58.369Z,1755986818.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m.
2025-08-23T22:06:58.386Z,1755986818.386 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:58.387Z,1755986818.387 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:58.387Z,1755986818.387 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:58.639Z,1755986818.639 [DAT](INFO): DAT read: Rx Time:22:06:57.9543
2025-08-23T22:06:58.639Z,1755986818.639 [DAT](INFO): Rx dataTimestamp_ set to:1755986818.638868
2025-08-23T22:06:58.640Z,1755986818.640 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed -0.3
2025-08-23T22:06:58.641Z,1755986818.641 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:06:58.642Z,1755986818.642 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:58.642Z,1755986818.642 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:58.791Z,1755986818.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.900000 m,
deltaT: 0.503455 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:58.792Z,1755986818.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m.
2025-08-23T22:06:58.891Z,1755986818.891 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:58.891Z,1755986818.891 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:58.891Z,1755986818.891 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:59.143Z,1755986819.143 [DAT](INFO): DAT read: Rx Time:22:06:58.4545
2025-08-23T22:06:59.143Z,1755986819.143 [DAT](INFO): Rx dataTimestamp_ set to:1755986819.143178
2025-08-23T22:06:59.145Z,1755986819.145 [DAT](INFO): DAT read: Bearing 51.3, 58.6 (Local)
2025-08-23T22:06:59.145Z,1755986819.145 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.3, 58.6 (Local)
2025-08-23T22:06:59.147Z,1755986819.147 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed -0.4
2025-08-23T22:06:59.156Z,1755986819.156 [DAT](INFO): DAT read: 22:06:58.4545 LVL= 20144, 16353, 27106, 32755, AGC= 51, IDX= 511, 0.25,-0.220,-1.261,-1.575,-0.426, PHS= 0.308,-0.789,-1.193, RAW= 74.9, 23.8, CAL= 71.9, 31.0, ROT= 78.1, -31.0
2025-08-23T22:06:59.157Z,1755986819.157 [DAT](INFO): got valid direction response:
22:06:58.4545 LVL= 20144, 16353, 27106, 32755, AGC= 51, IDX= 511, 0.25,-0.220,-1.261,-1.575,-0.426, PHS= 0.308,-0.789,-1.193, RAW= 74.9, 23.8, CAL= 71.9, 31.0, ROT= 78.1, -31.0
2025-08-23T22:06:59.157Z,1755986819.157 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:06:59.158Z,1755986819.158 [DAT](INFO): direction in FSK: [0.176752,0.838746,0.515038]
2025-08-23T22:06:59.158Z,1755986819.158 [DAT](INFO): publishing direction and range info
2025-08-23T22:06:59.162Z,1755986819.162 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:59.162Z,1755986819.162 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:59.251Z,1755986819.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.504310 s,
deltaX: 0.300000 m,
approachRate: 0.594872 m/s,
rangeRepo size: 4
2025-08-23T22:06:59.254Z,1755986819.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.155617 m,
bearing: 267.935896 deg,
lat: 36.779417 deg,
lon: -121.859592 deg,
deltaT: 1.007765 s,
deltaX: 0.298150 m,
approachRate: 0.295853 m/s,
posRepo size: 4
2025-08-23T22:06:59.255Z,1755986819.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m.
2025-08-23T22:06:59.394Z,1755986819.394 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:59.395Z,1755986819.395 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:59.395Z,1755986819.395 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:59.647Z,1755986819.647 [DAT](INFO): DAT read: Rx Time:22:06:58.9545
2025-08-23T22:06:59.647Z,1755986819.647 [DAT](INFO): Rx dataTimestamp_ set to:1755986819.646923
2025-08-23T22:06:59.648Z,1755986819.648 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed -0.4
2025-08-23T22:06:59.649Z,1755986819.649 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:06:59.650Z,1755986819.650 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:59.650Z,1755986819.650 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:06:59.735Z,1755986819.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.503745 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:06:59.735Z,1755986819.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m.
2025-08-23T22:06:59.899Z,1755986819.899 [DAT](INFO): Reached modem response timeout
2025-08-23T22:06:59.899Z,1755986819.899 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:06:59.899Z,1755986819.899 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:07:00.125Z,1755986820.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m.
2025-08-23T22:07:00.151Z,1755986820.151 [DAT](INFO): DAT read: Rx Time:22:06:59.4547
2025-08-23T22:07:00.151Z,1755986820.151 [DAT](INFO): Rx dataTimestamp_ set to:1755986820.150982
2025-08-23T22:07:00.152Z,1755986820.152 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.3
2025-08-23T22:07:00.153Z,1755986820.153 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:07:00.155Z,1755986820.155 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:07:00.155Z,1755986820.155 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:07:00.403Z,1755986820.403 [DAT](INFO): Reached modem response timeout
2025-08-23T22:07:00.403Z,1755986820.403 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:07:00.403Z,1755986820.403 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:07:00.631Z,1755986820.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.500000 m,
deltaT: 0.504059 s,
deltaX: 0.300000 m,
approachRate: 0.595169 m/s,
rangeRepo size: 4
2025-08-23T22:07:00.632Z,1755986820.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m.
2025-08-23T22:07:00.655Z,1755986820.655 [DAT](INFO): DAT read: Rx Time:22:06:59.9548
2025-08-23T22:07:00.655Z,1755986820.655 [DAT](INFO): Rx dataTimestamp_ set to:1755986820.654845
2025-08-23T22:07:00.656Z,1755986820.656 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.3
2025-08-23T22:07:00.657Z,1755986820.657 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:07:00.658Z,1755986820.658 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:07:00.658Z,1755986820.658 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:07:00.906Z,1755986820.906 [DAT](INFO): Reached modem response timeout
2025-08-23T22:07:00.906Z,1755986820.906 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:07:00.907Z,1755986820.907 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:07:01.083Z,1755986821.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.700000 m,
deltaT: 0.503863 s,
deltaX: 0.200000 m,
approachRate: 0.396933 m/s,
rangeRepo size: 4
2025-08-23T22:07:01.083Z,1755986821.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m.
2025-08-23T22:07:01.159Z,1755986821.159 [DAT](INFO): DAT read: Rx Time:22:07:00.4549
2025-08-23T22:07:01.160Z,1755986821.160 [DAT](INFO): Rx dataTimestamp_ set to:1755986821.159352
2025-08-23T22:07:01.161Z,1755986821.161 [DAT](INFO): DAT read: Bearing 125.1, -36.3 (Local)
2025-08-23T22:07:01.161Z,1755986821.161 [DAT](INFO): Local bearing/azimuth received:
Bearing 125.1, -36.3 (Local)
2025-08-23T22:07:01.164Z,1755986821.164 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.4
2025-08-23T22:07:01.168Z,1755986821.168 [DAT](INFO): DAT read: 22:07:00.4549 LVL= 23024, 13857, 27218, 28147, AGC= 54, IDX= 2, 0.12,-0.557, 1.703, 1.110, 1.355, PHS=-1.810, 0.393,-0.289, RAW= 287.6, 17.2, CAL= 286.5, 24.3, ROT= 223.5, -24.3
2025-08-23T22:07:01.170Z,1755986821.170 [DAT](INFO): got valid direction response:
22:07:00.4549 LVL= 23024, 13857, 27218, 28147, AGC= 54, IDX= 2, 0.12,-0.557, 1.703, 1.110, 1.355, PHS=-1.810, 0.393,-0.289, RAW= 287.6, 17.2, CAL= 286.5, 24.3, ROT= 223.5, -24.3
2025-08-23T22:07:01.170Z,1755986821.170 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:07:01.171Z,1755986821.171 [DAT](INFO): direction in FSK: [-0.661109,-0.627369,0.411514]
2025-08-23T22:07:01.171Z,1755986821.171 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:01.176Z,1755986821.176 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:07:01.176Z,1755986821.176 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:07:01.410Z,1755986821.410 [DAT](INFO): Reached modem response timeout
2025-08-23T22:07:01.410Z,1755986821.410 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:07:01.411Z,1755986821.411 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:07:01.501Z,1755986821.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.504507 s,
deltaX: 0.100000 m,
approachRate: 0.198214 m/s,
rangeRepo size: 4
2025-08-23T22:07:01.503Z,1755986821.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.751904 m,
bearing: 51.929068 deg,
lat: 36.779413 deg,
lon: -121.859592 deg,
deltaT: 2.016174 s,
deltaX: 0.596287 m,
approachRate: 0.295752 m/s,
posRepo size: 4
2025-08-23T22:07:01.504Z,1755986821.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-08-23T22:07:01.663Z,1755986821.663 [DAT](INFO): DAT read: user:1625>
2025-08-23T22:07:01.663Z,1755986821.663 [DAT](INFO): DAT read: Command 'l' not found
2025-08-23T22:07:01.664Z,1755986821.664 [DAT](INFO): unknown deviceResponse_: Command 'l' not found
2025-08-23T22:07:01.664Z,1755986821.664 [DAT](INFO): DAT read: Error
2025-08-23T22:07:01.664Z,1755986821.664 [DAT](INFO): unknown deviceResponse_: Error
2025-08-23T22:07:01.665Z,1755986821.665 [DAT](INFO): DAT read: user:1626>
2025-08-23T22:07:01.666Z,1755986821.666 [DAT](INFO): DAT read: Tx time:22:07:01.4487
2025-08-23T22:07:01.666Z,1755986821.666 [DAT](INFO): Ping request sent.
2025-08-23T22:07:01.666Z,1755986821.666 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:07:01.666Z,1755986821.666 [DAT](INFO): publishing transmit ping time
2025-08-23T22:07:01.667Z,1755986821.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-08-23T22:07:01.911Z,1755986821.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-08-23T22:07:01.918Z,1755986821.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251557
2025-08-23T22:07:02.167Z,1755986822.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500440
2025-08-23T22:07:02.372Z,1755986822.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-08-23T22:07:02.418Z,1755986822.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752390
2025-08-23T22:07:02.670Z,1755986822.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004358
2025-08-23T22:07:02.833Z,1755986822.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-08-23T22:07:02.923Z,1755986822.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256422
2025-08-23T22:07:03.175Z,1755986823.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508448
2025-08-23T22:07:03.279Z,1755986823.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-08-23T22:07:03.427Z,1755986823.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760632
2025-08-23T22:07:03.679Z,1755986823.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012496
2025-08-23T22:07:03.737Z,1755986823.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-08-23T22:07:03.931Z,1755986823.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264464
2025-08-23T22:07:04.057Z,1755986824.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-08-23T22:07:04.184Z,1755986824.184 [DAT](INFO): DAT read: Rx Time:22:07:03.5884
2025-08-23T22:07:04.184Z,1755986824.184 [DAT](INFO): Rx dataTimestamp_ set to:1755986824.184170
2025-08-23T22:07:04.187Z,1755986824.187 [DAT](INFO): DAT read: Bearing 112.4, -29.5 (Local)
2025-08-23T22:07:04.187Z,1755986824.187 [DAT](INFO): Local bearing/azimuth received:
Bearing 112.4, -29.5 (Local)
2025-08-23T22:07:04.191Z,1755986824.191 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.3
2025-08-23T22:07:04.197Z,1755986824.197 [DAT](INFO): DAT read: 22:07:03.5884 LVL= 32752, 31217, 32754, 32755, AGC= 55, IDX= 41, 0.28,-2.232,-0.308,-0.808,-0.373, PHS=-1.757, 0.109,-0.479, RAW= 288.0, 24.5, CAL= 288.9, 31.4, ROT= 221.1, -31.4
2025-08-23T22:07:04.200Z,1755986824.200 [DAT](INFO): got valid direction response:
22:07:03.5884 LVL= 32752, 31217, 32754, 32755, AGC= 55, IDX= 41, 0.28,-2.232,-0.308,-0.808,-0.373, PHS=-1.757, 0.109,-0.479, RAW= 288.0, 24.5, CAL= 288.9, 31.4, ROT= 221.1, -31.4
2025-08-23T22:07:04.200Z,1755986824.200 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:07:04.202Z,1755986824.202 [DAT](INFO): direction in FSK: [-0.643205,-0.561103,0.521010]
2025-08-23T22:07:04.202Z,1755986824.202 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:04.208Z,1755986824.208 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.541572
2025-08-23T22:07:04.435Z,1755986824.435 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.768514
2025-08-23T22:07:04.483Z,1755986824.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.000000 m,
deltaT: 3.024818 s,
deltaX: 0.200000 m,
approachRate: 0.066120 m/s,
rangeRepo size: 4
2025-08-23T22:07:04.485Z,1755986824.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.950669 m,
bearing: 45.331830 deg,
lat: 36.779407 deg,
lon: -121.859570 deg,
deltaT: 3.024818 s,
deltaX: 0.198765 m,
approachRate: 0.065711 m/s,
posRepo size: 4
2025-08-23T22:07:04.485Z,1755986824.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m.
2025-08-23T22:07:04.687Z,1755986824.687 [DAT](INFO): DAT read: Rx Time:22:07:04.0884
2025-08-23T22:07:04.688Z,1755986824.688 [DAT](INFO): Rx dataTimestamp_ set to:1755986824.687359
2025-08-23T22:07:04.689Z,1755986824.689 [DAT](INFO): DAT read: Bearing 111.0, -28.6 (Local)
2025-08-23T22:07:04.689Z,1755986824.689 [DAT](INFO): Local bearing/azimuth received:
Bearing 111.0, -28.6 (Local)
2025-08-23T22:07:04.691Z,1755986824.691 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.2
2025-08-23T22:07:04.696Z,1755986824.696 [DAT](INFO): DAT read: 22:07:04.0884 LVL= 32752, 28913, 32754, 32755, AGC= 51, IDX= 505, 0.18,-2.286,-0.353,-0.864,-0.395, PHS=-1.789, 0.087,-0.513, RAW= 288.2, 25.3, CAL= 289.4, 32.1, ROT= 220.6, -32.1
2025-08-23T22:07:04.697Z,1755986824.697 [DAT](INFO): got valid direction response:
22:07:04.0884 LVL= 32752, 28913, 32754, 32755, AGC= 51, IDX= 505, 0.18,-2.286,-0.353,-0.864,-0.395, PHS=-1.789, 0.087,-0.513, RAW= 288.2, 25.3, CAL= 289.4, 32.1, ROT= 220.6, -32.1
2025-08-23T22:07:04.697Z,1755986824.697 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-23T22:07:04.703Z,1755986824.703 [DAT](INFO): direction in FSK: [-0.643195,-0.551285,0.531399]
2025-08-23T22:07:04.703Z,1755986824.703 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:04.707Z,1755986824.707 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.040940
2025-08-23T22:07:04.902Z,1755986824.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.000000 m,
deltaT: 0.503189 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:04.904Z,1755986824.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.950669 m,
bearing: 44.289313 deg,
lat: 36.779401 deg,
lon: -121.859563 deg,
deltaT: 0.503189 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:04.905Z,1755986824.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m.
2025-08-23T22:07:04.939Z,1755986824.939 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.272870
2025-08-23T22:07:05.192Z,1755986825.192 [DAT](INFO): DAT read: Rx Time:22:07:04.5885
2025-08-23T22:07:05.193Z,1755986825.193 [DAT](INFO): Rx dataTimestamp_ set to:1755986825.191924
2025-08-23T22:07:05.194Z,1755986825.194 [DAT](INFO): DAT read: Bearing 110.2, -28.8 (Local)
2025-08-23T22:07:05.195Z,1755986825.195 [DAT](INFO): Local bearing/azimuth received:
Bearing 110.2, -28.8 (Local)
2025-08-23T22:07:05.197Z,1755986825.197 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.2
2025-08-23T22:07:05.204Z,1755986825.204 [DAT](INFO): DAT read: 22:07:04.5885 LVL= 32752, 31073, 32754, 32755, AGC= 52, IDX= 506, 0.08,-2.358,-0.392,-0.904,-0.437, PHS=-1.819, 0.090,-0.511, RAW= 287.9, 25.1, CAL= 289.1, 32.0, ROT= 220.9, -32.0
2025-08-23T22:07:05.205Z,1755986825.205 [DAT](INFO): got valid direction response:
22:07:04.5885 LVL= 32752, 31073, 32754, 32755, AGC= 52, IDX= 506, 0.08,-2.358,-0.392,-0.904,-0.437, PHS=-1.819, 0.090,-0.511, RAW= 287.9, 25.1, CAL= 289.1, 32.0, ROT= 220.9, -32.0
2025-08-23T22:07:05.206Z,1755986825.206 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-23T22:07:05.207Z,1755986825.207 [DAT](INFO): direction in FSK: [-0.641000,-0.555252,0.529919]
2025-08-23T22:07:05.207Z,1755986825.207 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:05.246Z,1755986825.246 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.575199
2025-08-23T22:07:05.356Z,1755986825.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 0.504565 s,
deltaX: 0.100000 m,
approachRate: 0.198191 m/s,
rangeRepo size: 4
2025-08-23T22:07:05.362Z,1755986825.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.050041 m,
bearing: 43.962369 deg,
lat: 36.779400 deg,
lon: -121.859563 deg,
deltaT: 0.504565 s,
deltaX: 0.099372 m,
approachRate: 0.196946 m/s,
posRepo size: 4
2025-08-23T22:07:05.362Z,1755986825.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m.
2025-08-23T22:07:05.443Z,1755986825.443 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.776558
2025-08-23T22:07:05.699Z,1755986825.699 [DAT](INFO): DAT read: Rx Time:22:07:05.0885
2025-08-23T22:07:05.700Z,1755986825.700 [DAT](INFO): Rx dataTimestamp_ set to:1755986825.699462
2025-08-23T22:07:05.704Z,1755986825.704 [DAT](INFO): DAT read: Bearing 110.2, -29.7 (Local)
2025-08-23T22:07:05.705Z,1755986825.705 [DAT](INFO): Local bearing/azimuth received:
Bearing 110.2, -29.7 (Local)
2025-08-23T22:07:05.707Z,1755986825.707 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.2
2025-08-23T22:07:05.718Z,1755986825.718 [DAT](INFO): DAT read: 22:07:05.0885 LVL= 32752, 28913, 32754, 32755, AGC= 52, IDX= 506,-0.02, 2.086,-2.198,-2.704,-2.280, PHS=-1.816, 0.127,-0.468, RAW= 287.4, 23.9, CAL= 288.2, 30.8, ROT= 221.8, -30.8
2025-08-23T22:07:05.719Z,1755986825.719 [DAT](INFO): got valid direction response:
22:07:05.0885 LVL= 32752, 28913, 32754, 32755, AGC= 52, IDX= 506,-0.02, 2.086,-2.198,-2.704,-2.280, PHS=-1.816, 0.127,-0.468, RAW= 287.4, 23.9, CAL= 288.2, 30.8, ROT= 221.8, -30.8
2025-08-23T22:07:05.720Z,1755986825.720 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-23T22:07:05.721Z,1755986825.721 [DAT](INFO): direction in FSK: [-0.640334,-0.572525,0.512043]
2025-08-23T22:07:05.721Z,1755986825.721 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:05.783Z,1755986825.783 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.116534
2025-08-23T22:07:05.900Z,1755986825.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 0.507538 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:05.906Z,1755986825.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.050041 m,
bearing: 44.127547 deg,
lat: 36.779400 deg,
lon: -121.859563 deg,
deltaT: 0.507538 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:05.907Z,1755986825.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m.
2025-08-23T22:07:05.947Z,1755986825.947 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.280521
2025-08-23T22:07:06.200Z,1755986826.200 [DAT](INFO): DAT read: Rx Time:22:07:05.5887
2025-08-23T22:07:06.200Z,1755986826.200 [DAT](INFO): Rx dataTimestamp_ set to:1755986826.200214
2025-08-23T22:07:06.202Z,1755986826.202 [DAT](INFO): DAT read: Bearing 108.7, -28.9 (Local)
2025-08-23T22:07:06.203Z,1755986826.203 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.7, -28.9 (Local)
2025-08-23T22:07:06.206Z,1755986826.206 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.2
2025-08-23T22:07:06.212Z,1755986826.212 [DAT](INFO): DAT read: 22:07:05.5887 LVL= 32752, 32529, 32754, 32755, AGC= 52, IDX= 508,-0.19,-2.633,-0.649,-1.155,-0.705, PHS=-1.826, 0.100,-0.494, RAW= 287.5, 24.7, CAL= 288.6, 31.6, ROT= 221.4, -31.6
2025-08-23T22:07:06.242Z,1755986826.242 [DAT](INFO): got valid direction response:
22:07:05.5887 LVL= 32752, 32529, 32754, 32755, AGC= 52, IDX= 508,-0.19,-2.633,-0.649,-1.155,-0.705, PHS=-1.826, 0.100,-0.494, RAW= 287.5, 24.7, CAL= 288.6, 31.6, ROT= 221.4, -31.6
2025-08-23T22:07:06.242Z,1755986826.242 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-23T22:07:06.244Z,1755986826.244 [DAT](INFO): direction in FSK: [-0.638890,-0.563257,0.523986]
2025-08-23T22:07:06.245Z,1755986826.245 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:06.291Z,1755986826.291 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.624938
2025-08-23T22:07:06.383Z,1755986826.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.400000 m,
deltaT: 0.500752 s,
deltaX: 0.299999 m,
approachRate: 0.599097 m/s,
rangeRepo size: 4
2025-08-23T22:07:06.385Z,1755986826.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.348183 m,
bearing: 43.834422 deg,
lat: 36.779400 deg,
lon: -121.859563 deg,
deltaT: 0.500752 s,
deltaX: 0.298141 m,
approachRate: 0.595388 m/s,
posRepo size: 4
2025-08-23T22:07:06.386Z,1755986826.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-23T22:07:06.452Z,1755986826.452 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786127
2025-08-23T22:07:06.705Z,1755986826.705 [DAT](INFO): DAT read: Rx Time:22:07:06.0886
2025-08-23T22:07:06.706Z,1755986826.706 [DAT](INFO): Rx dataTimestamp_ set to:1755986826.705147
2025-08-23T22:07:06.707Z,1755986826.707 [DAT](INFO): DAT read: Bearing 110.0, -31.2 (Local)
2025-08-23T22:07:06.707Z,1755986826.707 [DAT](INFO): Local bearing/azimuth received:
Bearing 110.0, -31.2 (Local)
2025-08-23T22:07:06.709Z,1755986826.709 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.2
2025-08-23T22:07:06.729Z,1755986826.729 [DAT](INFO): DAT read: 22:07:06.0886 LVL= 32752, 26481, 32754, 32755, AGC= 52, IDX= 508,-0.36, 1.846,-2.384,-2.881,-2.534, PHS=-1.801, 0.194,-0.392, RAW= 286.6, 21.7, CAL= 286.8, 28.8, ROT= 223.2, -28.8
2025-08-23T22:07:06.762Z,1755986826.762 [DAT](INFO): got valid direction response:
22:07:06.0886 LVL= 32752, 26481, 32754, 32755, AGC= 52, IDX= 508,-0.36, 1.846,-2.384,-2.881,-2.534, PHS=-1.801, 0.194,-0.392, RAW= 286.6, 21.7, CAL= 286.8, 28.8, ROT= 223.2, -28.8
2025-08-23T22:07:06.763Z,1755986826.763 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-23T22:07:06.765Z,1755986826.765 [DAT](INFO): direction in FSK: [-0.638800,-0.599873,0.481754]
2025-08-23T22:07:06.765Z,1755986826.765 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:06.777Z,1755986826.777 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.110608
2025-08-23T22:07:06.883Z,1755986826.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.504933 s,
deltaX: -0.099999 m,
approachRate: -0.198045 m/s,
rangeRepo size: 4
2025-08-23T22:07:06.885Z,1755986826.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.248800 m,
bearing: 43.592682 deg,
lat: 36.779399 deg,
lon: -121.859563 deg,
deltaT: 0.504933 s,
deltaX: -0.099382 m,
approachRate: -0.196823 m/s,
posRepo size: 4
2025-08-23T22:07:06.890Z,1755986826.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m.
2025-08-23T22:07:06.955Z,1755986826.955 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.288854
2025-08-23T22:07:07.196Z,1755986827.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m.
2025-08-23T22:07:07.208Z,1755986827.208 [DAT](INFO): DAT read: Rx Time:22:07:06.5888
2025-08-23T22:07:07.209Z,1755986827.209 [DAT](INFO): Rx dataTimestamp_ set to:1755986827.208271
2025-08-23T22:07:07.212Z,1755986827.212 [DAT](INFO): DAT read: Bearing 109.0, -30.8 (Local)
2025-08-23T22:07:07.212Z,1755986827.212 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.0, -30.8 (Local)
2025-08-23T22:07:07.231Z,1755986827.231 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.2
2025-08-23T22:07:07.236Z,1755986827.236 [DAT](INFO): DAT read: 22:07:06.5888 LVL= 32752, 31041, 32754, 32755, AGC= 52, IDX= 509, 0.26,-0.775, 1.247, 0.757, 1.109, PHS=-1.782, 0.183,-0.396, RAW= 286.7, 22.0, CAL= 286.9, 29.0, ROT= 223.1, -29.0
2025-08-23T22:07:07.247Z,1755986827.247 [DAT](INFO): got valid direction response:
22:07:06.5888 LVL= 32752, 31041, 32754, 32755, AGC= 52, IDX= 509, 0.26,-0.775, 1.247, 0.757, 1.109, PHS=-1.782, 0.183,-0.396, RAW= 286.7, 22.0, CAL= 286.9, 29.0, ROT= 223.1, -29.0
2025-08-23T22:07:07.247Z,1755986827.247 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-23T22:07:07.249Z,1755986827.249 [DAT](INFO): direction in FSK: [-0.638614,-0.597605,0.484810]
2025-08-23T22:07:07.262Z,1755986827.262 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:07.278Z,1755986827.278 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.611910
2025-08-23T22:07:07.458Z,1755986827.458 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.792421
2025-08-23T22:07:07.715Z,1755986827.715 [DAT](INFO): DAT read: Bearing 107.6, -29.0 (Local)
2025-08-23T22:07:07.716Z,1755986827.717 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.6, -29.0 (Local)
2025-08-23T22:07:07.723Z,1755986827.723 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.2
2025-08-23T22:07:07.729Z,1755986827.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.600000 m,
deltaT: 0.503124 s,
deltaX: 0.300000 m,
approachRate: 0.596275 m/s,
rangeRepo size: 4
2025-08-23T22:07:07.746Z,1755986827.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.546942 m,
bearing: 42.376943 deg,
lat: 36.779399 deg,
lon: -121.859562 deg,
deltaT: 0.503124 s,
deltaX: 0.298141 m,
approachRate: 0.592580 m/s,
posRepo size: 4
2025-08-23T22:07:07.747Z,1755986827.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m.
2025-08-23T22:07:07.802Z,1755986827.802 [DAT](INFO): DAT read: 22:07:07.0888 LVL= 32752, 30065, 32754, 32755, AGC= 50, IDX= 509, 0.04,-1.845, 0.115,-0.388, 0.012, PHS=-1.755, 0.148,-0.444, RAW= 287.7, 23.3, CAL= 288.3, 30.2, ROT= 221.7, -30.2
2025-08-23T22:07:07.803Z,1755986827.803 [DAT](INFO): got valid direction response:
22:07:07.0888 LVL= 32752, 30065, 32754, 32755, AGC= 50, IDX= 509, 0.04,-1.845, 0.115,-0.388, 0.012, PHS=-1.755, 0.148,-0.444, RAW= 287.7, 23.3, CAL= 288.3, 30.2, ROT= 221.7, -30.2
2025-08-23T22:07:07.803Z,1755986827.803 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-23T22:07:07.804Z,1755986827.804 [DAT](INFO): direction in FSK: [-0.645301,-0.574942,0.503020]
2025-08-23T22:07:07.804Z,1755986827.804 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:07.820Z,1755986827.820 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.153986
2025-08-23T22:07:07.963Z,1755986827.963 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.296438
2025-08-23T22:07:08.216Z,1755986828.216 [DAT](INFO): DAT read: Rx Time:22:07:07.5890
2025-08-23T22:07:08.216Z,1755986828.216 [DAT](INFO): Rx dataTimestamp_ set to:1755986828.216098
2025-08-23T22:07:08.218Z,1755986828.218 [DAT](INFO): DAT read: Bearing 108.7, -30.9 (Local)
2025-08-23T22:07:08.218Z,1755986828.218 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.7, -30.9 (Local)
2025-08-23T22:07:08.220Z,1755986828.220 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.2
2025-08-23T22:07:08.225Z,1755986828.225 [DAT](INFO): DAT read: 22:07:07.5890 LVL= 32752, 27553, 31602, 32755, AGC= 51, IDX= 511,-0.15,-2.087,-0.082,-0.577,-0.257, PHS=-1.727, 0.221,-0.364, RAW= 287.0, 20.9, CAL= 287.0, 28.0, ROT= 223.0, -28.0
2025-08-23T22:07:08.226Z,1755986828.226 [DAT](INFO): got valid direction response:
22:07:07.5890 LVL= 32752, 27553, 31602, 32755, AGC= 51, IDX= 511,-0.15,-2.087,-0.082,-0.577,-0.257, PHS=-1.727, 0.221,-0.364, RAW= 287.0, 20.9, CAL= 287.0, 28.0, ROT= 223.0, -28.0
2025-08-23T22:07:08.226Z,1755986828.226 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-23T22:07:08.227Z,1755986828.227 [DAT](INFO): direction in FSK: [-0.645747,-0.602169,0.469472]
2025-08-23T22:07:08.228Z,1755986828.228 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:08.249Z,1755986828.249 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.582793
2025-08-23T22:07:08.407Z,1755986828.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.900000 m,
deltaT: 1.007827 s,
deltaX: 0.299999 m,
approachRate: 0.297669 m/s,
rangeRepo size: 4
2025-08-23T22:07:08.408Z,1755986828.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.845129 m,
bearing: 41.619980 deg,
lat: 36.779399 deg,
lon: -121.859562 deg,
deltaT: 1.007827 s,
deltaX: 0.298187 m,
approachRate: 0.295871 m/s,
posRepo size: 4
2025-08-23T22:07:08.409Z,1755986828.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.85 m.
2025-08-23T22:07:08.467Z,1755986828.467 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.800536
2025-08-23T22:07:08.724Z,1755986828.724 [DAT](INFO): DAT read: Rx Time:22:07:08.0889
2025-08-23T22:07:08.727Z,1755986828.727 [DAT](INFO): Rx dataTimestamp_ set to:1755986828.724840
2025-08-23T22:07:08.732Z,1755986828.732 [DAT](INFO): DAT read: Bearing 108.6, -30.7 (Local)
2025-08-23T22:07:08.733Z,1755986828.733 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.6, -30.7 (Local)
2025-08-23T22:07:08.738Z,1755986828.738 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.2
2025-08-23T22:07:08.783Z,1755986828.783 [DAT](INFO): DAT read: 22:07:08.0889 LVL= 32752, 28097, 29666, 32755, AGC= 50, IDX= 511,-0.44,-2.685,-0.694,-1.196,-0.889, PHS=-1.693, 0.240,-0.351, RAW= 287.4, 20.4, CAL= 287.2, 27.4, ROT= 222.8, -27.4
2025-08-23T22:07:08.784Z,1755986828.784 [DAT](INFO): got valid direction response:
22:07:08.0889 LVL= 32752, 28097, 29666, 32755, AGC= 50, IDX= 511,-0.44,-2.685,-0.694,-1.196,-0.889, PHS=-1.693, 0.240,-0.351, RAW= 287.4, 20.4, CAL= 287.2, 27.4, ROT= 222.8, -27.4
2025-08-23T22:07:08.784Z,1755986828.784 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-23T22:07:08.789Z,1755986828.789 [DAT](INFO): direction in FSK: [-0.651417,-0.603219,0.460200]
2025-08-23T22:07:08.790Z,1755986828.790 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:08.793Z,1755986828.793 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.127084
2025-08-23T22:07:08.923Z,1755986828.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.508742 s,
deltaX: -0.200000 m,
approachRate: -0.393126 m/s,
rangeRepo size: 4
2025-08-23T22:07:08.925Z,1755986828.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.646362 m,
bearing: 40.325721 deg,
lat: 36.779400 deg,
lon: -121.859562 deg,
deltaT: 0.508742 s,
deltaX: -0.198767 m,
approachRate: -0.390702 m/s,
posRepo size: 4
2025-08-23T22:07:08.925Z,1755986828.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-08-23T22:07:08.971Z,1755986828.971 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305290
2025-08-23T22:07:09.223Z,1755986829.223 [DAT](INFO): DAT read: Rx Time:22:07:08.5890
2025-08-23T22:07:09.224Z,1755986829.224 [DAT](INFO): Rx dataTimestamp_ set to:1755986829.223415
2025-08-23T22:07:09.225Z,1755986829.225 [DAT](INFO): DAT read: Bearing 108.5, -30.4 (Local)
2025-08-23T22:07:09.225Z,1755986829.225 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.5, -30.4 (Local)
2025-08-23T22:07:09.227Z,1755986829.227 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.2
2025-08-23T22:07:09.234Z,1755986829.234 [DAT](INFO): DAT read: 22:07:08.5890 LVL= 32752, 28145, 28978, 32755, AGC= 50, IDX= 511, 0.21,-1.497, 0.483,-0.031, 0.271, PHS=-1.666, 0.257,-0.345, RAW= 287.8, 20.0, CAL= 287.5, 27.0, ROT= 222.5, -27.0
2025-08-23T22:07:09.237Z,1755986829.237 [DAT](INFO): got valid direction response:
22:07:08.5890 LVL= 32752, 28145, 28978, 32755, AGC= 50, IDX= 511, 0.21,-1.497, 0.483,-0.031, 0.271, PHS=-1.666, 0.257,-0.345, RAW= 287.8, 20.0, CAL= 287.5, 27.0, ROT= 222.5, -27.0
2025-08-23T22:07:09.242Z,1755986829.242 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-23T22:07:09.243Z,1755986829.243 [DAT](INFO): direction in FSK: [-0.656919,-0.601955,0.453991]
2025-08-23T22:07:09.243Z,1755986829.243 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:09.265Z,1755986829.265 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.598545
2025-08-23T22:07:09.265Z,1755986829.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.900000 m,
deltaT: 0.498575 s,
deltaX: 0.200000 m,
approachRate: 0.401143 m/s,
rangeRepo size: 4
2025-08-23T22:07:09.266Z,1755986829.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-08-23T22:07:09.474Z,1755986829.474 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.808394
2025-08-23T22:07:09.692Z,1755986829.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-08-23T22:07:09.734Z,1755986829.734 [DAT](INFO): DAT read: Rx Time:22:07:09.0890
2025-08-23T22:07:09.736Z,1755986829.736 [DAT](INFO): Rx dataTimestamp_ set to:1755986829.734661
2025-08-23T22:07:09.741Z,1755986829.741 [DAT](INFO): DAT read: Bearing 109.3, -30.9 (Local)
2025-08-23T22:07:09.742Z,1755986829.742 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.3, -30.9 (Local)
2025-08-23T22:07:09.752Z,1755986829.752 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.2
2025-08-23T22:07:09.776Z,1755986829.776 [DAT](INFO): DAT read: 22:07:09.0890 LVL= 32752, 25633, 32242, 32755, AGC= 50, IDX= 511, 0.03, 2.677,-1.614,-2.138,-1.881, PHS=-1.623, 0.312,-0.301, RAW= 288.0, 18.4, CAL= 287.2, 25.5, ROT= 222.8, -25.5
2025-08-23T22:07:09.777Z,1755986829.777 [DAT](INFO): got valid direction response:
22:07:09.0890 LVL= 32752, 25633, 32242, 32755, AGC= 50, IDX= 511, 0.03, 2.677,-1.614,-2.138,-1.881, PHS=-1.623, 0.312,-0.301, RAW= 288.0, 18.4, CAL= 287.2, 25.5, ROT= 222.8, -25.5
2025-08-23T22:07:09.777Z,1755986829.777 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-23T22:07:09.786Z,1755986829.786 [DAT](INFO): direction in FSK: [-0.662254,-0.613254,0.430511]
2025-08-23T22:07:09.787Z,1755986829.787 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:09.806Z,1755986829.806 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.139940
2025-08-23T22:07:09.978Z,1755986829.978 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.312342
2025-08-23T22:07:10.233Z,1755986830.233 [DAT](INFO): DAT read: Rx Time:22:07:09.5892
2025-08-23T22:07:10.234Z,1755986830.234 [DAT](INFO): Rx dataTimestamp_ set to:1755986830.233205
2025-08-23T22:07:10.236Z,1755986830.236 [DAT](INFO): DAT read: Bearing 109.2, -27.7 (Local)
2025-08-23T22:07:10.237Z,1755986830.237 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.2, -27.7 (Local)
2025-08-23T22:07:10.240Z,1755986830.240 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.2
2025-08-23T22:07:10.247Z,1755986830.247 [DAT](INFO): DAT read: 22:07:09.5892 LVL= 32752, 29041, 29106, 32755, AGC= 50, IDX= 513,-0.19, 0.964,-3.123, 2.458, 2.842, PHS=-1.776, 0.362,-0.428, RAW= 291.4, 19.2, CAL= 290.6, 26.0, ROT= 219.4, -26.0
2025-08-23T22:07:10.249Z,1755986830.249 [DAT](INFO): got valid direction response:
22:07:09.5892 LVL= 32752, 29041, 29106, 32755, AGC= 50, IDX= 513,-0.19, 0.964,-3.123, 2.458, 2.842, PHS=-1.776, 0.362,-0.428, RAW= 291.4, 19.2, CAL= 290.6, 26.0, ROT= 219.4, -26.0
2025-08-23T22:07:10.258Z,1755986830.258 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-23T22:07:10.260Z,1755986830.260 [DAT](INFO): direction in FSK: [-0.694528,-0.570492,0.438371]
2025-08-23T22:07:10.260Z,1755986830.260 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:10.265Z,1755986830.265 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.598625
2025-08-23T22:07:10.281Z,1755986830.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 1.009790 s,
deltaX: 0.300000 m,
approachRate: 0.297092 m/s,
rangeRepo size: 4
2025-08-23T22:07:10.283Z,1755986830.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.845098 m,
bearing: 38.577155 deg,
lat: 36.779401 deg,
lon: -121.859564 deg,
deltaT: 1.009821 s,
deltaX: 0.198735 m,
approachRate: 0.196802 m/s,
posRepo size: 4
2025-08-23T22:07:10.283Z,1755986830.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.85 m.
2025-08-23T22:07:10.484Z,1755986830.484 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.817381
2025-08-23T22:07:10.740Z,1755986830.740 [DAT](INFO): DAT read: Rx Time:22:07:10.0892
2025-08-23T22:07:10.741Z,1755986830.741 [DAT](INFO): Rx dataTimestamp_ set to:1755986830.739924
2025-08-23T22:07:10.749Z,1755986830.749 [DAT](INFO): DAT read: Bearing 107.1, -32.0 (Local)
2025-08-23T22:07:10.751Z,1755986830.751 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.1, -32.0 (Local)
2025-08-23T22:07:10.761Z,1755986830.761 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.2
2025-08-23T22:07:10.778Z,1755986830.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.85 m.
2025-08-23T22:07:10.782Z,1755986830.782 [DAT](INFO): DAT read: 22:07:10.0892 LVL= 32752, 26209, 29906, 32755, AGC= 51, IDX= 513,-0.47,-0.426, 1.634, 1.151, 1.379, PHS=-1.703, 0.300,-0.272, RAW= 286.1, 18.3, CAL= 285.4, 25.5, ROT= 224.6, -25.5
2025-08-23T22:07:10.783Z,1755986830.783 [DAT](INFO): got valid direction response:
22:07:10.0892 LVL= 32752, 26209, 29906, 32755, AGC= 51, IDX= 513,-0.47,-0.426, 1.634, 1.151, 1.379, PHS=-1.703, 0.300,-0.272, RAW= 286.1, 18.3, CAL= 285.4, 25.5, ROT= 224.6, -25.5
2025-08-23T22:07:10.784Z,1755986830.784 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-23T22:07:10.784Z,1755986830.784 [DAT](INFO): direction in FSK: [-0.642664,-0.633753,0.430511]
2025-08-23T22:07:10.785Z,1755986830.785 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:10.796Z,1755986830.796 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.130400
2025-08-23T22:07:10.986Z,1755986830.986 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.320393
2025-08-23T22:07:11.198Z,1755986831.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.506719 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:11.201Z,1755986831.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.143250 m,
bearing: 39.406655 deg,
lat: 36.779401 deg,
lon: -121.859564 deg,
deltaT: 1.005263 s,
deltaX: 0.298153 m,
approachRate: 0.296592 m/s,
posRepo size: 4
2025-08-23T22:07:11.206Z,1755986831.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.14 m.
2025-08-23T22:07:11.240Z,1755986831.240 [DAT](INFO): DAT read: Rx Time:22:07:10.5893
2025-08-23T22:07:11.241Z,1755986831.241 [DAT](INFO): Rx dataTimestamp_ set to:1755986831.240456
2025-08-23T22:07:11.243Z,1755986831.243 [DAT](INFO): DAT read: Bearing 108.6, -29.5 (Local)
2025-08-23T22:07:11.243Z,1755986831.243 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.6, -29.5 (Local)
2025-08-23T22:07:11.247Z,1755986831.247 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.2
2025-08-23T22:07:11.258Z,1755986831.258 [DAT](INFO): DAT read: 22:07:10.5893 LVL= 32752, 20033, 23330, 32755, AGC= 54, IDX= 2, 0.22,-2.291,-0.319,-0.889,-0.630, PHS=-1.558, 0.356,-0.303, RAW= 289.8, 17.5, CAL= 288.6, 24.5, ROT= 221.4, -24.5
2025-08-23T22:07:11.259Z,1755986831.259 [DAT](INFO): got valid direction response:
22:07:10.5893 LVL= 32752, 20033, 23330, 32755, AGC= 54, IDX= 2, 0.22,-2.291,-0.319,-0.889,-0.630, PHS=-1.558, 0.356,-0.303, RAW= 289.8, 17.5, CAL= 288.6, 24.5, ROT= 221.4, -24.5
2025-08-23T22:07:11.259Z,1755986831.259 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-23T22:07:11.260Z,1755986831.260 [DAT](INFO): direction in FSK: [-0.682572,-0.601768,0.414693]
2025-08-23T22:07:11.261Z,1755986831.261 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:11.294Z,1755986831.294 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.628327
2025-08-23T22:07:11.491Z,1755986831.491 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.824416
2025-08-23T22:07:11.570Z,1755986831.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.300000 m,
deltaT: 0.500532 s,
deltaX: 0.100000 m,
approachRate: 0.199788 m/s,
rangeRepo size: 4
2025-08-23T22:07:11.581Z,1755986831.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.242614 m,
bearing: 35.587677 deg,
lat: 36.779401 deg,
lon: -121.859564 deg,
deltaT: 0.500532 s,
deltaX: 0.099363 m,
approachRate: 0.198515 m/s,
posRepo size: 4
2025-08-23T22:07:11.586Z,1755986831.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-23T22:07:11.747Z,1755986831.747 [DAT](INFO): DAT read: Rx Time:22:07:11.0893
2025-08-23T22:07:11.749Z,1755986831.749 [DAT](INFO): Rx dataTimestamp_ set to:1755986831.747665
2025-08-23T22:07:11.754Z,1755986831.754 [DAT](INFO): DAT read: Bearing 107.7, -28.3 (Local)
2025-08-23T22:07:11.755Z,1755986831.755 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.7, -28.3 (Local)
2025-08-23T22:07:11.775Z,1755986831.775 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.2
2025-08-23T22:07:11.800Z,1755986831.800 [DAT](INFO): DAT read: 22:07:11.0893 LVL= 32752, 26289, 31282, 32755, AGC= 51, IDX= 498, 0.04, 2.011,-2.321,-2.910,-2.616, PHS=-1.554, 0.340,-0.338, RAW= 290.7, 18.3, CAL= 289.6, 25.2, ROT= 220.4, -25.2
2025-08-23T22:07:11.806Z,1755986831.806 [DAT](INFO): got valid direction response:
22:07:11.0893 LVL= 32752, 26289, 31282, 32755, AGC= 51, IDX= 498, 0.04, 2.011,-2.321,-2.910,-2.616, PHS=-1.554, 0.340,-0.338, RAW= 290.7, 18.3, CAL= 289.6, 25.2, ROT= 220.4, -25.2
2025-08-23T22:07:11.806Z,1755986831.806 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-23T22:07:11.807Z,1755986831.807 [DAT](INFO): direction in FSK: [-0.689060,-0.586436,0.425779]
2025-08-23T22:07:11.807Z,1755986831.807 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:11.817Z,1755986831.817 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.150604
2025-08-23T22:07:11.995Z,1755986831.995 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.328456
2025-08-23T22:07:12.075Z,1755986832.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.300000 m,
deltaT: 0.507209 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:12.077Z,1755986832.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.242614 m,
bearing: 33.778174 deg,
lat: 36.779404 deg,
lon: -121.859566 deg,
deltaT: 0.507209 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:12.082Z,1755986832.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-23T22:07:12.248Z,1755986832.248 [DAT](INFO): DAT read: Rx Time:22:07:11.5895
2025-08-23T22:07:12.249Z,1755986832.249 [DAT](INFO): Rx dataTimestamp_ set to:1755986832.248461
2025-08-23T22:07:12.251Z,1755986832.251 [DAT](INFO): DAT read: Bearing 107.8, -27.8 (Local)
2025-08-23T22:07:12.252Z,1755986832.252 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.8, -27.8 (Local)
2025-08-23T22:07:12.255Z,1755986832.255 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.2
2025-08-23T22:07:12.260Z,1755986832.260 [DAT](INFO): DAT read: 22:07:11.5895 LVL= 32752, 25873, 29666, 32755, AGC= 50, IDX= 500,-0.12, 0.981, 2.948, 2.332, 2.630, PHS=-1.547, 0.363,-0.343, RAW= 291.4, 17.9, CAL= 290.2, 24.8, ROT= 219.8, -24.8
2025-08-23T22:07:12.261Z,1755986832.261 [DAT](INFO): got valid direction response:
22:07:11.5895 LVL= 32752, 25873, 29666, 32755, AGC= 50, IDX= 500,-0.12, 0.981, 2.948, 2.332, 2.630, PHS=-1.547, 0.363,-0.343, RAW= 291.4, 17.9, CAL= 290.2, 24.8, ROT= 219.8, -24.8
2025-08-23T22:07:12.261Z,1755986832.261 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-23T22:07:12.262Z,1755986832.262 [DAT](INFO): direction in FSK: [-0.697430,-0.581077,0.419452]
2025-08-23T22:07:12.263Z,1755986832.263 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:12.310Z,1755986832.310 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.644197
2025-08-23T22:07:12.499Z,1755986832.499 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.832390
2025-08-23T22:07:12.551Z,1755986832.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 0.500796 s,
deltaX: 0.300000 m,
approachRate: 0.599047 m/s,
rangeRepo size: 4
2025-08-23T22:07:12.553Z,1755986832.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.540782 m,
bearing: 32.651872 deg,
lat: 36.779404 deg,
lon: -121.859568 deg,
deltaT: 0.500796 s,
deltaX: 0.298168 m,
approachRate: 0.595389 m/s,
posRepo size: 4
2025-08-23T22:07:12.553Z,1755986832.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:07:12.756Z,1755986832.756 [DAT](INFO): DAT read: Rx Time:22:07:12.0895
2025-08-23T22:07:12.758Z,1755986832.758 [DAT](INFO): Rx dataTimestamp_ set to:1755986832.756736
2025-08-23T22:07:12.762Z,1755986832.762 [DAT](INFO): DAT read: Bearing 106.9, -27.2 (Local)
2025-08-23T22:07:12.763Z,1755986832.763 [DAT](INFO): Local bearing/azimuth received:
Bearing 106.9, -27.2 (Local)
2025-08-23T22:07:12.770Z,1755986832.770 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.2
2025-08-23T22:07:12.788Z,1755986832.788 [DAT](INFO): DAT read: 22:07:12.0895 LVL= 32752, 24417, 29250, 32755, AGC= 50, IDX= 500,-0.32,-0.265, 1.705, 1.080, 1.396, PHS=-1.559, 0.353,-0.360, RAW= 291.7, 18.3, CAL= 290.5, 25.2, ROT= 219.5, -25.2
2025-08-23T22:07:12.815Z,1755986832.815 [DAT](INFO): got valid direction response:
22:07:12.0895 LVL= 32752, 24417, 29250, 32755, AGC= 50, IDX= 500,-0.32,-0.265, 1.705, 1.080, 1.396, PHS=-1.559, 0.353,-0.360, RAW= 291.7, 18.3, CAL= 290.5, 25.2, ROT= 219.5, -25.2
2025-08-23T22:07:12.815Z,1755986832.815 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-23T22:07:12.817Z,1755986832.817 [DAT](INFO): direction in FSK: [-0.698187,-0.575541,0.425779]
2025-08-23T22:07:12.817Z,1755986832.817 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:12.833Z,1755986832.833 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.166723
2025-08-23T22:07:12.995Z,1755986832.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 0.508275 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:12.997Z,1755986832.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.540782 m,
bearing: 31.998671 deg,
lat: 36.779404 deg,
lon: -121.859569 deg,
deltaT: 0.508275 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:13.003Z,1755986833.003 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.336482
2025-08-23T22:07:12.997Z,1755986832.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:07:13.256Z,1755986833.256 [DAT](INFO): DAT read: Rx Time:22:07:12.5895
2025-08-23T22:07:13.256Z,1755986833.256 [DAT](INFO): Rx dataTimestamp_ set to:1755986833.255746
2025-08-23T22:07:13.258Z,1755986833.258 [DAT](INFO): DAT read: Bearing 105.8, -26.8 (Local)
2025-08-23T22:07:13.259Z,1755986833.259 [DAT](INFO): Local bearing/azimuth received:
Bearing 105.8, -26.8 (Local)
2025-08-23T22:07:13.261Z,1755986833.261 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.2
2025-08-23T22:07:13.292Z,1755986833.292 [DAT](INFO): DAT read: 22:07:12.5895 LVL= 32752, 23505, 29682, 32755, AGC= 50, IDX= 500, 0.38, 0.455, 2.431, 1.811, 2.140, PHS=-1.583, 0.336,-0.373, RAW= 291.4, 18.8, CAL= 290.5, 25.7, ROT= 219.5, -25.7
2025-08-23T22:07:13.293Z,1755986833.293 [DAT](INFO): got valid direction response:
22:07:12.5895 LVL= 32752, 23505, 29682, 32755, AGC= 50, IDX= 500, 0.38, 0.455, 2.431, 1.811, 2.140, PHS=-1.583, 0.336,-0.373, RAW= 291.4, 18.8, CAL= 290.5, 25.7, ROT= 219.5, -25.7
2025-08-23T22:07:13.293Z,1755986833.293 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-23T22:07:13.294Z,1755986833.294 [DAT](INFO): direction in FSK: [-0.695293,-0.573155,0.433659]
2025-08-23T22:07:13.294Z,1755986833.294 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:13.322Z,1755986833.322 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.656134
2025-08-23T22:07:13.415Z,1755986833.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 0.499010 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:13.417Z,1755986833.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.540759 m,
bearing: 31.649081 deg,
lat: 36.779404 deg,
lon: -121.859569 deg,
deltaT: 0.499010 s,
deltaX: -0.000023 m,
approachRate: -0.000046 m/s,
posRepo size: 4
2025-08-23T22:07:13.423Z,1755986833.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:07:13.507Z,1755986833.507 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.840563
2025-08-23T22:07:13.766Z,1755986833.766 [DAT](INFO): DAT read: Rx Time:22:07:13.0895
2025-08-23T22:07:13.767Z,1755986833.767 [DAT](INFO): Rx dataTimestamp_ set to:1755986833.766336
2025-08-23T22:07:13.772Z,1755986833.772 [DAT](INFO): DAT read: Bearing 104.6, -26.5 (Local)
2025-08-23T22:07:13.773Z,1755986833.773 [DAT](INFO): Local bearing/azimuth received:
Bearing 104.6, -26.5 (Local)
2025-08-23T22:07:13.787Z,1755986833.787 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.2
2025-08-23T22:07:13.843Z,1755986833.843 [DAT](INFO): DAT read: 22:07:13.0895 LVL= 32752, 24737, 31794, 32755, AGC= 50, IDX= 500, 0.15,-0.597, 1.381, 0.767, 1.111, PHS=-1.606, 0.315,-0.388, RAW= 291.2, 19.4, CAL= 290.4, 26.3, ROT= 219.6, -26.3
2025-08-23T22:07:13.844Z,1755986833.844 [DAT](INFO): got valid direction response:
22:07:13.0895 LVL= 32752, 24737, 31794, 32755, AGC= 50, IDX= 500, 0.15,-0.597, 1.381, 0.767, 1.111, PHS=-1.606, 0.315,-0.388, RAW= 291.2, 19.4, CAL= 290.4, 26.3, ROT= 219.6, -26.3
2025-08-23T22:07:13.844Z,1755986833.844 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-23T22:07:13.845Z,1755986833.845 [DAT](INFO): direction in FSK: [-0.690755,-0.571442,0.443071]
2025-08-23T22:07:13.854Z,1755986833.854 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:13.857Z,1755986833.857 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.191051
2025-08-23T22:07:13.940Z,1755986833.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 0.510590 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:13.946Z,1755986833.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.540759 m,
bearing: 31.422044 deg,
lat: 36.779404 deg,
lon: -121.859571 deg,
deltaT: 0.510590 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:13.947Z,1755986833.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:07:14.011Z,1755986834.011 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.345229
2025-08-23T22:07:14.241Z,1755986834.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:07:14.265Z,1755986834.265 [DAT](INFO): DAT read: Rx Time:22:07:13.5897
2025-08-23T22:07:14.265Z,1755986834.265 [DAT](INFO): Rx dataTimestamp_ set to:1755986834.264826
2025-08-23T22:07:14.266Z,1755986834.266 [DAT](INFO): DAT read: Bearing 104.6, -27.2 (Local)
2025-08-23T22:07:14.267Z,1755986834.267 [DAT](INFO): Local bearing/azimuth received:
Bearing 104.6, -27.2 (Local)
2025-08-23T22:07:14.269Z,1755986834.269 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.2
2025-08-23T22:07:14.273Z,1755986834.273 [DAT](INFO): DAT read: 22:07:13.5897 LVL= 32752, 22129, 29714, 32755, AGC= 49, IDX= 502,-0.03,-0.903, 1.111, 0.498, 0.813, PHS=-1.614, 0.343,-0.358, RAW= 290.7, 18.5, CAL= 289.7, 25.5, ROT= 220.3, -25.5
2025-08-23T22:07:14.275Z,1755986834.275 [DAT](INFO): got valid direction response:
22:07:13.5897 LVL= 32752, 22129, 29714, 32755, AGC= 49, IDX= 502,-0.03,-0.903, 1.111, 0.498, 0.813, PHS=-1.614, 0.343,-0.358, RAW= 290.7, 18.5, CAL= 289.7, 25.5, ROT= 220.3, -25.5
2025-08-23T22:07:14.275Z,1755986834.275 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-23T22:07:14.277Z,1755986834.277 [DAT](INFO): direction in FSK: [-0.688373,-0.583783,0.430511]
2025-08-23T22:07:14.277Z,1755986834.277 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:14.284Z,1755986834.284 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.617403
2025-08-23T22:07:14.515Z,1755986834.515 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.848478
2025-08-23T22:07:14.671Z,1755986834.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.900000 m,
deltaT: 0.498490 s,
deltaX: 0.299999 m,
approachRate: 0.601816 m/s,
rangeRepo size: 4
2025-08-23T22:07:14.673Z,1755986834.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.838930 m,
bearing: 31.124231 deg,
lat: 36.779405 deg,
lon: -121.859572 deg,
deltaT: 0.498490 s,
deltaX: 0.298171 m,
approachRate: 0.598149 m/s,
posRepo size: 4
2025-08-23T22:07:14.673Z,1755986834.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-08-23T22:07:14.771Z,1755986834.771 [DAT](INFO): DAT read: Rx Time:22:07:14.0897
2025-08-23T22:07:14.772Z,1755986834.772 [DAT](INFO): Rx dataTimestamp_ set to:1755986834.771264
2025-08-23T22:07:14.776Z,1755986834.776 [DAT](INFO): DAT read: Bearing 102.4, -26.5 (Local)
2025-08-23T22:07:14.777Z,1755986834.777 [DAT](INFO): Local bearing/azimuth received:
Bearing 102.4, -26.5 (Local)
2025-08-23T22:07:14.783Z,1755986834.783 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.2
2025-08-23T22:07:14.817Z,1755986834.817 [DAT](INFO): DAT read: 22:07:14.0897 LVL= 32752, 25185, 32754, 32755, AGC= 50, IDX= 502,-0.25,-2.152,-0.151,-0.740,-0.387, PHS=-1.663, 0.281,-0.397, RAW= 290.1, 20.2, CAL= 289.6, 27.1, ROT= 220.4, -27.1
2025-08-23T22:07:14.825Z,1755986834.825 [DAT](INFO): got valid direction response:
22:07:14.0897 LVL= 32752, 25185, 32754, 32755, AGC= 50, IDX= 502,-0.25,-2.152,-0.151,-0.740,-0.387, PHS=-1.663, 0.281,-0.397, RAW= 290.1, 20.2, CAL= 289.6, 27.1, ROT= 220.4, -27.1
2025-08-23T22:07:14.825Z,1755986834.825 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-23T22:07:14.844Z,1755986834.844 [DAT](INFO): direction in FSK: [-0.677931,-0.576965,0.455545]
2025-08-23T22:07:14.844Z,1755986834.844 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:14.848Z,1755986834.848 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.181506
2025-08-23T22:07:15.019Z,1755986835.019 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.352550
2025-08-23T22:07:15.036Z,1755986835.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.900000 m,
deltaT: 0.506438 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:15.062Z,1755986835.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.838930 m,
bearing: 31.134362 deg,
lat: 36.779404 deg,
lon: -121.859572 deg,
deltaT: 0.506438 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:15.062Z,1755986835.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-08-23T22:07:15.272Z,1755986835.272 [DAT](INFO): DAT read: Rx Time:22:07:14.5898
2025-08-23T22:07:15.272Z,1755986835.272 [DAT](INFO): Rx dataTimestamp_ set to:1755986835.271843
2025-08-23T22:07:15.273Z,1755986835.273 [DAT](INFO): DAT read: Bearing 101.3, -27.5 (Local)
2025-08-23T22:07:15.274Z,1755986835.274 [DAT](INFO): Local bearing/azimuth received:
Bearing 101.3, -27.5 (Local)
2025-08-23T22:07:15.276Z,1755986835.276 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.2
2025-08-23T22:07:15.281Z,1755986835.281 [DAT](INFO): DAT read: 22:07:14.5898 LVL= 32752, 25265, 3255, AGC= 50, IDX= 503, 0.41, 0.325, 2.363, 1.806, 2.138, PHS=-1.711, 0.270,-0.375, RAW= 288.6, 20.2, CAL= 288.3, 27.1, ROT= 221.7, -27.1
2025-08-23T22:07:15.282Z,1755986835.282 [DAT](INFO): unknown deviceResponse_: 22:07:14.5898 LVL= 32752, 25265, 3255, AGC= 50, IDX= 503, 0.41, 0.325, 2.363, 1.806, 2.138, PHS=-1.711, 0.270,-0.375, RAW= 288.6, 20.2, CAL= 288.3, 27.1, ROT= 221.7, -27.1
2025-08-23T22:07:15.283Z,1755986835.283 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-08-23T22:07:15.284Z,1755986835.284 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.617562
2025-08-23T22:07:15.424Z,1755986835.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.100000 m,
deltaT: 0.500579 s,
deltaX: 0.200001 m,
approachRate: 0.399539 m/s,
rangeRepo size: 4
2025-08-23T22:07:15.424Z,1755986835.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-08-23T22:07:15.523Z,1755986835.523 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.856852
2025-08-23T22:07:15.778Z,1755986835.778 [DAT](INFO): DAT read: Rx Time:22:07:15.0898
2025-08-23T22:07:15.778Z,1755986835.778 [DAT](INFO): Rx dataTimestamp_ set to:1755986835.777935
2025-08-23T22:07:15.779Z,1755986835.779 [DAT](INFO): DAT read: Bearing 100.3, -28.0 (Local)
2025-08-23T22:07:15.780Z,1755986835.780 [DAT](INFO): Local bearing/azimuth received:
Bearing 100.3, -28.0 (Local)
2025-08-23T22:07:15.786Z,1755986835.786 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.2
2025-08-23T22:07:15.835Z,1755986835.835 [DAT](INFO): DAT read: 22:07:15.0898 LVL= 32752, 24801, 32754, 32755, AGC= 50, IDX= 503, 0.12,-0.350, 1.709, 1.180, 1.496, PHS=-1.744, 0.258,-0.360, RAW= 287.6, 20.2, CAL= 287.3, 27.2, ROT= 222.7, -27.2
2025-08-23T22:07:15.851Z,1755986835.851 [DAT](INFO): got valid direction response:
22:07:15.0898 LVL= 32752, 24801, 32754, 32755, AGC= 50, IDX= 503, 0.12,-0.350, 1.709, 1.180, 1.496, PHS=-1.744, 0.258,-0.360, RAW= 287.6, 20.2, CAL= 287.3, 27.2, ROT= 222.7, -27.2
2025-08-23T22:07:15.852Z,1755986835.852 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-23T22:07:15.862Z,1755986835.862 [DAT](INFO): direction in FSK: [-0.653645,-0.603166,0.457098]
2025-08-23T22:07:15.862Z,1755986835.862 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:15.872Z,1755986835.872 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.205409
2025-08-23T22:07:16.013Z,1755986836.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.100000 m,
deltaT: 0.506092 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:16.015Z,1755986836.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.037699 m,
bearing: 32.733242 deg,
lat: 36.779403 deg,
lon: -121.859572 deg,
deltaT: 1.006671 s,
deltaX: 0.198769 m,
approachRate: 0.197451 m/s,
posRepo size: 4
2025-08-23T22:07:16.016Z,1755986836.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-08-23T22:07:16.027Z,1755986836.027 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.360553
2025-08-23T22:07:16.279Z,1755986836.279 [DAT](INFO): DAT read: Rx Time:22:07:15.5899
2025-08-23T22:07:16.280Z,1755986836.280 [DAT](INFO): Rx dataTimestamp_ set to:1755986836.279268
2025-08-23T22:07:16.281Z,1755986836.281 [DAT](INFO): DAT read: Bearing 98.6, -27.8 (Local)
2025-08-23T22:07:16.281Z,1755986836.281 [DAT](INFO): Local bearing/azimuth received:
Bearing 98.6, -27.8 (Local)
2025-08-23T22:07:16.283Z,1755986836.283 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.2
2025-08-23T22:07:16.288Z,1755986836.288 [DAT](INFO): DAT read: 22:07:15.5899 LVL= 32752, 27553, 32754, 32755, AGC= 51, IDX= 504,-0.09,-2.079,-0.043,-0.541,-0.214, PHS=-1.763, 0.216,-0.371, RAW= 286.8, 21.1, CAL= 286.8, 28.1, ROT= 223.2, -28.1
2025-08-23T22:07:16.289Z,1755986836.289 [DAT](INFO): got valid direction response:
22:07:15.5899 LVL= 32752, 27553, 32754, 32755, AGC= 51, IDX= 504,-0.09,-2.079,-0.043,-0.541,-0.214, PHS=-1.763, 0.216,-0.371, RAW= 286.8, 21.1, CAL= 286.8, 28.1, ROT= 223.2, -28.1
2025-08-23T22:07:16.289Z,1755986836.289 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-23T22:07:16.290Z,1755986836.290 [DAT](INFO): direction in FSK: [-0.643043,-0.603857,0.471012]
2025-08-23T22:07:16.291Z,1755986836.291 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:16.295Z,1755986836.295 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.628556
2025-08-23T22:07:16.473Z,1755986836.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 0.501333 s,
deltaX: 0.099999 m,
approachRate: 0.199467 m/s,
rangeRepo size: 4
2025-08-23T22:07:16.476Z,1755986836.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.137075 m,
bearing: 33.073024 deg,
lat: 36.779403 deg,
lon: -121.859572 deg,
deltaT: 0.501333 s,
deltaX: 0.099377 m,
approachRate: 0.198225 m/s,
posRepo size: 4
2025-08-23T22:07:16.476Z,1755986836.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:07:16.531Z,1755986836.531 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.864826
2025-08-23T22:07:16.783Z,1755986836.783 [DAT](INFO): DAT read: Rx Time:22:07:16.0898
2025-08-23T22:07:16.784Z,1755986836.784 [DAT](INFO): Rx dataTimestamp_ set to:1755986836.783311
2025-08-23T22:07:16.785Z,1755986836.785 [DAT](INFO): DAT read: Bearing 96.8, -28.6 (Local)
2025-08-23T22:07:16.785Z,1755986836.785 [DAT](INFO): Local bearing/azimuth received:
Bearing 96.8, -28.6 (Local)
2025-08-23T22:07:16.789Z,1755986836.789 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.1
2025-08-23T22:07:16.810Z,1755986836.810 [DAT](INFO): DAT read: 22:07:16.0898 LVL= 32752, 29169, 32754, 32755, AGC= 52, IDX= 504,-0.44,-2.492,-0.478,-0.914,-0.606, PHS=-1.784, 0.172,-0.352, RAW= 285.0, 21.6, CAL= 285.3, 28.8, ROT= 224.7, -28.8
2025-08-23T22:07:16.813Z,1755986836.813 [DAT](INFO): got valid direction response:
22:07:16.0898 LVL= 32752, 29169, 32754, 32755, AGC= 52, IDX= 504,-0.44,-2.492,-0.478,-0.914,-0.606, PHS=-1.784, 0.172,-0.352, RAW= 285.0, 21.6, CAL= 285.3, 28.8, ROT= 224.7, -28.8
2025-08-23T22:07:16.831Z,1755986836.831 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-23T22:07:16.842Z,1755986836.842 [DAT](INFO): direction in FSK: [-0.622878,-0.616389,0.481754]
2025-08-23T22:07:16.843Z,1755986836.843 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:16.864Z,1755986836.864 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.198298
2025-08-23T22:07:16.960Z,1755986836.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.100000 m,
deltaT: 0.504043 s,
deltaX: -0.099999 m,
approachRate: -0.198395 m/s,
rangeRepo size: 4
2025-08-23T22:07:16.970Z,1755986836.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.037693 m,
bearing: 34.003018 deg,
lat: 36.779402 deg,
lon: -121.859570 deg,
deltaT: 0.504043 s,
deltaX: -0.099382 m,
approachRate: -0.197170 m/s,
posRepo size: 4
2025-08-23T22:07:16.971Z,1755986836.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-08-23T22:07:17.035Z,1755986837.035 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.368570
2025-08-23T22:07:17.215Z,1755986837.215 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:07:17.287Z,1755986837.287 [DAT](INFO): DAT read: Rx Time:22:07:16.5900
2025-08-23T22:07:17.288Z,1755986837.288 [DAT](INFO): Rx dataTimestamp_ set to:1755986837.287253
2025-08-23T22:07:17.289Z,1755986837.289 [DAT](INFO): DAT read: Bearing 96.2, -29.5 (Local)
2025-08-23T22:07:17.289Z,1755986837.289 [DAT](INFO): Local bearing/azimuth received:
Bearing 96.2, -29.5 (Local)
2025-08-23T22:07:17.291Z,1755986837.291 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.1
2025-08-23T22:07:17.312Z,1755986837.312 [DAT](INFO): DAT read: 22:07:16.5900 LVL= 32752, 28017, 32754, 32755, AGC= 51, IDX= 505, 0.14,-0.263, 1.787, 1.378, 1.658, PHS=-1.818, 0.175,-0.324, RAW= 283.9, 21.2, CAL= 284.1, 28.4, ROT= 225.9, -28.4
2025-08-23T22:07:17.346Z,1755986837.346 [DAT](INFO): got valid direction response:
22:07:16.5900 LVL= 32752, 28017, 32754, 32755, AGC= 51, IDX= 505, 0.14,-0.263, 1.787, 1.378, 1.658, PHS=-1.818, 0.175,-0.324, RAW= 283.9, 21.2, CAL= 284.1, 28.4, ROT= 225.9, -28.4
2025-08-23T22:07:17.346Z,1755986837.346 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-23T22:07:17.347Z,1755986837.347 [DAT](INFO): direction in FSK: [-0.612159,-0.631699,0.475624]
2025-08-23T22:07:17.348Z,1755986837.348 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:17.356Z,1755986837.356 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.689425
2025-08-23T22:07:17.482Z,1755986837.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.400000 m,
deltaT: 0.503942 s,
deltaX: 0.299999 m,
approachRate: 0.595305 m/s,
rangeRepo size: 4
2025-08-23T22:07:17.484Z,1755986837.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.335826 m,
bearing: 34.764949 deg,
lat: 36.779401 deg,
lon: -121.859569 deg,
deltaT: 0.503942 s,
deltaX: 0.298133 m,
approachRate: 0.591602 m/s,
posRepo size: 4
2025-08-23T22:07:17.485Z,1755986837.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-08-23T22:07:17.539Z,1755986837.539 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.872900
2025-08-23T22:07:17.791Z,1755986837.791 [DAT](INFO): DAT read: Rx Time:22:07:17.0900
2025-08-23T22:07:17.791Z,1755986837.791 [DAT](INFO): Rx dataTimestamp_ set to:1755986837.791152
2025-08-23T22:07:17.793Z,1755986837.793 [DAT](INFO): DAT read: Bearing 95.4, -30.1 (Local)
2025-08-23T22:07:17.793Z,1755986837.793 [DAT](INFO): Local bearing/azimuth received:
Bearing 95.4, -30.1 (Local)
2025-08-23T22:07:17.795Z,1755986837.795 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.1
2025-08-23T22:07:17.799Z,1755986837.799 [DAT](INFO): DAT read: 22:07:17.0900 LVL= 32752, 27377, 32754, 32755, AGC= 49, IDX= 505,-0.16,-2.773,-0.727,-1.105,-0.849, PHS=-1.823, 0.167,-0.301, RAW= 283.0, 21.0, CAL= 283.2, 28.3, ROT= 226.8, -28.3
2025-08-23T22:07:17.800Z,1755986837.800 [DAT](INFO): got valid direction response:
22:07:17.0900 LVL= 32752, 27377, 32754, 32755, AGC= 49, IDX= 505,-0.16,-2.773,-0.727,-1.105,-0.849, PHS=-1.823, 0.167,-0.301, RAW= 283.0, 21.0, CAL= 283.2, 28.3, ROT= 226.8, -28.3
2025-08-23T22:07:17.801Z,1755986837.801 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-23T22:07:17.803Z,1755986837.803 [DAT](INFO): direction in FSK: [-0.602728,-0.641840,0.474088]
2025-08-23T22:07:17.804Z,1755986837.804 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:17.810Z,1755986837.810 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.143442
2025-08-23T22:07:17.893Z,1755986837.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.400000 m,
deltaT: 0.503899 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:17.899Z,1755986837.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.335826 m,
bearing: 35.296301 deg,
lat: 36.779399 deg,
lon: -121.859569 deg,
deltaT: 0.503899 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:17.900Z,1755986837.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-08-23T22:07:18.043Z,1755986838.043 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.377037
2025-08-23T22:07:18.218Z,1755986838.218 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:07:18.263Z,1755986838.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-08-23T22:07:18.295Z,1755986838.295 [DAT](INFO): DAT read: Rx Time:22:07:17.5901
2025-08-23T22:07:18.296Z,1755986838.296 [DAT](INFO): Rx dataTimestamp_ set to:1755986838.295477
2025-08-23T22:07:18.297Z,1755986838.297 [DAT](INFO): DAT read: Bearing 94.4, -31.0 (Local)
2025-08-23T22:07:18.298Z,1755986838.298 [DAT](INFO): Local bearing/azimuth received:
Bearing 94.4, -31.0 (Local)
2025-08-23T22:07:18.300Z,1755986838.300 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.1
2025-08-23T22:07:18.304Z,1755986838.304 [DAT](INFO): DAT read: 22:07:17.5901 LVL= 32752, 25841, 32754, 32755, AGC= 51, IDX= 506, 0.32, 0.186, 2.237, 1.904, 2.132, PHS=-1.843, 0.150,-0.272, RAW= 281.6, 20.9, CAL= 281.9, 28.3, ROT= 228.1, -28.3
2025-08-23T22:07:18.305Z,1755986838.305 [DAT](INFO): got valid direction response:
22:07:17.5901 LVL= 32752, 25841, 32754, 32755, AGC= 51, IDX= 506, 0.32, 0.186, 2.237, 1.904, 2.132, PHS=-1.843, 0.150,-0.272, RAW= 281.6, 20.9, CAL= 281.9, 28.3, ROT= 228.1, -28.3
2025-08-23T22:07:18.306Z,1755986838.306 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-23T22:07:18.307Z,1755986838.307 [DAT](INFO): direction in FSK: [-0.588011,-0.655349,0.474088]
2025-08-23T22:07:18.307Z,1755986838.307 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:18.311Z,1755986838.311 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.644539
2025-08-23T22:07:18.546Z,1755986838.546 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.880362
2025-08-23T22:07:18.692Z,1755986838.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.500000 m,
deltaT: 0.504325 s,
deltaX: 0.100000 m,
approachRate: 0.198286 m/s,
rangeRepo size: 4
2025-08-23T22:07:18.702Z,1755986838.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.435222 m,
bearing: 36.582510 deg,
lat: 36.779399 deg,
lon: -121.859566 deg,
deltaT: 0.504325 s,
deltaX: 0.099396 m,
approachRate: 0.197087 m/s,
posRepo size: 4
2025-08-23T22:07:18.702Z,1755986838.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m.
2025-08-23T22:07:18.800Z,1755986838.800 [DAT](INFO): DAT read: Rx Time:22:07:18.0901
2025-08-23T22:07:18.801Z,1755986838.801 [DAT](INFO): Rx dataTimestamp_ set to:1755986838.800409
2025-08-23T22:07:18.804Z,1755986838.804 [DAT](INFO): DAT read: Bearing 93.9, -31.6 (Local)
2025-08-23T22:07:18.807Z,1755986838.807 [DAT](INFO): Local bearing/azimuth received:
Bearing 93.9, -31.6 (Local)
2025-08-23T22:07:18.810Z,1755986838.810 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.1
2025-08-23T22:07:18.852Z,1755986838.852 [DAT](INFO): DAT read: 22:07:18.0901 LVL= 32752, 28113, 32754, 32755, AGC= 51, IDX= 506,-0.05,-2.380,-0.335,-0.642,-0.440, PHS=-1.838, 0.150,-0.246, RAW= 280.8, 20.6, CAL= 281.1, 28.0, ROT= 228.9, -28.0
2025-08-23T22:07:18.864Z,1755986838.864 [DAT](INFO): got valid direction response:
22:07:18.0901 LVL= 32752, 28113, 32754, 32755, AGC= 51, IDX= 506,-0.05,-2.380,-0.335,-0.642,-0.440, PHS=-1.838, 0.150,-0.246, RAW= 280.8, 20.6, CAL= 281.1, 28.0, ROT= 228.9, -28.0
2025-08-23T22:07:18.865Z,1755986838.865 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-23T22:07:18.877Z,1755986838.877 [DAT](INFO): direction in FSK: [-0.580428,-0.665357,0.469472]
2025-08-23T22:07:18.882Z,1755986838.882 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:18.891Z,1755986838.891 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.225098
2025-08-23T22:07:19.041Z,1755986839.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.500000 m,
deltaT: 0.504932 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:19.051Z,1755986839.051 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.384375
2025-08-23T22:07:19.059Z,1755986839.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.435222 m,
bearing: 36.286450 deg,
lat: 36.779398 deg,
lon: -121.859565 deg,
deltaT: 0.504932 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:19.059Z,1755986839.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m.
2025-08-23T22:07:19.303Z,1755986839.303 [DAT](INFO): DAT read: Rx Time:22:07:18.5902
2025-08-23T22:07:19.303Z,1755986839.303 [DAT](INFO): Rx dataTimestamp_ set to:1755986839.303185
2025-08-23T22:07:19.305Z,1755986839.305 [DAT](INFO): DAT read: Bearing 94.6, -33.1 (Local)
2025-08-23T22:07:19.305Z,1755986839.305 [DAT](INFO): Local bearing/azimuth received:
Bearing 94.6, -33.1 (Local)
2025-08-23T22:07:19.307Z,1755986839.307 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.1
2025-08-23T22:07:19.312Z,1755986839.312 [DAT](INFO): DAT read: 22:07:18.5902 LVL= 32752, 26145, 32306, 32755, AGC= 51, IDX= 507, 0.44,-0.066, 2.018, 1.733, 1.869, PHS=-1.833, 0.194,-0.180, RAW= 280.0, 19.0, CAL= 280.0, 26.4, ROT= 230.0, -26.4
2025-08-23T22:07:19.313Z,1755986839.313 [DAT](INFO): got valid direction response:
22:07:18.5902 LVL= 32752, 26145, 32306, 32755, AGC= 51, IDX= 507, 0.44,-0.066, 2.018, 1.733, 1.869, PHS=-1.833, 0.194,-0.180, RAW= 280.0, 19.0, CAL= 280.0, 26.4, ROT= 230.0, -26.4
2025-08-23T22:07:19.313Z,1755986839.313 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-23T22:07:19.314Z,1755986839.314 [DAT](INFO): direction in FSK: [-0.575752,-0.686155,0.444635]
2025-08-23T22:07:19.314Z,1755986839.314 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:19.318Z,1755986839.318 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.651955
2025-08-23T22:07:19.467Z,1755986839.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.502776 s,
deltaX: 0.200000 m,
approachRate: 0.397791 m/s,
rangeRepo size: 4
2025-08-23T22:07:19.469Z,1755986839.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.633998 m,
bearing: 36.653709 deg,
lat: 36.779399 deg,
lon: -121.859563 deg,
deltaT: 0.502776 s,
deltaX: 0.198776 m,
approachRate: 0.395357 m/s,
posRepo size: 4
2025-08-23T22:07:19.473Z,1755986839.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-23T22:07:19.557Z,1755986839.557 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.890572
2025-08-23T22:07:19.811Z,1755986839.811 [DAT](INFO): DAT read: Rx Time:22:07:19.0902
2025-08-23T22:07:19.811Z,1755986839.811 [DAT](INFO): Rx dataTimestamp_ set to:1755986839.811204
2025-08-23T22:07:19.813Z,1755986839.813 [DAT](INFO): DAT read: Bearing 93.1, -32.1 (Local)
2025-08-23T22:07:19.813Z,1755986839.813 [DAT](INFO): Local bearing/azimuth received:
Bearing 93.1, -32.1 (Local)
2025-08-23T22:07:19.815Z,1755986839.815 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.1
2025-08-23T22:07:19.820Z,1755986839.820 [DAT](INFO): DAT read: 22:07:19.0902 LVL= 32752, 29281, 32530, 32755, AGC= 51, IDX= 507,-0.03,-1.817, 0.217,-0.064, 0.107, PHS=-1.821, 0.155,-0.215, RAW= 280.1, 20.1, CAL= 280.4, 27.5, ROT= 229.6, -27.5
2025-08-23T22:07:19.821Z,1755986839.821 [DAT](INFO): got valid direction response:
22:07:19.0902 LVL= 32752, 29281, 32530, 32755, AGC= 51, IDX= 507,-0.03,-1.817, 0.217,-0.064, 0.107, PHS=-1.821, 0.155,-0.215, RAW= 280.1, 20.1, CAL= 280.4, 27.5, ROT= 229.6, -27.5
2025-08-23T22:07:19.821Z,1755986839.821 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-23T22:07:19.822Z,1755986839.822 [DAT](INFO): direction in FSK: [-0.574889,-0.675493,0.461749]
2025-08-23T22:07:19.822Z,1755986839.822 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:19.826Z,1755986839.826 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.159727
2025-08-23T22:07:19.926Z,1755986839.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.508019 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:19.928Z,1755986839.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.633998 m,
bearing: 36.517493 deg,
lat: 36.779397 deg,
lon: -121.859563 deg,
deltaT: 0.508019 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:19.929Z,1755986839.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-23T22:07:20.063Z,1755986840.063 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.396893
2025-08-23T22:07:20.273Z,1755986840.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-23T22:07:20.316Z,1755986840.316 [DAT](INFO): DAT read: Rx Time:22:07:19.5903
2025-08-23T22:07:20.317Z,1755986840.317 [DAT](INFO): Rx dataTimestamp_ set to:1755986840.316261
2025-08-23T22:07:20.318Z,1755986840.318 [DAT](INFO): DAT read: Bearing 93.5, -32.5 (Local)
2025-08-23T22:07:20.319Z,1755986840.319 [DAT](INFO): Local bearing/azimuth received:
Bearing 93.5, -32.5 (Local)
2025-08-23T22:07:20.323Z,1755986840.323 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.1
2025-08-23T22:07:20.351Z,1755986840.351 [DAT](INFO): DAT read: 22:07:19.5903 LVL= 32752, 26833, 28226, 32755, AGC= 50, IDX= 508, 0.34, 1.230,-3.007, 2.992, 3.136, PHS=-1.804, 0.185,-0.188, RAW= 280.2, 19.2, CAL= 280.2, 26.6, ROT= 229.8, -26.6
2025-08-23T22:07:20.352Z,1755986840.352 [DAT](INFO): got valid direction response:
22:07:19.5903 LVL= 32752, 26833, 28226, 32755, AGC= 50, IDX= 508, 0.34, 1.230,-3.007, 2.992, 3.136, PHS=-1.804, 0.185,-0.188, RAW= 280.2, 19.2, CAL= 280.2, 26.6, ROT= 229.8, -26.6
2025-08-23T22:07:20.352Z,1755986840.352 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-23T22:07:20.364Z,1755986840.364 [DAT](INFO): direction in FSK: [-0.577139,-0.682951,0.447759]
2025-08-23T22:07:20.364Z,1755986840.364 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:20.368Z,1755986840.368 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.702374
2025-08-23T22:07:20.567Z,1755986840.567 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.900499
2025-08-23T22:07:20.697Z,1755986840.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.800000 m,
deltaT: 0.505057 s,
deltaX: 0.100000 m,
approachRate: 0.197998 m/s,
rangeRepo size: 4
2025-08-23T22:07:20.699Z,1755986840.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.733351 m,
bearing: 35.840607 deg,
lat: 36.779397 deg,
lon: -121.859562 deg,
deltaT: 0.505057 s,
deltaX: 0.099353 m,
approachRate: 0.196716 m/s,
posRepo size: 4
2025-08-23T22:07:20.699Z,1755986840.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:07:20.820Z,1755986840.820 [DAT](INFO): DAT read: Rx Time:22:07:20.0903
2025-08-23T22:07:20.820Z,1755986840.820 [DAT](INFO): Rx dataTimestamp_ set to:1755986840.820174
2025-08-23T22:07:20.822Z,1755986840.822 [DAT](INFO): DAT read: Bearing 93.6, -32.1 (Local)
2025-08-23T22:07:20.822Z,1755986840.822 [DAT](INFO): Local bearing/azimuth received:
Bearing 93.6, -32.1 (Local)
2025-08-23T22:07:20.824Z,1755986840.824 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.1
2025-08-23T22:07:20.829Z,1755986840.829 [DAT](INFO): DAT read: 22:07:20.0903 LVL= 32752, 27633, 31794, 32755, AGC= 51, IDX= 508,-0.09,-1.822, 0.210,-0.096, 0.050, PHS=-1.771, 0.205,-0.190, RAW= 280.9, 18.9, CAL= 280.8, 26.3, ROT= 229.2, -26.3
2025-08-23T22:07:20.831Z,1755986840.831 [DAT](INFO): got valid direction response:
22:07:20.0903 LVL= 32752, 27633, 31794, 32755, AGC= 51, IDX= 508,-0.09,-1.822, 0.210,-0.096, 0.050, PHS=-1.771, 0.205,-0.190, RAW= 280.9, 18.9, CAL= 280.8, 26.3, ROT= 229.2, -26.3
2025-08-23T22:07:20.831Z,1755986840.831 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-23T22:07:20.835Z,1755986840.835 [DAT](INFO): direction in FSK: [-0.585783,-0.678636,0.443071]
2025-08-23T22:07:20.836Z,1755986840.836 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:20.845Z,1755986840.845 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.178434
2025-08-23T22:07:21.067Z,1755986841.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.800000 m,
deltaT: 0.503913 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:21.071Z,1755986841.071 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.404551
2025-08-23T22:07:21.071Z,1755986841.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.733351 m,
bearing: 34.497228 deg,
lat: 36.779398 deg,
lon: -121.859562 deg,
deltaT: 0.503913 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:21.072Z,1755986841.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:07:21.323Z,1755986841.323 [DAT](INFO): DAT read: Rx Time:22:07:20.5904
2025-08-23T22:07:21.324Z,1755986841.324 [DAT](INFO): Rx dataTimestamp_ set to:1755986841.323291
2025-08-23T22:07:21.325Z,1755986841.325 [DAT](INFO): DAT read: Bearing 94.2, -32.0 (Local)
2025-08-23T22:07:21.325Z,1755986841.325 [DAT](INFO): Local bearing/azimuth received:
Bearing 94.2, -32.0 (Local)
2025-08-23T22:07:21.327Z,1755986841.327 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.1
2025-08-23T22:07:21.332Z,1755986841.332 [DAT](INFO): DAT read: 22:07:20.5904 LVL= 32752, 25377, 25410, 32755, AGC= 49, IDX= 509, 0.25, 0.756, 2.808, 2.476, 2.609, PHS=-1.751, 0.243,-0.178, RAW= 281.5, 18.1, CAL= 281.2, 25.5, ROT= 228.8, -25.5
2025-08-23T22:07:21.333Z,1755986841.333 [DAT](INFO): got valid direction response:
22:07:20.5904 LVL= 32752, 25377, 25410, 32755, AGC= 49, IDX= 509, 0.25, 0.756, 2.808, 2.476, 2.609, PHS=-1.751, 0.243,-0.178, RAW= 281.5, 18.1, CAL= 281.2, 25.5, ROT= 228.8, -25.5
2025-08-23T22:07:21.333Z,1755986841.333 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-23T22:07:21.334Z,1755986841.334 [DAT](INFO): direction in FSK: [-0.594523,-0.679119,0.430511]
2025-08-23T22:07:21.335Z,1755986841.335 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:21.338Z,1755986841.338 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.672169
2025-08-23T22:07:21.467Z,1755986841.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 0.503117 s,
deltaX: 0.200000 m,
approachRate: 0.397521 m/s,
rangeRepo size: 4
2025-08-23T22:07:21.469Z,1755986841.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.932124 m,
bearing: 33.911905 deg,
lat: 36.779399 deg,
lon: -121.859562 deg,
deltaT: 0.503117 s,
deltaX: 0.198773 m,
approachRate: 0.395084 m/s,
posRepo size: 4
2025-08-23T22:07:21.474Z,1755986841.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-08-23T22:07:21.575Z,1755986841.575 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.908915
2025-08-23T22:07:21.827Z,1755986841.827 [DAT](INFO): DAT read: Rx Time:22:07:21.0904
2025-08-23T22:07:21.827Z,1755986841.827 [DAT](INFO): Rx dataTimestamp_ set to:1755986841.827187
2025-08-23T22:07:21.829Z,1755986841.829 [DAT](INFO): DAT read: Bearing 94.9, -31.5 (Local)
2025-08-23T22:07:21.829Z,1755986841.829 [DAT](INFO): Local bearing/azimuth received:
Bearing 94.9, -31.5 (Local)
2025-08-23T22:07:21.831Z,1755986841.831 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.0
2025-08-23T22:07:21.835Z,1755986841.835 [DAT](INFO): DAT read: 22:07:21.0904 LVL= 32752, 20689, 24930, 32755, AGC= 49, IDX= 509,-0.21,-2.069,-0.010,-0.381,-0.244, PHS=-1.723, 0.279,-0.181, RAW= 282.7, 17.5, CAL= 282.1, 24.8, ROT= 227.9, -24.8
2025-08-23T22:07:21.837Z,1755986841.837 [DAT](INFO): got valid direction response:
22:07:21.0904 LVL= 32752, 20689, 24930, 32755, AGC= 49, IDX= 509,-0.21,-2.069,-0.010,-0.381,-0.244, PHS=-1.723, 0.279,-0.181, RAW= 282.7, 17.5, CAL= 282.1, 24.8, ROT= 227.9, -24.8
2025-08-23T22:07:21.837Z,1755986841.837 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-23T22:07:21.838Z,1755986841.838 [DAT](INFO): direction in FSK: [-0.608598,-0.673549,0.419452]
2025-08-23T22:07:21.838Z,1755986841.838 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:21.842Z,1755986841.842 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.175638
2025-08-23T22:07:22.060Z,1755986842.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 0.503896 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:22.066Z,1755986842.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.932124 m,
bearing: 32.172808 deg,
lat: 36.779399 deg,
lon: -121.859563 deg,
deltaT: 0.503896 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:22.067Z,1755986842.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-08-23T22:07:22.079Z,1755986842.079 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.412563
2025-08-23T22:07:22.331Z,1755986842.331 [DAT](INFO): DAT read: Rx Time:22:07:21.5905
2025-08-23T22:07:22.332Z,1755986842.332 [DAT](INFO): Rx dataTimestamp_ set to:1755986842.331339
2025-08-23T22:07:22.333Z,1755986842.333 [DAT](INFO): DAT read: Bearing 93.7, -30.0 (Local)
2025-08-23T22:07:22.334Z,1755986842.334 [DAT](INFO): Local bearing/azimuth received:
Bearing 93.7, -30.0 (Local)
2025-08-23T22:07:22.340Z,1755986842.340 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.1
2025-08-23T22:07:22.344Z,1755986842.344 [DAT](INFO): DAT read: 22:07:21.5905 LVL= 32752, 23697, 27954, 32755, AGC= 50, IDX= 510, 0.12, 0.862, 2.895, 2.499, 2.691, PHS=-1.728, 0.249,-0.236, RAW= 283.6, 18.8, CAL= 283.2, 26.0, ROT= 226.8, -26.0
2025-08-23T22:07:22.345Z,1755986842.345 [DAT](INFO): got valid direction response:
22:07:21.5905 LVL= 32752, 23697, 27954, 32755, AGC= 50, IDX= 510, 0.12, 0.862, 2.895, 2.499, 2.691, PHS=-1.728, 0.249,-0.236, RAW= 283.6, 18.8, CAL= 283.2, 26.0, ROT= 226.8, -26.0
2025-08-23T22:07:22.351Z,1755986842.351 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-23T22:07:22.352Z,1755986842.352 [DAT](INFO): direction in FSK: [-0.615267,-0.655193,0.438371]
2025-08-23T22:07:22.352Z,1755986842.352 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:22.363Z,1755986842.363 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.696869
2025-08-23T22:07:22.471Z,1755986842.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.100000 m,
deltaT: 0.504152 s,
deltaX: 0.100000 m,
approachRate: 0.198354 m/s,
rangeRepo size: 4
2025-08-23T22:07:22.473Z,1755986842.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.031491 m,
bearing: 30.684358 deg,
lat: 36.779401 deg,
lon: -121.859564 deg,
deltaT: 0.504152 s,
deltaX: 0.099367 m,
approachRate: 0.197098 m/s,
posRepo size: 4
2025-08-23T22:07:22.478Z,1755986842.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-08-23T22:07:22.585Z,1755986842.585 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.918425
2025-08-23T22:07:22.783Z,1755986842.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-08-23T22:07:22.839Z,1755986842.839 [DAT](INFO): DAT read: Rx Time:22:07:22.0905
2025-08-23T22:07:22.840Z,1755986842.840 [DAT](INFO): Rx dataTimestamp_ set to:1755986842.839391
2025-08-23T22:07:22.841Z,1755986842.841 [DAT](INFO): DAT read: Bearing 94.4, -29.1 (Local)
2025-08-23T22:07:22.841Z,1755986842.841 [DAT](INFO): Local bearing/azimuth received:
Bearing 94.4, -29.1 (Local)
2025-08-23T22:07:22.844Z,1755986842.844 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.0
2025-08-23T22:07:22.850Z,1755986842.850 [DAT](INFO): DAT read: 22:07:22.0905 LVL= 32752, 20913, 24674, 32755, AGC= 48, IDX= 510,-0.37,-2.747,-0.716,-1.159,-0.954, PHS=-1.690, 0.283,-0.248, RAW= 285.1, 18.3, CAL= 284.5, 25.5, ROT= 225.5, -25.5
2025-08-23T22:07:22.852Z,1755986842.852 [DAT](INFO): got valid direction response:
22:07:22.0905 LVL= 32752, 20913, 24674, 32755, AGC= 48, IDX= 510,-0.37,-2.747,-0.716,-1.159,-0.954, PHS=-1.690, 0.283,-0.248, RAW= 285.1, 18.3, CAL= 284.5, 25.5, ROT= 225.5, -25.5
2025-08-23T22:07:22.852Z,1755986842.852 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-23T22:07:22.863Z,1755986842.863 [DAT](INFO): direction in FSK: [-0.632630,-0.643769,0.430511]
2025-08-23T22:07:22.864Z,1755986842.864 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:22.908Z,1755986842.908 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.241138
2025-08-23T22:07:23.091Z,1755986843.091 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.424391
2025-08-23T22:07:23.276Z,1755986843.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.100000 m,
deltaT: 0.508052 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:23.283Z,1755986843.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.031491 m,
bearing: 28.595557 deg,
lat: 36.779402 deg,
lon: -121.859566 deg,
deltaT: 0.508052 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:23.283Z,1755986843.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-08-23T22:07:23.344Z,1755986843.344 [DAT](INFO): DAT read: Rx Time:22:07:22.5906
2025-08-23T22:07:23.345Z,1755986843.345 [DAT](INFO): Rx dataTimestamp_ set to:1755986843.344755
2025-08-23T22:07:23.347Z,1755986843.347 [DAT](INFO): DAT read: Bearing 94.1, -28.8 (Local)
2025-08-23T22:07:23.347Z,1755986843.347 [DAT](INFO): Local bearing/azimuth received:
Bearing 94.1, -28.8 (Local)
2025-08-23T22:07:23.350Z,1755986843.350 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.1
2025-08-23T22:07:23.355Z,1755986843.355 [DAT](INFO): DAT read: 22:07:22.5906 LVL= 32752, 21585, 26674, 32755, AGC= 49, IDX= 511, 0.01,-0.664, 1.390, 0.932, 1.143, PHS=-1.705, 0.292,-0.256, RAW= 285.4, 18.3, CAL= 284.7, 25.4, ROT= 225.3, -25.4
2025-08-23T22:07:23.356Z,1755986843.356 [DAT](INFO): got valid direction response:
22:07:22.5906 LVL= 32752, 21585, 26674, 32755, AGC= 49, IDX= 511, 0.01,-0.664, 1.390, 0.932, 1.143, PHS=-1.705, 0.292,-0.256, RAW= 285.4, 18.3, CAL= 284.7, 25.4, ROT= 225.3, -25.4
2025-08-23T22:07:23.357Z,1755986843.357 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-23T22:07:23.358Z,1755986843.358 [DAT](INFO): direction in FSK: [-0.635401,-0.642090,0.428935]
2025-08-23T22:07:23.358Z,1755986843.358 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:23.362Z,1755986843.362 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.695547
2025-08-23T22:07:23.595Z,1755986843.595 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.928566
2025-08-23T22:07:23.731Z,1755986843.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.300000 m,
deltaT: 0.505364 s,
deltaX: 0.200000 m,
approachRate: 0.395754 m/s,
rangeRepo size: 4
2025-08-23T22:07:23.733Z,1755986843.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.230263 m,
bearing: 28.051897 deg,
lat: 36.779403 deg,
lon: -121.859569 deg,
deltaT: 0.505364 s,
deltaX: 0.198771 m,
approachRate: 0.393323 m/s,
posRepo size: 4
2025-08-23T22:07:23.734Z,1755986843.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-23T22:07:23.848Z,1755986843.848 [DAT](INFO): DAT read: Rx Time:22:07:23.0905
2025-08-23T22:07:23.849Z,1755986843.849 [DAT](INFO): Rx dataTimestamp_ set to:1755986843.848157
2025-08-23T22:07:23.850Z,1755986843.850 [DAT](INFO): DAT read: Bearing 93.5, -28.3 (Local)
2025-08-23T22:07:23.851Z,1755986843.851 [DAT](INFO): Local bearing/azimuth received:
Bearing 93.5, -28.3 (Local)
2025-08-23T22:07:23.853Z,1755986843.853 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.0
2025-08-23T22:07:23.858Z,1755986843.858 [DAT](INFO): DAT read: 22:07:23.0905 LVL= 32752, 21777, 27570, 32755, AGC= 49, IDX= 510, 0.39,-1.563, 0.482, 0.013, 0.240, PHS=-1.701, 0.286,-0.271, RAW= 285.8, 18.6, CAL= 285.2, 25.7, ROT= 224.8, -25.7
2025-08-23T22:07:23.859Z,1755986843.859 [DAT](INFO): got valid direction response:
22:07:23.0905 LVL= 32752, 21777, 27570, 32755, AGC= 49, IDX= 510, 0.39,-1.563, 0.482, 0.013, 0.240, PHS=-1.701, 0.286,-0.271, RAW= 285.8, 18.6, CAL= 285.2, 25.7, ROT= 224.8, -25.7
2025-08-23T22:07:23.859Z,1755986843.859 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-23T22:07:23.860Z,1755986843.860 [DAT](INFO): direction in FSK: [-0.639378,-0.634930,0.433659]
2025-08-23T22:07:23.861Z,1755986843.861 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:23.865Z,1755986843.865 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.198809
2025-08-23T22:07:24.099Z,1755986844.099 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.432486
2025-08-23T22:07:24.190Z,1755986844.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.100000 m,
deltaT: 0.503402 s,
deltaX: -0.200000 m,
approachRate: -0.397296 m/s,
rangeRepo size: 4
2025-08-23T22:07:24.193Z,1755986844.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.031497 m,
bearing: 27.285801 deg,
lat: 36.779403 deg,
lon: -121.859572 deg,
deltaT: 0.503402 s,
deltaX: -0.198766 m,
approachRate: -0.394845 m/s,
posRepo size: 4
2025-08-23T22:07:24.207Z,1755986844.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-08-23T22:07:24.351Z,1755986844.351 [DAT](INFO): DAT read: Rx Time:22:07:23.5906
2025-08-23T22:07:24.352Z,1755986844.352 [DAT](INFO): Rx dataTimestamp_ set to:1755986844.351297
2025-08-23T22:07:24.353Z,1755986844.353 [DAT](INFO): DAT read: Bearing 93.2, -27.0 (Local)
2025-08-23T22:07:24.353Z,1755986844.353 [DAT](INFO): Local bearing/azimuth received:
Bearing 93.2, -27.0 (Local)
2025-08-23T22:07:24.355Z,1755986844.355 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.0
2025-08-23T22:07:24.360Z,1755986844.360 [DAT](INFO): DAT read: 22:07:23.5906 LVL= 32752, 22097, 29394, 32755, AGC= 49, IDX= 511,-0.12, 2.837,-1.417,-1.925,-1.663, PHS=-1.681, 0.291,-0.306, RAW= 287.2, 18.9, CAL= 286.6, 26.0, ROT= 223.4, -26.0
2025-08-23T22:07:24.361Z,1755986844.361 [DAT](INFO): got valid direction response:
22:07:23.5906 LVL= 32752, 22097, 29394, 32755, AGC= 49, IDX= 511,-0.12, 2.837,-1.417,-1.925,-1.663, PHS=-1.681, 0.291,-0.306, RAW= 287.2, 18.9, CAL= 286.6, 26.0, ROT= 223.4, -26.0
2025-08-23T22:07:24.361Z,1755986844.361 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-23T22:07:24.365Z,1755986844.365 [DAT](INFO): direction in FSK: [-0.653041,-0.617550,0.438371]
2025-08-23T22:07:24.378Z,1755986844.378 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:24.390Z,1755986844.390 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.723953
2025-08-23T22:07:24.526Z,1755986844.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.300000 m,
deltaT: 0.503140 s,
deltaX: 0.200000 m,
approachRate: 0.397503 m/s,
rangeRepo size: 4
2025-08-23T22:07:24.528Z,1755986844.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.230270 m,
bearing: 25.628117 deg,
lat: 36.779404 deg,
lon: -121.859572 deg,
deltaT: 0.503140 s,
deltaX: 0.198773 m,
approachRate: 0.395066 m/s,
posRepo size: 4
2025-08-23T22:07:24.528Z,1755986844.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-23T22:07:24.606Z,1755986844.606 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.939585
2025-08-23T22:07:24.855Z,1755986844.855 [DAT](INFO): DAT read: Rx Time:22:07:24.0905
2025-08-23T22:07:24.856Z,1755986844.856 [DAT](INFO): Rx dataTimestamp_ set to:1755986844.855259
2025-08-23T22:07:24.857Z,1755986844.857 [DAT](INFO): DAT read: Bearing 92.3, -27.7 (Local)
2025-08-23T22:07:24.857Z,1755986844.857 [DAT](INFO): Local bearing/azimuth received:
Bearing 92.3, -27.7 (Local)
2025-08-23T22:07:24.859Z,1755986844.859 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.0
2025-08-23T22:07:24.864Z,1755986844.864 [DAT](INFO): DAT read: 22:07:24.0905 LVL= 32752, 22321, 30578, 32755, AGC= 49, IDX= 510, 0.19,-2.222,-0.187,-0.663,-0.418, PHS=-1.701, 0.276,-0.289, RAW= 286.1, 19.0, CAL= 285.6, 26.1, ROT= 224.4, -26.1
2025-08-23T22:07:24.865Z,1755986844.865 [DAT](INFO): got valid direction response:
22:07:24.0905 LVL= 32752, 22321, 30578, 32755, AGC= 49, IDX= 510, 0.19,-2.222,-0.187,-0.663,-0.418, PHS=-1.701, 0.276,-0.289, RAW= 286.1, 19.0, CAL= 285.6, 26.1, ROT= 224.4, -26.1
2025-08-23T22:07:24.865Z,1755986844.865 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-23T22:07:24.866Z,1755986844.866 [DAT](INFO): direction in FSK: [-0.641616,-0.628317,0.439939]
2025-08-23T22:07:24.866Z,1755986844.866 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:24.870Z,1755986844.870 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.203995
2025-08-23T22:07:25.004Z,1755986845.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.100000 m,
deltaT: 0.503962 s,
deltaX: -0.200000 m,
approachRate: -0.396855 m/s,
rangeRepo size: 4
2025-08-23T22:07:25.014Z,1755986845.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.031505 m,
bearing: 26.329000 deg,
lat: 36.779404 deg,
lon: -121.859575 deg,
deltaT: 0.503962 s,
deltaX: -0.198766 m,
approachRate: -0.394406 m/s,
posRepo size: 4
2025-08-23T22:07:25.014Z,1755986845.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-08-23T22:07:25.110Z,1755986845.110 [DAT](INFO): DAT read: Rx Time:22:07:24.5907
2025-08-23T22:07:25.112Z,1755986845.112 [DAT](INFO): Rx dataTimestamp_ set to:1755986845.110558
2025-08-23T22:07:25.115Z,1755986845.115 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.446978
2025-08-23T22:07:25.345Z,1755986845.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-08-23T22:07:25.359Z,1755986845.359 [DAT](INFO): DAT read: Bearing 93.2, -23.2 (Local)
2025-08-23T22:07:25.360Z,1755986845.360 [DAT](INFO): Local bearing/azimuth received:
Bearing 93.2, -23.2 (Local)
2025-08-23T22:07:25.362Z,1755986845.362 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.0
2025-08-23T22:07:25.366Z,1755986845.366 [DAT](INFO): DAT read: 22:07:24.5907 LVL= 32752, 22897, 32370, 32755, AGC= 49, IDX= 512,-0.30, 0.949, 3.055, 2.385, 2.768, PHS=-1.717, 0.332,-0.427, RAW= 291.5, 19.6, CAL= 290.8, 26.5, ROT= 219.2, -26.5
2025-08-23T22:07:25.367Z,1755986845.367 [DAT](INFO): got valid direction response:
22:07:24.5907 LVL= 32752, 22897, 32370, 32755, AGC= 49, IDX= 512,-0.30, 0.949, 3.055, 2.385, 2.768, PHS=-1.717, 0.332,-0.427, RAW= 291.5, 19.6, CAL= 290.8, 26.5, ROT= 219.2, -26.5
2025-08-23T22:07:25.368Z,1755986845.368 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-23T22:07:25.369Z,1755986845.369 [DAT](INFO): direction in FSK: [-0.693525,-0.565625,0.446198]
2025-08-23T22:07:25.369Z,1755986845.369 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:25.372Z,1755986845.372 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.706345
2025-08-23T22:07:25.613Z,1755986845.613 [DAT](INFO): DAT read: Rx Time:22:07:25.0906
2025-08-23T22:07:25.615Z,1755986845.615 [DAT](INFO): Rx dataTimestamp_ set to:1755986845.613965
2025-08-23T22:07:25.617Z,1755986845.617 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.950245
2025-08-23T22:07:25.763Z,1755986845.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.400000 m,
deltaT: 0.502767 s,
deltaX: 0.299999 m,
approachRate: 0.596696 m/s,
rangeRepo size: 4
2025-08-23T22:07:25.765Z,1755986845.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.329700 m,
bearing: 20.587513 deg,
lat: 36.779405 deg,
lon: -121.859577 deg,
deltaT: 0.502767 s,
deltaX: 0.298195 m,
approachRate: 0.593108 m/s,
posRepo size: 4
2025-08-23T22:07:25.770Z,1755986845.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:07:25.868Z,1755986845.868 [DAT](INFO): DAT read: Bearing 91.1, -26.9 (Local)
2025-08-23T22:07:25.868Z,1755986845.868 [DAT](INFO): Local bearing/azimuth received:
Bearing 91.1, -26.9 (Local)
2025-08-23T22:07:25.871Z,1755986845.871 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.0
2025-08-23T22:07:25.876Z,1755986845.876 [DAT](INFO): DAT read: 22:07:25.0906 LVL= 32752, 22929, 32210, 32755, AGC= 49, IDX= 511, 0.03,-2.946,-0.916,-1.408,-1.136, PHS=-1.709, 0.265,-0.317, RAW= 286.7, 19.5, CAL= 286.3, 26.6, ROT= 223.7, -26.6
2025-08-23T22:07:25.878Z,1755986845.878 [DAT](INFO): got valid direction response:
22:07:25.0906 LVL= 32752, 22929, 32210, 32755, AGC= 49, IDX= 511, 0.03,-2.946,-0.916,-1.408,-1.136, PHS=-1.709, 0.265,-0.317, RAW= 286.7, 19.5, CAL= 286.3, 26.6, ROT= 223.7, -26.6
2025-08-23T22:07:25.878Z,1755986845.878 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-23T22:07:25.880Z,1755986845.880 [DAT](INFO): direction in FSK: [-0.646444,-0.617755,0.447759]
2025-08-23T22:07:25.880Z,1755986845.880 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:25.886Z,1755986845.886 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.219305
2025-08-23T22:07:26.122Z,1755986846.122 [DAT](INFO): DAT read: Rx Time:22:07:25.5907
2025-08-23T22:07:26.123Z,1755986846.123 [DAT](INFO): Rx dataTimestamp_ set to:1755986846.122076
2025-08-23T22:07:26.125Z,1755986846.125 [DAT](INFO): DAT read: Bearing 87.9, -23.3 (Local)
2025-08-23T22:07:26.127Z,1755986846.127 [DAT](INFO): Local bearing/azimuth received:
Bearing 87.9, -23.3 (Local)
2025-08-23T22:07:26.130Z,1755986846.130 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.0
2025-08-23T22:07:26.132Z,1755986846.132 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-08-23T22:07:26.144Z,1755986846.144 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.477049
2025-08-23T22:07:26.281Z,1755986846.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.400000 m,
deltaT: 0.764050 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:26.291Z,1755986846.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.329700 m,
bearing: 24.812009 deg,
lat: 36.779405 deg,
lon: -121.859577 deg,
deltaT: 0.764050 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:26.292Z,1755986846.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:07:26.374Z,1755986846.374 [DAT](INFO): DAT read: 22:07:25.5907 LVL= 32752, 22385, 29170, 32755, AGC= 48, IDX= 512, 0.43,-2.912,-0.863,-1.412,-0.979, PHS=-1.831, 0.161,-0.477, RAW= 288.3, 23.3, CAL= 288.9, 30.3, ROT= 221.1, -30.3
2025-08-23T22:07:26.375Z,1755986846.375 [DAT](INFO): got valid direction response:
22:07:25.5907 LVL= 32752, 22385, 29170, 32755, AGC= 48, IDX= 512, 0.43,-2.912,-0.863,-1.412,-0.979, PHS=-1.831, 0.161,-0.477, RAW= 288.3, 23.3, CAL= 288.9, 30.3, ROT= 221.1, -30.3
2025-08-23T22:07:26.376Z,1755986846.376 [DAT](INFO): #Rx 46: Read direction message, but no range.
2025-08-23T22:07:26.377Z,1755986846.377 [DAT](INFO): direction in FSK: [-0.650623,-0.567575,0.504528]
2025-08-23T22:07:26.381Z,1755986846.381 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.714598
2025-08-23T22:07:26.593Z,1755986846.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:07:26.626Z,1755986846.626 [DAT](INFO): DAT read: Rx Time:22:07:26.0907
2025-08-23T22:07:26.628Z,1755986846.628 [DAT](INFO): Rx dataTimestamp_ set to:1755986846.626618
2025-08-23T22:07:26.631Z,1755986846.631 [DAT](INFO): DAT read: Bearing 85.9, -23.0 (Local)
2025-08-23T22:07:26.631Z,1755986846.631 [DAT](INFO): Local bearing/azimuth received:
Bearing 85.9, -23.0 (Local)
2025-08-23T22:07:26.635Z,1755986846.635 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.1
2025-08-23T22:07:26.642Z,1755986846.642 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-08-23T22:07:26.645Z,1755986846.645 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.978210
2025-08-23T22:07:26.878Z,1755986846.878 [DAT](INFO): DAT read: 22:07:26.0907 LVL= 32752, 22881, 27842, 32755, AGC= 47, IDX= 512,-0.10, 0.361, 2.356, 1.852, 2.305, PHS=-1.842, 0.096,-0.498, RAW= 287.4, 24.8, CAL= 288.5, 31.7, ROT= 221.5, -31.7
2025-08-23T22:07:26.879Z,1755986846.879 [DAT](INFO): got valid direction response:
22:07:26.0907 LVL= 32752, 22881, 27842, 32755, AGC= 47, IDX= 512,-0.10, 0.361, 2.356, 1.852, 2.305, PHS=-1.842, 0.096,-0.498, RAW= 287.4, 24.8, CAL= 288.5, 31.7, ROT= 221.5, -31.7
2025-08-23T22:07:26.879Z,1755986846.879 [DAT](INFO): #Rx 48: Read direction message, but no range.
2025-08-23T22:07:26.880Z,1755986846.880 [DAT](INFO): direction in FSK: [-0.637220,-0.563765,0.525472]
2025-08-23T22:07:26.884Z,1755986846.884 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.217794
2025-08-23T22:07:27.038Z,1755986847.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.400000 m,
deltaT: 0.504542 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:27.040Z,1755986847.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.329711 m,
bearing: 23.388735 deg,
lat: 36.779405 deg,
lon: -121.859579 deg,
deltaT: 0.504542 s,
deltaX: 0.000011 m,
approachRate: 0.000023 m/s,
posRepo size: 4
2025-08-23T22:07:27.041Z,1755986847.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:07:27.130Z,1755986847.130 [DAT](INFO): DAT read: Rx Time:22:07:26.5908
2025-08-23T22:07:27.132Z,1755986847.132 [DAT](INFO): Rx dataTimestamp_ set to:1755986847.130652
2025-08-23T22:07:27.134Z,1755986847.134 [DAT](INFO): DAT read: Bearing 83.3, -22.4 (Local)
2025-08-23T22:07:27.135Z,1755986847.135 [DAT](INFO): Local bearing/azimuth received:
Bearing 83.3, -22.4 (Local)
2025-08-23T22:07:27.137Z,1755986847.137 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.470394
2025-08-23T22:07:27.380Z,1755986847.380 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.1
2025-08-23T22:07:27.385Z,1755986847.385 [DAT](INFO): DAT read: 22:07:26.5908 LVL= 32752, 23697, 28034, 32755, AGC= 48, IDX= 513, 0.24,-2.625,-0.889,-1.285,-0.852, PHS=-1.672, 0.007,-0.478, RAW= 286.3, 26.8, CAL= 288.1, 33.8, ROT= 221.9, -33.8
2025-08-23T22:07:27.390Z,1755986847.390 [DAT](INFO): got valid direction response:
22:07:26.5908 LVL= 32752, 23697, 28034, 32755, AGC= 48, IDX= 513, 0.24,-2.625,-0.889,-1.285,-0.852, PHS=-1.672, 0.007,-0.478, RAW= 286.3, 26.8, CAL= 288.1, 33.8, ROT= 221.9, -33.8
2025-08-23T22:07:27.390Z,1755986847.390 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-23T22:07:27.391Z,1755986847.391 [DAT](INFO): direction in FSK: [-0.618511,-0.554958,0.556296]
2025-08-23T22:07:27.391Z,1755986847.391 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:27.403Z,1755986847.403 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.736986
2025-08-23T22:07:27.461Z,1755986847.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.751443 s,
deltaX: 0.200001 m,
approachRate: 0.266156 m/s,
rangeRepo size: 4
2025-08-23T22:07:27.467Z,1755986847.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.528466 m,
bearing: 24.105638 deg,
lat: 36.779403 deg,
lon: -121.859583 deg,
deltaT: 0.751443 s,
deltaX: 0.198755 m,
approachRate: 0.264498 m/s,
posRepo size: 4
2025-08-23T22:07:27.468Z,1755986847.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:07:27.634Z,1755986847.634 [DAT](INFO): DAT read: Rx Time:22:07:27.0908
2025-08-23T22:07:27.636Z,1755986847.636 [DAT](INFO): Rx dataTimestamp_ set to:1755986847.634711
2025-08-23T22:07:27.641Z,1755986847.641 [DAT](INFO): DAT read: Bearing 83.3, -27.4 (Local)
2025-08-23T22:07:27.642Z,1755986847.642 [DAT](INFO): Local bearing/azimuth received:
Bearing 83.3, -27.4 (Local)
2025-08-23T22:07:27.657Z,1755986847.657 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.1
2025-08-23T22:07:27.722Z,1755986847.722 [DAT](INFO): DAT read: 22:07:27.0908 LVL= 32752, 23265, 30066, 32755, AGC= 49, IDX= 513,-0.27, 0.794, 2.931, 2.574, 2.926, PHS=-2.030, 0.050,-0.397, RAW= 281.8, 23.9, CAL= 282.9, 31.3, ROT= 227.1, -31.3
2025-08-23T22:07:27.723Z,1755986847.723 [DAT](INFO): got valid direction response:
22:07:27.0908 LVL= 32752, 23265, 30066, 32755, AGC= 49, IDX= 513,-0.27, 0.794, 2.931, 2.574, 2.926, PHS=-2.030, 0.050,-0.397, RAW= 281.8, 23.9, CAL= 282.9, 31.3, ROT= 227.1, -31.3
2025-08-23T22:07:27.724Z,1755986847.724 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-23T22:07:27.725Z,1755986847.725 [DAT](INFO): direction in FSK: [-0.581648,-0.625928,0.519519]
2025-08-23T22:07:27.725Z,1755986847.725 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:27.733Z,1755986847.733 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.066525
2025-08-23T22:07:27.805Z,1755986847.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.256650 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:27.807Z,1755986847.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.528466 m,
bearing: 28.235998 deg,
lat: 36.779400 deg,
lon: -121.859583 deg,
deltaT: 0.256650 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:27.808Z,1755986847.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:07:27.883Z,1755986847.883 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.216537
2025-08-23T22:07:28.138Z,1755986848.138 [DAT](INFO): DAT read: Rx Time:22:07:27.5908
2025-08-23T22:07:28.140Z,1755986848.140 [DAT](INFO): Rx dataTimestamp_ set to:1755986848.138721
2025-08-23T22:07:28.153Z,1755986848.153 [DAT](INFO): DAT read: Bearing 82.5, -28.7 (Local)
2025-08-23T22:07:28.155Z,1755986848.155 [DAT](INFO): Local bearing/azimuth received:
Bearing 82.5, -28.7 (Local)
2025-08-23T22:07:28.164Z,1755986848.164 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.0
2025-08-23T22:07:28.165Z,1755986848.165 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-08-23T22:07:28.167Z,1755986848.167 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.500614
2025-08-23T22:07:28.317Z,1755986848.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.504010 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:28.322Z,1755986848.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:07:28.397Z,1755986848.397 [DAT](INFO): DAT read: 22:07:27.5908 LVL= 32752, 23345, 25074, 32755, AGC= 48, IDX= 513, 0.07, 1.863,-2.383,-2.669,-2.376, PHS=-1.942, 0.038,-0.337, RAW= 280.3, 23.5, CAL= 281.3, 31.0, ROT= 228.7, -31.0
2025-08-23T22:07:28.398Z,1755986848.398 [DAT](INFO): got valid direction response:
22:07:27.5908 LVL= 32752, 23345, 25074, 32755, AGC= 48, IDX= 513, 0.07, 1.863,-2.383,-2.669,-2.376, PHS=-1.942, 0.038,-0.337, RAW= 280.3, 23.5, CAL= 281.3, 31.0, ROT= 228.7, -31.0
2025-08-23T22:07:28.398Z,1755986848.398 [DAT](INFO): #Rx 52: Read direction message, but no range.
2025-08-23T22:07:28.399Z,1755986848.399 [DAT](INFO): direction in FSK: [-0.565732,-0.643959,0.515038]
2025-08-23T22:07:28.408Z,1755986848.408 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.742157
2025-08-23T22:07:28.641Z,1755986848.641 [DAT](INFO): DAT read: Rx Time:22:07:28.0907
2025-08-23T22:07:28.642Z,1755986848.642 [DAT](INFO): Rx dataTimestamp_ set to:1755986848.641631
2025-08-23T22:07:28.645Z,1755986848.645 [DAT](INFO): DAT read: Bearing 79.9, -29.6 (Local)
2025-08-23T22:07:28.646Z,1755986848.646 [DAT](INFO): Local bearing/azimuth received:
Bearing 79.9, -29.6 (Local)
2025-08-23T22:07:28.650Z,1755986848.650 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.1
2025-08-23T22:07:28.652Z,1755986848.652 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-08-23T22:07:28.663Z,1755986848.663 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.997278
2025-08-23T22:07:28.752Z,1755986848.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.400000 m,
deltaT: 0.502910 s,
deltaX: -0.200001 m,
approachRate: -0.397687 m/s,
rangeRepo size: 4
2025-08-23T22:07:28.758Z,1755986848.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.329634 m,
bearing: 29.143007 deg,
lat: 36.779399 deg,
lon: -121.859579 deg,
deltaT: 1.006920 s,
deltaX: -0.198833 m,
approachRate: -0.197466 m/s,
posRepo size: 4
2025-08-23T22:07:28.759Z,1755986848.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:07:28.895Z,1755986848.895 [DAT](INFO): DAT read: 22:07:28.0907 LVL= 32752, 23409, 27762, 32755, AGC= 49, IDX= 512, 0.44, 1.187,-2.995, 3.078,-2.903, PHS=-2.091,-0.046,-0.347, RAW= 277.8, 24.7, CAL= 279.3, 32.3, ROT= 230.7, -32.3
2025-08-23T22:07:28.896Z,1755986848.896 [DAT](INFO): got valid direction response:
22:07:28.0907 LVL= 32752, 23409, 27762, 32755, AGC= 49, IDX= 512, 0.44, 1.187,-2.995, 3.078,-2.903, PHS=-2.091,-0.046,-0.347, RAW= 277.8, 24.7, CAL= 279.3, 32.3, ROT= 230.7, -32.3
2025-08-23T22:07:28.896Z,1755986848.897 [DAT](INFO): #Rx 54: Read direction message, but no range.
2025-08-23T22:07:28.898Z,1755986848.898 [DAT](INFO): direction in FSK: [-0.535373,-0.654098,0.534352]
2025-08-23T22:07:28.902Z,1755986848.902 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.235298
2025-08-23T22:07:29.085Z,1755986849.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:07:29.148Z,1755986849.148 [DAT](INFO): DAT read: Rx Time:22:07:28.5909
2025-08-23T22:07:29.149Z,1755986849.149 [DAT](INFO): Rx dataTimestamp_ set to:1755986849.148312
2025-08-23T22:07:29.153Z,1755986849.153 [DAT](INFO): DAT read: Bearing 86.0, -30.0 (Local)
2025-08-23T22:07:29.154Z,1755986849.154 [DAT](INFO): Local bearing/azimuth received:
Bearing 86.0, -30.0 (Local)
2025-08-23T22:07:29.160Z,1755986849.160 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.1
2025-08-23T22:07:29.162Z,1755986849.162 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-08-23T22:07:29.163Z,1755986849.163 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.497215
2025-08-23T22:07:29.398Z,1755986849.398 [DAT](INFO): DAT read: 22:07:28.5909 LVL= 32752, 22929, 31714, 32755, AGC= 53, IDX= 2,-0.10,-2.850,-0.753,-1.104,-0.909, PHS=-1.839, 0.201,-0.239, RAW= 281.8, 19.6, CAL= 281.8, 27.0, ROT= 228.2, -27.0
2025-08-23T22:07:29.399Z,1755986849.399 [DAT](INFO): got valid direction response:
22:07:28.5909 LVL= 32752, 22929, 31714, 32755, AGC= 53, IDX= 2,-0.10,-2.850,-0.753,-1.104,-0.909, PHS=-1.839, 0.201,-0.239, RAW= 281.8, 19.6, CAL= 281.8, 27.0, ROT= 228.2, -27.0
2025-08-23T22:07:29.400Z,1755986849.400 [DAT](INFO): #Rx 56: Read direction message, but no range.
2025-08-23T22:07:29.401Z,1755986849.401 [DAT](INFO): direction in FSK: [-0.593885,-0.664224,0.453991]
2025-08-23T22:07:29.404Z,1755986849.404 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.737858
2025-08-23T22:07:29.524Z,1755986849.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.506681 s,
deltaX: 0.300000 m,
approachRate: 0.592089 m/s,
rangeRepo size: 4
2025-08-23T22:07:29.530Z,1755986849.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.627758 m,
bearing: 26.966606 deg,
lat: 36.779399 deg,
lon: -121.859574 deg,
deltaT: 0.506681 s,
deltaX: 0.298124 m,
approachRate: 0.588387 m/s,
posRepo size: 4
2025-08-23T22:07:29.531Z,1755986849.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:07:29.650Z,1755986849.650 [DAT](INFO): DAT read: Rx Time:22:07:29.0908
2025-08-23T22:07:29.652Z,1755986849.652 [DAT](INFO): Rx dataTimestamp_ set to:1755986849.650853
2025-08-23T22:07:29.656Z,1755986849.656 [DAT](INFO): DAT read: Bearing 85.4, -31.4 (Local)
2025-08-23T22:07:29.657Z,1755986849.657 [DAT](INFO): Local bearing/azimuth received:
Bearing 85.4, -31.4 (Local)
2025-08-23T22:07:29.666Z,1755986849.666 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.1
2025-08-23T22:07:29.675Z,1755986849.675 [DAT](INFO): DAT read: 22:07:29.0908 LVL= 32752, 23201, 31906, 32755, AGC= 50, IDX= 497, 0.19,-2.139,-0.052,-0.348,-0.197, PHS=-1.840, 0.190,-0.195, RAW= 280.3, 19.3, CAL= 280.3, 26.6, ROT= 229.7, -26.6
2025-08-23T22:07:29.676Z,1755986849.676 [DAT](INFO): got valid direction response:
22:07:29.0908 LVL= 32752, 23201, 31906, 32755, AGC= 50, IDX= 497, 0.19,-2.139,-0.052,-0.348,-0.197, PHS=-1.840, 0.190,-0.195, RAW= 280.3, 19.3, CAL= 280.3, 26.6, ROT= 229.7, -26.6
2025-08-23T22:07:29.676Z,1755986849.676 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-23T22:07:29.686Z,1755986849.686 [DAT](INFO): direction in FSK: [-0.578330,-0.681943,0.447759]
2025-08-23T22:07:29.687Z,1755986849.687 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:29.714Z,1755986849.714 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.048353
2025-08-23T22:07:29.899Z,1755986849.899 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.232491
2025-08-23T22:07:29.959Z,1755986849.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.502541 s,
deltaX: -0.099999 m,
approachRate: -0.198988 m/s,
rangeRepo size: 4
2025-08-23T22:07:29.961Z,1755986849.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.528377 m,
bearing: 28.047588 deg,
lat: 36.779399 deg,
lon: -121.859574 deg,
deltaT: 0.502541 s,
deltaX: -0.099381 m,
approachRate: -0.197758 m/s,
posRepo size: 4
2025-08-23T22:07:29.966Z,1755986849.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:07:30.154Z,1755986850.154 [DAT](INFO): DAT read: Rx Time:22:07:29.5909
2025-08-23T22:07:30.156Z,1755986850.156 [DAT](INFO): Rx dataTimestamp_ set to:1755986850.154870
2025-08-23T22:07:30.159Z,1755986850.159 [DAT](INFO): DAT read: Bearing 84.7, -31.6 (Local)
2025-08-23T22:07:30.161Z,1755986850.161 [DAT](INFO): Local bearing/azimuth received:
Bearing 84.7, -31.6 (Local)
2025-08-23T22:07:30.165Z,1755986850.165 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.1
2025-08-23T22:07:30.199Z,1755986850.199 [DAT](INFO): DAT read: 22:07:29.5909 LVL= 32752, 22993, 31474, 32755, AGC= 53, IDX= 3,-0.32,-1.935, 0.147,-0.130, 0.013, PHS=-1.846, 0.180,-0.187, RAW= 279.8, 19.3, CAL= 279.9, 26.7, ROT= 230.1, -26.7
2025-08-23T22:07:30.206Z,1755986850.206 [DAT](INFO): got valid direction response:
22:07:29.5909 LVL= 32752, 22993, 31474, 32755, AGC= 53, IDX= 3,-0.32,-1.935, 0.147,-0.130, 0.013, PHS=-1.846, 0.180,-0.187, RAW= 279.8, 19.3, CAL= 279.9, 26.7, ROT= 230.1, -26.7
2025-08-23T22:07:30.207Z,1755986850.207 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-23T22:07:30.209Z,1755986850.209 [DAT](INFO): direction in FSK: [-0.573053,-0.685363,0.449319]
2025-08-23T22:07:30.209Z,1755986850.209 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:30.221Z,1755986850.221 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.554832
2025-08-23T22:07:30.403Z,1755986850.403 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.736521
2025-08-23T22:07:30.432Z,1755986850.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.504017 s,
deltaX: 0.099999 m,
approachRate: 0.198405 m/s,
rangeRepo size: 4
2025-08-23T22:07:30.438Z,1755986850.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.627741 m,
bearing: 28.175479 deg,
lat: 36.779402 deg,
lon: -121.859573 deg,
deltaT: 0.504017 s,
deltaX: 0.099364 m,
approachRate: 0.197145 m/s,
posRepo size: 4
2025-08-23T22:07:30.439Z,1755986850.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:07:30.659Z,1755986850.659 [DAT](INFO): DAT read: Rx Time:22:07:30.0909
2025-08-23T22:07:30.660Z,1755986850.660 [DAT](INFO): Rx dataTimestamp_ set to:1755986850.659556
2025-08-23T22:07:30.663Z,1755986850.663 [DAT](INFO): DAT read: Bearing 83.4, -32.8 (Local)
2025-08-23T22:07:30.664Z,1755986850.664 [DAT](INFO): Local bearing/azimuth received:
Bearing 83.4, -32.8 (Local)
2025-08-23T22:07:30.669Z,1755986850.669 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.1
2025-08-23T22:07:30.694Z,1755986850.694 [DAT](INFO): DAT read: 22:07:30.0909 LVL= 32752, 26225, 32754, 32755, AGC= 51, IDX= 498, 0.01,-2.126,-0.070,-0.281,-0.168, PHS=-1.856, 0.143,-0.157, RAW= 278.0, 19.5, CAL= 278.3, 26.9, ROT= 231.7, -26.9
2025-08-23T22:07:30.695Z,1755986850.695 [DAT](INFO): got valid direction response:
22:07:30.0909 LVL= 32752, 26225, 32754, 32755, AGC= 51, IDX= 498, 0.01,-2.126,-0.070,-0.281,-0.168, PHS=-1.856, 0.143,-0.157, RAW= 278.0, 19.5, CAL= 278.3, 26.9, ROT= 231.7, -26.9
2025-08-23T22:07:30.696Z,1755986850.696 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-23T22:07:30.711Z,1755986850.711 [DAT](INFO): direction in FSK: [-0.552718,-0.699862,0.452435]
2025-08-23T22:07:30.711Z,1755986850.711 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:30.719Z,1755986850.719 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.053026
2025-08-23T22:07:30.821Z,1755986850.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.504686 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:30.831Z,1755986850.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.627741 m,
bearing: 29.226446 deg,
lat: 36.779402 deg,
lon: -121.859572 deg,
deltaT: 0.504686 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:30.831Z,1755986850.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:07:30.907Z,1755986850.907 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.240507
2025-08-23T22:07:31.163Z,1755986851.163 [DAT](INFO): DAT read: Rx Time:22:07:30.5910
2025-08-23T22:07:31.163Z,1755986851.163 [DAT](INFO): Rx dataTimestamp_ set to:1755986851.163184
2025-08-23T22:07:31.165Z,1755986851.165 [DAT](INFO): DAT read: Bearing 82.9, -32.8 (Local)
2025-08-23T22:07:31.165Z,1755986851.165 [DAT](INFO): Local bearing/azimuth received:
Bearing 82.9, -32.8 (Local)
2025-08-23T22:07:31.167Z,1755986851.167 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.1
2025-08-23T22:07:31.172Z,1755986851.172 [DAT](INFO): DAT read: 22:07:30.5910 LVL= 32752, 25761, 32082, 32755, AGC= 51, IDX= 499, 0.27, 0.476, 2.529, 2.324, 2.439, PHS=-1.860, 0.135,-0.159, RAW= 277.8, 19.6, CAL= 278.2, 27.0, ROT= 231.8, -27.0
2025-08-23T22:07:31.173Z,1755986851.173 [DAT](INFO): got valid direction response:
22:07:30.5910 LVL= 32752, 25761, 32082, 32755, AGC= 51, IDX= 499, 0.27, 0.476, 2.529, 2.324, 2.439, PHS=-1.860, 0.135,-0.159, RAW= 277.8, 19.6, CAL= 278.2, 27.0, ROT= 231.8, -27.0
2025-08-23T22:07:31.173Z,1755986851.173 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-23T22:07:31.200Z,1755986851.200 [DAT](INFO): direction in FSK: [-0.551006,-0.700204,0.453991]
2025-08-23T22:07:31.200Z,1755986851.200 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:31.226Z,1755986851.226 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.547014
2025-08-23T22:07:31.400Z,1755986851.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.503628 s,
deltaX: 0.200000 m,
approachRate: 0.397118 m/s,
rangeRepo size: 4
2025-08-23T22:07:31.406Z,1755986851.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.826506 m,
bearing: 29.091582 deg,
lat: 36.779402 deg,
lon: -121.859572 deg,
deltaT: 0.503628 s,
deltaX: 0.198765 m,
approachRate: 0.394666 m/s,
posRepo size: 4
2025-08-23T22:07:31.406Z,1755986851.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:07:31.411Z,1755986851.411 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.744465
2025-08-23T22:07:31.664Z,1755986851.664 [DAT](INFO): DAT read: Rx Time:22:07:31.0910
2025-08-23T22:07:31.665Z,1755986851.665 [DAT](INFO): Rx dataTimestamp_ set to:1755986851.664538
2025-08-23T22:07:31.666Z,1755986851.666 [DAT](INFO): DAT read: Bearing 82.3, -33.0 (Local)
2025-08-23T22:07:31.666Z,1755986851.666 [DAT](INFO): Local bearing/azimuth received:
Bearing 82.3, -33.0 (Local)
2025-08-23T22:07:31.668Z,1755986851.668 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:07:31.669Z,1755986851.669 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-08-23T22:07:31.670Z,1755986851.670 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.004141
2025-08-23T22:07:31.750Z,1755986851.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.501354 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:31.750Z,1755986851.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:07:31.918Z,1755986851.918 [DAT](INFO): DAT read: 22:07:31.0910 LVL= 32752, 26353, 30562, 32755, AGC= 51, IDX= 499,-0.27,-2.285,-0.235,-0.425,-0.318, PHS=-1.865, 0.127,-0.151, RAW= 277.4, 19.7, CAL= 277.8, 27.1, ROT= 232.2, -27.1
2025-08-23T22:07:31.919Z,1755986851.919 [DAT](INFO): got valid direction response:
22:07:31.0910 LVL= 32752, 26353, 30562, 32755, AGC= 51, IDX= 499,-0.27,-2.285,-0.235,-0.425,-0.318, PHS=-1.865, 0.127,-0.151, RAW= 277.4, 19.7, CAL= 277.8, 27.1, ROT= 232.2, -27.1
2025-08-23T22:07:31.920Z,1755986851.920 [DAT](INFO): #Rx 62: Read direction message, but no range.
2025-08-23T22:07:31.921Z,1755986851.921 [DAT](INFO): direction in FSK: [-0.545618,-0.703406,0.455545]
2025-08-23T22:07:31.924Z,1755986851.924 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.257893
2025-08-23T22:07:32.167Z,1755986852.167 [DAT](INFO): DAT read: Rx Time:22:07:31.5910
2025-08-23T22:07:32.168Z,1755986852.168 [DAT](INFO): Rx dataTimestamp_ set to:1755986852.167356
2025-08-23T22:07:32.169Z,1755986852.169 [DAT](INFO): DAT read: Bearing 82.1, -33.5 (Local)
2025-08-23T22:07:32.169Z,1755986852.169 [DAT](INFO): Local bearing/azimuth received:
Bearing 82.1, -33.5 (Local)
2025-08-23T22:07:32.171Z,1755986852.171 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:07:32.177Z,1755986852.177 [DAT](INFO): DAT read: 22:07:31.5910 LVL= 32752, 27185, 28786, 32755, AGC= 51, IDX= 499, 0.00,-1.236, 0.816, 0.645, 0.731, PHS=-1.865, 0.129,-0.130, RAW= 276.9, 19.4, CAL= 277.2, 26.7, ROT= 232.8, -26.7
2025-08-23T22:07:32.179Z,1755986852.179 [DAT](INFO): got valid direction response:
22:07:31.5910 LVL= 32752, 27185, 28786, 32755, AGC= 51, IDX= 499, 0.00,-1.236, 0.816, 0.645, 0.731, PHS=-1.865, 0.129,-0.130, RAW= 276.9, 19.4, CAL= 277.2, 26.7, ROT= 232.8, -26.7
2025-08-23T22:07:32.180Z,1755986852.180 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-23T22:07:32.187Z,1755986852.187 [DAT](INFO): direction in FSK: [-0.540132,-0.711597,0.449319]
2025-08-23T22:07:32.187Z,1755986852.187 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:32.220Z,1755986852.220 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.553911
2025-08-23T22:07:32.300Z,1755986852.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.502818 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:32.307Z,1755986852.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.826555 m,
bearing: 29.504563 deg,
lat: 36.779402 deg,
lon: -121.859570 deg,
deltaT: 1.004172 s,
deltaX: 0.000050 m,
approachRate: 0.000049 m/s,
posRepo size: 4
2025-08-23T22:07:32.307Z,1755986852.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:07:32.421Z,1755986852.421 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.754171
2025-08-23T22:07:32.587Z,1755986852.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:07:32.672Z,1755986852.672 [DAT](INFO): DAT read: Rx Time:22:07:32.0909
2025-08-23T22:07:32.673Z,1755986852.673 [DAT](INFO): Rx dataTimestamp_ set to:1755986852.672421
2025-08-23T22:07:32.675Z,1755986852.675 [DAT](INFO): DAT read: Bearing 81.9, -34.0 (Local)
2025-08-23T22:07:32.676Z,1755986852.676 [DAT](INFO): Local bearing/azimuth received:
Bearing 81.9, -34.0 (Local)
2025-08-23T22:07:32.681Z,1755986852.681 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.0
2025-08-23T22:07:32.692Z,1755986852.692 [DAT](INFO): DAT read: 22:07:32.0909 LVL= 32752, 27345, 27682, 32755, AGC= 51, IDX= 498, 0.26,-1.654, 0.398, 0.244, 0.310, PHS=-1.861, 0.133,-0.109, RAW= 276.4, 19.0, CAL= 276.7, 26.3, ROT= 233.3, -26.3
2025-08-23T22:07:32.698Z,1755986852.698 [DAT](INFO): got valid direction response:
22:07:32.0909 LVL= 32752, 27345, 27682, 32755, AGC= 51, IDX= 498, 0.26,-1.654, 0.398, 0.244, 0.310, PHS=-1.861, 0.133,-0.109, RAW= 276.4, 19.0, CAL= 276.7, 26.3, ROT= 233.3, -26.3
2025-08-23T22:07:32.699Z,1755986852.699 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-23T22:07:32.701Z,1755986852.701 [DAT](INFO): direction in FSK: [-0.535763,-0.718781,0.443071]
2025-08-23T22:07:32.701Z,1755986852.701 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:32.714Z,1755986852.714 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.043289
2025-08-23T22:07:32.922Z,1755986852.922 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.256374
2025-08-23T22:07:32.998Z,1755986852.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.505065 s,
deltaX: -0.200000 m,
approachRate: -0.395988 m/s,
rangeRepo size: 4
2025-08-23T22:07:32.000Z,1755986853.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.627841 m,
bearing: 29.418816 deg,
lat: 36.779402 deg,
lon: -121.859569 deg,
deltaT: 0.505065 s,
deltaX: -0.198714 m,
approachRate: -0.393443 m/s,
posRepo size: 4
2025-08-23T22:07:33.000Z,1755986853.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:07:33.179Z,1755986853.179 [DAT](INFO): DAT read: Rx Time:22:07:32.5911
2025-08-23T22:07:33.180Z,1755986853.180 [DAT](INFO): Rx dataTimestamp_ set to:1755986853.179007
2025-08-23T22:07:33.182Z,1755986853.182 [DAT](INFO): DAT read: Bearing 81.6, -34.2 (Local)
2025-08-23T22:07:33.182Z,1755986853.182 [DAT](INFO): Local bearing/azimuth received:
Bearing 81.6, -34.2 (Local)
2025-08-23T22:07:33.186Z,1755986853.186 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:33.202Z,1755986853.202 [DAT](INFO): DAT read: 22:07:32.5911 LVL= 32752, 27505, 28738, 32755, AGC= 51, IDX= 500,-0.33,-2.185,-0.127,-0.274,-0.220, PHS=-1.863, 0.138,-0.098, RAW= 276.2, 18.8, CAL= 276.5, 26.1, ROT= 233.5, -26.1
2025-08-23T22:07:33.203Z,1755986853.203 [DAT](INFO): got valid direction response:
22:07:32.5911 LVL= 32752, 27505, 28738, 32755, AGC= 51, IDX= 500,-0.33,-2.185,-0.127,-0.274,-0.220, PHS=-1.863, 0.138,-0.098, RAW= 276.2, 18.8, CAL= 276.5, 26.1, ROT= 233.5, -26.1
2025-08-23T22:07:33.204Z,1755986853.204 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-23T22:07:33.207Z,1755986853.207 [DAT](INFO): direction in FSK: [-0.534167,-0.721886,0.439939]
2025-08-23T22:07:33.208Z,1755986853.208 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:33.217Z,1755986853.217 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.550459
2025-08-23T22:07:33.427Z,1755986853.427 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.760578
2025-08-23T22:07:33.454Z,1755986853.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.506586 s,
deltaX: 0.300000 m,
approachRate: 0.592200 m/s,
rangeRepo size: 4
2025-08-23T22:07:33.456Z,1755986853.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.925984 m,
bearing: 29.337683 deg,
lat: 36.779402 deg,
lon: -121.859569 deg,
deltaT: 0.506586 s,
deltaX: 0.298143 m,
approachRate: 0.588535 m/s,
posRepo size: 4
2025-08-23T22:07:33.457Z,1755986853.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:33.682Z,1755986853.682 [DAT](INFO): DAT read: Rx Time:22:07:33.0910
2025-08-23T22:07:33.682Z,1755986853.682 [DAT](INFO): Rx dataTimestamp_ set to:1755986853.681770
2025-08-23T22:07:33.684Z,1755986853.684 [DAT](INFO): DAT read: Bearing 82.4, -35.0 (Local)
2025-08-23T22:07:33.685Z,1755986853.685 [DAT](INFO): Local bearing/azimuth received:
Bearing 82.4, -35.0 (Local)
2025-08-23T22:07:33.688Z,1755986853.688 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:07:33.704Z,1755986853.704 [DAT](INFO): DAT read: 22:07:33.0910 LVL= 32752, 24513, 25826, 32755, AGC= 50, IDX= 499,-0.10, 2.957,-1.252,-1.394,-1.380, PHS=-1.845, 0.173,-0.058, RAW= 276.0, 17.7, CAL= 276.1, 24.9, ROT= 233.9, -24.9
2025-08-23T22:07:33.706Z,1755986853.706 [DAT](INFO): got valid direction response:
22:07:33.0910 LVL= 32752, 24513, 25826, 32755, AGC= 50, IDX= 499,-0.10, 2.957,-1.252,-1.394,-1.380, PHS=-1.845, 0.173,-0.058, RAW= 276.0, 17.7, CAL= 276.1, 24.9, ROT= 233.9, -24.9
2025-08-23T22:07:33.706Z,1755986853.706 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-23T22:07:33.707Z,1755986853.707 [DAT](INFO): direction in FSK: [-0.534427,-0.732882,0.421036]
2025-08-23T22:07:33.707Z,1755986853.707 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:33.735Z,1755986853.735 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.069359
2025-08-23T22:07:33.828Z,1755986853.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.502763 s,
deltaX: -0.100000 m,
approachRate: -0.198902 m/s,
rangeRepo size: 4
2025-08-23T22:07:33.834Z,1755986853.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.826601 m,
bearing: 29.185343 deg,
lat: 36.779402 deg,
lon: -121.859569 deg,
deltaT: 0.502763 s,
deltaX: -0.099383 m,
approachRate: -0.197674 m/s,
posRepo size: 4
2025-08-23T22:07:33.835Z,1755986853.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:07:33.931Z,1755986853.931 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.265244
2025-08-23T22:07:34.184Z,1755986854.184 [DAT](INFO): DAT read: Rx Time:22:07:33.5911
2025-08-23T22:07:34.185Z,1755986854.185 [DAT](INFO): Rx dataTimestamp_ set to:1755986854.184432
2025-08-23T22:07:34.187Z,1755986854.187 [DAT](INFO): DAT read: Bearing 82.1, -35.1 (Local)
2025-08-23T22:07:34.187Z,1755986854.187 [DAT](INFO): Local bearing/azimuth received:
Bearing 82.1, -35.1 (Local)
2025-08-23T22:07:34.191Z,1755986854.191 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:34.198Z,1755986854.198 [DAT](INFO): DAT read: 22:07:33.5911 LVL= 32752, 24561, 25794, 32755, AGC= 50, IDX= 500, 0.08,-1.031, 1.052, 0.916, 0.922, PHS=-1.850, 0.175,-0.049, RAW= 275.8, 17.6, CAL= 275.9, 24.8, ROT= 234.1, -24.8
2025-08-23T22:07:34.200Z,1755986854.200 [DAT](INFO): got valid direction response:
22:07:33.5911 LVL= 32752, 24561, 25794, 32755, AGC= 50, IDX= 500, 0.08,-1.031, 1.052, 0.916, 0.922, PHS=-1.850, 0.175,-0.049, RAW= 275.8, 17.6, CAL= 275.9, 24.8, ROT= 234.1, -24.8
2025-08-23T22:07:34.200Z,1755986854.200 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-23T22:07:34.203Z,1755986854.203 [DAT](INFO): direction in FSK: [-0.532296,-0.735338,0.419452]
2025-08-23T22:07:34.204Z,1755986854.204 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:34.221Z,1755986854.221 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.554935
2025-08-23T22:07:34.358Z,1755986854.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.502662 s,
deltaX: 0.100000 m,
approachRate: 0.198942 m/s,
rangeRepo size: 4
2025-08-23T22:07:34.360Z,1755986854.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.925984 m,
bearing: 29.353787 deg,
lat: 36.779402 deg,
lon: -121.859568 deg,
deltaT: 0.502662 s,
deltaX: 0.099383 m,
approachRate: 0.197714 m/s,
posRepo size: 4
2025-08-23T22:07:34.361Z,1755986854.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:34.435Z,1755986854.435 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.768539
2025-08-23T22:07:34.688Z,1755986854.688 [DAT](INFO): DAT read: Rx Time:22:07:34.0910
2025-08-23T22:07:34.689Z,1755986854.689 [DAT](INFO): Rx dataTimestamp_ set to:1755986854.688257
2025-08-23T22:07:34.691Z,1755986854.691 [DAT](INFO): DAT read: Bearing 82.2, -35.5 (Local)
2025-08-23T22:07:34.691Z,1755986854.691 [DAT](INFO): Local bearing/azimuth received:
Bearing 82.2, -35.5 (Local)
2025-08-23T22:07:34.694Z,1755986854.694 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:07:34.704Z,1755986854.704 [DAT](INFO): DAT read: 22:07:34.0910 LVL= 32752, 20881, 23506, 32755, AGC= 48, IDX= 499, 0.25,-1.403, 0.673, 0.545, 0.532, PHS=-1.833, 0.186,-0.030, RAW= 275.6, 17.2, CAL= 275.7, 24.3, ROT= 234.3, -24.3
2025-08-23T22:07:34.722Z,1755986854.722 [DAT](INFO): got valid direction response:
22:07:34.0910 LVL= 32752, 20881, 23506, 32755, AGC= 48, IDX= 499, 0.25,-1.403, 0.673, 0.545, 0.532, PHS=-1.833, 0.186,-0.030, RAW= 275.6, 17.2, CAL= 275.7, 24.3, ROT= 234.3, -24.3
2025-08-23T22:07:34.723Z,1755986854.723 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-23T22:07:34.724Z,1755986854.724 [DAT](INFO): direction in FSK: [-0.531841,-0.740136,0.411514]
2025-08-23T22:07:34.725Z,1755986854.725 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:34.737Z,1755986854.737 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.070675
2025-08-23T22:07:34.850Z,1755986854.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.503825 s,
deltaX: -0.100000 m,
approachRate: -0.198482 m/s,
rangeRepo size: 4
2025-08-23T22:07:34.852Z,1755986854.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.826547 m,
bearing: 28.754644 deg,
lat: 36.779403 deg,
lon: -121.859568 deg,
deltaT: 0.503825 s,
deltaX: -0.099438 m,
approachRate: -0.197366 m/s,
posRepo size: 4
2025-08-23T22:07:34.853Z,1755986854.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:07:34.939Z,1755986854.939 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.272751
2025-08-23T22:07:35.192Z,1755986855.192 [DAT](INFO): DAT read: Rx Time:22:07:34.5912
2025-08-23T22:07:35.193Z,1755986855.193 [DAT](INFO): Rx dataTimestamp_ set to:1755986855.192499
2025-08-23T22:07:35.195Z,1755986855.195 [DAT](INFO): DAT read: Bearing 81.8, -34.5 (Local)
2025-08-23T22:07:35.196Z,1755986855.196 [DAT](INFO): Local bearing/azimuth received:
Bearing 81.8, -34.5 (Local)
2025-08-23T22:07:35.199Z,1755986855.199 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:35.214Z,1755986855.214 [DAT](INFO): DAT read: 22:07:34.5912 LVL= 32752, 23761, 27362, 32755, AGC= 50, IDX= 501,-0.47,-2.434,-0.354,-0.515,-0.494, PHS=-1.837, 0.185,-0.065, RAW= 276.5, 17.6, CAL= 276.5, 24.8, ROT= 233.5, -24.8
2025-08-23T22:07:35.215Z,1755986855.215 [DAT](INFO): got valid direction response:
22:07:34.5912 LVL= 32752, 23761, 27362, 32755, AGC= 50, IDX= 501,-0.47,-2.434,-0.354,-0.515,-0.494, PHS=-1.837, 0.185,-0.065, RAW= 276.5, 17.6, CAL= 276.5, 24.8, ROT= 233.5, -24.8
2025-08-23T22:07:35.215Z,1755986855.215 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-23T22:07:35.216Z,1755986855.216 [DAT](INFO): direction in FSK: [-0.539967,-0.729723,0.419452]
2025-08-23T22:07:35.217Z,1755986855.217 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:35.220Z,1755986855.220 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.554222
2025-08-23T22:07:35.402Z,1755986855.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.504242 s,
deltaX: 0.300000 m,
approachRate: 0.594953 m/s,
rangeRepo size: 4
2025-08-23T22:07:35.404Z,1755986855.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124695 m,
bearing: 27.903961 deg,
lat: 36.779403 deg,
lon: -121.859568 deg,
deltaT: 0.504242 s,
deltaX: 0.298148 m,
approachRate: 0.591280 m/s,
posRepo size: 4
2025-08-23T22:07:35.404Z,1755986855.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:35.443Z,1755986855.443 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.776539
2025-08-23T22:07:35.703Z,1755986855.703 [DAT](INFO): DAT read: Rx Time:22:07:35.0911
2025-08-23T22:07:35.704Z,1755986855.704 [DAT](INFO): Rx dataTimestamp_ set to:1755986855.703413
2025-08-23T22:07:35.705Z,1755986855.705 [DAT](INFO): DAT read: Bearing 81.9, -34.4 (Local)
2025-08-23T22:07:35.705Z,1755986855.705 [DAT](INFO): Local bearing/azimuth received:
Bearing 81.9, -34.4 (Local)
2025-08-23T22:07:35.707Z,1755986855.707 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:35.712Z,1755986855.712 [DAT](INFO): DAT read: 22:07:35.0911 LVL= 32752, 21425, 23442, 32755, AGC= 48, IDX= 500,-0.26, 2.448,-1.762,-1.931,-1.915, PHS=-1.818, 0.197,-0.060, RAW= 276.7, 17.4, CAL= 276.7, 24.6, ROT= 233.3, -24.6
2025-08-23T22:07:35.713Z,1755986855.713 [DAT](INFO): got valid direction response:
22:07:35.0911 LVL= 32752, 21425, 23442, 32755, AGC= 48, IDX= 500,-0.26, 2.448,-1.762,-1.931,-1.915, PHS=-1.818, 0.197,-0.060, RAW= 276.7, 17.4, CAL= 276.7, 24.6, ROT= 233.3, -24.6
2025-08-23T22:07:35.713Z,1755986855.713 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-23T22:07:35.714Z,1755986855.714 [DAT](INFO): direction in FSK: [-0.543382,-0.729003,0.416281]
2025-08-23T22:07:35.715Z,1755986855.715 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:35.727Z,1755986855.727 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.060585
2025-08-23T22:07:35.776Z,1755986855.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.510914 s,
deltaX: -0.200000 m,
approachRate: -0.391455 m/s,
rangeRepo size: 4
2025-08-23T22:07:35.782Z,1755986855.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926016 m,
bearing: 27.441403 deg,
lat: 36.779403 deg,
lon: -121.859569 deg,
deltaT: 0.510914 s,
deltaX: -0.198679 m,
approachRate: -0.388870 m/s,
posRepo size: 4
2025-08-23T22:07:35.783Z,1755986855.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:35.955Z,1755986855.955 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.288639
2025-08-23T22:07:36.204Z,1755986856.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:36.208Z,1755986856.208 [DAT](INFO): DAT read: Rx Time:22:07:35.5911
2025-08-23T22:07:36.209Z,1755986856.209 [DAT](INFO): Rx dataTimestamp_ set to:1755986856.208301
2025-08-23T22:07:36.210Z,1755986856.210 [DAT](INFO): DAT read: Bearing 81.6, -33.8 (Local)
2025-08-23T22:07:36.211Z,1755986856.211 [DAT](INFO): Local bearing/azimuth received:
Bearing 81.6, -33.8 (Local)
2025-08-23T22:07:36.214Z,1755986856.214 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:36.219Z,1755986856.219 [DAT](INFO): DAT read: 22:07:35.5911 LVL= 32288, 20001, 24418, 32755, AGC= 48, IDX= 500,-0.10, 2.134,-2.077,-2.264,-2.233, PHS=-1.813, 0.201,-0.075, RAW= 277.3, 17.5, CAL= 277.2, 24.7, ROT= 232.8, -24.7
2025-08-23T22:07:36.220Z,1755986856.220 [DAT](INFO): got valid direction response:
22:07:35.5911 LVL= 32288, 20001, 24418, 32755, AGC= 48, IDX= 500,-0.10, 2.134,-2.077,-2.264,-2.233, PHS=-1.813, 0.201,-0.075, RAW= 277.3, 17.5, CAL= 277.2, 24.7, ROT= 232.8, -24.7
2025-08-23T22:07:36.220Z,1755986856.220 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-23T22:07:36.221Z,1755986856.221 [DAT](INFO): direction in FSK: [-0.549283,-0.723654,0.417867]
2025-08-23T22:07:36.222Z,1755986856.222 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:36.232Z,1755986856.232 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.565727
2025-08-23T22:07:36.459Z,1755986856.459 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.792561
2025-08-23T22:07:36.536Z,1755986856.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.504888 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:36.538Z,1755986856.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926078 m,
bearing: 26.537199 deg,
lat: 36.779404 deg,
lon: -121.859569 deg,
deltaT: 0.504888 s,
deltaX: 0.000062 m,
approachRate: 0.000123 m/s,
posRepo size: 4
2025-08-23T22:07:36.539Z,1755986856.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:36.711Z,1755986856.711 [DAT](INFO): DAT read: Rx Time:22:07:36.0910
2025-08-23T22:07:36.712Z,1755986856.712 [DAT](INFO): Rx dataTimestamp_ set to:1755986856.711269
2025-08-23T22:07:36.713Z,1755986856.713 [DAT](INFO): DAT read: Bearing 81.1, -33.9 (Local)
2025-08-23T22:07:36.713Z,1755986856.713 [DAT](INFO): Local bearing/azimuth received:
Bearing 81.1, -33.9 (Local)
2025-08-23T22:07:36.715Z,1755986856.715 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:07:36.720Z,1755986856.720 [DAT](INFO): DAT read: 22:07:36.0910 LVL= 32752, 21985, 26306, 32755, AGC= 49, IDX= 499, 0.04, 2.032,-2.183,-2.359,-2.332, PHS=-1.817, 0.194,-0.072, RAW= 277.0, 17.6, CAL= 277.0, 24.8, ROT= 233.0, -24.8
2025-08-23T22:07:36.721Z,1755986856.721 [DAT](INFO): got valid direction response:
22:07:36.0910 LVL= 32752, 21985, 26306, 32755, AGC= 49, IDX= 499, 0.04, 2.032,-2.183,-2.359,-2.332, PHS=-1.817, 0.194,-0.072, RAW= 277.0, 17.6, CAL= 277.0, 24.8, ROT= 233.0, -24.8
2025-08-23T22:07:36.721Z,1755986856.721 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-23T22:07:36.722Z,1755986856.722 [DAT](INFO): direction in FSK: [-0.546314,-0.724983,0.419452]
2025-08-23T22:07:36.723Z,1755986856.723 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:36.726Z,1755986856.726 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.060287
2025-08-23T22:07:36.925Z,1755986856.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.502968 s,
deltaX: -0.100000 m,
approachRate: -0.198821 m/s,
rangeRepo size: 4
2025-08-23T22:07:36.943Z,1755986856.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.826694 m,
bearing: 26.535008 deg,
lat: 36.779404 deg,
lon: -121.859571 deg,
deltaT: 0.502968 s,
deltaX: -0.099384 m,
approachRate: -0.197596 m/s,
posRepo size: 4
2025-08-23T22:07:36.944Z,1755986856.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:07:36.963Z,1755986856.963 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.296566
2025-08-23T22:07:37.216Z,1755986857.216 [DAT](INFO): DAT read: Rx Time:22:07:36.5911
2025-08-23T22:07:37.216Z,1755986857.216 [DAT](INFO): Rx dataTimestamp_ set to:1755986857.215798
2025-08-23T22:07:37.218Z,1755986857.218 [DAT](INFO): DAT read: Bearing 80.9, -33.7 (Local)
2025-08-23T22:07:37.218Z,1755986857.218 [DAT](INFO): Local bearing/azimuth received:
Bearing 80.9, -33.7 (Local)
2025-08-23T22:07:37.220Z,1755986857.220 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:37.225Z,1755986857.225 [DAT](INFO): DAT read: 22:07:36.5911 LVL= 32752, 21217, 25186, 32755, AGC= 48, IDX= 500, 0.19, 3.088,-1.137,-1.317,-1.289, PHS=-1.805, 0.197,-0.073, RAW= 277.1, 17.5, CAL= 277.1, 24.7, ROT= 232.9, -24.7
2025-08-23T22:07:37.226Z,1755986857.226 [DAT](INFO): got valid direction response:
22:07:36.5911 LVL= 32752, 21217, 25186, 32755, AGC= 48, IDX= 500, 0.19, 3.088,-1.137,-1.317,-1.289, PHS=-1.805, 0.197,-0.073, RAW= 277.1, 17.5, CAL= 277.1, 24.7, ROT= 232.9, -24.7
2025-08-23T22:07:37.226Z,1755986857.226 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-23T22:07:37.227Z,1755986857.227 [DAT](INFO): direction in FSK: [-0.548019,-0.724611,0.417867]
2025-08-23T22:07:37.228Z,1755986857.228 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:37.231Z,1755986857.231 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.565342
2025-08-23T22:07:37.378Z,1755986857.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.504529 s,
deltaX: 0.100000 m,
approachRate: 0.198205 m/s,
rangeRepo size: 4
2025-08-23T22:07:37.380Z,1755986857.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926078 m,
bearing: 26.410327 deg,
lat: 36.779404 deg,
lon: -121.859573 deg,
deltaT: 0.504529 s,
deltaX: 0.099384 m,
approachRate: 0.196984 m/s,
posRepo size: 4
2025-08-23T22:07:37.381Z,1755986857.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:37.467Z,1755986857.467 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.800671
2025-08-23T22:07:37.714Z,1755986857.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:37.719Z,1755986857.719 [DAT](INFO): DAT read: Rx Time:22:07:37.0910
2025-08-23T22:07:37.720Z,1755986857.720 [DAT](INFO): Rx dataTimestamp_ set to:1755986857.719651
2025-08-23T22:07:37.721Z,1755986857.721 [DAT](INFO): DAT read: Bearing 80.6, -33.7 (Local)
2025-08-23T22:07:37.722Z,1755986857.722 [DAT](INFO): Local bearing/azimuth received:
Bearing 80.6, -33.7 (Local)
2025-08-23T22:07:37.724Z,1755986857.724 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:07:37.728Z,1755986857.728 [DAT](INFO): DAT read: 22:07:37.0910 LVL= 32752, 21297, 27106, 32755, AGC= 49, IDX= 499, 0.42, 1.954,-2.267,-2.445,-2.416, PHS=-1.812, 0.193,-0.073, RAW= 277.0, 17.6, CAL= 277.0, 24.8, ROT= 233.0, -24.8
2025-08-23T22:07:37.729Z,1755986857.729 [DAT](INFO): got valid direction response:
22:07:37.0910 LVL= 32752, 21297, 27106, 32755, AGC= 49, IDX= 499, 0.42, 1.954,-2.267,-2.445,-2.416, PHS=-1.812, 0.193,-0.073, RAW= 277.0, 17.6, CAL= 277.0, 24.8, ROT= 233.0, -24.8
2025-08-23T22:07:37.730Z,1755986857.730 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-23T22:07:37.731Z,1755986857.731 [DAT](INFO): direction in FSK: [-0.546314,-0.724983,0.419452]
2025-08-23T22:07:37.731Z,1755986857.731 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:37.759Z,1755986857.759 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.092407
2025-08-23T22:07:37.971Z,1755986857.971 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.304459
2025-08-23T22:07:38.180Z,1755986858.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.503853 s,
deltaX: -0.100000 m,
approachRate: -0.198471 m/s,
rangeRepo size: 4
2025-08-23T22:07:38.189Z,1755986858.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.826810 m,
bearing: 25.878082 deg,
lat: 36.779404 deg,
lon: -121.859573 deg,
deltaT: 0.503853 s,
deltaX: -0.099268 m,
approachRate: -0.197018 m/s,
posRepo size: 4
2025-08-23T22:07:38.194Z,1755986858.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:07:38.223Z,1755986858.223 [DAT](INFO): DAT read: Rx Time:22:07:37.5912
2025-08-23T22:07:38.224Z,1755986858.224 [DAT](INFO): Rx dataTimestamp_ set to:1755986858.223325
2025-08-23T22:07:38.225Z,1755986858.225 [DAT](INFO): DAT read: Bearing 80.3, -32.9 (Local)
2025-08-23T22:07:38.225Z,1755986858.225 [DAT](INFO): Local bearing/azimuth received:
Bearing 80.3, -32.9 (Local)
2025-08-23T22:07:38.227Z,1755986858.227 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:38.232Z,1755986858.232 [DAT](INFO): DAT read: 22:07:37.5912 LVL= 32752, 21825, 27474, 32755, AGC= 49, IDX= 501,-0.28, 1.195,-3.029, 3.048, 3.104, PHS=-1.807, 0.196,-0.100, RAW= 277.9, 17.9, CAL= 277.8, 25.2, ROT= 232.2, -25.2
2025-08-23T22:07:38.233Z,1755986858.233 [DAT](INFO): got valid direction response:
22:07:37.5912 LVL= 32752, 21825, 27474, 32755, AGC= 49, IDX= 501,-0.28, 1.195,-3.029, 3.048, 3.104, PHS=-1.807, 0.196,-0.100, RAW= 277.9, 17.9, CAL= 277.8, 25.2, ROT= 232.2, -25.2
2025-08-23T22:07:38.233Z,1755986858.233 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-23T22:07:38.234Z,1755986858.234 [DAT](INFO): direction in FSK: [-0.554575,-0.714953,0.425779]
2025-08-23T22:07:38.235Z,1755986858.235 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:38.244Z,1755986858.244 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.578316
2025-08-23T22:07:38.474Z,1755986858.474 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.808380
2025-08-23T22:07:38.557Z,1755986858.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.503674 s,
deltaX: 0.300000 m,
approachRate: 0.595624 m/s,
rangeRepo size: 4
2025-08-23T22:07:38.563Z,1755986858.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.125016 m,
bearing: 24.995325 deg,
lat: 36.779404 deg,
lon: -121.859574 deg,
deltaT: 0.503674 s,
deltaX: 0.298206 m,
approachRate: 0.592062 m/s,
posRepo size: 4
2025-08-23T22:07:38.564Z,1755986858.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-08-23T22:07:38.727Z,1755986858.727 [DAT](INFO): DAT read: Rx Time:22:07:38.0911
2025-08-23T22:07:38.728Z,1755986858.728 [DAT](INFO): Rx dataTimestamp_ set to:1755986858.727372
2025-08-23T22:07:38.729Z,1755986858.729 [DAT](INFO): DAT read: Bearing 79.9, -33.4 (Local)
2025-08-23T22:07:38.729Z,1755986858.729 [DAT](INFO): Local bearing/azimuth received:
Bearing 79.9, -33.4 (Local)
2025-08-23T22:07:38.732Z,1755986858.732 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:38.738Z,1755986858.738 [DAT](INFO): DAT read: 22:07:38.0911 LVL= 32752, 22257, 28082, 32755, AGC= 49, IDX= 500,-0.09, 0.423, 2.484, 2.301, 2.339, PHS=-1.814, 0.190,-0.082, RAW= 277.2, 17.8, CAL= 277.2, 25.0, ROT= 232.8, -25.0
2025-08-23T22:07:38.739Z,1755986858.739 [DAT](INFO): got valid direction response:
22:07:38.0911 LVL= 32752, 22257, 28082, 32755, AGC= 49, IDX= 500,-0.09, 0.423, 2.484, 2.301, 2.339, PHS=-1.814, 0.190,-0.082, RAW= 277.2, 17.8, CAL= 277.2, 25.0, ROT= 232.8, -25.0
2025-08-23T22:07:38.740Z,1755986858.740 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-23T22:07:38.741Z,1755986858.741 [DAT](INFO): direction in FSK: [-0.547953,-0.721901,0.422618]
2025-08-23T22:07:38.742Z,1755986858.742 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:38.756Z,1755986858.756 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.089298
2025-08-23T22:07:38.953Z,1755986858.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.504047 s,
deltaX: -0.200000 m,
approachRate: -0.396788 m/s,
rangeRepo size: 4
2025-08-23T22:07:38.955Z,1755986858.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926246 m,
bearing: 25.303350 deg,
lat: 36.779404 deg,
lon: -121.859575 deg,
deltaT: 0.504047 s,
deltaX: -0.198771 m,
approachRate: -0.394349 m/s,
posRepo size: 4
2025-08-23T22:07:38.956Z,1755986858.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:38.979Z,1755986858.979 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.312519
2025-08-23T22:07:39.231Z,1755986859.231 [DAT](INFO): DAT read: Rx Time:22:07:38.5911
2025-08-23T22:07:39.232Z,1755986859.232 [DAT](INFO): Rx dataTimestamp_ set to:1755986859.231269
2025-08-23T22:07:39.233Z,1755986859.233 [DAT](INFO): DAT read: Bearing 79.1, -34.1 (Local)
2025-08-23T22:07:39.233Z,1755986859.233 [DAT](INFO): Local bearing/azimuth received:
Bearing 79.1, -34.1 (Local)
2025-08-23T22:07:39.235Z,1755986859.235 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:39.240Z,1755986859.240 [DAT](INFO): DAT read: 22:07:38.5911 LVL= 32752, 24497, 30290, 32755, AGC= 50, IDX= 500, 0.08, 1.737,-2.488,-2.631,-2.614, PHS=-1.831, 0.171,-0.061, RAW= 276.1, 17.8, CAL= 276.2, 25.0, ROT= 233.8, -25.0
2025-08-23T22:07:39.241Z,1755986859.241 [DAT](INFO): got valid direction response:
22:07:38.5911 LVL= 32752, 24497, 30290, 32755, AGC= 50, IDX= 500, 0.08, 1.737,-2.488,-2.631,-2.614, PHS=-1.831, 0.171,-0.061, RAW= 276.1, 17.8, CAL= 276.2, 25.0, ROT= 233.8, -25.0
2025-08-23T22:07:39.246Z,1755986859.246 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-23T22:07:39.247Z,1755986859.247 [DAT](INFO): direction in FSK: [-0.535271,-0.731354,0.422618]
2025-08-23T22:07:39.247Z,1755986859.247 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:39.251Z,1755986859.251 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.584450
2025-08-23T22:07:39.392Z,1755986859.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.503897 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:39.395Z,1755986859.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926246 m,
bearing: 26.277156 deg,
lat: 36.779404 deg,
lon: -121.859575 deg,
deltaT: 0.503897 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:39.395Z,1755986859.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:39.483Z,1755986859.483 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.816605
2025-08-23T22:07:39.735Z,1755986859.735 [DAT](INFO): DAT read: Rx Time:22:07:39.0910
2025-08-23T22:07:39.736Z,1755986859.736 [DAT](INFO): Rx dataTimestamp_ set to:1755986859.735380
2025-08-23T22:07:39.737Z,1755986859.737 [DAT](INFO): DAT read: Bearing 78.8, -34.8 (Local)
2025-08-23T22:07:39.737Z,1755986859.737 [DAT](INFO): Local bearing/azimuth received:
Bearing 78.8, -34.8 (Local)
2025-08-23T22:07:39.739Z,1755986859.739 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:07:39.744Z,1755986859.744 [DAT](INFO): DAT read: 22:07:39.0910 LVL= 32416, 24225, 25442, 32755, AGC= 49, IDX= 499, 0.29, 1.447,-2.793,-2.906,-2.912, PHS=-1.822, 0.164,-0.038, RAW= 275.3, 17.6, CAL= 275.5, 24.7, ROT= 234.5, -24.7
2025-08-23T22:07:39.745Z,1755986859.745 [DAT](INFO): got valid direction response:
22:07:39.0910 LVL= 32416, 24225, 25442, 32755, AGC= 49, IDX= 499, 0.29, 1.447,-2.793,-2.906,-2.912, PHS=-1.822, 0.164,-0.038, RAW= 275.3, 17.6, CAL= 275.5, 24.7, ROT= 234.5, -24.7
2025-08-23T22:07:39.745Z,1755986859.745 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-23T22:07:39.750Z,1755986859.750 [DAT](INFO): direction in FSK: [-0.527573,-0.739631,0.417867]
2025-08-23T22:07:39.751Z,1755986859.751 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:39.758Z,1755986859.758 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.091114
2025-08-23T22:07:39.892Z,1755986859.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.504111 s,
deltaX: -0.100000 m,
approachRate: -0.198370 m/s,
rangeRepo size: 4
2025-08-23T22:07:39.898Z,1755986859.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.826854 m,
bearing: 26.444213 deg,
lat: 36.779403 deg,
lon: -121.859575 deg,
deltaT: 0.504111 s,
deltaX: -0.099392 m,
approachRate: -0.197163 m/s,
posRepo size: 4
2025-08-23T22:07:39.899Z,1755986859.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:07:39.987Z,1755986859.987 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.320572
2025-08-23T22:07:40.239Z,1755986860.239 [DAT](INFO): DAT read: Rx Time:22:07:39.5911
2025-08-23T22:07:40.240Z,1755986860.240 [DAT](INFO): Rx dataTimestamp_ set to:1755986860.239328
2025-08-23T22:07:40.241Z,1755986860.241 [DAT](INFO): DAT read: Bearing 78.5, -34.5 (Local)
2025-08-23T22:07:40.241Z,1755986860.241 [DAT](INFO): Local bearing/azimuth received:
Bearing 78.5, -34.5 (Local)
2025-08-23T22:07:40.243Z,1755986860.243 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:40.248Z,1755986860.248 [DAT](INFO): DAT read: 22:07:39.5911 LVL= 32752, 24993, 27106, 32755, AGC= 50, IDX= 501,-0.33, 0.873, 2.918, 2.801, 2.801, PHS=-1.826, 0.162,-0.044, RAW= 275.4, 17.7, CAL= 275.6, 24.9, ROT= 234.4, -24.9
2025-08-23T22:07:40.249Z,1755986860.249 [DAT](INFO): got valid direction response:
22:07:39.5911 LVL= 32752, 24993, 27106, 32755, AGC= 50, IDX= 501,-0.33, 0.873, 2.918, 2.801, 2.801, PHS=-1.826, 0.162,-0.044, RAW= 275.4, 17.7, CAL= 275.6, 24.9, ROT= 234.4, -24.9
2025-08-23T22:07:40.249Z,1755986860.249 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-23T22:07:40.254Z,1755986860.254 [DAT](INFO): direction in FSK: [-0.528011,-0.737518,0.421036]
2025-08-23T22:07:40.255Z,1755986860.255 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:40.322Z,1755986860.322 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.656384
2025-08-23T22:07:40.430Z,1755986860.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.503948 s,
deltaX: 0.100000 m,
approachRate: 0.198434 m/s,
rangeRepo size: 4
2025-08-23T22:07:40.432Z,1755986860.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926239 m,
bearing: 26.205296 deg,
lat: 36.779403 deg,
lon: -121.859575 deg,
deltaT: 0.503948 s,
deltaX: 0.099385 m,
approachRate: 0.197213 m/s,
posRepo size: 4
2025-08-23T22:07:40.433Z,1755986860.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:40.491Z,1755986860.491 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.824574
2025-08-23T22:07:40.725Z,1755986860.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:40.744Z,1755986860.744 [DAT](INFO): DAT read: Rx Time:22:07:40.0911
2025-08-23T22:07:40.745Z,1755986860.745 [DAT](INFO): Rx dataTimestamp_ set to:1755986860.744349
2025-08-23T22:07:40.746Z,1755986860.746 [DAT](INFO): DAT read: Bearing 78.7, -35.0 (Local)
2025-08-23T22:07:40.747Z,1755986860.747 [DAT](INFO): Local bearing/azimuth received:
Bearing 78.7, -35.0 (Local)
2025-08-23T22:07:40.749Z,1755986860.749 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:40.774Z,1755986860.774 [DAT](INFO): DAT read: 22:07:40.0911 LVL= 32752, 20945, 25106, 32755, AGC= 48, IDX= 500,-0.06, 0.312, 2.353, 2.243, 2.223, PHS=-1.809, 0.175,-0.024, RAW= 275.2, 17.2, CAL= 275.3, 24.3, ROT= 234.7, -24.3
2025-08-23T22:07:40.776Z,1755986860.776 [DAT](INFO): got valid direction response:
22:07:40.0911 LVL= 32752, 20945, 25106, 32755, AGC= 48, IDX= 500,-0.06, 0.312, 2.353, 2.243, 2.223, PHS=-1.809, 0.175,-0.024, RAW= 275.2, 17.2, CAL= 275.3, 24.3, ROT= 234.7, -24.3
2025-08-23T22:07:40.777Z,1755986860.777 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-23T22:07:40.778Z,1755986860.778 [DAT](INFO): direction in FSK: [-0.526661,-0.743830,0.411514]
2025-08-23T22:07:40.779Z,1755986860.779 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:40.793Z,1755986860.793 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.126419
2025-08-23T22:07:40.995Z,1755986860.995 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.328407
2025-08-23T22:07:41.234Z,1755986861.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.505021 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:41.236Z,1755986861.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926229 m,
bearing: 26.119457 deg,
lat: 36.779403 deg,
lon: -121.859575 deg,
deltaT: 0.505021 s,
deltaX: -0.000010 m,
approachRate: -0.000019 m/s,
posRepo size: 4
2025-08-23T22:07:41.236Z,1755986861.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:41.247Z,1755986861.247 [DAT](INFO): DAT read: Rx Time:22:07:40.5912
2025-08-23T22:07:41.248Z,1755986861.248 [DAT](INFO): Rx dataTimestamp_ set to:1755986861.247371
2025-08-23T22:07:41.249Z,1755986861.249 [DAT](INFO): DAT read: Bearing 78.3, -35.7 (Local)
2025-08-23T22:07:41.249Z,1755986861.249 [DAT](INFO): Local bearing/azimuth received:
Bearing 78.3, -35.7 (Local)
2025-08-23T22:07:41.252Z,1755986861.252 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:41.256Z,1755986861.256 [DAT](INFO): DAT read: 22:07:40.5912 LVL= 32752, 23857, 24754, 32755, AGC= 49, IDX= 501, 0.15, 2.855,-1.407,-1.486,-1.528, PHS=-1.798, 0.166,-0.002, RAW= 274.4, 17.0, CAL= 274.6, 24.1, ROT= 235.4, -24.1
2025-08-23T22:07:41.257Z,1755986861.257 [DAT](INFO): got valid direction response:
22:07:40.5912 LVL= 32752, 23857, 24754, 32755, AGC= 49, IDX= 501, 0.15, 2.855,-1.407,-1.486,-1.528, PHS=-1.798, 0.166,-0.002, RAW= 274.4, 17.0, CAL= 274.6, 24.1, ROT= 235.4, -24.1
2025-08-23T22:07:41.258Z,1755986861.258 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-23T22:07:41.259Z,1755986861.259 [DAT](INFO): direction in FSK: [-0.518347,-0.751387,0.408330]
2025-08-23T22:07:41.259Z,1755986861.259 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:41.262Z,1755986861.262 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.596294
2025-08-23T22:07:41.499Z,1755986861.499 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.832512
2025-08-23T22:07:41.599Z,1755986861.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.503022 s,
deltaX: 0.200000 m,
approachRate: 0.397597 m/s,
rangeRepo size: 4
2025-08-23T22:07:41.601Z,1755986861.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.125009 m,
bearing: 26.743217 deg,
lat: 36.779403 deg,
lon: -121.859575 deg,
deltaT: 0.503022 s,
deltaX: 0.198779 m,
approachRate: 0.395170 m/s,
posRepo size: 4
2025-08-23T22:07:41.606Z,1755986861.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-08-23T22:07:41.751Z,1755986861.751 [DAT](INFO): DAT read: Rx Time:22:07:41.0911
2025-08-23T22:07:41.752Z,1755986861.752 [DAT](INFO): Rx dataTimestamp_ set to:1755986861.751327
2025-08-23T22:07:41.754Z,1755986861.754 [DAT](INFO): DAT read: Bearing 77.0, -34.8 (Local)
2025-08-23T22:07:41.754Z,1755986861.754 [DAT](INFO): Local bearing/azimuth received:
Bearing 77.0, -34.8 (Local)
2025-08-23T22:07:41.757Z,1755986861.757 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:41.763Z,1755986861.763 [DAT](INFO): DAT read: 22:07:41.0911 LVL= 32752, 25889, 27986, 32755, AGC= 49, IDX= 500, 0.46, 1.642,-2.630,-2.713,-2.718, PHS=-1.821, 0.133,-0.040, RAW= 274.6, 18.1, CAL= 274.9, 25.2, ROT= 235.1, -25.2
2025-08-23T22:07:41.764Z,1755986861.764 [DAT](INFO): got valid direction response:
22:07:41.0911 LVL= 32752, 25889, 27986, 32755, AGC= 49, IDX= 500, 0.46, 1.642,-2.630,-2.713,-2.718, PHS=-1.821, 0.133,-0.040, RAW= 274.6, 18.1, CAL= 274.9, 25.2, ROT= 235.1, -25.2
2025-08-23T22:07:41.765Z,1755986861.765 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-23T22:07:41.766Z,1755986861.766 [DAT](INFO): direction in FSK: [-0.517693,-0.742096,0.425779]
2025-08-23T22:07:41.766Z,1755986861.766 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:41.771Z,1755986861.771 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.104534
2025-08-23T22:07:41.952Z,1755986861.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.503956 s,
deltaX: -0.200000 m,
approachRate: -0.396860 m/s,
rangeRepo size: 4
2025-08-23T22:07:41.960Z,1755986861.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926238 m,
bearing: 26.192278 deg,
lat: 36.779403 deg,
lon: -121.859575 deg,
deltaT: 0.503956 s,
deltaX: -0.198771 m,
approachRate: -0.394420 m/s,
posRepo size: 4
2025-08-23T22:07:41.960Z,1755986861.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:42.003Z,1755986862.003 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.336498
2025-08-23T22:07:42.255Z,1755986862.255 [DAT](INFO): DAT read: Rx Time:22:07:41.5913
2025-08-23T22:07:42.256Z,1755986862.256 [DAT](INFO): Rx dataTimestamp_ set to:1755986862.255330
2025-08-23T22:07:42.257Z,1755986862.257 [DAT](INFO): DAT read: Bearing 77.0, -35.1 (Local)
2025-08-23T22:07:42.257Z,1755986862.257 [DAT](INFO): Local bearing/azimuth received:
Bearing 77.0, -35.1 (Local)
2025-08-23T22:07:42.259Z,1755986862.259 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:07:42.264Z,1755986862.264 [DAT](INFO): DAT read: 22:07:41.5913 LVL= 32752, 24961, 27794, 32755, AGC= 48, IDX= 502,-0.18, 1.221,-3.037,-3.116,-3.135, PHS=-1.825, 0.143,-0.025, RAW= 274.4, 17.7, CAL= 274.7, 24.8, ROT= 235.3, -24.8
2025-08-23T22:07:42.265Z,1755986862.265 [DAT](INFO): got valid direction response:
22:07:41.5913 LVL= 32752, 24961, 27794, 32755, AGC= 48, IDX= 502,-0.18, 1.221,-3.037,-3.116,-3.135, PHS=-1.825, 0.143,-0.025, RAW= 274.4, 17.7, CAL= 274.7, 24.8, ROT= 235.3, -24.8
2025-08-23T22:07:42.265Z,1755986862.265 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-23T22:07:42.266Z,1755986862.266 [DAT](INFO): direction in FSK: [-0.516779,-0.746324,0.419452]
2025-08-23T22:07:42.266Z,1755986862.266 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:42.274Z,1755986862.274 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.608044
2025-08-23T22:07:42.467Z,1755986862.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.504003 s,
deltaX: 0.300000 m,
approachRate: 0.595235 m/s,
rangeRepo size: 4
2025-08-23T22:07:42.469Z,1755986862.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.224395 m,
bearing: 26.092256 deg,
lat: 36.779404 deg,
lon: -121.859575 deg,
deltaT: 0.504003 s,
deltaX: 0.298157 m,
approachRate: 0.591577 m/s,
posRepo size: 4
2025-08-23T22:07:42.469Z,1755986862.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:42.507Z,1755986862.507 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.840584
2025-08-23T22:07:42.747Z,1755986862.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:42.761Z,1755986862.761 [DAT](INFO): DAT read: Rx Time:22:07:42.0912
2025-08-23T22:07:42.762Z,1755986862.762 [DAT](INFO): Rx dataTimestamp_ set to:1755986862.761613
2025-08-23T22:07:42.763Z,1755986862.763 [DAT](INFO): DAT read: Bearing 76.8, -35.3 (Local)
2025-08-23T22:07:42.763Z,1755986862.763 [DAT](INFO): Local bearing/azimuth received:
Bearing 76.8, -35.3 (Local)
2025-08-23T22:07:42.766Z,1755986862.766 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:42.770Z,1755986862.770 [DAT](INFO): DAT read: 22:07:42.0912 LVL= 32752, 25585, 27506, 32755, AGC= 48, IDX= 501, 0.03, 1.779,-2.496,-2.563,-2.592, PHS=-1.810, 0.141,-0.016, RAW= 274.1, 17.6, CAL= 274.4, 24.7, ROT= 235.6, -24.7
2025-08-23T22:07:42.771Z,1755986862.771 [DAT](INFO): got valid direction response:
22:07:42.0912 LVL= 32752, 25585, 27506, 32755, AGC= 48, IDX= 501, 0.03, 1.779,-2.496,-2.563,-2.592, PHS=-1.810, 0.141,-0.016, RAW= 274.1, 17.6, CAL= 274.4, 24.7, ROT= 235.6, -24.7
2025-08-23T22:07:42.771Z,1755986862.771 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-23T22:07:42.772Z,1755986862.772 [DAT](INFO): direction in FSK: [-0.513277,-0.749622,0.417867]
2025-08-23T22:07:42.772Z,1755986862.772 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:42.776Z,1755986862.776 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.110058
2025-08-23T22:07:43.011Z,1755986863.011 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.344437
2025-08-23T22:07:43.263Z,1755986863.263 [DAT](INFO): DAT read: Rx Time:22:07:42.5912
2025-08-23T22:07:43.264Z,1755986863.264 [DAT](INFO): Rx dataTimestamp_ set to:1755986863.263441
2025-08-23T22:07:43.265Z,1755986863.265 [DAT](INFO): DAT read: Bearing 76.2, -35.3 (Local)
2025-08-23T22:07:43.265Z,1755986863.265 [DAT](INFO): Local bearing/azimuth received:
Bearing 76.2, -35.3 (Local)
2025-08-23T22:07:43.267Z,1755986863.267 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:43.272Z,1755986863.272 [DAT](INFO): DAT read: 22:07:42.5912 LVL= 32752, 26273, 27330, 32755, AGC= 48, IDX= 501, 0.22, 2.500,-1.781,-1.841,-1.866, PHS=-1.815, 0.130,-0.019, RAW= 273.9, 17.8, CAL= 274.3, 24.9, ROT= 235.7, -24.9
2025-08-23T22:07:43.273Z,1755986863.273 [DAT](INFO): got valid direction response:
22:07:42.5912 LVL= 32752, 26273, 27330, 32755, AGC= 48, IDX= 501, 0.22, 2.500,-1.781,-1.841,-1.866, PHS=-1.815, 0.130,-0.019, RAW= 273.9, 17.8, CAL= 274.3, 24.9, ROT= 235.7, -24.9
2025-08-23T22:07:43.273Z,1755986863.273 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-23T22:07:43.274Z,1755986863.274 [DAT](INFO): direction in FSK: [-0.511143,-0.749307,0.421036]
2025-08-23T22:07:43.275Z,1755986863.275 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:43.278Z,1755986863.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.506283 s,
deltaX: -0.100000 m,
approachRate: -0.197519 m/s,
rangeRepo size: 4
2025-08-23T22:07:43.280Z,1755986863.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.125012 m,
bearing: 25.822006 deg,
lat: 36.779405 deg,
lon: -121.859575 deg,
deltaT: 0.506283 s,
deltaX: -0.099382 m,
approachRate: -0.196298 m/s,
posRepo size: 4
2025-08-23T22:07:43.280Z,1755986863.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-08-23T22:07:43.290Z,1755986863.290 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.624218
2025-08-23T22:07:43.515Z,1755986863.515 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.849060
2025-08-23T22:07:43.662Z,1755986863.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.501828 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:43.672Z,1755986863.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124922 m,
bearing: 25.976238 deg,
lat: 36.779405 deg,
lon: -121.859575 deg,
deltaT: 0.501828 s,
deltaX: -0.000091 m,
approachRate: -0.000181 m/s,
posRepo size: 4
2025-08-23T22:07:43.673Z,1755986863.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:43.768Z,1755986863.768 [DAT](INFO): DAT read: Rx Time:22:07:43.0911
2025-08-23T22:07:43.768Z,1755986863.768 [DAT](INFO): Rx dataTimestamp_ set to:1755986863.767751
2025-08-23T22:07:43.770Z,1755986863.770 [DAT](INFO): DAT read: Bearing 75.6, -35.2 (Local)
2025-08-23T22:07:43.771Z,1755986863.771 [DAT](INFO): Local bearing/azimuth received:
Bearing 75.6, -35.2 (Local)
2025-08-23T22:07:43.774Z,1755986863.774 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:43.781Z,1755986863.781 [DAT](INFO): DAT read: 22:07:43.0911 LVL= 32752, 28273, 26386, 32755, AGC= 50, IDX= 500, 0.48, 1.022, 3.015, 2.960, 2.941, PHS=-1.817, 0.119,-0.025, RAW= 273.8, 18.1, CAL= 274.2, 25.2, ROT= 235.8, -25.2
2025-08-23T22:07:43.782Z,1755986863.782 [DAT](INFO): got valid direction response:
22:07:43.0911 LVL= 32752, 28273, 26386, 32755, AGC= 50, IDX= 500, 0.48, 1.022, 3.015, 2.960, 2.941, PHS=-1.817, 0.119,-0.025, RAW= 273.8, 18.1, CAL= 274.2, 25.2, ROT= 235.8, -25.2
2025-08-23T22:07:43.782Z,1755986863.782 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-23T22:07:43.783Z,1755986863.783 [DAT](INFO): direction in FSK: [-0.508588,-0.748365,0.425779]
2025-08-23T22:07:43.784Z,1755986863.784 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:43.800Z,1755986863.800 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.134113
2025-08-23T22:07:43.996Z,1755986863.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.504310 s,
deltaX: -0.200000 m,
approachRate: -0.396581 m/s,
rangeRepo size: 4
2025-08-23T22:07:43.999Z,1755986863.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926152 m,
bearing: 26.002063 deg,
lat: 36.779405 deg,
lon: -121.859575 deg,
deltaT: 0.504310 s,
deltaX: -0.198770 m,
approachRate: -0.394142 m/s,
posRepo size: 4
2025-08-23T22:07:43.999Z,1755986863.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:44.019Z,1755986864.019 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.352478
2025-08-23T22:07:44.274Z,1755986864.274 [DAT](INFO): DAT read: Rx Time:22:07:43.5913
2025-08-23T22:07:44.274Z,1755986864.274 [DAT](INFO): Rx dataTimestamp_ set to:1755986864.274123
2025-08-23T22:07:44.276Z,1755986864.276 [DAT](INFO): DAT read: Bearing 75.0, -35.0 (Local)
2025-08-23T22:07:44.276Z,1755986864.276 [DAT](INFO): Local bearing/azimuth received:
Bearing 75.0, -35.0 (Local)
2025-08-23T22:07:44.287Z,1755986864.287 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:07:44.291Z,1755986864.291 [DAT](INFO): DAT read: 22:07:43.5913 LVL= 32752, 27377, 24914, 32755, AGC= 50, IDX= 502,-0.31, 0.709, 2.699, 2.650, 2.639, PHS=-1.828, 0.105,-0.033, RAW= 273.7, 18.4, CAL= 274.1, 25.6, ROT= 235.9, -25.6
2025-08-23T22:07:44.292Z,1755986864.292 [DAT](INFO): got valid direction response:
22:07:43.5913 LVL= 32752, 27377, 24914, 32755, AGC= 50, IDX= 502,-0.31, 0.709, 2.699, 2.650, 2.639, PHS=-1.828, 0.105,-0.033, RAW= 273.7, 18.4, CAL= 274.1, 25.6, ROT= 235.9, -25.6
2025-08-23T22:07:44.293Z,1755986864.293 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-23T22:07:44.294Z,1755986864.294 [DAT](INFO): direction in FSK: [-0.505603,-0.746772,0.432086]
2025-08-23T22:07:44.294Z,1755986864.294 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:44.330Z,1755986864.330 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.663792
2025-08-23T22:07:44.458Z,1755986864.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.506372 s,
deltaX: 0.300000 m,
approachRate: 0.592450 m/s,
rangeRepo size: 4
2025-08-23T22:07:44.460Z,1755986864.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.224306 m,
bearing: 25.858516 deg,
lat: 36.779405 deg,
lon: -121.859575 deg,
deltaT: 0.506372 s,
deltaX: 0.298154 m,
approachRate: 0.588804 m/s,
posRepo size: 4
2025-08-23T22:07:44.461Z,1755986864.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:44.523Z,1755986864.523 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.857166
2025-08-23T22:07:44.775Z,1755986864.775 [DAT](INFO): DAT read: Rx Time:22:07:44.0912
2025-08-23T22:07:44.776Z,1755986864.776 [DAT](INFO): Rx dataTimestamp_ set to:1755986864.775364
2025-08-23T22:07:44.777Z,1755986864.777 [DAT](INFO): DAT read: Bearing 74.6, -35.2 (Local)
2025-08-23T22:07:44.777Z,1755986864.777 [DAT](INFO): Local bearing/azimuth received:
Bearing 74.6, -35.2 (Local)
2025-08-23T22:07:44.780Z,1755986864.780 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:44.784Z,1755986864.784 [DAT](INFO): DAT read: 22:07:44.0912 LVL= 32752, 26961, 24866, 32755, AGC= 50, IDX= 501,-0.18,-0.277, 1.713, 1.676, 1.660, PHS=-1.835, 0.097,-0.029, RAW= 273.3, 18.4, CAL= 273.9, 25.6, ROT= 236.1, -25.6
2025-08-23T22:07:44.790Z,1755986864.790 [DAT](INFO): got valid direction response:
22:07:44.0912 LVL= 32752, 26961, 24866, 32755, AGC= 50, IDX= 501,-0.18,-0.277, 1.713, 1.676, 1.660, PHS=-1.835, 0.097,-0.029, RAW= 273.3, 18.4, CAL= 273.9, 25.6, ROT= 236.1, -25.6
2025-08-23T22:07:44.790Z,1755986864.790 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-23T22:07:44.791Z,1755986864.791 [DAT](INFO): direction in FSK: [-0.502993,-0.748532,0.432086]
2025-08-23T22:07:44.791Z,1755986864.791 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:44.796Z,1755986864.796 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.129887
2025-08-23T22:07:44.815Z,1755986864.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.501241 s,
deltaX: -0.100000 m,
approachRate: -0.199506 m/s,
rangeRepo size: 4
2025-08-23T22:07:44.817Z,1755986864.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124920 m,
bearing: 26.051802 deg,
lat: 36.779405 deg,
lon: -121.859575 deg,
deltaT: 0.501241 s,
deltaX: -0.099386 m,
approachRate: -0.198280 m/s,
posRepo size: 4
2025-08-23T22:07:44.817Z,1755986864.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:45.027Z,1755986865.027 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.360779
2025-08-23T22:07:45.279Z,1755986865.279 [DAT](INFO): DAT read: Rx Time:22:07:44.5913
2025-08-23T22:07:45.280Z,1755986865.280 [DAT](INFO): Rx dataTimestamp_ set to:1755986865.279297
2025-08-23T22:07:45.281Z,1755986865.281 [DAT](INFO): DAT read: Bearing 74.1, -35.4 (Local)
2025-08-23T22:07:45.281Z,1755986865.281 [DAT](INFO): Local bearing/azimuth received:
Bearing 74.1, -35.4 (Local)
2025-08-23T22:07:45.283Z,1755986865.283 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:07:45.288Z,1755986865.288 [DAT](INFO): DAT read: 22:07:44.5913 LVL= 32752, 25745, 25810, 32755, AGC= 49, IDX= 502,-0.11, 1.420,-2.890,-2.910,-2.932, PHS=-1.828, 0.088,-0.021, RAW= 272.9, 18.5, CAL= 273.5, 25.6, ROT= 236.5, -25.6
2025-08-23T22:07:45.289Z,1755986865.289 [DAT](INFO): got valid direction response:
22:07:44.5913 LVL= 32752, 25745, 25810, 32755, AGC= 49, IDX= 502,-0.11, 1.420,-2.890,-2.910,-2.932, PHS=-1.828, 0.088,-0.021, RAW= 272.9, 18.5, CAL= 273.5, 25.6, ROT= 236.5, -25.6
2025-08-23T22:07:45.289Z,1755986865.289 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-23T22:07:45.290Z,1755986865.290 [DAT](INFO): direction in FSK: [-0.497755,-0.752025,0.432086]
2025-08-23T22:07:45.291Z,1755986865.291 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:45.294Z,1755986865.294 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.628239
2025-08-23T22:07:45.398Z,1755986865.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.503933 s,
deltaX: 0.100000 m,
approachRate: 0.198440 m/s,
rangeRepo size: 4
2025-08-23T22:07:45.400Z,1755986865.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.224305 m,
bearing: 26.070342 deg,
lat: 36.779405 deg,
lon: -121.859575 deg,
deltaT: 0.503933 s,
deltaX: 0.099385 m,
approachRate: 0.197219 m/s,
posRepo size: 4
2025-08-23T22:07:45.401Z,1755986865.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:45.532Z,1755986865.532 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.865093
2025-08-23T22:07:45.707Z,1755986865.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:45.783Z,1755986865.783 [DAT](INFO): DAT read: Rx Time:22:07:45.0912
2025-08-23T22:07:45.784Z,1755986865.784 [DAT](INFO): Rx dataTimestamp_ set to:1755986865.783338
2025-08-23T22:07:45.785Z,1755986865.785 [DAT](INFO): DAT read: Bearing 73.4, -35.7 (Local)
2025-08-23T22:07:45.785Z,1755986865.785 [DAT](INFO): Local bearing/azimuth received:
Bearing 73.4, -35.7 (Local)
2025-08-23T22:07:45.787Z,1755986865.787 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:45.794Z,1755986865.794 [DAT](INFO): DAT read: 22:07:45.0912 LVL= 32752, 26545, 26418, 32755, AGC= 49, IDX= 501,-0.08, 0.982, 2.959, 2.959, 2.932, PHS=-1.848, 0.072,-0.017, RAW= 272.4, 18.7, CAL= 273.0, 25.8, ROT= 237.0, -25.8
2025-08-23T22:07:45.795Z,1755986865.795 [DAT](INFO): got valid direction response:
22:07:45.0912 LVL= 32752, 26545, 26418, 32755, AGC= 49, IDX= 501,-0.08, 0.982, 2.959, 2.959, 2.932, PHS=-1.848, 0.072,-0.017, RAW= 272.4, 18.7, CAL= 273.0, 25.8, ROT= 237.0, -25.8
2025-08-23T22:07:45.796Z,1755986865.796 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-23T22:07:45.797Z,1755986865.797 [DAT](INFO): direction in FSK: [-0.490349,-0.755071,0.435231]
2025-08-23T22:07:45.802Z,1755986865.802 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:45.810Z,1755986865.810 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.143665
2025-08-23T22:07:46.035Z,1755986866.035 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.368420
2025-08-23T22:07:46.177Z,1755986866.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.504041 s,
deltaX: -0.100000 m,
approachRate: -0.198397 m/s,
rangeRepo size: 4
2025-08-23T22:07:46.184Z,1755986866.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124882 m,
bearing: 26.266168 deg,
lat: 36.779404 deg,
lon: -121.859575 deg,
deltaT: 0.504041 s,
deltaX: -0.099423 m,
approachRate: -0.197253 m/s,
posRepo size: 4
2025-08-23T22:07:46.185Z,1755986866.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:46.291Z,1755986866.291 [DAT](INFO): DAT read: Rx Time:22:07:45.5913
2025-08-23T22:07:46.292Z,1755986866.292 [DAT](INFO): Rx dataTimestamp_ set to:1755986866.291625
2025-08-23T22:07:46.297Z,1755986866.297 [DAT](INFO): DAT read: Bearing 73.1, -36.4 (Local)
2025-08-23T22:07:46.298Z,1755986866.298 [DAT](INFO): Local bearing/azimuth received:
Bearing 73.1, -36.4 (Local)
2025-08-23T22:07:46.303Z,1755986866.303 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:07:46.308Z,1755986866.308 [DAT](INFO): DAT read: 22:07:45.5913 LVL= 32752, 25889, 25746, 32755, AGC= 48, IDX= 502,-0.06, 1.888,-2.432,-2.405,-2.455, PHS=-1.839, 0.067, 0.006, RAW= 271.6, 18.4, CAL= 272.3, 25.5, ROT= 237.7, -25.5
2025-08-23T22:07:46.309Z,1755986866.309 [DAT](INFO): got valid direction response:
22:07:45.5913 LVL= 32752, 25889, 25746, 32755, AGC= 48, IDX= 502,-0.06, 1.888,-2.432,-2.405,-2.455, PHS=-1.839, 0.067, 0.006, RAW= 271.6, 18.4, CAL= 272.3, 25.5, ROT= 237.7, -25.5
2025-08-23T22:07:46.309Z,1755986866.309 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-23T22:07:46.323Z,1755986866.323 [DAT](INFO): direction in FSK: [-0.482298,-0.762921,0.430511]
2025-08-23T22:07:46.323Z,1755986866.323 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:46.328Z,1755986866.328 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.662052
2025-08-23T22:07:46.539Z,1755986866.539 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.872437
2025-08-23T22:07:46.624Z,1755986866.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.508287 s,
deltaX: 0.100000 m,
approachRate: 0.196740 m/s,
rangeRepo size: 4
2025-08-23T22:07:46.640Z,1755986866.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.224276 m,
bearing: 26.673873 deg,
lat: 36.779405 deg,
lon: -121.859575 deg,
deltaT: 0.508287 s,
deltaX: 0.099394 m,
approachRate: 0.195547 m/s,
posRepo size: 4
2025-08-23T22:07:46.646Z,1755986866.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:46.791Z,1755986866.791 [DAT](INFO): DAT read: Rx Time:22:07:46.0912
2025-08-23T22:07:46.792Z,1755986866.792 [DAT](INFO): Rx dataTimestamp_ set to:1755986866.791560
2025-08-23T22:07:46.793Z,1755986866.793 [DAT](INFO): DAT read: Bearing 72.3, -36.4 (Local)
2025-08-23T22:07:46.794Z,1755986866.794 [DAT](INFO): Local bearing/azimuth received:
Bearing 72.3, -36.4 (Local)
2025-08-23T22:07:46.796Z,1755986866.796 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:46.801Z,1755986866.801 [DAT](INFO): DAT read: 22:07:46.0912 LVL= 32752, 23153, 28066, 32755, AGC= 48, IDX= 501,-0.04, 1.131, 3.089, 3.134, 3.086, PHS=-1.853, 0.048, 0.004, RAW= 271.2, 18.7, CAL= 272.0, 25.9, ROT= 238.0, -25.9
2025-08-23T22:07:46.802Z,1755986866.802 [DAT](INFO): got valid direction response:
22:07:46.0912 LVL= 32752, 23153, 28066, 32755, AGC= 48, IDX= 501,-0.04, 1.131, 3.089, 3.134, 3.086, PHS=-1.853, 0.048, 0.004, RAW= 271.2, 18.7, CAL= 272.0, 25.9, ROT= 238.0, -25.9
2025-08-23T22:07:46.802Z,1755986866.802 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-23T22:07:46.803Z,1755986866.803 [DAT](INFO): direction in FSK: [-0.476693,-0.762868,0.436802]
2025-08-23T22:07:46.804Z,1755986866.804 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:46.807Z,1755986866.807 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.141354
2025-08-23T22:07:46.983Z,1755986866.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.499935 s,
deltaX: -0.100000 m,
approachRate: -0.200027 m/s,
rangeRepo size: 4
2025-08-23T22:07:46.985Z,1755986866.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124890 m,
bearing: 27.079817 deg,
lat: 36.779404 deg,
lon: -121.859575 deg,
deltaT: 0.499935 s,
deltaX: -0.099385 m,
approachRate: -0.198796 m/s,
posRepo size: 4
2025-08-23T22:07:46.989Z,1755986866.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:47.043Z,1755986867.043 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.377186
2025-08-23T22:07:47.298Z,1755986867.298 [DAT](INFO): DAT read: Rx Time:22:07:46.5912
2025-08-23T22:07:47.300Z,1755986867.300 [DAT](INFO): Rx dataTimestamp_ set to:1755986867.299015
2025-08-23T22:07:47.306Z,1755986867.306 [DAT](INFO): DAT read: Bearing 72.0, -37.2 (Local)
2025-08-23T22:07:47.306Z,1755986867.306 [DAT](INFO): Local bearing/azimuth received:
Bearing 72.0, -37.2 (Local)
2025-08-23T22:07:47.308Z,1755986867.308 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:47.313Z,1755986867.313 [DAT](INFO): DAT read: 22:07:46.5912 LVL= 30864, 23969, 25586, 32755, AGC= 47, IDX= 501,-0.01, 1.490,-2.834,-2.759,-2.832, PHS=-1.858, 0.043, 0.030, RAW= 270.3, 18.4, CAL= 271.2, 25.5, ROT= 238.8, -25.5
2025-08-23T22:07:47.323Z,1755986867.323 [DAT](INFO): got valid direction response:
22:07:46.5912 LVL= 30864, 23969, 25586, 32755, AGC= 47, IDX= 501,-0.01, 1.490,-2.834,-2.759,-2.832, PHS=-1.858, 0.043, 0.030, RAW= 270.3, 18.4, CAL= 271.2, 25.5, ROT= 238.8, -25.5
2025-08-23T22:07:47.323Z,1755986867.323 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-23T22:07:47.324Z,1755986867.324 [DAT](INFO): direction in FSK: [-0.467564,-0.772039,0.430511]
2025-08-23T22:07:47.324Z,1755986867.324 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:47.340Z,1755986867.340 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.673771
2025-08-23T22:07:47.454Z,1755986867.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.507455 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:47.456Z,1755986867.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124890 m,
bearing: 27.378046 deg,
lat: 36.779404 deg,
lon: -121.859574 deg,
deltaT: 0.507455 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:07:47.456Z,1755986867.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:47.548Z,1755986867.548 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.881416
2025-08-23T22:07:47.759Z,1755986867.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:47.800Z,1755986867.800 [DAT](INFO): DAT read: Rx Time:22:07:47.0911
2025-08-23T22:07:47.801Z,1755986867.801 [DAT](INFO): Rx dataTimestamp_ set to:1755986867.800275
2025-08-23T22:07:47.803Z,1755986867.803 [DAT](INFO): DAT read: Bearing 71.6, -37.8 (Local)
2025-08-23T22:07:47.803Z,1755986867.803 [DAT](INFO): Local bearing/azimuth received:
Bearing 71.6, -37.8 (Local)
2025-08-23T22:07:47.806Z,1755986867.806 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:47.812Z,1755986867.812 [DAT](INFO): DAT read: 22:07:47.0911 LVL= 29520, 20721, 23666, 32755, AGC= 47, IDX= 500, 0.03, 0.806, 2.762, 2.864, 2.769, PHS=-1.861, 0.038, 0.051, RAW= 269.6, 18.2, CAL= 270.5, 25.2, ROT= 239.5, -25.2
2025-08-23T22:07:47.813Z,1755986867.813 [DAT](INFO): got valid direction response:
22:07:47.0911 LVL= 29520, 20721, 23666, 32755, AGC= 47, IDX= 500, 0.03, 0.806, 2.762, 2.864, 2.769, PHS=-1.861, 0.038, 0.051, RAW= 269.6, 18.2, CAL= 270.5, 25.2, ROT= 239.5, -25.2
2025-08-23T22:07:47.814Z,1755986867.814 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-23T22:07:47.815Z,1755986867.815 [DAT](INFO): direction in FSK: [-0.459234,-0.779625,0.425779]
2025-08-23T22:07:47.816Z,1755986867.816 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:47.820Z,1755986867.820 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.153687
2025-08-23T22:07:48.051Z,1755986868.051 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.384407
2025-08-23T22:07:48.202Z,1755986868.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.501260 s,
deltaX: -0.200000 m,
approachRate: -0.398994 m/s,
rangeRepo size: 4
2025-08-23T22:07:48.205Z,1755986868.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926134 m,
bearing: 27.632426 deg,
lat: 36.779404 deg,
lon: -121.859574 deg,
deltaT: 0.501260 s,
deltaX: -0.198756 m,
approachRate: -0.396513 m/s,
posRepo size: 4
2025-08-23T22:07:48.206Z,1755986868.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:48.307Z,1755986868.307 [DAT](INFO): DAT read: Rx Time:22:07:47.5912
2025-08-23T22:07:48.308Z,1755986868.308 [DAT](INFO): Rx dataTimestamp_ set to:1755986868.307279
2025-08-23T22:07:48.312Z,1755986868.312 [DAT](INFO): DAT read: Bearing 71.1, -38.4 (Local)
2025-08-23T22:07:48.313Z,1755986868.313 [DAT](INFO): Local bearing/azimuth received:
Bearing 71.1, -38.4 (Local)
2025-08-23T22:07:48.319Z,1755986868.319 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:48.338Z,1755986868.338 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:07:48.354Z,1755986868.354 [DAT](INFO): DAT read: 22:07:47.5912 LVL= 25904, 19697, 20626, 32755, AGC= 47, IDX= 501, 0.06, 2.543,-1.775,-1.640,-1.756, PHS=-1.882, 0.026, 0.072, RAW= 268.8, 18.1, CAL= 269.8, 25.0, ROT= 240.2, -25.0
2025-08-23T22:07:48.356Z,1755986868.356 [DAT](INFO): got valid direction response:
22:07:47.5912 LVL= 25904, 19697, 20626, 32755, AGC= 47, IDX= 501, 0.06, 2.543,-1.775,-1.640,-1.756, PHS=-1.882, 0.026, 0.072, RAW= 268.8, 18.1, CAL= 269.8, 25.0, ROT= 240.2, -25.0
2025-08-23T22:07:48.356Z,1755986868.356 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-23T22:07:48.370Z,1755986868.370 [DAT](INFO): direction in FSK: [-0.450411,-0.786463,0.422618]
2025-08-23T22:07:48.370Z,1755986868.370 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:48.383Z,1755986868.383 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.717018
2025-08-23T22:07:48.555Z,1755986868.555 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.888535
2025-08-23T22:07:48.729Z,1755986868.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.507004 s,
deltaX: 0.200000 m,
approachRate: 0.394474 m/s,
rangeRepo size: 4
2025-08-23T22:07:48.731Z,1755986868.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124887 m,
bearing: 28.076296 deg,
lat: 36.779404 deg,
lon: -121.859574 deg,
deltaT: 0.507004 s,
deltaX: 0.198753 m,
approachRate: 0.392015 m/s,
posRepo size: 4
2025-08-23T22:07:48.732Z,1755986868.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:48.808Z,1755986868.808 [DAT](INFO): DAT read: Rx Time:22:07:48.0911
2025-08-23T22:07:48.809Z,1755986868.809 [DAT](INFO): Rx dataTimestamp_ set to:1755986868.808277
2025-08-23T22:07:48.811Z,1755986868.811 [DAT](INFO): DAT read: Bearing 70.9, -39.2 (Local)
2025-08-23T22:07:48.811Z,1755986868.811 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.9, -39.2 (Local)
2025-08-23T22:07:48.814Z,1755986868.814 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:48.819Z,1755986868.819 [DAT](INFO): DAT read: 22:07:48.0911 LVL= 24816, 18481, 20514, 30067, AGC= 47, IDX= 500, 0.13, 0.740, 2.724, 2.890, 2.750, PHS=-1.908, 0.019, 0.096, RAW= 268.1, 17.9, CAL= 269.1, 24.7, ROT= 240.9, -24.7
2025-08-23T22:07:48.820Z,1755986868.820 [DAT](INFO): got valid direction response:
22:07:48.0911 LVL= 24816, 18481, 20514, 30067, AGC= 47, IDX= 500, 0.13, 0.740, 2.724, 2.890, 2.750, PHS=-1.908, 0.019, 0.096, RAW= 268.1, 17.9, CAL= 269.1, 24.7, ROT= 240.9, -24.7
2025-08-23T22:07:48.821Z,1755986868.821 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-23T22:07:48.822Z,1755986868.822 [DAT](INFO): direction in FSK: [-0.441840,-0.793829,0.417867]
2025-08-23T22:07:48.822Z,1755986868.822 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:48.826Z,1755986868.826 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.159790
2025-08-23T22:07:49.035Z,1755986869.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.500998 s,
deltaX: -0.200000 m,
approachRate: -0.399203 m/s,
rangeRepo size: 4
2025-08-23T22:07:49.042Z,1755986869.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926119 m,
bearing: 28.661070 deg,
lat: 36.779403 deg,
lon: -121.859573 deg,
deltaT: 0.500998 s,
deltaX: -0.198769 m,
approachRate: -0.396745 m/s,
posRepo size: 4
2025-08-23T22:07:49.042Z,1755986869.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:49.059Z,1755986869.059 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.392506
2025-08-23T22:07:49.315Z,1755986869.315 [DAT](INFO): DAT read: Rx Time:22:07:48.5913
2025-08-23T22:07:49.316Z,1755986869.316 [DAT](INFO): Rx dataTimestamp_ set to:1755986869.315486
2025-08-23T22:07:49.320Z,1755986869.320 [DAT](INFO): DAT read: Bearing 70.8, -39.6 (Local)
2025-08-23T22:07:49.321Z,1755986869.321 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.8, -39.6 (Local)
2025-08-23T22:07:49.331Z,1755986869.331 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:07:49.337Z,1755986869.337 [DAT](INFO): DAT read: 22:07:48.5913 LVL= 23376, 18129, 21826, 31155, AGC= 48, IDX= 501, 0.23, 2.375,-1.908,-1.727,-1.880, PHS=-1.925, 0.017, 0.109, RAW= 267.7, 17.7, CAL= 268.8, 24.5, ROT= 241.2, -24.5
2025-08-23T22:07:49.348Z,1755986869.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:07:49.358Z,1755986869.358 [DAT](INFO): got valid direction response:
22:07:48.5913 LVL= 23376, 18129, 21826, 31155, AGC= 48, IDX= 501, 0.23, 2.375,-1.908,-1.727,-1.880, PHS=-1.925, 0.017, 0.109, RAW= 267.7, 17.7, CAL= 268.8, 24.5, ROT= 241.2, -24.5
2025-08-23T22:07:49.359Z,1755986869.359 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-23T22:07:49.360Z,1755986869.360 [DAT](INFO): direction in FSK: [-0.438377,-0.797405,0.414693]
2025-08-23T22:07:49.360Z,1755986869.360 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:49.372Z,1755986869.372 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.705734
2025-08-23T22:07:49.509Z,1755986869.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.507209 s,
deltaX: 0.300000 m,
approachRate: 0.591473 m/s,
rangeRepo size: 4
2025-08-23T22:07:49.519Z,1755986869.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.224268 m,
bearing: 28.559439 deg,
lat: 36.779404 deg,
lon: -121.859572 deg,
deltaT: 0.507209 s,
deltaX: 0.298149 m,
approachRate: 0.587823 m/s,
posRepo size: 4
2025-08-23T22:07:49.519Z,1755986869.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:49.567Z,1755986869.567 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.900402
2025-08-23T22:07:49.815Z,1755986869.815 [DAT](INFO): DAT read: Rx Time:22:07:49.0912
2025-08-23T22:07:49.816Z,1755986869.816 [DAT](INFO): Rx dataTimestamp_ set to:1755986869.815277
2025-08-23T22:07:49.817Z,1755986869.817 [DAT](INFO): DAT read: Bearing 70.7, -40.6 (Local)
2025-08-23T22:07:49.817Z,1755986869.817 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.7, -40.6 (Local)
2025-08-23T22:07:49.819Z,1755986869.819 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:49.824Z,1755986869.824 [DAT](INFO): DAT read: 22:07:49.0912 LVL= 22048, 16017, 20578, 28131, AGC= 47, IDX= 500, 0.41, 0.430, 2.441, 2.663, 2.474, PHS=-1.942, 0.012, 0.145, RAW= 266.7, 17.3, CAL= 267.9, 23.9, ROT= 242.1, -23.9
2025-08-23T22:07:49.825Z,1755986869.825 [DAT](INFO): got valid direction response:
22:07:49.0912 LVL= 22048, 16017, 20578, 28131, AGC= 47, IDX= 500, 0.41, 0.430, 2.441, 2.663, 2.474, PHS=-1.942, 0.012, 0.145, RAW= 266.7, 17.3, CAL= 267.9, 23.9, ROT= 242.1, -23.9
2025-08-23T22:07:49.825Z,1755986869.825 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-23T22:07:49.827Z,1755986869.827 [DAT](INFO): direction in FSK: [-0.427806,-0.807986,0.405142]
2025-08-23T22:07:49.827Z,1755986869.827 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:49.831Z,1755986869.831 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.164783
2025-08-23T22:07:49.996Z,1755986869.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.499791 s,
deltaX: -0.100000 m,
approachRate: -0.200084 m/s,
rangeRepo size: 4
2025-08-23T22:07:50.011Z,1755986870.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124884 m,
bearing: 29.084288 deg,
lat: 36.779404 deg,
lon: -121.859572 deg,
deltaT: 0.499791 s,
deltaX: -0.099384 m,
approachRate: -0.198852 m/s,
posRepo size: 4
2025-08-23T22:07:50.011Z,1755986870.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:50.067Z,1755986870.067 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.401321
2025-08-23T22:07:50.323Z,1755986870.323 [DAT](INFO): DAT read: Rx Time:22:07:49.5913
2025-08-23T22:07:50.325Z,1755986870.325 [DAT](INFO): Rx dataTimestamp_ set to:1755986870.323913
2025-08-23T22:07:50.329Z,1755986870.329 [DAT](INFO): DAT read: Bearing 70.6, -41.1 (Local)
2025-08-23T22:07:50.330Z,1755986870.330 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.6, -41.1 (Local)
2025-08-23T22:07:50.371Z,1755986870.371 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:07:50.385Z,1755986870.385 [DAT](INFO): DAT read: 22:07:49.5913 LVL= 23728, 16033, 21826, 28147, AGC= 47, IDX= 502,-0.36,-0.296, 1.728, 1.969, 1.758, PHS=-1.952, 0.015, 0.167, RAW= 266.3, 17.0, CAL= 267.5, 23.4, ROT= 242.5, -23.4
2025-08-23T22:07:50.387Z,1755986870.387 [DAT](INFO): got valid direction response:
22:07:49.5913 LVL= 23728, 16033, 21826, 28147, AGC= 47, IDX= 502,-0.36,-0.296, 1.728, 1.969, 1.758, PHS=-1.952, 0.015, 0.167, RAW= 266.3, 17.0, CAL= 267.5, 23.4, ROT= 242.5, -23.4
2025-08-23T22:07:50.387Z,1755986870.387 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-23T22:07:50.388Z,1755986870.388 [DAT](INFO): direction in FSK: [-0.423772,-0.814058,0.397148]
2025-08-23T22:07:50.388Z,1755986870.388 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:50.404Z,1755986870.404 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.737831
2025-08-23T22:07:50.520Z,1755986870.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.508636 s,
deltaX: 0.100000 m,
approachRate: 0.196605 m/s,
rangeRepo size: 4
2025-08-23T22:07:50.527Z,1755986870.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.224228 m,
bearing: 29.327001 deg,
lat: 36.779404 deg,
lon: -121.859571 deg,
deltaT: 0.508636 s,
deltaX: 0.099344 m,
approachRate: 0.195315 m/s,
posRepo size: 4
2025-08-23T22:07:50.527Z,1755986870.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:50.571Z,1755986870.571 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.904961
2025-08-23T22:07:50.790Z,1755986870.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:50.824Z,1755986870.824 [DAT](INFO): DAT read: Rx Time:22:07:50.0912
2025-08-23T22:07:50.824Z,1755986870.824 [DAT](INFO): Rx dataTimestamp_ set to:1755986870.824204
2025-08-23T22:07:50.835Z,1755986870.835 [DAT](INFO): DAT read: Bearing 70.3, -41.8 (Local)
2025-08-23T22:07:50.835Z,1755986870.835 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.3, -41.8 (Local)
2025-08-23T22:07:50.838Z,1755986870.838 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:50.857Z,1755986870.857 [DAT](INFO): DAT read: 22:07:50.0912 LVL= 21360, 15745, 19522, 24675, AGC= 46, IDX= 501,-0.16,-1.681, 0.327, 0.600, 0.363, PHS=-1.942, 0.008, 0.193, RAW= 265.5, 16.7, CAL= 266.8, 23.0, ROT= 243.2, -23.0
2025-08-23T22:07:50.868Z,1755986870.868 [DAT](INFO): got valid direction response:
22:07:50.0912 LVL= 21360, 15745, 19522, 24675, AGC= 46, IDX= 501,-0.16,-1.681, 0.327, 0.600, 0.363, PHS=-1.942, 0.008, 0.193, RAW= 265.5, 16.7, CAL= 266.8, 23.0, ROT= 243.2, -23.0
2025-08-23T22:07:50.868Z,1755986870.868 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-23T22:07:50.873Z,1755986870.873 [DAT](INFO): direction in FSK: [-0.415035,-0.821630,0.390731]
2025-08-23T22:07:50.874Z,1755986870.874 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:50.879Z,1755986870.879 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.213009
2025-08-23T22:07:51.074Z,1755986871.074 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.408340
2025-08-23T22:07:51.227Z,1755986871.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.500291 s,
deltaX: -0.100000 m,
approachRate: -0.199884 m/s,
rangeRepo size: 4
2025-08-23T22:07:51.229Z,1755986871.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124844 m,
bearing: 29.174205 deg,
lat: 36.779405 deg,
lon: -121.859570 deg,
deltaT: 0.500291 s,
deltaX: -0.099384 m,
approachRate: -0.198653 m/s,
posRepo size: 4
2025-08-23T22:07:51.234Z,1755986871.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:51.331Z,1755986871.331 [DAT](INFO): DAT read: Rx Time:22:07:50.5912
2025-08-23T22:07:51.332Z,1755986871.332 [DAT](INFO): Rx dataTimestamp_ set to:1755986871.331422
2025-08-23T22:07:51.336Z,1755986871.336 [DAT](INFO): DAT read: Bearing 70.2, -42.3 (Local)
2025-08-23T22:07:51.337Z,1755986871.337 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.2, -42.3 (Local)
2025-08-23T22:07:51.343Z,1755986871.343 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:51.371Z,1755986871.371 [DAT](INFO): DAT read: 22:07:50.5912 LVL= 22704, 15153, 19218, 24419, AGC= 46, IDX= 501, 0.00,-0.886, 1.121, 1.413, 1.155, PHS=-1.939, 0.011, 0.214, RAW= 265.1, 16.4, CAL= 266.4, 22.6, ROT= 243.6, -22.6
2025-08-23T22:07:51.372Z,1755986871.372 [DAT](INFO): got valid direction response:
22:07:50.5912 LVL= 22704, 15153, 19218, 24419, AGC= 46, IDX= 501, 0.00,-0.886, 1.121, 1.413, 1.155, PHS=-1.939, 0.011, 0.214, RAW= 265.1, 16.4, CAL= 266.4, 22.6, ROT= 243.6, -22.6
2025-08-23T22:07:51.372Z,1755986871.372 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-23T22:07:51.373Z,1755986871.373 [DAT](INFO): direction in FSK: [-0.410492,-0.826930,0.384295]
2025-08-23T22:07:51.378Z,1755986871.378 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:51.394Z,1755986871.394 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.727985
2025-08-23T22:07:51.579Z,1755986871.579 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.912457
2025-08-23T22:07:51.704Z,1755986871.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.507218 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:51.710Z,1755986871.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124804 m,
bearing: 29.445323 deg,
lat: 36.779405 deg,
lon: -121.859570 deg,
deltaT: 0.507218 s,
deltaX: -0.000039 m,
approachRate: -0.000077 m/s,
posRepo size: 4
2025-08-23T22:07:51.711Z,1755986871.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:51.831Z,1755986871.831 [DAT](INFO): DAT read: Rx Time:22:07:51.0911
2025-08-23T22:07:51.832Z,1755986871.832 [DAT](INFO): Rx dataTimestamp_ set to:1755986871.831250
2025-08-23T22:07:51.833Z,1755986871.833 [DAT](INFO): DAT read: Bearing 70.1, -43.1 (Local)
2025-08-23T22:07:51.833Z,1755986871.833 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.1, -43.1 (Local)
2025-08-23T22:07:51.835Z,1755986871.835 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:51.840Z,1755986871.840 [DAT](INFO): DAT read: 22:07:51.0911 LVL= 23616, 15521, 18066, 23795, AGC= 46, IDX= 500, 0.18,-1.104, 0.881, 1.203, 0.922, PHS=-1.924, 0.004, 0.237, RAW= 264.4, 16.1, CAL= 265.8, 22.2, ROT= 244.2, -22.2
2025-08-23T22:07:51.841Z,1755986871.841 [DAT](INFO): got valid direction response:
22:07:51.0911 LVL= 23616, 15521, 18066, 23795, AGC= 46, IDX= 500, 0.18,-1.104, 0.881, 1.203, 0.922, PHS=-1.924, 0.004, 0.237, RAW= 264.4, 16.1, CAL= 265.8, 22.2, ROT= 244.2, -22.2
2025-08-23T22:07:51.841Z,1755986871.841 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-23T22:07:51.842Z,1755986871.842 [DAT](INFO): direction in FSK: [-0.402968,-0.833579,0.377841]
2025-08-23T22:07:51.842Z,1755986871.842 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:51.846Z,1755986871.846 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.180145
2025-08-23T22:07:52.017Z,1755986872.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.499828 s,
deltaX: -0.200000 m,
approachRate: -0.400137 m/s,
rangeRepo size: 4
2025-08-23T22:07:52.023Z,1755986872.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926037 m,
bearing: 29.575606 deg,
lat: 36.779405 deg,
lon: -121.859570 deg,
deltaT: 0.499828 s,
deltaX: -0.198768 m,
approachRate: -0.397672 m/s,
posRepo size: 4
2025-08-23T22:07:52.023Z,1755986872.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:52.083Z,1755986872.083 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.417255
2025-08-23T22:07:52.338Z,1755986872.338 [DAT](INFO): DAT read: Rx Time:22:07:51.5913
2025-08-23T22:07:52.340Z,1755986872.340 [DAT](INFO): Rx dataTimestamp_ set to:1755986872.338999
2025-08-23T22:07:52.344Z,1755986872.344 [DAT](INFO): DAT read: Bearing 70.2, -43.2 (Local)
2025-08-23T22:07:52.345Z,1755986872.345 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.2, -43.2 (Local)
2025-08-23T22:07:52.356Z,1755986872.356 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:07:52.400Z,1755986872.400 [DAT](INFO): DAT read: 22:07:51.5913 LVL= 24016, 16017, 16418, 24115, AGC= 46, IDX= 501, 0.42,-0.219, 1.753, 2.072, 1.786, PHS=-1.904, 0.012, 0.242, RAW= 264.4, 16.0, CAL= 265.8, 22.0, ROT= 244.2, -22.0
2025-08-23T22:07:52.401Z,1755986872.401 [DAT](INFO): got valid direction response:
22:07:51.5913 LVL= 24016, 16017, 16418, 24115, AGC= 46, IDX= 501, 0.42,-0.219, 1.753, 2.072, 1.786, PHS=-1.904, 0.012, 0.242, RAW= 264.4, 16.0, CAL= 265.8, 22.0, ROT= 244.2, -22.0
2025-08-23T22:07:52.401Z,1755986872.401 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-23T22:07:52.410Z,1755986872.410 [DAT](INFO): direction in FSK: [-0.403539,-0.834761,0.374607]
2025-08-23T22:07:52.410Z,1755986872.410 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:52.434Z,1755986872.434 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.755226
2025-08-23T22:07:52.544Z,1755986872.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.507749 s,
deltaX: 0.300000 m,
approachRate: 0.590843 m/s,
rangeRepo size: 4
2025-08-23T22:07:52.550Z,1755986872.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.224195 m,
bearing: 29.362609 deg,
lat: 36.779405 deg,
lon: -121.859569 deg,
deltaT: 0.507749 s,
deltaX: 0.298159 m,
approachRate: 0.587217 m/s,
posRepo size: 4
2025-08-23T22:07:52.551Z,1755986872.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:52.587Z,1755986872.587 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.920559
2025-08-23T22:07:52.821Z,1755986872.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:52.839Z,1755986872.839 [DAT](INFO): DAT read: Rx Time:22:07:52.0912
2025-08-23T22:07:52.840Z,1755986872.840 [DAT](INFO): Rx dataTimestamp_ set to:1755986872.839510
2025-08-23T22:07:52.841Z,1755986872.841 [DAT](INFO): DAT read: Bearing 70.6, -42.9 (Local)
2025-08-23T22:07:52.841Z,1755986872.841 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.6, -42.9 (Local)
2025-08-23T22:07:52.843Z,1755986872.843 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:52.848Z,1755986872.848 [DAT](INFO): DAT read: 22:07:52.0912 LVL= 27184, 15793, 17154, 27715, AGC= 47, IDX= 501,-0.28,-3.072,-1.094,-0.801,-1.079, PHS=-1.891, 0.030, 0.234, RAW= 265.0, 15.8, CAL= 266.3, 21.8, ROT= 243.7, -21.8
2025-08-23T22:07:52.849Z,1755986872.849 [DAT](INFO): got valid direction response:
22:07:52.0912 LVL= 27184, 15793, 17154, 27715, AGC= 47, IDX= 501,-0.28,-3.072,-1.094,-0.801,-1.079, PHS=-1.891, 0.030, 0.234, RAW= 265.0, 15.8, CAL= 266.3, 21.8, ROT= 243.7, -21.8
2025-08-23T22:07:52.849Z,1755986872.849 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-23T22:07:52.850Z,1755986872.850 [DAT](INFO): direction in FSK: [-0.411385,-0.832375,0.371368]
2025-08-23T22:07:52.851Z,1755986872.851 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:52.858Z,1755986872.858 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.192062
2025-08-23T22:07:53.091Z,1755986873.091 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.424465
2025-08-23T22:07:53.235Z,1755986873.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.500511 s,
deltaX: -0.100000 m,
approachRate: -0.199797 m/s,
rangeRepo size: 4
2025-08-23T22:07:53.238Z,1755986873.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124811 m,
bearing: 28.473992 deg,
lat: 36.779405 deg,
lon: -121.859570 deg,
deltaT: 0.500511 s,
deltaX: -0.099384 m,
approachRate: -0.198566 m/s,
posRepo size: 4
2025-08-23T22:07:53.238Z,1755986873.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:53.349Z,1755986873.349 [DAT](INFO): DAT read: Rx Time:22:07:52.5913
2025-08-23T22:07:53.351Z,1755986873.351 [DAT](INFO): Rx dataTimestamp_ set to:1755986873.350052
2025-08-23T22:07:53.355Z,1755986873.355 [DAT](INFO): DAT read: Bearing 70.2, -42.9 (Local)
2025-08-23T22:07:53.356Z,1755986873.356 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.2, -42.9 (Local)
2025-08-23T22:07:53.367Z,1755986873.367 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:07:53.396Z,1755986873.396 [DAT](INFO): DAT read: 22:07:52.5913 LVL= 29088, 16561, 16786, 29907, AGC= 45, IDX= 502,-0.10,-1.410, 0.561, 0.857, 0.581, PHS=-1.888, 0.025, 0.233, RAW= 264.9, 15.9, CAL= 266.2, 21.9, ROT= 243.8, -21.9
2025-08-23T22:07:53.398Z,1755986873.398 [DAT](INFO): got valid direction response:
22:07:52.5913 LVL= 29088, 16561, 16786, 29907, AGC= 45, IDX= 502,-0.10,-1.410, 0.561, 0.857, 0.581, PHS=-1.888, 0.025, 0.233, RAW= 264.9, 15.9, CAL= 266.2, 21.9, ROT= 243.8, -21.9
2025-08-23T22:07:53.399Z,1755986873.399 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-23T22:07:53.400Z,1755986873.400 [DAT](INFO): direction in FSK: [-0.409645,-0.832509,0.372988]
2025-08-23T22:07:53.400Z,1755986873.400 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:53.412Z,1755986873.412 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.745846
2025-08-23T22:07:53.594Z,1755986873.594 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.928368
2025-08-23T22:07:53.705Z,1755986873.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.510542 s,
deltaX: 0.100000 m,
approachRate: 0.195871 m/s,
rangeRepo size: 4
2025-08-23T22:07:53.707Z,1755986873.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.224222 m,
bearing: 28.420501 deg,
lat: 36.779406 deg,
lon: -121.859570 deg,
deltaT: 0.510542 s,
deltaX: 0.099411 m,
approachRate: 0.194717 m/s,
posRepo size: 4
2025-08-23T22:07:53.708Z,1755986873.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:53.847Z,1755986873.847 [DAT](INFO): DAT read: Rx Time:22:07:53.0912
2025-08-23T22:07:53.848Z,1755986873.848 [DAT](INFO): Rx dataTimestamp_ set to:1755986873.847309
2025-08-23T22:07:53.849Z,1755986873.849 [DAT](INFO): DAT read: Bearing 69.7, -42.8 (Local)
2025-08-23T22:07:53.849Z,1755986873.849 [DAT](INFO): Local bearing/azimuth received:
Bearing 69.7, -42.8 (Local)
2025-08-23T22:07:53.851Z,1755986873.851 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:53.856Z,1755986873.856 [DAT](INFO): DAT read: 22:07:53.0912 LVL= 24096, 16545, 13698, 24691, AGC= 46, IDX= 501, 0.07,-1.493, 0.431, 0.727, 0.459, PHS=-1.850, 0.017, 0.224, RAW= 264.8, 16.0, CAL= 266.1, 22.1, ROT= 243.9, -22.1
2025-08-23T22:07:53.857Z,1755986873.857 [DAT](INFO): got valid direction response:
22:07:53.0912 LVL= 24096, 16545, 13698, 24691, AGC= 46, IDX= 501, 0.07,-1.493, 0.431, 0.727, 0.459, PHS=-1.850, 0.017, 0.224, RAW= 264.8, 16.0, CAL= 266.1, 22.1, ROT= 243.9, -22.1
2025-08-23T22:07:53.857Z,1755986873.857 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-23T22:07:53.859Z,1755986873.859 [DAT](INFO): direction in FSK: [-0.407616,-0.832048,0.376224]
2025-08-23T22:07:53.859Z,1755986873.859 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:53.862Z,1755986873.862 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.196262
2025-08-23T22:07:54.062Z,1755986874.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.497257 s,
deltaX: -0.100000 m,
approachRate: -0.201104 m/s,
rangeRepo size: 4
2025-08-23T22:07:54.064Z,1755986874.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124838 m,
bearing: 28.387707 deg,
lat: 36.779406 deg,
lon: -121.859572 deg,
deltaT: 0.497257 s,
deltaX: -0.099384 m,
approachRate: -0.199865 m/s,
posRepo size: 4
2025-08-23T22:07:54.065Z,1755986874.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:54.099Z,1755986874.099 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.432808
2025-08-23T22:07:54.351Z,1755986874.351 [DAT](INFO): DAT read: Rx Time:22:07:53.5913
2025-08-23T22:07:54.352Z,1755986874.352 [DAT](INFO): Rx dataTimestamp_ set to:1755986874.351582
2025-08-23T22:07:54.353Z,1755986874.353 [DAT](INFO): DAT read: Bearing 69.1, -42.8 (Local)
2025-08-23T22:07:54.354Z,1755986874.354 [DAT](INFO): Local bearing/azimuth received:
Bearing 69.1, -42.8 (Local)
2025-08-23T22:07:54.356Z,1755986874.356 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:07:54.375Z,1755986874.375 [DAT](INFO): DAT read: 22:07:53.5913 LVL= 26496, 17201, 14514, 27363, AGC= 47, IDX= 502, 0.24, 0.595, 2.512, 2.817, 2.552, PHS=-1.855, 0.004, 0.220, RAW= 264.6, 16.3, CAL= 265.9, 22.3, ROT= 244.1, -22.3
2025-08-23T22:07:54.381Z,1755986874.381 [DAT](INFO): got valid direction response:
22:07:53.5913 LVL= 26496, 17201, 14514, 27363, AGC= 47, IDX= 502, 0.24, 0.595, 2.512, 2.817, 2.552, PHS=-1.855, 0.004, 0.220, RAW= 264.6, 16.3, CAL= 265.9, 22.3, ROT= 244.1, -22.3
2025-08-23T22:07:54.382Z,1755986874.382 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-23T22:07:54.422Z,1755986874.422 [DAT](INFO): direction in FSK: [-0.404133,-0.832280,0.379456]
2025-08-23T22:07:54.422Z,1755986874.422 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:54.451Z,1755986874.451 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.784939
2025-08-23T22:07:54.567Z,1755986874.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.504273 s,
deltaX: 0.100000 m,
approachRate: 0.198306 m/s,
rangeRepo size: 4
2025-08-23T22:07:54.569Z,1755986874.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.224205 m,
bearing: 28.473184 deg,
lat: 36.779407 deg,
lon: -121.859572 deg,
deltaT: 0.504273 s,
deltaX: 0.099367 m,
approachRate: 0.197050 m/s,
posRepo size: 4
2025-08-23T22:07:54.574Z,1755986874.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:54.606Z,1755986874.606 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.938816
2025-08-23T22:07:54.855Z,1755986874.855 [DAT](INFO): DAT read: Rx Time:22:07:54.0912
2025-08-23T22:07:54.855Z,1755986874.855 [DAT](INFO): Rx dataTimestamp_ set to:1755986874.855143
2025-08-23T22:07:54.857Z,1755986874.857 [DAT](INFO): DAT read: Bearing 68.5, -43.0 (Local)
2025-08-23T22:07:54.857Z,1755986874.857 [DAT](INFO): Local bearing/azimuth received:
Bearing 68.5, -43.0 (Local)
2025-08-23T22:07:54.859Z,1755986874.859 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:54.863Z,1755986874.863 [DAT](INFO): DAT read: 22:07:54.0912 LVL= 26784, 19569, 15298, 24499, AGC= 46, IDX= 501, 0.46,-1.433, 0.468, 0.784, 0.518, PHS=-1.849,-0.005, 0.222, RAW= 264.3, 16.3, CAL= 265.7, 22.4, ROT= 244.3, -22.4
2025-08-23T22:07:54.864Z,1755986874.864 [DAT](INFO): got valid direction response:
22:07:54.0912 LVL= 26784, 19569, 15298, 24499, AGC= 46, IDX= 501, 0.46,-1.433, 0.468, 0.784, 0.518, PHS=-1.849,-0.005, 0.222, RAW= 264.3, 16.3, CAL= 265.7, 22.4, ROT= 244.3, -22.4
2025-08-23T22:07:54.865Z,1755986874.865 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-23T22:07:54.866Z,1755986874.866 [DAT](INFO): direction in FSK: [-0.400938,-0.833087,0.381070]
2025-08-23T22:07:54.866Z,1755986874.866 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:54.870Z,1755986874.870 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.203690
2025-08-23T22:07:54.983Z,1755986874.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.503561 s,
deltaX: -0.100000 m,
approachRate: -0.198586 m/s,
rangeRepo size: 4
2025-08-23T22:07:54.985Z,1755986874.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124821 m,
bearing: 28.544261 deg,
lat: 36.779407 deg,
lon: -121.859572 deg,
deltaT: 0.503561 s,
deltaX: -0.099384 m,
approachRate: -0.197363 m/s,
posRepo size: 4
2025-08-23T22:07:54.993Z,1755986874.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:55.109Z,1755986875.109 [DAT](INFO): DAT read: Rx Time:22:07:54.5913
2025-08-23T22:07:55.111Z,1755986875.111 [DAT](INFO): Rx dataTimestamp_ set to:1755986875.109922
2025-08-23T22:07:55.113Z,1755986875.113 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.446133
2025-08-23T22:07:55.284Z,1755986875.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:07:55.286Z,1755986875.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:55.364Z,1755986875.364 [DAT](INFO): DAT read: Bearing 68.2, -42.6 (Local)
2025-08-23T22:07:55.365Z,1755986875.365 [DAT](INFO): Local bearing/azimuth received:
Bearing 68.2, -42.6 (Local)
2025-08-23T22:07:55.376Z,1755986875.376 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:07:55.401Z,1755986875.401 [DAT](INFO): DAT read: 22:07:54.5913 LVL= 26032, 17649, 15346, 27571, AGC= 47, IDX= 502,-0.35,-2.641,-0.751,-0.451,-0.701, PHS=-1.838,-0.005, 0.206, RAW= 264.6, 16.5, CAL= 266.0, 22.7, ROT= 244.0, -22.7
2025-08-23T22:07:55.409Z,1755986875.409 [DAT](INFO): got valid direction response:
22:07:54.5913 LVL= 26032, 17649, 15346, 27571, AGC= 47, IDX= 502,-0.35,-2.641,-0.751,-0.451,-0.701, PHS=-1.838,-0.005, 0.206, RAW= 264.6, 16.5, CAL= 266.0, 22.7, ROT= 244.0, -22.7
2025-08-23T22:07:55.414Z,1755986875.414 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-23T22:07:55.417Z,1755986875.417 [DAT](INFO): direction in FSK: [-0.404414,-0.829172,0.385906]
2025-08-23T22:07:55.423Z,1755986875.423 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:55.431Z,1755986875.431 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.765079
2025-08-23T22:07:55.614Z,1755986875.614 [DAT](INFO): DAT read: Rx Time:22:07:55.0912
2025-08-23T22:07:55.615Z,1755986875.615 [DAT](INFO): Rx dataTimestamp_ set to:1755986875.614422
2025-08-23T22:07:55.618Z,1755986875.618 [DAT](INFO): DAT read: Bearing 67.5, -43.0 (Local)
2025-08-23T22:07:55.619Z,1755986875.619 [DAT](INFO): Local bearing/azimuth received:
Bearing 67.5, -43.0 (Local)
2025-08-23T22:07:55.621Z,1755986875.621 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.954109
2025-08-23T22:07:55.755Z,1755986875.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.504839 s,
deltaX: 0.100000 m,
approachRate: 0.198084 m/s,
rangeRepo size: 4
2025-08-23T22:07:55.757Z,1755986875.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.224222 m,
bearing: 28.049830 deg,
lat: 36.779407 deg,
lon: -121.859573 deg,
deltaT: 0.504839 s,
deltaX: 0.099401 m,
approachRate: 0.196897 m/s,
posRepo size: 4
2025-08-23T22:07:55.758Z,1755986875.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:07:55.865Z,1755986875.865 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:55.872Z,1755986875.872 [DAT](INFO): DAT read: 22:07:55.0912 LVL= 24944, 19617, 15794, 24467, AGC= 46, IDX= 501,-0.24, 2.369,-2.045,-1.716,-1.973, PHS=-1.839,-0.026, 0.214, RAW= 263.9, 16.7, CAL= 265.4, 22.8, ROT= 244.6, -22.8
2025-08-23T22:07:55.873Z,1755986875.873 [DAT](INFO): got valid direction response:
22:07:55.0912 LVL= 24944, 19617, 15794, 24467, AGC= 46, IDX= 501,-0.24, 2.369,-2.045,-1.716,-1.973, PHS=-1.839,-0.026, 0.214, RAW= 263.9, 16.7, CAL= 265.4, 22.8, ROT= 244.6, -22.8
2025-08-23T22:07:55.873Z,1755986875.873 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-23T22:07:55.875Z,1755986875.875 [DAT](INFO): direction in FSK: [-0.395419,-0.832752,0.387516]
2025-08-23T22:07:55.875Z,1755986875.875 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:55.881Z,1755986875.881 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.214806
2025-08-23T22:07:56.085Z,1755986876.085 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-08-23T22:07:56.118Z,1755986876.118 [DAT](INFO): DAT read: Rx Time:22:07:55.5913
2025-08-23T22:07:56.119Z,1755986876.119 [DAT](INFO): Rx dataTimestamp_ set to:1755986876.118474
2025-08-23T22:07:56.123Z,1755986876.123 [DAT](INFO): DAT read: Bearing 66.8, -43.2 (Local)
2025-08-23T22:07:56.124Z,1755986876.124 [DAT](INFO): Local bearing/azimuth received:
Bearing 66.8, -43.2 (Local)
2025-08-23T22:07:56.127Z,1755986876.127 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.459927
2025-08-23T22:07:56.209Z,1755986876.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.502552 s,
deltaX: -0.100000 m,
approachRate: -0.198985 m/s,
rangeRepo size: 4
2025-08-23T22:07:56.235Z,1755986876.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124838 m,
bearing: 28.515833 deg,
lat: 36.779407 deg,
lon: -121.859573 deg,
deltaT: 0.502552 s,
deltaX: -0.099384 m,
approachRate: -0.197759 m/s,
posRepo size: 4
2025-08-23T22:07:56.235Z,1755986876.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:56.368Z,1755986876.368 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:07:56.381Z,1755986876.381 [DAT](INFO): DAT read: 22:07:55.5913 LVL= 27696, 20497, 14658, 25843, AGC= 46, IDX= 502,-0.18,-2.470,-0.614,-0.270,-0.526, PHS=-1.842,-0.043, 0.213, RAW= 263.4, 16.9, CAL= 265.0, 23.1, ROT= 245.0, -23.1
2025-08-23T22:07:56.382Z,1755986876.382 [DAT](INFO): got valid direction response:
22:07:55.5913 LVL= 27696, 20497, 14658, 25843, AGC= 46, IDX= 502,-0.18,-2.470,-0.614,-0.270,-0.526, PHS=-1.842,-0.043, 0.213, RAW= 263.4, 16.9, CAL= 265.0, 23.1, ROT= 245.0, -23.1
2025-08-23T22:07:56.383Z,1755986876.383 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-23T22:07:56.384Z,1755986876.384 [DAT](INFO): direction in FSK: [-0.388733,-0.833641,0.392337]
2025-08-23T22:07:56.384Z,1755986876.384 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:56.432Z,1755986876.432 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.765030
2025-08-23T22:07:56.623Z,1755986876.623 [DAT](INFO): DAT read: Rx Time:22:07:56.0912
2025-08-23T22:07:56.624Z,1755986876.624 [DAT](INFO): Rx dataTimestamp_ set to:1755986876.623257
2025-08-23T22:07:56.628Z,1755986876.628 [DAT](INFO): DAT read: Bearing 66.1, -42.8 (Local)
2025-08-23T22:07:56.629Z,1755986876.629 [DAT](INFO): Local bearing/azimuth received:
Bearing 66.1, -42.8 (Local)
2025-08-23T22:07:56.635Z,1755986876.635 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:56.637Z,1755986876.637 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-08-23T22:07:56.650Z,1755986876.650 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.983223
2025-08-23T22:07:56.671Z,1755986876.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.760723 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:56.673Z,1755986876.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124804 m,
bearing: 28.834068 deg,
lat: 36.779407 deg,
lon: -121.859574 deg,
deltaT: 0.760723 s,
deltaX: -0.000034 m,
approachRate: -0.000045 m/s,
posRepo size: 4
2025-08-23T22:07:56.678Z,1755986876.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:56.874Z,1755986876.874 [DAT](INFO): DAT read: 22:07:56.0912 LVL= 23744, 18097, 15410, 25843, AGC= 46, IDX= 501,-0.15,-2.970,-1.129,-0.788,-1.026, PHS=-1.842,-0.058, 0.195, RAW= 263.5, 17.4, CAL= 265.1, 23.6, ROT= 244.9, -23.6
2025-08-23T22:07:56.875Z,1755986876.875 [DAT](INFO): got valid direction response:
22:07:56.0912 LVL= 23744, 18097, 15410, 25843, AGC= 46, IDX= 501,-0.15,-2.970,-1.129,-0.788,-1.026, PHS=-1.842,-0.058, 0.195, RAW= 263.5, 17.4, CAL= 265.1, 23.6, ROT= 244.9, -23.6
2025-08-23T22:07:56.876Z,1755986876.876 [DAT](INFO): #Rx 113: Read direction message, but no range.
2025-08-23T22:07:56.877Z,1755986876.877 [DAT](INFO): direction in FSK: [-0.388721,-0.829829,0.400349]
2025-08-23T22:07:56.880Z,1755986876.880 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.213905
2025-08-23T22:07:56.988Z,1755986876.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:57.126Z,1755986877.126 [DAT](INFO): DAT read: Rx Time:22:07:56.5913
2025-08-23T22:07:57.128Z,1755986877.128 [DAT](INFO): Rx dataTimestamp_ set to:1755986877.127230
2025-08-23T22:07:57.132Z,1755986877.132 [DAT](INFO): DAT read: Bearing 65.4, -42.8 (Local)
2025-08-23T22:07:57.133Z,1755986877.133 [DAT](INFO): Local bearing/azimuth received:
Bearing 65.4, -42.8 (Local)
2025-08-23T22:07:57.138Z,1755986877.138 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:07:57.141Z,1755986877.141 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-08-23T22:07:57.187Z,1755986877.187 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.520439
2025-08-23T22:07:57.381Z,1755986877.381 [DAT](INFO): DAT read: 22:07:56.5913 LVL= 25104, 18513, 14578, 24675, AGC= 46, IDX= 502,-0.15,-1.530, 0.306, 0.659, 0.424, PHS=-1.852,-0.073, 0.190, RAW= 263.2, 17.7, CAL= 264.8, 23.9, ROT= 245.2, -23.9
2025-08-23T22:07:57.382Z,1755986877.382 [DAT](INFO): got valid direction response:
22:07:56.5913 LVL= 25104, 18513, 14578, 24675, AGC= 46, IDX= 502,-0.15,-1.530, 0.306, 0.659, 0.424, PHS=-1.852,-0.073, 0.190, RAW= 263.2, 17.7, CAL= 264.8, 23.9, ROT= 245.2, -23.9
2025-08-23T22:07:57.383Z,1755986877.383 [DAT](INFO): #Rx 115: Read direction message, but no range.
2025-08-23T22:07:57.384Z,1755986877.384 [DAT](INFO): direction in FSK: [-0.383486,-0.829939,0.405142]
2025-08-23T22:07:57.392Z,1755986877.392 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.725510
2025-08-23T22:07:57.413Z,1755986877.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.503973 s,
deltaX: 0.100000 m,
approachRate: 0.198424 m/s,
rangeRepo size: 4
2025-08-23T22:07:57.419Z,1755986877.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:57.633Z,1755986877.633 [DAT](INFO): DAT read: Rx Time:22:07:57.0911
2025-08-23T22:07:57.634Z,1755986877.634 [DAT](INFO): Rx dataTimestamp_ set to:1755986877.633207
2025-08-23T22:07:57.637Z,1755986877.637 [DAT](INFO): DAT read: Bearing 64.8, -42.9 (Local)
2025-08-23T22:07:57.641Z,1755986877.641 [DAT](INFO): Local bearing/azimuth received:
Bearing 64.8, -42.9 (Local)
2025-08-23T22:07:57.652Z,1755986877.652 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:57.659Z,1755986877.659 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-08-23T22:07:57.661Z,1755986877.661 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.994995
2025-08-23T22:07:57.794Z,1755986877.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.505977 s,
deltaX: -0.300000 m,
approachRate: -0.592913 m/s,
rangeRepo size: 4
2025-08-23T22:07:57.796Z,1755986877.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926038 m,
bearing: 28.851205 deg,
lat: 36.779407 deg,
lon: -121.859574 deg,
deltaT: 1.009950 s,
deltaX: -0.198766 m,
approachRate: -0.196808 m/s,
posRepo size: 4
2025-08-23T22:07:57.796Z,1755986877.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:57.882Z,1755986877.882 [DAT](INFO): DAT read: 22:07:57.0911 LVL= 24400, 17889, 15026, 24451, AGC= 46, IDX= 501,-0.17,-2.623,-0.802,-0.435,-0.669, PHS=-1.853,-0.088, 0.189, RAW= 262.8, 17.9, CAL= 264.5, 24.1, ROT= 245.5, -24.1
2025-08-23T22:07:57.883Z,1755986877.883 [DAT](INFO): got valid direction response:
22:07:57.0911 LVL= 24400, 17889, 15026, 24451, AGC= 46, IDX= 501,-0.17,-2.623,-0.802,-0.435,-0.669, PHS=-1.853,-0.088, 0.189, RAW= 262.8, 17.9, CAL= 264.5, 24.1, ROT= 245.5, -24.1
2025-08-23T22:07:57.884Z,1755986877.884 [DAT](INFO): #Rx 117: Read direction message, but no range.
2025-08-23T22:07:57.885Z,1755986877.885 [DAT](INFO): direction in FSK: [-0.378546,-0.830644,0.408330]
2025-08-23T22:07:57.888Z,1755986877.888 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.222141
2025-08-23T22:07:58.142Z,1755986878.142 [DAT](INFO): DAT read: Rx Time:22:07:57.5912
2025-08-23T22:07:58.144Z,1755986878.144 [DAT](INFO): Rx dataTimestamp_ set to:1755986878.142477
2025-08-23T22:07:58.147Z,1755986878.147 [DAT](INFO): DAT read: Bearing 64.2, -43.1 (Local)
2025-08-23T22:07:58.148Z,1755986878.148 [DAT](INFO): Local bearing/azimuth received:
Bearing 64.2, -43.1 (Local)
2025-08-23T22:07:58.158Z,1755986878.158 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:07:58.160Z,1755986878.160 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-08-23T22:07:58.161Z,1755986878.161 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.495094
2025-08-23T22:07:58.265Z,1755986878.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.509270 s,
deltaX: 0.200000 m,
approachRate: 0.392719 m/s,
rangeRepo size: 4
2025-08-23T22:07:58.275Z,1755986878.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.124805 m,
bearing: 29.192807 deg,
lat: 36.779406 deg,
lon: -121.859574 deg,
deltaT: 0.509270 s,
deltaX: 0.198768 m,
approachRate: 0.390299 m/s,
posRepo size: 4
2025-08-23T22:07:58.275Z,1755986878.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:58.386Z,1755986878.386 [DAT](INFO): DAT read: 22:07:57.5912 LVL= 25264, 17809, 13730, 23651, AGC= 46, IDX= 502,-0.17,-1.536, 0.281, 0.666, 0.428, PHS=-1.862,-0.101, 0.195, RAW= 262.4, 18.0, CAL= 264.1, 24.2, ROT= 245.9, -24.2
2025-08-23T22:07:58.387Z,1755986878.387 [DAT](INFO): got valid direction response:
22:07:57.5912 LVL= 25264, 17809, 13730, 23651, AGC= 46, IDX= 502,-0.17,-1.536, 0.281, 0.666, 0.428, PHS=-1.862,-0.101, 0.195, RAW= 262.4, 18.0, CAL= 264.1, 24.2, ROT= 245.9, -24.2
2025-08-23T22:07:58.388Z,1755986878.388 [DAT](INFO): #Rx 119: Read direction message, but no range.
2025-08-23T22:07:58.389Z,1755986878.389 [DAT](INFO): direction in FSK: [-0.372446,-0.832614,0.409923]
2025-08-23T22:07:58.393Z,1755986878.393 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.726749
2025-08-23T22:07:58.605Z,1755986878.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:58.638Z,1755986878.638 [DAT](INFO): DAT read: Rx Time:22:07:58.0911
2025-08-23T22:07:58.640Z,1755986878.640 [DAT](INFO): Rx dataTimestamp_ set to:1755986878.638770
2025-08-23T22:07:58.643Z,1755986878.643 [DAT](INFO): DAT read: Bearing 63.6, -43.6 (Local)
2025-08-23T22:07:58.643Z,1755986878.643 [DAT](INFO): Local bearing/azimuth received:
Bearing 63.6, -43.6 (Local)
2025-08-23T22:07:58.647Z,1755986878.647 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:58.651Z,1755986878.651 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-08-23T22:07:58.658Z,1755986878.658 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:07:58.658Z,1755986878.658 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:07:58.659Z,1755986878.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:07:58.887Z,1755986878.888 [DAT](INFO): Reached modem response timeout
2025-08-23T22:07:58.888Z,1755986878.888 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:07:58.888Z,1755986878.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:07:59.069Z,1755986879.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.496293 s,
deltaX: -0.200000 m,
approachRate: -0.402987 m/s,
rangeRepo size: 4
2025-08-23T22:07:59.070Z,1755986879.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:07:59.195Z,1755986879.195 [DAT](INFO): DAT read: 22:07:58.0911 LVL= 25248, 17649, 14834, 24547, AGC= 46, IDX= 501,-0.18,-2.791,-0.985,-0.572,-0.823, PHS=-1.866,-0.116, 0.207, RAW= 261.7, 18.0, CAL= 263.5, 24.2, ROT= 246.5, -24.2
Rx Time:22:07:58.5911
2025-08-23T22:07:59.196Z,1755986879.196 [DAT](INFO): Rx dataTimestamp_ set to:1755986879.195475
2025-08-23T22:07:59.202Z,1755986879.202 [DAT](INFO): DAT read: Bearing 62.9, -43.9 (Local)
2025-08-23T22:07:59.203Z,1755986879.203 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.9, -43.9 (Local)
2025-08-23T22:07:59.206Z,1755986879.206 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:07:59.223Z,1755986879.223 [DAT](INFO): DAT read: 22:07:58.5911 LVL= 23024, 17681, 16690, 22963, AGC= 46, IDX= 501,-0.19,-2.294,-0.501,-0.066,-0.322, PHS=-1.870,-0.134, 0.213, RAW= 261.1, 18.1, CAL= 263.0, 24.3, ROT= 247.0, -24.3
2025-08-23T22:07:59.224Z,1755986879.224 [DAT](INFO): got valid direction response:
22:07:58.5911 LVL= 23024, 17681, 16690, 22963, AGC= 46, IDX= 501,-0.19,-2.294,-0.501,-0.066,-0.322, PHS=-1.870,-0.134, 0.213, RAW= 261.1, 18.1, CAL= 263.0, 24.3, ROT= 247.0, -24.3
2025-08-23T22:07:59.225Z,1755986879.225 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:07:59.230Z,1755986879.230 [DAT](INFO): direction in FSK: [-0.356114,-0.838951,0.411514]
2025-08-23T22:07:59.230Z,1755986879.230 [DAT](INFO): publishing direction and range info
2025-08-23T22:07:59.234Z,1755986879.234 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:07:59.234Z,1755986879.234 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:07:59.390Z,1755986879.390 [DAT](INFO): Reached modem response timeout
2025-08-23T22:07:59.390Z,1755986879.390 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:07:59.391Z,1755986879.391 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:07:59.567Z,1755986879.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.556705 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:07:59.568Z,1755986879.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926022 m,
bearing: 30.184520 deg,
lat: 36.779406 deg,
lon: -121.859574 deg,
deltaT: 1.052998 s,
deltaX: -0.198784 m,
approachRate: -0.188779 m/s,
posRepo size: 4
2025-08-23T22:07:59.569Z,1755986879.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:07:59.647Z,1755986879.647 [DAT](INFO): DAT read: Rx Time:22:07:59.0910
2025-08-23T22:07:59.648Z,1755986879.648 [DAT](INFO): Rx dataTimestamp_ set to:1755986879.647435
2025-08-23T22:07:59.652Z,1755986879.652 [DAT](INFO): DAT read: Bearing 62.6, -44.4 (Local)
2025-08-23T22:07:59.653Z,1755986879.653 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.6, -44.4 (Local)
2025-08-23T22:07:59.659Z,1755986879.659 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:07:59.661Z,1755986879.661 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:07:59.662Z,1755986879.662 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:07:59.662Z,1755986879.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:07:59.898Z,1755986879.898 [DAT](INFO): DAT read: 22:07:59.0910 LVL= 23008, 17649, 14738, 23507, AGC= 46, IDX= 500,-0.19, 2.681,-1.805,-1.344,-1.618, PHS=-1.882,-0.141, 0.231, RAW= 260.5, 18.0, CAL= 262.5, 24.0, ROT= 247.5, -24.0
2025-08-23T22:07:59.899Z,1755986879.899 [DAT](INFO): got valid direction response:
22:07:59.0910 LVL= 23008, 17649, 14738, 23507, AGC= 46, IDX= 500,-0.19, 2.681,-1.805,-1.344,-1.618, PHS=-1.882,-0.141, 0.231, RAW= 260.5, 18.0, CAL= 262.5, 24.0, ROT= 247.5, -24.0
2025-08-23T22:07:59.900Z,1755986879.900 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:07:59.901Z,1755986879.901 [DAT](INFO): direction in FSK: [-0.349599,-0.844006,0.406737]
2025-08-23T22:07:59.904Z,1755986879.904 [DAT](INFO): Reached modem response timeout
2025-08-23T22:07:59.904Z,1755986879.904 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:07:59.905Z,1755986879.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:00.038Z,1755986880.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.451960 s,
deltaX: -0.100000 m,
approachRate: -0.221259 m/s,
rangeRepo size: 4
2025-08-23T22:08:00.040Z,1755986880.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.826637 m,
bearing: 30.456399 deg,
lat: 36.779405 deg,
lon: -121.859574 deg,
deltaT: 0.451960 s,
deltaX: -0.099384 m,
approachRate: -0.219896 m/s,
posRepo size: 4
2025-08-23T22:08:00.041Z,1755986880.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:08:00.151Z,1755986880.151 [DAT](INFO): DAT read: Rx Time:22:07:59.5911
2025-08-23T22:08:00.153Z,1755986880.153 [DAT](INFO): Rx dataTimestamp_ set to:1755986880.151670
2025-08-23T22:08:00.158Z,1755986880.158 [DAT](INFO): DAT read: Bearing 62.2, -45.1 (Local)
2025-08-23T22:08:00.159Z,1755986880.159 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.2, -45.1 (Local)
2025-08-23T22:08:00.175Z,1755986880.175 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:08:00.185Z,1755986880.185 [DAT](INFO): DAT read: 22:07:59.5911 LVL= 22512, 19361, 14098, 23603, AGC= 47, IDX= 501,-0.19, 3.119,-1.368,-0.873,-1.172, PHS=-1.891,-0.152, 0.254, RAW= 259.7, 17.8, CAL= 261.9, 23.6, ROT= 248.1, -23.6
2025-08-23T22:08:00.191Z,1755986880.191 [DAT](INFO): got valid direction response:
22:07:59.5911 LVL= 22512, 19361, 14098, 23603, AGC= 47, IDX= 501,-0.19, 3.119,-1.368,-0.873,-1.172, PHS=-1.891,-0.152, 0.254, RAW= 259.7, 17.8, CAL= 261.9, 23.6, ROT= 248.1, -23.6
2025-08-23T22:08:00.192Z,1755986880.192 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:08:00.193Z,1755986880.193 [DAT](INFO): direction in FSK: [-0.341792,-0.850235,0.400349]
2025-08-23T22:08:00.202Z,1755986880.202 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:00.211Z,1755986880.211 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:00.211Z,1755986880.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:00.399Z,1755986880.399 [DAT](INFO): Reached modem response timeout
2025-08-23T22:08:00.399Z,1755986880.399 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:00.399Z,1755986880.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:00.467Z,1755986880.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.504235 s,
deltaX: 0.100000 m,
approachRate: 0.198321 m/s,
rangeRepo size: 4
2025-08-23T22:08:00.482Z,1755986880.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926022 m,
bearing: 30.789088 deg,
lat: 36.779405 deg,
lon: -121.859574 deg,
deltaT: 0.504235 s,
deltaX: 0.099384 m,
approachRate: 0.197099 m/s,
posRepo size: 4
2025-08-23T22:08:00.484Z,1755986880.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:00.655Z,1755986880.655 [DAT](INFO): DAT read: Rx Time:22:08:00.0910
2025-08-23T22:08:00.656Z,1755986880.656 [DAT](INFO): Rx dataTimestamp_ set to:1755986880.655366
2025-08-23T22:08:00.660Z,1755986880.660 [DAT](INFO): DAT read: Bearing 62.0, -46.0 (Local)
2025-08-23T22:08:00.661Z,1755986880.661 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.0, -46.0 (Local)
2025-08-23T22:08:00.663Z,1755986880.663 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:08:00.668Z,1755986880.668 [DAT](INFO): DAT read: 22:08:00.0910 LVL= 22352, 19441, 15138, 22739, AGC= 45, IDX= 500,-0.18, 1.963,-2.538,-2.004,-2.332, PHS=-1.886,-0.161, 0.283, RAW= 258.8, 17.4, CAL= 261.1, 23.1, ROT= 248.9, -23.1
2025-08-23T22:08:00.669Z,1755986880.669 [DAT](INFO): got valid direction response:
22:08:00.0910 LVL= 22352, 19441, 15138, 22739, AGC= 45, IDX= 500,-0.18, 1.963,-2.538,-2.004,-2.332, PHS=-1.886,-0.161, 0.283, RAW= 258.8, 17.4, CAL= 261.1, 23.1, ROT= 248.9, -23.1
2025-08-23T22:08:00.674Z,1755986880.674 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:08:00.675Z,1755986880.675 [DAT](INFO): direction in FSK: [-0.331133,-0.858151,0.392337]
2025-08-23T22:08:00.675Z,1755986880.675 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:00.682Z,1755986880.682 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:00.683Z,1755986880.683 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:00.902Z,1755986880.902 [DAT](INFO): Reached modem response timeout
2025-08-23T22:08:00.902Z,1755986880.902 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:00.903Z,1755986880.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:00.912Z,1755986880.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.503696 s,
deltaX: -0.100000 m,
approachRate: -0.198533 m/s,
rangeRepo size: 4
2025-08-23T22:08:00.918Z,1755986880.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.826632 m,
bearing: 31.273273 deg,
lat: 36.779404 deg,
lon: -121.859574 deg,
deltaT: 0.503696 s,
deltaX: -0.099389 m,
approachRate: -0.197320 m/s,
posRepo size: 4
2025-08-23T22:08:00.919Z,1755986880.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:08:01.159Z,1755986881.159 [DAT](INFO): DAT read: Rx Time:22:08:00.5911
2025-08-23T22:08:01.160Z,1755986881.160 [DAT](INFO): Rx dataTimestamp_ set to:1755986881.159218
2025-08-23T22:08:01.162Z,1755986881.162 [DAT](INFO): DAT read: Bearing 62.2, -46.0 (Local)
2025-08-23T22:08:01.163Z,1755986881.163 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.2, -46.0 (Local)
2025-08-23T22:08:01.165Z,1755986881.165 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0
2025-08-23T22:08:01.169Z,1755986881.169 [DAT](INFO): DAT read: 22:08:00.5911 LVL= 23008, 20321, 13250, 23155, AGC= 47, IDX= 501,-0.16,-2.934,-1.142,-0.610,-0.942, PHS=-1.891,-0.155, 0.287, RAW= 258.9, 17.3, CAL= 261.1, 22.9, ROT= 248.9, -22.9
2025-08-23T22:08:01.170Z,1755986881.170 [DAT](INFO): got valid direction response:
22:08:00.5911 LVL= 23008, 20321, 13250, 23155, AGC= 47, IDX= 501,-0.16,-2.934,-1.142,-0.610,-0.942, PHS=-1.891,-0.155, 0.287, RAW= 258.9, 17.3, CAL= 261.1, 22.9, ROT= 248.9, -22.9
2025-08-23T22:08:01.171Z,1755986881.171 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:08:01.172Z,1755986881.172 [DAT](INFO): direction in FSK: [-0.331624,-0.859423,0.389124]
2025-08-23T22:08:01.172Z,1755986881.172 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:01.184Z,1755986881.184 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:01.185Z,1755986881.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:01.295Z,1755986881.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.503852 s,
deltaX: 0.100000 m,
approachRate: 0.198472 m/s,
rangeRepo size: 4
2025-08-23T22:08:01.302Z,1755986881.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926017 m,
bearing: 30.980829 deg,
lat: 36.779404 deg,
lon: -121.859573 deg,
deltaT: 0.503852 s,
deltaX: 0.099384 m,
approachRate: 0.197249 m/s,
posRepo size: 4
2025-08-23T22:08:01.303Z,1755986881.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:01.407Z,1755986881.407 [DAT](INFO): Reached modem response timeout
2025-08-23T22:08:01.408Z,1755986881.408 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:01.408Z,1755986881.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:01.662Z,1755986881.662 [DAT](INFO): DAT read: Rx Time:22:08:01.0910
2025-08-23T22:08:01.662Z,1755986881.662 [DAT](INFO): Rx dataTimestamp_ set to:1755986881.661977
2025-08-23T22:08:01.663Z,1755986881.663 [DAT](INFO): DAT read: Bearing 62.1, -46.3 (Local)
2025-08-23T22:08:01.664Z,1755986881.664 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.1, -46.3 (Local)
2025-08-23T22:08:01.666Z,1755986881.666 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:08:01.670Z,1755986881.670 [DAT](INFO): DAT read: 22:08:01.0910 LVL= 23600, 22049, 12658, 24371, AGC= 47, IDX= 500,-0.13, 2.484,-2.014,-1.476,-1.813, PHS=-1.884,-0.156, 0.293, RAW= 258.7, 17.2, CAL= 261.0, 22.8, ROT= 249.0, -22.8
2025-08-23T22:08:01.671Z,1755986881.671 [DAT](INFO): got valid direction response:
22:08:01.0910 LVL= 23600, 22049, 12658, 24371, AGC= 47, IDX= 500,-0.13, 2.484,-2.014,-1.476,-1.813, PHS=-1.884,-0.156, 0.293, RAW= 258.7, 17.2, CAL= 261.0, 22.8, ROT= 249.0, -22.8
2025-08-23T22:08:01.672Z,1755986881.672 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:08:01.673Z,1755986881.673 [DAT](INFO): direction in FSK: [-0.330366,-0.860633,0.387516]
2025-08-23T22:08:01.673Z,1755986881.673 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:01.677Z,1755986881.677 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:01.677Z,1755986881.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:01.896Z,1755986881.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.502759 s,
deltaX: -0.100000 m,
approachRate: -0.198903 m/s,
rangeRepo size: 4
2025-08-23T22:08:01.898Z,1755986881.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.826632 m,
bearing: 30.917100 deg,
lat: 36.779405 deg,
lon: -121.859573 deg,
deltaT: 0.502759 s,
deltaX: -0.099384 m,
approachRate: -0.197678 m/s,
posRepo size: 4
2025-08-23T22:08:01.899Z,1755986881.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:08:01.910Z,1755986881.910 [DAT](INFO): Reached modem response timeout
2025-08-23T22:08:01.910Z,1755986881.910 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:01.911Z,1755986881.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:02.163Z,1755986882.163 [DAT](INFO): DAT read: Rx Time:22:08:01.5910
2025-08-23T22:08:02.164Z,1755986882.164 [DAT](INFO): Rx dataTimestamp_ set to:1755986882.163347
2025-08-23T22:08:02.165Z,1755986882.165 [DAT](INFO): DAT read: Bearing 61.6, -46.5 (Local)
2025-08-23T22:08:02.165Z,1755986882.165 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.6, -46.5 (Local)
2025-08-23T22:08:02.167Z,1755986882.167 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:08:02.168Z,1755986882.168 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:08:02.168Z,1755986882.168 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:02.168Z,1755986882.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:02.283Z,1755986882.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.501370 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:08:02.283Z,1755986882.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:08:02.418Z,1755986882.418 [DAT](INFO): DAT read: 22:08:01.5910 LVL= 24176, 22753, 13234, 26451, AGC= 45, IDX= 500,-0.07, 2.400,-2.110,-1.556,-1.898, PHS=-1.883,-0.167, 0.298, RAW= 258.3, 17.3, CAL= 260.6, 22.8, ROT= 249.4, -22.8
2025-08-23T22:08:02.419Z,1755986882.419 [DAT](INFO): got valid direction response:
22:08:01.5910 LVL= 24176, 22753, 13234, 26451, AGC= 45, IDX= 500,-0.07, 2.400,-2.110,-1.556,-1.898, PHS=-1.883,-0.167, 0.298, RAW= 258.3, 17.3, CAL= 260.6, 22.8, ROT= 249.4, -22.8
2025-08-23T22:08:02.420Z,1755986882.420 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:08:02.421Z,1755986882.421 [DAT](INFO): direction in FSK: [-0.324350,-0.862919,0.387516]
2025-08-23T22:08:02.424Z,1755986882.424 [DAT](INFO): Reached modem response timeout
2025-08-23T22:08:02.424Z,1755986882.424 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:02.424Z,1755986882.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:02.667Z,1755986882.667 [DAT](INFO): DAT read: Rx Time:22:08:02.0909
2025-08-23T22:08:02.668Z,1755986882.668 [DAT](INFO): Rx dataTimestamp_ set to:1755986882.667355
2025-08-23T22:08:02.669Z,1755986882.669 [DAT](INFO): DAT read: Bearing 61.1, -46.5 (Local)
2025-08-23T22:08:02.669Z,1755986882.669 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.1, -46.5 (Local)
2025-08-23T22:08:02.671Z,1755986882.671 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.0
2025-08-23T22:08:02.676Z,1755986882.676 [DAT](INFO): DAT read: 22:08:02.0909 LVL= 23248, 21777, 12610, 24275, AGC= 44, IDX= 499, 0.01, 1.511,-3.009,-2.443,-2.788, PHS=-1.883,-0.176, 0.300, RAW= 258.0, 17.4, CAL= 260.4, 22.9, ROT= 249.6, -22.9
2025-08-23T22:08:02.677Z,1755986882.677 [DAT](INFO): got valid direction response:
22:08:02.0909 LVL= 23248, 21777, 12610, 24275, AGC= 44, IDX= 499, 0.01, 1.511,-3.009,-2.443,-2.788, PHS=-1.883,-0.176, 0.300, RAW= 258.0, 17.4, CAL= 260.4, 22.9, ROT= 249.6, -22.9
2025-08-23T22:08:02.677Z,1755986882.677 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:08:02.678Z,1755986882.678 [DAT](INFO): direction in FSK: [-0.321099,-0.863410,0.389124]
2025-08-23T22:08:02.679Z,1755986882.679 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:02.686Z,1755986882.686 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:02.686Z,1755986882.686 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:02.705Z,1755986882.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.504008 s,
deltaX: -0.200000 m,
approachRate: -0.396819 m/s,
rangeRepo size: 4
2025-08-23T22:08:02.707Z,1755986882.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.627888 m,
bearing: 31.242027 deg,
lat: 36.779405 deg,
lon: -121.859573 deg,
deltaT: 1.005378 s,
deltaX: -0.198745 m,
approachRate: -0.197682 m/s,
posRepo size: 4
2025-08-23T22:08:02.707Z,1755986882.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:02.918Z,1755986882.918 [DAT](INFO): Reached modem response timeout
2025-08-23T22:08:02.918Z,1755986882.918 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:02.919Z,1755986882.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:03.054Z,1755986883.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:03.171Z,1755986883.171 [DAT](INFO): DAT read: Rx Time:22:08:02.5910
2025-08-23T22:08:03.171Z,1755986883.171 [DAT](INFO): Rx dataTimestamp_ set to:1755986883.171204
2025-08-23T22:08:03.173Z,1755986883.173 [DAT](INFO): DAT read: Bearing 60.1, -47.0 (Local)
2025-08-23T22:08:03.173Z,1755986883.173 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.1, -47.0 (Local)
2025-08-23T22:08:03.175Z,1755986883.175 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:08:03.184Z,1755986883.184 [DAT](INFO): DAT read: 22:08:02.5910 LVL= 23792, 21425, 14802, 27123, AGC= 44, IDX= 500, 0.11,-3.094,-1.366,-0.767,-1.118, PHS=-1.874,-0.203, 0.306, RAW= 257.1, 17.6, CAL= 259.6, 23.0, ROT= 250.4, -23.0
2025-08-23T22:08:03.186Z,1755986883.186 [DAT](INFO): got valid direction response:
22:08:02.5910 LVL= 23792, 21425, 14802, 27123, AGC= 44, IDX= 500, 0.11,-3.094,-1.366,-0.767,-1.118, PHS=-1.874,-0.203, 0.306, RAW= 257.1, 17.6, CAL= 259.6, 23.0, ROT= 250.4, -23.0
2025-08-23T22:08:03.186Z,1755986883.186 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:08:03.188Z,1755986883.188 [DAT](INFO): direction in FSK: [-0.308785,-0.867168,0.390731]
2025-08-23T22:08:03.188Z,1755986883.188 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:03.197Z,1755986883.197 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:03.203Z,1755986883.203 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:03.423Z,1755986883.423 [DAT](INFO): Reached modem response timeout
2025-08-23T22:08:03.423Z,1755986883.423 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:03.423Z,1755986883.423 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:03.432Z,1755986883.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.503849 s,
deltaX: 0.200000 m,
approachRate: 0.396944 m/s,
rangeRepo size: 4
2025-08-23T22:08:03.434Z,1755986883.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.826655 m,
bearing: 31.755578 deg,
lat: 36.779405 deg,
lon: -121.859573 deg,
deltaT: 0.503849 s,
deltaX: 0.198768 m,
approachRate: 0.394498 m/s,
posRepo size: 4
2025-08-23T22:08:03.435Z,1755986883.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:08:03.675Z,1755986883.675 [DAT](INFO): DAT read: Rx Time:22:08:03.0909
2025-08-23T22:08:03.676Z,1755986883.676 [DAT](INFO): Rx dataTimestamp_ set to:1755986883.675351
2025-08-23T22:08:03.677Z,1755986883.677 [DAT](INFO): DAT read: Bearing 59.7, -47.9 (Local)
2025-08-23T22:08:03.677Z,1755986883.677 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.7, -47.9 (Local)
2025-08-23T22:08:03.679Z,1755986883.679 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.0
2025-08-23T22:08:03.684Z,1755986883.684 [DAT](INFO): DAT read: 22:08:03.0909 LVL= 24160, 20753, 14034, 24963, AGC= 42, IDX= 499, 0.23, 1.973,-2.592,-1.955,-2.330, PHS=-1.878,-0.217, 0.331, RAW= 256.2, 17.4, CAL= 258.8, 22.6, ROT= 251.2, -22.6
2025-08-23T22:08:03.685Z,1755986883.685 [DAT](INFO): got valid direction response:
22:08:03.0909 LVL= 24160, 20753, 14034, 24963, AGC= 42, IDX= 499, 0.23, 1.973,-2.592,-1.955,-2.330, PHS=-1.878,-0.217, 0.331, RAW= 256.2, 17.4, CAL= 258.8, 22.6, ROT= 251.2, -22.6
2025-08-23T22:08:03.685Z,1755986883.685 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:08:03.686Z,1755986883.686 [DAT](INFO): direction in FSK: [-0.297519,-0.873956,0.384295]
2025-08-23T22:08:03.686Z,1755986883.686 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:03.690Z,1755986883.690 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:03.690Z,1755986883.690 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:03.860Z,1755986883.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.504147 s,
deltaX: -0.200000 m,
approachRate: -0.396709 m/s,
rangeRepo size: 4
2025-08-23T22:08:03.862Z,1755986883.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.627899 m,
bearing: 32.280827 deg,
lat: 36.779405 deg,
lon: -121.859573 deg,
deltaT: 0.504147 s,
deltaX: -0.198756 m,
approachRate: -0.394243 m/s,
posRepo size: 4
2025-08-23T22:08:03.863Z,1755986883.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:03.926Z,1755986883.926 [DAT](INFO): Reached modem response timeout
2025-08-23T22:08:03.927Z,1755986883.927 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:03.927Z,1755986883.927 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:04.179Z,1755986884.179 [DAT](INFO): DAT read: user:1627>
2025-08-23T22:08:04.180Z,1755986884.180 [DAT](INFO): DAT read: Tx time:22:08:03.9986
2025-08-23T22:08:04.180Z,1755986884.180 [DAT](INFO): Ping request sent.
2025-08-23T22:08:04.180Z,1755986884.180 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:04.181Z,1755986884.181 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:04.182Z,1755986884.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001150
2025-08-23T22:08:04.270Z,1755986884.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:04.431Z,1755986884.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250069
2025-08-23T22:08:04.682Z,1755986884.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501840
2025-08-23T22:08:04.700Z,1755986884.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:04.935Z,1755986884.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754173
2025-08-23T22:08:05.090Z,1755986885.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:05.189Z,1755986885.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008100
2025-08-23T22:08:05.439Z,1755986885.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258003
2025-08-23T22:08:05.486Z,1755986885.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:05.690Z,1755986885.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509929
2025-08-23T22:08:05.907Z,1755986885.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:05.943Z,1755986885.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762735
2025-08-23T22:08:06.195Z,1755986886.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014498
2025-08-23T22:08:06.276Z,1755986886.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:06.449Z,1755986886.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268038
2025-08-23T22:08:06.687Z,1755986886.687 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -9.90, 4. 11.2
2025-08-23T22:08:06.699Z,1755986886.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518105
2025-08-23T22:08:06.705Z,1755986886.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:06.950Z,1755986886.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769944
2025-08-23T22:08:07.086Z,1755986887.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:07.203Z,1755986887.203 [DAT](INFO): DAT read: Rx Time:22:08:06.4189
2025-08-23T22:08:07.204Z,1755986887.204 [DAT](INFO): Rx dataTimestamp_ set to:1755986887.203304
2025-08-23T22:08:07.204Z,1755986887.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023955
2025-08-23T22:08:07.459Z,1755986887.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278076
2025-08-23T22:08:07.494Z,1755986887.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:07.716Z,1755986887.716 [DAT](INFO): DAT read: 22:08:06.4189 LVL= 22496, 17473, 15090, 21043, AGC= 45, IDX= 498, 0.22, 0.254, 1.892, 2.738, 2.233, PHS=-1.877,-0.296, 0.460, RAW= 251.5, 16.3, CAL= 254.5, 20.4, ROT= 255.5, -20.4
2025-08-23T22:08:07.717Z,1755986887.717 [DAT](INFO): got valid direction response:
22:08:06.4189 LVL= 22496, 17473, 15090, 21043, AGC= 45, IDX= 498, 0.22, 0.254, 1.892, 2.738, 2.233, PHS=-1.877,-0.296, 0.460, RAW= 251.5, 16.3, CAL= 254.5, 20.4, ROT= 255.5, -20.4
2025-08-23T22:08:07.718Z,1755986887.718 [DAT](INFO): DAT read: Bearing 57.8, -52.2 (Local)
2025-08-23T22:08:07.719Z,1755986887.719 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.8, -52.2 (Local)
2025-08-23T22:08:07.720Z,1755986887.720 [DAT](INFO): DAT read: Range 11 to 50 : 12.1 m (Round-trip 16.2 ms) speed 0.0 m/s
2025-08-23T22:08:07.721Z,1755986887.721 [DAT](INFO): DAT read: user:1628>
2025-08-23T22:08:07.722Z,1755986887.722 [DAT](INFO): DAT read: Tx time:22:08:07.5486
2025-08-23T22:08:07.722Z,1755986887.722 [DAT](INFO): Ping request sent.
2025-08-23T22:08:07.722Z,1755986887.722 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:07.722Z,1755986887.722 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:08:07.723Z,1755986887.723 [DAT](INFO): direction in FSK: [-0.234677,-0.907427,0.348572]
2025-08-23T22:08:07.723Z,1755986887.723 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:07.724Z,1755986887.724 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:07.728Z,1755986887.728 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:07.728Z,1755986887.728 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:07.930Z,1755986887.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.100000 m,
deltaT: 4.034691 s,
deltaX: 0.400001 m,
approachRate: 0.099140 m/s,
rangeRepo size: 4
2025-08-23T22:08:07.932Z,1755986887.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.025485 m,
bearing: 34.779513 deg,
lat: 36.779405 deg,
lon: -121.859573 deg,
deltaT: 4.034691 s,
deltaX: 0.397586 m,
approachRate: 0.098542 m/s,
posRepo size: 4
2025-08-23T22:08:07.933Z,1755986887.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-23T22:08:08.300Z,1755986888.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-23T22:08:08.728Z,1755986888.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-23T22:08:09.136Z,1755986889.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-23T22:08:09.519Z,1755986889.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-23T22:08:09.942Z,1755986889.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-23T22:08:10.315Z,1755986890.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-23T22:08:10.735Z,1755986890.735 [DAT](INFO): DAT read: Rx Time:22:08:09.9688
2025-08-23T22:08:10.735Z,1755986890.735 [DAT](INFO): Rx dataTimestamp_ set to:1755986890.734738
2025-08-23T22:08:10.750Z,1755986890.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-23T22:08:11.141Z,1755986891.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-23T22:08:11.244Z,1755986891.244 [DAT](INFO): DAT read: 22:08:09.9688 LVL= 24256, 17521, 14690, 19699, AGC= 44, IDX= 433, 0.41,-0.202, 1.345, 2.344, 1.748, PHS=-1.848,-0.358, 0.552, RAW= 247.9, 15.6, CAL= 250.7, 18.6, ROT= 259.3, -18.6
2025-08-23T22:08:11.248Z,1755986891.248 [DAT](INFO): got valid direction response:
22:08:09.9688 LVL= 24256, 17521, 14690, 19699, AGC= 44, IDX= 433, 0.41,-0.202, 1.345, 2.344, 1.748, PHS=-1.848,-0.358, 0.552, RAW= 247.9, 15.6, CAL= 250.7, 18.6, ROT= 259.3, -18.6
2025-08-23T22:08:11.250Z,1755986891.250 [DAT](INFO): DAT read: Bearing 55.4, -55.8 (Local)
2025-08-23T22:08:11.250Z,1755986891.250 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.4, -55.8 (Local)
2025-08-23T22:08:11.251Z,1755986891.251 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (Round-trip 16.1 ms) speed 0.0 m/s
2025-08-23T22:08:11.252Z,1755986891.252 [DAT](INFO): DAT read: user:1629>
2025-08-23T22:08:11.252Z,1755986891.252 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-23T22:08:11.262Z,1755986891.262 [DAT](INFO): direction in FSK: [-0.175969,-0.931289,0.318959]
2025-08-23T22:08:11.262Z,1755986891.262 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:11.490Z,1755986891.490 [DAT](INFO): DAT read: Tx time:22:08:11.0986
2025-08-23T22:08:11.491Z,1755986891.491 [DAT](INFO): Ping request sent.
2025-08-23T22:08:11.491Z,1755986891.491 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:11.491Z,1755986891.491 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:11.579Z,1755986891.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 3.528039 s,
deltaX: -0.100000 m,
approachRate: -0.028344 m/s,
rangeRepo size: 4
2025-08-23T22:08:11.594Z,1755986891.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926223 m,
bearing: 37.367086 deg,
lat: 36.779405 deg,
lon: -121.859573 deg,
deltaT: 3.528039 s,
deltaX: -0.099262 m,
approachRate: -0.028135 m/s,
posRepo size: 4
2025-08-23T22:08:11.636Z,1755986891.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:12.076Z,1755986892.076 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 104.47, 116.70, 98.36
2025-08-23T22:08:12.125Z,1755986892.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:12.532Z,1755986892.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:12.974Z,1755986892.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:13.382Z,1755986893.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:13.831Z,1755986893.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:14.253Z,1755986894.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:14.263Z,1755986894.263 [DAT](INFO): DAT read: Rx Time:22:08:13.5187
2025-08-23T22:08:14.263Z,1755986894.263 [DAT](INFO): Rx dataTimestamp_ set to:1755986894.262854
2025-08-23T22:08:14.780Z,1755986894.780 [DAT](INFO): DAT read: 22:08:13.5187 LVL= 26656, 18161, 12162, 21571, AGC= 43, IDX= 448,-0.46, 1.640, 3.134,-2.026,-2.723, PHS=-1.819,-0.382, 0.653, RAW= 245.4, 14.3, CAL= 247.5, 16.6, ROT= 262.5, -16.6
2025-08-23T22:08:14.786Z,1755986894.786 [DAT](INFO): got valid direction response:
22:08:13.5187 LVL= 26656, 18161, 12162, 21571, AGC= 43, IDX= 448,-0.46, 1.640, 3.134,-2.026,-2.723, PHS=-1.819,-0.382, 0.653, RAW= 245.4, 14.3, CAL= 247.5, 16.6, ROT= 262.5, -16.6
2025-08-23T22:08:14.787Z,1755986894.787 [DAT](INFO): DAT read: Bearing 53.8, -59.1 (Local)
2025-08-23T22:08:14.787Z,1755986894.787 [DAT](INFO): Local bearing/azimuth received:
Bearing 53.8, -59.1 (Local)
2025-08-23T22:08:14.794Z,1755986894.794 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (Round-trip 16.0 ms) speed 0.0 m/s
2025-08-23T22:08:14.795Z,1755986894.795 [DAT](INFO): DAT read: user:1630>
2025-08-23T22:08:14.797Z,1755986894.797 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-23T22:08:14.850Z,1755986894.850 [DAT](INFO): direction in FSK: [-0.125086,-0.950124,0.285688]
2025-08-23T22:08:14.851Z,1755986894.851 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:14.948Z,1755986894.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 3.529411 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:08:14.958Z,1755986894.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.926272 m,
bearing: 39.560513 deg,
lat: 36.779406 deg,
lon: -121.859569 deg,
deltaT: 3.529411 s,
deltaX: 0.000050 m,
approachRate: 0.000014 m/s,
posRepo size: 4
2025-08-23T22:08:14.958Z,1755986894.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:15.019Z,1755986895.019 [DAT](INFO): DAT read: Tx time:22:08:14.6486
2025-08-23T22:08:15.020Z,1755986895.020 [DAT](INFO): Ping request sent.
2025-08-23T22:08:15.020Z,1755986895.020 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:15.020Z,1755986895.020 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:15.390Z,1755986895.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:15.847Z,1755986895.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:16.223Z,1755986896.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:16.697Z,1755986896.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:17.055Z,1755986897.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:17.456Z,1755986897.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:17.791Z,1755986897.791 [DAT](INFO): DAT read: Rx Time:22:08:17.0685
2025-08-23T22:08:17.792Z,1755986897.792 [DAT](INFO): Rx dataTimestamp_ set to:1755986897.791236
2025-08-23T22:08:17.889Z,1755986897.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:18.285Z,1755986898.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:08:18.554Z,1755986898.554 [DAT](INFO): DAT read: 22:08:17.0685 LVL= 20880, 16321, 12354, 19763, AGC= 46, IDX= 446, 0.22, 0.393, 1.807, 2.963, 2.266, PHS=-1.771,-0.414, 0.653, RAW= 243.9, 14.4, CAL= 246.2, 16.8, ROT= 263.8, -16.8
2025-08-23T22:08:18.555Z,1755986898.555 [DAT](INFO): got valid direction response:
22:08:17.0685 LVL= 20880, 16321, 12354, 19763, AGC= 46, IDX= 446, 0.22, 0.393, 1.807, 2.963, 2.266, PHS=-1.771,-0.414, 0.653, RAW= 243.9, 14.4, CAL= 246.2, 16.8, ROT= 263.8, -16.8
2025-08-23T22:08:18.556Z,1755986898.556 [DAT](INFO): DAT read: Bearing 51.7, -59.9 (Local)
2025-08-23T22:08:18.556Z,1755986898.556 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.7, -59.9 (Local)
2025-08-23T22:08:18.565Z,1755986898.565 [DAT](INFO): DAT read: Range 11 to 50 : 11.8 m (Round-trip 15.8 ms) speed 0.0 m/s
2025-08-23T22:08:18.569Z,1755986898.569 [DAT](INFO): DAT read: user:1631>
2025-08-23T22:08:18.571Z,1755986898.571 [DAT](INFO): DAT read: Tx time:22:08:18.1986
2025-08-23T22:08:18.571Z,1755986898.571 [DAT](INFO): Ping request sent.
2025-08-23T22:08:18.571Z,1755986898.571 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:18.572Z,1755986898.572 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-23T22:08:18.575Z,1755986898.575 [DAT](INFO): direction in FSK: [-0.103390,-0.951720,0.289032]
2025-08-23T22:08:18.575Z,1755986898.575 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:18.576Z,1755986898.576 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:18.582Z,1755986898.582 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:18.582Z,1755986898.582 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:18.753Z,1755986898.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.800000 m,
deltaT: 3.778603 s,
deltaX: -0.200000 m,
approachRate: -0.052930 m/s,
rangeRepo size: 4
2025-08-23T22:08:18.775Z,1755986898.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.727998 m,
bearing: 40.590430 deg,
lat: 36.779406 deg,
lon: -121.859568 deg,
deltaT: 3.778603 s,
deltaX: -0.198275 m,
approachRate: -0.052473 m/s,
posRepo size: 4
2025-08-23T22:08:18.777Z,1755986898.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:19.118Z,1755986899.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:19.480Z,1755986899.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:08:19.556Z,1755986899.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:20.030Z,1755986900.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:20.389Z,1755986900.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:20.482Z,1755986900.482 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:08:20.864Z,1755986900.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:21.250Z,1755986901.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:21.319Z,1755986901.319 [DAT](INFO): DAT read: Rx Time:22:08:20.6185
2025-08-23T22:08:21.319Z,1755986901.319 [DAT](INFO): Rx dataTimestamp_ set to:1755986901.318704
2025-08-23T22:08:21.688Z,1755986901.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:22.084Z,1755986902.084 [DAT](INFO): DAT read: 22:08:20.6185 LVL= 18784, 18305, 15314, 19155, AGC= 46, IDX= 446, 0.27,-0.335, 1.009, 2.267, 1.529, PHS=-1.762,-0.475, 0.694, RAW= 241.6, 14.4, CAL= 243.9, 16.7, ROT= 266.1, -16.7
2025-08-23T22:08:22.085Z,1755986902.085 [DAT](INFO): got valid direction response:
22:08:20.6185 LVL= 18784, 18305, 15314, 19155, AGC= 46, IDX= 446, 0.27,-0.335, 1.009, 2.267, 1.529, PHS=-1.762,-0.475, 0.694, RAW= 241.6, 14.4, CAL= 243.9, 16.7, ROT= 266.1, -16.7
2025-08-23T22:08:22.095Z,1755986902.095 [DAT](INFO): DAT read: Bearing 48.3, -61.3 (Local)
2025-08-23T22:08:22.096Z,1755986902.096 [DAT](INFO): Local bearing/azimuth received:
Bearing 48.3, -61.3 (Local)
2025-08-23T22:08:22.097Z,1755986902.097 [DAT](INFO): DAT read: Range 11 to 50 : 11.8 m (Round-trip 15.8 ms) speed 0.0 m/s
2025-08-23T22:08:22.103Z,1755986902.103 [DAT](INFO): DAT read: user:1632>
2025-08-23T22:08:22.103Z,1755986902.103 [DAT](INFO): DAT read: Tx time:22:08:21.7486
2025-08-23T22:08:22.104Z,1755986902.104 [DAT](INFO): Ping request sent.
2025-08-23T22:08:22.104Z,1755986902.104 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:22.104Z,1755986902.104 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-23T22:08:22.105Z,1755986902.105 [DAT](INFO): direction in FSK: [-0.065146,-0.955604,0.287361]
2025-08-23T22:08:22.114Z,1755986902.114 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:22.114Z,1755986902.114 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:22.117Z,1755986902.117 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:22.117Z,1755986902.117 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:22.240Z,1755986902.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.800000 m,
deltaT: 3.528199 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:08:22.246Z,1755986902.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.728161 m,
bearing: 42.911241 deg,
lat: 36.779406 deg,
lon: -121.859567 deg,
deltaT: 3.528199 s,
deltaX: 0.000163 m,
approachRate: 0.000046 m/s,
posRepo size: 4
2025-08-23T22:08:22.247Z,1755986902.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:22.529Z,1755986902.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:22.968Z,1755986902.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:23.393Z,1755986903.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:23.851Z,1755986903.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:24.290Z,1755986904.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:24.694Z,1755986904.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:25.099Z,1755986905.099 [DAT](INFO): DAT read: Rx Time:22:08:24.1685
2025-08-23T22:08:25.099Z,1755986905.099 [DAT](INFO): Rx dataTimestamp_ set to:1755986905.098757
2025-08-23T22:08:25.127Z,1755986905.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:25.535Z,1755986905.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:25.607Z,1755986905.607 [DAT](INFO): DAT read: Range 11 to 50 : 11.8 m (Round-trip 15.8 ms) speed 0.0 m/s
2025-08-23T22:08:25.608Z,1755986905.608 [DAT](INFO): DAT read: user:1633>
2025-08-23T22:08:25.609Z,1755986905.609 [DAT](INFO): DAT read: Tx time:22:08:25.2986
2025-08-23T22:08:25.610Z,1755986905.610 [DAT](INFO): Ping request sent.
2025-08-23T22:08:25.610Z,1755986905.610 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:25.610Z,1755986905.610 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-08-23T22:08:25.611Z,1755986905.611 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:25.612Z,1755986905.612 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:25.955Z,1755986905.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.800000 m,
deltaT: 3.529790 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:08:25.955Z,1755986905.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:26.311Z,1755986906.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:26.707Z,1755986906.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:27.135Z,1755986907.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:27.549Z,1755986907.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:28.011Z,1755986908.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:28.440Z,1755986908.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:28.627Z,1755986908.627 [DAT](INFO): DAT read: Rx Time:22:08:27.7183
2025-08-23T22:08:28.627Z,1755986908.627 [DAT](INFO): Rx dataTimestamp_ set to:1755986908.626738
2025-08-23T22:08:28.819Z,1755986908.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:29.136Z,1755986909.136 [DAT](INFO): DAT read: 22:08:27.7183 LVL= 21120, 17969, 15154, 21635, AGC= 46, IDX= 444, 0.07, 1.307, 2.561,-2.350, 3.118, PHS=-1.709,-0.512, 0.771, RAW= 238.9, 13.4, CAL= 240.8, 15.5, ROT= 269.2, -15.5
2025-08-23T22:08:29.137Z,1755986909.137 [DAT](INFO): got valid direction response:
22:08:27.7183 LVL= 21120, 17969, 15154, 21635, AGC= 46, IDX= 444, 0.07, 1.307, 2.561,-2.350, 3.118, PHS=-1.709,-0.512, 0.771, RAW= 238.9, 13.4, CAL= 240.8, 15.5, ROT= 269.2, -15.5
2025-08-23T22:08:29.138Z,1755986909.138 [DAT](INFO): DAT read: Bearing 44.3, -64.8 (Local)
2025-08-23T22:08:29.138Z,1755986909.138 [DAT](INFO): Local bearing/azimuth received:
Bearing 44.3, -64.8 (Local)
2025-08-23T22:08:29.140Z,1755986909.140 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (Round-trip 15.6 ms) speed 0.0 m/s
2025-08-23T22:08:29.141Z,1755986909.141 [DAT](INFO): DAT read: user:1634>
2025-08-23T22:08:29.148Z,1755986909.148 [DAT](INFO): DAT read: Tx time:22:08:28.8486
2025-08-23T22:08:29.148Z,1755986909.148 [DAT](INFO): Ping request sent.
2025-08-23T22:08:29.148Z,1755986909.148 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:29.148Z,1755986909.148 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-23T22:08:29.157Z,1755986909.157 [DAT](INFO): direction in FSK: [-0.013454,-0.963537,0.267238]
2025-08-23T22:08:29.158Z,1755986909.158 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:29.158Z,1755986909.158 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:29.161Z,1755986909.161 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:29.161Z,1755986909.161 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:29.311Z,1755986909.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 3.525862 s,
deltaX: -0.100000 m,
approachRate: -0.028362 m/s,
rangeRepo size: 4
2025-08-23T22:08:29.321Z,1755986909.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.628942 m,
bearing: 46.734880 deg,
lat: 36.779406 deg,
lon: -121.859567 deg,
deltaT: 7.055652 s,
deltaX: -0.099218 m,
approachRate: -0.014062 m/s,
posRepo size: 4
2025-08-23T22:08:29.322Z,1755986909.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:29.632Z,1755986909.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:30.058Z,1755986910.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:30.486Z,1755986910.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:30.909Z,1755986910.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:31.324Z,1755986911.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:31.724Z,1755986911.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:32.139Z,1755986912.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:32.156Z,1755986912.156 [DAT](INFO): DAT read: Rx Time:22:08:31.2683
2025-08-23T22:08:32.157Z,1755986912.157 [DAT](INFO): Rx dataTimestamp_ set to:1755986912.156438
2025-08-23T22:08:32.566Z,1755986912.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:32.666Z,1755986912.666 [DAT](INFO): DAT read: 22:08:31.2683 LVL= 21040, 17521, 16370, 20707, AGC= 47, IDX= 444, 0.16, 0.443, 1.636, 2.985, 2.228, PHS=-1.684,-0.547, 0.712, RAW= 238.3, 14.5, CAL= 240.8, 16.7, ROT= 269.2, -16.7
2025-08-23T22:08:32.668Z,1755986912.668 [DAT](INFO): got valid direction response:
22:08:31.2683 LVL= 21040, 17521, 16370, 20707, AGC= 47, IDX= 444, 0.16, 0.443, 1.636, 2.985, 2.228, PHS=-1.684,-0.547, 0.712, RAW= 238.3, 14.5, CAL= 240.8, 16.7, ROT= 269.2, -16.7
2025-08-23T22:08:32.669Z,1755986912.669 [DAT](INFO): DAT read: Bearing 44.2, -64.1 (Local)
2025-08-23T22:08:32.670Z,1755986912.670 [DAT](INFO): Local bearing/azimuth received:
Bearing 44.2, -64.1 (Local)
2025-08-23T22:08:32.672Z,1755986912.672 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (Round-trip 15.6 ms) speed 0.0 m/s
2025-08-23T22:08:32.673Z,1755986912.673 [DAT](INFO): DAT read: user:1635>
2025-08-23T22:08:32.674Z,1755986912.674 [DAT](INFO): DAT read: Tx time:22:08:32.3986
2025-08-23T22:08:32.674Z,1755986912.674 [DAT](INFO): Ping request sent.
2025-08-23T22:08:32.675Z,1755986912.675 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:32.675Z,1755986912.675 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-23T22:08:32.676Z,1755986912.676 [DAT](INFO): direction in FSK: [-0.013373,-0.957729,0.287361]
2025-08-23T22:08:32.677Z,1755986912.677 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:32.677Z,1755986912.677 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:32.684Z,1755986912.684 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:32.684Z,1755986912.684 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:32.993Z,1755986912.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 3.528338 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:08:32.999Z,1755986912.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.628701 m,
bearing: 48.274923 deg,
lat: 36.779406 deg,
lon: -121.859568 deg,
deltaT: 3.528338 s,
deltaX: -0.000241 m,
approachRate: -0.000068 m/s,
posRepo size: 4
2025-08-23T22:08:32.000Z,1755986913.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:33.350Z,1755986913.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:33.730Z,1755986913.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:34.151Z,1755986914.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:34.541Z,1755986914.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:34.974Z,1755986914.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:35.440Z,1755986915.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:35.683Z,1755986915.683 [DAT](INFO): DAT read: Rx Time:22:08:34.8183
2025-08-23T22:08:35.683Z,1755986915.683 [DAT](INFO): Rx dataTimestamp_ set to:1755986915.683128
2025-08-23T22:08:35.848Z,1755986915.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:36.214Z,1755986916.214 [DAT](INFO): DAT read: 22:08:34.8183 LVL= 20976, 18705, 15522, 24035, AGC= 48, IDX= 444, 0.26,-0.805, 0.344, 1.749, 0.964, PHS=-1.667,-0.575, 0.742, RAW= 236.9, 14.2, CAL= 239.3, 16.4, ROT= 270.7, -16.4
2025-08-23T22:08:36.215Z,1755986916.215 [DAT](INFO): got valid direction response:
22:08:34.8183 LVL= 20976, 18705, 15522, 24035, AGC= 48, IDX= 444, 0.26,-0.805, 0.344, 1.749, 0.964, PHS=-1.667,-0.575, 0.742, RAW= 236.9, 14.2, CAL= 239.3, 16.4, ROT= 270.7, -16.4
2025-08-23T22:08:36.216Z,1755986916.216 [DAT](INFO): DAT read: Bearing 43.2, -65.4 (Local)
2025-08-23T22:08:36.217Z,1755986916.217 [DAT](INFO): Local bearing/azimuth received:
Bearing 43.2, -65.4 (Local)
2025-08-23T22:08:36.219Z,1755986916.219 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (Round-trip 15.6 ms) speed 0.0 m/s
2025-08-23T22:08:36.220Z,1755986916.220 [DAT](INFO): DAT read: user:1636>
2025-08-23T22:08:36.221Z,1755986916.221 [DAT](INFO): DAT read: Tx time:22:08:35.9486
2025-08-23T22:08:36.221Z,1755986916.221 [DAT](INFO): Ping request sent.
2025-08-23T22:08:36.221Z,1755986916.221 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:36.223Z,1755986916.223 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-23T22:08:36.224Z,1755986916.224 [DAT](INFO): direction in FSK: [0.011720,-0.959242,0.282341]
2025-08-23T22:08:36.225Z,1755986916.225 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:36.225Z,1755986916.225 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:36.268Z,1755986916.268 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:36.269Z,1755986916.269 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:36.409Z,1755986916.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 3.528018 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:08:36.424Z,1755986916.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.627735 m,
bearing: 50.675317 deg,
lat: 36.779405 deg,
lon: -121.859569 deg,
deltaT: 3.528018 s,
deltaX: -0.000966 m,
approachRate: -0.000274 m/s,
posRepo size: 4
2025-08-23T22:08:36.424Z,1755986916.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:36.807Z,1755986916.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:37.270Z,1755986917.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:37.641Z,1755986917.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:38.103Z,1755986918.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:38.464Z,1755986918.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:38.882Z,1755986918.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:39.215Z,1755986919.215 [DAT](INFO): DAT read: Rx Time:22:08:38.3684
2025-08-23T22:08:39.217Z,1755986919.217 [DAT](INFO): Rx dataTimestamp_ set to:1755986919.215901
2025-08-23T22:08:39.303Z,1755986919.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:39.711Z,1755986919.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:39.720Z,1755986919.720 [DAT](INFO): DAT read: 22:08:38.3684 LVL= 22304, 19089, 14306, 24755, AGC= 47, IDX= 445,-0.39, 2.992,-2.182,-0.716,-1.542, PHS=-1.647,-0.594, 0.782, RAW= 235.6, 13.7, CAL= 237.8, 15.8, ROT= 272.2, -15.8
2025-08-23T22:08:39.721Z,1755986919.721 [DAT](INFO): got valid direction response:
22:08:38.3684 LVL= 22304, 19089, 14306, 24755, AGC= 47, IDX= 445,-0.39, 2.992,-2.182,-0.716,-1.542, PHS=-1.647,-0.594, 0.782, RAW= 235.6, 13.7, CAL= 237.8, 15.8, ROT= 272.2, -15.8
2025-08-23T22:08:39.722Z,1755986919.722 [DAT](INFO): DAT read: Bearing 41.6, -66.5 (Local)
2025-08-23T22:08:39.723Z,1755986919.723 [DAT](INFO): Local bearing/azimuth received:
Bearing 41.6, -66.5 (Local)
2025-08-23T22:08:39.724Z,1755986919.724 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (Round-trip 15.7 ms) speed 0.0 m/s
2025-08-23T22:08:39.725Z,1755986919.725 [DAT](INFO): DAT read: user:1637>
2025-08-23T22:08:39.726Z,1755986919.726 [DAT](INFO): DAT read: Tx time:22:08:39.4986
2025-08-23T22:08:39.726Z,1755986919.726 [DAT](INFO): Ping request sent.
2025-08-23T22:08:39.726Z,1755986919.726 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:39.726Z,1755986919.726 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-23T22:08:39.727Z,1755986919.727 [DAT](INFO): direction in FSK: [0.036938,-0.961509,0.272280]
2025-08-23T22:08:39.728Z,1755986919.728 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:39.728Z,1755986919.728 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:39.766Z,1755986919.766 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:39.766Z,1755986919.766 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:40.143Z,1755986920.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 3.527785 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:08:40.145Z,1755986920.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.628098 m,
bearing: 53.097999 deg,
lat: 36.779405 deg,
lon: -121.859571 deg,
deltaT: 3.527785 s,
deltaX: 0.000363 m,
approachRate: 0.000103 m/s,
posRepo size: 4
2025-08-23T22:08:40.145Z,1755986920.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:40.527Z,1755986920.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:40.931Z,1755986920.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:41.359Z,1755986921.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:41.831Z,1755986921.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:42.227Z,1755986922.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:42.645Z,1755986922.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:42.739Z,1755986922.739 [DAT](INFO): DAT read: Rx Time:22:08:41.9183
2025-08-23T22:08:42.739Z,1755986922.739 [DAT](INFO): Rx dataTimestamp_ set to:1755986922.738774
2025-08-23T22:08:43.054Z,1755986923.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:43.248Z,1755986923.248 [DAT](INFO): DAT read: 22:08:41.9183 LVL= 23744, 23169, 18210, 27315, AGC= 48, IDX= 444, 0.15,-2.950,-1.927,-0.441,-1.205, PHS=-1.643,-0.677, 0.720, RAW= 234.0, 15.4, CAL= 236.9, 17.6, ROT= 273.1, -17.6
2025-08-23T22:08:43.251Z,1755986923.251 [DAT](INFO): got valid direction response:
22:08:41.9183 LVL= 23744, 23169, 18210, 27315, AGC= 48, IDX= 444, 0.15,-2.950,-1.927,-0.441,-1.205, PHS=-1.643,-0.677, 0.720, RAW= 234.0, 15.4, CAL= 236.9, 17.6, ROT= 273.1, -17.6
2025-08-23T22:08:43.252Z,1755986923.252 [DAT](INFO): DAT read: Bearing 38.6, -64.9 (Local)
2025-08-23T22:08:43.253Z,1755986923.253 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.6, -64.9 (Local)
2025-08-23T22:08:43.255Z,1755986923.255 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (Round-trip 15.6 ms) speed 0.0 m/s
2025-08-23T22:08:43.256Z,1755986923.256 [DAT](INFO): DAT read: user:1638>
2025-08-23T22:08:43.257Z,1755986923.257 [DAT](INFO): DAT read: Tx time:22:08:43.0486
2025-08-23T22:08:43.257Z,1755986923.257 [DAT](INFO): Ping request sent.
2025-08-23T22:08:43.257Z,1755986923.257 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:43.262Z,1755986923.262 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-23T22:08:43.263Z,1755986923.263 [DAT](INFO): direction in FSK: [0.051548,-0.951796,0.302370]
2025-08-23T22:08:43.263Z,1755986923.263 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:43.263Z,1755986923.263 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:43.271Z,1755986923.271 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:43.271Z,1755986923.271 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:43.495Z,1755986923.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 3.527922 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:08:43.497Z,1755986923.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.628263 m,
bearing: 54.382345 deg,
lat: 36.779405 deg,
lon: -121.859572 deg,
deltaT: 3.527922 s,
deltaX: 0.000165 m,
approachRate: 0.000047 m/s,
posRepo size: 4
2025-08-23T22:08:43.502Z,1755986923.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:43.842Z,1755986923.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:44.274Z,1755986924.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:44.686Z,1755986924.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:45.103Z,1755986925.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:45.585Z,1755986925.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:45.987Z,1755986925.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:46.267Z,1755986926.267 [DAT](INFO): DAT read: Rx Time:22:08:45.4683
2025-08-23T22:08:46.267Z,1755986926.267 [DAT](INFO): Rx dataTimestamp_ set to:1755986926.266688
2025-08-23T22:08:46.414Z,1755986926.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:46.776Z,1755986926.776 [DAT](INFO): DAT read: 22:08:45.4683 LVL= 25392, 25585, 20562, 32755, AGC= 47, IDX= 444, 0.29, 1.915, 2.793,-1.865,-2.637, PHS=-1.630,-0.809, 0.728, RAW= 230.1, 16.3, CAL= 233.5, 18.7, ROT= 276.5, -18.7
2025-08-23T22:08:46.777Z,1755986926.777 [DAT](INFO): got valid direction response:
22:08:45.4683 LVL= 25392, 25585, 20562, 32755, AGC= 47, IDX= 444, 0.29, 1.915, 2.793,-1.865,-2.637, PHS=-1.630,-0.809, 0.728, RAW= 230.1, 16.3, CAL= 233.5, 18.7, ROT= 276.5, -18.7
2025-08-23T22:08:46.778Z,1755986926.778 [DAT](INFO): DAT read: Bearing 30.4, -64.6 (Local)
2025-08-23T22:08:46.779Z,1755986926.779 [DAT](INFO): Local bearing/azimuth received:
Bearing 30.4, -64.6 (Local)
2025-08-23T22:08:46.780Z,1755986926.780 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (Round-trip 15.6 ms) speed 0.0 m/s
2025-08-23T22:08:46.781Z,1755986926.781 [DAT](INFO): DAT read: user:1639>
2025-08-23T22:08:46.782Z,1755986926.782 [DAT](INFO): DAT read: Tx time:22:08:46.5986
2025-08-23T22:08:46.782Z,1755986926.782 [DAT](INFO): Ping request sent.
2025-08-23T22:08:46.782Z,1755986926.782 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:46.782Z,1755986926.782 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-23T22:08:46.783Z,1755986926.783 [DAT](INFO): direction in FSK: [0.107227,-0.941121,0.320613]
2025-08-23T22:08:46.784Z,1755986926.784 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:46.784Z,1755986926.784 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:46.791Z,1755986926.791 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:46.791Z,1755986926.791 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:46.873Z,1755986926.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 3.528042 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:08:46.884Z,1755986926.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.627798 m,
bearing: 57.171844 deg,
lat: 36.779405 deg,
lon: -121.859573 deg,
deltaT: 3.528042 s,
deltaX: -0.000465 m,
approachRate: -0.000132 m/s,
posRepo size: 4
2025-08-23T22:08:46.884Z,1755986926.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:47.251Z,1755986927.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:47.598Z,1755986927.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:48.029Z,1755986928.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:48.501Z,1755986928.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:48.853Z,1755986928.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:49.283Z,1755986929.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:49.683Z,1755986929.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:49.795Z,1755986929.795 [DAT](INFO): DAT read: Rx Time:22:08:49.0185
2025-08-23T22:08:49.796Z,1755986929.796 [DAT](INFO): Rx dataTimestamp_ set to:1755986929.795327
2025-08-23T22:08:50.091Z,1755986930.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:08:50.304Z,1755986930.304 [DAT](INFO): DAT read: 22:08:49.0185 LVL= 29808, 29361, 30514, 32755, AGC= 48, IDX= 446, 0.02, 0.684, 1.327, 3.103, 2.373, PHS=-1.586,-1.000, 0.687, RAW= 224.4, 18.2, CAL= 228.2, 21.5, ROT= 281.8, -21.5
2025-08-23T22:08:50.305Z,1755986930.305 [DAT](INFO): got valid direction response:
22:08:49.0185 LVL= 29808, 29361, 30514, 32755, AGC= 48, IDX= 446, 0.02, 0.684, 1.327, 3.103, 2.373, PHS=-1.586,-1.000, 0.687, RAW= 224.4, 18.2, CAL= 228.2, 21.5, ROT= 281.8, -21.5
2025-08-23T22:08:50.306Z,1755986930.306 [DAT](INFO): DAT read: Bearing 18.0, -61.5 (Local)
2025-08-23T22:08:50.306Z,1755986930.306 [DAT](INFO): Local bearing/azimuth received:
Bearing 18.0, -61.5 (Local)
2025-08-23T22:08:50.307Z,1755986930.307 [DAT](INFO): DAT read: Range 11 to 50 : 11.8 m (Round-trip 15.8 ms) speed 0.0 m/s
2025-08-23T22:08:50.308Z,1755986930.308 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-23T22:08:50.309Z,1755986930.309 [DAT](INFO): direction in FSK: [0.190267,-0.910755,0.366501]
2025-08-23T22:08:50.309Z,1755986930.309 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:50.535Z,1755986930.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.800000 m,
deltaT: 3.527871 s,
deltaX: 0.100000 m,
approachRate: 0.028346 m/s,
rangeRepo size: 4
2025-08-23T22:08:50.539Z,1755986930.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.727556 m,
bearing: 61.196635 deg,
lat: 36.779405 deg,
lon: -121.859576 deg,
deltaT: 3.527871 s,
deltaX: 0.099758 m,
approachRate: 0.028277 m/s,
posRepo size: 4
2025-08-23T22:08:50.539Z,1755986930.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:50.606Z,1755986930.606 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:08:50.891Z,1755986930.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:51.322Z,1755986931.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:51.610Z,1755986931.610 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:08:51.740Z,1755986931.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:52.149Z,1755986932.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:52.577Z,1755986932.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:53.024Z,1755986933.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:53.465Z,1755986933.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:53.849Z,1755986933.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:54.352Z,1755986934.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:54.740Z,1755986934.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:55.207Z,1755986935.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:55.603Z,1755986935.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:08:55.610Z,1755986935.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:55.843Z,1755986935.843 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:08:55.843Z,1755986935.843 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:08:56.051Z,1755986936.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:56.095Z,1755986936.095 [DAT](INFO): DAT read: user:1640>
2025-08-23T22:08:56.096Z,1755986936.096 [DAT](INFO): DAT read: Tx time:22:08:55.7486
2025-08-23T22:08:56.096Z,1755986936.096 [DAT](INFO): Ping request sent.
2025-08-23T22:08:56.096Z,1755986936.096 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:08:56.097Z,1755986936.097 [DAT](INFO): publishing transmit ping time
2025-08-23T22:08:56.098Z,1755986936.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001169
2025-08-23T22:08:56.347Z,1755986936.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249979
2025-08-23T22:08:56.542Z,1755986936.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:56.599Z,1755986936.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502400
2025-08-23T22:08:56.851Z,1755986936.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754013
2025-08-23T22:08:56.883Z,1755986936.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:57.103Z,1755986937.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006472
2025-08-23T22:08:57.309Z,1755986937.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:57.355Z,1755986937.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258196
2025-08-23T22:08:57.607Z,1755986937.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510333
2025-08-23T22:08:57.802Z,1755986937.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:57.859Z,1755986937.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762783
2025-08-23T22:08:58.111Z,1755986938.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014015
2025-08-23T22:08:58.168Z,1755986938.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:58.363Z,1755986938.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266640
2025-08-23T22:08:58.604Z,1755986938.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:58.623Z,1755986938.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526025
2025-08-23T22:08:58.875Z,1755986938.875 [DAT](INFO): DAT read: Rx Time:22:08:58.1687
2025-08-23T22:08:58.875Z,1755986938.875 [DAT](INFO): Rx dataTimestamp_ set to:1755986938.874720
2025-08-23T22:08:58.876Z,1755986938.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779058
2025-08-23T22:08:59.072Z,1755986939.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:59.126Z,1755986939.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029969
2025-08-23T22:08:59.389Z,1755986939.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.292109
2025-08-23T22:08:59.487Z,1755986939.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.73 m.
2025-08-23T22:08:59.647Z,1755986939.647 [DAT](INFO): DAT read: 22:08:58.1687 LVL= 29136, 23697, 24130, 32755, AGC= 51, IDX= 448,-0.32, 2.707, 2.907,-1.262,-2.127, PHS=-1.347,-1.204, 0.821, RAW= 213.4, 16.2, CAL= 216.1, 19.4, ROT= 293.9, -19.4
2025-08-23T22:08:59.648Z,1755986939.648 [DAT](INFO): got valid direction response:
22:08:58.1687 LVL= 29136, 23697, 24130, 32755, AGC= 51, IDX= 448,-0.32, 2.707, 2.907,-1.262,-2.127, PHS=-1.347,-1.204, 0.821, RAW= 213.4, 16.2, CAL= 216.1, 19.4, ROT= 293.9, -19.4
2025-08-23T22:08:59.650Z,1755986939.650 [DAT](INFO): DAT read: Bearing 349.7, -59.1 (Local)
2025-08-23T22:08:59.650Z,1755986939.650 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.7, -59.1 (Local)
2025-08-23T22:08:59.652Z,1755986939.652 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (Round-trip 16.0 ms) speed 0.0 m/s
2025-08-23T22:08:59.652Z,1755986939.652 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:08:59.653Z,1755986939.653 [DAT](INFO): direction in FSK: [0.382139,-0.862345,0.332161]
2025-08-23T22:08:59.654Z,1755986939.654 [DAT](INFO): publishing direction and range info
2025-08-23T22:08:59.855Z,1755986939.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 9.342078 s,
deltaX: 0.200000 m,
approachRate: 0.021408 m/s,
rangeRepo size: 4
2025-08-23T22:08:59.857Z,1755986939.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.925877 m,
bearing: 68.857037 deg,
lat: 36.779405 deg,
lon: -121.859576 deg,
deltaT: 9.342078 s,
deltaX: 0.198320 m,
approachRate: 0.021229 m/s,
posRepo size: 4
2025-08-23T22:08:59.858Z,1755986939.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:00.236Z,1755986940.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:00.660Z,1755986940.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:01.043Z,1755986941.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:01.464Z,1755986941.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:01.854Z,1755986941.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:02.240Z,1755986942.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:02.659Z,1755986942.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:03.062Z,1755986943.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:03.497Z,1755986943.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:03.895Z,1755986943.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:04.302Z,1755986944.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:04.726Z,1755986944.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:05.132Z,1755986945.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:05.571Z,1755986945.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:05.968Z,1755986945.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:06.354Z,1755986946.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:06.776Z,1755986946.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:07.220Z,1755986947.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:07.639Z,1755986947.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:08.074Z,1755986948.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:08.607Z,1755986948.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:08.918Z,1755986948.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:09.318Z,1755986949.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:09.742Z,1755986949.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:10.163Z,1755986950.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:10.580Z,1755986950.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:10.940Z,1755986950.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:11.351Z,1755986951.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:11.782Z,1755986951.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:12.187Z,1755986952.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:12.618Z,1755986952.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:13.011Z,1755986953.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:13.388Z,1755986953.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:13.824Z,1755986953.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:14.232Z,1755986954.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:14.698Z,1755986954.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:15.059Z,1755986955.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:15.471Z,1755986955.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:15.901Z,1755986955.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:16.310Z,1755986956.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:16.769Z,1755986956.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:17.160Z,1755986957.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:17.658Z,1755986957.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:18.095Z,1755986958.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:18.509Z,1755986958.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:18.928Z,1755986958.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:19.323Z,1755986959.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:19.745Z,1755986959.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:20.113Z,1755986960.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:20.521Z,1755986960.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:20.966Z,1755986960.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:21.405Z,1755986961.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:21.734Z,1755986961.734 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:09:21.848Z,1755986961.848 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -81.77, +155.70, -4.1
2025-08-23T22:09:21.881Z,1755986961.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:22.268Z,1755986962.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:22.738Z,1755986962.738 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:09:22.773Z,1755986962.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:23.184Z,1755986963.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:23.592Z,1755986963.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:24.013Z,1755986964.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:24.384Z,1755986964.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:24.813Z,1755986964.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:25.224Z,1755986965.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:25.605Z,1755986965.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:26.026Z,1755986966.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:26.421Z,1755986966.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:26.845Z,1755986966.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:27.231Z,1755986967.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:27.625Z,1755986967.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:28.061Z,1755986968.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:28.479Z,1755986968.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:28.927Z,1755986968.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:29.350Z,1755986969.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:29.764Z,1755986969.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:30.238Z,1755986970.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:30.654Z,1755986970.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:31.072Z,1755986971.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:31.460Z,1755986971.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:31.918Z,1755986971.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:32.262Z,1755986972.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:32.656Z,1755986972.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:33.099Z,1755986973.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:33.515Z,1755986973.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:33.980Z,1755986973.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:34.396Z,1755986974.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:34.967Z,1755986974.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:35.384Z,1755986975.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:35.798Z,1755986975.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:36.239Z,1755986976.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:36.702Z,1755986976.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:37.126Z,1755986977.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:37.538Z,1755986977.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:38.008Z,1755986978.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:38.404Z,1755986978.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:38.823Z,1755986978.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:39.249Z,1755986979.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:39.651Z,1755986979.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:40.071Z,1755986980.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:40.490Z,1755986980.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:40.891Z,1755986980.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:41.392Z,1755986981.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:41.806Z,1755986981.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:42.247Z,1755986982.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:42.657Z,1755986982.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:43.111Z,1755986983.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:43.492Z,1755986983.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:43.909Z,1755986983.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:44.321Z,1755986984.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:44.716Z,1755986984.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:45.147Z,1755986985.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:45.570Z,1755986985.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:45.963Z,1755986985.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:46.418Z,1755986986.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:46.773Z,1755986986.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:47.208Z,1755986987.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:47.607Z,1755986987.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:48.114Z,1755986988.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:48.510Z,1755986988.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:48.959Z,1755986988.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:49.347Z,1755986989.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:49.750Z,1755986989.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:50.188Z,1755986990.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:50.592Z,1755986990.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:51.001Z,1755986991.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:51.439Z,1755986991.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:51.858Z,1755986991.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:52.278Z,1755986992.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:52.670Z,1755986992.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:52.858Z,1755986992.858 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:09:53.091Z,1755986993.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:53.559Z,1755986993.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:53.862Z,1755986993.862 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:09:53.945Z,1755986993.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:54.428Z,1755986994.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:54.753Z,1755986994.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:55.240Z,1755986995.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:55.642Z,1755986995.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:09:55.644Z,1755986995.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:55.863Z,1755986995.863 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:09:55.864Z,1755986995.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:09:56.080Z,1755986996.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:56.117Z,1755986996.117 [DAT](INFO): DAT read: user:1641>
2025-08-23T22:09:56.118Z,1755986996.118 [DAT](INFO): DAT read: Tx time:22:09:55.7984
2025-08-23T22:09:56.118Z,1755986996.118 [DAT](INFO): Ping request sent.
2025-08-23T22:09:56.118Z,1755986996.118 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:09:56.118Z,1755986996.118 [DAT](INFO): publishing transmit ping time
2025-08-23T22:09:56.119Z,1755986996.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-08-23T22:09:56.367Z,1755986996.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248445
2025-08-23T22:09:56.494Z,1755986996.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:56.619Z,1755986996.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500457
2025-08-23T22:09:56.871Z,1755986996.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752442
2025-08-23T22:09:56.929Z,1755986996.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:57.123Z,1755986997.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005265
2025-08-23T22:09:57.340Z,1755986997.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:57.376Z,1755986997.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257546
2025-08-23T22:09:57.627Z,1755986997.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508439
2025-08-23T22:09:57.780Z,1755986997.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:57.880Z,1755986997.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761494
2025-08-23T22:09:58.131Z,1755986998.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012479
2025-08-23T22:09:58.164Z,1755986998.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:58.383Z,1755986998.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265132
2025-08-23T22:09:58.592Z,1755986998.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:58.635Z,1755986998.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516838
2025-08-23T22:09:58.887Z,1755986998.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769272
2025-08-23T22:09:58.988Z,1755986998.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:59.139Z,1755986999.139 [DAT](INFO): DAT read: Rx Time:22:09:58.2250
2025-08-23T22:09:59.140Z,1755986999.140 [DAT](INFO): Rx dataTimestamp_ set to:1755986999.139301
2025-08-23T22:09:59.140Z,1755986999.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022345
2025-08-23T22:09:59.392Z,1755986999.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273662
2025-08-23T22:09:59.495Z,1755986999.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-23T22:09:59.648Z,1755986999.648 [DAT](INFO): DAT read: 22:09:58.2250 LVL= 27968, 28785, 13554, 32755, AGC= 56, IDX= 2, 0.26, 0.879, 0.047, 2.607, 1.380, PHS=-0.399,-1.288, 1.183, RAW= 189.2, 4.7, CAL= 189.3, 2.8, ROT= 320.7, -2.8
2025-08-23T22:09:59.649Z,1755986999.649 [DAT](INFO): got valid direction response:
22:09:58.2250 LVL= 27968, 28785, 13554, 32755, AGC= 56, IDX= 2, 0.26, 0.879, 0.047, 2.607, 1.380, PHS=-0.399,-1.288, 1.183, RAW= 189.2, 4.7, CAL= 189.3, 2.8, ROT= 320.7, -2.8
2025-08-23T22:09:59.650Z,1755986999.650 [DAT](INFO): DAT read: Bearing 307.3, -37.8 (Local)
2025-08-23T22:09:59.650Z,1755986999.650 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.3, -37.8 (Local)
2025-08-23T22:09:59.651Z,1755986999.651 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (Round-trip 22.4 ms) speed -0.1 m/s
2025-08-23T22:09:59.652Z,1755986999.652 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:09:59.653Z,1755986999.653 [DAT](INFO): direction in FSK: [0.772916,-0.632625,0.048850]
2025-08-23T22:09:59.653Z,1755986999.653 [DAT](INFO): publishing direction and range info
2025-08-23T22:09:59.917Z,1755986999.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.799999 m,
deltaT: 60.001973 s,
deltaX: 4.799999 m,
approachRate: 0.079997 m/s,
rangeRepo size: 4
2025-08-23T22:09:59.919Z,1755986999.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.694321 m,
bearing: 93.714212 deg,
lat: 36.779405 deg,
lon: -121.859576 deg,
deltaT: 60.001973 s,
deltaX: 4.768444 m,
approachRate: 0.079471 m/s,
posRepo size: 4
2025-08-23T22:09:59.919Z,1755986999.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:00.362Z,1755987000.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:00.743Z,1755987000.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:01.151Z,1755987001.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:01.581Z,1755987001.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:01.990Z,1755987001.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:02.412Z,1755987002.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:02.794Z,1755987002.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:03.313Z,1755987003.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:03.720Z,1755987003.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:04.127Z,1755987004.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:04.567Z,1755987004.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:05.008Z,1755987005.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:05.433Z,1755987005.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:05.788Z,1755987005.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:06.212Z,1755987006.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:06.653Z,1755987006.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:07.055Z,1755987007.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:07.488Z,1755987007.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:07.909Z,1755987007.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:08.311Z,1755987008.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:08.734Z,1755987008.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:09.131Z,1755987009.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:09.566Z,1755987009.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:09.964Z,1755987009.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:10.444Z,1755987010.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:10.870Z,1755987010.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:11.289Z,1755987011.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:11.772Z,1755987011.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:12.220Z,1755987012.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:12.633Z,1755987012.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:13.011Z,1755987013.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:13.480Z,1755987013.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:13.905Z,1755987013.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:14.312Z,1755987014.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:14.735Z,1755987014.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:15.140Z,1755987015.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:15.555Z,1755987015.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:15.924Z,1755987015.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:16.339Z,1755987016.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:16.808Z,1755987016.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:17.235Z,1755987017.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:17.639Z,1755987017.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:18.025Z,1755987018.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:18.429Z,1755987018.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:18.881Z,1755987018.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:19.280Z,1755987019.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:19.737Z,1755987019.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:20.146Z,1755987020.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:20.602Z,1755987020.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:21.036Z,1755987021.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:21.449Z,1755987021.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:21.884Z,1755987021.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:22.294Z,1755987022.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:22.714Z,1755987022.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:23.168Z,1755987023.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:23.647Z,1755987023.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:23.990Z,1755987023.990 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:10:24.019Z,1755987024.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:24.422Z,1755987024.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:24.889Z,1755987024.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:24.994Z,1755987024.994 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:10:25.354Z,1755987025.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:25.747Z,1755987025.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:26.147Z,1755987026.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:26.559Z,1755987026.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:26.981Z,1755987026.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:27.394Z,1755987027.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:27.861Z,1755987027.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:28.250Z,1755987028.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:28.754Z,1755987028.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:29.167Z,1755987029.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:29.552Z,1755987029.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:29.984Z,1755987029.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:30.396Z,1755987030.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:30.871Z,1755987030.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:31.264Z,1755987031.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:31.750Z,1755987031.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:32.156Z,1755987032.156 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -9, +2,A
2025-08-23T22:10:32.195Z,1755987032.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:32.610Z,1755987032.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:33.032Z,1755987033.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:33.411Z,1755987033.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:33.867Z,1755987033.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:34.249Z,1755987034.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:34.654Z,1755987034.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:35.078Z,1755987035.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:35.468Z,1755987035.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:35.900Z,1755987035.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:36.281Z,1755987036.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:36.681Z,1755987036.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:37.116Z,1755987037.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:37.498Z,1755987037.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:37.939Z,1755987037.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:38.355Z,1755987038.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:38.751Z,1755987038.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:39.171Z,1755987039.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:39.571Z,1755987039.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:39.990Z,1755987039.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:40.411Z,1755987040.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:40.888Z,1755987040.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:41.354Z,1755987041.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:41.715Z,1755987041.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:42.140Z,1755987042.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:42.554Z,1755987042.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:43.015Z,1755987043.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:43.379Z,1755987043.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:43.802Z,1755987043.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:44.225Z,1755987044.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:44.582Z,1755987044.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:45.007Z,1755987045.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:45.418Z,1755987045.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:45.828Z,1755987045.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:46.299Z,1755987046.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:46.695Z,1755987046.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:47.130Z,1755987047.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:47.526Z,1755987047.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:47.991Z,1755987047.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:48.439Z,1755987048.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:48.847Z,1755987048.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:49.306Z,1755987049.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:49.679Z,1755987049.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:50.096Z,1755987050.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:50.497Z,1755987050.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:50.912Z,1755987050.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:51.349Z,1755987051.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:51.810Z,1755987051.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:52.283Z,1755987052.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:52.616Z,1755987052.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:53.139Z,1755987053.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:53.421Z,1755987053.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:53.838Z,1755987053.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:54.290Z,1755987054.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:54.623Z,1755987054.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:55.096Z,1755987055.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:55.114Z,1755987055.114 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:10:55.450Z,1755987055.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:55.840Z,1755987055.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:10:55.842Z,1755987055.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:55.899Z,1755987055.899 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:10:55.899Z,1755987055.899 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:10:56.118Z,1755987056.118 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:10:56.150Z,1755987056.150 [DAT](INFO): DAT read: user:1642>
2025-08-23T22:10:56.151Z,1755987056.151 [DAT](INFO): DAT read: Tx time:22:10:55.7983
2025-08-23T22:10:56.151Z,1755987056.151 [DAT](INFO): Ping request sent.
2025-08-23T22:10:56.152Z,1755987056.152 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:10:56.152Z,1755987056.152 [DAT](INFO): publishing transmit ping time
2025-08-23T22:10:56.152Z,1755987056.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-23T22:10:56.319Z,1755987056.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:56.404Z,1755987056.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252025
2025-08-23T22:10:56.641Z,1755987056.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:56.655Z,1755987056.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503031
2025-08-23T22:10:56.906Z,1755987056.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754878
2025-08-23T22:10:57.060Z,1755987057.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:57.159Z,1755987057.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007584
2025-08-23T22:10:57.411Z,1755987057.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258945
2025-08-23T22:10:57.475Z,1755987057.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:57.663Z,1755987057.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511353
2025-08-23T22:10:57.873Z,1755987057.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:57.915Z,1755987057.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763727
2025-08-23T22:10:58.167Z,1755987058.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015046
2025-08-23T22:10:58.310Z,1755987058.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:58.418Z,1755987058.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266869
2025-08-23T22:10:58.671Z,1755987058.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519009
2025-08-23T22:10:58.672Z,1755987058.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:58.923Z,1755987058.923 [DAT](INFO): DAT read: Rx Time:22:10:58.2361
2025-08-23T22:10:58.923Z,1755987058.923 [DAT](INFO): Rx dataTimestamp_ set to:1755987058.922740
2025-08-23T22:10:58.924Z,1755987058.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772006
2025-08-23T22:10:59.103Z,1755987059.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:59.175Z,1755987059.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022988
2025-08-23T22:10:59.427Z,1755987059.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275197
2025-08-23T22:10:59.572Z,1755987059.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:10:59.685Z,1755987059.685 [DAT](INFO): DAT read: 22:10:58.2361 LVL= 24016, 21841, 19426, 28659, AGC= 55, IDX= 21, 0.12, 0.481,-1.041, 1.039, 0.409, PHS= 0.174,-1.405, 0.586, RAW= 161.3, 7.1, CAL= 160.8, 7.0, ROT= 349.2, -7.0
2025-08-23T22:10:59.686Z,1755987059.686 [DAT](INFO): got valid direction response:
22:10:58.2361 LVL= 24016, 21841, 19426, 28659, AGC= 55, IDX= 21, 0.12, 0.481,-1.041, 1.039, 0.409, PHS= 0.174,-1.405, 0.586, RAW= 161.3, 7.1, CAL= 160.8, 7.0, ROT= 349.2, -7.0
2025-08-23T22:10:59.687Z,1755987059.687 [DAT](INFO): DAT read: Bearing 301.7, -3.4 (Local)
2025-08-23T22:10:59.687Z,1755987059.687 [DAT](INFO): Local bearing/azimuth received:
Bearing 301.7, -3.4 (Local)
2025-08-23T22:10:59.688Z,1755987059.688 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (Round-trip 33.6 ms) speed -0.2 m/s
2025-08-23T22:10:59.689Z,1755987059.689 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:10:59.690Z,1755987059.690 [DAT](INFO): direction in FSK: [0.974965,-0.185985,0.121869]
2025-08-23T22:10:59.690Z,1755987059.690 [DAT](INFO): publishing direction and range info
2025-08-23T22:10:59.942Z,1755987059.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.200001 m,
deltaT: 60.036342 s,
deltaX: 8.400002 m,
approachRate: 0.139915 m/s,
rangeRepo size: 4
2025-08-23T22:10:59.944Z,1755987059.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.041754 m,
bearing: 116.307908 deg,
lat: 36.779402 deg,
lon: -121.859577 deg,
deltaT: 60.036342 s,
deltaX: 8.347433 m,
approachRate: 0.139040 m/s,
posRepo size: 4
2025-08-23T22:10:59.945Z,1755987059.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:00.366Z,1755987060.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:00.742Z,1755987060.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:01.204Z,1755987061.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:01.573Z,1755987061.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:01.947Z,1755987061.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:02.377Z,1755987062.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:02.778Z,1755987062.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:03.233Z,1755987063.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:03.588Z,1755987063.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:03.974Z,1755987063.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:04.431Z,1755987064.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:04.825Z,1755987064.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:05.306Z,1755987065.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:05.685Z,1755987065.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:06.094Z,1755987066.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:06.519Z,1755987066.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:06.913Z,1755987066.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:07.337Z,1755987067.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:07.752Z,1755987067.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:08.120Z,1755987068.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:08.539Z,1755987068.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:08.915Z,1755987068.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:09.380Z,1755987069.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:09.746Z,1755987069.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:10.145Z,1755987070.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:10.565Z,1755987070.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:10.936Z,1755987070.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:11.404Z,1755987071.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:11.800Z,1755987071.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:12.242Z,1755987072.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:12.638Z,1755987072.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:13.044Z,1755987073.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:13.465Z,1755987073.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:13.838Z,1755987073.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:14.247Z,1755987074.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:14.666Z,1755987074.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:15.043Z,1755987075.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:15.473Z,1755987075.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:15.856Z,1755987075.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:16.272Z,1755987076.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:16.724Z,1755987076.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:17.070Z,1755987077.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:17.490Z,1755987077.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:17.884Z,1755987077.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:18.289Z,1755987078.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:18.748Z,1755987078.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:19.095Z,1755987079.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:19.532Z,1755987079.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:19.904Z,1755987079.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:20.314Z,1755987080.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:20.760Z,1755987080.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:21.118Z,1755987081.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:21.543Z,1755987081.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:21.947Z,1755987081.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:22.326Z,1755987082.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:22.776Z,1755987082.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:23.150Z,1755987083.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:23.571Z,1755987083.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:23.943Z,1755987083.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:24.348Z,1755987084.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:24.790Z,1755987084.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:25.156Z,1755987085.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:25.602Z,1755987085.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:25.967Z,1755987085.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:26.238Z,1755987086.238 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:11:26.388Z,1755987086.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:26.842Z,1755987086.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:27.242Z,1755987087.242 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:11:27.267Z,1755987087.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:27.698Z,1755987087.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:28.056Z,1755987088.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:28.464Z,1755987088.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:28.896Z,1755987088.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:29.272Z,1755987089.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:29.709Z,1755987089.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:30.075Z,1755987090.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:30.482Z,1755987090.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:30.903Z,1755987090.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:31.308Z,1755987091.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:31.834Z,1755987091.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:32.129Z,1755987092.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:32.545Z,1755987092.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:32.960Z,1755987092.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:33.332Z,1755987093.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:33.744Z,1755987093.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:34.142Z,1755987094.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:34.535Z,1755987094.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:34.955Z,1755987094.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:35.357Z,1755987095.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:35.370Z,1755987095.370 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-23T22:01:35.0Z
2025-08-23T22:11:35.370Z,1755987095.370 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-23T22:11:35.370Z,1755987095.370 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-23T22:11:35.370Z,1755987095.370 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-23T22:11:35.370Z,1755987095.370 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-23T22:11:35.370Z,1755987095.370 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-23T22:11:35.779Z,1755987095.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:35.783Z,1755987095.783 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-23T22:11:35.783Z,1755987095.783 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-23T22:11:35.783Z,1755987095.783 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-23T22:11:35.783Z,1755987095.783 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-23T22:11:35.783Z,1755987095.783 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-23T22:11:36.447Z,1755987096.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:36.869Z,1755987096.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:37.238Z,1755987097.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:37.666Z,1755987097.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:38.070Z,1755987098.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:38.448Z,1755987098.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:38.875Z,1755987098.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:39.263Z,1755987099.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:39.693Z,1755987099.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:40.093Z,1755987100.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:40.482Z,1755987100.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:40.902Z,1755987100.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:41.272Z,1755987101.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:41.685Z,1755987101.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:42.100Z,1755987102.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:42.498Z,1755987102.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:42.932Z,1755987102.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:43.293Z,1755987103.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:43.702Z,1755987103.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:44.144Z,1755987104.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:44.512Z,1755987104.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:44.992Z,1755987104.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:45.347Z,1755987105.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:45.749Z,1755987105.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:46.182Z,1755987106.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:46.543Z,1755987106.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:46.940Z,1755987106.940 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 83.20, 93.39,
2025-08-23T22:11:46.956Z,1755987106.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:47.333Z,1755987107.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:47.735Z,1755987107.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:48.183Z,1755987108.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:48.544Z,1755987108.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:48.980Z,1755987108.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:49.371Z,1755987109.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:49.755Z,1755987109.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:50.190Z,1755987110.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:50.562Z,1755987110.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:51.010Z,1755987111.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:51.374Z,1755987111.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:51.806Z,1755987111.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:52.234Z,1755987112.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:52.590Z,1755987112.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:53.015Z,1755987113.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:53.405Z,1755987113.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:53.406Z,1755987113.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 25.20 m and bearing: 118.976461 deg. Not drifting fast enough.
2025-08-23T22:11:53.795Z,1755987113.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:53.797Z,1755987113.797 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-23T22:11:53.797Z,1755987113.797 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-23T22:11:53.797Z,1755987113.797 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-23T22:11:53.797Z,1755987113.797 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-23T22:11:54.250Z,1755987114.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:54.603Z,1755987114.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:55.067Z,1755987115.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:55.439Z,1755987115.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:55.861Z,1755987115.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:11:55.864Z,1755987115.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:55.898Z,1755987115.898 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:11:55.899Z,1755987115.899 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:11:56.150Z,1755987116.150 [DAT](INFO): DAT read: user:1643>
2025-08-23T22:11:56.151Z,1755987116.151 [DAT](INFO): DAT read: Tx time:22:11:55.7982
2025-08-23T22:11:56.151Z,1755987116.151 [DAT](INFO): Ping request sent.
2025-08-23T22:11:56.151Z,1755987116.151 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:11:56.152Z,1755987116.152 [DAT](INFO): publishing transmit ping time
2025-08-23T22:11:56.152Z,1755987116.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-23T22:11:56.289Z,1755987116.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:56.403Z,1755987116.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251602
2025-08-23T22:11:56.655Z,1755987116.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503023
2025-08-23T22:11:56.660Z,1755987116.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:56.907Z,1755987116.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755021
2025-08-23T22:11:57.081Z,1755987117.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:57.159Z,1755987117.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007761
2025-08-23T22:11:57.370Z,1755987117.370 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:11:57.410Z,1755987117.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258893
2025-08-23T22:11:57.459Z,1755987117.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:57.663Z,1755987117.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510963
2025-08-23T22:11:57.860Z,1755987117.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:57.915Z,1755987117.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763748
2025-08-23T22:11:58.166Z,1755987118.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014887
2025-08-23T22:11:58.337Z,1755987118.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:58.374Z,1755987118.374 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:11:58.420Z,1755987118.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268033
2025-08-23T22:11:58.670Z,1755987118.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518939
2025-08-23T22:11:58.710Z,1755987118.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:58.924Z,1755987118.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772037
2025-08-23T22:11:59.174Z,1755987119.174 [DAT](INFO): DAT read: Rx Time:22:11:58.2493
2025-08-23T22:11:59.175Z,1755987119.175 [DAT](INFO): Rx dataTimestamp_ set to:1755987119.174574
2025-08-23T22:11:59.175Z,1755987119.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023882
2025-08-23T22:11:59.272Z,1755987119.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:59.429Z,1755987119.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277108
2025-08-23T22:11:59.676Z,1755987119.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-23T22:11:59.684Z,1755987119.684 [DAT](INFO): DAT read: 22:11:58.2493 LVL= 21328, 22929, 22098, 29619, AGC= 63, IDX= 45,-0.28,-2.408, 2.097,-2.348,-2.698, PHS= 0.392,-1.444, 0.306, RAW= 147.6, 8.4, CAL= 147.2, 9.1, ROT= 2.8, -9.1
2025-08-23T22:11:59.685Z,1755987119.685 [DAT](INFO): got valid direction response:
22:11:58.2493 LVL= 21328, 22929, 22098, 29619, AGC= 63, IDX= 45,-0.28,-2.408, 2.097,-2.348,-2.698, PHS= 0.392,-1.444, 0.306, RAW= 147.6, 8.4, CAL= 147.2, 9.1, ROT= 2.8, -9.1
2025-08-23T22:11:59.686Z,1755987119.686 [DAT](INFO): DAT read: Bearing 298.0, 2.1 (Local)
2025-08-23T22:11:59.686Z,1755987119.686 [DAT](INFO): Local bearing/azimuth received:
Bearing 298.0, 2.1 (Local)
2025-08-23T22:11:59.687Z,1755987119.687 [DAT](INFO): DAT read: Range 11 to 50 : 35.1 m (Round-trip 46.9 ms) speed -0.1 m/s
2025-08-23T22:11:59.688Z,1755987119.688 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:11:59.689Z,1755987119.689 [DAT](INFO): direction in FSK: [0.986235,0.048235,0.158158]
2025-08-23T22:11:59.689Z,1755987119.689 [DAT](INFO): publishing direction and range info
2025-08-23T22:12:00.149Z,1755987120.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.099998 m,
deltaT: 59.999748 s,
deltaX: 9.899998 m,
approachRate: 0.165001 m/s,
rangeRepo size: 4
2025-08-23T22:12:00.163Z,1755987120.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.880039 m,
bearing: 122.999527 deg,
lat: 36.779399 deg,
lon: -121.859586 deg,
deltaT: 59.999748 s,
deltaX: 9.838285 m,
approachRate: 0.163972 m/s,
posRepo size: 4
2025-08-23T22:12:00.163Z,1755987120.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:00.556Z,1755987120.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:00.947Z,1755987120.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:01.370Z,1755987121.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:01.740Z,1755987121.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:02.183Z,1755987122.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:02.555Z,1755987122.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:02.951Z,1755987122.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:03.394Z,1755987123.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:03.761Z,1755987123.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:04.190Z,1755987124.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:04.614Z,1755987124.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:04.974Z,1755987124.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:05.383Z,1755987125.383 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022901592604,35.0, +10.4, 0.0,14+4,A
2025-08-23T22:12:05.423Z,1755987125.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:05.788Z,1755987125.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:06.223Z,1755987126.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:06.625Z,1755987126.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:06.996Z,1755987126.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:07.420Z,1755987127.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:07.798Z,1755987127.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:08.263Z,1755987128.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:08.658Z,1755987128.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:09.028Z,1755987129.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:09.459Z,1755987129.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:09.844Z,1755987129.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:10.287Z,1755987130.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:10.650Z,1755987130.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:11.046Z,1755987131.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:11.465Z,1755987131.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:11.915Z,1755987131.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:12.333Z,1755987132.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:12.706Z,1755987132.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:13.111Z,1755987133.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:13.518Z,1755987133.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:13.888Z,1755987133.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:14.322Z,1755987134.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:14.695Z,1755987134.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:15.230Z,1755987135.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:15.714Z,1755987135.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:16.095Z,1755987136.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:16.540Z,1755987136.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:17.004Z,1755987137.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:17.469Z,1755987137.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:17.835Z,1755987137.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:18.251Z,1755987138.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:18.692Z,1755987138.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:19.042Z,1755987139.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:19.471Z,1755987139.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:19.832Z,1755987139.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:20.251Z,1755987140.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:20.697Z,1755987140.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:21.058Z,1755987141.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:21.486Z,1755987141.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:21.861Z,1755987141.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:22.266Z,1755987142.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:22.714Z,1755987142.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:23.089Z,1755987143.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:23.510Z,1755987143.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:23.879Z,1755987143.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:24.284Z,1755987144.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:24.716Z,1755987144.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:25.150Z,1755987145.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:25.586Z,1755987145.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:25.955Z,1755987145.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:26.347Z,1755987146.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:26.839Z,1755987146.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:27.165Z,1755987147.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:27.582Z,1755987147.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:27.949Z,1755987147.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:28.363Z,1755987148.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:28.494Z,1755987148.494 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:12:28.786Z,1755987148.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:29.156Z,1755987149.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:29.498Z,1755987149.498 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:12:29.680Z,1755987149.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:30.050Z,1755987150.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:30.511Z,1755987150.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:30.880Z,1755987150.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:31.279Z,1755987151.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:31.672Z,1755987151.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:32.119Z,1755987152.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:32.455Z,1755987152.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:32.899Z,1755987152.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:33.275Z,1755987153.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:33.700Z,1755987153.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:34.072Z,1755987154.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:34.499Z,1755987154.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:34.901Z,1755987154.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:35.278Z,1755987155.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:35.730Z,1755987155.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:36.092Z,1755987156.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:36.504Z,1755987156.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:36.927Z,1755987156.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:37.300Z,1755987157.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:37.730Z,1755987157.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:38.124Z,1755987158.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:38.655Z,1755987158.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:38.979Z,1755987158.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:39.401Z,1755987159.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:39.816Z,1755987159.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:40.202Z,1755987160.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:40.640Z,1755987160.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:41.033Z,1755987161.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:41.399Z,1755987161.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:41.855Z,1755987161.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:42.219Z,1755987162.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:42.670Z,1755987162.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:43.056Z,1755987163.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:43.422Z,1755987163.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:43.937Z,1755987163.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:44.265Z,1755987164.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:44.730Z,1755987164.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:45.106Z,1755987165.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:45.495Z,1755987165.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:45.927Z,1755987165.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:46.287Z,1755987166.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:46.750Z,1755987166.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:47.134Z,1755987167.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:47.535Z,1755987167.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:47.965Z,1755987167.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:48.321Z,1755987168.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:48.777Z,1755987168.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:49.151Z,1755987169.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:49.531Z,1755987169.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:49.937Z,1755987169.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:50.314Z,1755987170.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:50.725Z,1755987170.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:51.149Z,1755987171.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:51.543Z,1755987171.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:52.051Z,1755987172.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:52.398Z,1755987172.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:52.864Z,1755987172.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:53.227Z,1755987173.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:53.592Z,1755987173.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:54.034Z,1755987174.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:54.397Z,1755987174.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:54.865Z,1755987174.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:55.239Z,1755987175.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:55.607Z,1755987175.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:56.058Z,1755987176.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:12:56.060Z,1755987176.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:56.158Z,1755987176.158 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:12:56.159Z,1755987176.159 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:12:56.410Z,1755987176.410 [DAT](INFO): DAT read: user:1644>
2025-08-23T22:12:56.411Z,1755987176.411 [DAT](INFO): DAT read: Tx time:22:12:56.0981
2025-08-23T22:12:56.412Z,1755987176.412 [DAT](INFO): Ping request sent.
2025-08-23T22:12:56.412Z,1755987176.412 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:12:56.412Z,1755987176.412 [DAT](INFO): publishing transmit ping time
2025-08-23T22:12:56.412Z,1755987176.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-23T22:12:56.419Z,1755987176.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:56.662Z,1755987176.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250798
2025-08-23T22:12:56.903Z,1755987176.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:56.915Z,1755987176.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502992
2025-08-23T22:12:57.166Z,1755987177.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754794
2025-08-23T22:12:57.224Z,1755987177.224 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3276,V
2025-08-23T22:12:57.260Z,1755987177.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:57.419Z,1755987177.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006838
2025-08-23T22:12:57.629Z,1755987177.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:57.672Z,1755987177.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259729
2025-08-23T22:12:57.922Z,1755987177.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510807
2025-08-23T22:12:58.139Z,1755987178.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:58.175Z,1755987178.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763186
2025-08-23T22:12:58.427Z,1755987178.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014965
2025-08-23T22:12:58.499Z,1755987178.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:58.679Z,1755987178.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266812
2025-08-23T22:12:58.931Z,1755987178.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518913
2025-08-23T22:12:58.932Z,1755987178.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:59.183Z,1755987179.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771454
2025-08-23T22:12:59.308Z,1755987179.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:59.435Z,1755987179.435 [DAT](INFO): DAT read: Rx Time:22:12:58.5538
2025-08-23T22:12:59.435Z,1755987179.435 [DAT](INFO): Rx dataTimestamp_ set to:1755987179.434772
2025-08-23T22:12:59.436Z,1755987179.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023930
2025-08-23T22:12:59.630Z,1755987179.630 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:12:59.667Z,1755987179.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-08-23T22:12:59.686Z,1755987179.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274751
2025-08-23T22:12:59.944Z,1755987179.944 [DAT](INFO): DAT read: 22:12:58.5538 LVL= 32752, 22769, 32754, 32755, AGC= 68, IDX= 477,-0.28,-1.572, 0.106,-2.044,-0.960, PHS=-0.510, 1.111,-1.128, RAW= 345.5, 5.3, CAL= 345.2, 3.7, ROT= 164.8, -3.7
2025-08-23T22:12:59.945Z,1755987179.945 [DAT](INFO): got valid direction response:
22:12:58.5538 LVL= 32752, 22769, 32754, 32755, AGC= 68, IDX= 477,-0.28,-1.572, 0.106,-2.044,-0.960, PHS=-0.510, 1.111,-1.128, RAW= 345.5, 5.3, CAL= 345.2, 3.7, ROT= 164.8, -3.7
2025-08-23T22:12:59.946Z,1755987179.946 [DAT](INFO): DAT read: Bearing 334.6, 12.7 (Local)
2025-08-23T22:12:59.947Z,1755987179.947 [DAT](INFO): Local bearing/azimuth received:
Bearing 334.6, 12.7 (Local)
2025-08-23T22:12:59.948Z,1755987179.948 [DAT](INFO): DAT read: Range 11 to 50 : 38.6 m (Round-trip 51.5 ms) speed -0.6 m/s
2025-08-23T22:12:59.949Z,1755987179.949 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:12:59.950Z,1755987179.950 [DAT](INFO): direction in FSK: [-0.963005,0.261643,0.064532]
2025-08-23T22:12:59.950Z,1755987179.950 [DAT](INFO): publishing direction and range info
2025-08-23T22:13:00.194Z,1755987180.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.599998 m,
deltaT: 60.260129 s,
deltaX: 3.500000 m,
approachRate: 0.058082 m/s,
rangeRepo size: 4
2025-08-23T22:13:00.197Z,1755987180.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.358688 m,
bearing: 157.668927 deg,
lat: 36.779399 deg,
lon: -121.859598 deg,
deltaT: 60.260129 s,
deltaX: 3.478649 m,
approachRate: 0.057727 m/s,
posRepo size: 4
2025-08-23T22:13:00.198Z,1755987180.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:00.634Z,1755987180.634 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:13:00.723Z,1755987180.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:01.194Z,1755987181.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:01.568Z,1755987181.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:02.034Z,1755987182.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:02.371Z,1755987182.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:02.861Z,1755987182.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:03.235Z,1755987183.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:03.599Z,1755987183.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:04.032Z,1755987184.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:04.395Z,1755987184.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:04.818Z,1755987184.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:05.239Z,1755987185.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:05.675Z,1755987185.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:06.072Z,1755987186.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:06.471Z,1755987186.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:06.849Z,1755987186.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:07.255Z,1755987187.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:07.629Z,1755987187.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:08.089Z,1755987188.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:08.457Z,1755987188.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:08.923Z,1755987188.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:09.347Z,1755987189.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:09.794Z,1755987189.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:10.223Z,1755987190.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:10.591Z,1755987190.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:10.996Z,1755987190.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:11.461Z,1755987191.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:11.804Z,1755987191.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:12.455Z,1755987192.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:12.975Z,1755987192.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:13.471Z,1755987193.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:13.836Z,1755987193.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:14.251Z,1755987194.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:14.622Z,1755987194.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:15.038Z,1755987195.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:15.488Z,1755987195.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:15.862Z,1755987195.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:16.271Z,1755987196.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:16.644Z,1755987196.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:17.054Z,1755987197.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:17.485Z,1755987197.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:17.859Z,1755987197.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:18.284Z,1755987198.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:18.668Z,1755987198.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:19.134Z,1755987199.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:19.536Z,1755987199.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:19.925Z,1755987199.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:20.337Z,1755987200.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:20.694Z,1755987200.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:21.093Z,1755987201.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:21.515Z,1755987201.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:21.948Z,1755987201.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:22.334Z,1755987202.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:22.703Z,1755987202.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:23.109Z,1755987203.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:23.539Z,1755987203.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:23.955Z,1755987203.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:24.348Z,1755987204.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:24.728Z,1755987204.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:25.138Z,1755987205.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:25.572Z,1755987205.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:25.960Z,1755987205.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:26.366Z,1755987206.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:26.820Z,1755987206.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:27.158Z,1755987207.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:27.603Z,1755987207.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:27.967Z,1755987207.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:28.408Z,1755987208.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:28.773Z,1755987208.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:29.169Z,1755987209.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:29.649Z,1755987209.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:30.027Z,1755987210.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:30.525Z,1755987210.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:30.754Z,1755987210.754 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:13:30.963Z,1755987210.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:31.461Z,1755987211.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:31.759Z,1755987211.759 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:13:31.804Z,1755987211.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:32.275Z,1755987212.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:32.679Z,1755987212.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:33.051Z,1755987213.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:33.512Z,1755987213.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:33.842Z,1755987213.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:34.246Z,1755987214.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:34.670Z,1755987214.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:35.069Z,1755987215.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:35.506Z,1755987215.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:35.865Z,1755987215.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:36.271Z,1755987216.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:36.691Z,1755987216.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:37.070Z,1755987217.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:37.576Z,1755987217.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:37.939Z,1755987217.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:38.307Z,1755987218.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:38.732Z,1755987218.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:39.106Z,1755987219.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:39.567Z,1755987219.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:39.937Z,1755987219.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:40.311Z,1755987220.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:40.755Z,1755987220.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:41.221Z,1755987221.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:41.661Z,1755987221.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:42.011Z,1755987222.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:42.435Z,1755987222.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:42.842Z,1755987222.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:43.224Z,1755987223.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:43.620Z,1755987223.620 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +64, +80,A
2025-08-23T22:13:43.637Z,1755987223.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:44.019Z,1755987224.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:44.426Z,1755987224.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:44.870Z,1755987224.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:45.238Z,1755987225.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:45.715Z,1755987225.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:46.046Z,1755987226.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:46.490Z,1755987226.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:46.916Z,1755987226.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:47.275Z,1755987227.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:47.696Z,1755987227.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:48.060Z,1755987228.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:48.478Z,1755987228.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:48.907Z,1755987228.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:49.304Z,1755987229.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:49.732Z,1755987229.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:50.095Z,1755987230.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:50.486Z,1755987230.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:50.933Z,1755987230.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:51.311Z,1755987231.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:51.772Z,1755987231.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:52.125Z,1755987232.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:52.536Z,1755987232.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:52.933Z,1755987232.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:53.323Z,1755987233.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:53.767Z,1755987233.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:54.121Z,1755987234.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:54.531Z,1755987234.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:54.952Z,1755987234.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:55.412Z,1755987235.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:55.805Z,1755987235.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:56.197Z,1755987236.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:13:56.200Z,1755987236.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:56.434Z,1755987236.434 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:13:56.435Z,1755987236.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:13:56.578Z,1755987236.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:56.687Z,1755987236.687 [DAT](INFO): DAT read: user:1645>
2025-08-23T22:13:56.687Z,1755987236.687 [DAT](INFO): DAT read: Tx time:22:13:56.3480
2025-08-23T22:13:56.688Z,1755987236.688 [DAT](INFO): Ping request sent.
2025-08-23T22:13:56.688Z,1755987236.688 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:13:56.688Z,1755987236.688 [DAT](INFO): publishing transmit ping time
2025-08-23T22:13:56.689Z,1755987236.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-23T22:13:56.938Z,1755987236.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250633
2025-08-23T22:13:57.007Z,1755987237.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:57.194Z,1755987237.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505816
2025-08-23T22:13:57.374Z,1755987237.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:57.444Z,1755987237.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755658
2025-08-23T22:13:57.694Z,1755987237.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006660
2025-08-23T22:13:57.849Z,1755987237.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:57.950Z,1755987237.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262342
2025-08-23T22:13:58.199Z,1755987238.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511587
2025-08-23T22:13:58.208Z,1755987238.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:58.451Z,1755987238.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763454
2025-08-23T22:13:58.601Z,1755987238.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:58.702Z,1755987238.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014714
2025-08-23T22:13:58.955Z,1755987238.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266940
2025-08-23T22:13:59.093Z,1755987239.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:59.211Z,1755987239.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523216
2025-08-23T22:13:59.435Z,1755987239.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:59.462Z,1755987239.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774712
2025-08-23T22:13:59.715Z,1755987239.715 [DAT](INFO): DAT read: Rx Time:22:13:58.8627
2025-08-23T22:13:59.715Z,1755987239.715 [DAT](INFO): Rx dataTimestamp_ set to:1755987239.714819
2025-08-23T22:13:59.716Z,1755987239.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027907
2025-08-23T22:13:59.876Z,1755987239.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.36 m.
2025-08-23T22:13:59.967Z,1755987239.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279685
2025-08-23T22:14:00.224Z,1755987240.224 [DAT](INFO): DAT read: 22:13:58.8627 LVL= 28656, 14689, 21570, 25811, AGC= 65, IDX= 9, 0.06,-2.734,-0.529,-1.645,-1.505, PHS=-1.127, 1.021,-0.185, RAW= 304.0, 3.2, CAL= 301.7, -0.5, ROT= 208.3, 0.5
2025-08-23T22:14:00.225Z,1755987240.225 [DAT](INFO): got valid direction response:
22:13:58.8627 LVL= 28656, 14689, 21570, 25811, AGC= 65, IDX= 9, 0.06,-2.734,-0.529,-1.645,-1.505, PHS=-1.127, 1.021,-0.185, RAW= 304.0, 3.2, CAL= 301.7, -0.5, ROT= 208.3, 0.5
2025-08-23T22:14:00.226Z,1755987240.226 [DAT](INFO): DAT read: Bearing 270.5, -26.4 (Local)
2025-08-23T22:14:00.226Z,1755987240.226 [DAT](INFO): Local bearing/azimuth received:
Bearing 270.5, -26.4 (Local)
2025-08-23T22:14:00.228Z,1755987240.228 [DAT](INFO): DAT read: Range 11 to 50 : 82.9 m (Round-trip 110.6 ms) speed -0.8 m/s
2025-08-23T22:14:00.228Z,1755987240.228 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:14:00.229Z,1755987240.229 [DAT](INFO): direction in FSK: [-0.880444,-0.474070,-0.008727]
2025-08-23T22:14:00.231Z,1755987240.231 [DAT](INFO): publishing direction and range info
2025-08-23T22:14:00.301Z,1755987240.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 82.900002 m,
deltaT: 60.279940 s,
deltaX: 44.300003 m,
approachRate: 0.734905 m/s,
rangeRepo size: 4
2025-08-23T22:14:00.307Z,1755987240.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 82.385704 m,
bearing: 146.580162 deg,
lat: 36.779396 deg,
lon: -121.859600 deg,
deltaT: 60.279940 s,
deltaX: 44.027016 m,
approachRate: 0.730376 m/s,
posRepo size: 4
2025-08-23T22:14:00.308Z,1755987240.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:00.670Z,1755987240.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:01.097Z,1755987241.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:01.459Z,1755987241.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:01.878Z,1755987241.878 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:14:01.933Z,1755987241.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:02.276Z,1755987242.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:02.687Z,1755987242.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:02.882Z,1755987242.882 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:14:03.121Z,1755987243.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:03.482Z,1755987243.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:03.940Z,1755987243.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:04.369Z,1755987244.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:04.696Z,1755987244.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:05.158Z,1755987245.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:05.515Z,1755987245.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:05.950Z,1755987245.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:06.312Z,1755987246.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:06.709Z,1755987246.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:07.125Z,1755987247.125 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +48, +827, :BE, +827, -11,A
2025-08-23T22:14:07.141Z,1755987247.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:07.515Z,1755987247.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:07.982Z,1755987247.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:08.340Z,1755987248.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:08.735Z,1755987248.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:09.167Z,1755987249.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:09.531Z,1755987249.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:10.072Z,1755987250.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:10.478Z,1755987250.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:10.878Z,1755987250.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:11.266Z,1755987251.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:11.637Z,1755987251.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:12.087Z,1755987252.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:12.445Z,1755987252.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:12.856Z,1755987252.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:13.281Z,1755987253.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:13.751Z,1755987253.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:14.180Z,1755987254.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:14.628Z,1755987254.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:15.090Z,1755987255.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:15.424Z,1755987255.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:15.835Z,1755987255.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:16.260Z,1755987256.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:16.647Z,1755987256.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:17.100Z,1755987257.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:17.504Z,1755987257.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:17.873Z,1755987257.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:18.328Z,1755987258.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:18.700Z,1755987258.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:19.131Z,1755987259.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:19.477Z,1755987259.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:19.866Z,1755987259.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:20.360Z,1755987260.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:20.733Z,1755987260.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:21.263Z,1755987261.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:21.763Z,1755987261.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:22.306Z,1755987262.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:22.636Z,1755987262.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:23.188Z,1755987263.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:23.560Z,1755987263.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:23.960Z,1755987263.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:24.415Z,1755987264.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:24.806Z,1755987264.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:25.240Z,1755987265.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:25.548Z,1755987265.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:25.982Z,1755987265.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:26.371Z,1755987266.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:26.741Z,1755987266.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:27.224Z,1755987267.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:27.620Z,1755987267.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:27.993Z,1755987267.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:28.417Z,1755987268.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:28.824Z,1755987268.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:29.306Z,1755987269.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:29.615Z,1755987269.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:30.022Z,1755987270.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:30.493Z,1755987270.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:30.828Z,1755987270.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:31.345Z,1755987271.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:31.681Z,1755987271.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:32.069Z,1755987272.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:32.490Z,1755987272.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:32.871Z,1755987272.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:33.004Z,1755987273.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:14:33.345Z,1755987273.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:33.818Z,1755987273.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:34.006Z,1755987274.006 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:14:34.226Z,1755987274.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:34.640Z,1755987274.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:35.042Z,1755987275.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:35.459Z,1755987275.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:35.829Z,1755987275.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:36.279Z,1755987276.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:36.666Z,1755987276.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:37.038Z,1755987277.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:37.463Z,1755987277.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:37.866Z,1755987277.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:38.290Z,1755987278.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:38.763Z,1755987278.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:39.101Z,1755987279.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:39.552Z,1755987279.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:39.920Z,1755987279.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:40.327Z,1755987280.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:40.753Z,1755987280.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:41.118Z,1755987281.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:41.544Z,1755987281.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:41.959Z,1755987281.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:42.343Z,1755987282.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:42.790Z,1755987282.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:43.154Z,1755987283.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:43.634Z,1755987283.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:43.975Z,1755987283.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:44.376Z,1755987284.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:44.814Z,1755987284.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:45.170Z,1755987285.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:45.602Z,1755987285.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:45.990Z,1755987285.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:46.383Z,1755987286.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:46.836Z,1755987286.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:47.209Z,1755987287.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:47.624Z,1755987287.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:48.020Z,1755987288.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:48.412Z,1755987288.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:48.831Z,1755987288.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:49.236Z,1755987289.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:49.647Z,1755987289.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:50.026Z,1755987290.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:50.430Z,1755987290.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:50.855Z,1755987290.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:51.258Z,1755987291.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:51.673Z,1755987291.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:52.042Z,1755987292.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:52.453Z,1755987292.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:52.876Z,1755987292.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:53.395Z,1755987293.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:53.846Z,1755987293.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:54.285Z,1755987294.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:54.760Z,1755987294.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:55.091Z,1755987295.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:55.510Z,1755987295.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:55.927Z,1755987295.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:56.291Z,1755987296.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:14:56.293Z,1755987296.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:56.470Z,1755987296.470 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:14:56.471Z,1755987296.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:14:56.722Z,1755987296.722 [DAT](INFO): DAT read: user:1646>
2025-08-23T22:14:56.723Z,1755987296.723 [DAT](INFO): DAT read: Tx time:22:14:56.3980
2025-08-23T22:14:56.723Z,1755987296.723 [DAT](INFO): Ping request sent.
2025-08-23T22:14:56.724Z,1755987296.724 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:14:56.724Z,1755987296.724 [DAT](INFO): publishing transmit ping time
2025-08-23T22:14:56.724Z,1755987296.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-08-23T22:14:56.820Z,1755987296.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:56.974Z,1755987296.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250903
2025-08-23T22:14:57.142Z,1755987297.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:57.228Z,1755987297.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503611
2025-08-23T22:14:57.479Z,1755987297.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754926
2025-08-23T22:14:57.571Z,1755987297.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:57.731Z,1755987297.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007365
2025-08-23T22:14:57.983Z,1755987297.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259068
2025-08-23T22:14:57.987Z,1755987297.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:58.234Z,1755987298.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510896
2025-08-23T22:14:58.350Z,1755987298.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:58.486Z,1755987298.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762862
2025-08-23T22:14:58.739Z,1755987298.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015054
2025-08-23T22:14:58.790Z,1755987298.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:58.991Z,1755987298.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267001
2025-08-23T22:14:59.160Z,1755987299.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:59.243Z,1755987299.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518993
2025-08-23T22:14:59.495Z,1755987299.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771010
2025-08-23T22:14:59.578Z,1755987299.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:14:59.746Z,1755987299.746 [DAT](INFO): DAT read: Rx Time:22:14:58.9775
2025-08-23T22:14:59.747Z,1755987299.747 [DAT](INFO): Rx dataTimestamp_ set to:1755987299.746655
2025-08-23T22:14:59.747Z,1755987299.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023920
2025-08-23T22:14:59.999Z,1755987299.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275503
2025-08-23T22:15:00.008Z,1755987300.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.39 m.
2025-08-23T22:15:00.259Z,1755987300.259 [DAT](INFO): DAT read: 22:14:58.9775 LVL= 32752, 26945, 32754, 32195, AGC= 70, IDX= 64, 0.22,-1.630, 0.576,-0.715,-0.370, PHS=-1.158, 0.991,-0.389, RAW= 309.3, 6.0, CAL= 307.1, 4.9, ROT= 202.9, -4.9
2025-08-23T22:15:00.260Z,1755987300.260 [DAT](INFO): got valid direction response:
22:14:58.9775 LVL= 32752, 26945, 32754, 32195, AGC= 70, IDX= 64, 0.22,-1.630, 0.576,-0.715,-0.370, PHS=-1.158, 0.991,-0.389, RAW= 309.3, 6.0, CAL= 307.1, 4.9, ROT= 202.9, -4.9
2025-08-23T22:15:00.261Z,1755987300.261 [DAT](INFO): DAT read: Bearing 260.3, -28.1 (Local)
2025-08-23T22:15:00.261Z,1755987300.261 [DAT](INFO): Local bearing/azimuth received:
Bearing 260.3, -28.1 (Local)
2025-08-23T22:15:00.263Z,1755987300.263 [DAT](INFO): DAT read: Range 11 to 50 : 131.4 m (Round-trip 175.3 ms) speed -0.9 m/s
2025-08-23T22:15:00.263Z,1755987300.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:00.264Z,1755987300.264 [DAT](INFO): direction in FSK: [-0.917819,-0.387702,0.085417]
2025-08-23T22:15:00.264Z,1755987300.264 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:00.415Z,1755987300.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 131.399994 m,
deltaT: 60.032269 s,
deltaX: 48.499992 m,
approachRate: 0.807899 m/s,
rangeRepo size: 4
2025-08-23T22:15:00.417Z,1755987300.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 130.602036 m,
bearing: 140.755698 deg,
lat: 36.779390 deg,
lon: -121.859610 deg,
deltaT: 60.032269 s,
deltaX: 48.216331 m,
approachRate: 0.803174 m/s,
posRepo size: 4
2025-08-23T22:15:00.422Z,1755987300.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m.
2025-08-23T22:15:00.422Z,1755987300.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 131.40 m. Resuming terminal guidance.
2025-08-23T22:15:00.422Z,1755987300.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-23T22:15:00.794Z,1755987300.794 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-23T22:15:00.794Z,1755987300.794 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-23T22:15:00.794Z,1755987300.794 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-23T22:15:00.795Z,1755987300.795 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 131.399994 m (mode 1.000000 count ).
2025-08-23T22:15:00.796Z,1755987300.796 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-23T22:15:00.796Z,1755987300.796 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-23T22:15:01.206Z,1755987301.206 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-23T22:15:01.206Z,1755987301.206 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-23T22:15:01.207Z,1755987301.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:01.259Z,1755987301.259 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:01.259Z,1755987301.259 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:01.259Z,1755987301.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:01.510Z,1755987301.510 [DAT](INFO): DAT read: user:1647>
2025-08-23T22:15:01.511Z,1755987301.511 [DAT](INFO): DAT read: Tx time:22:15:01.1980
2025-08-23T22:15:01.511Z,1755987301.511 [DAT](INFO): Ping request sent.
2025-08-23T22:15:01.511Z,1755987301.511 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:01.512Z,1755987301.512 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:01.512Z,1755987301.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-23T22:15:01.621Z,1755987301.621 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-23T22:15:01.621Z,1755987301.621 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-23T22:15:01.763Z,1755987301.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251661
2025-08-23T22:15:02.007Z,1755987302.007 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-23T22:15:02.007Z,1755987302.007 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-23T22:15:02.007Z,1755987302.007 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-23T22:15:02.007Z,1755987302.007 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-23T22:15:02.016Z,1755987302.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504471
2025-08-23T22:15:02.266Z,1755987302.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754967
2025-08-23T22:15:02.519Z,1755987302.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007769
2025-08-23T22:15:02.771Z,1755987302.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259012
2025-08-23T22:15:03.023Z,1755987303.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511026
2025-08-23T22:15:03.275Z,1755987303.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763358
2025-08-23T22:15:03.339Z,1755987303.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:03.527Z,1755987303.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015098
2025-08-23T22:15:03.795Z,1755987303.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283318
2025-08-23T22:15:04.047Z,1755987304.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535055
2025-08-23T22:15:04.126Z,1755987304.126 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:15:04.298Z,1755987304.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786904
2025-08-23T22:15:04.551Z,1755987304.551 [DAT](INFO): DAT read: Rx Time:22:15:03.7829
2025-08-23T22:15:04.551Z,1755987304.551 [DAT](INFO): Rx dataTimestamp_ set to:1755987304.551101
2025-08-23T22:15:04.552Z,1755987304.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.040424
2025-08-23T22:15:04.803Z,1755987304.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291055
2025-08-23T22:15:05.063Z,1755987305.063 [DAT](INFO): DAT read: 22:15:03.7829 LVL= 32752, 24801, 32754, 32755, AGC= 70, IDX= 487, 0.10,-0.396, 1.888, 0.617, 0.946, PHS=-1.241, 0.987,-0.374, RAW= 307.3, 6.5, CAL= 305.0, 5.7, ROT= 205.0, -5.7
2025-08-23T22:15:05.064Z,1755987305.064 [DAT](INFO): got valid direction response:
22:15:03.7829 LVL= 32752, 24801, 32754, 32755, AGC= 70, IDX= 487, 0.10,-0.396, 1.888, 0.617, 0.946, PHS=-1.241, 0.987,-0.374, RAW= 307.3, 6.5, CAL= 305.0, 5.7, ROT= 205.0, -5.7
2025-08-23T22:15:05.066Z,1755987305.066 [DAT](INFO): DAT read: Bearing 259.2, -30.5 (Local)
2025-08-23T22:15:05.066Z,1755987305.066 [DAT](INFO): Local bearing/azimuth received:
Bearing 259.2, -30.5 (Local)
2025-08-23T22:15:05.067Z,1755987305.067 [DAT](INFO): DAT read: Range 11 to 50 : 135.5 m (Round-trip 180.7 ms) speed -0.8 m/s
2025-08-23T22:15:05.068Z,1755987305.068 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:05.069Z,1755987305.069 [DAT](INFO): direction in FSK: [-0.901827,-0.420529,0.099320]
2025-08-23T22:15:05.069Z,1755987305.069 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:05.072Z,1755987305.072 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:05.072Z,1755987305.072 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:05.073Z,1755987305.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:05.094Z,1755987305.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 135.500000 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-08-23T22:15:05.096Z,1755987305.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 134.677200 m,
bearing: 139.538252 deg,
lat: 36.779379 deg,
lon: -121.859666 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-08-23T22:15:05.097Z,1755987305.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.68 m.
2025-08-23T22:15:05.107Z,1755987305.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 134.677200 m,
nav range: 133.471497 m,
bearing: 137.060881 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000000 deg/s,
cmd heading: 118.976461 deg,
new cmd heading: 137.060881 deg.
2025-08-23T22:15:05.108Z,1755987305.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392164 target range: 134.677200 and range: 135.50 m.
2025-08-23T22:15:05.130Z,1755987305.130 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:15:05.311Z,1755987305.311 [DAT](INFO): DAT read: user:1648>
2025-08-23T22:15:05.312Z,1755987305.312 [DAT](INFO): DAT read: Tx time:22:15:04.9980
2025-08-23T22:15:05.313Z,1755987305.313 [DAT](INFO): Ping request sent.
2025-08-23T22:15:05.313Z,1755987305.313 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:05.313Z,1755987305.313 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:05.314Z,1755987305.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001214
2025-08-23T22:15:05.464Z,1755987305.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.68 m.
2025-08-23T22:15:05.471Z,1755987305.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 134.677200 m,
nav range: 133.793137 m,
bearing: 137.016569 deg,
approach rate: 0.847883 m/s,
LOS rate: -0.116530 deg/s,
cmd heading: 137.060887 deg,
new cmd heading: 137.016569 deg.
2025-08-23T22:15:05.472Z,1755987305.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.391390 target range: 134.677200 and range: 135.50 m.
2025-08-23T22:15:05.563Z,1755987305.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249849
2025-08-23T22:15:05.815Z,1755987305.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501792
2025-08-23T22:15:05.866Z,1755987305.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:05.868Z,1755987305.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.68 m.
2025-08-23T22:15:05.875Z,1755987305.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 134.677200 m,
nav range: 134.112198 m,
bearing: 136.970821 deg,
approach rate: 0.789324 m/s,
LOS rate: -0.112907 deg/s,
cmd heading: 137.016573 deg,
new cmd heading: 136.970821 deg.
2025-08-23T22:15:05.876Z,1755987305.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.390592 target range: 134.677200 and range: 135.50 m.
2025-08-23T22:15:06.067Z,1755987306.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753772
2025-08-23T22:15:06.239Z,1755987306.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.68 m.
2025-08-23T22:15:06.242Z,1755987306.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 134.677200 m,
nav range: 134.422470 m,
bearing: 136.923762 deg,
approach rate: 0.836652 m/s,
LOS rate: -0.126601 deg/s,
cmd heading: 136.970824 deg,
new cmd heading: 136.923762 deg.
2025-08-23T22:15:06.243Z,1755987306.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389771 target range: 134.677200 and range: 135.50 m.
2025-08-23T22:15:06.319Z,1755987306.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006053
2025-08-23T22:15:06.571Z,1755987306.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257790
2025-08-23T22:15:06.635Z,1755987306.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.68 m.
2025-08-23T22:15:06.638Z,1755987306.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 134.677200 m,
nav range: 134.734406 m,
bearing: 136.873785 deg,
approach rate: 0.787787 m/s,
LOS rate: -0.125924 deg/s,
cmd heading: 136.923764 deg,
new cmd heading: 136.873785 deg.
2025-08-23T22:15:06.639Z,1755987306.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.388898 target range: 134.677200 and range: 135.50 m.
2025-08-23T22:15:06.823Z,1755987306.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509799
2025-08-23T22:15:07.060Z,1755987307.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.68 m.
2025-08-23T22:15:07.063Z,1755987307.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 134.677200 m,
nav range: 135.058304 m,
bearing: 136.822251 deg,
approach rate: 0.763258 m/s,
LOS rate: -0.121148 deg/s,
cmd heading: 136.873781 deg,
new cmd heading: 136.822251 deg.
2025-08-23T22:15:07.063Z,1755987307.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387999 target range: 134.677200 and range: 135.50 m.
2025-08-23T22:15:07.075Z,1755987307.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762160
2025-08-23T22:15:07.327Z,1755987307.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013725
2025-08-23T22:15:07.444Z,1755987307.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.68 m.
2025-08-23T22:15:07.447Z,1755987307.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 134.677200 m,
nav range: 135.350296 m,
bearing: 136.773240 deg,
approach rate: 0.758883 m/s,
LOS rate: -0.127104 deg/s,
cmd heading: 136.822254 deg,
new cmd heading: 136.773240 deg.
2025-08-23T22:15:07.448Z,1755987307.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387143 target range: 134.677200 and range: 135.50 m.
2025-08-23T22:15:07.579Z,1755987307.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265811
2025-08-23T22:15:07.831Z,1755987307.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517857
2025-08-23T22:15:07.950Z,1755987307.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:07.952Z,1755987307.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.68 m.
2025-08-23T22:15:07.959Z,1755987307.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 134.677200 m,
nav range: 135.721741 m,
bearing: 136.707847 deg,
approach rate: 0.731462 m/s,
LOS rate: -0.128422 deg/s,
cmd heading: 136.773240 deg,
new cmd heading: 136.707847 deg.
2025-08-23T22:15:07.960Z,1755987307.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386002 target range: 134.677200 and range: 135.50 m.
2025-08-23T22:15:08.083Z,1755987308.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769840
2025-08-23T22:15:08.324Z,1755987308.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.68 m.
2025-08-23T22:15:08.331Z,1755987308.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 134.677200 m,
nav range: 136.001236 m,
bearing: 136.656183 deg,
approach rate: 0.751085 m/s,
LOS rate: -0.138550 deg/s,
cmd heading: 136.707848 deg,
new cmd heading: 136.656183 deg.
2025-08-23T22:15:08.332Z,1755987308.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385100 target range: 134.677200 and range: 135.50 m.
2025-08-23T22:15:08.335Z,1755987308.335 [DAT](INFO): DAT read: Rx Time:22:15:07.5869
2025-08-23T22:15:08.335Z,1755987308.335 [DAT](INFO): Rx dataTimestamp_ set to:1755987308.334818
2025-08-23T22:15:08.336Z,1755987308.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022860
2025-08-23T22:15:08.588Z,1755987308.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275048
2025-08-23T22:15:08.723Z,1755987308.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.68 m.
2025-08-23T22:15:08.726Z,1755987308.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 134.677200 m,
nav range: 136.309998 m,
bearing: 136.596316 deg,
approach rate: 0.773534 m/s,
LOS rate: -0.149644 deg/s,
cmd heading: 136.656185 deg,
new cmd heading: 136.596316 deg.
2025-08-23T22:15:08.727Z,1755987308.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384055 target range: 134.677200 and range: 135.50 m.
2025-08-23T22:15:08.849Z,1755987308.849 [DAT](INFO): DAT read: 22:15:07.5869 LVL= 32752, 26177, 27362, 32755, AGC= 66, IDX= 464, 0.24, 2.030,-2.025,-3.114,-2.945, PHS=-1.206, 0.965,-0.213, RAW= 302.8, 4.9, CAL= 300.4, 2.2, ROT= 209.6, -2.2
2025-08-23T22:15:08.850Z,1755987308.850 [DAT](INFO): got valid direction response:
22:15:07.5869 LVL= 32752, 26177, 27362, 32755, AGC= 66, IDX= 464, 0.24, 2.030,-2.025,-3.114,-2.945, PHS=-1.206, 0.965,-0.213, RAW= 302.8, 4.9, CAL= 300.4, 2.2, ROT= 209.6, -2.2
2025-08-23T22:15:08.851Z,1755987308.851 [DAT](INFO): DAT read: Bearing 257.5, -35.1 (Local)
2025-08-23T22:15:08.851Z,1755987308.851 [DAT](INFO): Local bearing/azimuth received:
Bearing 257.5, -35.1 (Local)
2025-08-23T22:15:08.853Z,1755987308.853 [DAT](INFO): DAT read: Range 11 to 50 : 138.5 m (Round-trip 184.7 ms) speed -0.7 m/s
2025-08-23T22:15:08.854Z,1755987308.854 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:08.855Z,1755987308.855 [DAT](INFO): direction in FSK: [-0.868854,-0.493578,0.038388]
2025-08-23T22:15:08.855Z,1755987308.855 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:08.862Z,1755987308.862 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:08.862Z,1755987308.862 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:08.863Z,1755987308.863 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:09.090Z,1755987309.090 [DAT](INFO): DAT read: user:1649>
2025-08-23T22:15:09.091Z,1755987309.091 [DAT](INFO): DAT read: Tx time:22:15:08.7980
2025-08-23T22:15:09.092Z,1755987309.092 [DAT](INFO): Ping request sent.
2025-08-23T22:15:09.092Z,1755987309.092 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:09.092Z,1755987309.092 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:09.092Z,1755987309.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-23T22:15:09.229Z,1755987309.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 138.500000 m,
deltaT: 3.782467 s,
deltaX: 3.000000 m,
approachRate: 0.793133 m/s,
rangeRepo size: 2
2025-08-23T22:15:09.239Z,1755987309.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 137.659164 m,
bearing: 134.344950 deg,
lat: 36.779353 deg,
lon: -121.859688 deg,
deltaT: 3.782467 s,
deltaX: 2.981964 m,
approachRate: 0.788365 m/s,
posRepo size: 2
2025-08-23T22:15:09.240Z,1755987309.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.66 m.
2025-08-23T22:15:09.246Z,1755987309.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.659164 m,
nav range: 137.433853 m,
bearing: 137.974171 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.149644 deg/s,
cmd heading: 136.596311 deg,
new cmd heading: 136.445301 deg.
2025-08-23T22:15:09.250Z,1755987309.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.381420 target range: 137.659164 and range: 138.50 m.
2025-08-23T22:15:09.343Z,1755987309.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251711
2025-08-23T22:15:09.562Z,1755987309.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.66 m.
2025-08-23T22:15:09.564Z,1755987309.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.659164 m,
nav range: 137.697159 m,
bearing: 137.916691 deg,
approach rate: 0.789951 m/s,
LOS rate: -0.172116 deg/s,
cmd heading: 136.445296 deg,
new cmd heading: 136.330557 deg.
2025-08-23T22:15:09.565Z,1755987309.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.379417 target range: 137.659164 and range: 138.50 m.
2025-08-23T22:15:09.596Z,1755987309.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503607
2025-08-23T22:15:09.846Z,1755987309.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754801
2025-08-23T22:15:09.985Z,1755987309.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:09.988Z,1755987309.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.66 m.
2025-08-23T22:15:09.991Z,1755987309.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.659164 m,
nav range: 137.980606 m,
bearing: 137.853205 deg,
approach rate: 0.665002 m/s,
LOS rate: -0.148641 deg/s,
cmd heading: 136.330562 deg,
new cmd heading: 136.203850 deg.
2025-08-23T22:15:09.992Z,1755987309.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.377206 target range: 137.659164 and range: 138.50 m.
2025-08-23T22:15:10.099Z,1755987310.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007317
2025-08-23T22:15:10.325Z,1755987310.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.66 m.
2025-08-23T22:15:10.328Z,1755987310.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.659164 m,
nav range: 138.203430 m,
bearing: 137.801112 deg,
approach rate: 0.660548 m/s,
LOS rate: -0.154178 deg/s,
cmd heading: 136.203849 deg,
new cmd heading: 136.099830 deg.
2025-08-23T22:15:10.329Z,1755987310.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.375390 target range: 137.659164 and range: 138.50 m.
2025-08-23T22:15:10.354Z,1755987310.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262452
2025-08-23T22:15:10.607Z,1755987310.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514850
2025-08-23T22:15:10.754Z,1755987310.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.66 m.
2025-08-23T22:15:10.756Z,1755987310.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.659164 m,
nav range: 138.472519 m,
bearing: 137.735487 deg,
approach rate: 0.652148 m/s,
LOS rate: -0.158736 deg/s,
cmd heading: 136.099825 deg,
new cmd heading: 135.968830 deg.
2025-08-23T22:15:10.757Z,1755987310.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373104 target range: 137.659164 and range: 138.50 m.
2025-08-23T22:15:10.862Z,1755987310.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769560
2025-08-23T22:15:11.111Z,1755987311.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018840
2025-08-23T22:15:11.217Z,1755987311.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.66 m.
2025-08-23T22:15:11.223Z,1755987311.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.659164 m,
nav range: 138.795197 m,
bearing: 137.659912 deg,
approach rate: 0.673452 m/s,
LOS rate: -0.157362 deg/s,
cmd heading: 135.968835 deg,
new cmd heading: 135.818038 deg.
2025-08-23T22:15:11.226Z,1755987311.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.370472 target range: 137.659164 and range: 138.50 m.
2025-08-23T22:15:11.363Z,1755987311.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270897
2025-08-23T22:15:11.575Z,1755987311.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.66 m.
2025-08-23T22:15:11.578Z,1755987311.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.659164 m,
nav range: 139.034760 m,
bearing: 137.598628 deg,
approach rate: 0.669127 m/s,
LOS rate: -0.170880 deg/s,
cmd heading: 135.818038 deg,
new cmd heading: 135.695681 deg.
2025-08-23T22:15:11.579Z,1755987311.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.368336 target range: 137.659164 and range: 138.50 m.
2025-08-23T22:15:11.616Z,1755987311.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523615
2025-08-23T22:15:11.868Z,1755987311.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776537
2025-08-23T22:15:12.015Z,1755987312.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:12.017Z,1755987312.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.66 m.
2025-08-23T22:15:12.020Z,1755987312.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.659164 m,
nav range: 139.315079 m,
bearing: 137.523932 deg,
approach rate: 0.633763 m/s,
LOS rate: -0.168536 deg/s,
cmd heading: 135.695682 deg,
new cmd heading: 135.546593 deg.
2025-08-23T22:15:12.046Z,1755987312.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.365734 target range: 137.659164 and range: 138.50 m.
2025-08-23T22:15:12.119Z,1755987312.119 [DAT](INFO): DAT read: Rx Time:22:15:11.3907
2025-08-23T22:15:12.120Z,1755987312.120 [DAT](INFO): Rx dataTimestamp_ set to:1755987312.119514
2025-08-23T22:15:12.121Z,1755987312.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029047
2025-08-23T22:15:12.371Z,1755987312.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278986
2025-08-23T22:15:12.386Z,1755987312.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.66 m.
2025-08-23T22:15:12.389Z,1755987312.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.659164 m,
nav range: 139.546295 m,
bearing: 137.459826 deg,
approach rate: 0.626301 m/s,
LOS rate: -0.173360 deg/s,
cmd heading: 135.546593 deg,
new cmd heading: 135.418592 deg.
2025-08-23T22:15:12.390Z,1755987312.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.363500 target range: 137.659164 and range: 138.50 m.
2025-08-23T22:15:12.626Z,1755987312.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533141
2025-08-23T22:15:12.786Z,1755987312.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.66 m.
2025-08-23T22:15:12.788Z,1755987312.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.659164 m,
nav range: 139.793655 m,
bearing: 137.388455 deg,
approach rate: 0.619488 m/s,
LOS rate: -0.178424 deg/s,
cmd heading: 135.418595 deg,
new cmd heading: 135.276107 deg.
2025-08-23T22:15:12.790Z,1755987312.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.361013 target range: 137.659164 and range: 138.50 m.
2025-08-23T22:15:12.900Z,1755987312.900 [DAT](INFO): DAT read: 22:15:11.3907 LVL= 32752, 22817, 25058, 32755, AGC= 64, IDX= 471,-0.28,-2.318,-0.201,-1.096,-0.995, PHS=-1.221, 0.839,-0.145, RAW= 298.5, 6.0, CAL= 296.2, 3.9, ROT= 213.8, -3.9
2025-08-23T22:15:12.901Z,1755987312.901 [DAT](INFO): got valid direction response:
22:15:11.3907 LVL= 32752, 22817, 25058, 32755, AGC= 64, IDX= 471,-0.28,-2.318,-0.201,-1.096,-0.995, PHS=-1.221, 0.839,-0.145, RAW= 298.5, 6.0, CAL= 296.2, 3.9, ROT= 213.8, -3.9
2025-08-23T22:15:12.906Z,1755987312.906 [DAT](INFO): DAT read: Bearing 243.1, -38.0 (Local)
2025-08-23T22:15:12.906Z,1755987312.906 [DAT](INFO): Local bearing/azimuth received:
Bearing 243.1, -38.0 (Local)
2025-08-23T22:15:12.908Z,1755987312.908 [DAT](INFO): DAT read: Range 11 to 50 : 141.3 m (Round-trip 188.5 ms) speed -0.8 m/s
2025-08-23T22:15:12.908Z,1755987312.908 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:12.918Z,1755987312.918 [DAT](INFO): direction in FSK: [-0.829060,-0.555007,0.068015]
2025-08-23T22:15:12.918Z,1755987312.918 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:12.921Z,1755987312.921 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:12.921Z,1755987312.921 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:12.938Z,1755987312.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:13.126Z,1755987313.126 [DAT](INFO): DAT read: user:1650>
2025-08-23T22:15:13.127Z,1755987313.127 [DAT](INFO): DAT read: Tx time:22:15:12.8480
2025-08-23T22:15:13.127Z,1755987313.127 [DAT](INFO): Ping request sent.
2025-08-23T22:15:13.128Z,1755987313.128 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:13.128Z,1755987313.128 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:13.128Z,1755987313.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-23T22:15:13.279Z,1755987313.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 141.300003 m,
deltaT: 4.036803 s,
deltaX: 2.800003 m,
approachRate: 0.693619 m/s,
rangeRepo size: 3
2025-08-23T22:15:13.282Z,1755987313.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 140.442184 m,
bearing: 127.066116 deg,
lat: 36.779353 deg,
lon: -121.859688 deg,
deltaT: 4.036803 s,
deltaX: 2.783020 m,
approachRate: 0.689412 m/s,
posRepo size: 3
2025-08-23T22:15:13.282Z,1755987313.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.44 m.
2025-08-23T22:15:13.285Z,1755987313.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.442184 m,
nav range: 140.095566 m,
bearing: 137.304543 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.178424 deg/s,
cmd heading: 135.276104 deg,
new cmd heading: 135.100074 deg.
2025-08-23T22:15:13.287Z,1755987313.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.357941 target range: 140.442184 and range: 141.30 m.
2025-08-23T22:15:13.380Z,1755987313.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252281
2025-08-23T22:15:13.602Z,1755987313.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.44 m.
2025-08-23T22:15:13.605Z,1755987313.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.442184 m,
nav range: 140.292053 m,
bearing: 137.245424 deg,
approach rate: 0.607226 m/s,
LOS rate: -0.182445 deg/s,
cmd heading: 135.100076 deg,
new cmd heading: 134.982005 deg.
2025-08-23T22:15:13.606Z,1755987313.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.355880 target range: 140.442184 and range: 141.30 m.
2025-08-23T22:15:13.630Z,1755987313.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502839
2025-08-23T22:15:13.885Z,1755987313.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757147
2025-08-23T22:15:14.035Z,1755987314.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:14.039Z,1755987314.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.44 m.
2025-08-23T22:15:14.042Z,1755987314.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.442184 m,
nav range: 140.536819 m,
bearing: 137.167153 deg,
approach rate: 0.560069 m/s,
LOS rate: -0.178787 deg/s,
cmd heading: 134.982010 deg,
new cmd heading: 134.825740 deg.
2025-08-23T22:15:14.043Z,1755987314.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.353153 target range: 140.442184 and range: 141.30 m.
2025-08-23T22:15:14.136Z,1755987314.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007654
2025-08-23T22:15:14.386Z,1755987314.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258768
2025-08-23T22:15:14.418Z,1755987314.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.44 m.
2025-08-23T22:15:14.421Z,1755987314.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.442184 m,
nav range: 140.765976 m,
bearing: 137.091193 deg,
approach rate: 0.604987 m/s,
LOS rate: -0.200212 deg/s,
cmd heading: 134.825735 deg,
new cmd heading: 134.674063 deg.
2025-08-23T22:15:14.422Z,1755987314.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.350506 target range: 140.442184 and range: 141.30 m.
2025-08-23T22:15:14.642Z,1755987314.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513418
2025-08-23T22:15:14.810Z,1755987314.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.44 m.
2025-08-23T22:15:14.812Z,1755987314.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.442184 m,
nav range: 140.988434 m,
bearing: 137.014882 deg,
approach rate: 0.568443 m/s,
LOS rate: -0.194687 deg/s,
cmd heading: 134.674064 deg,
new cmd heading: 134.521684 deg.
2025-08-23T22:15:14.813Z,1755987314.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.347846 target range: 140.442184 and range: 141.30 m.
2025-08-23T22:15:14.895Z,1755987314.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766953
2025-08-23T22:15:15.144Z,1755987315.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015779
2025-08-23T22:15:15.253Z,1755987315.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.44 m.
2025-08-23T22:15:15.256Z,1755987315.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.442184 m,
nav range: 141.246872 m,
bearing: 136.925800 deg,
approach rate: 0.582791 m/s,
LOS rate: -0.200517 deg/s,
cmd heading: 134.521682 deg,
new cmd heading: 134.343845 deg.
2025-08-23T22:15:15.257Z,1755987315.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.344743 target range: 140.442184 and range: 141.30 m.
2025-08-23T22:15:15.395Z,1755987315.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266940
2025-08-23T22:15:15.621Z,1755987315.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.44 m.
2025-08-23T22:15:15.627Z,1755987315.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.442184 m,
nav range: 141.457977 m,
bearing: 136.850447 deg,
approach rate: 0.573983 m/s,
LOS rate: -0.204577 deg/s,
cmd heading: 134.343851 deg,
new cmd heading: 134.193369 deg.
2025-08-23T22:15:15.630Z,1755987315.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342116 target range: 140.442184 and range: 141.30 m.
2025-08-23T22:15:15.657Z,1755987315.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528828
2025-08-23T22:15:15.924Z,1755987315.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.795494
2025-08-23T22:15:16.048Z,1755987316.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:16.051Z,1755987316.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.44 m.
2025-08-23T22:15:16.054Z,1755987316.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.442184 m,
nav range: 141.691696 m,
bearing: 136.766612 deg,
approach rate: 0.543616 m/s,
LOS rate: -0.194673 deg/s,
cmd heading: 134.193369 deg,
new cmd heading: 134.025976 deg.
2025-08-23T22:15:16.054Z,1755987316.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.339195 target range: 140.442184 and range: 141.30 m.
2025-08-23T22:15:16.172Z,1755987316.172 [DAT](INFO): DAT read: Rx Time:22:15:15.4441
2025-08-23T22:15:16.172Z,1755987316.172 [DAT](INFO): Rx dataTimestamp_ set to:1755987316.171780
2025-08-23T22:15:16.173Z,1755987316.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.045347
2025-08-23T22:15:16.423Z,1755987316.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294957
2025-08-23T22:15:16.442Z,1755987316.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.44 m.
2025-08-23T22:15:16.444Z,1755987316.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.442184 m,
nav range: 141.901550 m,
bearing: 136.688765 deg,
approach rate: 0.537165 m/s,
LOS rate: -0.198971 deg/s,
cmd heading: 134.025974 deg,
new cmd heading: 133.870511 deg.
2025-08-23T22:15:16.445Z,1755987316.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336481 target range: 140.442184 and range: 141.30 m.
2025-08-23T22:15:16.684Z,1755987316.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.555642
2025-08-23T22:15:16.859Z,1755987316.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.44 m.
2025-08-23T22:15:16.866Z,1755987316.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.442184 m,
nav range: 142.113327 m,
bearing: 136.607409 deg,
approach rate: 0.506970 m/s,
LOS rate: -0.194466 deg/s,
cmd heading: 133.870506 deg,
new cmd heading: 133.708037 deg.
2025-08-23T22:15:16.867Z,1755987316.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333646 target range: 140.442184 and range: 141.30 m.
2025-08-23T22:15:16.986Z,1755987316.986 [DAT](INFO): DAT read: 22:15:15.4441 LVL= 32752, 23857, 28242, 32755, AGC= 62, IDX= 458, 0.05, 0.575, 2.614, 1.987, 1.946, PHS=-1.269, 0.713,-0.004, RAW= 290.9, 6.5, CAL= 288.8, 4.2, ROT= 221.2, -4.2
2025-08-23T22:15:16.987Z,1755987316.987 [DAT](INFO): got valid direction response:
22:15:15.4441 LVL= 32752, 23857, 28242, 32755, AGC= 62, IDX= 458, 0.05, 0.575, 2.614, 1.987, 1.946, PHS=-1.269, 0.713,-0.004, RAW= 290.9, 6.5, CAL= 288.8, 4.2, ROT= 221.2, -4.2
2025-08-23T22:15:16.988Z,1755987316.988 [DAT](INFO): DAT read: Bearing 230.7, -43.5 (Local)
2025-08-23T22:15:16.988Z,1755987316.988 [DAT](INFO): Local bearing/azimuth received:
Bearing 230.7, -43.5 (Local)
2025-08-23T22:15:16.989Z,1755987316.989 [DAT](INFO): DAT read: Range 11 to 50 : 143.9 m (Round-trip 191.9 ms) speed -0.5 m/s
2025-08-23T22:15:17.002Z,1755987317.002 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:17.003Z,1755987317.003 [DAT](INFO): direction in FSK: [-0.750394,-0.656920,0.073238]
2025-08-23T22:15:17.003Z,1755987317.003 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:17.011Z,1755987317.011 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:17.011Z,1755987317.011 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:17.012Z,1755987317.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:17.179Z,1755987317.179 [DAT](INFO): DAT read: user:1651>
2025-08-23T22:15:17.180Z,1755987317.180 [DAT](INFO): DAT read: Tx time:22:15:16.9480
2025-08-23T22:15:17.180Z,1755987317.180 [DAT](INFO): Ping request sent.
2025-08-23T22:15:17.180Z,1755987317.180 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:17.181Z,1755987317.181 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:17.182Z,1755987317.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001204
2025-08-23T22:15:17.313Z,1755987317.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 143.899994 m,
deltaT: 4.052428 s,
deltaX: 2.599991 m,
approachRate: 0.641588 m/s,
rangeRepo size: 4
2025-08-23T22:15:17.315Z,1755987317.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 143.025665 m,
bearing: 121.184710 deg,
lat: 36.779406 deg,
lon: -121.859616 deg,
deltaT: 4.052428 s,
deltaX: 2.583481 m,
approachRate: 0.637514 m/s,
posRepo size: 4
2025-08-23T22:15:17.316Z,1755987317.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.03 m.
2025-08-23T22:15:17.320Z,1755987317.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.025665 m,
nav range: 142.783585 m,
bearing: 133.016473 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.194466 deg/s,
cmd heading: 133.708043 deg,
new cmd heading: 133.531678 deg.
2025-08-23T22:15:17.320Z,1755987317.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330567 target range: 143.025665 and range: 143.90 m.
2025-08-23T22:15:17.432Z,1755987317.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251242
2025-08-23T22:15:17.682Z,1755987317.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501966
2025-08-23T22:15:17.740Z,1755987317.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.03 m.
2025-08-23T22:15:17.752Z,1755987317.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.025665 m,
nav range: 142.991333 m,
bearing: 132.944231 deg,
approach rate: 0.485777 m/s,
LOS rate: -0.168677 deg/s,
cmd heading: 133.531674 deg,
new cmd heading: 133.387400 deg.
2025-08-23T22:15:17.753Z,1755987317.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328049 target range: 143.025665 and range: 143.90 m.
2025-08-23T22:15:17.937Z,1755987317.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756206
2025-08-23T22:15:18.188Z,1755987318.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007563
2025-08-23T22:15:18.197Z,1755987318.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:18.200Z,1755987318.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.03 m.
2025-08-23T22:15:18.209Z,1755987318.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.025665 m,
nav range: 143.234085 m,
bearing: 132.855451 deg,
approach rate: 0.528110 m/s,
LOS rate: -0.192816 deg/s,
cmd heading: 133.387406 deg,
new cmd heading: 133.210147 deg.
2025-08-23T22:15:18.214Z,1755987318.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324956 target range: 143.025665 and range: 143.90 m.
2025-08-23T22:15:18.440Z,1755987318.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259487
2025-08-23T22:15:18.545Z,1755987318.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.03 m.
2025-08-23T22:15:18.547Z,1755987318.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.025665 m,
nav range: 143.417023 m,
bearing: 132.786277 deg,
approach rate: 0.530728 m/s,
LOS rate: -0.200426 deg/s,
cmd heading: 133.210149 deg,
new cmd heading: 133.071979 deg.
2025-08-23T22:15:18.548Z,1755987318.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322544 target range: 143.025665 and range: 143.90 m.
2025-08-23T22:15:18.690Z,1755987318.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509985
2025-08-23T22:15:18.945Z,1755987318.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764361
2025-08-23T22:15:19.009Z,1755987319.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.03 m.
2025-08-23T22:15:19.012Z,1755987319.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.025665 m,
nav range: 143.645355 m,
bearing: 132.696989 deg,
approach rate: 0.491670 m/s,
LOS rate: -0.191959 deg/s,
cmd heading: 133.071975 deg,
new cmd heading: 132.893683 deg.
2025-08-23T22:15:19.013Z,1755987319.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319432 target range: 143.025665 and range: 143.90 m.
2025-08-23T22:15:19.195Z,1755987319.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014692
2025-08-23T22:15:19.384Z,1755987319.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.03 m.
2025-08-23T22:15:19.391Z,1755987319.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.025665 m,
nav range: 143.822998 m,
bearing: 132.625791 deg,
approach rate: 0.473633 m/s,
LOS rate: -0.189595 deg/s,
cmd heading: 132.893679 deg,
new cmd heading: 132.751459 deg.
2025-08-23T22:15:19.392Z,1755987319.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.316950 target range: 143.025665 and range: 143.90 m.
2025-08-23T22:15:19.447Z,1755987319.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266202
2025-08-23T22:15:19.699Z,1755987319.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518163
2025-08-23T22:15:19.762Z,1755987319.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.03 m.
2025-08-23T22:15:19.765Z,1755987319.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.025665 m,
nav range: 143.999664 m,
bearing: 132.552551 deg,
approach rate: 0.466923 m/s,
LOS rate: -0.193333 deg/s,
cmd heading: 132.751461 deg,
new cmd heading: 132.605161 deg.
2025-08-23T22:15:19.767Z,1755987319.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314397 target range: 143.025665 and range: 143.90 m.
2025-08-23T22:15:19.953Z,1755987319.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771948
2025-08-23T22:15:20.203Z,1755987320.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022377
2025-08-23T22:15:20.228Z,1755987320.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:20.234Z,1755987320.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.03 m.
2025-08-23T22:15:20.237Z,1755987320.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.025665 m,
nav range: 144.200989 m,
bearing: 132.469144 deg,
approach rate: 0.430882 m/s,
LOS rate: -0.178263 deg/s,
cmd heading: 132.605158 deg,
new cmd heading: 132.438577 deg.
2025-08-23T22:15:20.243Z,1755987320.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311489 target range: 143.025665 and range: 143.90 m.
2025-08-23T22:15:20.455Z,1755987320.455 [DAT](INFO): DAT read: Rx Time:22:15:19.5470
2025-08-23T22:15:20.455Z,1755987320.455 [DAT](INFO): Rx dataTimestamp_ set to:1755987320.454756
2025-08-23T22:15:20.456Z,1755987320.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275169
2025-08-23T22:15:20.569Z,1755987320.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.03 m.
2025-08-23T22:15:20.571Z,1755987320.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.025665 m,
nav range: 144.367310 m,
bearing: 132.397911 deg,
approach rate: 0.490677 m/s,
LOS rate: -0.209907 deg/s,
cmd heading: 132.438570 deg,
new cmd heading: 132.296269 deg.
2025-08-23T22:15:20.572Z,1755987320.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309005 target range: 143.025665 and range: 143.90 m.
2025-08-23T22:15:20.707Z,1755987320.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526123
2025-08-23T22:15:20.986Z,1755987320.986 [DAT](INFO): DAT read: 22:15:19.5470 LVL= 30384, 19361, 24242, 28243, AGC= 62, IDX= 456, 0.15,-0.430, 1.296, 1.514, 0.934, PHS=-1.262, 0.408, 0.536, RAW= 266.3, 3.7, CAL= 263.3, -1.2, ROT= 246.7, 1.2
2025-08-23T22:15:20.995Z,1755987320.995 [DAT](INFO): got valid direction response:
22:15:19.5470 LVL= 30384, 19361, 24242, 28243, AGC= 62, IDX= 456, 0.15,-0.430, 1.296, 1.514, 0.934, PHS=-1.262, 0.408, 0.536, RAW= 266.3, 3.7, CAL= 263.3, -1.2, ROT= 246.7, 1.2
2025-08-23T22:15:21.012Z,1755987321.012 [DAT](INFO): DAT read: Bearing 231.0, -67.0 (Local)
2025-08-23T22:15:21.013Z,1755987321.013 [DAT](INFO): Local bearing/azimuth received:
Bearing 231.0, -67.0 (Local)
2025-08-23T22:15:21.019Z,1755987321.019 [DAT](INFO): DAT read: Range 11 to 50 : 146.1 m (Round-trip 194.9 ms) speed -0.7 m/s
2025-08-23T22:15:21.020Z,1755987321.020 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:21.021Z,1755987321.021 [DAT](INFO): direction in FSK: [-0.395459,-0.918245,-0.020942]
2025-08-23T22:15:21.061Z,1755987321.061 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:21.065Z,1755987321.065 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:21.065Z,1755987321.065 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:21.065Z,1755987321.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:21.101Z,1755987321.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 146.100006 m,
deltaT: 4.030878 s,
deltaX: 2.200012 m,
approachRate: 0.545790 m/s,
rangeRepo size: 4
2025-08-23T22:15:21.107Z,1755987321.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 145.211578 m,
bearing: 137.092650 deg,
lat: 36.779406 deg,
lon: -121.859616 deg,
deltaT: 4.030878 s,
deltaX: 2.185913 m,
approachRate: 0.542292 m/s,
posRepo size: 4
2025-08-23T22:15:21.108Z,1755987321.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.21 m.
2025-08-23T22:15:21.115Z,1755987321.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.211578 m,
nav range: 144.595337 m,
bearing: 132.296910 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.209907 deg/s,
cmd heading: 132.296270 deg,
new cmd heading: 132.072954 deg.
2025-08-23T22:15:21.116Z,1755987321.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305108 target range: 145.211578 and range: 146.10 m.
2025-08-23T22:15:21.212Z,1755987321.212 [DAT](INFO): DAT read: user:1652>
2025-08-23T22:15:21.213Z,1755987321.213 [DAT](INFO): DAT read: Tx time:22:15:20.9980
2025-08-23T22:15:21.213Z,1755987321.213 [DAT](INFO): Ping request sent.
2025-08-23T22:15:21.213Z,1755987321.213 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:21.214Z,1755987321.214 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:21.214Z,1755987321.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001179
2025-08-23T22:15:21.463Z,1755987321.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249666
2025-08-23T22:15:21.498Z,1755987321.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.21 m.
2025-08-23T22:15:21.500Z,1755987321.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.211578 m,
nav range: 144.774185 m,
bearing: 132.213817 deg,
approach rate: 0.450611 m/s,
LOS rate: -0.209095 deg/s,
cmd heading: 132.072950 deg,
new cmd heading: 131.906970 deg.
2025-08-23T22:15:21.502Z,1755987321.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302211 target range: 145.211578 and range: 146.10 m.
2025-08-23T22:15:21.715Z,1755987321.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501561
2025-08-23T22:15:21.877Z,1755987321.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.21 m.
2025-08-23T22:15:21.880Z,1755987321.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.211578 m,
nav range: 144.934692 m,
bearing: 132.136692 deg,
approach rate: 0.423386 m/s,
LOS rate: -0.203217 deg/s,
cmd heading: 131.906976 deg,
new cmd heading: 131.752896 deg.
2025-08-23T22:15:21.881Z,1755987321.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299522 target range: 145.211578 and range: 146.10 m.
2025-08-23T22:15:21.970Z,1755987321.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755775
2025-08-23T22:15:22.219Z,1755987322.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005469
2025-08-23T22:15:22.334Z,1755987322.334 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022902024295,35.0, +10.4, 0.0,1491.3, , 0.00, 84.88, 77.75, 79.79, 81.49
2025-08-23T22:15:22.360Z,1755987322.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:22.362Z,1755987322.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.21 m.
2025-08-23T22:15:22.365Z,1755987322.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.211578 m,
nav range: 145.135681 m,
bearing: 132.036881 deg,
approach rate: 0.413914 m/s,
LOS rate: -0.205265 deg/s,
cmd heading: 131.752901 deg,
new cmd heading: 131.553557 deg.
2025-08-23T22:15:22.366Z,1755987322.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296043 target range: 145.211578 and range: 146.10 m.
2025-08-23T22:15:22.471Z,1755987322.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257553
2025-08-23T22:15:22.723Z,1755987322.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509771
2025-08-23T22:15:22.724Z,1755987322.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.21 m.
2025-08-23T22:15:22.731Z,1755987322.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.211578 m,
nav range: 145.278946 m,
bearing: 131.963283 deg,
approach rate: 0.395636 m/s,
LOS rate: -0.203046 deg/s,
cmd heading: 131.553555 deg,
new cmd heading: 131.406504 deg.
2025-08-23T22:15:22.732Z,1755987322.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293476 target range: 145.211578 and range: 146.10 m.
2025-08-23T22:15:22.975Z,1755987322.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761594
2025-08-23T22:15:23.215Z,1755987323.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.21 m.
2025-08-23T22:15:23.227Z,1755987323.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013493
2025-08-23T22:15:23.242Z,1755987323.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.211578 m,
nav range: 145.471085 m,
bearing: 131.866500 deg,
approach rate: 0.391152 m/s,
LOS rate: -0.196767 deg/s,
cmd heading: 131.406501 deg,
new cmd heading: 131.213193 deg.
2025-08-23T22:15:23.243Z,1755987323.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290102 target range: 145.211578 and range: 146.10 m.
2025-08-23T22:15:23.479Z,1755987323.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265501
2025-08-23T22:15:23.525Z,1755987323.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.21 m.
2025-08-23T22:15:23.528Z,1755987323.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.211578 m,
nav range: 145.593582 m,
bearing: 131.802677 deg,
approach rate: 0.396014 m/s,
LOS rate: -0.206156 deg/s,
cmd heading: 131.213193 deg,
new cmd heading: 131.085654 deg.
2025-08-23T22:15:23.529Z,1755987323.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287876 target range: 145.211578 and range: 146.10 m.
2025-08-23T22:15:23.731Z,1755987323.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518169
2025-08-23T22:15:23.942Z,1755987323.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.21 m.
2025-08-23T22:15:23.945Z,1755987323.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.211578 m,
nav range: 145.749893 m,
bearing: 131.718285 deg,
approach rate: 0.374417 m/s,
LOS rate: -0.201930 deg/s,
cmd heading: 131.085660 deg,
new cmd heading: 130.917058 deg.
2025-08-23T22:15:23.946Z,1755987323.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284934 target range: 145.211578 and range: 146.10 m.
2025-08-23T22:15:23.986Z,1755987323.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771802
2025-08-23T22:15:24.235Z,1755987324.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021453
2025-08-23T22:15:24.361Z,1755987324.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.21 m.
2025-08-23T22:15:24.364Z,1755987324.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.211578 m,
nav range: 145.908401 m,
bearing: 131.633312 deg,
approach rate: 0.378476 m/s,
LOS rate: -0.202674 deg/s,
cmd heading: 130.917064 deg,
new cmd heading: 130.747302 deg.
2025-08-23T22:15:24.365Z,1755987324.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281971 target range: 145.211578 and range: 146.10 m.
2025-08-23T22:15:24.487Z,1755987324.487 [DAT](INFO): DAT read: Rx Time:22:15:23.5995
2025-08-23T22:15:24.487Z,1755987324.487 [DAT](INFO): Rx dataTimestamp_ set to:1755987324.486784
2025-08-23T22:15:24.488Z,1755987324.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274555
2025-08-23T22:15:24.736Z,1755987324.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:24.739Z,1755987324.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525529
2025-08-23T22:15:24.740Z,1755987324.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.21 m.
2025-08-23T22:15:24.743Z,1755987324.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.211578 m,
nav range: 146.043701 m,
bearing: 131.555053 deg,
approach rate: 0.356726 m/s,
LOS rate: -0.206142 deg/s,
cmd heading: 130.747306 deg,
new cmd heading: 130.590935 deg.
2025-08-23T22:15:24.744Z,1755987324.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279242 target range: 145.211578 and range: 146.10 m.
2025-08-23T22:15:25.001Z,1755987325.001 [DAT](INFO): DAT read: 22:15:23.5995 LVL= 27328, 22081, 16338, 23507, AGC= 61, IDX= 449, 0.15, 1.669, 3.073,-2.477, 2.964, PHS=-1.193, 0.154, 0.799, RAW= 251.5, 2.8, CAL= 247.6, 1.5, ROT= 262.4, -1.5
2025-08-23T22:15:25.002Z,1755987325.002 [DAT](INFO): got valid direction response:
22:15:23.5995 LVL= 27328, 22081, 16338, 23507, AGC= 61, IDX= 449, 0.15, 1.669, 3.073,-2.477, 2.964, PHS=-1.193, 0.154, 0.799, RAW= 251.5, 2.8, CAL= 247.6, 1.5, ROT= 262.4, -1.5
2025-08-23T22:15:25.003Z,1755987325.003 [DAT](INFO): DAT read: Bearing 215.2, -81.6 (Local)
2025-08-23T22:15:25.004Z,1755987325.004 [DAT](INFO): Local bearing/azimuth received:
Bearing 215.2, -81.6 (Local)
2025-08-23T22:15:25.005Z,1755987325.005 [DAT](INFO): DAT read: Range 11 to 50 : 147.9 m (Round-trip 197.3 ms) speed -0.4 m/s
2025-08-23T22:15:25.006Z,1755987325.006 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:25.007Z,1755987325.007 [DAT](INFO): direction in FSK: [-0.132211,-0.990876,0.026177]
2025-08-23T22:15:25.007Z,1755987325.007 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:25.012Z,1755987325.012 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:25.012Z,1755987325.012 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:25.013Z,1755987325.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:25.243Z,1755987325.243 [DAT](INFO): DAT read: user:1653>
2025-08-23T22:15:25.243Z,1755987325.243 [DAT](INFO): DAT read: Tx time:22:15:24.9480
2025-08-23T22:15:25.244Z,1755987325.244 [DAT](INFO): Ping request sent.
2025-08-23T22:15:25.244Z,1755987325.244 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:25.244Z,1755987325.244 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:25.245Z,1755987325.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-23T22:15:25.254Z,1755987325.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 147.899994 m,
deltaT: 4.031322 s,
deltaX: 1.799988 m,
approachRate: 0.446501 m/s,
rangeRepo size: 4
2025-08-23T22:15:25.256Z,1755987325.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 147.000290 m,
bearing: 142.193648 deg,
lat: 36.779406 deg,
lon: -121.859616 deg,
deltaT: 4.031322 s,
deltaX: 1.788712 m,
approachRate: 0.443703 m/s,
posRepo size: 4
2025-08-23T22:15:25.257Z,1755987325.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-08-23T22:15:25.264Z,1755987325.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.000290 m,
nav range: 146.214447 m,
bearing: 131.452073 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.206142 deg/s,
cmd heading: 130.590936 deg,
new cmd heading: 130.381166 deg.
2025-08-23T22:15:25.265Z,1755987325.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275581 target range: 147.000290 and range: 147.90 m.
2025-08-23T22:15:25.495Z,1755987325.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250965
2025-08-23T22:15:25.585Z,1755987325.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-08-23T22:15:25.588Z,1755987325.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.000290 m,
nav range: 146.333801 m,
bearing: 131.377290 deg,
approach rate: 0.355358 m/s,
LOS rate: -0.222474 deg/s,
cmd heading: 130.381167 deg,
new cmd heading: 130.231723 deg.
2025-08-23T22:15:25.589Z,1755987325.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272972 target range: 147.000290 and range: 147.90 m.
2025-08-23T22:15:25.747Z,1755987325.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502701
2025-08-23T22:15:25.986Z,1755987325.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-08-23T22:15:25.989Z,1755987325.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.000290 m,
nav range: 146.464920 m,
bearing: 131.291986 deg,
approach rate: 0.327424 m/s,
LOS rate: -0.212826 deg/s,
cmd heading: 130.231722 deg,
new cmd heading: 130.061268 deg.
2025-08-23T22:15:25.990Z,1755987325.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269997 target range: 147.000290 and range: 147.90 m.
2025-08-23T22:15:26.002Z,1755987326.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757781
2025-08-23T22:15:26.250Z,1755987326.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006602
2025-08-23T22:15:26.420Z,1755987326.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-08-23T22:15:26.423Z,1755987326.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.000290 m,
nav range: 146.604218 m,
bearing: 131.200806 deg,
approach rate: 0.320549 m/s,
LOS rate: -0.209623 deg/s,
cmd heading: 130.061268 deg,
new cmd heading: 129.879082 deg.
2025-08-23T22:15:26.424Z,1755987326.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.266818 target range: 147.000290 and range: 147.90 m.
2025-08-23T22:15:26.503Z,1755987326.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258812
2025-08-23T22:15:26.755Z,1755987326.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510863
2025-08-23T22:15:26.826Z,1755987326.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:26.828Z,1755987326.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-08-23T22:15:26.831Z,1755987326.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.000290 m,
nav range: 146.730484 m,
bearing: 131.115081 deg,
approach rate: 0.309561 m/s,
LOS rate: -0.209986 deg/s,
cmd heading: 129.879080 deg,
new cmd heading: 129.707778 deg.
2025-08-23T22:15:26.832Z,1755987326.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263828 target range: 147.000290 and range: 147.90 m.
2025-08-23T22:15:27.007Z,1755987327.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763131
2025-08-23T22:15:27.259Z,1755987327.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014744
2025-08-23T22:15:27.280Z,1755987327.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-08-23T22:15:27.287Z,1755987327.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.000290 m,
nav range: 146.869125 m,
bearing: 131.016336 deg,
approach rate: 0.306575 m/s,
LOS rate: -0.218145 deg/s,
cmd heading: 129.707779 deg,
new cmd heading: 129.510477 deg.
2025-08-23T22:15:27.288Z,1755987327.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.260384 target range: 147.000290 and range: 147.90 m.
2025-08-23T22:15:27.511Z,1755987327.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266756
2025-08-23T22:15:27.778Z,1755987327.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534173
2025-08-23T22:15:27.814Z,1755987327.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-08-23T22:15:27.817Z,1755987327.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.000290 m,
nav range: 147.013718 m,
bearing: 130.904780 deg,
approach rate: 0.270704 m/s,
LOS rate: -0.208648 deg/s,
cmd heading: 129.510482 deg,
new cmd heading: 129.287590 deg.
2025-08-23T22:15:27.826Z,1755987327.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.256494 target range: 147.000290 and range: 147.90 m.
2025-08-23T22:15:28.014Z,1755987328.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770610
2025-08-23T22:15:28.227Z,1755987328.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-08-23T22:15:28.234Z,1755987328.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.000290 m,
nav range: 147.125885 m,
bearing: 130.813254 deg,
approach rate: 0.271742 m/s,
LOS rate: -0.221568 deg/s,
cmd heading: 129.287585 deg,
new cmd heading: 129.104672 deg.
2025-08-23T22:15:28.235Z,1755987328.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.253302 target range: 147.000290 and range: 147.90 m.
2025-08-23T22:15:28.267Z,1755987328.267 [DAT](INFO): DAT read: Rx Time:22:15:27.5512
2025-08-23T22:15:28.267Z,1755987328.267 [DAT](INFO): Rx dataTimestamp_ set to:1755987328.266928
2025-08-23T22:15:28.268Z,1755987328.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023959
2025-08-23T22:15:28.518Z,1755987328.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274623
2025-08-23T22:15:28.588Z,1755987328.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-08-23T22:15:28.591Z,1755987328.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.000290 m,
nav range: 147.218491 m,
bearing: 130.734349 deg,
approach rate: 0.256775 m/s,
LOS rate: -0.218647 deg/s,
cmd heading: 129.104673 deg,
new cmd heading: 128.946964 deg.
2025-08-23T22:15:28.591Z,1755987328.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250549 target range: 147.000290 and range: 147.90 m.
2025-08-23T22:15:28.774Z,1755987328.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529368
2025-08-23T22:15:28.977Z,1755987328.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:28.979Z,1755987328.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-08-23T22:15:28.982Z,1755987328.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.000290 m,
nav range: 147.313416 m,
bearing: 130.649924 deg,
approach rate: 0.242402 m/s,
LOS rate: -0.215451 deg/s,
cmd heading: 128.946964 deg,
new cmd heading: 128.778222 deg.
2025-08-23T22:15:28.983Z,1755987328.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.247604 target range: 147.000290 and range: 147.90 m.
2025-08-23T22:15:29.028Z,1755987329.028 [DAT](INFO): DAT read: 22:15:27.5512 LVL= 30256, 26865, 19442, 30611, AGC= 64, IDX= 452, 0.18,-0.308, 0.991, 1.851, 1.007, PHS=-1.213, 0.029, 0.800, RAW= 247.7, 4.4, CAL= 245.0, 4.3, ROT= 265.0, -4.3
2025-08-23T22:15:29.029Z,1755987329.029 [DAT](INFO): got valid direction response:
22:15:27.5512 LVL= 30256, 26865, 19442, 30611, AGC= 64, IDX= 452, 0.18,-0.308, 0.991, 1.851, 1.007, PHS=-1.213, 0.029, 0.800, RAW= 247.7, 4.4, CAL= 245.0, 4.3, ROT= 265.0, -4.3
2025-08-23T22:15:29.030Z,1755987329.030 [DAT](INFO): DAT read: Bearing 183.9, -83.1 (Local)
2025-08-23T22:15:29.030Z,1755987329.030 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.9, -83.1 (Local)
2025-08-23T22:15:29.032Z,1755987329.032 [DAT](INFO): DAT read: Range 11 to 50 : 149.4 m (Round-trip 199.2 ms) speed -0.3 m/s
2025-08-23T22:15:29.032Z,1755987329.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:29.033Z,1755987329.033 [DAT](INFO): direction in FSK: [-0.086910,-0.993391,0.074979]
2025-08-23T22:15:29.034Z,1755987329.034 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:29.037Z,1755987329.037 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:29.037Z,1755987329.037 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:29.037Z,1755987329.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:29.274Z,1755987329.274 [DAT](INFO): DAT read: user:1654>
2025-08-23T22:15:29.275Z,1755987329.275 [DAT](INFO): DAT read: Tx time:22:15:28.9479
2025-08-23T22:15:29.275Z,1755987329.275 [DAT](INFO): Ping request sent.
2025-08-23T22:15:29.276Z,1755987329.276 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:29.276Z,1755987329.276 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:29.276Z,1755987329.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-23T22:15:29.424Z,1755987329.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 149.399994 m,
deltaT: 4.031319 s,
deltaX: 1.500000 m,
approachRate: 0.372087 m/s,
rangeRepo size: 4
2025-08-23T22:15:29.430Z,1755987329.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 148.490616 m,
bearing: 133.412423 deg,
lat: 36.779356 deg,
lon: -121.859670 deg,
deltaT: 4.031319 s,
deltaX: 1.490326 m,
approachRate: 0.369687 m/s,
posRepo size: 4
2025-08-23T22:15:29.431Z,1755987329.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.49 m.
2025-08-23T22:15:29.434Z,1755987329.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.490616 m,
nav range: 147.595505 m,
bearing: 133.411891 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.215451 deg/s,
cmd heading: 128.778217 deg,
new cmd heading: 128.586860 deg.
2025-08-23T22:15:29.435Z,1755987329.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.244264 target range: 148.490616 and range: 149.40 m.
2025-08-23T22:15:29.527Z,1755987329.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251075
2025-08-23T22:15:29.779Z,1755987329.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503022
2025-08-23T22:15:29.806Z,1755987329.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.49 m.
2025-08-23T22:15:29.809Z,1755987329.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.490616 m,
nav range: 147.674545 m,
bearing: 133.325761 deg,
approach rate: 0.206384 m/s,
LOS rate: -0.224773 deg/s,
cmd heading: 128.586863 deg,
new cmd heading: 128.414696 deg.
2025-08-23T22:15:29.812Z,1755987329.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.241259 target range: 148.490616 and range: 149.40 m.
2025-08-23T22:15:30.031Z,1755987330.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755488
2025-08-23T22:15:30.234Z,1755987330.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.49 m.
2025-08-23T22:15:30.237Z,1755987330.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.490616 m,
nav range: 147.757126 m,
bearing: 133.230298 deg,
approach rate: 0.193010 m/s,
LOS rate: -0.222996 deg/s,
cmd heading: 128.414701 deg,
new cmd heading: 128.223881 deg.
2025-08-23T22:15:30.238Z,1755987330.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237929 target range: 148.490616 and range: 149.40 m.
2025-08-23T22:15:30.284Z,1755987330.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007742
2025-08-23T22:15:30.535Z,1755987330.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258983
2025-08-23T22:15:30.632Z,1755987330.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.49 m.
2025-08-23T22:15:30.639Z,1755987330.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.490616 m,
nav range: 147.824890 m,
bearing: 133.147642 deg,
approach rate: 0.170452 m/s,
LOS rate: -0.207813 deg/s,
cmd heading: 128.223879 deg,
new cmd heading: 128.058644 deg.
2025-08-23T22:15:30.640Z,1755987330.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.235045 target range: 148.490616 and range: 149.40 m.
2025-08-23T22:15:30.786Z,1755987330.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887
2025-08-23T22:15:30.997Z,1755987330.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:31.015Z,1755987331.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.49 m.
2025-08-23T22:15:31.029Z,1755987331.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.490616 m,
nav range: 147.891281 m,
bearing: 133.061652 deg,
approach rate: 0.173263 m/s,
LOS rate: -0.224310 deg/s,
cmd heading: 128.058643 deg,
new cmd heading: 127.886741 deg.
2025-08-23T22:15:31.032Z,1755987331.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232045 target range: 148.490616 and range: 149.40 m.
2025-08-23T22:15:31.039Z,1755987331.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763046
2025-08-23T22:15:31.295Z,1755987331.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019519
2025-08-23T22:15:31.445Z,1755987331.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.49 m.
2025-08-23T22:15:31.464Z,1755987331.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.490616 m,
nav range: 147.962708 m,
bearing: 132.968450 deg,
approach rate: 0.170673 m/s,
LOS rate: -0.222598 deg/s,
cmd heading: 127.886741 deg,
new cmd heading: 127.700427 deg.
2025-08-23T22:15:31.465Z,1755987331.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.228793 target range: 148.490616 and range: 149.40 m.
2025-08-23T22:15:31.543Z,1755987331.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267016
2025-08-23T22:15:31.795Z,1755987331.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518955
2025-08-23T22:15:31.841Z,1755987331.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.49 m.
2025-08-23T22:15:31.860Z,1755987331.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.490616 m,
nav range: 148.022293 m,
bearing: 132.885696 deg,
approach rate: 0.146322 m/s,
LOS rate: -0.203133 deg/s,
cmd heading: 127.700427 deg,
new cmd heading: 127.534987 deg.
2025-08-23T22:15:31.861Z,1755987331.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.225905 target range: 148.490616 and range: 149.40 m.
2025-08-23T22:15:32.048Z,1755987332.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771935
2025-08-23T22:15:32.295Z,1755987332.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.49 m.
2025-08-23T22:15:32.299Z,1755987332.299 [DAT](INFO): DAT read: Rx Time:22:15:31.5527
2025-08-23T22:15:32.299Z,1755987332.299 [DAT](INFO): Rx dataTimestamp_ set to:1755987332.298896
2025-08-23T22:15:32.300Z,1755987332.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024161
2025-08-23T22:15:32.301Z,1755987332.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.490616 m,
nav range: 148.090454 m,
bearing: 132.796402 deg,
approach rate: 0.150165 m/s,
LOS rate: -0.196633 deg/s,
cmd heading: 127.534986 deg,
new cmd heading: 127.356481 deg.
2025-08-23T22:15:32.310Z,1755987332.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.222790 target range: 148.490616 and range: 149.40 m.
2025-08-23T22:15:32.551Z,1755987332.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275586
2025-08-23T22:15:32.655Z,1755987332.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.49 m.
2025-08-23T22:15:32.658Z,1755987332.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.490616 m,
nav range: 148.152588 m,
bearing: 132.709623 deg,
approach rate: 0.172329 m/s,
LOS rate: -0.240585 deg/s,
cmd heading: 127.356486 deg,
new cmd heading: 127.182999 deg.
2025-08-23T22:15:32.659Z,1755987332.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.219762 target range: 148.490616 and range: 149.40 m.
2025-08-23T22:15:32.806Z,1755987332.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529351
2025-08-23T22:15:32.814Z,1755987332.814 [RudderServo](ERROR): getPosition uart error serial timeout
2025-08-23T22:15:32.814Z,1755987332.814 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2025-08-23T22:15:32.814Z,1755987332.814 [RudderServo] Communications Fault, FailCount= 1
2025-08-23T22:15:32.814Z,1755987332.814 [RudderServo](ERROR): Communications Fault
2025-08-23T22:15:32.885Z,1755987332.885 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-08-23T22:15:33.060Z,1755987333.060 [DAT](INFO): DAT read: 22:15:31.5527 LVL= 29840, 24369, 18258, 30131, AGC= 63, IDX= 435, 0.07,-0.042, 1.119, 2.163, 1.206, PHS=-1.146,-0.042, 0.913, RAW= 242.4, 3.1, CAL= 239.6, 3.5, ROT= 270.4, -3.5
2025-08-23T22:15:33.061Z,1755987333.061 [DAT](INFO): got valid direction response:
22:15:31.5527 LVL= 29840, 24369, 18258, 30131, AGC= 63, IDX= 435, 0.07,-0.042, 1.119, 2.163, 1.206, PHS=-1.146,-0.042, 0.913, RAW= 242.4, 3.1, CAL= 239.6, 3.5, ROT= 270.4, -3.5
2025-08-23T22:15:33.071Z,1755987333.071 [DAT](INFO): DAT read: Bearing 151.2, -88.0 (Local)
2025-08-23T22:15:33.071Z,1755987333.071 [DAT](INFO): Local bearing/azimuth received:
Bearing 151.2, -88.0 (Local)
2025-08-23T22:15:33.072Z,1755987333.072 [DAT](INFO): DAT read: Range 11 to 50 : 150.4 m (Round-trip 200.6 ms) speed -0.2 m/s
2025-08-23T22:15:33.073Z,1755987333.073 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:33.081Z,1755987333.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:33.086Z,1755987333.086 [DAT](INFO): direction in FSK: [0.006968,-0.998110,0.061049]
2025-08-23T22:15:33.086Z,1755987333.086 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:33.088Z,1755987333.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.49 m.
2025-08-23T22:15:33.102Z,1755987333.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.490616 m,
nav range: 148.209930 m,
bearing: 132.624161 deg,
approach rate: 0.132554 m/s,
LOS rate: -0.197479 deg/s,
cmd heading: 127.182999 deg,
new cmd heading: 127.012142 deg.
2025-08-23T22:15:33.104Z,1755987333.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.216780 target range: 148.490616 and range: 149.40 m.
2025-08-23T22:15:33.110Z,1755987333.110 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:33.110Z,1755987333.110 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:33.110Z,1755987333.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:33.264Z,1755987333.264 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-08-23T22:15:33.264Z,1755987333.264 [RudderServo](INFO): Powering down
2025-08-23T22:15:33.311Z,1755987333.311 [DAT](INFO): DAT read: user:1655>
2025-08-23T22:15:33.312Z,1755987333.312 [DAT](INFO): DAT read: Tx time:22:15:33.0479
2025-08-23T22:15:33.312Z,1755987333.312 [DAT](INFO): Ping request sent.
2025-08-23T22:15:33.312Z,1755987333.312 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:33.313Z,1755987333.313 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:33.313Z,1755987333.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-08-23T22:15:33.518Z,1755987333.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 150.399994 m,
deltaT: 4.031996 s,
deltaX: 1.000000 m,
approachRate: 0.248016 m/s,
rangeRepo size: 4
2025-08-23T22:15:33.520Z,1755987333.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 149.485382 m,
bearing: 128.373929 deg,
lat: 36.779356 deg,
lon: -121.859670 deg,
deltaT: 4.031996 s,
deltaX: 0.994766 m,
approachRate: 0.246718 m/s,
posRepo size: 4
2025-08-23T22:15:33.525Z,1755987333.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.49 m.
2025-08-23T22:15:33.528Z,1755987333.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.485382 m,
nav range: 148.263763 m,
bearing: 132.532334 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.197479 deg/s,
cmd heading: 127.012149 deg,
new cmd heading: 126.843948 deg.
2025-08-23T22:15:33.529Z,1755987333.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.213845 target range: 149.485382 and range: 150.40 m.
2025-08-23T22:15:33.563Z,1755987333.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250068
2025-08-23T22:15:33.815Z,1755987333.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502035
2025-08-23T22:15:33.893Z,1755987333.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.49 m.
2025-08-23T22:15:33.903Z,1755987333.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.485382 m,
nav range: 148.307480 m,
bearing: 132.451483 deg,
approach rate: 0.115260 m/s,
LOS rate: -0.213105 deg/s,
cmd heading: 126.843949 deg,
new cmd heading: 126.682294 deg.
2025-08-23T22:15:33.904Z,1755987333.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.211023 target range: 149.485382 and range: 150.40 m.
2025-08-23T22:15:33.967Z,1755987333.967 [RudderServo](DEBUG): Initializing EZServoServo.
2025-08-23T22:15:34.066Z,1755987334.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753902
2025-08-23T22:15:34.086Z,1755987334.086 [RudderServo](DEBUG): Initializing RudderServo.
2025-08-23T22:15:34.122Z,1755987334.122 [CBIT](INFO): Clearing failed state for component RudderServo
2025-08-23T22:15:34.122Z,1755987334.122 [RudderServo] No Fault, FailCount= 1
2025-08-23T22:15:34.300Z,1755987334.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.49 m.
2025-08-23T22:15:34.303Z,1755987334.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.485382 m,
nav range: 148.343277 m,
bearing: 132.362607 deg,
approach rate: 0.087940 m/s,
LOS rate: -0.218281 deg/s,
cmd heading: 126.682292 deg,
new cmd heading: 126.504584 deg.
2025-08-23T22:15:34.304Z,1755987334.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.207922 target range: 149.485382 and range: 150.40 m.
2025-08-23T22:15:34.318Z,1755987334.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005955
2025-08-23T22:15:34.571Z,1755987334.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258014
2025-08-23T22:15:34.674Z,1755987334.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.49 m.
2025-08-23T22:15:34.676Z,1755987334.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.485382 m,
nav range: 148.372391 m,
bearing: 132.281363 deg,
approach rate: 0.077970 m/s,
LOS rate: -0.217537 deg/s,
cmd heading: 126.504584 deg,
new cmd heading: 126.342128 deg.
2025-08-23T22:15:34.677Z,1755987334.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205086 target range: 149.485382 and range: 150.40 m.
2025-08-23T22:15:34.823Z,1755987334.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509973
2025-08-23T22:15:35.075Z,1755987335.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762049
2025-08-23T22:15:35.089Z,1755987335.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:35.110Z,1755987335.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.49 m.
2025-08-23T22:15:35.116Z,1755987335.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.485382 m,
nav range: 148.400620 m,
bearing: 132.191894 deg,
approach rate: 0.067201 m/s,
LOS rate: -0.212949 deg/s,
cmd heading: 126.342135 deg,
new cmd heading: 126.163230 deg.
2025-08-23T22:15:35.138Z,1755987335.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201964 target range: 149.485382 and range: 150.40 m.
2025-08-23T22:15:35.271Z,1755987335.271 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:15:35.327Z,1755987335.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014398
2025-08-23T22:15:35.559Z,1755987335.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.49 m.
2025-08-23T22:15:35.567Z,1755987335.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.485382 m,
nav range: 148.426819 m,
bearing: 132.097539 deg,
approach rate: 0.056219 m/s,
LOS rate: -0.202433 deg/s,
cmd heading: 126.163225 deg,
new cmd heading: 125.974548 deg.
2025-08-23T22:15:35.568Z,1755987335.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.198671 target range: 149.485382 and range: 150.40 m.
2025-08-23T22:15:35.579Z,1755987335.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266068
2025-08-23T22:15:35.831Z,1755987335.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517971
2025-08-23T22:15:35.890Z,1755987335.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.49 m.
2025-08-23T22:15:35.892Z,1755987335.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.485382 m,
nav range: 148.442535 m,
bearing: 132.030070 deg,
approach rate: 0.047652 m/s,
LOS rate: -0.204540 deg/s,
cmd heading: 125.974547 deg,
new cmd heading: 125.839625 deg.
2025-08-23T22:15:35.893Z,1755987335.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196316 target range: 149.485382 and range: 150.40 m.
2025-08-23T22:15:36.088Z,1755987336.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775301
2025-08-23T22:15:36.274Z,1755987336.274 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:15:36.339Z,1755987336.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025973
2025-08-23T22:15:36.413Z,1755987336.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.49 m.
2025-08-23T22:15:36.416Z,1755987336.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.485382 m,
nav range: 148.462204 m,
bearing: 131.922044 deg,
approach rate: 0.037559 m/s,
LOS rate: -0.206258 deg/s,
cmd heading: 125.839624 deg,
new cmd heading: 125.623602 deg.
2025-08-23T22:15:36.417Z,1755987336.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.192545 target range: 149.485382 and range: 150.40 m.
2025-08-23T22:15:36.592Z,1755987336.592 [DAT](INFO): DAT read: Rx Time:22:15:35.6535
2025-08-23T22:15:36.593Z,1755987336.593 [DAT](INFO): Rx dataTimestamp_ set to:1755987336.591935
2025-08-23T22:15:36.594Z,1755987336.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281309
2025-08-23T22:15:36.698Z,1755987336.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.49 m.
2025-08-23T22:15:36.700Z,1755987336.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.485382 m,
nav range: 148.467529 m,
bearing: 131.863187 deg,
approach rate: 0.018698 m/s,
LOS rate: -0.206652 deg/s,
cmd heading: 125.623599 deg,
new cmd heading: 125.505888 deg.
2025-08-23T22:15:36.702Z,1755987336.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.190491 target range: 149.485382 and range: 150.40 m.
2025-08-23T22:15:36.843Z,1755987336.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530669
2025-08-23T22:15:37.103Z,1755987337.103 [DAT](INFO): DAT read: 22:15:35.6535 LVL= 22000, 18673, 12402, 23731, AGC= 62, IDX= 427, 0.45,-2.479,-1.627,-0.203,-1.403, PHS=-0.974,-0.179, 1.156, RAW= 231.7, -0.0, CAL= 228.4, 0.5, ROT= 281.6, -0.5
2025-08-23T22:15:37.105Z,1755987337.105 [DAT](INFO): got valid direction response:
22:15:35.6535 LVL= 22000, 18673, 12402, 23731, AGC= 62, IDX= 427, 0.45,-2.479,-1.627,-0.203,-1.403, PHS=-0.974,-0.179, 1.156, RAW= 231.7, -0.0, CAL= 228.4, 0.5, ROT= 281.6, -0.5
2025-08-23T22:15:37.107Z,1755987337.107 [DAT](INFO): DAT read: Bearing 349.7, -80.2 (Local)
2025-08-23T22:15:37.107Z,1755987337.107 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.7, -80.2 (Local)
2025-08-23T22:15:37.110Z,1755987337.110 [DAT](INFO): DAT read: Range 11 to 50 : 151.0 m (Round-trip 201.4 ms) speed -0.1 m/s
2025-08-23T22:15:37.110Z,1755987337.110 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:37.113Z,1755987337.113 [DAT](INFO): direction in FSK: [0.201070,-0.979538,0.008727]
2025-08-23T22:15:37.113Z,1755987337.113 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:37.136Z,1755987337.136 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:37.136Z,1755987337.136 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:37.137Z,1755987337.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:37.346Z,1755987337.346 [DAT](INFO): DAT read: user:1656>
2025-08-23T22:15:37.347Z,1755987337.347 [DAT](INFO): DAT read: Tx time:22:15:37.0979
2025-08-23T22:15:37.347Z,1755987337.347 [DAT](INFO): Ping request sent.
2025-08-23T22:15:37.347Z,1755987337.347 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:37.348Z,1755987337.348 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:37.348Z,1755987337.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-08-23T22:15:37.474Z,1755987337.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 151.000000 m,
deltaT: 4.039798 s,
deltaX: 0.600006 m,
approachRate: 0.148524 m/s,
rangeRepo size: 4
2025-08-23T22:15:37.476Z,1755987337.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 150.082214 m,
bearing: 130.036649 deg,
lat: 36.779356 deg,
lon: -121.859670 deg,
deltaT: 4.039798 s,
deltaX: 0.596832 m,
approachRate: 0.147738 m/s,
posRepo size: 4
2025-08-23T22:15:37.477Z,1755987337.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-23T22:15:37.484Z,1755987337.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.082214 m,
nav range: 148.480316 m,
bearing: 131.720052 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.206652 deg/s,
cmd heading: 125.505887 deg,
new cmd heading: 125.186995 deg.
2025-08-23T22:15:37.485Z,1755987337.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.184925 target range: 150.082214 and range: 151.00 m.
2025-08-23T22:15:37.601Z,1755987337.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253029
2025-08-23T22:15:37.725Z,1755987337.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:37.731Z,1755987337.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-23T22:15:37.738Z,1755987337.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.082214 m,
nav range: 148.480225 m,
bearing: 131.660216 deg,
approach rate: -0.000349 m/s,
LOS rate: -0.228330 deg/s,
cmd heading: 125.186999 deg,
new cmd heading: 125.067328 deg.
2025-08-23T22:15:37.739Z,1755987337.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.182837 target range: 150.082214 and range: 151.00 m.
2025-08-23T22:15:37.851Z,1755987337.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503217
2025-08-23T22:15:38.104Z,1755987338.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756717
2025-08-23T22:15:38.111Z,1755987338.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-23T22:15:38.114Z,1755987338.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.082214 m,
nav range: 148.480347 m,
bearing: 131.585595 deg,
approach rate: 0.000322 m/s,
LOS rate: -0.196682 deg/s,
cmd heading: 125.067334 deg,
new cmd heading: 124.918093 deg.
2025-08-23T22:15:38.115Z,1755987338.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.180232 target range: 150.082214 and range: 151.00 m.
2025-08-23T22:15:38.355Z,1755987338.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007031
2025-08-23T22:15:38.530Z,1755987338.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-23T22:15:38.532Z,1755987338.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.082214 m,
nav range: 148.470383 m,
bearing: 131.499344 deg,
approach rate: -0.023813 m/s,
LOS rate: -0.206146 deg/s,
cmd heading: 124.918095 deg,
new cmd heading: 124.745581 deg.
2025-08-23T22:15:38.533Z,1755987338.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.177221 target range: 150.082214 and range: 151.00 m.
2025-08-23T22:15:38.607Z,1755987338.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259251
2025-08-23T22:15:38.859Z,1755987338.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511718
2025-08-23T22:15:38.972Z,1755987338.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-23T22:15:38.975Z,1755987338.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.082214 m,
nav range: 148.456284 m,
bearing: 131.410539 deg,
approach rate: -0.031868 m/s,
LOS rate: -0.200743 deg/s,
cmd heading: 124.745578 deg,
new cmd heading: 124.567953 deg.
2025-08-23T22:15:38.976Z,1755987338.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174121 target range: 150.082214 and range: 151.00 m.
2025-08-23T22:15:39.111Z,1755987339.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763271
2025-08-23T22:15:39.363Z,1755987339.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015018
2025-08-23T22:15:39.402Z,1755987339.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-23T22:15:39.405Z,1755987339.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.082214 m,
nav range: 148.439636 m,
bearing: 131.324266 deg,
approach rate: -0.038705 m/s,
LOS rate: -0.200605 deg/s,
cmd heading: 124.567952 deg,
new cmd heading: 124.395387 deg.
2025-08-23T22:15:39.426Z,1755987339.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.171109 target range: 150.082214 and range: 151.00 m.
2025-08-23T22:15:39.615Z,1755987339.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267003
2025-08-23T22:15:39.867Z,1755987339.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519114
2025-08-23T22:15:39.875Z,1755987339.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:39.877Z,1755987339.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-23T22:15:39.880Z,1755987339.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.082214 m,
nav range: 148.417099 m,
bearing: 131.229139 deg,
approach rate: -0.047429 m/s,
LOS rate: -0.200224 deg/s,
cmd heading: 124.395380 deg,
new cmd heading: 124.205097 deg.
2025-08-23T22:15:39.881Z,1755987339.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.167788 target range: 150.082214 and range: 151.00 m.
2025-08-23T22:15:40.119Z,1755987340.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770960
2025-08-23T22:15:40.326Z,1755987340.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-23T22:15:40.328Z,1755987340.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.082214 m,
nav range: 148.394363 m,
bearing: 131.138771 deg,
approach rate: -0.050673 m/s,
LOS rate: -0.201440 deg/s,
cmd heading: 124.205091 deg,
new cmd heading: 124.024329 deg.
2025-08-23T22:15:40.330Z,1755987340.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.164633 target range: 150.082214 and range: 151.00 m.
2025-08-23T22:15:40.372Z,1755987340.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024356
2025-08-23T22:15:40.623Z,1755987340.623 [DAT](INFO): DAT read: Rx Time:22:15:39.7038
2025-08-23T22:15:40.623Z,1755987340.623 [DAT](INFO): Rx dataTimestamp_ set to:1755987340.622732
2025-08-23T22:15:40.624Z,1755987340.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276033
2025-08-23T22:15:40.671Z,1755987340.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-23T22:15:40.674Z,1755987340.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.082214 m,
nav range: 148.373688 m,
bearing: 131.069267 deg,
approach rate: -0.059780 m/s,
LOS rate: -0.200986 deg/s,
cmd heading: 124.024323 deg,
new cmd heading: 123.885297 deg.
2025-08-23T22:15:40.675Z,1755987340.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.162206 target range: 150.082214 and range: 151.00 m.
2025-08-23T22:15:40.875Z,1755987340.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527030
2025-08-23T22:15:41.118Z,1755987341.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-23T22:15:41.120Z,1755987341.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.082214 m,
nav range: 148.348801 m,
bearing: 130.984528 deg,
approach rate: -0.055820 m/s,
LOS rate: -0.190096 deg/s,
cmd heading: 123.885302 deg,
new cmd heading: 123.715795 deg.
2025-08-23T22:15:41.121Z,1755987341.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.159248 target range: 150.082214 and range: 151.00 m.
2025-08-23T22:15:41.132Z,1755987341.132 [DAT](INFO): DAT read: 22:15:39.7038 LVL= 22576, 26609, 14946, 24723, AGC= 63, IDX= 431,-0.49,-1.118,-0.808, 1.243,-0.201, PHS=-0.815,-0.562, 1.400, RAW= 216.0, -0.2, CAL= 214.5, -1.4, ROT= 295.5, 1.4
2025-08-23T22:15:41.133Z,1755987341.133 [DAT](INFO): got valid direction response:
22:15:39.7038 LVL= 22576, 26609, 14946, 24723, AGC= 63, IDX= 431,-0.49,-1.118,-0.808, 1.243,-0.201, PHS=-0.815,-0.562, 1.400, RAW= 216.0, -0.2, CAL= 214.5, -1.4, ROT= 295.5, 1.4
2025-08-23T22:15:41.134Z,1755987341.134 [DAT](INFO): DAT read: Bearing 341.0, -66.2 (Local)
2025-08-23T22:15:41.134Z,1755987341.134 [DAT](INFO): Local bearing/azimuth received:
Bearing 341.0, -66.2 (Local)
2025-08-23T22:15:41.136Z,1755987341.136 [DAT](INFO): DAT read: Range 11 to 50 : 151.2 m (Round-trip 201.7 ms) speed -0.1 m/s
2025-08-23T22:15:41.136Z,1755987341.136 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:41.137Z,1755987341.137 [DAT](INFO): direction in FSK: [0.430382,-0.902316,-0.024432]
2025-08-23T22:15:41.138Z,1755987341.138 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:41.141Z,1755987341.141 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:41.141Z,1755987341.141 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:41.141Z,1755987341.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:41.384Z,1755987341.384 [DAT](INFO): DAT read: user:1657>
2025-08-23T22:15:41.384Z,1755987341.384 [DAT](INFO): DAT read: Tx time:22:15:41.0479
2025-08-23T22:15:41.385Z,1755987341.385 [DAT](INFO): Ping request sent.
2025-08-23T22:15:41.385Z,1755987341.385 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:41.385Z,1755987341.385 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:41.386Z,1755987341.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001085
2025-08-23T22:15:41.564Z,1755987341.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 151.199997 m,
deltaT: 4.032220 s,
deltaX: 0.199997 m,
approachRate: 0.049600 m/s,
rangeRepo size: 4
2025-08-23T22:15:41.572Z,1755987341.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 150.280365 m,
bearing: 132.360833 deg,
lat: 36.779356 deg,
lon: -121.859670 deg,
deltaT: 4.032220 s,
deltaX: 0.198151 m,
approachRate: 0.049142 m/s,
posRepo size: 4
2025-08-23T22:15:41.578Z,1755987341.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:41.586Z,1755987341.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280365 m,
nav range: 148.313843 m,
bearing: 130.896387 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.190096 deg/s,
cmd heading: 123.715790 deg,
new cmd heading: 123.546141 deg.
2025-08-23T22:15:41.588Z,1755987341.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156287 target range: 150.280365 and range: 151.20 m.
2025-08-23T22:15:41.635Z,1755987341.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249729
2025-08-23T22:15:41.887Z,1755987341.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502045
2025-08-23T22:15:41.923Z,1755987341.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:41.925Z,1755987341.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:41.928Z,1755987341.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280365 m,
nav range: 148.282272 m,
bearing: 130.824817 deg,
approach rate: -0.087296 m/s,
LOS rate: -0.197940 deg/s,
cmd heading: 123.546142 deg,
new cmd heading: 123.402973 deg.
2025-08-23T22:15:41.929Z,1755987341.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.153788 target range: 150.280365 and range: 151.20 m.
2025-08-23T22:15:42.139Z,1755987342.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753573
2025-08-23T22:15:42.391Z,1755987342.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005664
2025-08-23T22:15:42.394Z,1755987342.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:42.397Z,1755987342.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280365 m,
nav range: 148.241577 m,
bearing: 130.735397 deg,
approach rate: -0.086743 m/s,
LOS rate: -0.190655 deg/s,
cmd heading: 123.402968 deg,
new cmd heading: 123.224078 deg.
2025-08-23T22:15:42.398Z,1755987342.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150666 target range: 150.280365 and range: 151.20 m.
2025-08-23T22:15:42.647Z,1755987342.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261780
2025-08-23T22:15:42.746Z,1755987342.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:42.749Z,1755987342.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280365 m,
nav range: 148.209564 m,
bearing: 130.671098 deg,
approach rate: -0.091087 m/s,
LOS rate: -0.182990 deg/s,
cmd heading: 123.224071 deg,
new cmd heading: 123.095446 deg.
2025-08-23T22:15:42.754Z,1755987342.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.148421 target range: 150.280365 and range: 151.20 m.
2025-08-23T22:15:42.895Z,1755987342.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509589
2025-08-23T22:15:43.136Z,1755987343.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:43.139Z,1755987343.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280365 m,
nav range: 148.167618 m,
bearing: 130.593853 deg,
approach rate: -0.107406 m/s,
LOS rate: -0.197843 deg/s,
cmd heading: 123.095445 deg,
new cmd heading: 122.940914 deg.
2025-08-23T22:15:43.140Z,1755987343.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.145724 target range: 150.280365 and range: 151.20 m.
2025-08-23T22:15:43.147Z,1755987343.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761675
2025-08-23T22:15:43.402Z,1755987343.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017444
2025-08-23T22:15:43.571Z,1755987343.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:43.576Z,1755987343.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280365 m,
nav range: 148.113068 m,
bearing: 130.510153 deg,
approach rate: -0.125944 m/s,
LOS rate: -0.193316 deg/s,
cmd heading: 122.940919 deg,
new cmd heading: 122.773457 deg.
2025-08-23T22:15:43.582Z,1755987343.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.142801 target range: 150.280365 and range: 151.20 m.
2025-08-23T22:15:43.651Z,1755987343.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266567
2025-08-23T22:15:43.902Z,1755987343.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517550
2025-08-23T22:15:43.951Z,1755987343.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:43.953Z,1755987343.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:43.955Z,1755987343.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280365 m,
nav range: 148.060989 m,
bearing: 130.435486 deg,
approach rate: -0.135878 m/s,
LOS rate: -0.194884 deg/s,
cmd heading: 122.773456 deg,
new cmd heading: 122.624070 deg.
2025-08-23T22:15:43.956Z,1755987343.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.140194 target range: 150.280365 and range: 151.20 m.
2025-08-23T22:15:44.156Z,1755987344.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771388
2025-08-23T22:15:44.400Z,1755987344.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:44.403Z,1755987344.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280365 m,
nav range: 148.002075 m,
bearing: 130.355860 deg,
approach rate: -0.131607 m/s,
LOS rate: -0.177946 deg/s,
cmd heading: 122.624066 deg,
new cmd heading: 122.464751 deg.
2025-08-23T22:15:44.404Z,1755987344.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.137413 target range: 150.280365 and range: 151.20 m.
2025-08-23T22:15:44.407Z,1755987344.407 [DAT](INFO): DAT read: Rx Time:22:15:43.6537
2025-08-23T22:15:44.407Z,1755987344.407 [DAT](INFO): Rx dataTimestamp_ set to:1755987344.406873
2025-08-23T22:15:44.408Z,1755987344.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022792
2025-08-23T22:15:44.658Z,1755987344.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273524
2025-08-23T22:15:44.779Z,1755987344.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:44.782Z,1755987344.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280365 m,
nav range: 147.954239 m,
bearing: 130.290874 deg,
approach rate: -0.126190 m/s,
LOS rate: -0.171484 deg/s,
cmd heading: 122.464745 deg,
new cmd heading: 122.334733 deg.
2025-08-23T22:15:44.783Z,1755987344.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.135144 target range: 150.280365 and range: 151.20 m.
2025-08-23T22:15:44.918Z,1755987344.918 [DAT](INFO): DAT read: 22:15:43.6537 LVL= 24928, 29297, 21154, 28963, AGC= 65, IDX= 429, 0.09, 0.788, 0.748, 2.904, 1.569, PHS=-0.679,-0.776, 1.290, RAW= 207.6, 1.7, CAL= 207.1, -0.1, ROT= 302.9, 0.1
2025-08-23T22:15:44.919Z,1755987344.919 [DAT](INFO): got valid direction response:
22:15:43.6537 LVL= 24928, 29297, 21154, 28963, AGC= 65, IDX= 429, 0.09, 0.788, 0.748, 2.904, 1.569, PHS=-0.679,-0.776, 1.290, RAW= 207.6, 1.7, CAL= 207.1, -0.1, ROT= 302.9, 0.1
2025-08-23T22:15:44.920Z,1755987344.920 [DAT](INFO): DAT read: Bearing 336.2, -58.8 (Local)
2025-08-23T22:15:44.920Z,1755987344.920 [DAT](INFO): Local bearing/azimuth received:
Bearing 336.2, -58.8 (Local)
2025-08-23T22:15:44.921Z,1755987344.921 [DAT](INFO): DAT read: Range 11 to 50 : 151.2 m (Round-trip 201.6 ms) speed 0.0 m/s
2025-08-23T22:15:44.922Z,1755987344.922 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:44.923Z,1755987344.923 [DAT](INFO): direction in FSK: [0.543173,-0.839619,-0.001745]
2025-08-23T22:15:44.923Z,1755987344.923 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:44.927Z,1755987344.927 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:44.928Z,1755987344.928 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:44.928Z,1755987344.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:45.162Z,1755987345.162 [DAT](INFO): DAT read: user:1658>
2025-08-23T22:15:45.163Z,1755987345.163 [DAT](INFO): DAT read: Tx time:22:15:44.8479
2025-08-23T22:15:45.164Z,1755987345.164 [DAT](INFO): Ping request sent.
2025-08-23T22:15:45.164Z,1755987345.164 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:45.164Z,1755987345.164 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:45.164Z,1755987345.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-08-23T22:15:45.186Z,1755987345.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 151.199997 m,
deltaT: 3.785892 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:15:45.189Z,1755987345.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 150.280899 m,
bearing: 132.624387 deg,
lat: 36.779356 deg,
lon: -121.859670 deg,
deltaT: 3.785892 s,
deltaX: 0.000534 m,
approachRate: 0.000141 m/s,
posRepo size: 4
2025-08-23T22:15:45.190Z,1755987345.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:45.197Z,1755987345.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280899 m,
nav range: 147.900604 m,
bearing: 130.217635 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.171484 deg/s,
cmd heading: 122.334740 deg,
new cmd heading: 122.195938 deg.
2025-08-23T22:15:45.199Z,1755987345.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.132721 target range: 150.280899 and range: 151.20 m.
2025-08-23T22:15:45.415Z,1755987345.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250951
2025-08-23T22:15:45.627Z,1755987345.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:45.634Z,1755987345.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280899 m,
nav range: 147.832733 m,
bearing: 130.145268 deg,
approach rate: -0.153267 m/s,
LOS rate: -0.163494 deg/s,
cmd heading: 122.195936 deg,
new cmd heading: 122.051137 deg.
2025-08-23T22:15:45.635Z,1755987345.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.130194 target range: 150.280899 and range: 151.20 m.
2025-08-23T22:15:45.667Z,1755987345.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502959
2025-08-23T22:15:45.920Z,1755987345.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755952
2025-08-23T22:15:45.985Z,1755987345.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:45.987Z,1755987345.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:45.990Z,1755987345.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280899 m,
nav range: 147.772446 m,
bearing: 130.084107 deg,
approach rate: -0.167305 m/s,
LOS rate: -0.169799 deg/s,
cmd heading: 122.051136 deg,
new cmd heading: 121.928765 deg.
2025-08-23T22:15:45.991Z,1755987345.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.128058 target range: 150.280899 and range: 151.20 m.
2025-08-23T22:15:46.171Z,1755987346.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006883
2025-08-23T22:15:46.422Z,1755987346.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258770
2025-08-23T22:15:46.479Z,1755987346.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:46.482Z,1755987346.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280899 m,
nav range: 147.681015 m,
bearing: 130.000487 deg,
approach rate: -0.185964 m/s,
LOS rate: -0.170183 deg/s,
cmd heading: 121.928767 deg,
new cmd heading: 121.761423 deg.
2025-08-23T22:15:46.483Z,1755987346.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.125138 target range: 150.280899 and range: 151.20 m.
2025-08-23T22:15:46.675Z,1755987346.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510867
2025-08-23T22:15:46.831Z,1755987346.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:46.841Z,1755987346.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280899 m,
nav range: 147.616806 m,
bearing: 129.944334 deg,
approach rate: -0.182176 m/s,
LOS rate: -0.159390 deg/s,
cmd heading: 121.761427 deg,
new cmd heading: 121.649072 deg.
2025-08-23T22:15:46.842Z,1755987346.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.123177 target range: 150.280899 and range: 151.20 m.
2025-08-23T22:15:46.927Z,1755987346.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762873
2025-08-23T22:15:47.179Z,1755987347.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015224
2025-08-23T22:15:47.251Z,1755987347.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:47.254Z,1755987347.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280899 m,
nav range: 147.532028 m,
bearing: 129.873315 deg,
approach rate: -0.202162 m/s,
LOS rate: -0.169450 deg/s,
cmd heading: 121.649071 deg,
new cmd heading: 121.506951 deg.
2025-08-23T22:15:47.255Z,1755987347.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.120696 target range: 150.280899 and range: 151.20 m.
2025-08-23T22:15:47.431Z,1755987347.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266949
2025-08-23T22:15:47.649Z,1755987347.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:47.668Z,1755987347.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280899 m,
nav range: 147.444946 m,
bearing: 129.805619 deg,
approach rate: -0.218760 m/s,
LOS rate: -0.170158 deg/s,
cmd heading: 121.506948 deg,
new cmd heading: 121.371478 deg.
2025-08-23T22:15:47.669Z,1755987347.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118332 target range: 150.280899 and range: 151.20 m.
2025-08-23T22:15:47.683Z,1755987347.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518902
2025-08-23T22:15:47.935Z,1755987347.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771285
2025-08-23T22:15:48.092Z,1755987348.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:48.095Z,1755987348.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:48.097Z,1755987348.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280899 m,
nav range: 147.351822 m,
bearing: 129.732958 deg,
approach rate: -0.208965 m/s,
LOS rate: -0.163151 deg/s,
cmd heading: 121.371478 deg,
new cmd heading: 121.226063 deg.
2025-08-23T22:15:48.119Z,1755987348.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.115794 target range: 150.280899 and range: 151.20 m.
2025-08-23T22:15:48.187Z,1755987348.187 [DAT](INFO): DAT read: Rx Time:22:15:47.4530
2025-08-23T22:15:48.188Z,1755987348.188 [DAT](INFO): Rx dataTimestamp_ set to:1755987348.187695
2025-08-23T22:15:48.189Z,1755987348.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025217
2025-08-23T22:15:48.439Z,1755987348.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274933
2025-08-23T22:15:48.512Z,1755987348.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:48.515Z,1755987348.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280899 m,
nav range: 147.259079 m,
bearing: 129.668843 deg,
approach rate: -0.222187 m/s,
LOS rate: -0.153698 deg/s,
cmd heading: 121.226063 deg,
new cmd heading: 121.097753 deg.
2025-08-23T22:15:48.516Z,1755987348.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.113554 target range: 150.280899 and range: 151.20 m.
2025-08-23T22:15:48.695Z,1755987348.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530663
2025-08-23T22:15:48.895Z,1755987348.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.28 m.
2025-08-23T22:15:48.898Z,1755987348.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.280899 m,
nav range: 147.172806 m,
bearing: 129.609029 deg,
approach rate: -0.225215 m/s,
LOS rate: -0.156235 deg/s,
cmd heading: 121.097751 deg,
new cmd heading: 120.978053 deg.
2025-08-23T22:15:48.899Z,1755987348.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.111465 target range: 150.280899 and range: 151.20 m.
2025-08-23T22:15:48.952Z,1755987348.952 [DAT](INFO): DAT read: 22:15:47.4530 LVL= 31952, 31105, 24546, 32755, AGC= 64, IDX= 439,-0.44, 1.789, 1.389,-2.622, 2.504, PHS=-0.614,-1.071, 1.113, RAW= 198.6, 5.8, CAL= 198.8, 5.1, ROT= 311.2, -5.1
2025-08-23T22:15:48.953Z,1755987348.953 [DAT](INFO): got valid direction response:
22:15:47.4530 LVL= 31952, 31105, 24546, 32755, AGC= 64, IDX= 439,-0.44, 1.789, 1.389,-2.622, 2.504, PHS=-0.614,-1.071, 1.113, RAW= 198.6, 5.8, CAL= 198.8, 5.1, ROT= 311.2, -5.1
2025-08-23T22:15:48.955Z,1755987348.955 [DAT](INFO): DAT read: Bearing 336.0, -50.6 (Local)
2025-08-23T22:15:48.955Z,1755987348.955 [DAT](INFO): Local bearing/azimuth received:
Bearing 336.0, -50.6 (Local)
2025-08-23T22:15:48.957Z,1755987348.957 [DAT](INFO): DAT read: Range 11 to 50 : 150.6 m (Round-trip 200.9 ms) speed 0.1 m/s
2025-08-23T22:15:48.958Z,1755987348.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:48.960Z,1755987348.960 [DAT](INFO): direction in FSK: [0.656082,-0.749436,0.088894]
2025-08-23T22:15:48.960Z,1755987348.960 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:48.965Z,1755987348.965 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:48.965Z,1755987348.965 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:48.965Z,1755987348.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:49.195Z,1755987349.195 [DAT](INFO): DAT read: user:1659>
2025-08-23T22:15:49.196Z,1755987349.196 [DAT](INFO): DAT read: Tx time:22:15:48.8979
2025-08-23T22:15:49.196Z,1755987349.196 [DAT](INFO): Ping request sent.
2025-08-23T22:15:49.197Z,1755987349.197 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:49.197Z,1755987349.197 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:49.198Z,1755987349.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001519
2025-08-23T22:15:49.291Z,1755987349.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 150.600006 m,
deltaT: 4.030800 s,
deltaX: -0.599991 m,
approachRate: -0.148852 m/s,
rangeRepo size: 4
2025-08-23T22:15:49.293Z,1755987349.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 149.686264 m,
bearing: 127.857615 deg,
lat: 36.779375 deg,
lon: -121.859624 deg,
deltaT: 4.030800 s,
deltaX: -0.594635 m,
approachRate: -0.147523 m/s,
posRepo size: 4
2025-08-23T22:15:49.294Z,1755987349.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.69 m.
2025-08-23T22:15:49.296Z,1755987349.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.686264 m,
nav range: 148.870514 m,
bearing: 127.922097 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.156235 deg/s,
cmd heading: 120.978059 deg,
new cmd heading: 120.854548 deg.
2025-08-23T22:15:49.297Z,1755987349.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109310 target range: 149.686264 and range: 150.60 m.
2025-08-23T22:15:49.447Z,1755987349.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250087
2025-08-23T22:15:49.699Z,1755987349.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501999
2025-08-23T22:15:49.801Z,1755987349.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.69 m.
2025-08-23T22:15:49.803Z,1755987349.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.686264 m,
nav range: 148.755127 m,
bearing: 127.847199 deg,
approach rate: -0.226110 m/s,
LOS rate: -0.146883 deg/s,
cmd heading: 120.854542 deg,
new cmd heading: 120.704630 deg.
2025-08-23T22:15:49.804Z,1755987349.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106693 target range: 149.686264 and range: 150.60 m.
2025-08-23T22:15:49.950Z,1755987349.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753908
2025-08-23T22:15:50.127Z,1755987350.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:50.129Z,1755987350.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.69 m.
2025-08-23T22:15:50.132Z,1755987350.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.686264 m,
nav range: 148.677063 m,
bearing: 127.800299 deg,
approach rate: -0.237789 m/s,
LOS rate: -0.142935 deg/s,
cmd heading: 120.704633 deg,
new cmd heading: 120.610784 deg.
2025-08-23T22:15:50.133Z,1755987350.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105055 target range: 149.686264 and range: 150.60 m.
2025-08-23T22:15:50.203Z,1755987350.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006746
2025-08-23T22:15:50.454Z,1755987350.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257879
2025-08-23T22:15:50.585Z,1755987350.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.69 m.
2025-08-23T22:15:50.588Z,1755987350.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.686264 m,
nav range: 148.570312 m,
bearing: 127.740883 deg,
approach rate: -0.236440 m/s,
LOS rate: -0.131695 deg/s,
cmd heading: 120.610786 deg,
new cmd heading: 120.491868 deg.
2025-08-23T22:15:50.589Z,1755987350.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102980 target range: 149.686264 and range: 150.60 m.
2025-08-23T22:15:50.707Z,1755987350.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510003
2025-08-23T22:15:50.959Z,1755987350.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762093
2025-08-23T22:15:50.961Z,1755987350.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.69 m.
2025-08-23T22:15:50.964Z,1755987350.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.686264 m,
nav range: 148.467026 m,
bearing: 127.685398 deg,
approach rate: -0.271242 m/s,
LOS rate: -0.145810 deg/s,
cmd heading: 120.491873 deg,
new cmd heading: 120.380826 deg.
2025-08-23T22:15:50.965Z,1755987350.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.101042 target range: 149.686264 and range: 150.60 m.
2025-08-23T22:15:51.211Z,1755987351.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014388
2025-08-23T22:15:51.335Z,1755987351.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.69 m.
2025-08-23T22:15:51.338Z,1755987351.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.686264 m,
nav range: 148.369049 m,
bearing: 127.634576 deg,
approach rate: -0.262186 m/s,
LOS rate: -0.136092 deg/s,
cmd heading: 120.380827 deg,
new cmd heading: 120.279115 deg.
2025-08-23T22:15:51.339Z,1755987351.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099267 target range: 149.686264 and range: 150.60 m.
2025-08-23T22:15:51.466Z,1755987351.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269271
2025-08-23T22:15:51.715Z,1755987351.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517988
2025-08-23T22:15:51.824Z,1755987351.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.69 m.
2025-08-23T22:15:51.827Z,1755987351.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.686264 m,
nav range: 148.232346 m,
bearing: 127.569140 deg,
approach rate: -0.279549 m/s,
LOS rate: -0.133935 deg/s,
cmd heading: 120.279112 deg,
new cmd heading: 120.148120 deg.
2025-08-23T22:15:51.828Z,1755987351.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096980 target range: 149.686264 and range: 150.60 m.
2025-08-23T22:15:51.967Z,1755987351.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769988
2025-08-23T22:15:52.198Z,1755987352.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:52.203Z,1755987352.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.69 m.
2025-08-23T22:15:52.207Z,1755987352.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.686264 m,
nav range: 148.129395 m,
bearing: 127.519717 deg,
approach rate: -0.272118 m/s,
LOS rate: -0.130725 deg/s,
cmd heading: 120.148123 deg,
new cmd heading: 120.049208 deg.
2025-08-23T22:15:52.208Z,1755987352.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.095254 target range: 149.686264 and range: 150.60 m.
2025-08-23T22:15:52.219Z,1755987352.219 [DAT](INFO): DAT read: Rx Time:22:15:51.5018
2025-08-23T22:15:52.219Z,1755987352.219 [DAT](INFO): Rx dataTimestamp_ set to:1755987352.218810
2025-08-23T22:15:52.220Z,1755987352.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023089
2025-08-23T22:15:52.471Z,1755987352.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274414
2025-08-23T22:15:52.626Z,1755987352.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.69 m.
2025-08-23T22:15:52.628Z,1755987352.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.686264 m,
nav range: 148.005600 m,
bearing: 127.464100 deg,
approach rate: -0.292600 m/s,
LOS rate: -0.131566 deg/s,
cmd heading: 120.049208 deg,
new cmd heading: 119.937881 deg.
2025-08-23T22:15:52.629Z,1755987352.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093311 target range: 149.686264 and range: 150.60 m.
2025-08-23T22:15:52.725Z,1755987352.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528532
2025-08-23T22:15:52.980Z,1755987352.980 [DAT](INFO): DAT read: 22:15:51.5018 LVL= 32752, 32753, 20882, 32755, AGC= 64, IDX= 427,-0.22, 2.877, 2.079,-1.731,-2.972, PHS=-0.332,-1.187, 1.197, RAW= 189.3, 3.1, CAL= 189.4, 0.2, ROT= 320.6, -0.2
2025-08-23T22:15:52.981Z,1755987352.981 [DAT](INFO): got valid direction response:
22:15:51.5018 LVL= 32752, 32753, 20882, 32755, AGC= 64, IDX= 427,-0.22, 2.877, 2.079,-1.731,-2.972, PHS=-0.332,-1.187, 1.197, RAW= 189.3, 3.1, CAL= 189.4, 0.2, ROT= 320.6, -0.2
2025-08-23T22:15:52.982Z,1755987352.982 [DAT](INFO): DAT read: Bearing 317.6, -41.1 (Local)
2025-08-23T22:15:52.982Z,1755987352.982 [DAT](INFO): Local bearing/azimuth received:
Bearing 317.6, -41.1 (Local)
2025-08-23T22:15:52.983Z,1755987352.983 [DAT](INFO): DAT read: Range 11 to 50 : 149.8 m (Round-trip 199.8 ms) speed 0.2 m/s
2025-08-23T22:15:52.984Z,1755987352.984 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:52.985Z,1755987352.985 [DAT](INFO): direction in FSK: [0.772729,-0.634727,0.003491]
2025-08-23T22:15:52.985Z,1755987352.985 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:52.989Z,1755987352.989 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:52.989Z,1755987352.989 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:52.989Z,1755987352.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:53.111Z,1755987353.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 149.800003 m,
deltaT: 4.031198 s,
deltaX: -0.800003 m,
approachRate: -0.198453 m/s,
rangeRepo size: 4
2025-08-23T22:15:53.113Z,1755987353.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 148.890213 m,
bearing: 127.785739 deg,
lat: 36.779363 deg,
lon: -121.859624 deg,
deltaT: 4.031198 s,
deltaX: -0.796051 m,
approachRate: -0.197473 m/s,
posRepo size: 4
2025-08-23T22:15:53.118Z,1755987353.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.89 m.
2025-08-23T22:15:53.120Z,1755987353.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.890213 m,
nav range: 148.726501 m,
bearing: 127.834255 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.131566 deg/s,
cmd heading: 119.937876 deg,
new cmd heading: 119.810218 deg.
2025-08-23T22:15:53.126Z,1755987353.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091083 target range: 148.890213 and range: 149.80 m.
2025-08-23T22:15:53.228Z,1755987353.228 [DAT](INFO): DAT read: user:1660>
2025-08-23T22:15:53.229Z,1755987353.229 [DAT](INFO): DAT read: Tx time:22:15:52.8979
2025-08-23T22:15:53.229Z,1755987353.229 [DAT](INFO): Ping request sent.
2025-08-23T22:15:53.231Z,1755987353.231 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:53.231Z,1755987353.231 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:53.232Z,1755987353.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002279
2025-08-23T22:15:53.482Z,1755987353.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251855
2025-08-23T22:15:53.592Z,1755987353.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.89 m.
2025-08-23T22:15:53.599Z,1755987353.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.890213 m,
nav range: 148.570053 m,
bearing: 127.772417 deg,
approach rate: -0.324961 m/s,
LOS rate: -0.128580 deg/s,
cmd heading: 119.810220 deg,
new cmd heading: 119.686413 deg.
2025-08-23T22:15:53.600Z,1755987353.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.088922 target range: 148.890213 and range: 149.80 m.
2025-08-23T22:15:53.731Z,1755987353.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501557
2025-08-23T22:15:53.943Z,1755987353.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.89 m.
2025-08-23T22:15:53.974Z,1755987353.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.890213 m,
nav range: 148.453323 m,
bearing: 127.727746 deg,
approach rate: -0.332215 m/s,
LOS rate: -0.127234 deg/s,
cmd heading: 119.686416 deg,
new cmd heading: 119.597004 deg.
2025-08-23T22:15:53.975Z,1755987353.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.087362 target range: 148.890213 and range: 149.80 m.
2025-08-23T22:15:53.983Z,1755987353.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753275
2025-08-23T22:15:54.235Z,1755987354.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005594
2025-08-23T22:15:54.351Z,1755987354.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:54.353Z,1755987354.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.89 m.
2025-08-23T22:15:54.356Z,1755987354.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.890213 m,
nav range: 148.321228 m,
bearing: 127.678801 deg,
approach rate: -0.322322 m/s,
LOS rate: -0.119536 deg/s,
cmd heading: 119.597009 deg,
new cmd heading: 119.499031 deg.
2025-08-23T22:15:54.357Z,1755987354.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085652 target range: 148.890213 and range: 149.80 m.
2025-08-23T22:15:54.499Z,1755987354.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260818
2025-08-23T22:15:54.739Z,1755987354.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509566
2025-08-23T22:15:54.794Z,1755987354.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.89 m.
2025-08-23T22:15:54.797Z,1755987354.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.890213 m,
nav range: 148.187729 m,
bearing: 127.632059 deg,
approach rate: -0.305680 m/s,
LOS rate: -0.107124 deg/s,
cmd heading: 119.499036 deg,
new cmd heading: 119.405468 deg.
2025-08-23T22:15:54.802Z,1755987354.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.084018 target range: 148.890213 and range: 149.80 m.
2025-08-23T22:15:54.991Z,1755987354.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761244
2025-08-23T22:15:55.154Z,1755987355.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.89 m.
2025-08-23T22:15:55.157Z,1755987355.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.890213 m,
nav range: 148.062973 m,
bearing: 127.589871 deg,
approach rate: -0.342756 m/s,
LOS rate: -0.116006 deg/s,
cmd heading: 119.405463 deg,
new cmd heading: 119.321016 deg.
2025-08-23T22:15:55.174Z,1755987355.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082545 target range: 148.890213 and range: 149.80 m.
2025-08-23T22:15:55.244Z,1755987355.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014341
2025-08-23T22:15:55.497Z,1755987355.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267291
2025-08-23T22:15:55.614Z,1755987355.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.89 m.
2025-08-23T22:15:55.617Z,1755987355.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.890213 m,
nav range: 147.910965 m,
bearing: 127.539293 deg,
approach rate: -0.330032 m/s,
LOS rate: -0.109925 deg/s,
cmd heading: 119.321014 deg,
new cmd heading: 119.219754 deg.
2025-08-23T22:15:55.626Z,1755987355.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.080777 target range: 148.890213 and range: 149.80 m.
2025-08-23T22:15:55.747Z,1755987355.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517270
2025-08-23T22:15:55.972Z,1755987355.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.89 m.
2025-08-23T22:15:55.975Z,1755987355.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.890213 m,
nav range: 147.787643 m,
bearing: 127.499562 deg,
approach rate: -0.344471 m/s,
LOS rate: -0.111072 deg/s,
cmd heading: 119.219750 deg,
new cmd heading: 119.140222 deg.
2025-08-23T22:15:55.976Z,1755987355.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.079389 target range: 148.890213 and range: 149.80 m.
2025-08-23T22:15:55.999Z,1755987355.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769565
2025-08-23T22:15:56.251Z,1755987356.251 [DAT](INFO): DAT read: Rx Time:22:15:55.5003
2025-08-23T22:15:56.251Z,1755987356.251 [DAT](INFO): Rx dataTimestamp_ set to:1755987356.251005
2025-08-23T22:15:56.252Z,1755987356.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022541
2025-08-23T22:15:56.380Z,1755987356.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:56.383Z,1755987356.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.89 m.
2025-08-23T22:15:56.409Z,1755987356.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.890213 m,
nav range: 147.647064 m,
bearing: 127.454170 deg,
approach rate: -0.342525 m/s,
LOS rate: -0.110702 deg/s,
cmd heading: 119.140219 deg,
new cmd heading: 119.049350 deg.
2025-08-23T22:15:56.410Z,1755987356.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077803 target range: 148.890213 and range: 149.80 m.
2025-08-23T22:15:56.505Z,1755987356.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275610
2025-08-23T22:15:56.764Z,1755987356.764 [DAT](INFO): DAT read: 22:15:55.5003 LVL= 32752, 32753, 24978, 32755, AGC= 63, IDX= 427,-0.17, 0.380,-0.450, 2.090, 0.815, PHS=-0.334,-1.220, 1.231, RAW= 189.1, 3.0, CAL= 189.2, 0.1, ROT= 320.8, -0.1
2025-08-23T22:15:56.766Z,1755987356.766 [DAT](INFO): got valid direction response:
22:15:55.5003 LVL= 32752, 32753, 24978, 32755, AGC= 63, IDX= 427,-0.17, 0.380,-0.450, 2.090, 0.815, PHS=-0.334,-1.220, 1.231, RAW= 189.1, 3.0, CAL= 189.2, 0.1, ROT= 320.8, -0.1
2025-08-23T22:15:56.767Z,1755987356.767 [DAT](INFO): DAT read: Bearing 307.3, -40.6 (Local)
2025-08-23T22:15:56.768Z,1755987356.768 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.3, -40.6 (Local)
2025-08-23T22:15:56.769Z,1755987356.769 [DAT](INFO): DAT read: Range 11 to 50 : 148.7 m (Round-trip 198.3 ms) speed 0.0 m/s
2025-08-23T22:15:56.770Z,1755987356.770 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:15:56.771Z,1755987356.771 [DAT](INFO): direction in FSK: [0.774943,-0.632028,0.001745]
2025-08-23T22:15:56.771Z,1755987356.771 [DAT](INFO): publishing direction and range info
2025-08-23T22:15:56.778Z,1755987356.778 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:15:56.779Z,1755987356.779 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:15:56.779Z,1755987356.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:15:56.882Z,1755987356.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 148.699997 m,
deltaT: 3.781474 s,
deltaX: -1.100006 m,
approachRate: -0.290893 m/s,
rangeRepo size: 4
2025-08-23T22:15:56.884Z,1755987356.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 147.795868 m,
bearing: 118.771588 deg,
lat: 36.779363 deg,
lon: -121.859622 deg,
deltaT: 3.781474 s,
deltaX: -1.094345 m,
approachRate: -0.289396 m/s,
posRepo size: 4
2025-08-23T22:15:56.885Z,1755987356.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-08-23T22:15:56.900Z,1755987356.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.795868 m,
nav range: 147.653397 m,
bearing: 127.358466 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.110702 deg/s,
cmd heading: 119.049350 deg,
new cmd heading: 118.939877 deg.
2025-08-23T22:15:56.901Z,1755987356.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075892 target range: 147.795868 and range: 148.70 m.
2025-08-23T22:15:57.008Z,1755987357.008 [DAT](INFO): DAT read: user:1661>
2025-08-23T22:15:57.009Z,1755987357.009 [DAT](INFO): DAT read: Tx time:22:15:56.6979
2025-08-23T22:15:57.009Z,1755987357.009 [DAT](INFO): Ping request sent.
2025-08-23T22:15:57.009Z,1755987357.009 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:15:57.010Z,1755987357.010 [DAT](INFO): publishing transmit ping time
2025-08-23T22:15:57.010Z,1755987357.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001181
2025-08-23T22:15:57.247Z,1755987357.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-08-23T22:15:57.250Z,1755987357.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.795868 m,
nav range: 147.513580 m,
bearing: 127.318731 deg,
approach rate: -0.377944 m/s,
LOS rate: -0.107513 deg/s,
cmd heading: 118.939876 deg,
new cmd heading: 118.860330 deg.
2025-08-23T22:15:57.251Z,1755987357.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074504 target range: 147.795868 and range: 148.70 m.
2025-08-23T22:15:57.259Z,1755987357.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249551
2025-08-23T22:15:57.514Z,1755987357.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503980
2025-08-23T22:15:57.687Z,1755987357.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-08-23T22:15:57.690Z,1755987357.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.795868 m,
nav range: 147.363419 m,
bearing: 127.277899 deg,
approach rate: -0.341174 m/s,
LOS rate: -0.092866 deg/s,
cmd heading: 118.860332 deg,
new cmd heading: 118.778585 deg.
2025-08-23T22:15:57.691Z,1755987357.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073077 target range: 147.795868 and range: 148.70 m.
2025-08-23T22:15:57.763Z,1755987357.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753510
2025-08-23T22:15:58.015Z,1755987358.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005521
2025-08-23T22:15:58.082Z,1755987358.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-08-23T22:15:58.085Z,1755987358.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.795868 m,
nav range: 147.233673 m,
bearing: 127.245105 deg,
approach rate: -0.328647 m/s,
LOS rate: -0.083140 deg/s,
cmd heading: 118.778588 deg,
new cmd heading: 118.712943 deg.
2025-08-23T22:15:58.086Z,1755987358.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071932 target range: 147.795868 and range: 148.70 m.
2025-08-23T22:15:58.267Z,1755987358.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258074
2025-08-23T22:15:58.522Z,1755987358.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511737
2025-08-23T22:15:58.641Z,1755987358.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:15:58.643Z,1755987358.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-08-23T22:15:58.646Z,1755987358.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.795868 m,
nav range: 147.029007 m,
bearing: 127.198272 deg,
approach rate: -0.364822 m/s,
LOS rate: -0.083597 deg/s,
cmd heading: 118.712936 deg,
new cmd heading: 118.619140 deg.
2025-08-23T22:15:58.647Z,1755987358.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070295 target range: 147.795868 and range: 148.70 m.
2025-08-23T22:15:58.771Z,1755987358.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761419
2025-08-23T22:15:59.023Z,1755987359.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013830
2025-08-23T22:15:59.115Z,1755987359.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-08-23T22:15:59.118Z,1755987359.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.795868 m,
nav range: 146.861557 m,
bearing: 127.161360 deg,
approach rate: -0.355007 m/s,
LOS rate: -0.078345 deg/s,
cmd heading: 118.619144 deg,
new cmd heading: 118.545237 deg.
2025-08-23T22:15:59.119Z,1755987359.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.069005 target range: 147.795868 and range: 148.70 m.
2025-08-23T22:15:59.276Z,1755987359.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266370
2025-08-23T22:15:59.531Z,1755987359.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520790
2025-08-23T22:15:59.641Z,1755987359.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-08-23T22:15:59.644Z,1755987359.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.795868 m,
nav range: 146.664246 m,
bearing: 127.124812 deg,
approach rate: -0.375135 m/s,
LOS rate: -0.069580 deg/s,
cmd heading: 118.545241 deg,
new cmd heading: 118.472046 deg.
2025-08-23T22:15:59.644Z,1755987359.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067727 target range: 147.795868 and range: 148.70 m.
2025-08-23T22:15:59.778Z,1755987359.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769368
2025-08-23T22:15:59.967Z,1755987359.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-08-23T22:15:59.975Z,1755987359.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.795868 m,
nav range: 146.546997 m,
bearing: 127.103996 deg,
approach rate: -0.359029 m/s,
LOS rate: -0.063792 deg/s,
cmd heading: 118.472049 deg,
new cmd heading: 118.430384 deg.
2025-08-23T22:15:59.976Z,1755987359.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067000 target range: 147.795868 and range: 148.70 m.
2025-08-23T22:16:00.032Z,1755987360.032 [DAT](INFO): DAT read: Rx Time:22:15:59.2988
2025-08-23T22:16:00.033Z,1755987360.033 [DAT](INFO): Rx dataTimestamp_ set to:1755987360.032735
2025-08-23T22:16:00.035Z,1755987360.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025241
2025-08-23T22:16:00.283Z,1755987360.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273464
2025-08-23T22:16:00.360Z,1755987360.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-08-23T22:16:00.363Z,1755987360.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.795868 m,
nav range: 146.391190 m,
bearing: 127.077539 deg,
approach rate: -0.396315 m/s,
LOS rate: -0.067369 deg/s,
cmd heading: 118.430385 deg,
new cmd heading: 118.377414 deg.
2025-08-23T22:16:00.364Z,1755987360.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.066076 target range: 147.795868 and range: 148.70 m.
2025-08-23T22:16:00.539Z,1755987360.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529092
2025-08-23T22:16:00.792Z,1755987360.792 [DAT](INFO): DAT read: 22:15:59.2988 LVL= 28880, 32753, 22322, 32755, AGC= 63, IDX= 427,-0.17,-2.905, 2.180,-1.841,-2.706, PHS=-0.097,-1.353, 0.821, RAW= 174.9, 6.7, CAL= 174.5, 6.3, ROT= 335.5, -6.3
2025-08-23T22:16:00.793Z,1755987360.793 [DAT](INFO): got valid direction response:
22:15:59.2988 LVL= 28880, 32753, 22322, 32755, AGC= 63, IDX= 427,-0.17,-2.905, 2.180,-1.841,-2.706, PHS=-0.097,-1.353, 0.821, RAW= 174.9, 6.7, CAL= 174.5, 6.3, ROT= 335.5, -6.3
2025-08-23T22:16:00.806Z,1755987360.806 [DAT](INFO): DAT read: Bearing 305.2, -25.7 (Local)
2025-08-23T22:16:00.806Z,1755987360.806 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.2, -25.7 (Local)
2025-08-23T22:16:00.808Z,1755987360.808 [DAT](INFO): DAT read: Range 11 to 50 : 147.5 m (Round-trip 196.7 ms) speed 0.4 m/s
2025-08-23T22:16:00.808Z,1755987360.808 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:00.809Z,1755987360.809 [DAT](INFO): direction in FSK: [0.904466,-0.412189,0.109734]
2025-08-23T22:16:00.810Z,1755987360.810 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:00.813Z,1755987360.813 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:00.813Z,1755987360.813 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:00.834Z,1755987360.834 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:00.862Z,1755987360.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 147.500000 m,
deltaT: 4.030713 s,
deltaX: -1.199997 m,
approachRate: -0.297713 m/s,
rangeRepo size: 4
2025-08-23T22:16:00.865Z,1755987360.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 146.602371 m,
bearing: 124.698583 deg,
lat: 36.779375 deg,
lon: -121.859621 deg,
deltaT: 4.030713 s,
deltaX: -1.193497 m,
approachRate: -0.296101 m/s,
posRepo size: 4
2025-08-23T22:16:00.887Z,1755987360.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.60 m.
2025-08-23T22:16:00.894Z,1755987360.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.602371 m,
nav range: 145.422226 m,
bearing: 126.593164 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.067369 deg/s,
cmd heading: 118.377410 deg,
new cmd heading: 118.310980 deg.
2025-08-23T22:16:00.895Z,1755987360.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064916 target range: 146.602371 and range: 147.50 m.
2025-08-23T22:16:01.040Z,1755987361.040 [DAT](INFO): DAT read: user:1662>
2025-08-23T22:16:01.042Z,1755987361.042 [DAT](INFO): DAT read: Tx time:22:16:00.7479
2025-08-23T22:16:01.043Z,1755987361.043 [DAT](INFO): Ping request sent.
2025-08-23T22:16:01.043Z,1755987361.043 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:01.043Z,1755987361.043 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:01.044Z,1755987361.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001089
2025-08-23T22:16:01.237Z,1755987361.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:01.240Z,1755987361.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.60 m.
2025-08-23T22:16:01.242Z,1755987361.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.602371 m,
nav range: 145.260376 m,
bearing: 126.569522 deg,
approach rate: -0.419248 m/s,
LOS rate: -0.061309 deg/s,
cmd heading: 118.310980 deg,
new cmd heading: 118.263643 deg.
2025-08-23T22:16:01.243Z,1755987361.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064090 target range: 146.602371 and range: 147.50 m.
2025-08-23T22:16:01.291Z,1755987361.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248266
2025-08-23T22:16:01.543Z,1755987361.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499985
2025-08-23T22:16:01.688Z,1755987361.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.60 m.
2025-08-23T22:16:01.695Z,1755987361.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.602371 m,
nav range: 145.084930 m,
bearing: 126.546439 deg,
approach rate: -0.391235 m/s,
LOS rate: -0.051536 deg/s,
cmd heading: 118.263646 deg,
new cmd heading: 118.217424 deg.
2025-08-23T22:16:01.696Z,1755987361.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063283 target range: 146.602371 and range: 147.50 m.
2025-08-23T22:16:01.795Z,1755987361.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751633
2025-08-23T22:16:02.047Z,1755987362.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004540
2025-08-23T22:16:02.104Z,1755987362.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.60 m.
2025-08-23T22:16:02.111Z,1755987362.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.602371 m,
nav range: 144.914032 m,
bearing: 126.525183 deg,
approach rate: -0.411127 m/s,
LOS rate: -0.051196 deg/s,
cmd heading: 118.217420 deg,
new cmd heading: 118.174857 deg.
2025-08-23T22:16:02.112Z,1755987362.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.062540 target range: 146.602371 and range: 147.50 m.
2025-08-23T22:16:02.299Z,1755987362.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255810
2025-08-23T22:16:02.443Z,1755987362.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.60 m.
2025-08-23T22:16:02.445Z,1755987362.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.602371 m,
nav range: 144.770569 m,
bearing: 126.508353 deg,
approach rate: -0.423367 m/s,
LOS rate: -0.049714 deg/s,
cmd heading: 118.174854 deg,
new cmd heading: 118.141162 deg.
2025-08-23T22:16:02.446Z,1755987362.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.061952 target range: 146.602371 and range: 147.50 m.
2025-08-23T22:16:02.554Z,1755987362.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510027
2025-08-23T22:16:02.803Z,1755987362.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759556
2025-08-23T22:16:02.930Z,1755987362.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.60 m.
2025-08-23T22:16:02.932Z,1755987362.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.602371 m,
nav range: 144.577942 m,
bearing: 126.486218 deg,
approach rate: -0.395418 m/s,
LOS rate: -0.045500 deg/s,
cmd heading: 118.141167 deg,
new cmd heading: 118.096837 deg.
2025-08-23T22:16:02.934Z,1755987362.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.061179 target range: 146.602371 and range: 147.50 m.
2025-08-23T22:16:03.055Z,1755987363.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011889
2025-08-23T22:16:03.283Z,1755987363.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:03.285Z,1755987363.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.60 m.
2025-08-23T22:16:03.292Z,1755987363.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.602371 m,
nav range: 144.446808 m,
bearing: 126.472119 deg,
approach rate: -0.369155 m/s,
LOS rate: -0.039726 deg/s,
cmd heading: 118.096839 deg,
new cmd heading: 118.068616 deg.
2025-08-23T22:16:03.293Z,1755987363.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060686 target range: 146.602371 and range: 147.50 m.
2025-08-23T22:16:03.307Z,1755987363.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263696
2025-08-23T22:16:03.559Z,1755987363.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515941
2025-08-23T22:16:03.723Z,1755987363.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.60 m.
2025-08-23T22:16:03.726Z,1755987363.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.602371 m,
nav range: 144.263931 m,
bearing: 126.454589 deg,
approach rate: -0.417141 m/s,
LOS rate: -0.040036 deg/s,
cmd heading: 118.068617 deg,
new cmd heading: 118.033514 deg.
2025-08-23T22:16:03.727Z,1755987363.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060073 target range: 146.602371 and range: 147.50 m.
2025-08-23T22:16:03.811Z,1755987363.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767799
2025-08-23T22:16:04.063Z,1755987364.063 [DAT](INFO): DAT read: Rx Time:22:16:03.3466
2025-08-23T22:16:04.063Z,1755987364.063 [DAT](INFO): Rx dataTimestamp_ set to:1755987364.062876
2025-08-23T22:16:04.064Z,1755987364.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020768
2025-08-23T22:16:04.129Z,1755987364.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.60 m.
2025-08-23T22:16:04.132Z,1755987364.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.602371 m,
nav range: 144.103317 m,
bearing: 126.440353 deg,
approach rate: -0.396005 m/s,
LOS rate: -0.035140 deg/s,
cmd heading: 118.033510 deg,
new cmd heading: 118.005005 deg.
2025-08-23T22:16:04.133Z,1755987364.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059576 target range: 146.602371 and range: 147.50 m.
2025-08-23T22:16:04.314Z,1755987364.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271476
2025-08-23T22:16:04.463Z,1755987364.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.60 m.
2025-08-23T22:16:04.486Z,1755987364.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.602371 m,
nav range: 143.970657 m,
bearing: 126.429565 deg,
approach rate: -0.396952 m/s,
LOS rate: -0.032308 deg/s,
cmd heading: 118.005001 deg,
new cmd heading: 117.983406 deg.
2025-08-23T22:16:04.487Z,1755987364.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059199 target range: 146.602371 and range: 147.50 m.
2025-08-23T22:16:04.628Z,1755987364.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527275
2025-08-23T22:16:04.630Z,1755987364.630 [DockingStepper](ERROR): getADC uart error serial timeout
2025-08-23T22:16:04.630Z,1755987364.630 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-08-23T22:16:04.631Z,1755987364.631 [DockingStepper] Communications Fault, FailCount= 1
2025-08-23T22:16:04.631Z,1755987364.631 [DockingStepper](ERROR): Communications Fault
2025-08-23T22:16:04.825Z,1755987364.825 [DAT](INFO): DAT read: 22:16:03.3466 LVL= 28448, 32753, 23890, 32755, AGC= 64, IDX= 421, 0.01, 2.601, 1.094,-3.123, 2.585, PHS= 0.118,-1.446, 0.531, RAW= 161.4, 8.9, CAL= 161.2, 9.3, ROT= 348.8, -9.3
2025-08-23T22:16:04.826Z,1755987364.826 [DAT](INFO): got valid direction response:
22:16:03.3466 LVL= 28448, 32753, 23890, 32755, AGC= 64, IDX= 421, 0.01, 2.601, 1.094,-3.123, 2.585, PHS= 0.118,-1.446, 0.531, RAW= 161.4, 8.9, CAL= 161.2, 9.3, ROT= 348.8, -9.3
2025-08-23T22:16:04.827Z,1755987364.827 [DAT](INFO): DAT read: Bearing 298.4, -11.8 (Local)
2025-08-23T22:16:04.827Z,1755987364.827 [DAT](INFO): Local bearing/azimuth received:
Bearing 298.4, -11.8 (Local)
2025-08-23T22:16:04.828Z,1755987364.828 [DAT](INFO): DAT read: Range 11 to 50 : 145.9 m (Round-trip 194.6 ms) speed 0.4 m/s
2025-08-23T22:16:04.829Z,1755987364.829 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:04.830Z,1755987364.830 [DAT](INFO): direction in FSK: [0.968061,-0.191682,0.161604]
2025-08-23T22:16:04.830Z,1755987364.830 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:04.835Z,1755987364.835 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:04.835Z,1755987364.835 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:04.835Z,1755987364.835 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:04.849Z,1755987364.849 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-08-23T22:16:05.063Z,1755987365.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 145.899994 m,
deltaT: 4.031890 s,
deltaX: -1.600006 m,
approachRate: -0.396838 m/s,
rangeRepo size: 4
2025-08-23T22:16:05.065Z,1755987365.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 145.012619 m,
bearing: 125.995992 deg,
lat: 36.779386 deg,
lon: -121.859619 deg,
deltaT: 4.031890 s,
deltaX: -1.589752 m,
approachRate: -0.394295 m/s,
posRepo size: 4
2025-08-23T22:16:05.071Z,1755987365.071 [DAT](INFO): DAT read: user:1663>
2025-08-23T22:16:05.071Z,1755987365.071 [DAT](INFO): DAT read: Tx time:22:16:04.7479
2025-08-23T22:16:05.072Z,1755987365.072 [DAT](INFO): Ping request sent.
2025-08-23T22:16:05.072Z,1755987365.072 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:05.072Z,1755987365.072 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:05.072Z,1755987365.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-23T22:16:05.073Z,1755987365.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.01 m.
2025-08-23T22:16:05.080Z,1755987365.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.012619 m,
nav range: 143.211823 m,
bearing: 125.995468 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.032308 deg/s,
cmd heading: 117.983404 deg,
new cmd heading: 117.944690 deg.
2025-08-23T22:16:05.081Z,1755987365.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058523 target range: 145.012619 and range: 145.90 m.
2025-08-23T22:16:05.119Z,1755987365.119 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-23T22:16:05.119Z,1755987365.119 [DockingStepper](INFO): Powering down
2025-08-23T22:16:05.312Z,1755987365.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:05.314Z,1755987365.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.01 m.
2025-08-23T22:16:05.317Z,1755987365.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.012619 m,
nav range: 143.089020 m,
bearing: 125.987664 deg,
approach rate: -0.488095 m/s,
LOS rate: -0.031043 deg/s,
cmd heading: 117.944690 deg,
new cmd heading: 117.929070 deg.
2025-08-23T22:16:05.318Z,1755987365.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058251 target range: 145.012619 and range: 145.90 m.
2025-08-23T22:16:05.323Z,1755987365.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250872
2025-08-23T22:16:05.575Z,1755987365.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502734
2025-08-23T22:16:05.746Z,1755987365.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.01 m.
2025-08-23T22:16:05.748Z,1755987365.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.012619 m,
nav range: 142.907791 m,
bearing: 125.977999 deg,
approach rate: -0.420012 m/s,
LOS rate: -0.022427 deg/s,
cmd heading: 117.929076 deg,
new cmd heading: 117.909722 deg.
2025-08-23T22:16:05.749Z,1755987365.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057913 target range: 145.012619 and range: 145.90 m.
2025-08-23T22:16:05.826Z,1755987365.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754591
2025-08-23T22:16:06.081Z,1755987366.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009151
2025-08-23T22:16:06.192Z,1755987366.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.01 m.
2025-08-23T22:16:06.196Z,1755987366.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.012619 m,
nav range: 142.722672 m,
bearing: 125.969432 deg,
approach rate: -0.414882 m/s,
LOS rate: -0.019226 deg/s,
cmd heading: 117.909720 deg,
new cmd heading: 117.892562 deg.
2025-08-23T22:16:06.198Z,1755987366.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057613 target range: 145.012619 and range: 145.90 m.
2025-08-23T22:16:06.331Z,1755987366.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258750
2025-08-23T22:16:06.410Z,1755987366.410 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:16:06.583Z,1755987366.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510767
2025-08-23T22:16:06.602Z,1755987366.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.01 m.
2025-08-23T22:16:06.605Z,1755987366.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.012619 m,
nav range: 142.554962 m,
bearing: 125.962914 deg,
approach rate: -0.408318 m/s,
LOS rate: -0.015887 deg/s,
cmd heading: 117.892562 deg,
new cmd heading: 117.879511 deg.
2025-08-23T22:16:06.627Z,1755987366.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057386 target range: 145.012619 and range: 145.90 m.
2025-08-23T22:16:06.836Z,1755987366.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764449
2025-08-23T22:16:06.973Z,1755987366.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.01 m.
2025-08-23T22:16:06.976Z,1755987366.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.012619 m,
nav range: 142.401291 m,
bearing: 125.958547 deg,
approach rate: -0.414329 m/s,
LOS rate: -0.011787 deg/s,
cmd heading: 117.879516 deg,
new cmd heading: 117.870773 deg.
2025-08-23T22:16:06.977Z,1755987366.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057233 target range: 145.012619 and range: 145.90 m.
2025-08-23T22:16:07.088Z,1755987367.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015822
2025-08-23T22:16:07.338Z,1755987367.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266569
2025-08-23T22:16:07.355Z,1755987367.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:07.357Z,1755987367.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.01 m.
2025-08-23T22:16:07.359Z,1755987367.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.012619 m,
nav range: 142.250137 m,
bearing: 125.955290 deg,
approach rate: -0.394178 m/s,
LOS rate: -0.008502 deg/s,
cmd heading: 117.870774 deg,
new cmd heading: 117.864253 deg.
2025-08-23T22:16:07.360Z,1755987367.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057119 target range: 145.012619 and range: 145.90 m.
2025-08-23T22:16:07.402Z,1755987367.402 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:16:07.591Z,1755987367.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518758
2025-08-23T22:16:07.785Z,1755987367.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.01 m.
2025-08-23T22:16:07.792Z,1755987367.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.012619 m,
nav range: 142.072403 m,
bearing: 125.954924 deg,
approach rate: -0.414966 m/s,
LOS rate: -0.000856 deg/s,
cmd heading: 117.864258 deg,
new cmd heading: 117.863524 deg.
2025-08-23T22:16:07.793Z,1755987367.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057106 target range: 145.012619 and range: 145.90 m.
2025-08-23T22:16:07.843Z,1755987367.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770933
2025-08-23T22:16:08.095Z,1755987368.095 [DAT](INFO): DAT read: Rx Time:22:16:07.3444
2025-08-23T22:16:08.095Z,1755987368.095 [DAT](INFO): Rx dataTimestamp_ set to:1755987368.094686
2025-08-23T22:16:08.096Z,1755987368.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023773
2025-08-23T22:16:08.163Z,1755987368.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.01 m.
2025-08-23T22:16:08.165Z,1755987368.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.012619 m,
nav range: 141.909714 m,
bearing: 125.955692 deg,
approach rate: -0.430808 m/s,
LOS rate: 0.002035 deg/s,
cmd heading: 117.863520 deg,
new cmd heading: 117.865057 deg.
2025-08-23T22:16:08.167Z,1755987368.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057133 target range: 145.012619 and range: 145.90 m.
2025-08-23T22:16:08.347Z,1755987368.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275064
2025-08-23T22:16:08.601Z,1755987368.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529108
2025-08-23T22:16:08.621Z,1755987368.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.01 m.
2025-08-23T22:16:08.624Z,1755987368.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.012619 m,
nav range: 141.717712 m,
bearing: 125.957919 deg,
approach rate: -0.419130 m/s,
LOS rate: 0.004870 deg/s,
cmd heading: 117.865064 deg,
new cmd heading: 117.869525 deg.
2025-08-23T22:16:08.625Z,1755987368.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057211 target range: 145.012619 and range: 145.90 m.
2025-08-23T22:16:08.856Z,1755987368.856 [DAT](INFO): DAT read: 22:16:07.3444 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415,-0.42, 0.809,-0.868, 1.030, 0.583, PHS= 0.328,-1.406, 0.403, RAW= 152.1, 7.7, CAL= 151.6, 8.1, ROT= 358.4, -8.1
2025-08-23T22:16:08.857Z,1755987368.857 [DAT](INFO): got valid direction response:
22:16:07.3444 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415,-0.42, 0.809,-0.868, 1.030, 0.583, PHS= 0.328,-1.406, 0.403, RAW= 152.1, 7.7, CAL= 151.6, 8.1, ROT= 358.4, -8.1
2025-08-23T22:16:08.858Z,1755987368.858 [DAT](INFO): DAT read: Bearing 286.9, -1.7 (Local)
2025-08-23T22:16:08.858Z,1755987368.858 [DAT](INFO): Local bearing/azimuth received:
Bearing 286.9, -1.7 (Local)
2025-08-23T22:16:08.859Z,1755987368.859 [DAT](INFO): DAT read: Range 11 to 50 : 144.2 m (Round-trip 192.3 ms) speed 0.1 m/s
2025-08-23T22:16:08.860Z,1755987368.860 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:08.861Z,1755987368.861 [DAT](INFO): direction in FSK: [0.989638,-0.027643,0.140901]
2025-08-23T22:16:08.861Z,1755987368.861 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:08.864Z,1755987368.864 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:08.865Z,1755987368.865 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:08.865Z,1755987368.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:09.047Z,1755987369.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 144.199997 m,
deltaT: 4.031852 s,
deltaX: -1.699997 m,
approachRate: -0.421642 m/s,
rangeRepo size: 4
2025-08-23T22:16:09.053Z,1755987369.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 143.320724 m,
bearing: 125.266580 deg,
lat: 36.779396 deg,
lon: -121.859605 deg,
deltaT: 4.031852 s,
deltaX: -1.691895 m,
approachRate: -0.419632 m/s,
posRepo size: 4
2025-08-23T22:16:09.054Z,1755987369.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.32 m.
2025-08-23T22:16:09.057Z,1755987369.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.320724 m,
nav range: 141.929337 m,
bearing: 125.266059 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004870 deg/s,
cmd heading: 117.869531 deg,
new cmd heading: 117.873679 deg.
2025-08-23T22:16:09.062Z,1755987369.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057284 target range: 143.320724 and range: 144.20 m.
2025-08-23T22:16:09.104Z,1755987369.104 [DAT](INFO): DAT read: user:1664>
2025-08-23T22:16:09.105Z,1755987369.105 [DAT](INFO): DAT read: Tx time:22:16:08.7979
2025-08-23T22:16:09.105Z,1755987369.105 [DAT](INFO): Ping request sent.
2025-08-23T22:16:09.105Z,1755987369.105 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:09.105Z,1755987369.105 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:09.106Z,1755987369.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000869
2025-08-23T22:16:09.355Z,1755987369.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249438
2025-08-23T22:16:09.361Z,1755987369.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:09.363Z,1755987369.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.32 m.
2025-08-23T22:16:09.366Z,1755987369.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.320724 m,
nav range: 141.774185 m,
bearing: 125.272370 deg,
approach rate: -0.490118 m/s,
LOS rate: 0.019959 deg/s,
cmd heading: 117.873683 deg,
new cmd heading: 117.886320 deg.
2025-08-23T22:16:09.367Z,1755987369.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057504 target range: 143.320724 and range: 144.20 m.
2025-08-23T22:16:09.606Z,1755987369.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501259
2025-08-23T22:16:09.786Z,1755987369.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.32 m.
2025-08-23T22:16:09.789Z,1755987369.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.320724 m,
nav range: 141.585342 m,
bearing: 125.282270 deg,
approach rate: -0.446532 m/s,
LOS rate: 0.023439 deg/s,
cmd heading: 117.886319 deg,
new cmd heading: 117.906145 deg.
2025-08-23T22:16:09.790Z,1755987369.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057850 target range: 143.320724 and range: 144.20 m.
2025-08-23T22:16:09.859Z,1755987369.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753546
2025-08-23T22:16:10.111Z,1755987370.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005279
2025-08-23T22:16:10.168Z,1755987370.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.32 m.
2025-08-23T22:16:10.171Z,1755987370.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.320724 m,
nav range: 141.415924 m,
bearing: 125.292263 deg,
approach rate: -0.443902 m/s,
LOS rate: 0.026214 deg/s,
cmd heading: 117.906141 deg,
new cmd heading: 117.926150 deg.
2025-08-23T22:16:10.171Z,1755987370.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058200 target range: 143.320724 and range: 144.20 m.
2025-08-23T22:16:10.362Z,1755987370.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257259
2025-08-23T22:16:10.578Z,1755987370.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.32 m.
2025-08-23T22:16:10.581Z,1755987370.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.320724 m,
nav range: 141.239380 m,
bearing: 125.303758 deg,
approach rate: -0.429756 m/s,
LOS rate: 0.028019 deg/s,
cmd heading: 117.926153 deg,
new cmd heading: 117.949173 deg.
2025-08-23T22:16:10.586Z,1755987370.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058601 target range: 143.320724 and range: 144.20 m.
2025-08-23T22:16:10.615Z,1755987370.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509375
2025-08-23T22:16:10.867Z,1755987370.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761290
2025-08-23T22:16:11.004Z,1755987371.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.32 m.
2025-08-23T22:16:11.010Z,1755987371.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.320724 m,
nav range: 141.046188 m,
bearing: 125.317586 deg,
approach rate: -0.454778 m/s,
LOS rate: 0.032595 deg/s,
cmd heading: 117.949171 deg,
new cmd heading: 117.976863 deg.
2025-08-23T22:16:11.012Z,1755987371.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059085 target range: 143.320724 and range: 144.20 m.
2025-08-23T22:16:11.119Z,1755987371.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013315
2025-08-23T22:16:11.371Z,1755987371.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265380
2025-08-23T22:16:11.379Z,1755987371.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:11.381Z,1755987371.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.32 m.
2025-08-23T22:16:11.383Z,1755987371.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.320724 m,
nav range: 140.878860 m,
bearing: 125.331415 deg,
approach rate: -0.443458 m/s,
LOS rate: 0.036694 deg/s,
cmd heading: 117.976860 deg,
new cmd heading: 118.004551 deg.
2025-08-23T22:16:11.384Z,1755987371.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059568 target range: 143.320724 and range: 144.20 m.
2025-08-23T22:16:11.623Z,1755987371.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517278
2025-08-23T22:16:11.817Z,1755987371.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.32 m.
2025-08-23T22:16:11.819Z,1755987371.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.320724 m,
nav range: 140.688141 m,
bearing: 125.348997 deg,
approach rate: -0.437549 m/s,
LOS rate: 0.040392 deg/s,
cmd heading: 118.004550 deg,
new cmd heading: 118.039762 deg.
2025-08-23T22:16:11.820Z,1755987371.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060183 target range: 143.320724 and range: 144.20 m.
2025-08-23T22:16:11.875Z,1755987371.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770191
2025-08-23T22:16:12.127Z,1755987372.127 [DAT](INFO): DAT read: Rx Time:22:16:11.3921
2025-08-23T22:16:12.127Z,1755987372.127 [DAT](INFO): Rx dataTimestamp_ set to:1755987372.126762
2025-08-23T22:16:12.128Z,1755987372.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022382
2025-08-23T22:16:12.220Z,1755987372.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.32 m.
2025-08-23T22:16:12.226Z,1755987372.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.320724 m,
nav range: 140.517639 m,
bearing: 125.365563 deg,
approach rate: -0.423042 m/s,
LOS rate: 0.041154 deg/s,
cmd heading: 118.039766 deg,
new cmd heading: 118.072940 deg.
2025-08-23T22:16:12.227Z,1755987372.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060761 target range: 143.320724 and range: 144.20 m.
2025-08-23T22:16:12.379Z,1755987372.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273823
2025-08-23T22:16:12.633Z,1755987372.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527385
2025-08-23T22:16:12.658Z,1755987372.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.32 m.
2025-08-23T22:16:12.660Z,1755987372.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.320724 m,
nav range: 140.350113 m,
bearing: 125.382549 deg,
approach rate: -0.386017 m/s,
LOS rate: 0.039184 deg/s,
cmd heading: 118.072934 deg,
new cmd heading: 118.106945 deg.
2025-08-23T22:16:12.661Z,1755987372.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.061355 target range: 143.320724 and range: 144.20 m.
2025-08-23T22:16:12.899Z,1755987372.899 [DAT](INFO): DAT read: 22:16:11.3921 LVL= 32720, 32753, 32754, 32755, AGC= 67, IDX= 423,-0.18, 2.414, 0.464, 2.348, 2.036, PHS= 0.480,-1.526, 0.269, RAW= 144.5, 8.2, CAL= 144.1, 8.9, ROT= 5.9, -8.9
2025-08-23T22:16:12.900Z,1755987372.900 [DAT](INFO): got valid direction response:
22:16:11.3921 LVL= 32720, 32753, 32754, 32755, AGC= 67, IDX= 423,-0.18, 2.414, 0.464, 2.348, 2.036, PHS= 0.480,-1.526, 0.269, RAW= 144.5, 8.2, CAL= 144.1, 8.9, ROT= 5.9, -8.9
2025-08-23T22:16:12.901Z,1755987372.901 [DAT](INFO): DAT read: Bearing 278.8, 6.4 (Local)
2025-08-23T22:16:12.902Z,1755987372.902 [DAT](INFO): Local bearing/azimuth received:
Bearing 278.8, 6.4 (Local)
2025-08-23T22:16:12.903Z,1755987372.903 [DAT](INFO): DAT read: Range 11 to 50 : 142.5 m (Round-trip 190.1 ms) speed 0.0 m/s
2025-08-23T22:16:12.904Z,1755987372.904 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:12.905Z,1755987372.905 [DAT](INFO): direction in FSK: [0.982726,0.101555,0.154710]
2025-08-23T22:16:12.905Z,1755987372.905 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:12.909Z,1755987372.909 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:12.909Z,1755987372.909 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:12.909Z,1755987372.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:13.094Z,1755987373.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 142.500000 m,
deltaT: 4.036760 s,
deltaX: -1.699997 m,
approachRate: -0.421129 m/s,
rangeRepo size: 4
2025-08-23T22:16:13.096Z,1755987373.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 141.631592 m,
bearing: 125.113785 deg,
lat: 36.779404 deg,
lon: -121.859604 deg,
deltaT: 4.036760 s,
deltaX: -1.689133 m,
approachRate: -0.418438 m/s,
posRepo size: 4
2025-08-23T22:16:13.096Z,1755987373.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.63 m.
2025-08-23T22:16:13.111Z,1755987373.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.631592 m,
nav range: 139.661804 m,
bearing: 125.113274 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.039184 deg/s,
cmd heading: 118.106948 deg,
new cmd heading: 118.140753 deg.
2025-08-23T22:16:13.112Z,1755987373.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.061945 target range: 141.631592 and range: 142.50 m.
2025-08-23T22:16:13.135Z,1755987373.135 [DAT](INFO): DAT read: user:1665>
2025-08-23T22:16:13.135Z,1755987373.135 [DAT](INFO): DAT read: Tx time:22:16:12.8479
2025-08-23T22:16:13.136Z,1755987373.136 [DAT](INFO): Ping request sent.
2025-08-23T22:16:13.136Z,1755987373.136 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:13.136Z,1755987373.136 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:13.137Z,1755987373.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-08-23T22:16:13.386Z,1755987373.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250491
2025-08-23T22:16:13.415Z,1755987373.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:13.417Z,1755987373.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.63 m.
2025-08-23T22:16:13.420Z,1755987373.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.631592 m,
nav range: 139.517822 m,
bearing: 125.129888 deg,
approach rate: -0.433252 m/s,
LOS rate: 0.050045 deg/s,
cmd heading: 118.140758 deg,
new cmd heading: 118.174020 deg.
2025-08-23T22:16:13.421Z,1755987373.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.062526 target range: 141.631592 and range: 142.50 m.
2025-08-23T22:16:13.643Z,1755987373.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506763
2025-08-23T22:16:13.870Z,1755987373.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.63 m.
2025-08-23T22:16:13.872Z,1755987373.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.631592 m,
nav range: 139.324997 m,
bearing: 125.153400 deg,
approach rate: -0.429939 m/s,
LOS rate: 0.052496 deg/s,
cmd heading: 118.174021 deg,
new cmd heading: 118.221109 deg.
2025-08-23T22:16:13.878Z,1755987373.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063348 target range: 141.631592 and range: 142.50 m.
2025-08-23T22:16:13.895Z,1755987373.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758783
2025-08-23T22:16:14.146Z,1755987374.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010594
2025-08-23T22:16:14.255Z,1755987374.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.63 m.
2025-08-23T22:16:14.258Z,1755987374.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.631592 m,
nav range: 139.158142 m,
bearing: 125.174271 deg,
approach rate: -0.428411 m/s,
LOS rate: 0.053652 deg/s,
cmd heading: 118.221108 deg,
new cmd heading: 118.262900 deg.
2025-08-23T22:16:14.259Z,1755987374.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064077 target range: 141.631592 and range: 142.50 m.
2025-08-23T22:16:14.399Z,1755987374.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262928
2025-08-23T22:16:14.649Z,1755987374.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.63 m.
2025-08-23T22:16:14.651Z,1755987374.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514790
2025-08-23T22:16:14.654Z,1755987374.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.631592 m,
nav range: 138.983002 m,
bearing: 125.196651 deg,
approach rate: -0.444734 m/s,
LOS rate: 0.056901 deg/s,
cmd heading: 118.262895 deg,
new cmd heading: 118.307711 deg.
2025-08-23T22:16:14.655Z,1755987374.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064859 target range: 141.631592 and range: 142.50 m.
2025-08-23T22:16:14.902Z,1755987374.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766538
2025-08-23T22:16:15.083Z,1755987375.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.63 m.
2025-08-23T22:16:15.086Z,1755987375.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.631592 m,
nav range: 138.791504 m,
bearing: 125.221091 deg,
approach rate: -0.440870 m/s,
LOS rate: 0.056343 deg/s,
cmd heading: 118.307715 deg,
new cmd heading: 118.356661 deg.
2025-08-23T22:16:15.087Z,1755987375.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065713 target range: 141.631592 and range: 142.50 m.
2025-08-23T22:16:15.156Z,1755987375.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019578
2025-08-23T22:16:15.407Z,1755987375.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270675
2025-08-23T22:16:15.445Z,1755987375.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:15.447Z,1755987375.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.63 m.
2025-08-23T22:16:15.466Z,1755987375.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.631592 m,
nav range: 138.631531 m,
bearing: 125.241779 deg,
approach rate: -0.439945 m/s,
LOS rate: 0.056960 deg/s,
cmd heading: 118.356660 deg,
new cmd heading: 118.398084 deg.
2025-08-23T22:16:15.467Z,1755987375.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.066436 target range: 141.631592 and range: 142.50 m.
2025-08-23T22:16:15.658Z,1755987375.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522594
2025-08-23T22:16:15.877Z,1755987375.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.63 m.
2025-08-23T22:16:15.880Z,1755987375.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.631592 m,
nav range: 138.437912 m,
bearing: 125.267397 deg,
approach rate: -0.450723 m/s,
LOS rate: 0.059720 deg/s,
cmd heading: 118.398078 deg,
new cmd heading: 118.449387 deg.
2025-08-23T22:16:15.881Z,1755987375.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067332 target range: 141.631592 and range: 142.50 m.
2025-08-23T22:16:15.911Z,1755987375.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774985
2025-08-23T22:16:16.163Z,1755987376.163 [DAT](INFO): DAT read: Rx Time:22:16:15.4397
2025-08-23T22:16:16.163Z,1755987376.163 [DAT](INFO): Rx dataTimestamp_ set to:1755987376.162750
2025-08-23T22:16:16.164Z,1755987376.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027719
2025-08-23T22:16:16.261Z,1755987376.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.63 m.
2025-08-23T22:16:16.264Z,1755987376.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.631592 m,
nav range: 138.264694 m,
bearing: 125.290496 deg,
approach rate: -0.450281 m/s,
LOS rate: 0.060121 deg/s,
cmd heading: 118.449386 deg,
new cmd heading: 118.495642 deg.
2025-08-23T22:16:16.265Z,1755987376.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068139 target range: 141.631592 and range: 142.50 m.
2025-08-23T22:16:16.414Z,1755987376.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278605
2025-08-23T22:16:16.670Z,1755987376.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533001
2025-08-23T22:16:16.732Z,1755987376.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.63 m.
2025-08-23T22:16:16.735Z,1755987376.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.631592 m,
nav range: 138.052704 m,
bearing: 125.318851 deg,
approach rate: -0.449966 m/s,
LOS rate: 0.060278 deg/s,
cmd heading: 118.495641 deg,
new cmd heading: 118.552437 deg.
2025-08-23T22:16:16.736Z,1755987376.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.069130 target range: 141.631592 and range: 142.50 m.
2025-08-23T22:16:16.926Z,1755987376.926 [DAT](INFO): DAT read: 22:16:15.4397 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 414, 0.42,-2.711, 1.741,-2.874,-3.082, PHS= 0.473,-1.415, 0.165, RAW= 141.2, 8.9, CAL= 140.8, 9.7, ROT= 9.2, -9.7
2025-08-23T22:16:16.928Z,1755987376.928 [DAT](INFO): got valid direction response:
22:16:15.4397 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 414, 0.42,-2.711, 1.741,-2.874,-3.082, PHS= 0.473,-1.415, 0.165, RAW= 141.2, 8.9, CAL= 140.8, 9.7, ROT= 9.2, -9.7
2025-08-23T22:16:16.929Z,1755987376.929 [DAT](INFO): DAT read: Bearing 275.8, 10.9 (Local)
2025-08-23T22:16:16.930Z,1755987376.930 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.8, 10.9 (Local)
2025-08-23T22:16:16.931Z,1755987376.931 [DAT](INFO): DAT read: Range 11 to 50 : 140.7 m (Round-trip 187.6 ms) speed 0.6 m/s
2025-08-23T22:16:16.932Z,1755987376.932 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:16.933Z,1755987376.933 [DAT](INFO): direction in FSK: [0.973024,0.157595,0.168489]
2025-08-23T22:16:16.936Z,1755987376.936 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:16.983Z,1755987376.983 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:16.983Z,1755987376.983 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:16.984Z,1755987376.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:17.154Z,1755987377.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 140.699997 m,
deltaT: 4.031775 s,
deltaX: -1.800003 m,
approachRate: -0.446454 m/s,
rangeRepo size: 4
2025-08-23T22:16:17.157Z,1755987377.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 139.842682 m,
bearing: 126.103958 deg,
lat: 36.779396 deg,
lon: -121.859605 deg,
deltaT: 4.031775 s,
deltaX: -1.788910 m,
approachRate: -0.443703 m/s,
posRepo size: 4
2025-08-23T22:16:17.170Z,1755987377.170 [DAT](INFO): DAT read: user:1666>
2025-08-23T22:16:17.171Z,1755987377.171 [DAT](INFO): DAT read: Tx time:22:16:16.8979
2025-08-23T22:16:17.171Z,1755987377.171 [DAT](INFO): Ping request sent.
2025-08-23T22:16:17.172Z,1755987377.172 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:17.172Z,1755987377.172 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:17.172Z,1755987377.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-23T22:16:17.157Z,1755987377.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.84 m.
2025-08-23T22:16:17.180Z,1755987377.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.842682 m,
nav range: 138.348282 m,
bearing: 125.639021 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.060278 deg/s,
cmd heading: 118.552440 deg,
new cmd heading: 118.603223 deg.
2025-08-23T22:16:17.186Z,1755987377.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070017 target range: 139.842682 and range: 140.70 m.
2025-08-23T22:16:17.423Z,1755987377.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250929
2025-08-23T22:16:17.482Z,1755987377.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:17.485Z,1755987377.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.84 m.
2025-08-23T22:16:17.512Z,1755987377.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.842682 m,
nav range: 138.195709 m,
bearing: 125.659184 deg,
approach rate: -0.461343 m/s,
LOS rate: 0.061034 deg/s,
cmd heading: 118.603230 deg,
new cmd heading: 118.643599 deg.
2025-08-23T22:16:17.520Z,1755987377.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070721 target range: 139.842682 and range: 140.70 m.
2025-08-23T22:16:17.675Z,1755987377.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503012
2025-08-23T22:16:17.927Z,1755987377.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754928
2025-08-23T22:16:17.936Z,1755987377.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.84 m.
2025-08-23T22:16:17.939Z,1755987377.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.842682 m,
nav range: 137.988586 m,
bearing: 125.685077 deg,
approach rate: -0.458374 m/s,
LOS rate: 0.057389 deg/s,
cmd heading: 118.643596 deg,
new cmd heading: 118.695460 deg.
2025-08-23T22:16:17.940Z,1755987377.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071627 target range: 139.842682 and range: 140.70 m.
2025-08-23T22:16:18.179Z,1755987378.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007628
2025-08-23T22:16:18.306Z,1755987378.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.84 m.
2025-08-23T22:16:18.308Z,1755987378.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.842682 m,
nav range: 137.826324 m,
bearing: 125.705262 deg,
approach rate: -0.459256 m/s,
LOS rate: 0.057197 deg/s,
cmd heading: 118.695465 deg,
new cmd heading: 118.735882 deg.
2025-08-23T22:16:18.309Z,1755987378.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072332 target range: 139.842682 and range: 140.70 m.
2025-08-23T22:16:18.431Z,1755987378.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259420
2025-08-23T22:16:18.683Z,1755987378.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510916
2025-08-23T22:16:18.728Z,1755987378.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.84 m.
2025-08-23T22:16:18.743Z,1755987378.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.842682 m,
nav range: 137.628738 m,
bearing: 125.729796 deg,
approach rate: -0.450206 m/s,
LOS rate: 0.055982 deg/s,
cmd heading: 118.735886 deg,
new cmd heading: 118.785025 deg.
2025-08-23T22:16:18.744Z,1755987378.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073190 target range: 139.842682 and range: 140.70 m.
2025-08-23T22:16:18.935Z,1755987378.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763517
2025-08-23T22:16:19.129Z,1755987379.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.84 m.
2025-08-23T22:16:19.132Z,1755987379.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.842682 m,
nav range: 137.431305 m,
bearing: 125.753621 deg,
approach rate: -0.492547 m/s,
LOS rate: 0.059523 deg/s,
cmd heading: 118.785022 deg,
new cmd heading: 118.832741 deg.
2025-08-23T22:16:19.133Z,1755987379.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074023 target range: 139.842682 and range: 140.70 m.
2025-08-23T22:16:19.187Z,1755987379.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015450
2025-08-23T22:16:19.438Z,1755987379.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827
2025-08-23T22:16:19.554Z,1755987379.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:19.556Z,1755987379.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.84 m.
2025-08-23T22:16:19.559Z,1755987379.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.842682 m,
nav range: 137.224747 m,
bearing: 125.778502 deg,
approach rate: -0.483700 m/s,
LOS rate: 0.058351 deg/s,
cmd heading: 118.832738 deg,
new cmd heading: 118.882573 deg.
2025-08-23T22:16:19.560Z,1755987379.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074892 target range: 139.842682 and range: 140.70 m.
2025-08-23T22:16:19.694Z,1755987379.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522144
2025-08-23T22:16:19.943Z,1755987379.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771026
2025-08-23T22:16:20.031Z,1755987380.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.84 m.
2025-08-23T22:16:20.038Z,1755987380.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.842682 m,
nav range: 136.994965 m,
bearing: 125.807685 deg,
approach rate: -0.484179 m/s,
LOS rate: 0.061595 deg/s,
cmd heading: 118.882571 deg,
new cmd heading: 118.941034 deg.
2025-08-23T22:16:20.039Z,1755987380.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075913 target range: 139.842682 and range: 140.70 m.
2025-08-23T22:16:20.195Z,1755987380.195 [DAT](INFO): DAT read: Rx Time:22:16:19.4872
2025-08-23T22:16:20.196Z,1755987380.196 [DAT](INFO): Rx dataTimestamp_ set to:1755987380.195243
2025-08-23T22:16:20.197Z,1755987380.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024761
2025-08-23T22:16:20.446Z,1755987380.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274854
2025-08-23T22:16:20.461Z,1755987380.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.84 m.
2025-08-23T22:16:20.464Z,1755987380.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.842682 m,
nav range: 136.789642 m,
bearing: 125.833765 deg,
approach rate: -0.477151 m/s,
LOS rate: 0.060699 deg/s,
cmd heading: 118.941037 deg,
new cmd heading: 118.993276 deg.
2025-08-23T22:16:20.465Z,1755987380.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.076824 target range: 139.842682 and range: 140.70 m.
2025-08-23T22:16:20.701Z,1755987380.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529070
2025-08-23T22:16:20.885Z,1755987380.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.84 m.
2025-08-23T22:16:20.906Z,1755987380.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.842682 m,
nav range: 136.607407 m,
bearing: 125.856882 deg,
approach rate: -0.431860 m/s,
LOS rate: 0.054856 deg/s,
cmd heading: 118.993274 deg,
new cmd heading: 119.039570 deg.
2025-08-23T22:16:20.907Z,1755987380.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077632 target range: 139.842682 and range: 140.70 m.
2025-08-23T22:16:20.959Z,1755987380.959 [DAT](INFO): DAT read: 22:16:19.4872 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 420,-0.02,-1.302, 3.135,-1.450,-1.665, PHS= 0.465,-1.438, 0.171, RAW= 141.8, 9.1, CAL= 141.3, 9.9, ROT= 8.7, -9.9
2025-08-23T22:16:20.960Z,1755987380.960 [DAT](INFO): got valid direction response:
22:16:19.4872 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 420,-0.02,-1.302, 3.135,-1.450,-1.665, PHS= 0.465,-1.438, 0.171, RAW= 141.8, 9.1, CAL= 141.3, 9.9, ROT= 8.7, -9.9
2025-08-23T22:16:20.961Z,1755987380.961 [DAT](INFO): DAT read: Bearing 275.7, 11.6 (Local)
2025-08-23T22:16:20.962Z,1755987380.962 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.7, 11.6 (Local)
2025-08-23T22:16:20.963Z,1755987380.963 [DAT](INFO): DAT read: Range 11 to 50 : 138.8 m (Round-trip 185.1 ms) speed 0.4 m/s
2025-08-23T22:16:20.964Z,1755987380.964 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:20.965Z,1755987380.965 [DAT](INFO): direction in FSK: [0.973775,0.149008,0.171929]
2025-08-23T22:16:20.965Z,1755987380.965 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:20.968Z,1755987380.968 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:20.968Z,1755987380.968 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:20.968Z,1755987380.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:21.203Z,1755987381.203 [DAT](INFO): DAT read: user:1667>
2025-08-23T22:16:21.204Z,1755987381.204 [DAT](INFO): DAT read: Tx time:22:16:20.8979
2025-08-23T22:16:21.205Z,1755987381.205 [DAT](INFO): Ping request sent.
2025-08-23T22:16:21.205Z,1755987381.205 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:21.205Z,1755987381.205 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:21.206Z,1755987381.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001170
2025-08-23T22:16:21.278Z,1755987381.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 138.800003 m,
deltaT: 4.032490 s,
deltaX: -1.899994 m,
approachRate: -0.471171 m/s,
rangeRepo size: 4
2025-08-23T22:16:21.280Z,1755987381.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 137.954330 m,
bearing: 126.008808 deg,
lat: 36.779396 deg,
lon: -121.859619 deg,
deltaT: 4.032490 s,
deltaX: -1.888351 m,
approachRate: -0.468284 m/s,
posRepo size: 4
2025-08-23T22:16:21.281Z,1755987381.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.95 m.
2025-08-23T22:16:21.288Z,1755987381.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.954330 m,
nav range: 135.332825 m,
bearing: 126.207766 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.054856 deg/s,
cmd heading: 119.039569 deg,
new cmd heading: 119.081953 deg.
2025-08-23T22:16:21.289Z,1755987381.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.078372 target range: 137.954330 and range: 138.80 m.
2025-08-23T22:16:21.455Z,1755987381.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250377
2025-08-23T22:16:21.605Z,1755987381.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:21.607Z,1755987381.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.95 m.
2025-08-23T22:16:21.610Z,1755987381.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.954330 m,
nav range: 135.159729 m,
bearing: 126.229266 deg,
approach rate: -0.512993 m/s,
LOS rate: 0.063798 deg/s,
cmd heading: 119.081958 deg,
new cmd heading: 119.125011 deg.
2025-08-23T22:16:21.611Z,1755987381.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.079124 target range: 137.954330 and range: 138.80 m.
2025-08-23T22:16:21.707Z,1755987381.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502072
2025-08-23T22:16:21.959Z,1755987381.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753876
2025-08-23T22:16:22.056Z,1755987382.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.95 m.
2025-08-23T22:16:22.059Z,1755987382.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.954330 m,
nav range: 134.937012 m,
bearing: 126.256292 deg,
approach rate: -0.496030 m/s,
LOS rate: 0.060292 deg/s,
cmd heading: 119.125015 deg,
new cmd heading: 119.179157 deg.
2025-08-23T22:16:22.060Z,1755987382.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.080069 target range: 137.954330 and range: 138.80 m.
2025-08-23T22:16:22.211Z,1755987382.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006411
2025-08-23T22:16:22.379Z,1755987382.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.95 m.
2025-08-23T22:16:22.387Z,1755987382.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.954330 m,
nav range: 134.777100 m,
bearing: 126.275665 deg,
approach rate: -0.495082 m/s,
LOS rate: 0.060049 deg/s,
cmd heading: 119.179151 deg,
new cmd heading: 119.217943 deg.
2025-08-23T22:16:22.388Z,1755987382.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.080746 target range: 137.954330 and range: 138.80 m.
2025-08-23T22:16:22.463Z,1755987382.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258672
2025-08-23T22:16:22.715Z,1755987382.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510428
2025-08-23T22:16:22.840Z,1755987382.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.95 m.
2025-08-23T22:16:22.843Z,1755987382.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.954330 m,
nav range: 134.550537 m,
bearing: 126.303111 deg,
approach rate: -0.492592 m/s,
LOS rate: 0.059774 deg/s,
cmd heading: 119.217947 deg,
new cmd heading: 119.272931 deg.
2025-08-23T22:16:22.844Z,1755987382.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.081705 target range: 137.954330 and range: 138.80 m.
2025-08-23T22:16:22.967Z,1755987382.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761978
2025-08-23T22:16:23.219Z,1755987383.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013913
2025-08-23T22:16:23.279Z,1755987383.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.95 m.
2025-08-23T22:16:23.299Z,1755987383.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.954330 m,
nav range: 134.326172 m,
bearing: 126.332401 deg,
approach rate: -0.509157 m/s,
LOS rate: 0.066580 deg/s,
cmd heading: 119.272930 deg,
new cmd heading: 119.331608 deg.
2025-08-23T22:16:23.300Z,1755987383.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082729 target range: 137.954330 and range: 138.80 m.
2025-08-23T22:16:23.473Z,1755987383.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267850
2025-08-23T22:16:23.727Z,1755987383.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521885
2025-08-23T22:16:23.758Z,1755987383.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:23.760Z,1755987383.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.95 m.
2025-08-23T22:16:23.763Z,1755987383.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.954330 m,
nav range: 134.083679 m,
bearing: 126.364120 deg,
approach rate: -0.504725 m/s,
LOS rate: 0.066139 deg/s,
cmd heading: 119.331601 deg,
new cmd heading: 119.395153 deg.
2025-08-23T22:16:23.764Z,1755987383.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.083838 target range: 137.954330 and range: 138.80 m.
2025-08-23T22:16:23.979Z,1755987383.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774456
2025-08-23T22:16:24.231Z,1755987384.231 [DAT](INFO): DAT read: Rx Time:22:16:23.4844
2025-08-23T22:16:24.231Z,1755987384.231 [DAT](INFO): Rx dataTimestamp_ set to:1755987384.230926
2025-08-23T22:16:24.232Z,1755987384.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027084
2025-08-23T22:16:24.225Z,1755987384.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.95 m.
2025-08-23T22:16:24.239Z,1755987384.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.954330 m,
nav range: 133.855515 m,
bearing: 126.392744 deg,
approach rate: -0.490389 m/s,
LOS rate: 0.061626 deg/s,
cmd heading: 119.395149 deg,
new cmd heading: 119.452495 deg.
2025-08-23T22:16:24.240Z,1755987384.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.084839 target range: 137.954330 and range: 138.80 m.
2025-08-23T22:16:24.484Z,1755987384.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279186
2025-08-23T22:16:24.590Z,1755987384.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.95 m.
2025-08-23T22:16:24.592Z,1755987384.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.954330 m,
nav range: 133.683945 m,
bearing: 126.414267 deg,
approach rate: -0.492223 m/s,
LOS rate: 0.061828 deg/s,
cmd heading: 119.452495 deg,
new cmd heading: 119.495597 deg.
2025-08-23T22:16:24.602Z,1755987384.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085592 target range: 137.954330 and range: 138.80 m.
2025-08-23T22:16:24.748Z,1755987384.748 [DAT](INFO): DAT read: 22:16:23.4844 LVL= 29296, 32753, 29522, 32755, AGC= 66, IDX= 409,-0.40,-0.325,-2.251,-0.475,-0.736, PHS= 0.513,-1.470, 0.217, RAW= 142.1, 8.0, CAL= 141.6, 8.8, ROT= 8.4, -8.8
2025-08-23T22:16:24.750Z,1755987384.750 [DAT](INFO): got valid direction response:
22:16:23.4844 LVL= 29296, 32753, 29522, 32755, AGC= 66, IDX= 409,-0.40,-0.325,-2.251,-0.475,-0.736, PHS= 0.513,-1.470, 0.217, RAW= 142.1, 8.0, CAL= 141.6, 8.8, ROT= 8.4, -8.8
2025-08-23T22:16:24.751Z,1755987384.751 [DAT](INFO): DAT read: Bearing 275.3, 12.0 (Local)
2025-08-23T22:16:24.751Z,1755987384.751 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.3, 12.0 (Local)
2025-08-23T22:16:24.752Z,1755987384.752 [DAT](INFO): DAT read: Range 11 to 50 : 136.8 m (Round-trip 182.4 ms) speed 0.4 m/s
2025-08-23T22:16:24.753Z,1755987384.753 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:24.754Z,1755987384.754 [DAT](INFO): direction in FSK: [0.977627,0.144363,0.152986]
2025-08-23T22:16:24.754Z,1755987384.754 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:24.766Z,1755987384.766 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:24.766Z,1755987384.766 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:24.766Z,1755987384.766 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:24.987Z,1755987384.987 [DAT](INFO): DAT read: user:1668>
2025-08-23T22:16:24.989Z,1755987384.989 [DAT](INFO): DAT read: Tx time:22:16:24.6979
2025-08-23T22:16:24.990Z,1755987384.990 [DAT](INFO): Ping request sent.
2025-08-23T22:16:24.990Z,1755987384.990 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:24.990Z,1755987384.990 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:24.991Z,1755987384.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001093
2025-08-23T22:16:25.068Z,1755987385.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 136.800003 m,
deltaT: 3.784742 s,
deltaX: -2.000000 m,
approachRate: -0.528438 m/s,
rangeRepo size: 4
2025-08-23T22:16:25.074Z,1755987385.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 135.961716 m,
bearing: 126.118943 deg,
lat: 36.779404 deg,
lon: -121.859620 deg,
deltaT: 3.784742 s,
deltaX: -1.992615 m,
approachRate: -0.526486 m/s,
posRepo size: 4
2025-08-23T22:16:25.075Z,1755987385.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.96 m.
2025-08-23T22:16:25.082Z,1755987385.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.961716 m,
nav range: 132.911758 m,
bearing: 126.155757 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.061828 deg/s,
cmd heading: 119.495594 deg,
new cmd heading: 119.556645 deg.
2025-08-23T22:16:25.083Z,1755987385.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.086657 target range: 135.961716 and range: 136.80 m.
2025-08-23T22:16:25.239Z,1755987385.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249561
2025-08-23T22:16:25.383Z,1755987385.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.96 m.
2025-08-23T22:16:25.386Z,1755987385.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.961716 m,
nav range: 132.743500 m,
bearing: 126.177976 deg,
approach rate: -0.532886 m/s,
LOS rate: 0.070455 deg/s,
cmd heading: 119.556642 deg,
new cmd heading: 119.601135 deg.
2025-08-23T22:16:25.387Z,1755987385.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.087434 target range: 135.961716 and range: 136.80 m.
2025-08-23T22:16:25.492Z,1755987385.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502212
2025-08-23T22:16:25.743Z,1755987385.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752958
2025-08-23T22:16:25.797Z,1755987385.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:25.799Z,1755987385.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.96 m.
2025-08-23T22:16:25.802Z,1755987385.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.961716 m,
nav range: 132.535187 m,
bearing: 126.205502 deg,
approach rate: -0.500559 m/s,
LOS rate: 0.066247 deg/s,
cmd heading: 119.601134 deg,
new cmd heading: 119.656273 deg.
2025-08-23T22:16:25.803Z,1755987385.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.088396 target range: 135.961716 and range: 136.80 m.
2025-08-23T22:16:25.995Z,1755987385.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005448
2025-08-23T22:16:26.049Z,1755987386.049 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-23T22:16:26.049Z,1755987386.049 [DockingStepper] No Fault, FailCount= 1
2025-08-23T22:16:26.231Z,1755987386.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.96 m.
2025-08-23T22:16:26.233Z,1755987386.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.961716 m,
nav range: 132.314621 m,
bearing: 126.233789 deg,
approach rate: -0.511606 m/s,
LOS rate: 0.065723 deg/s,
cmd heading: 119.656267 deg,
new cmd heading: 119.712936 deg.
2025-08-23T22:16:26.234Z,1755987386.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089385 target range: 135.961716 and range: 136.80 m.
2025-08-23T22:16:26.246Z,1755987386.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256830
2025-08-23T22:16:26.267Z,1755987386.267 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-23T22:16:26.387Z,1755987386.387 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-23T22:16:26.501Z,1755987386.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511661
2025-08-23T22:16:26.633Z,1755987386.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.96 m.
2025-08-23T22:16:26.636Z,1755987386.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.961716 m,
nav range: 132.109192 m,
bearing: 126.260116 deg,
approach rate: -0.510762 m/s,
LOS rate: 0.065558 deg/s,
cmd heading: 119.712930 deg,
new cmd heading: 119.765665 deg.
2025-08-23T22:16:26.637Z,1755987386.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.090305 target range: 135.961716 and range: 136.80 m.
2025-08-23T22:16:26.751Z,1755987386.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760970
2025-08-23T22:16:27.008Z,1755987387.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017198
2025-08-23T22:16:27.081Z,1755987387.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.96 m.
2025-08-23T22:16:27.084Z,1755987387.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.961716 m,
nav range: 131.876099 m,
bearing: 126.290937 deg,
approach rate: -0.519657 m/s,
LOS rate: 0.068833 deg/s,
cmd heading: 119.765660 deg,
new cmd heading: 119.827410 deg.
2025-08-23T22:16:27.101Z,1755987387.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091383 target range: 135.961716 and range: 136.80 m.
2025-08-23T22:16:27.254Z,1755987387.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264897
2025-08-23T22:16:27.440Z,1755987387.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.96 m.
2025-08-23T22:16:27.443Z,1755987387.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.961716 m,
nav range: 131.689621 m,
bearing: 126.315571 deg,
approach rate: -0.519791 m/s,
LOS rate: 0.068765 deg/s,
cmd heading: 119.827404 deg,
new cmd heading: 119.876744 deg.
2025-08-23T22:16:27.444Z,1755987387.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092244 target range: 135.961716 and range: 136.80 m.
2025-08-23T22:16:27.507Z,1755987387.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517164
2025-08-23T22:16:27.758Z,1755987387.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768956
2025-08-23T22:16:27.874Z,1755987387.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:27.876Z,1755987387.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.96 m.
2025-08-23T22:16:27.879Z,1755987387.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.961716 m,
nav range: 131.463150 m,
bearing: 126.345454 deg,
approach rate: -0.519438 m/s,
LOS rate: 0.068659 deg/s,
cmd heading: 119.876746 deg,
new cmd heading: 119.936615 deg.
2025-08-23T22:16:27.880Z,1755987387.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093289 target range: 135.961716 and range: 136.80 m.
2025-08-23T22:16:28.015Z,1755987388.015 [DAT](INFO): DAT read: Rx Time:22:16:27.2819
2025-08-23T22:16:28.016Z,1755987388.016 [DAT](INFO): Rx dataTimestamp_ set to:1755987388.015377
2025-08-23T22:16:28.016Z,1755987388.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026688
2025-08-23T22:16:28.267Z,1755987388.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277125
2025-08-23T22:16:28.301Z,1755987388.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.96 m.
2025-08-23T22:16:28.320Z,1755987388.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.961716 m,
nav range: 131.240570 m,
bearing: 126.376977 deg,
approach rate: -0.523976 m/s,
LOS rate: 0.074334 deg/s,
cmd heading: 119.936619 deg,
new cmd heading: 119.999771 deg.
2025-08-23T22:16:28.321Z,1755987388.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094391 target range: 135.961716 and range: 136.80 m.
2025-08-23T22:16:28.537Z,1755987388.537 [DAT](INFO): DAT read: 22:16:27.2819 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 414, 0.29,-1.784, 2.643,-1.911,-2.180, PHS= 0.499,-1.415, 0.226, RAW= 142.4, 7.8, CAL= 142.0, 8.5, ROT= 8.0, -8.5
2025-08-23T22:16:28.539Z,1755987388.539 [DAT](INFO): got valid direction response:
22:16:27.2819 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 414, 0.29,-1.784, 2.643,-1.911,-2.180, PHS= 0.499,-1.415, 0.226, RAW= 142.4, 7.8, CAL= 142.0, 8.5, ROT= 8.0, -8.5
2025-08-23T22:16:28.540Z,1755987388.540 [DAT](INFO): DAT read: Bearing 275.7, 11.7 (Local)
2025-08-23T22:16:28.540Z,1755987388.540 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.7, 11.7 (Local)
2025-08-23T22:16:28.542Z,1755987388.542 [DAT](INFO): DAT read: Range 11 to 50 : 134.8 m (Round-trip 179.8 ms) speed 0.2 m/s
2025-08-23T22:16:28.542Z,1755987388.542 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:28.543Z,1755987388.543 [DAT](INFO): direction in FSK: [0.979391,0.137644,0.147809]
2025-08-23T22:16:28.544Z,1755987388.544 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:28.547Z,1755987388.547 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:28.547Z,1755987388.547 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:28.548Z,1755987388.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:28.701Z,1755987388.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 134.800003 m,
deltaT: 3.784294 s,
deltaX: -2.000000 m,
approachRate: -0.528500 m/s,
rangeRepo size: 4
2025-08-23T22:16:28.703Z,1755987388.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 133.973434 m,
bearing: 126.136916 deg,
lat: 36.779405 deg,
lon: -121.859620 deg,
deltaT: 3.784294 s,
deltaX: -1.988281 m,
approachRate: -0.525403 m/s,
posRepo size: 4
2025-08-23T22:16:28.703Z,1755987388.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.97 m.
2025-08-23T22:16:28.706Z,1755987388.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.973434 m,
nav range: 131.015884 m,
bearing: 126.393842 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.074334 deg/s,
cmd heading: 119.999771 deg,
new cmd heading: 120.059096 deg.
2025-08-23T22:16:28.707Z,1755987388.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.095427 target range: 133.973434 and range: 134.80 m.
2025-08-23T22:16:28.772Z,1755987388.772 [DAT](INFO): DAT read: user:1669>
2025-08-23T22:16:28.773Z,1755987388.773 [DAT](INFO): DAT read: Tx time:22:16:28.4479
2025-08-23T22:16:28.773Z,1755987388.773 [DAT](INFO): Ping request sent.
2025-08-23T22:16:28.773Z,1755987388.773 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:28.773Z,1755987388.773 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:28.774Z,1755987388.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000884
2025-08-23T22:16:29.023Z,1755987389.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249354
2025-08-23T22:16:29.121Z,1755987389.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.97 m.
2025-08-23T22:16:29.128Z,1755987389.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.973434 m,
nav range: 130.805038 m,
bearing: 126.421660 deg,
approach rate: -0.501250 m/s,
LOS rate: 0.066238 deg/s,
cmd heading: 120.059098 deg,
new cmd heading: 120.114823 deg.
2025-08-23T22:16:29.128Z,1755987389.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096399 target range: 133.973434 and range: 134.80 m.
2025-08-23T22:16:29.279Z,1755987389.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505358
2025-08-23T22:16:29.507Z,1755987389.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.97 m.
2025-08-23T22:16:29.510Z,1755987389.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.973434 m,
nav range: 130.595306 m,
bearing: 126.449377 deg,
approach rate: -0.543273 m/s,
LOS rate: 0.071911 deg/s,
cmd heading: 120.114819 deg,
new cmd heading: 120.170342 deg.
2025-08-23T22:16:29.510Z,1755987389.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.097368 target range: 133.973434 and range: 134.80 m.
2025-08-23T22:16:29.528Z,1755987389.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754949
2025-08-23T22:16:29.779Z,1755987389.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005357
2025-08-23T22:16:29.888Z,1755987389.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:29.890Z,1755987389.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.97 m.
2025-08-23T22:16:29.893Z,1755987389.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.973434 m,
nav range: 130.397873 m,
bearing: 126.475493 deg,
approach rate: -0.514765 m/s,
LOS rate: 0.068196 deg/s,
cmd heading: 120.170348 deg,
new cmd heading: 120.222660 deg.
2025-08-23T22:16:29.894Z,1755987389.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098281 target range: 133.973434 and range: 134.80 m.
2025-08-23T22:16:29.923Z,1755987389.923 [DockingStepper](INFO): Changing to mode: 1
2025-08-23T22:16:30.034Z,1755987390.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260563
2025-08-23T22:16:30.283Z,1755987390.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509430
2025-08-23T22:16:30.328Z,1755987390.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.97 m.
2025-08-23T22:16:30.331Z,1755987390.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.973434 m,
nav range: 130.164490 m,
bearing: 126.505524 deg,
approach rate: -0.533494 m/s,
LOS rate: 0.068770 deg/s,
cmd heading: 120.222654 deg,
new cmd heading: 120.282823 deg.
2025-08-23T22:16:30.332Z,1755987390.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099331 target range: 133.973434 and range: 134.80 m.
2025-08-23T22:16:30.535Z,1755987390.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761462
2025-08-23T22:16:30.705Z,1755987390.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.97 m.
2025-08-23T22:16:30.708Z,1755987390.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.973434 m,
nav range: 129.965515 m,
bearing: 126.531147 deg,
approach rate: -0.527102 m/s,
LOS rate: 0.067981 deg/s,
cmd heading: 120.282828 deg,
new cmd heading: 120.334152 deg.
2025-08-23T22:16:30.709Z,1755987390.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.100227 target range: 133.973434 and range: 134.80 m.
2025-08-23T22:16:30.787Z,1755987390.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013648
2025-08-23T22:16:31.039Z,1755987391.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265902
2025-08-23T22:16:31.134Z,1755987391.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.97 m.
2025-08-23T22:16:31.137Z,1755987391.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.973434 m,
nav range: 129.741318 m,
bearing: 126.560317 deg,
approach rate: -0.523106 m/s,
LOS rate: 0.068179 deg/s,
cmd heading: 120.334150 deg,
new cmd heading: 120.392591 deg.
2025-08-23T22:16:31.138Z,1755987391.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.101247 target range: 133.973434 and range: 134.80 m.
2025-08-23T22:16:31.291Z,1755987391.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517475
2025-08-23T22:16:31.514Z,1755987391.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.97 m.
2025-08-23T22:16:31.517Z,1755987391.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.973434 m,
nav range: 129.544266 m,
bearing: 126.585957 deg,
approach rate: -0.518348 m/s,
LOS rate: 0.067550 deg/s,
cmd heading: 120.392589 deg,
new cmd heading: 120.443948 deg.
2025-08-23T22:16:31.518Z,1755987391.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102144 target range: 133.973434 and range: 134.80 m.
2025-08-23T22:16:31.542Z,1755987391.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769315
2025-08-23T22:16:31.795Z,1755987391.795 [DAT](INFO): DAT read: Rx Time:22:16:31.0293
2025-08-23T22:16:31.795Z,1755987391.795 [DAT](INFO): Rx dataTimestamp_ set to:1755987391.795047
2025-08-23T22:16:31.796Z,1755987391.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022718
2025-08-23T22:16:31.923Z,1755987391.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:31.925Z,1755987391.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.97 m.
2025-08-23T22:16:31.928Z,1755987391.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.973434 m,
nav range: 129.331650 m,
bearing: 126.613672 deg,
approach rate: -0.516931 m/s,
LOS rate: 0.067494 deg/s,
cmd heading: 120.443952 deg,
new cmd heading: 120.499473 deg.
2025-08-23T22:16:31.929Z,1755987391.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103112 target range: 133.973434 and range: 134.80 m.
2025-08-23T22:16:32.050Z,1755987392.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276397
2025-08-23T22:16:32.304Z,1755987392.304 [DAT](INFO): DAT read: 22:16:31.0293 LVL= 31264, 32753, 32754, 32755, AGC= 68, IDX= 420,-0.23,-1.048,-2.909,-1.182,-1.417, PHS= 0.471,-1.447, 0.191, RAW= 142.2, 8.8, CAL= 141.8, 9.6, ROT= 8.2, -9.6
2025-08-23T22:16:32.305Z,1755987392.305 [DAT](INFO): got valid direction response:
22:16:31.0293 LVL= 31264, 32753, 32754, 32755, AGC= 68, IDX= 420,-0.23,-1.048,-2.909,-1.182,-1.417, PHS= 0.471,-1.447, 0.191, RAW= 142.2, 8.8, CAL= 141.8, 9.6, ROT= 8.2, -9.6
2025-08-23T22:16:32.306Z,1755987392.306 [DAT](INFO): DAT read: Bearing 277.7, 11.6 (Local)
2025-08-23T22:16:32.306Z,1755987392.306 [DAT](INFO): Local bearing/azimuth received:
Bearing 277.7, 11.6 (Local)
2025-08-23T22:16:32.308Z,1755987392.308 [DAT](INFO): DAT read: Range 11 to 50 : 132.9 m (Round-trip 177.3 ms) speed 0.4 m/s
2025-08-23T22:16:32.308Z,1755987392.308 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:32.309Z,1755987392.309 [DAT](INFO): direction in FSK: [0.975915,0.140632,0.166769]
2025-08-23T22:16:32.309Z,1755987392.309 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:32.313Z,1755987392.313 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:32.313Z,1755987392.313 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:32.313Z,1755987392.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:32.446Z,1755987392.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 132.899994 m,
deltaT: 3.778023 s,
deltaX: -1.900009 m,
approachRate: -0.502911 m/s,
rangeRepo size: 4
2025-08-23T22:16:32.455Z,1755987392.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 132.082764 m,
bearing: 126.498498 deg,
lat: 36.779405 deg,
lon: -121.859620 deg,
deltaT: 3.778023 s,
deltaX: -1.890671 m,
approachRate: -0.500439 m/s,
posRepo size: 4
2025-08-23T22:16:32.457Z,1755987392.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m.
2025-08-23T22:16:32.471Z,1755987392.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.082764 m,
nav range: 129.033340 m,
bearing: 126.621128 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.067494 deg/s,
cmd heading: 120.499468 deg,
new cmd heading: 120.569176 deg.
2025-08-23T22:16:32.473Z,1755987392.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104329 target range: 132.082764 and range: 132.90 m.
2025-08-23T22:16:32.552Z,1755987392.552 [DAT](INFO): DAT read: user:1670>
2025-08-23T22:16:32.553Z,1755987392.553 [DAT](INFO): DAT read: Tx time:22:16:32.2479
2025-08-23T22:16:32.554Z,1755987392.554 [DAT](INFO): Ping request sent.
2025-08-23T22:16:32.554Z,1755987392.554 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:32.554Z,1755987392.554 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:32.555Z,1755987392.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001170
2025-08-23T22:16:32.802Z,1755987392.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248575
2025-08-23T22:16:32.844Z,1755987392.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m.
2025-08-23T22:16:32.847Z,1755987392.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.082764 m,
nav range: 128.811417 m,
bearing: 126.650180 deg,
approach rate: -0.550652 m/s,
LOS rate: 0.072210 deg/s,
cmd heading: 120.569177 deg,
new cmd heading: 120.627381 deg.
2025-08-23T22:16:32.848Z,1755987392.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105345 target range: 132.082764 and range: 132.90 m.
2025-08-23T22:16:33.057Z,1755987393.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502819
2025-08-23T22:16:33.309Z,1755987393.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754736
2025-08-23T22:16:33.403Z,1755987393.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m.
2025-08-23T22:16:33.408Z,1755987393.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.082764 m,
nav range: 128.532242 m,
bearing: 126.685266 deg,
approach rate: -0.500101 m/s,
LOS rate: 0.062987 deg/s,
cmd heading: 120.627384 deg,
new cmd heading: 120.697707 deg.
2025-08-23T22:16:33.409Z,1755987393.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106572 target range: 132.082764 and range: 132.90 m.
2025-08-23T22:16:33.559Z,1755987393.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004697
2025-08-23T22:16:33.811Z,1755987393.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257082
2025-08-23T22:16:33.873Z,1755987393.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m.
2025-08-23T22:16:33.876Z,1755987393.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.082764 m,
nav range: 128.289444 m,
bearing: 126.715744 deg,
approach rate: -0.516347 m/s,
LOS rate: 0.064939 deg/s,
cmd heading: 120.697707 deg,
new cmd heading: 120.758779 deg.
2025-08-23T22:16:33.877Z,1755987393.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107638 target range: 132.082764 and range: 132.90 m.
2025-08-23T22:16:34.067Z,1755987394.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512314
2025-08-23T22:16:34.306Z,1755987394.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:34.308Z,1755987394.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m.
2025-08-23T22:16:34.315Z,1755987394.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760740
2025-08-23T22:16:34.316Z,1755987394.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.082764 m,
nav range: 128.069046 m,
bearing: 126.741188 deg,
approach rate: -0.507072 m/s,
LOS rate: 0.058640 deg/s,
cmd heading: 120.758783 deg,
new cmd heading: 120.809758 deg.
2025-08-23T22:16:34.317Z,1755987394.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108528 target range: 132.082764 and range: 132.90 m.
2025-08-23T22:16:34.567Z,1755987394.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012627
2025-08-23T22:16:34.736Z,1755987394.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m.
2025-08-23T22:16:34.739Z,1755987394.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.082764 m,
nav range: 127.826111 m,
bearing: 126.769269 deg,
approach rate: -0.566822 m/s,
LOS rate: 0.065643 deg/s,
cmd heading: 120.809763 deg,
new cmd heading: 120.866032 deg.
2025-08-23T22:16:34.740Z,1755987394.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109510 target range: 132.082764 and range: 132.90 m.
2025-08-23T22:16:34.819Z,1755987394.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264794
2025-08-23T22:16:35.074Z,1755987395.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519354
2025-08-23T22:16:35.179Z,1755987395.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m.
2025-08-23T22:16:35.188Z,1755987395.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.082764 m,
nav range: 127.597099 m,
bearing: 126.796609 deg,
approach rate: -0.517256 m/s,
LOS rate: 0.061861 deg/s,
cmd heading: 120.866030 deg,
new cmd heading: 120.920808 deg.
2025-08-23T22:16:35.189Z,1755987395.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.110466 target range: 132.082764 and range: 132.90 m.
2025-08-23T22:16:35.323Z,1755987395.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768641
2025-08-23T22:16:35.575Z,1755987395.575 [DAT](INFO): DAT read: Rx Time:22:16:34.8266
2025-08-23T22:16:35.575Z,1755987395.575 [DAT](INFO): Rx dataTimestamp_ set to:1755987395.575046
2025-08-23T22:16:35.576Z,1755987395.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022004
2025-08-23T22:16:35.582Z,1755987395.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m.
2025-08-23T22:16:35.585Z,1755987395.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.082764 m,
nav range: 127.381958 m,
bearing: 126.822370 deg,
approach rate: -0.533134 m/s,
LOS rate: 0.063946 deg/s,
cmd heading: 120.920808 deg,
new cmd heading: 120.972418 deg.
2025-08-23T22:16:35.586Z,1755987395.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.111367 target range: 132.082764 and range: 132.90 m.
2025-08-23T22:16:35.828Z,1755987395.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273837
2025-08-23T22:16:35.986Z,1755987395.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.08 m.
2025-08-23T22:16:35.989Z,1755987395.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.082764 m,
nav range: 127.168541 m,
bearing: 126.847928 deg,
approach rate: -0.529409 m/s,
LOS rate: 0.063506 deg/s,
cmd heading: 120.972417 deg,
new cmd heading: 121.023619 deg.
2025-08-23T22:16:35.990Z,1755987395.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.112261 target range: 132.082764 and range: 132.90 m.
2025-08-23T22:16:36.100Z,1755987396.100 [DAT](INFO): DAT read: 22:16:34.8266 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 408, 0.07,-0.210,-2.065,-0.355,-0.566, PHS= 0.458,-1.454, 0.166, RAW= 141.9, 9.3, CAL= 141.4, 10.2, ROT= 8.6, -10.2
2025-08-23T22:16:36.104Z,1755987396.104 [DAT](INFO): got valid direction response:
22:16:34.8266 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 408, 0.07,-0.210,-2.065,-0.355,-0.566, PHS= 0.458,-1.454, 0.166, RAW= 141.9, 9.3, CAL= 141.4, 10.2, ROT= 8.6, -10.2
2025-08-23T22:16:36.107Z,1755987396.107 [DAT](INFO): DAT read: Bearing 278.9, 11.0 (Local)
2025-08-23T22:16:36.109Z,1755987396.109 [DAT](INFO): Local bearing/azimuth received:
Bearing 278.9, 11.0 (Local)
2025-08-23T22:16:36.137Z,1755987396.137 [DAT](INFO): DAT read: Range 11 to 50 : 130.9 m (Round-trip 174.6 ms) speed 0.4 m/s
2025-08-23T22:16:36.138Z,1755987396.138 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:36.139Z,1755987396.139 [DAT](INFO): direction in FSK: [0.973130,0.147172,0.177085]
2025-08-23T22:16:36.139Z,1755987396.139 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:36.151Z,1755987396.151 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:36.151Z,1755987396.151 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:36.151Z,1755987396.151 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:36.334Z,1755987396.334 [DAT](INFO): DAT read: user:1671>
2025-08-23T22:16:36.335Z,1755987396.335 [DAT](INFO): DAT read: Tx time:22:16:36.0479
2025-08-23T22:16:36.335Z,1755987396.335 [DAT](INFO): Ping request sent.
2025-08-23T22:16:36.336Z,1755987396.336 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:36.336Z,1755987396.336 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:36.336Z,1755987396.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-23T22:16:36.522Z,1755987396.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 130.899994 m,
deltaT: 3.786121 s,
deltaX: -2.000000 m,
approachRate: -0.528245 m/s,
rangeRepo size: 4
2025-08-23T22:16:36.524Z,1755987396.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 130.089905 m,
bearing: 127.077631 deg,
lat: 36.779405 deg,
lon: -121.859620 deg,
deltaT: 3.786121 s,
deltaX: -1.992859 m,
approachRate: -0.526359 m/s,
posRepo size: 4
2025-08-23T22:16:36.525Z,1755987396.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.09 m.
2025-08-23T22:16:36.528Z,1755987396.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.089905 m,
nav range: 126.896873 m,
bearing: 126.881115 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.063506 deg/s,
cmd heading: 121.023616 deg,
new cmd heading: 121.091631 deg.
2025-08-23T22:16:36.528Z,1755987396.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.113448 target range: 130.089905 and range: 130.90 m.
2025-08-23T22:16:36.587Z,1755987396.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251096
2025-08-23T22:16:36.839Z,1755987396.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503254
2025-08-23T22:16:36.902Z,1755987396.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:36.904Z,1755987396.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.09 m.
2025-08-23T22:16:36.912Z,1755987396.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.089905 m,
nav range: 126.700600 m,
bearing: 126.905471 deg,
approach rate: -0.512877 m/s,
LOS rate: 0.063741 deg/s,
cmd heading: 121.091631 deg,
new cmd heading: 121.140418 deg.
2025-08-23T22:16:36.918Z,1755987396.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.114299 target range: 130.089905 and range: 130.90 m.
2025-08-23T22:16:37.093Z,1755987397.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757233
2025-08-23T22:16:37.343Z,1755987397.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007046
2025-08-23T22:16:37.346Z,1755987397.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.09 m.
2025-08-23T22:16:37.349Z,1755987397.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.089905 m,
nav range: 126.481873 m,
bearing: 126.931115 deg,
approach rate: -0.508732 m/s,
LOS rate: 0.059748 deg/s,
cmd heading: 121.140413 deg,
new cmd heading: 121.191790 deg.
2025-08-23T22:16:37.354Z,1755987397.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.115196 target range: 130.089905 and range: 130.90 m.
2025-08-23T22:16:37.554Z,1755987397.554 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:16:37.594Z,1755987397.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258884
2025-08-23T22:16:37.697Z,1755987397.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.09 m.
2025-08-23T22:16:37.700Z,1755987397.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.089905 m,
nav range: 126.281143 m,
bearing: 126.954579 deg,
approach rate: -0.552351 m/s,
LOS rate: 0.064671 deg/s,
cmd heading: 121.191789 deg,
new cmd heading: 121.238793 deg.
2025-08-23T22:16:37.701Z,1755987397.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.116016 target range: 130.089905 and range: 130.90 m.
2025-08-23T22:16:37.846Z,1755987397.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510884
2025-08-23T22:16:38.102Z,1755987398.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765288
2025-08-23T22:16:38.174Z,1755987398.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.09 m.
2025-08-23T22:16:38.177Z,1755987398.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.089905 m,
nav range: 126.038643 m,
bearing: 126.982852 deg,
approach rate: -0.513492 m/s,
LOS rate: 0.059981 deg/s,
cmd heading: 121.238795 deg,
new cmd heading: 121.295448 deg.
2025-08-23T22:16:38.183Z,1755987398.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.117005 target range: 130.089905 and range: 130.90 m.
2025-08-23T22:16:38.351Z,1755987398.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014896
2025-08-23T22:16:38.558Z,1755987398.558 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:16:38.577Z,1755987398.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.09 m.
2025-08-23T22:16:38.584Z,1755987398.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.089905 m,
nav range: 125.840919 m,
bearing: 127.003923 deg,
approach rate: -0.485051 m/s,
LOS rate: 0.051773 deg/s,
cmd heading: 121.295444 deg,
new cmd heading: 121.337653 deg.
2025-08-23T22:16:38.585Z,1755987398.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.117742 target range: 130.089905 and range: 130.90 m.
2025-08-23T22:16:38.603Z,1755987398.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266993
2025-08-23T22:16:38.855Z,1755987398.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519205
2025-08-23T22:16:38.947Z,1755987398.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:38.951Z,1755987398.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.09 m.
2025-08-23T22:16:38.959Z,1755987398.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.089905 m,
nav range: 125.646614 m,
bearing: 127.024537 deg,
approach rate: -0.520213 m/s,
LOS rate: 0.055276 deg/s,
cmd heading: 121.337655 deg,
new cmd heading: 121.378947 deg.
2025-08-23T22:16:38.961Z,1755987398.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118462 target range: 130.089905 and range: 130.90 m.
2025-08-23T22:16:39.109Z,1755987399.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772662
2025-08-23T22:16:39.360Z,1755987399.360 [DAT](INFO): DAT read: Rx Time:22:16:38.6241
2025-08-23T22:16:39.361Z,1755987399.361 [DAT](INFO): Rx dataTimestamp_ set to:1755987399.360343
2025-08-23T22:16:39.361Z,1755987399.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025586
2025-08-23T22:16:39.401Z,1755987399.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.09 m.
2025-08-23T22:16:39.408Z,1755987399.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.089905 m,
nav range: 125.414963 m,
bearing: 127.051745 deg,
approach rate: -0.514174 m/s,
LOS rate: 0.060502 deg/s,
cmd heading: 121.378950 deg,
new cmd heading: 121.433466 deg.
2025-08-23T22:16:39.409Z,1755987399.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.119414 target range: 130.089905 and range: 130.90 m.
2025-08-23T22:16:39.613Z,1755987399.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277798
2025-08-23T22:16:39.772Z,1755987399.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.09 m.
2025-08-23T22:16:39.774Z,1755987399.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.089905 m,
nav range: 125.231400 m,
bearing: 127.073236 deg,
approach rate: -0.495473 m/s,
LOS rate: 0.058095 deg/s,
cmd heading: 121.433469 deg,
new cmd heading: 121.476515 deg.
2025-08-23T22:16:39.775Z,1755987399.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.120165 target range: 130.089905 and range: 130.90 m.
2025-08-23T22:16:39.880Z,1755987399.880 [DAT](INFO): DAT read: 22:16:38.6241 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414,-0.06, 0.544,-1.370, 0.424, 0.212, PHS= 0.434,-1.537, 0.168, RAW= 142.9, 10.1, CAL= 142.4, 11.0, ROT= 7.6, -11.0
2025-08-23T22:16:39.883Z,1755987399.883 [DAT](INFO): got valid direction response:
22:16:38.6241 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414,-0.06, 0.544,-1.370, 0.424, 0.212, PHS= 0.434,-1.537, 0.168, RAW= 142.9, 10.1, CAL= 142.4, 11.0, ROT= 7.6, -11.0
2025-08-23T22:16:39.884Z,1755987399.884 [DAT](INFO): DAT read: Bearing 280.4, 8.7 (Local)
2025-08-23T22:16:39.884Z,1755987399.884 [DAT](INFO): Local bearing/azimuth received:
Bearing 280.4, 8.7 (Local)
2025-08-23T22:16:39.885Z,1755987399.885 [DAT](INFO): DAT read: Range 11 to 50 : 129.0 m (Round-trip 172.0 ms) speed 0.5 m/s
2025-08-23T22:16:39.886Z,1755987399.886 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:39.887Z,1755987399.887 [DAT](INFO): direction in FSK: [0.973004,0.129826,0.190809]
2025-08-23T22:16:39.887Z,1755987399.887 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:39.903Z,1755987399.903 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:39.903Z,1755987399.903 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:39.903Z,1755987399.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:40.116Z,1755987400.116 [DAT](INFO): DAT read: user:1672>
2025-08-23T22:16:40.117Z,1755987400.117 [DAT](INFO): DAT read: Tx time:22:16:39.7979
2025-08-23T22:16:40.117Z,1755987400.117 [DAT](INFO): Ping request sent.
2025-08-23T22:16:40.117Z,1755987400.117 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:40.117Z,1755987400.117 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:40.118Z,1755987400.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000848
2025-08-23T22:16:40.277Z,1755987400.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 129.000000 m,
deltaT: 3.779607 s,
deltaX: -1.899994 m,
approachRate: -0.502696 m/s,
rangeRepo size: 4
2025-08-23T22:16:40.279Z,1755987400.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 128.203674 m,
bearing: 126.777847 deg,
lat: 36.779406 deg,
lon: -121.859619 deg,
deltaT: 3.779607 s,
deltaX: -1.886230 m,
approachRate: -0.499055 m/s,
posRepo size: 4
2025-08-23T22:16:40.280Z,1755987400.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m.
2025-08-23T22:16:40.282Z,1755987400.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.203674 m,
nav range: 124.914436 m,
bearing: 127.067214 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.058095 deg/s,
cmd heading: 121.476513 deg,
new cmd heading: 121.535117 deg.
2025-08-23T22:16:40.283Z,1755987400.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.121188 target range: 128.203674 and range: 129.00 m.
2025-08-23T22:16:40.368Z,1755987400.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250629
2025-08-23T22:16:40.557Z,1755987400.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m.
2025-08-23T22:16:40.560Z,1755987400.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.203674 m,
nav range: 124.764771 m,
bearing: 127.086072 deg,
approach rate: -0.532105 m/s,
LOS rate: 0.067128 deg/s,
cmd heading: 121.535116 deg,
new cmd heading: 121.572878 deg.
2025-08-23T22:16:40.561Z,1755987400.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.121847 target range: 128.203674 and range: 129.00 m.
2025-08-23T22:16:40.620Z,1755987400.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502579
2025-08-23T22:16:40.871Z,1755987400.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753542
2025-08-23T22:16:40.979Z,1755987400.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:40.981Z,1755987400.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m.
2025-08-23T22:16:40.984Z,1755987400.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.203674 m,
nav range: 124.543777 m,
bearing: 127.113888 deg,
approach rate: -0.521493 m/s,
LOS rate: 0.065756 deg/s,
cmd heading: 121.572873 deg,
new cmd heading: 121.628604 deg.
2025-08-23T22:16:40.985Z,1755987400.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.122820 target range: 128.203674 and range: 129.00 m.
2025-08-23T22:16:41.125Z,1755987401.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007647
2025-08-23T22:16:41.349Z,1755987401.349 [BPC1](ERROR): Battery stick #5 (s/n: 00C2) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-23T22:16:41.350Z,1755987401.350 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-08-23T22:16:41.351Z,1755987401.351 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-23T22:16:41.351Z,1755987401.351 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-23T22:16:41.352Z,1755987401.352 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-23T22:16:41.353Z,1755987401.353 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-23T22:16:41.354Z,1755987401.354 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-23T22:16:41.355Z,1755987401.355 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-23T22:16:41.355Z,1755987401.355 [BPC1](INFO): Calculating totals. Valid battery stick count: 29. Valid reserve battery stick count: 3.
2025-08-23T22:16:41.360Z,1755987401.360 [BPC1](FAULT): Failed to receive data from 27 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 18, 26, 27, 33, 34, 36, 37, 38, 39, 44, 58.
2025-08-23T22:16:41.375Z,1755987401.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257590
2025-08-23T22:16:41.468Z,1755987401.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m.
2025-08-23T22:16:41.475Z,1755987401.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.203674 m,
nav range: 124.299385 m,
bearing: 127.144423 deg,
approach rate: -0.502177 m/s,
LOS rate: 0.062867 deg/s,
cmd heading: 121.628607 deg,
new cmd heading: 121.689797 deg.
2025-08-23T22:16:41.476Z,1755987401.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.123888 target range: 128.203674 and range: 129.00 m.
2025-08-23T22:16:41.627Z,1755987401.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509595
2025-08-23T22:16:41.822Z,1755987401.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m.
2025-08-23T22:16:41.825Z,1755987401.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.203674 m,
nav range: 124.102676 m,
bearing: 127.169090 deg,
approach rate: -0.554465 m/s,
LOS rate: 0.069639 deg/s,
cmd heading: 121.689792 deg,
new cmd heading: 121.739204 deg.
2025-08-23T22:16:41.826Z,1755987401.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.124750 target range: 128.203674 and range: 129.00 m.
2025-08-23T22:16:41.879Z,1755987401.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761763
2025-08-23T22:16:42.130Z,1755987402.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013456
2025-08-23T22:16:42.334Z,1755987402.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m.
2025-08-23T22:16:42.337Z,1755987402.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.203674 m,
nav range: 123.854919 m,
bearing: 127.204653 deg,
approach rate: -0.488408 m/s,
LOS rate: 0.070246 deg/s,
cmd heading: 121.739202 deg,
new cmd heading: 121.810469 deg.
2025-08-23T22:16:42.342Z,1755987402.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.125994 target range: 128.203674 and range: 129.00 m.
2025-08-23T22:16:42.384Z,1755987402.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266836
2025-08-23T22:16:42.635Z,1755987402.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518292
2025-08-23T22:16:42.699Z,1755987402.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m.
2025-08-23T22:16:42.718Z,1755987402.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.203674 m,
nav range: 123.660919 m,
bearing: 127.232501 deg,
approach rate: -0.525494 m/s,
LOS rate: 0.075552 deg/s,
cmd heading: 121.810468 deg,
new cmd heading: 121.866252 deg.
2025-08-23T22:16:42.719Z,1755987402.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.126967 target range: 128.203674 and range: 129.00 m.
2025-08-23T22:16:42.887Z,1755987402.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770514
2025-08-23T22:16:43.140Z,1755987403.140 [DAT](INFO): DAT read: Rx Time:22:16:42.3713
2025-08-23T22:16:43.141Z,1755987403.141 [DAT](INFO): Rx dataTimestamp_ set to:1755987403.140269
2025-08-23T22:16:43.141Z,1755987403.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024142
2025-08-23T22:16:43.149Z,1755987403.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:43.166Z,1755987403.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m.
2025-08-23T22:16:43.184Z,1755987403.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.203674 m,
nav range: 123.443192 m,
bearing: 127.263712 deg,
approach rate: -0.472282 m/s,
LOS rate: 0.067819 deg/s,
cmd heading: 121.866257 deg,
new cmd heading: 121.928788 deg.
2025-08-23T22:16:43.192Z,1755987403.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.128059 target range: 128.203674 and range: 129.00 m.
2025-08-23T22:16:43.391Z,1755987403.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273578
2025-08-23T22:16:43.554Z,1755987403.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m.
2025-08-23T22:16:43.557Z,1755987403.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.203674 m,
nav range: 123.220581 m,
bearing: 127.292801 deg,
approach rate: -0.564525 m/s,
LOS rate: 0.073903 deg/s,
cmd heading: 121.928794 deg,
new cmd heading: 121.987079 deg.
2025-08-23T22:16:43.582Z,1755987403.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.129076 target range: 128.203674 and range: 129.00 m.
2025-08-23T22:16:43.648Z,1755987403.648 [DAT](INFO): DAT read: 22:16:42.3713 LVL= 28960, 32753, 30274, 32755, AGC= 68, IDX= 418, 0.17,-1.948, 2.414,-2.083,-2.330, PHS= 0.484,-1.494, 0.203, RAW= 142.5, 8.7, CAL= 142.0, 9.6, ROT= 8.0, -9.6
2025-08-23T22:16:43.649Z,1755987403.649 [DAT](INFO): got valid direction response:
22:16:42.3713 LVL= 28960, 32753, 30274, 32755, AGC= 68, IDX= 418, 0.17,-1.948, 2.414,-2.083,-2.330, PHS= 0.484,-1.494, 0.203, RAW= 142.5, 8.7, CAL= 142.0, 9.6, ROT= 8.0, -9.6
2025-08-23T22:16:43.650Z,1755987403.650 [DAT](INFO): DAT read: Bearing 279.6, 7.7 (Local)
2025-08-23T22:16:43.650Z,1755987403.650 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.6, 7.7 (Local)
2025-08-23T22:16:43.652Z,1755987403.652 [DAT](INFO): DAT read: Range 11 to 50 : 126.9 m (Round-trip 169.3 ms) speed 0.4 m/s
2025-08-23T22:16:43.652Z,1755987403.652 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:43.653Z,1755987403.653 [DAT](INFO): direction in FSK: [0.976400,0.137224,0.166769]
2025-08-23T22:16:43.654Z,1755987403.654 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:43.657Z,1755987403.657 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:43.657Z,1755987403.657 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:43.657Z,1755987403.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:43.894Z,1755987403.894 [DAT](INFO): DAT read: user:1673>
2025-08-23T22:16:43.895Z,1755987403.895 [DAT](INFO): DAT read: Tx time:22:16:43.5979
2025-08-23T22:16:43.895Z,1755987403.895 [DAT](INFO): Ping request sent.
2025-08-23T22:16:43.896Z,1755987403.896 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:43.896Z,1755987403.896 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:43.896Z,1755987403.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-23T22:16:43.986Z,1755987403.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 126.900002 m,
deltaT: 3.778258 s,
deltaX: -2.099998 m,
approachRate: -0.555811 m/s,
rangeRepo size: 4
2025-08-23T22:16:43.988Z,1755987403.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 126.114220 m,
bearing: 127.909836 deg,
lat: 36.779406 deg,
lon: -121.859616 deg,
deltaT: 3.778258 s,
deltaX: -2.089455 m,
approachRate: -0.553021 m/s,
posRepo size: 4
2025-08-23T22:16:43.989Z,1755987403.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:16:43.996Z,1755987403.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.114220 m,
nav range: 123.266167 m,
bearing: 127.228329 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.073903 deg/s,
cmd heading: 121.987083 deg,
new cmd heading: 122.049602 deg.
2025-08-23T22:16:43.997Z,1755987403.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.130167 target range: 126.114220 and range: 126.90 m.
2025-08-23T22:16:44.147Z,1755987404.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251089
2025-08-23T22:16:44.373Z,1755987404.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:16:44.376Z,1755987404.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.114220 m,
nav range: 123.041359 m,
bearing: 127.254909 deg,
approach rate: -0.568092 m/s,
LOS rate: 0.067291 deg/s,
cmd heading: 122.049607 deg,
new cmd heading: 122.102864 deg.
2025-08-23T22:16:44.377Z,1755987404.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.131097 target range: 126.114220 and range: 126.90 m.
2025-08-23T22:16:44.399Z,1755987404.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502912
2025-08-23T22:16:44.650Z,1755987404.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754862
2025-08-23T22:16:44.748Z,1755987404.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:16:44.755Z,1755987404.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.114220 m,
nav range: 122.834732 m,
bearing: 127.279263 deg,
approach rate: -0.550827 m/s,
LOS rate: 0.065031 deg/s,
cmd heading: 122.102868 deg,
new cmd heading: 122.151658 deg.
2025-08-23T22:16:44.756Z,1755987404.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.131949 target range: 126.114220 and range: 126.90 m.
2025-08-23T22:16:44.903Z,1755987404.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006953
2025-08-23T22:16:45.151Z,1755987405.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:16:45.155Z,1755987405.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259004
2025-08-23T22:16:45.171Z,1755987405.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.114220 m,
nav range: 122.612938 m,
bearing: 127.305389 deg,
approach rate: -0.549778 m/s,
LOS rate: 0.064876 deg/s,
cmd heading: 122.151663 deg,
new cmd heading: 122.204009 deg.
2025-08-23T22:16:45.172Z,1755987405.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.132862 target range: 126.114220 and range: 126.90 m.
2025-08-23T22:16:45.407Z,1755987405.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510904
2025-08-23T22:16:45.578Z,1755987405.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:45.580Z,1755987405.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:16:45.583Z,1755987405.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.114220 m,
nav range: 122.388191 m,
bearing: 127.333015 deg,
approach rate: -0.524899 m/s,
LOS rate: 0.064640 deg/s,
cmd heading: 122.204010 deg,
new cmd heading: 122.259363 deg.
2025-08-23T22:16:45.584Z,1755987405.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.133828 target range: 126.114220 and range: 126.90 m.
2025-08-23T22:16:45.659Z,1755987405.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763090
2025-08-23T22:16:45.910Z,1755987405.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014854
2025-08-23T22:16:46.012Z,1755987406.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:16:46.014Z,1755987406.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.114220 m,
nav range: 122.167953 m,
bearing: 127.360189 deg,
approach rate: -0.509797 m/s,
LOS rate: 0.063015 deg/s,
cmd heading: 122.259362 deg,
new cmd heading: 122.313808 deg.
2025-08-23T22:16:46.015Z,1755987406.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.134779 target range: 126.114220 and range: 126.90 m.
2025-08-23T22:16:46.163Z,1755987406.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266883
2025-08-23T22:16:46.387Z,1755987406.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:16:46.390Z,1755987406.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.114220 m,
nav range: 121.958878 m,
bearing: 127.384898 deg,
approach rate: -0.557028 m/s,
LOS rate: 0.065945 deg/s,
cmd heading: 122.313812 deg,
new cmd heading: 122.363316 deg.
2025-08-23T22:16:46.391Z,1755987406.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.135643 target range: 126.114220 and range: 126.90 m.
2025-08-23T22:16:46.415Z,1755987406.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519020
2025-08-23T22:16:46.666Z,1755987406.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770847
2025-08-23T22:16:46.771Z,1755987406.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:16:46.790Z,1755987406.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.114220 m,
nav range: 121.754814 m,
bearing: 127.408945 deg,
approach rate: -0.531166 m/s,
LOS rate: 0.062696 deg/s,
cmd heading: 122.363317 deg,
new cmd heading: 122.411490 deg.
2025-08-23T22:16:46.791Z,1755987406.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.136483 target range: 126.114220 and range: 126.90 m.
2025-08-23T22:16:46.922Z,1755987406.922 [DAT](INFO): DAT read: Rx Time:22:16:46.1687
2025-08-23T22:16:46.923Z,1755987406.923 [DAT](INFO): Rx dataTimestamp_ set to:1755987406.922522
2025-08-23T22:16:46.924Z,1755987406.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028395
2025-08-23T22:16:47.171Z,1755987407.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275055
2025-08-23T22:16:47.179Z,1755987407.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:16:47.184Z,1755987407.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.114220 m,
nav range: 121.533752 m,
bearing: 127.434939 deg,
approach rate: -0.542056 m/s,
LOS rate: 0.063857 deg/s,
cmd heading: 122.411484 deg,
new cmd heading: 122.463568 deg.
2025-08-23T22:16:47.185Z,1755987407.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.137393 target range: 126.114220 and range: 126.90 m.
2025-08-23T22:16:47.458Z,1755987407.458 [DAT](INFO): DAT read: 22:16:46.1687 LVL= 25280, 30609, 29810, 32755, AGC= 67, IDX= 407,-0.12,-3.032, 1.310, 3.065, 2.857, PHS= 0.496,-1.502, 0.164, RAW= 141.1, 9.1, CAL= 140.6, 10.0, ROT= 9.4, -10.0
2025-08-23T22:16:47.459Z,1755987407.459 [DAT](INFO): got valid direction response:
22:16:46.1687 LVL= 25280, 30609, 29810, 32755, AGC= 67, IDX= 407,-0.12,-3.032, 1.310, 3.065, 2.857, PHS= 0.496,-1.502, 0.164, RAW= 141.1, 9.1, CAL= 140.6, 10.0, ROT= 9.4, -10.0
2025-08-23T22:16:47.460Z,1755987407.460 [DAT](INFO): DAT read: Bearing 280.3, 7.4 (Local)
2025-08-23T22:16:47.460Z,1755987407.460 [DAT](INFO): Local bearing/azimuth received:
Bearing 280.3, 7.4 (Local)
2025-08-23T22:16:47.461Z,1755987407.461 [DAT](INFO): DAT read: Range 11 to 50 : 124.9 m (Round-trip 166.6 ms) speed 0.5 m/s
2025-08-23T22:16:47.462Z,1755987407.462 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:47.463Z,1755987407.463 [DAT](INFO): direction in FSK: [0.971584,0.160845,0.173648]
2025-08-23T22:16:47.463Z,1755987407.463 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:47.483Z,1755987407.483 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:47.483Z,1755987407.483 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:47.483Z,1755987407.483 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:47.616Z,1755987407.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 124.900002 m,
deltaT: 3.781813 s,
deltaX: -2.000000 m,
approachRate: -0.528847 m/s,
rangeRepo size: 4
2025-08-23T22:16:47.618Z,1755987407.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 124.125313 m,
bearing: 129.934971 deg,
lat: 36.779400 deg,
lon: -121.859619 deg,
deltaT: 3.781813 s,
deltaX: -1.988907 m,
approachRate: -0.525914 m/s,
posRepo size: 4
2025-08-23T22:16:47.619Z,1755987407.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m.
2025-08-23T22:16:47.622Z,1755987407.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.125313 m,
nav range: 121.429810 m,
bearing: 127.795787 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.063857 deg/s,
cmd heading: 122.463571 deg,
new cmd heading: 122.519306 deg.
2025-08-23T22:16:47.623Z,1755987407.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.138365 target range: 124.125313 and range: 124.90 m.
2025-08-23T22:16:47.675Z,1755987407.675 [DAT](INFO): DAT read: user:1674>
2025-08-23T22:16:47.676Z,1755987407.676 [DAT](INFO): DAT read: Tx time:22:16:47.3979
2025-08-23T22:16:47.677Z,1755987407.677 [DAT](INFO): Ping request sent.
2025-08-23T22:16:47.677Z,1755987407.677 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:47.677Z,1755987407.677 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:47.678Z,1755987407.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001185
2025-08-23T22:16:47.927Z,1755987407.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250634
2025-08-23T22:16:47.998Z,1755987407.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:48.000Z,1755987408.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m.
2025-08-23T22:16:48.007Z,1755987408.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.125313 m,
nav range: 121.222740 m,
bearing: 127.819538 deg,
approach rate: -0.538256 m/s,
LOS rate: 0.061844 deg/s,
cmd heading: 122.519305 deg,
new cmd heading: 122.566888 deg.
2025-08-23T22:16:48.008Z,1755987408.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.139196 target range: 124.125313 and range: 124.90 m.
2025-08-23T22:16:48.179Z,1755987408.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502075
2025-08-23T22:16:48.424Z,1755987408.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m.
2025-08-23T22:16:48.432Z,1755987408.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755646
2025-08-23T22:16:48.433Z,1755987408.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.125313 m,
nav range: 121.006355 m,
bearing: 127.844124 deg,
approach rate: -0.510932 m/s,
LOS rate: 0.058156 deg/s,
cmd heading: 122.566884 deg,
new cmd heading: 122.616143 deg.
2025-08-23T22:16:48.436Z,1755987408.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.140055 target range: 124.125313 and range: 124.90 m.
2025-08-23T22:16:48.683Z,1755987408.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005877
2025-08-23T22:16:48.791Z,1755987408.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m.
2025-08-23T22:16:48.810Z,1755987408.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.125313 m,
nav range: 120.812721 m,
bearing: 127.865913 deg,
approach rate: -0.527168 m/s,
LOS rate: 0.059415 deg/s,
cmd heading: 122.616143 deg,
new cmd heading: 122.659791 deg.
2025-08-23T22:16:48.811Z,1755987408.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.140817 target range: 124.125313 and range: 124.90 m.
2025-08-23T22:16:48.935Z,1755987408.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258408
2025-08-23T22:16:49.187Z,1755987409.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510371
2025-08-23T22:16:49.216Z,1755987409.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m.
2025-08-23T22:16:49.219Z,1755987409.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.125313 m,
nav range: 120.605164 m,
bearing: 127.889115 deg,
approach rate: -0.488693 m/s,
LOS rate: 0.054723 deg/s,
cmd heading: 122.659788 deg,
new cmd heading: 122.706272 deg.
2025-08-23T22:16:49.220Z,1755987409.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.141629 target range: 124.125313 and range: 124.90 m.
2025-08-23T22:16:49.440Z,1755987409.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763051
2025-08-23T22:16:49.629Z,1755987409.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m.
2025-08-23T22:16:49.632Z,1755987409.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.125313 m,
nav range: 120.373222 m,
bearing: 127.913817 deg,
approach rate: -0.561203 m/s,
LOS rate: 0.059885 deg/s,
cmd heading: 122.706275 deg,
new cmd heading: 122.755774 deg.
2025-08-23T22:16:49.633Z,1755987409.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.142493 target range: 124.125313 and range: 124.90 m.
2025-08-23T22:16:49.691Z,1755987409.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014641
2025-08-23T22:16:49.943Z,1755987409.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266193
2025-08-23T22:16:50.008Z,1755987410.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:50.010Z,1755987410.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m.
2025-08-23T22:16:50.013Z,1755987410.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.125313 m,
nav range: 120.169609 m,
bearing: 127.935462 deg,
approach rate: -0.534063 m/s,
LOS rate: 0.056869 deg/s,
cmd heading: 122.755780 deg,
new cmd heading: 122.799143 deg.
2025-08-23T22:16:50.014Z,1755987410.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.143249 target range: 124.125313 and range: 124.90 m.
2025-08-23T22:16:50.195Z,1755987410.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518563
2025-08-23T22:16:50.447Z,1755987410.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769821
2025-08-23T22:16:50.478Z,1755987410.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m.
2025-08-23T22:16:50.481Z,1755987410.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.125313 m,
nav range: 119.929337 m,
bearing: 127.960715 deg,
approach rate: -0.518527 m/s,
LOS rate: 0.054608 deg/s,
cmd heading: 122.799138 deg,
new cmd heading: 122.849746 deg.
2025-08-23T22:16:50.486Z,1755987410.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.144133 target range: 124.125313 and range: 124.90 m.
2025-08-23T22:16:50.699Z,1755987410.699 [DAT](INFO): DAT read: Rx Time:22:16:49.9661
2025-08-23T22:16:50.699Z,1755987410.699 [DAT](INFO): Rx dataTimestamp_ set to:1755987410.698837
2025-08-23T22:16:50.700Z,1755987410.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022993
2025-08-23T22:16:50.826Z,1755987410.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m.
2025-08-23T22:16:50.828Z,1755987410.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.125313 m,
nav range: 119.739479 m,
bearing: 127.980637 deg,
approach rate: -0.539377 m/s,
LOS rate: 0.056686 deg/s,
cmd heading: 122.849750 deg,
new cmd heading: 122.889656 deg.
2025-08-23T22:16:50.829Z,1755987410.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.144829 target range: 124.125313 and range: 124.90 m.
2025-08-23T22:16:50.951Z,1755987410.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273901
2025-08-23T22:16:51.206Z,1755987411.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528171
2025-08-23T22:16:51.268Z,1755987411.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m.
2025-08-23T22:16:51.281Z,1755987411.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.125313 m,
nav range: 119.512627 m,
bearing: 128.004427 deg,
approach rate: -0.513248 m/s,
LOS rate: 0.053926 deg/s,
cmd heading: 122.889651 deg,
new cmd heading: 122.937321 deg.
2025-08-23T22:16:51.285Z,1755987411.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.145661 target range: 124.125313 and range: 124.90 m.
2025-08-23T22:16:51.460Z,1755987411.460 [DAT](INFO): DAT read: 22:16:49.9661 LVL= 30448, 32753, 29490, 32755, AGC= 69, IDX= 412, 0.05,-0.136,-2.168,-0.407,-0.608, PHS= 0.574,-1.515, 0.157, RAW= 139.1, 8.2, CAL= 138.8, 9.1, ROT= 11.2, -9.1
2025-08-23T22:16:51.461Z,1755987411.461 [DAT](INFO): got valid direction response:
22:16:49.9661 LVL= 30448, 32753, 29490, 32755, AGC= 69, IDX= 412, 0.05,-0.136,-2.168,-0.407,-0.608, PHS= 0.574,-1.515, 0.157, RAW= 139.1, 8.2, CAL= 138.8, 9.1, ROT= 11.2, -9.1
2025-08-23T22:16:51.462Z,1755987411.462 [DAT](INFO): DAT read: Bearing 280.1, 7.4 (Local)
2025-08-23T22:16:51.462Z,1755987411.462 [DAT](INFO): Local bearing/azimuth received:
Bearing 280.1, 7.4 (Local)
2025-08-23T22:16:51.463Z,1755987411.463 [DAT](INFO): DAT read: Range 11 to 50 : 123.0 m (Round-trip 164.0 ms) speed 0.7 m/s
2025-08-23T22:16:51.464Z,1755987411.464 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:51.465Z,1755987411.465 [DAT](INFO): direction in FSK: [0.968609,0.191790,0.158158]
2025-08-23T22:16:51.465Z,1755987411.465 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:51.469Z,1755987411.469 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:51.469Z,1755987411.469 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:51.469Z,1755987411.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:51.689Z,1755987411.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 123.000000 m,
deltaT: 4.030214 s,
deltaX: -1.900002 m,
approachRate: -0.471439 m/s,
rangeRepo size: 4
2025-08-23T22:16:51.691Z,1755987411.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 122.239288 m,
bearing: 132.424227 deg,
lat: 36.779387 deg,
lon: -121.859620 deg,
deltaT: 4.030214 s,
deltaX: -1.886024 m,
approachRate: -0.467971 m/s,
posRepo size: 4
2025-08-23T22:16:51.692Z,1755987411.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.24 m.
2025-08-23T22:16:51.695Z,1755987411.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.239288 m,
nav range: 120.162201 m,
bearing: 128.570193 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.053926 deg/s,
cmd heading: 122.937326 deg,
new cmd heading: 122.982681 deg.
2025-08-23T22:16:51.696Z,1755987411.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.146453 target range: 122.239288 and range: 123.00 m.
2025-08-23T22:16:51.707Z,1755987411.707 [DAT](INFO): DAT read: user:1675>
2025-08-23T22:16:51.707Z,1755987411.707 [DAT](INFO): DAT read: Tx time:22:16:51.3979
2025-08-23T22:16:51.708Z,1755987411.708 [DAT](INFO): Ping request sent.
2025-08-23T22:16:51.708Z,1755987411.708 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:51.708Z,1755987411.708 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:51.708Z,1755987411.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-23T22:16:51.959Z,1755987411.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250823
2025-08-23T22:16:52.115Z,1755987412.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:52.118Z,1755987412.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.24 m.
2025-08-23T22:16:52.120Z,1755987412.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.239288 m,
nav range: 119.940247 m,
bearing: 128.595856 deg,
approach rate: -0.517118 m/s,
LOS rate: 0.059902 deg/s,
cmd heading: 122.982679 deg,
new cmd heading: 123.034101 deg.
2025-08-23T22:16:52.126Z,1755987412.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.147350 target range: 122.239288 and range: 123.00 m.
2025-08-23T22:16:52.212Z,1755987412.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503994
2025-08-23T22:16:52.463Z,1755987412.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754793
2025-08-23T22:16:52.550Z,1755987412.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.24 m.
2025-08-23T22:16:52.552Z,1755987412.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.239288 m,
nav range: 119.717850 m,
bearing: 128.621400 deg,
approach rate: -0.514785 m/s,
LOS rate: 0.059236 deg/s,
cmd heading: 123.034096 deg,
new cmd heading: 123.085279 deg.
2025-08-23T22:16:52.553Z,1755987412.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.148243 target range: 122.239288 and range: 123.00 m.
2025-08-23T22:16:52.714Z,1755987412.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006738
2025-08-23T22:16:52.967Z,1755987412.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258829
2025-08-23T22:16:52.979Z,1755987412.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.24 m.
2025-08-23T22:16:52.982Z,1755987412.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.239288 m,
nav range: 119.496651 m,
bearing: 128.646904 deg,
approach rate: -0.514480 m/s,
LOS rate: 0.059429 deg/s,
cmd heading: 123.085282 deg,
new cmd heading: 123.136384 deg.
2025-08-23T22:16:52.983Z,1755987412.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.149135 target range: 122.239288 and range: 123.00 m.
2025-08-23T22:16:53.219Z,1755987413.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511556
2025-08-23T22:16:53.470Z,1755987413.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762635
2025-08-23T22:16:53.501Z,1755987413.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.24 m.
2025-08-23T22:16:53.503Z,1755987413.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.239288 m,
nav range: 119.228455 m,
bearing: 128.679440 deg,
approach rate: -0.514368 m/s,
LOS rate: 0.062541 deg/s,
cmd heading: 123.136385 deg,
new cmd heading: 123.201604 deg.
2025-08-23T22:16:53.504Z,1755987413.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150274 target range: 122.239288 and range: 123.00 m.
2025-08-23T22:16:53.724Z,1755987413.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015153
2025-08-23T22:16:53.864Z,1755987413.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.24 m.
2025-08-23T22:16:53.867Z,1755987413.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.239288 m,
nav range: 119.039848 m,
bearing: 128.702376 deg,
approach rate: -0.518688 m/s,
LOS rate: 0.063174 deg/s,
cmd heading: 123.201600 deg,
new cmd heading: 123.247543 deg.
2025-08-23T22:16:53.868Z,1755987413.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.151075 target range: 122.239288 and range: 123.00 m.
2025-08-23T22:16:53.975Z,1755987413.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267064
2025-08-23T22:16:54.226Z,1755987414.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518728
2025-08-23T22:16:54.269Z,1755987414.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:54.272Z,1755987414.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.24 m.
2025-08-23T22:16:54.275Z,1755987414.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.239288 m,
nav range: 118.829865 m,
bearing: 128.727980 deg,
approach rate: -0.515572 m/s,
LOS rate: 0.062977 deg/s,
cmd heading: 123.247540 deg,
new cmd heading: 123.298838 deg.
2025-08-23T22:16:54.276Z,1755987414.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.151971 target range: 122.239288 and range: 123.00 m.
2025-08-23T22:16:54.479Z,1755987414.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771449
2025-08-23T22:16:54.690Z,1755987414.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.24 m.
2025-08-23T22:16:54.693Z,1755987414.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.239288 m,
nav range: 118.612854 m,
bearing: 128.754995 deg,
approach rate: -0.519096 m/s,
LOS rate: 0.064740 deg/s,
cmd heading: 123.298834 deg,
new cmd heading: 123.352964 deg.
2025-08-23T22:16:54.711Z,1755987414.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.152915 target range: 122.239288 and range: 123.00 m.
2025-08-23T22:16:54.731Z,1755987414.731 [DAT](INFO): DAT read: Rx Time:22:16:53.9633
2025-08-23T22:16:54.731Z,1755987414.731 [DAT](INFO): Rx dataTimestamp_ set to:1755987414.730880
2025-08-23T22:16:54.732Z,1755987414.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023975
2025-08-23T22:16:54.983Z,1755987414.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275200
2025-08-23T22:16:55.078Z,1755987415.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.24 m.
2025-08-23T22:16:55.080Z,1755987415.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.239288 m,
nav range: 118.411766 m,
bearing: 128.780084 deg,
approach rate: -0.518543 m/s,
LOS rate: 0.064807 deg/s,
cmd heading: 123.352971 deg,
new cmd heading: 123.403234 deg.
2025-08-23T22:16:55.102Z,1755987415.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.153793 target range: 122.239288 and range: 123.00 m.
2025-08-23T22:16:55.240Z,1755987415.240 [DAT](INFO): DAT read: 22:16:53.9633 LVL= 31312, 32753, 32754, 32755, AGC= 65, IDX= 416, 0.01, 0.187,-1.772,-0.172,-0.310, PHS= 0.599,-1.417, 0.094, RAW= 136.1, 8.0, CAL= 135.9, 9.0, ROT= 14.1, -9.0
2025-08-23T22:16:55.241Z,1755987415.241 [DAT](INFO): got valid direction response:
22:16:53.9633 LVL= 31312, 32753, 32754, 32755, AGC= 65, IDX= 416, 0.01, 0.187,-1.772,-0.172,-0.310, PHS= 0.599,-1.417, 0.094, RAW= 136.1, 8.0, CAL= 135.9, 9.0, ROT= 14.1, -9.0
2025-08-23T22:16:55.242Z,1755987415.242 [DAT](INFO): DAT read: Bearing 280.4, 8.7 (Local)
2025-08-23T22:16:55.242Z,1755987415.242 [DAT](INFO): Local bearing/azimuth received:
Bearing 280.4, 8.7 (Local)
2025-08-23T22:16:55.243Z,1755987415.243 [DAT](INFO): DAT read: Range 11 to 50 : 120.9 m (Round-trip 161.3 ms) speed 1.0 m/s
2025-08-23T22:16:55.244Z,1755987415.244 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:55.245Z,1755987415.245 [DAT](INFO): direction in FSK: [0.957931,0.240616,0.156434]
2025-08-23T22:16:55.245Z,1755987415.245 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:55.253Z,1755987415.253 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:55.253Z,1755987415.253 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:55.253Z,1755987415.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:55.486Z,1755987415.486 [DAT](INFO): DAT read: user:1676>
2025-08-23T22:16:55.487Z,1755987415.487 [DAT](INFO): DAT read: Tx time:22:16:55.1479
2025-08-23T22:16:55.488Z,1755987415.488 [DAT](INFO): Ping request sent.
2025-08-23T22:16:55.488Z,1755987415.488 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:55.488Z,1755987415.488 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:55.488Z,1755987415.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-23T22:16:55.508Z,1755987415.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 120.900002 m,
deltaT: 3.780005 s,
deltaX: -2.099998 m,
approachRate: -0.555554 m/s,
rangeRepo size: 4
2025-08-23T22:16:55.538Z,1755987415.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 120.152901 m,
bearing: 135.768638 deg,
lat: 36.779359 deg,
lon: -121.859637 deg,
deltaT: 3.780005 s,
deltaX: -2.086388 m,
approachRate: -0.551954 m/s,
posRepo size: 4
2025-08-23T22:16:55.539Z,1755987415.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.15 m.
2025-08-23T22:16:55.541Z,1755987415.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 120.152901 m,
nav range: 119.019814 m,
bearing: 130.466780 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.064807 deg/s,
cmd heading: 123.403241 deg,
new cmd heading: 123.458927 deg.
2025-08-23T22:16:55.546Z,1755987415.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.154765 target range: 120.152901 and range: 120.90 m.
2025-08-23T22:16:55.738Z,1755987415.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250796
2025-08-23T22:16:55.881Z,1755987415.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.15 m.
2025-08-23T22:16:55.883Z,1755987415.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 120.152901 m,
nav range: 118.825615 m,
bearing: 130.495377 deg,
approach rate: -0.519794 m/s,
LOS rate: 0.076668 deg/s,
cmd heading: 123.458920 deg,
new cmd heading: 123.516207 deg.
2025-08-23T22:16:55.884Z,1755987415.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.155765 target range: 120.152901 and range: 120.90 m.
2025-08-23T22:16:55.991Z,1755987415.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503817
2025-08-23T22:16:56.243Z,1755987416.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754888
2025-08-23T22:16:56.285Z,1755987416.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:56.287Z,1755987416.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.15 m.
2025-08-23T22:16:56.290Z,1755987416.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 120.152901 m,
nav range: 118.616264 m,
bearing: 130.526299 deg,
approach rate: -0.515041 m/s,
LOS rate: 0.076209 deg/s,
cmd heading: 123.516212 deg,
new cmd heading: 123.578166 deg.
2025-08-23T22:16:56.291Z,1755987416.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156846 target range: 120.152901 and range: 120.90 m.
2025-08-23T22:16:56.495Z,1755987416.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007444
2025-08-23T22:16:56.709Z,1755987416.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.15 m.
2025-08-23T22:16:56.712Z,1755987416.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 120.152901 m,
nav range: 118.402107 m,
bearing: 130.557213 deg,
approach rate: -0.508194 m/s,
LOS rate: 0.073490 deg/s,
cmd heading: 123.578162 deg,
new cmd heading: 123.640101 deg.
2025-08-23T22:16:56.713Z,1755987416.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.157927 target range: 120.152901 and range: 120.90 m.
2025-08-23T22:16:56.747Z,1755987416.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259248
2025-08-23T22:16:56.999Z,1755987416.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510955
2025-08-23T22:16:57.093Z,1755987417.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.15 m.
2025-08-23T22:16:57.096Z,1755987417.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 120.152901 m,
nav range: 118.206848 m,
bearing: 130.585448 deg,
approach rate: -0.507876 m/s,
LOS rate: 0.073561 deg/s,
cmd heading: 123.640098 deg,
new cmd heading: 123.696661 deg.
2025-08-23T22:16:57.097Z,1755987417.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.158914 target range: 120.152901 and range: 120.90 m.
2025-08-23T22:16:57.250Z,1755987417.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762822
2025-08-23T22:16:57.503Z,1755987417.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014914
2025-08-23T22:16:57.526Z,1755987417.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.15 m.
2025-08-23T22:16:57.528Z,1755987417.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 120.152901 m,
nav range: 117.985329 m,
bearing: 130.617379 deg,
approach rate: -0.512024 m/s,
LOS rate: 0.073946 deg/s,
cmd heading: 123.696666 deg,
new cmd heading: 123.760649 deg.
2025-08-23T22:16:57.530Z,1755987417.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.160031 target range: 120.152901 and range: 120.90 m.
2025-08-23T22:16:57.757Z,1755987417.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268790
2025-08-23T22:16:57.914Z,1755987417.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.15 m.
2025-08-23T22:16:57.920Z,1755987417.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 120.152901 m,
nav range: 117.790100 m,
bearing: 130.645584 deg,
approach rate: -0.502692 m/s,
LOS rate: 0.072746 deg/s,
cmd heading: 123.760651 deg,
new cmd heading: 123.817155 deg.
2025-08-23T22:16:57.922Z,1755987417.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.161017 target range: 120.152901 and range: 120.90 m.
2025-08-23T22:16:58.007Z,1755987418.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519661
2025-08-23T22:16:58.259Z,1755987418.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770847
2025-08-23T22:16:58.315Z,1755987418.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:16:58.317Z,1755987418.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.15 m.
2025-08-23T22:16:58.320Z,1755987418.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 120.152901 m,
nav range: 117.587891 m,
bearing: 130.674844 deg,
approach rate: -0.501798 m/s,
LOS rate: 0.072734 deg/s,
cmd heading: 123.817150 deg,
new cmd heading: 123.875770 deg.
2025-08-23T22:16:58.321Z,1755987418.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.162040 target range: 120.152901 and range: 120.90 m.
2025-08-23T22:16:58.511Z,1755987418.511 [DAT](INFO): DAT read: Rx Time:22:16:57.7107
2025-08-23T22:16:58.512Z,1755987418.512 [DAT](INFO): Rx dataTimestamp_ set to:1755987418.511656
2025-08-23T22:16:58.513Z,1755987418.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025209
2025-08-23T22:16:58.725Z,1755987418.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.15 m.
2025-08-23T22:16:58.744Z,1755987418.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 120.152901 m,
nav range: 117.366127 m,
bearing: 130.705879 deg,
approach rate: -0.543747 m/s,
LOS rate: 0.076240 deg/s,
cmd heading: 123.875767 deg,
new cmd heading: 123.937955 deg.
2025-08-23T22:16:58.745Z,1755987418.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.163125 target range: 120.152901 and range: 120.90 m.
2025-08-23T22:16:58.763Z,1755987418.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274935
2025-08-23T22:16:59.020Z,1755987419.020 [DAT](INFO): DAT read: 22:16:57.7107 LVL= 26480, 28753, 25618, 32755, AGC= 69, IDX= 421,-0.31, 0.469,-1.532, 0.084, 0.021, PHS= 0.550,-1.508, 0.019, RAW= 135.6, 10.2, CAL= 135.2, 11.2, ROT= 14.8, -11.2
2025-08-23T22:16:59.021Z,1755987419.021 [DAT](INFO): got valid direction response:
22:16:57.7107 LVL= 26480, 28753, 25618, 32755, AGC= 69, IDX= 421,-0.31, 0.469,-1.532, 0.084, 0.021, PHS= 0.550,-1.508, 0.019, RAW= 135.6, 10.2, CAL= 135.2, 11.2, ROT= 14.8, -11.2
2025-08-23T22:16:59.022Z,1755987419.022 [DAT](INFO): DAT read: Bearing 282.9, 8.6 (Local)
2025-08-23T22:16:59.022Z,1755987419.022 [DAT](INFO): Local bearing/azimuth received:
Bearing 282.9, 8.6 (Local)
2025-08-23T22:16:59.023Z,1755987419.023 [DAT](INFO): DAT read: Range 11 to 50 : 118.9 m (Round-trip 158.6 ms) speed 0.5 m/s
2025-08-23T22:16:59.024Z,1755987419.024 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:16:59.025Z,1755987419.025 [DAT](INFO): direction in FSK: [0.948410,0.250581,0.194234]
2025-08-23T22:16:59.025Z,1755987419.025 [DAT](INFO): publishing direction and range info
2025-08-23T22:16:59.028Z,1755987419.028 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:16:59.028Z,1755987419.028 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:16:59.029Z,1755987419.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:16:59.158Z,1755987419.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 118.900002 m,
deltaT: 3.779924 s,
deltaX: -2.000000 m,
approachRate: -0.529111 m/s,
rangeRepo size: 4
2025-08-23T22:16:59.160Z,1755987419.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 118.163269 m,
bearing: 136.609512 deg,
lat: 36.779323 deg,
lon: -121.859665 deg,
deltaT: 3.779924 s,
deltaX: -1.989632 m,
approachRate: -0.526368 m/s,
posRepo size: 4
2025-08-23T22:16:59.161Z,1755987419.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.16 m.
2025-08-23T22:16:59.196Z,1755987419.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.163269 m,
nav range: 117.945694 m,
bearing: 133.026653 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.076240 deg/s,
cmd heading: 123.937949 deg,
new cmd heading: 124.003930 deg.
2025-08-23T22:16:59.206Z,1755987419.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.164277 target range: 118.163269 and range: 118.90 m.
2025-08-23T22:16:59.267Z,1755987419.267 [DAT](INFO): DAT read: user:1677>
2025-08-23T22:16:59.268Z,1755987419.268 [DAT](INFO): DAT read: Tx time:22:16:58.9479
2025-08-23T22:16:59.269Z,1755987419.269 [DAT](INFO): Ping request sent.
2025-08-23T22:16:59.269Z,1755987419.269 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:16:59.269Z,1755987419.269 [DAT](INFO): publishing transmit ping time
2025-08-23T22:16:59.270Z,1755987419.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001206
2025-08-23T22:16:59.518Z,1755987419.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249529
2025-08-23T22:16:59.593Z,1755987419.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.16 m.
2025-08-23T22:16:59.596Z,1755987419.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.163269 m,
nav range: 117.720779 m,
bearing: 133.062153 deg,
approach rate: -0.516559 m/s,
LOS rate: 0.081689 deg/s,
cmd heading: 124.003929 deg,
new cmd heading: 124.075064 deg.
2025-08-23T22:16:59.597Z,1755987419.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.165518 target range: 118.163269 and range: 118.90 m.
2025-08-23T22:16:59.771Z,1755987419.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501716
2025-08-23T22:16:59.982Z,1755987419.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.16 m.
2025-08-23T22:16:59.984Z,1755987419.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.163269 m,
nav range: 117.530571 m,
bearing: 133.092287 deg,
approach rate: -0.489784 m/s,
LOS rate: 0.077718 deg/s,
cmd heading: 124.075058 deg,
new cmd heading: 124.135422 deg.
2025-08-23T22:16:59.985Z,1755987419.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.166572 target range: 118.163269 and range: 118.90 m.
2025-08-23T22:17:00.023Z,1755987420.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754087
2025-08-23T22:17:00.274Z,1755987420.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005627
2025-08-23T22:17:00.523Z,1755987420.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:00.527Z,1755987420.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257773
2025-08-23T22:17:00.527Z,1755987420.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.16 m.
2025-08-23T22:17:00.532Z,1755987420.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.163269 m,
nav range: 117.245392 m,
bearing: 133.135976 deg,
approach rate: -0.524240 m/s,
LOS rate: 0.080510 deg/s,
cmd heading: 124.135423 deg,
new cmd heading: 124.223015 deg.
2025-08-23T22:17:00.536Z,1755987420.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168101 target range: 118.163269 and range: 118.90 m.
2025-08-23T22:17:00.779Z,1755987420.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510163
2025-08-23T22:17:00.953Z,1755987420.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.16 m.
2025-08-23T22:17:00.956Z,1755987420.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.163269 m,
nav range: 117.025497 m,
bearing: 133.169601 deg,
approach rate: -0.514244 m/s,
LOS rate: 0.078783 deg/s,
cmd heading: 124.223014 deg,
new cmd heading: 124.290390 deg.
2025-08-23T22:17:00.957Z,1755987420.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.169276 target range: 118.163269 and range: 118.90 m.
2025-08-23T22:17:01.031Z,1755987421.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761749
2025-08-23T22:17:01.283Z,1755987421.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013713
2025-08-23T22:17:01.361Z,1755987421.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.16 m.
2025-08-23T22:17:01.364Z,1755987421.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.163269 m,
nav range: 116.815903 m,
bearing: 133.201633 deg,
approach rate: -0.513646 m/s,
LOS rate: 0.078640 deg/s,
cmd heading: 124.290387 deg,
new cmd heading: 124.354565 deg.
2025-08-23T22:17:01.365Z,1755987421.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.170397 target range: 118.163269 and range: 118.90 m.
2025-08-23T22:17:01.535Z,1755987421.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265689
2025-08-23T22:17:01.784Z,1755987421.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.16 m.
2025-08-23T22:17:01.787Z,1755987421.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517770
2025-08-23T22:17:01.789Z,1755987421.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.163269 m,
nav range: 116.597343 m,
bearing: 133.234423 deg,
approach rate: -0.516350 m/s,
LOS rate: 0.077613 deg/s,
cmd heading: 124.354563 deg,
new cmd heading: 124.420266 deg.
2025-08-23T22:17:01.790Z,1755987421.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.171543 target range: 118.163269 and range: 118.90 m.
2025-08-23T22:17:02.038Z,1755987422.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769580
2025-08-23T22:17:02.179Z,1755987422.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.16 m.
2025-08-23T22:17:02.184Z,1755987422.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.163269 m,
nav range: 116.394287 m,
bearing: 133.265002 deg,
approach rate: -0.514284 m/s,
LOS rate: 0.077583 deg/s,
cmd heading: 124.420270 deg,
new cmd heading: 124.481534 deg.
2025-08-23T22:17:02.185Z,1755987422.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.172613 target range: 118.163269 and range: 118.90 m.
2025-08-23T22:17:02.292Z,1755987422.292 [DAT](INFO): DAT read: Rx Time:22:17:01.5081
2025-08-23T22:17:02.292Z,1755987422.292 [DAT](INFO): Rx dataTimestamp_ set to:1755987422.291814
2025-08-23T22:17:02.293Z,1755987422.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024150
2025-08-23T22:17:02.543Z,1755987422.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273755
2025-08-23T22:17:02.599Z,1755987422.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:02.602Z,1755987422.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.16 m.
2025-08-23T22:17:02.604Z,1755987422.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.163269 m,
nav range: 116.175842 m,
bearing: 133.297100 deg,
approach rate: -0.517368 m/s,
LOS rate: 0.076164 deg/s,
cmd heading: 124.481536 deg,
new cmd heading: 124.545852 deg.
2025-08-23T22:17:02.605Z,1755987422.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.173735 target range: 118.163269 and range: 118.90 m.
2025-08-23T22:17:02.800Z,1755987422.800 [DAT](INFO): DAT read: 22:17:01.5081 LVL= 32608, 32753, 26930, 32755, AGC= 70, IDX= 410,-0.05, 2.477, 0.521, 2.080, 2.042, PHS= 0.537,-1.476,-0.006, RAW= 134.9, 10.5, CAL= 134.5, 11.6, ROT= 15.5, -11.6
2025-08-23T22:17:02.801Z,1755987422.801 [DAT](INFO): got valid direction response:
22:17:01.5081 LVL= 32608, 32753, 26930, 32755, AGC= 70, IDX= 410,-0.05, 2.477, 0.521, 2.080, 2.042, PHS= 0.537,-1.476,-0.006, RAW= 134.9, 10.5, CAL= 134.5, 11.6, ROT= 15.5, -11.6
2025-08-23T22:17:02.802Z,1755987422.802 [DAT](INFO): DAT read: Bearing 283.7, 8.9 (Local)
2025-08-23T22:17:02.803Z,1755987422.803 [DAT](INFO): Local bearing/azimuth received:
Bearing 283.7, 8.9 (Local)
2025-08-23T22:17:02.804Z,1755987422.804 [DAT](INFO): DAT read: Range 11 to 50 : 117.0 m (Round-trip 156.0 ms) speed 0.3 m/s
2025-08-23T22:17:02.804Z,1755987422.804 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:02.805Z,1755987422.805 [DAT](INFO): direction in FSK: [0.943949,0.261780,0.201078]
2025-08-23T22:17:02.806Z,1755987422.806 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:02.809Z,1755987422.809 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:02.809Z,1755987422.809 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:02.809Z,1755987422.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:02.000Z,1755987423.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 117.000000 m,
deltaT: 3.780010 s,
deltaX: -1.900002 m,
approachRate: -0.502645 m/s,
rangeRepo size: 4
2025-08-23T22:17:03.002Z,1755987423.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 116.274223 m,
bearing: 137.997974 deg,
lat: 36.779281 deg,
lon: -121.859715 deg,
deltaT: 3.780010 s,
deltaX: -1.889046 m,
approachRate: -0.499746 m/s,
posRepo size: 4
2025-08-23T22:17:03.003Z,1755987423.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.27 m.
2025-08-23T22:17:03.021Z,1755987423.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.274223 m,
nav range: 116.103828 m,
bearing: 136.471359 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.076164 deg/s,
cmd heading: 124.545849 deg,
new cmd heading: 124.606430 deg.
2025-08-23T22:17:03.022Z,1755987423.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174793 target range: 116.274223 and range: 117.00 m.
2025-08-23T22:17:03.050Z,1755987423.050 [DAT](INFO): DAT read: user:1678>
2025-08-23T22:17:03.050Z,1755987423.050 [DAT](INFO): DAT read: Tx time:22:17:02.7479
2025-08-23T22:17:03.051Z,1755987423.051 [DAT](INFO): Ping request sent.
2025-08-23T22:17:03.051Z,1755987423.051 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:03.051Z,1755987423.051 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:03.052Z,1755987423.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-08-23T22:17:03.303Z,1755987423.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251749
2025-08-23T22:17:03.375Z,1755987423.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.27 m.
2025-08-23T22:17:03.383Z,1755987423.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.274223 m,
nav range: 115.910782 m,
bearing: 136.505297 deg,
approach rate: -0.512860 m/s,
LOS rate: 0.090312 deg/s,
cmd heading: 124.606433 deg,
new cmd heading: 124.674422 deg.
2025-08-23T22:17:03.385Z,1755987423.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.175979 target range: 116.274223 and range: 117.00 m.
2025-08-23T22:17:03.554Z,1755987423.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503719
2025-08-23T22:17:03.807Z,1755987423.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755886
2025-08-23T22:17:03.815Z,1755987423.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.27 m.
2025-08-23T22:17:03.817Z,1755987423.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.274223 m,
nav range: 115.704491 m,
bearing: 136.539107 deg,
approach rate: -0.469745 m/s,
LOS rate: 0.077126 deg/s,
cmd heading: 124.674421 deg,
new cmd heading: 124.742162 deg.
2025-08-23T22:17:03.834Z,1755987423.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.177161 target range: 116.274223 and range: 117.00 m.
2025-08-23T22:17:04.059Z,1755987424.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008143
2025-08-23T22:17:04.174Z,1755987424.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.27 m.
2025-08-23T22:17:04.176Z,1755987424.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.274223 m,
nav range: 115.512268 m,
bearing: 136.570576 deg,
approach rate: -0.535533 m/s,
LOS rate: 0.087819 deg/s,
cmd heading: 124.742163 deg,
new cmd heading: 124.805205 deg.
2025-08-23T22:17:04.178Z,1755987424.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.178262 target range: 116.274223 and range: 117.00 m.
2025-08-23T22:17:04.314Z,1755987424.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262896
2025-08-23T22:17:04.567Z,1755987424.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515888
2025-08-23T22:17:04.613Z,1755987424.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:04.616Z,1755987424.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.27 m.
2025-08-23T22:17:04.619Z,1755987424.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.274223 m,
nav range: 115.288475 m,
bearing: 136.609831 deg,
approach rate: -0.505685 m/s,
LOS rate: 0.088872 deg/s,
cmd heading: 124.805205 deg,
new cmd heading: 124.883867 deg.
2025-08-23T22:17:04.620Z,1755987424.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.179635 target range: 116.274223 and range: 117.00 m.
2025-08-23T22:17:04.818Z,1755987424.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767653
2025-08-23T22:17:04.985Z,1755987424.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.27 m.
2025-08-23T22:17:04.988Z,1755987424.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.274223 m,
nav range: 115.100815 m,
bearing: 136.642740 deg,
approach rate: -0.508738 m/s,
LOS rate: 0.089360 deg/s,
cmd heading: 124.883862 deg,
new cmd heading: 124.949787 deg.
2025-08-23T22:17:04.989Z,1755987424.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.180785 target range: 116.274223 and range: 117.00 m.
2025-08-23T22:17:05.072Z,1755987425.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020738
2025-08-23T22:17:05.323Z,1755987425.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271778
2025-08-23T22:17:05.422Z,1755987425.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.27 m.
2025-08-23T22:17:05.425Z,1755987425.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.274223 m,
nav range: 114.892952 m,
bearing: 136.679225 deg,
approach rate: -0.475415 m/s,
LOS rate: 0.083598 deg/s,
cmd heading: 124.949787 deg,
new cmd heading: 125.022889 deg.
2025-08-23T22:17:05.426Z,1755987425.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.182061 target range: 116.274223 and range: 117.00 m.
2025-08-23T22:17:05.574Z,1755987425.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523734
2025-08-23T22:17:05.826Z,1755987425.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775623
2025-08-23T22:17:05.831Z,1755987425.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.27 m.
2025-08-23T22:17:05.842Z,1755987425.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.274223 m,
nav range: 114.680984 m,
bearing: 136.715289 deg,
approach rate: -0.518772 m/s,
LOS rate: 0.088428 deg/s,
cmd heading: 125.022883 deg,
new cmd heading: 125.095146 deg.
2025-08-23T22:17:05.843Z,1755987425.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.183322 target range: 116.274223 and range: 117.00 m.
2025-08-23T22:17:06.079Z,1755987426.079 [DAT](INFO): DAT read: Rx Time:22:17:05.3054
2025-08-23T22:17:06.079Z,1755987426.079 [DAT](INFO): Rx dataTimestamp_ set to:1755987426.078725
2025-08-23T22:17:06.080Z,1755987426.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028811
2025-08-23T22:17:06.221Z,1755987426.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.27 m.
2025-08-23T22:17:06.223Z,1755987426.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.274223 m,
nav range: 114.472374 m,
bearing: 136.750815 deg,
approach rate: -0.534954 m/s,
LOS rate: 0.091268 deg/s,
cmd heading: 125.095147 deg,
new cmd heading: 125.166329 deg.
2025-08-23T22:17:06.224Z,1755987426.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.184565 target range: 116.274223 and range: 117.00 m.
2025-08-23T22:17:06.330Z,1755987426.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279667
2025-08-23T22:17:06.588Z,1755987426.588 [DAT](INFO): DAT read: 22:17:05.3054 LVL= 25200, 32753, 26514, 32755, AGC= 67, IDX= 415,-0.27, 2.374, 0.370, 1.994, 1.936, PHS= 0.540,-1.521, 0.014, RAW= 135.8, 10.4, CAL= 135.4, 11.5, ROT= 14.6, -11.5
2025-08-23T22:17:06.589Z,1755987426.589 [DAT](INFO): got valid direction response:
22:17:05.3054 LVL= 25200, 32753, 26514, 32755, AGC= 67, IDX= 415,-0.27, 2.374, 0.370, 1.994, 1.936, PHS= 0.540,-1.521, 0.014, RAW= 135.8, 10.4, CAL= 135.4, 11.5, ROT= 14.6, -11.5
2025-08-23T22:17:06.590Z,1755987426.590 [DAT](INFO): DAT read: Bearing 284.7, 8.1 (Local)
2025-08-23T22:17:06.591Z,1755987426.591 [DAT](INFO): Local bearing/azimuth received:
Bearing 284.7, 8.1 (Local)
2025-08-23T22:17:06.592Z,1755987426.592 [DAT](INFO): DAT read: Range 11 to 50 : 115.0 m (Round-trip 153.4 ms) speed 0.4 m/s
2025-08-23T22:17:06.592Z,1755987426.592 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:06.594Z,1755987426.594 [DAT](INFO): direction in FSK: [0.948282,0.247009,0.199368]
2025-08-23T22:17:06.594Z,1755987426.594 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:06.597Z,1755987426.597 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:06.597Z,1755987426.597 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:06.602Z,1755987426.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:06.755Z,1755987426.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 115.000000 m,
deltaT: 3.788095 s,
deltaX: -2.000000 m,
approachRate: -0.527970 m/s,
rangeRepo size: 4
2025-08-23T22:17:06.757Z,1755987426.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 114.288475 m,
bearing: 137.802089 deg,
lat: 36.779278 deg,
lon: -121.859726 deg,
deltaT: 3.788095 s,
deltaX: -1.985748 m,
approachRate: -0.524208 m/s,
posRepo size: 4
2025-08-23T22:17:06.762Z,1755987426.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.29 m.
2025-08-23T22:17:06.764Z,1755987426.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.288475 m,
nav range: 113.831512 m,
bearing: 137.303432 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.091268 deg/s,
cmd heading: 125.166331 deg,
new cmd heading: 125.263710 deg.
2025-08-23T22:17:06.765Z,1755987426.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186264 target range: 114.288475 and range: 115.00 m.
2025-08-23T22:17:06.835Z,1755987426.835 [DAT](INFO): DAT read: user:1679>
2025-08-23T22:17:06.835Z,1755987426.835 [DAT](INFO): DAT read: Tx time:22:17:06.4979
2025-08-23T22:17:06.836Z,1755987426.836 [DAT](INFO): Ping request sent.
2025-08-23T22:17:06.836Z,1755987426.836 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:06.836Z,1755987426.836 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:06.836Z,1755987426.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-08-23T22:17:07.089Z,1755987427.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253569
2025-08-23T22:17:07.235Z,1755987427.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:07.237Z,1755987427.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.29 m.
2025-08-23T22:17:07.240Z,1755987427.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.288475 m,
nav range: 113.587715 m,
bearing: 137.346862 deg,
approach rate: -0.505131 m/s,
LOS rate: 0.090177 deg/s,
cmd heading: 125.263716 deg,
new cmd heading: 125.350762 deg.
2025-08-23T22:17:07.241Z,1755987427.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.187783 target range: 114.288475 and range: 115.00 m.
2025-08-23T22:17:07.342Z,1755987427.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505946
2025-08-23T22:17:07.591Z,1755987427.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754845
2025-08-23T22:17:07.662Z,1755987427.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.29 m.
2025-08-23T22:17:07.664Z,1755987427.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.288475 m,
nav range: 113.373329 m,
bearing: 137.386501 deg,
approach rate: -0.504953 m/s,
LOS rate: 0.093539 deg/s,
cmd heading: 125.350760 deg,
new cmd heading: 125.430187 deg.
2025-08-23T22:17:07.665Z,1755987427.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.189170 target range: 114.288475 and range: 115.00 m.
2025-08-23T22:17:07.843Z,1755987427.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007080
2025-08-23T22:17:08.093Z,1755987428.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.29 m.
2025-08-23T22:17:08.095Z,1755987428.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258918
2025-08-23T22:17:08.097Z,1755987428.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.288475 m,
nav range: 113.155815 m,
bearing: 137.426684 deg,
approach rate: -0.504183 m/s,
LOS rate: 0.093321 deg/s,
cmd heading: 125.430181 deg,
new cmd heading: 125.510702 deg.
2025-08-23T22:17:08.114Z,1755987428.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.190575 target range: 114.288475 and range: 115.00 m.
2025-08-23T22:17:08.347Z,1755987428.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511152
2025-08-23T22:17:08.494Z,1755987428.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.29 m.
2025-08-23T22:17:08.496Z,1755987428.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.288475 m,
nav range: 112.953781 m,
bearing: 137.463961 deg,
approach rate: -0.504273 m/s,
LOS rate: 0.093210 deg/s,
cmd heading: 125.510696 deg,
new cmd heading: 125.585384 deg.
2025-08-23T22:17:08.497Z,1755987428.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.191878 target range: 114.288475 and range: 115.00 m.
2025-08-23T22:17:08.602Z,1755987428.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765276
2025-08-23T22:17:08.691Z,1755987428.691 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:17:08.850Z,1755987428.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014683
2025-08-23T22:17:08.949Z,1755987428.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.29 m.
2025-08-23T22:17:08.951Z,1755987428.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.288475 m,
nav range: 112.726723 m,
bearing: 137.506057 deg,
approach rate: -0.498879 m/s,
LOS rate: 0.092677 deg/s,
cmd heading: 125.585377 deg,
new cmd heading: 125.669739 deg.
2025-08-23T22:17:08.952Z,1755987428.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.193351 target range: 114.288475 and range: 115.00 m.
2025-08-23T22:17:09.102Z,1755987429.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266795
2025-08-23T22:17:09.304Z,1755987429.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:09.306Z,1755987429.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.29 m.
2025-08-23T22:17:09.308Z,1755987429.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.288475 m,
nav range: 112.544113 m,
bearing: 137.539829 deg,
approach rate: -0.511391 m/s,
LOS rate: 0.094728 deg/s,
cmd heading: 125.669743 deg,
new cmd heading: 125.737395 deg.
2025-08-23T22:17:09.310Z,1755987429.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.194531 target range: 114.288475 and range: 115.00 m.
2025-08-23T22:17:09.355Z,1755987429.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519562
2025-08-23T22:17:09.607Z,1755987429.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771571
2025-08-23T22:17:09.694Z,1755987429.694 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:17:09.736Z,1755987429.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.29 m.
2025-08-23T22:17:09.743Z,1755987429.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.288475 m,
nav range: 112.324265 m,
bearing: 137.581341 deg,
approach rate: -0.511321 m/s,
LOS rate: 0.096737 deg/s,
cmd heading: 125.737390 deg,
new cmd heading: 125.820576 deg.
2025-08-23T22:17:09.745Z,1755987429.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.195983 target range: 114.288475 and range: 115.00 m.
2025-08-23T22:17:09.859Z,1755987429.859 [DAT](INFO): DAT read: Rx Time:22:17:09.0527
2025-08-23T22:17:09.859Z,1755987429.859 [DAT](INFO): Rx dataTimestamp_ set to:1755987429.858837
2025-08-23T22:17:09.860Z,1755987429.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023983
2025-08-23T22:17:10.111Z,1755987430.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274882
2025-08-23T22:17:10.112Z,1755987430.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.29 m.
2025-08-23T22:17:10.131Z,1755987430.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.288475 m,
nav range: 112.132294 m,
bearing: 137.617528 deg,
approach rate: -0.509369 m/s,
LOS rate: 0.096183 deg/s,
cmd heading: 125.820581 deg,
new cmd heading: 125.893080 deg.
2025-08-23T22:17:10.132Z,1755987430.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.197249 target range: 114.288475 and range: 115.00 m.
2025-08-23T22:17:10.373Z,1755987430.373 [DAT](INFO): DAT read: 22:17:09.0527 LVL= 26864, 32753, 25570, 32755, AGC= 68, IDX= 419, 0.14, 0.338,-1.665, 0.004,-0.157, PHS= 0.597,-1.463, 0.117, RAW= 137.1, 8.1, CAL= 136.9, 9.0, ROT= 13.1, -9.0
2025-08-23T22:17:10.375Z,1755987430.375 [DAT](INFO): got valid direction response:
22:17:09.0527 LVL= 26864, 32753, 25570, 32755, AGC= 68, IDX= 419, 0.14, 0.338,-1.665, 0.004,-0.157, PHS= 0.597,-1.463, 0.117, RAW= 137.1, 8.1, CAL= 136.9, 9.0, ROT= 13.1, -9.0
2025-08-23T22:17:10.376Z,1755987430.376 [DAT](INFO): DAT read: Bearing 284.2, 6.8 (Local)
2025-08-23T22:17:10.377Z,1755987430.377 [DAT](INFO): Local bearing/azimuth received:
Bearing 284.2, 6.8 (Local)
2025-08-23T22:17:10.395Z,1755987430.395 [DAT](INFO): DAT read: Range 11 to 50 : 112.9 m (Round-trip 150.6 ms) speed 0.5 m/s
2025-08-23T22:17:10.396Z,1755987430.396 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:10.397Z,1755987430.397 [DAT](INFO): direction in FSK: [0.961985,0.223861,0.156434]
2025-08-23T22:17:10.397Z,1755987430.397 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:10.416Z,1755987430.416 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:10.416Z,1755987430.416 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:10.417Z,1755987430.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:10.552Z,1755987430.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 112.900002 m,
deltaT: 3.780915 s,
deltaX: -2.099998 m,
approachRate: -0.555421 m/s,
rangeRepo size: 4
2025-08-23T22:17:10.560Z,1755987430.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 112.201271 m,
bearing: 137.449801 deg,
lat: 36.779278 deg,
lon: -121.859726 deg,
deltaT: 3.780915 s,
deltaX: -2.087204 m,
approachRate: -0.552037 m/s,
posRepo size: 4
2025-08-23T22:17:10.561Z,1755987430.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.20 m.
2025-08-23T22:17:10.568Z,1755987430.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.201271 m,
nav range: 111.919243 m,
bearing: 137.657701 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096183 deg/s,
cmd heading: 125.893077 deg,
new cmd heading: 125.977448 deg.
2025-08-23T22:17:10.569Z,1755987430.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.198721 target range: 112.201271 and range: 112.90 m.
2025-08-23T22:17:10.617Z,1755987430.617 [DAT](INFO): DAT read: user:1680>
2025-08-23T22:17:10.619Z,1755987430.619 [DAT](INFO): DAT read: Tx time:22:17:10.3479
2025-08-23T22:17:10.620Z,1755987430.620 [DAT](INFO): Ping request sent.
2025-08-23T22:17:10.620Z,1755987430.620 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:10.621Z,1755987430.621 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:10.623Z,1755987430.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002785
2025-08-23T22:17:10.868Z,1755987430.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247943
2025-08-23T22:17:10.974Z,1755987430.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.20 m.
2025-08-23T22:17:10.977Z,1755987430.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.201271 m,
nav range: 111.694023 m,
bearing: 137.700100 deg,
approach rate: -0.538370 m/s,
LOS rate: 0.101558 deg/s,
cmd heading: 125.977443 deg,
new cmd heading: 126.062414 deg.
2025-08-23T22:17:10.982Z,1755987430.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200204 target range: 112.201271 and range: 112.90 m.
2025-08-23T22:17:11.119Z,1755987431.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498428
2025-08-23T22:17:11.332Z,1755987431.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:11.334Z,1755987431.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.20 m.
2025-08-23T22:17:11.337Z,1755987431.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.201271 m,
nav range: 111.504532 m,
bearing: 137.735746 deg,
approach rate: -0.519811 m/s,
LOS rate: 0.097950 deg/s,
cmd heading: 126.062411 deg,
new cmd heading: 126.133824 deg.
2025-08-23T22:17:11.338Z,1755987431.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201451 target range: 112.201271 and range: 112.90 m.
2025-08-23T22:17:11.372Z,1755987431.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751612
2025-08-23T22:17:11.625Z,1755987431.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004276
2025-08-23T22:17:11.780Z,1755987431.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.20 m.
2025-08-23T22:17:11.783Z,1755987431.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.201271 m,
nav range: 111.281425 m,
bearing: 137.776514 deg,
approach rate: -0.500625 m/s,
LOS rate: 0.091661 deg/s,
cmd heading: 126.133827 deg,
new cmd heading: 126.215525 deg.
2025-08-23T22:17:11.784Z,1755987431.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202877 target range: 112.201271 and range: 112.90 m.
2025-08-23T22:17:11.875Z,1755987431.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255041
2025-08-23T22:17:12.127Z,1755987432.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506544
2025-08-23T22:17:12.151Z,1755987432.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.20 m.
2025-08-23T22:17:12.154Z,1755987432.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.201271 m,
nav range: 111.090630 m,
bearing: 137.811349 deg,
approach rate: -0.513908 m/s,
LOS rate: 0.093988 deg/s,
cmd heading: 126.215530 deg,
new cmd heading: 126.285319 deg.
2025-08-23T22:17:12.155Z,1755987432.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204095 target range: 112.201271 and range: 112.90 m.
2025-08-23T22:17:12.383Z,1755987432.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762666
2025-08-23T22:17:12.541Z,1755987432.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.20 m.
2025-08-23T22:17:12.549Z,1755987432.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.201271 m,
nav range: 110.889465 m,
bearing: 137.848064 deg,
approach rate: -0.515777 m/s,
LOS rate: 0.094309 deg/s,
cmd heading: 126.285321 deg,
new cmd heading: 126.358886 deg.
2025-08-23T22:17:12.550Z,1755987432.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205379 target range: 112.201271 and range: 112.90 m.
2025-08-23T22:17:12.639Z,1755987432.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018669
2025-08-23T22:17:12.888Z,1755987432.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267884
2025-08-23T22:17:13.008Z,1755987433.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.20 m.
2025-08-23T22:17:13.011Z,1755987433.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.201271 m,
nav range: 110.653214 m,
bearing: 137.890372 deg,
approach rate: -0.505705 m/s,
LOS rate: 0.090755 deg/s,
cmd heading: 126.358882 deg,
new cmd heading: 126.443678 deg.
2025-08-23T22:17:13.012Z,1755987433.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.206858 target range: 112.201271 and range: 112.90 m.
2025-08-23T22:17:13.138Z,1755987433.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518384
2025-08-23T22:17:13.391Z,1755987433.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770555
2025-08-23T22:17:13.407Z,1755987433.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:13.410Z,1755987433.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.20 m.
2025-08-23T22:17:13.412Z,1755987433.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.201271 m,
nav range: 110.465416 m,
bearing: 137.923912 deg,
approach rate: -0.467778 m/s,
LOS rate: 0.083686 deg/s,
cmd heading: 126.443672 deg,
new cmd heading: 126.510866 deg.
2025-08-23T22:17:13.413Z,1755987433.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208031 target range: 112.201271 and range: 112.90 m.
2025-08-23T22:17:13.647Z,1755987433.647 [DAT](INFO): DAT read: Rx Time:22:17:12.9000
2025-08-23T22:17:13.649Z,1755987433.649 [DAT](INFO): Rx dataTimestamp_ set to:1755987433.647710
2025-08-23T22:17:13.651Z,1755987433.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030339
2025-08-23T22:17:13.784Z,1755987433.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.20 m.
2025-08-23T22:17:13.788Z,1755987433.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.201271 m,
nav range: 110.256310 m,
bearing: 137.959355 deg,
approach rate: -0.558007 m/s,
LOS rate: 0.094758 deg/s,
cmd heading: 126.510868 deg,
new cmd heading: 126.581886 deg.
2025-08-23T22:17:13.789Z,1755987433.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209271 target range: 112.201271 and range: 112.90 m.
2025-08-23T22:17:13.895Z,1755987433.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274538
2025-08-23T22:17:14.150Z,1755987434.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529184
2025-08-23T22:17:14.231Z,1755987434.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.20 m.
2025-08-23T22:17:14.234Z,1755987434.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.201271 m,
nav range: 110.025604 m,
bearing: 137.998623 deg,
approach rate: -0.516713 m/s,
LOS rate: 0.088135 deg/s,
cmd heading: 126.581888 deg,
new cmd heading: 126.660590 deg.
2025-08-23T22:17:14.235Z,1755987434.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210644 target range: 112.201271 and range: 112.90 m.
2025-08-23T22:17:14.404Z,1755987434.404 [DAT](INFO): DAT read: 22:17:12.9000 LVL= 26896, 32753, 24610, 32755, AGC= 69, IDX= 407,-0.09, 1.070,-0.858, 0.782, 0.632, PHS= 0.540,-1.445, 0.105, RAW= 138.0, 8.9, CAL= 137.6, 9.9, ROT= 12.4, -9.9
2025-08-23T22:17:14.405Z,1755987434.405 [DAT](INFO): got valid direction response:
22:17:12.9000 LVL= 26896, 32753, 24610, 32755, AGC= 69, IDX= 407,-0.09, 1.070,-0.858, 0.782, 0.632, PHS= 0.540,-1.445, 0.105, RAW= 138.0, 8.9, CAL= 137.6, 9.9, ROT= 12.4, -9.9
2025-08-23T22:17:14.406Z,1755987434.406 [DAT](INFO): DAT read: Bearing 287.5, 6.8 (Local)
2025-08-23T22:17:14.406Z,1755987434.406 [DAT](INFO): Local bearing/azimuth received:
Bearing 287.5, 6.8 (Local)
2025-08-23T22:17:14.408Z,1755987434.408 [DAT](INFO): DAT read: Range 11 to 50 : 110.9 m (Round-trip 147.9 ms) speed 0.4 m/s
2025-08-23T22:17:14.408Z,1755987434.408 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:14.409Z,1755987434.409 [DAT](INFO): direction in FSK: [0.962129,0.211538,0.171929]
2025-08-23T22:17:14.410Z,1755987434.410 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:14.414Z,1755987434.414 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:14.414Z,1755987434.414 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:14.414Z,1755987434.414 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:14.607Z,1755987434.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 110.900002 m,
deltaT: 4.035171 s,
deltaX: -2.000000 m,
approachRate: -0.495642 m/s,
rangeRepo size: 4
2025-08-23T22:17:14.610Z,1755987434.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 110.217285 m,
bearing: 137.286839 deg,
lat: 36.779278 deg,
lon: -121.859726 deg,
deltaT: 4.035171 s,
deltaX: -1.983986 m,
approachRate: -0.491673 m/s,
posRepo size: 4
2025-08-23T22:17:14.610Z,1755987434.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.22 m.
2025-08-23T22:17:14.613Z,1755987434.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.217285 m,
nav range: 109.833473 m,
bearing: 138.031458 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.088135 deg/s,
cmd heading: 126.660585 deg,
new cmd heading: 126.726852 deg.
2025-08-23T22:17:14.615Z,1755987434.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.211801 target range: 110.217285 and range: 110.90 m.
2025-08-23T22:17:14.653Z,1755987434.653 [DAT](INFO): DAT read: user:1681>
2025-08-23T22:17:14.656Z,1755987434.656 [DAT](INFO): DAT read: Tx time:22:17:14.3479
2025-08-23T22:17:14.657Z,1755987434.657 [DAT](INFO): Ping request sent.
2025-08-23T22:17:14.658Z,1755987434.658 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:14.658Z,1755987434.658 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:14.660Z,1755987434.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002675
2025-08-23T22:17:14.903Z,1755987434.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245442
2025-08-23T22:17:15.079Z,1755987435.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.22 m.
2025-08-23T22:17:15.089Z,1755987435.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.217285 m,
nav range: 109.600014 m,
bearing: 138.071984 deg,
approach rate: -0.494590 m/s,
LOS rate: 0.086039 deg/s,
cmd heading: 126.726852 deg,
new cmd heading: 126.808077 deg.
2025-08-23T22:17:15.090Z,1755987435.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.213218 target range: 110.217285 and range: 110.90 m.
2025-08-23T22:17:15.155Z,1755987435.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497533
2025-08-23T22:17:15.401Z,1755987435.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.22 m.
2025-08-23T22:17:15.404Z,1755987435.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.217285 m,
nav range: 109.427956 m,
bearing: 138.101874 deg,
approach rate: -0.533500 m/s,
LOS rate: 0.092826 deg/s,
cmd heading: 126.808076 deg,
new cmd heading: 126.867951 deg.
2025-08-23T22:17:15.405Z,1755987435.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214263 target range: 110.217285 and range: 110.90 m.
2025-08-23T22:17:15.407Z,1755987435.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749499
2025-08-23T22:17:15.661Z,1755987435.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003129
2025-08-23T22:17:15.830Z,1755987435.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:15.832Z,1755987435.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.22 m.
2025-08-23T22:17:15.835Z,1755987435.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.217285 m,
nav range: 109.212196 m,
bearing: 138.138492 deg,
approach rate: -0.500451 m/s,
LOS rate: 0.085102 deg/s,
cmd heading: 126.867950 deg,
new cmd heading: 126.941330 deg.
2025-08-23T22:17:15.836Z,1755987435.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.215544 target range: 110.217285 and range: 110.90 m.
2025-08-23T22:17:15.911Z,1755987435.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253704
2025-08-23T22:17:16.162Z,1755987436.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505359
2025-08-23T22:17:16.312Z,1755987436.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.22 m.
2025-08-23T22:17:16.315Z,1755987436.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.217285 m,
nav range: 108.971458 m,
bearing: 138.179295 deg,
approach rate: -0.501720 m/s,
LOS rate: 0.085226 deg/s,
cmd heading: 126.941333 deg,
new cmd heading: 127.023120 deg.
2025-08-23T22:17:16.316Z,1755987436.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.216972 target range: 110.217285 and range: 110.90 m.
2025-08-23T22:17:16.415Z,1755987436.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757615
2025-08-23T22:17:16.669Z,1755987436.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011779
2025-08-23T22:17:16.780Z,1755987436.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.22 m.
2025-08-23T22:17:16.782Z,1755987436.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.217285 m,
nav range: 108.734215 m,
bearing: 138.218682 deg,
approach rate: -0.507590 m/s,
LOS rate: 0.084453 deg/s,
cmd heading: 127.023118 deg,
new cmd heading: 127.102063 deg.
2025-08-23T22:17:16.783Z,1755987436.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.218349 target range: 110.217285 and range: 110.90 m.
2025-08-23T22:17:16.918Z,1755987436.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261361
2025-08-23T22:17:17.171Z,1755987437.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513460
2025-08-23T22:17:17.235Z,1755987437.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.22 m.
2025-08-23T22:17:17.237Z,1755987437.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.217285 m,
nav range: 108.503296 m,
bearing: 138.257051 deg,
approach rate: -0.507484 m/s,
LOS rate: 0.084503 deg/s,
cmd heading: 127.102061 deg,
new cmd heading: 127.178964 deg.
2025-08-23T22:17:17.238Z,1755987437.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.219692 target range: 110.217285 and range: 110.90 m.
2025-08-23T22:17:17.423Z,1755987437.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765500
2025-08-23T22:17:17.624Z,1755987437.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.22 m.
2025-08-23T22:17:17.626Z,1755987437.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.217285 m,
nav range: 108.305511 m,
bearing: 138.289950 deg,
approach rate: -0.508401 m/s,
LOS rate: 0.084722 deg/s,
cmd heading: 127.178969 deg,
new cmd heading: 127.244888 deg.
2025-08-23T22:17:17.627Z,1755987437.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.220842 target range: 110.217285 and range: 110.90 m.
2025-08-23T22:17:17.678Z,1755987437.678 [DAT](INFO): DAT read: Rx Time:22:17:16.8971
2025-08-23T22:17:17.680Z,1755987437.680 [DAT](INFO): Rx dataTimestamp_ set to:1755987437.678664
2025-08-23T22:17:17.682Z,1755987437.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024096
2025-08-23T22:17:17.927Z,1755987437.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269412
2025-08-23T22:17:18.047Z,1755987438.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:18.050Z,1755987438.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.22 m.
2025-08-23T22:17:18.052Z,1755987438.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.217285 m,
nav range: 108.089088 m,
bearing: 138.324779 deg,
approach rate: -0.508297 m/s,
LOS rate: 0.081964 deg/s,
cmd heading: 127.244894 deg,
new cmd heading: 127.314692 deg.
2025-08-23T22:17:18.053Z,1755987438.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.222060 target range: 110.217285 and range: 110.90 m.
2025-08-23T22:17:18.186Z,1755987438.186 [DAT](INFO): DAT read: 22:17:16.8971 LVL= 26064, 32193, 27730, 32755, AGC= 67, IDX= 410,-0.20,-0.952,-2.884,-1.224,-1.386, PHS= 0.537,-1.453, 0.118, RAW= 138.5, 8.8, CAL= 138.1, 9.8, ROT= 11.9, -9.8
2025-08-23T22:17:18.188Z,1755987438.188 [DAT](INFO): got valid direction response:
22:17:16.8971 LVL= 26064, 32193, 27730, 32755, AGC= 67, IDX= 410,-0.20,-0.952,-2.884,-1.224,-1.386, PHS= 0.537,-1.453, 0.118, RAW= 138.5, 8.8, CAL= 138.1, 9.8, ROT= 11.9, -9.8
2025-08-23T22:17:18.189Z,1755987438.189 [DAT](INFO): DAT read: Bearing 289.7, 7.0 (Local)
2025-08-23T22:17:18.190Z,1755987438.190 [DAT](INFO): Local bearing/azimuth received:
Bearing 289.7, 7.0 (Local)
2025-08-23T22:17:18.191Z,1755987438.191 [DAT](INFO): DAT read: Range 11 to 50 : 108.8 m (Round-trip 145.1 ms) speed 0.5 m/s
2025-08-23T22:17:18.192Z,1755987438.192 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:18.194Z,1755987438.194 [DAT](INFO): direction in FSK: [0.964230,0.203195,0.170209]
2025-08-23T22:17:18.194Z,1755987438.194 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:18.200Z,1755987438.200 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:18.200Z,1755987438.200 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:18.200Z,1755987438.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:18.431Z,1755987438.431 [DAT](INFO): DAT read: user:1682>
2025-08-23T22:17:18.432Z,1755987438.432 [DAT](INFO): DAT read: Tx time:22:17:18.0979
2025-08-23T22:17:18.432Z,1755987438.432 [DAT](INFO): Ping request sent.
2025-08-23T22:17:18.432Z,1755987438.432 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:18.432Z,1755987438.432 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:18.433Z,1755987438.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-23T22:17:18.484Z,1755987438.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 108.800003 m,
deltaT: 3.780112 s,
deltaX: -2.099998 m,
approachRate: -0.555539 m/s,
rangeRepo size: 4
2025-08-23T22:17:18.494Z,1755987438.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 108.131660 m,
bearing: 137.626831 deg,
lat: 36.779279 deg,
lon: -121.859722 deg,
deltaT: 3.780112 s,
deltaX: -2.085625 m,
approachRate: -0.551736 m/s,
posRepo size: 4
2025-08-23T22:17:18.494Z,1755987438.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.13 m.
2025-08-23T22:17:18.497Z,1755987438.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.131660 m,
nav range: 108.002739 m,
bearing: 138.140652 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.081964 deg/s,
cmd heading: 127.314685 deg,
new cmd heading: 127.385736 deg.
2025-08-23T22:17:18.502Z,1755987438.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.223300 target range: 108.131660 and range: 108.80 m.
2025-08-23T22:17:18.683Z,1755987438.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250584
2025-08-23T22:17:18.868Z,1755987438.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.13 m.
2025-08-23T22:17:18.873Z,1755987438.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.131660 m,
nav range: 107.796593 m,
bearing: 138.173206 deg,
approach rate: -0.536193 m/s,
LOS rate: 0.084835 deg/s,
cmd heading: 127.385733 deg,
new cmd heading: 127.450964 deg.
2025-08-23T22:17:18.894Z,1755987438.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.224439 target range: 108.131660 and range: 108.80 m.
2025-08-23T22:17:18.938Z,1755987438.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505865
2025-08-23T22:17:19.192Z,1755987439.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759843
2025-08-23T22:17:19.252Z,1755987439.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.13 m.
2025-08-23T22:17:19.255Z,1755987439.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.131660 m,
nav range: 107.599251 m,
bearing: 138.204306 deg,
approach rate: -0.512876 m/s,
LOS rate: 0.080974 deg/s,
cmd heading: 127.450961 deg,
new cmd heading: 127.513275 deg.
2025-08-23T22:17:19.256Z,1755987439.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.225527 target range: 108.131660 and range: 108.80 m.
2025-08-23T22:17:19.443Z,1755987439.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010502
2025-08-23T22:17:19.656Z,1755987439.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.13 m.
2025-08-23T22:17:19.659Z,1755987439.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.131660 m,
nav range: 107.402107 m,
bearing: 138.235494 deg,
approach rate: -0.488195 m/s,
LOS rate: 0.077375 deg/s,
cmd heading: 127.513280 deg,
new cmd heading: 127.575771 deg.
2025-08-23T22:17:19.660Z,1755987439.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.226617 target range: 108.131660 and range: 108.80 m.
2025-08-23T22:17:19.698Z,1755987439.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265315
2025-08-23T22:17:19.946Z,1755987439.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514367
2025-08-23T22:17:20.070Z,1755987440.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:20.072Z,1755987440.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.13 m.
2025-08-23T22:17:20.075Z,1755987440.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.131660 m,
nav range: 107.193886 m,
bearing: 138.267553 deg,
approach rate: -0.500703 m/s,
LOS rate: 0.077241 deg/s,
cmd heading: 127.575776 deg,
new cmd heading: 127.640019 deg.
2025-08-23T22:17:20.076Z,1755987440.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.227739 target range: 108.131660 and range: 108.80 m.
2025-08-23T22:17:20.200Z,1755987440.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767547
2025-08-23T22:17:20.450Z,1755987440.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018402
2025-08-23T22:17:20.465Z,1755987440.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.13 m.
2025-08-23T22:17:20.468Z,1755987440.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.131660 m,
nav range: 107.002151 m,
bearing: 138.297189 deg,
approach rate: -0.487705 m/s,
LOS rate: 0.075518 deg/s,
cmd heading: 127.640021 deg,
new cmd heading: 127.699399 deg.
2025-08-23T22:17:20.469Z,1755987440.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.228775 target range: 108.131660 and range: 108.80 m.
2025-08-23T22:17:20.703Z,1755987440.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270562
2025-08-23T22:17:20.891Z,1755987440.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.13 m.
2025-08-23T22:17:20.898Z,1755987440.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.131660 m,
nav range: 106.787445 m,
bearing: 138.331026 deg,
approach rate: -0.504192 m/s,
LOS rate: 0.079619 deg/s,
cmd heading: 127.699402 deg,
new cmd heading: 127.767213 deg.
2025-08-23T22:17:20.899Z,1755987440.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229959 target range: 108.131660 and range: 108.80 m.
2025-08-23T22:17:20.957Z,1755987440.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525206
2025-08-23T22:17:21.207Z,1755987441.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775347
2025-08-23T22:17:21.266Z,1755987441.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.13 m.
2025-08-23T22:17:21.268Z,1755987441.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.131660 m,
nav range: 106.606659 m,
bearing: 138.359487 deg,
approach rate: -0.487600 m/s,
LOS rate: 0.076892 deg/s,
cmd heading: 127.767213 deg,
new cmd heading: 127.824231 deg.
2025-08-23T22:17:21.269Z,1755987441.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.230954 target range: 108.131660 and range: 108.80 m.
2025-08-23T22:17:21.459Z,1755987441.459 [DAT](INFO): DAT read: Rx Time:22:17:20.6445
2025-08-23T22:17:21.459Z,1755987441.459 [DAT](INFO): Rx dataTimestamp_ set to:1755987441.458706
2025-08-23T22:17:21.460Z,1755987441.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027556
2025-08-23T22:17:21.654Z,1755987441.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.13 m.
2025-08-23T22:17:21.656Z,1755987441.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.131660 m,
nav range: 106.402969 m,
bearing: 138.391536 deg,
approach rate: -0.519652 m/s,
LOS rate: 0.081919 deg/s,
cmd heading: 127.824231 deg,
new cmd heading: 127.888451 deg.
2025-08-23T22:17:21.658Z,1755987441.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232074 target range: 108.131660 and range: 108.80 m.
2025-08-23T22:17:21.711Z,1755987441.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279019
2025-08-23T22:17:21.971Z,1755987441.971 [DAT](INFO): DAT read: 22:17:20.6445 LVL= 26064, 32753, 24434, 32755, AGC= 67, IDX= 415,-0.05,-3.027, 1.276, 3.094, 2.854, PHS= 0.504,-1.533, 0.196, RAW= 141.9, 8.8, CAL= 141.5, 9.6, ROT= 8.5, -9.6
2025-08-23T22:17:21.972Z,1755987441.972 [DAT](INFO): got valid direction response:
22:17:20.6445 LVL= 26064, 32753, 24434, 32755, AGC= 67, IDX= 415,-0.05,-3.027, 1.276, 3.094, 2.854, PHS= 0.504,-1.533, 0.196, RAW= 141.9, 8.8, CAL= 141.5, 9.6, ROT= 8.5, -9.6
2025-08-23T22:17:21.972Z,1755987441.972 [DAT](INFO): DAT read: Bearing 291.6, 4.7 (Local)
2025-08-23T22:17:21.973Z,1755987441.973 [DAT](INFO): Local bearing/azimuth received:
Bearing 291.6, 4.7 (Local)
2025-08-23T22:17:21.974Z,1755987441.974 [DAT](INFO): DAT read: Range 11 to 50 : 106.8 m (Round-trip 142.4 ms) speed 0.4 m/s
2025-08-23T22:17:21.975Z,1755987441.975 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:21.976Z,1755987441.976 [DAT](INFO): direction in FSK: [0.975166,0.145739,0.166769]
2025-08-23T22:17:21.976Z,1755987441.976 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:21.980Z,1755987441.980 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:21.980Z,1755987441.980 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:21.980Z,1755987441.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:22.211Z,1755987442.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 106.800003 m,
deltaT: 3.784202 s,
deltaX: -2.000000 m,
approachRate: -0.528513 m/s,
rangeRepo size: 4
2025-08-23T22:17:22.215Z,1755987442.215 [DAT](INFO): DAT read: user:1683>
2025-08-23T22:17:22.215Z,1755987442.215 [DAT](INFO): DAT read: Tx time:22:17:21.8979
2025-08-23T22:17:22.216Z,1755987442.216 [DAT](INFO): Ping request sent.
2025-08-23T22:17:22.216Z,1755987442.216 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:22.216Z,1755987442.216 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:22.217Z,1755987442.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-23T22:17:22.218Z,1755987442.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 106.143242 m,
bearing: 134.828370 deg,
lat: 36.779286 deg,
lon: -121.859716 deg,
deltaT: 3.784202 s,
deltaX: -1.988419 m,
approachRate: -0.525453 m/s,
posRepo size: 4
2025-08-23T22:17:22.219Z,1755987442.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.14 m.
2025-08-23T22:17:22.226Z,1755987442.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.143242 m,
nav range: 105.944733 m,
bearing: 137.952555 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.081919 deg/s,
cmd heading: 127.888448 deg,
new cmd heading: 127.978935 deg.
2025-08-23T22:17:22.227Z,1755987442.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233654 target range: 106.143242 and range: 106.80 m.
2025-08-23T22:17:22.467Z,1755987442.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251194
2025-08-23T22:17:22.574Z,1755987442.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:22.576Z,1755987442.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.14 m.
2025-08-23T22:17:22.583Z,1755987442.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.143242 m,
nav range: 105.745003 m,
bearing: 137.983942 deg,
approach rate: -0.539418 m/s,
LOS rate: 0.084927 deg/s,
cmd heading: 127.978935 deg,
new cmd heading: 128.041826 deg.
2025-08-23T22:17:22.584Z,1755987442.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.234751 target range: 106.143242 and range: 106.80 m.
2025-08-23T22:17:22.719Z,1755987442.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502701
2025-08-23T22:17:22.971Z,1755987442.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754738
2025-08-23T22:17:22.000Z,1755987443.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.14 m.
2025-08-23T22:17:23.003Z,1755987443.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.143242 m,
nav range: 105.521675 m,
bearing: 138.022459 deg,
approach rate: -0.527094 m/s,
LOS rate: 0.091101 deg/s,
cmd heading: 128.041827 deg,
new cmd heading: 128.119025 deg.
2025-08-23T22:17:23.004Z,1755987443.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.236099 target range: 106.143242 and range: 106.80 m.
2025-08-23T22:17:23.223Z,1755987443.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007142
2025-08-23T22:17:23.383Z,1755987443.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.14 m.
2025-08-23T22:17:23.386Z,1755987443.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.143242 m,
nav range: 105.322945 m,
bearing: 138.056581 deg,
approach rate: -0.518225 m/s,
LOS rate: 0.089145 deg/s,
cmd heading: 128.119022 deg,
new cmd heading: 128.187393 deg.
2025-08-23T22:17:23.387Z,1755987443.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237292 target range: 106.143242 and range: 106.80 m.
2025-08-23T22:17:23.475Z,1755987443.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259588
2025-08-23T22:17:23.727Z,1755987443.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510707
2025-08-23T22:17:23.852Z,1755987443.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.14 m.
2025-08-23T22:17:23.860Z,1755987443.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.143242 m,
nav range: 105.091187 m,
bearing: 138.096545 deg,
approach rate: -0.494870 m/s,
LOS rate: 0.085523 deg/s,
cmd heading: 128.187392 deg,
new cmd heading: 128.267497 deg.
2025-08-23T22:17:23.864Z,1755987443.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.238690 target range: 106.143242 and range: 106.80 m.
2025-08-23T22:17:23.979Z,1755987443.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763076
2025-08-23T22:17:24.231Z,1755987444.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014825
2025-08-23T22:17:24.276Z,1755987444.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.14 m.
2025-08-23T22:17:24.279Z,1755987444.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.143242 m,
nav range: 104.865677 m,
bearing: 138.133822 deg,
approach rate: -0.531120 m/s,
LOS rate: 0.087983 deg/s,
cmd heading: 128.267497 deg,
new cmd heading: 128.342210 deg.
2025-08-23T22:17:24.280Z,1755987444.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239994 target range: 106.143242 and range: 106.80 m.
2025-08-23T22:17:24.482Z,1755987444.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266638
2025-08-23T22:17:24.603Z,1755987444.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:24.605Z,1755987444.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.14 m.
2025-08-23T22:17:24.608Z,1755987444.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.143242 m,
nav range: 104.692917 m,
bearing: 138.162357 deg,
approach rate: -0.525207 m/s,
LOS rate: 0.086894 deg/s,
cmd heading: 128.342205 deg,
new cmd heading: 128.399370 deg.
2025-08-23T22:17:24.609Z,1755987444.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240992 target range: 106.143242 and range: 106.80 m.
2025-08-23T22:17:24.735Z,1755987444.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518706
2025-08-23T22:17:24.987Z,1755987444.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770819
2025-08-23T22:17:25.052Z,1755987445.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.14 m.
2025-08-23T22:17:25.055Z,1755987445.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.143242 m,
nav range: 104.458679 m,
bearing: 138.200871 deg,
approach rate: -0.523579 m/s,
LOS rate: 0.086281 deg/s,
cmd heading: 128.399374 deg,
new cmd heading: 128.476574 deg.
2025-08-23T22:17:25.056Z,1755987445.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.242339 target range: 106.143242 and range: 106.80 m.
2025-08-23T22:17:25.238Z,1755987445.238 [DAT](INFO): DAT read: Rx Time:22:17:24.4417
2025-08-23T22:17:25.239Z,1755987445.239 [DAT](INFO): Rx dataTimestamp_ set to:1755987445.238679
2025-08-23T22:17:25.239Z,1755987445.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023724
2025-08-23T22:17:25.413Z,1755987445.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.14 m.
2025-08-23T22:17:25.415Z,1755987445.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.143242 m,
nav range: 104.270111 m,
bearing: 138.231754 deg,
approach rate: -0.523720 m/s,
LOS rate: 0.085927 deg/s,
cmd heading: 128.476569 deg,
new cmd heading: 128.538446 deg.
2025-08-23T22:17:25.416Z,1755987445.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.243419 target range: 106.143242 and range: 106.80 m.
2025-08-23T22:17:25.491Z,1755987445.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274779
2025-08-23T22:17:25.748Z,1755987445.748 [DAT](INFO): DAT read: 22:17:24.4417 LVL= 32304, 32673, 32754, 32755, AGC= 67, IDX= 419,-0.06,-2.923, 1.488,-3.007, 2.995, PHS= 0.468,-1.462, 0.238, RAW= 143.7, 8.3, CAL= 143.3, 9.1, ROT= 6.7, -9.1
2025-08-23T22:17:25.749Z,1755987445.749 [DAT](INFO): got valid direction response:
22:17:24.4417 LVL= 32304, 32673, 32754, 32755, AGC= 67, IDX= 419,-0.06,-2.923, 1.488,-3.007, 2.995, PHS= 0.468,-1.462, 0.238, RAW= 143.7, 8.3, CAL= 143.3, 9.1, ROT= 6.7, -9.1
2025-08-23T22:17:25.750Z,1755987445.750 [DAT](INFO): DAT read: Bearing 292.3, 4.0 (Local)
2025-08-23T22:17:25.750Z,1755987445.750 [DAT](INFO): Local bearing/azimuth received:
Bearing 292.3, 4.0 (Local)
2025-08-23T22:17:25.751Z,1755987445.751 [DAT](INFO): DAT read: Range 11 to 50 : 104.7 m (Round-trip 139.7 ms) speed 0.4 m/s
2025-08-23T22:17:25.752Z,1755987445.752 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:25.753Z,1755987445.753 [DAT](INFO): direction in FSK: [0.980670,0.115202,0.158158]
2025-08-23T22:17:25.753Z,1755987445.753 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:25.763Z,1755987445.763 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:25.763Z,1755987445.763 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:25.763Z,1755987445.763 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:25.968Z,1755987445.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 104.699997 m,
deltaT: 3.779533 s,
deltaX: -2.100006 m,
approachRate: -0.555626 m/s,
rangeRepo size: 4
2025-08-23T22:17:25.975Z,1755987445.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 104.057159 m,
bearing: 133.819794 deg,
lat: 36.779287 deg,
lon: -121.859714 deg,
deltaT: 3.779533 s,
deltaX: -2.086082 m,
approachRate: -0.551942 m/s,
posRepo size: 4
2025-08-23T22:17:25.975Z,1755987445.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.06 m.
2025-08-23T22:17:25.982Z,1755987445.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.057159 m,
nav range: 104.029381 m,
bearing: 138.163066 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.085927 deg/s,
cmd heading: 128.538450 deg,
new cmd heading: 128.633867 deg.
2025-08-23T22:17:25.983Z,1755987445.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.245085 target range: 104.057159 and range: 104.70 m.
2025-08-23T22:17:25.994Z,1755987445.994 [DAT](INFO): DAT read: user:1684>
2025-08-23T22:17:25.995Z,1755987445.995 [DAT](INFO): DAT read: Tx time:22:17:25.6979
2025-08-23T22:17:25.996Z,1755987445.996 [DAT](INFO): Ping request sent.
2025-08-23T22:17:25.996Z,1755987445.996 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:25.996Z,1755987445.996 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:25.996Z,1755987445.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-23T22:17:26.247Z,1755987446.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250933
2025-08-23T22:17:26.248Z,1755987446.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.06 m.
2025-08-23T22:17:26.251Z,1755987446.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.057159 m,
nav range: 103.878059 m,
bearing: 138.187201 deg,
approach rate: -0.539122 m/s,
LOS rate: 0.086113 deg/s,
cmd heading: 128.633868 deg,
new cmd heading: 128.682209 deg.
2025-08-23T22:17:26.252Z,1755987446.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.245928 target range: 104.057159 and range: 104.70 m.
2025-08-23T22:17:26.499Z,1755987446.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502872
2025-08-23T22:17:26.626Z,1755987446.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:26.628Z,1755987446.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.06 m.
2025-08-23T22:17:26.630Z,1755987446.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.057159 m,
nav range: 103.683624 m,
bearing: 138.218170 deg,
approach rate: -0.512809 m/s,
LOS rate: 0.081831 deg/s,
cmd heading: 128.682212 deg,
new cmd heading: 128.744266 deg.
2025-08-23T22:17:26.631Z,1755987446.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.247011 target range: 104.057159 and range: 104.70 m.
2025-08-23T22:17:26.751Z,1755987446.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754874
2025-08-23T22:17:27.003Z,1755987447.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006924
2025-08-23T22:17:27.123Z,1755987447.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.06 m.
2025-08-23T22:17:27.134Z,1755987447.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.057159 m,
nav range: 103.470146 m,
bearing: 138.252357 deg,
approach rate: -0.430646 m/s,
LOS rate: 0.069108 deg/s,
cmd heading: 128.744271 deg,
new cmd heading: 128.812787 deg.
2025-08-23T22:17:27.135Z,1755987447.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.248207 target range: 104.057159 and range: 104.70 m.
2025-08-23T22:17:27.255Z,1755987447.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258923
2025-08-23T22:17:27.506Z,1755987447.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510745
2025-08-23T22:17:27.558Z,1755987447.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.06 m.
2025-08-23T22:17:27.561Z,1755987447.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.057159 m,
nav range: 103.210022 m,
bearing: 138.293957 deg,
approach rate: -0.598975 m/s,
LOS rate: 0.096031 deg/s,
cmd heading: 128.812792 deg,
new cmd heading: 128.896201 deg.
2025-08-23T22:17:27.562Z,1755987447.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249663 target range: 104.057159 and range: 104.70 m.
2025-08-23T22:17:27.763Z,1755987447.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766332
2025-08-23T22:17:27.964Z,1755987447.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.06 m.
2025-08-23T22:17:27.970Z,1755987447.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.057159 m,
nav range: 103.017380 m,
bearing: 138.324379 deg,
approach rate: -0.474465 m/s,
LOS rate: 0.075066 deg/s,
cmd heading: 128.896202 deg,
new cmd heading: 128.957159 deg.
2025-08-23T22:17:27.971Z,1755987447.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250727 target range: 104.057159 and range: 104.70 m.
2025-08-23T22:17:28.011Z,1755987448.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015009
2025-08-23T22:17:28.263Z,1755987448.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266911
2025-08-23T22:17:28.342Z,1755987448.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.06 m.
2025-08-23T22:17:28.348Z,1755987448.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.057159 m,
nav range: 102.821350 m,
bearing: 138.355321 deg,
approach rate: -0.517890 m/s,
LOS rate: 0.081902 deg/s,
cmd heading: 128.957154 deg,
new cmd heading: 129.019157 deg.
2025-08-23T22:17:28.350Z,1755987448.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.251809 target range: 104.057159 and range: 104.70 m.
2025-08-23T22:17:28.515Z,1755987448.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519091
2025-08-23T22:17:28.724Z,1755987448.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:28.742Z,1755987448.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.06 m.
2025-08-23T22:17:28.745Z,1755987448.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.057159 m,
nav range: 102.625778 m,
bearing: 138.386208 deg,
approach rate: -0.488648 m/s,
LOS rate: 0.077319 deg/s,
cmd heading: 129.019159 deg,
new cmd heading: 129.081050 deg.
2025-08-23T22:17:28.746Z,1755987448.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252889 target range: 104.057159 and range: 104.70 m.
2025-08-23T22:17:28.767Z,1755987448.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770994
2025-08-23T22:17:29.019Z,1755987449.019 [DAT](INFO): DAT read: Rx Time:22:17:28.2390
2025-08-23T22:17:29.019Z,1755987449.019 [DAT](INFO): Rx dataTimestamp_ set to:1755987449.018685
2025-08-23T22:17:29.019Z,1755987449.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023858
2025-08-23T22:17:29.170Z,1755987449.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.06 m.
2025-08-23T22:17:29.173Z,1755987449.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.057159 m,
nav range: 102.399940 m,
bearing: 138.420609 deg,
approach rate: -0.527500 m/s,
LOS rate: 0.080530 deg/s,
cmd heading: 129.081054 deg,
new cmd heading: 129.150008 deg.
2025-08-23T22:17:29.174Z,1755987449.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.254093 target range: 104.057159 and range: 104.70 m.
2025-08-23T22:17:29.271Z,1755987449.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275781
2025-08-23T22:17:29.528Z,1755987449.528 [DAT](INFO): DAT read: 22:17:28.2390 LVL= 28144, 32705, 27346, 32755, AGC= 68, IDX= 407, 0.13, 1.544,-0.362, 1.542, 1.162, PHS= 0.484,-1.479, 0.336, RAW= 146.1, 7.0, CAL= 145.6, 7.6, ROT= 4.4, -7.6
2025-08-23T22:17:29.529Z,1755987449.529 [DAT](INFO): got valid direction response:
22:17:28.2390 LVL= 28144, 32705, 27346, 32755, AGC= 68, IDX= 407, 0.13, 1.544,-0.362, 1.542, 1.162, PHS= 0.484,-1.479, 0.336, RAW= 146.1, 7.0, CAL= 145.6, 7.6, ROT= 4.4, -7.6
2025-08-23T22:17:29.530Z,1755987449.530 [DAT](INFO): DAT read: Bearing 291.8, 2.5 (Local)
2025-08-23T22:17:29.530Z,1755987449.530 [DAT](INFO): Local bearing/azimuth received:
Bearing 291.8, 2.5 (Local)
2025-08-23T22:17:29.532Z,1755987449.532 [DAT](INFO): DAT read: Range 11 to 50 : 102.7 m (Round-trip 137.0 ms) speed 0.4 m/s
2025-08-23T22:17:29.532Z,1755987449.532 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:29.533Z,1755987449.533 [DAT](INFO): direction in FSK: [0.988294,0.076045,0.132256]
2025-08-23T22:17:29.534Z,1755987449.534 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:29.537Z,1755987449.537 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:29.537Z,1755987449.537 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:29.546Z,1755987449.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:29.629Z,1755987449.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 102.699997 m,
deltaT: 3.780224 s,
deltaX: -2.000000 m,
approachRate: -0.529069 m/s,
rangeRepo size: 4
2025-08-23T22:17:29.635Z,1755987449.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 102.068642 m,
bearing: 132.250583 deg,
lat: 36.779324 deg,
lon: -121.859671 deg,
deltaT: 3.780224 s,
deltaX: -1.988518 m,
approachRate: -0.526032 m/s,
posRepo size: 4
2025-08-23T22:17:29.636Z,1755987449.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.07 m.
2025-08-23T22:17:29.643Z,1755987449.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.068642 m,
nav range: 101.818672 m,
bearing: 135.327592 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.080530 deg/s,
cmd heading: 129.150012 deg,
new cmd heading: 129.223712 deg.
2025-08-23T22:17:29.644Z,1755987449.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255379 target range: 102.068642 and range: 102.70 m.
2025-08-23T22:17:29.774Z,1755987449.774 [DAT](INFO): DAT read: user:1685>
2025-08-23T22:17:29.775Z,1755987449.775 [DAT](INFO): DAT read: Tx time:22:17:29.4479
2025-08-23T22:17:29.776Z,1755987449.776 [DAT](INFO): Ping request sent.
2025-08-23T22:17:29.776Z,1755987449.776 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:29.776Z,1755987449.776 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:29.776Z,1755987449.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-23T22:17:29.998Z,1755987449.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.07 m.
2025-08-23T22:17:30.000Z,1755987450.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.068642 m,
nav range: 101.605675 m,
bearing: 135.352200 deg,
approach rate: -0.576786 m/s,
LOS rate: 0.066776 deg/s,
cmd heading: 129.223709 deg,
new cmd heading: 129.273028 deg.
2025-08-23T22:17:30.002Z,1755987450.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.256240 target range: 102.068642 and range: 102.70 m.
2025-08-23T22:17:30.026Z,1755987450.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250747
2025-08-23T22:17:30.279Z,1755987450.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502860
2025-08-23T22:17:30.361Z,1755987450.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.07 m.
2025-08-23T22:17:30.364Z,1755987450.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.068642 m,
nav range: 101.412071 m,
bearing: 135.374521 deg,
approach rate: -0.532505 m/s,
LOS rate: 0.061514 deg/s,
cmd heading: 129.273023 deg,
new cmd heading: 129.317752 deg.
2025-08-23T22:17:30.365Z,1755987450.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257020 target range: 102.068642 and range: 102.70 m.
2025-08-23T22:17:30.530Z,1755987450.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754760
2025-08-23T22:17:30.783Z,1755987450.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006926
2025-08-23T22:17:30.781Z,1755987450.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:30.785Z,1755987450.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.07 m.
2025-08-23T22:17:30.788Z,1755987450.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.068642 m,
nav range: 101.190918 m,
bearing: 135.399911 deg,
approach rate: -0.521556 m/s,
LOS rate: 0.060008 deg/s,
cmd heading: 129.317747 deg,
new cmd heading: 129.368637 deg.
2025-08-23T22:17:30.789Z,1755987450.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257909 target range: 102.068642 and range: 102.70 m.
2025-08-23T22:17:31.035Z,1755987451.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258905
2025-08-23T22:17:31.200Z,1755987451.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.07 m.
2025-08-23T22:17:31.204Z,1755987451.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.068642 m,
nav range: 100.975754 m,
bearing: 135.428169 deg,
approach rate: -0.519222 m/s,
LOS rate: 0.068336 deg/s,
cmd heading: 129.368632 deg,
new cmd heading: 129.425269 deg.
2025-08-23T22:17:31.205Z,1755987451.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.258897 target range: 102.068642 and range: 102.70 m.
2025-08-23T22:17:31.287Z,1755987451.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510977
2025-08-23T22:17:31.539Z,1755987451.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762878
2025-08-23T22:17:31.582Z,1755987451.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.07 m.
2025-08-23T22:17:31.584Z,1755987451.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.068642 m,
nav range: 100.785072 m,
bearing: 135.452937 deg,
approach rate: -0.504430 m/s,
LOS rate: 0.065646 deg/s,
cmd heading: 129.425268 deg,
new cmd heading: 129.474899 deg.
2025-08-23T22:17:31.585Z,1755987451.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.259763 target range: 102.068642 and range: 102.70 m.
2025-08-23T22:17:31.790Z,1755987451.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014762
2025-08-23T22:17:32.016Z,1755987452.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.07 m.
2025-08-23T22:17:32.023Z,1755987452.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.068642 m,
nav range: 100.556259 m,
bearing: 135.478819 deg,
approach rate: -0.521231 m/s,
LOS rate: 0.059092 deg/s,
cmd heading: 129.474896 deg,
new cmd heading: 129.526777 deg.
2025-08-23T22:17:32.024Z,1755987452.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.260669 target range: 102.068642 and range: 102.70 m.
2025-08-23T22:17:32.043Z,1755987452.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266917
2025-08-23T22:17:32.295Z,1755987452.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519421
2025-08-23T22:17:32.390Z,1755987452.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.07 m.
2025-08-23T22:17:32.392Z,1755987452.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.068642 m,
nav range: 100.361069 m,
bearing: 135.500885 deg,
approach rate: -0.546223 m/s,
LOS rate: 0.061870 deg/s,
cmd heading: 129.526779 deg,
new cmd heading: 129.570997 deg.
2025-08-23T22:17:32.414Z,1755987452.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.261441 target range: 102.068642 and range: 102.70 m.
2025-08-23T22:17:32.546Z,1755987452.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770814
2025-08-23T22:17:32.784Z,1755987452.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:32.787Z,1755987452.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.07 m.
2025-08-23T22:17:32.798Z,1755987452.798 [DAT](INFO): DAT read: Rx Time:22:17:31.9863
2025-08-23T22:17:32.799Z,1755987452.799 [DAT](INFO): Rx dataTimestamp_ set to:1755987452.798676
2025-08-23T22:17:32.799Z,1755987452.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023832
2025-08-23T22:17:32.806Z,1755987452.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.068642 m,
nav range: 100.148193 m,
bearing: 135.524859 deg,
approach rate: -0.515231 m/s,
LOS rate: 0.058148 deg/s,
cmd heading: 129.570997 deg,
new cmd heading: 129.619047 deg.
2025-08-23T22:17:32.807Z,1755987452.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262279 target range: 102.068642 and range: 102.70 m.
2025-08-23T22:17:33.051Z,1755987453.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274876
2025-08-23T22:17:33.251Z,1755987453.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.07 m.
2025-08-23T22:17:33.258Z,1755987453.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.068642 m,
nav range: 99.927727 m,
bearing: 135.549735 deg,
approach rate: -0.474853 m/s,
LOS rate: 0.053697 deg/s,
cmd heading: 129.619041 deg,
new cmd heading: 129.668902 deg.
2025-08-23T22:17:33.259Z,1755987453.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263149 target range: 102.068642 and range: 102.70 m.
2025-08-23T22:17:33.314Z,1755987453.314 [DAT](INFO): DAT read: 22:17:31.9863 LVL= 22560, 32753, 28626, 32755, AGC= 65, IDX= 411, 0.29,-2.790, 1.614,-2.732,-3.128, PHS= 0.439,-1.496, 0.352, RAW= 147.7, 7.5, CAL= 147.2, 8.1, ROT= 2.8, -8.1
2025-08-23T22:17:33.316Z,1755987453.316 [DAT](INFO): got valid direction response:
22:17:31.9863 LVL= 22560, 32753, 28626, 32755, AGC= 65, IDX= 411, 0.29,-2.790, 1.614,-2.732,-3.128, PHS= 0.439,-1.496, 0.352, RAW= 147.7, 7.5, CAL= 147.2, 8.1, ROT= 2.8, -8.1
2025-08-23T22:17:33.319Z,1755987453.319 [DAT](INFO): DAT read: Bearing 293.3, 1.7 (Local)
2025-08-23T22:17:33.320Z,1755987453.320 [DAT](INFO): Local bearing/azimuth received:
Bearing 293.3, 1.7 (Local)
2025-08-23T22:17:33.322Z,1755987453.322 [DAT](INFO): DAT read: Range 11 to 50 : 100.6 m (Round-trip 134.2 ms) speed 0.5 m/s
2025-08-23T22:17:33.323Z,1755987453.323 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:33.325Z,1755987453.325 [DAT](INFO): direction in FSK: [0.988842,0.048362,0.140901]
2025-08-23T22:17:33.326Z,1755987453.326 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:33.332Z,1755987453.332 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:33.333Z,1755987453.333 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:33.333Z,1755987453.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:33.554Z,1755987453.554 [DAT](INFO): DAT read: user:1686>
2025-08-23T22:17:33.555Z,1755987453.555 [DAT](INFO): DAT read: Tx time:22:17:33.2495
2025-08-23T22:17:33.555Z,1755987453.555 [DAT](INFO): Ping request sent.
2025-08-23T22:17:33.555Z,1755987453.555 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:33.556Z,1755987453.556 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:33.556Z,1755987453.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-08-23T22:17:33.616Z,1755987453.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 100.599998 m,
deltaT: 3.780746 s,
deltaX: -2.099998 m,
approachRate: -0.555446 m/s,
rangeRepo size: 4
2025-08-23T22:17:33.623Z,1755987453.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 99.981102 m,
bearing: 131.384100 deg,
lat: 36.779340 deg,
lon: -121.859655 deg,
deltaT: 3.780746 s,
deltaX: -2.087540 m,
approachRate: -0.552150 m/s,
posRepo size: 4
2025-08-23T22:17:33.623Z,1755987453.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-23T22:17:33.630Z,1755987453.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.981102 m,
nav range: 99.451294 m,
bearing: 134.250285 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.053697 deg/s,
cmd heading: 129.668901 deg,
new cmd heading: 129.708037 deg.
2025-08-23T22:17:33.631Z,1755987453.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263832 target range: 99.981102 and range: 100.60 m.
2025-08-23T22:17:33.808Z,1755987453.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252309
2025-08-23T22:17:34.037Z,1755987454.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-23T22:17:34.039Z,1755987454.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.981102 m,
nav range: 99.209419 m,
bearing: 134.274999 deg,
approach rate: -0.574553 m/s,
LOS rate: 0.058849 deg/s,
cmd heading: 129.708038 deg,
new cmd heading: 129.757586 deg.
2025-08-23T22:17:34.040Z,1755987454.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.264697 target range: 99.981102 and range: 100.60 m.
2025-08-23T22:17:34.075Z,1755987454.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.519815
2025-08-23T22:17:34.327Z,1755987454.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.771922
2025-08-23T22:17:34.408Z,1755987454.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-23T22:17:34.411Z,1755987454.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.981102 m,
nav range: 99.013481 m,
bearing: 134.294987 deg,
approach rate: -0.527788 m/s,
LOS rate: 0.053948 deg/s,
cmd heading: 129.757584 deg,
new cmd heading: 129.797640 deg.
2025-08-23T22:17:34.412Z,1755987454.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.265396 target range: 99.981102 and range: 100.60 m.
2025-08-23T22:17:34.579Z,1755987454.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.023329
2025-08-23T22:17:34.832Z,1755987454.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.276498
2025-08-23T22:17:34.844Z,1755987454.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:34.850Z,1755987454.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-23T22:17:34.852Z,1755987454.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.981102 m,
nav range: 98.787544 m,
bearing: 134.317970 deg,
approach rate: -0.515895 m/s,
LOS rate: 0.052598 deg/s,
cmd heading: 129.797636 deg,
new cmd heading: 129.843707 deg.
2025-08-23T22:17:34.858Z,1755987454.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.266200 target range: 99.981102 and range: 100.60 m.
2025-08-23T22:17:35.084Z,1755987455.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.528884
2025-08-23T22:17:35.259Z,1755987455.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-23T22:17:35.262Z,1755987455.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.981102 m,
nav range: 98.561028 m,
bearing: 134.339206 deg,
approach rate: -0.548476 m/s,
LOS rate: 0.051539 deg/s,
cmd heading: 129.843713 deg,
new cmd heading: 129.886284 deg.
2025-08-23T22:17:35.263Z,1755987455.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.266943 target range: 99.981102 and range: 100.60 m.
2025-08-23T22:17:35.336Z,1755987455.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.780264
2025-08-23T22:17:35.591Z,1755987455.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.035138
2025-08-23T22:17:35.625Z,1755987455.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-23T22:17:35.627Z,1755987455.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.981102 m,
nav range: 98.365479 m,
bearing: 134.357436 deg,
approach rate: -0.534339 m/s,
LOS rate: 0.049911 deg/s,
cmd heading: 129.886279 deg,
new cmd heading: 129.922810 deg.
2025-08-23T22:17:35.628Z,1755987455.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.267581 target range: 99.981102 and range: 100.60 m.
2025-08-23T22:17:35.843Z,1755987455.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.287303
2025-08-23T22:17:36.051Z,1755987456.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-23T22:17:36.054Z,1755987456.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.981102 m,
nav range: 98.138161 m,
bearing: 134.380186 deg,
approach rate: -0.532751 m/s,
LOS rate: 0.053443 deg/s,
cmd heading: 129.922807 deg,
new cmd heading: 129.968413 deg.
2025-08-23T22:17:36.055Z,1755987456.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.268377 target range: 99.981102 and range: 100.60 m.
2025-08-23T22:17:36.095Z,1755987456.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.539479
2025-08-23T22:17:36.347Z,1755987456.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.791054
2025-08-23T22:17:36.456Z,1755987456.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-23T22:17:36.459Z,1755987456.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.981102 m,
nav range: 97.930313 m,
bearing: 134.401082 deg,
approach rate: -0.514001 m/s,
LOS rate: 0.051783 deg/s,
cmd heading: 129.968419 deg,
new cmd heading: 130.010298 deg.
2025-08-23T22:17:36.460Z,1755987456.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269108 target range: 99.981102 and range: 100.60 m.
2025-08-23T22:17:36.599Z,1755987456.599 [DAT](INFO): DAT read: Rx Time:22:17:35.7851
2025-08-23T22:17:36.599Z,1755987456.599 [DAT](INFO): Rx dataTimestamp_ set to:1755987456.598895
2025-08-23T22:17:36.600Z,1755987456.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.044277
2025-08-23T22:17:36.851Z,1755987456.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.295161
2025-08-23T22:17:36.856Z,1755987456.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:36.858Z,1755987456.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-23T22:17:36.861Z,1755987456.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.981102 m,
nav range: 97.709419 m,
bearing: 134.423142 deg,
approach rate: -0.548687 m/s,
LOS rate: 0.054919 deg/s,
cmd heading: 130.010301 deg,
new cmd heading: 130.054521 deg.
2025-08-23T22:17:36.862Z,1755987456.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269880 target range: 99.981102 and range: 100.60 m.
2025-08-23T22:17:37.112Z,1755987457.112 [DAT](INFO): DAT read: 22:17:35.7851 LVL= 28784, 32753, 29858, 32755, AGC= 66, IDX= 416,-0.48, 1.471,-0.386, 1.556, 1.145, PHS= 0.429,-1.485, 0.368, RAW= 148.4, 7.4, CAL= 147.9, 7.9, ROT= 2.1, -7.9
2025-08-23T22:17:37.113Z,1755987457.113 [DAT](INFO): got valid direction response:
22:17:35.7851 LVL= 28784, 32753, 29858, 32755, AGC= 66, IDX= 416,-0.48, 1.471,-0.386, 1.556, 1.145, PHS= 0.429,-1.485, 0.368, RAW= 148.4, 7.4, CAL= 147.9, 7.9, ROT= 2.1, -7.9
2025-08-23T22:17:37.115Z,1755987457.115 [DAT](INFO): DAT read: Bearing 293.7, 1.8 (Local)
2025-08-23T22:17:37.116Z,1755987457.116 [DAT](INFO): Local bearing/azimuth received:
Bearing 293.7, 1.8 (Local)
2025-08-23T22:17:37.117Z,1755987457.117 [DAT](INFO): DAT read: Range 11 to 50 : 98.7 m (Round-trip 131.6 ms) speed 0.4 m/s
2025-08-23T22:17:37.118Z,1755987457.118 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:37.119Z,1755987457.119 [DAT](INFO): direction in FSK: [0.989844,0.036296,0.137445]
2025-08-23T22:17:37.119Z,1755987457.119 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:37.127Z,1755987457.127 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:37.127Z,1755987457.127 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:37.127Z,1755987457.127 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:37.315Z,1755987457.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 98.699997 m,
deltaT: 3.800615 s,
deltaX: -1.900002 m,
approachRate: -0.499920 m/s,
rangeRepo size: 4
2025-08-23T22:17:37.323Z,1755987457.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 98.092682 m,
bearing: 131.253150 deg,
lat: 36.779360 deg,
lon: -121.859630 deg,
deltaT: 3.800615 s,
deltaX: -1.888420 m,
approachRate: -0.496872 m/s,
posRepo size: 4
2025-08-23T22:17:37.324Z,1755987457.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.09 m.
2025-08-23T22:17:37.343Z,1755987457.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.092682 m,
nav range: 97.495140 m,
bearing: 132.590345 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.054919 deg/s,
cmd heading: 130.054520 deg,
new cmd heading: 130.104044 deg.
2025-08-23T22:17:37.344Z,1755987457.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270744 target range: 98.092682 and range: 98.70 m.
2025-08-23T22:17:37.354Z,1755987457.354 [DAT](INFO): DAT read: user:1687>
2025-08-23T22:17:37.355Z,1755987457.355 [DAT](INFO): DAT read: Tx time:22:17:37.0478
2025-08-23T22:17:37.356Z,1755987457.356 [DAT](INFO): Ping request sent.
2025-08-23T22:17:37.356Z,1755987457.356 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:37.356Z,1755987457.356 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:37.356Z,1755987457.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-08-23T22:17:37.610Z,1755987457.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254524
2025-08-23T22:17:37.687Z,1755987457.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.09 m.
2025-08-23T22:17:37.690Z,1755987457.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.092682 m,
nav range: 97.277115 m,
bearing: 132.608057 deg,
approach rate: -0.577018 m/s,
LOS rate: 0.046982 deg/s,
cmd heading: 130.104039 deg,
new cmd heading: 130.139543 deg.
2025-08-23T22:17:37.691Z,1755987457.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.271363 target range: 98.092682 and range: 98.70 m.
2025-08-23T22:17:37.859Z,1755987457.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502974
2025-08-23T22:17:38.111Z,1755987458.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754866
2025-08-23T22:17:38.117Z,1755987458.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.09 m.
2025-08-23T22:17:38.120Z,1755987458.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.092682 m,
nav range: 97.045273 m,
bearing: 132.629047 deg,
approach rate: -0.539333 m/s,
LOS rate: 0.048944 deg/s,
cmd heading: 130.139542 deg,
new cmd heading: 130.181621 deg.
2025-08-23T22:17:38.121Z,1755987458.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272098 target range: 98.092682 and range: 98.70 m.
2025-08-23T22:17:38.363Z,1755987458.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007167
2025-08-23T22:17:38.494Z,1755987458.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.09 m.
2025-08-23T22:17:38.496Z,1755987458.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.092682 m,
nav range: 96.840759 m,
bearing: 132.647540 deg,
approach rate: -0.542904 m/s,
LOS rate: 0.049196 deg/s,
cmd heading: 130.181616 deg,
new cmd heading: 130.218681 deg.
2025-08-23T22:17:38.498Z,1755987458.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272745 target range: 98.092682 and range: 98.70 m.
2025-08-23T22:17:38.615Z,1755987458.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258945
2025-08-23T22:17:38.867Z,1755987458.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510871
2025-08-23T22:17:38.900Z,1755987458.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:38.903Z,1755987458.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.09 m.
2025-08-23T22:17:38.905Z,1755987458.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.092682 m,
nav range: 96.620033 m,
bearing: 132.667496 deg,
approach rate: -0.539668 m/s,
LOS rate: 0.048905 deg/s,
cmd heading: 130.218677 deg,
new cmd heading: 130.258681 deg.
2025-08-23T22:17:38.906Z,1755987458.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.273443 target range: 98.092682 and range: 98.70 m.
2025-08-23T22:17:39.119Z,1755987459.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763306
2025-08-23T22:17:39.356Z,1755987459.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.09 m.
2025-08-23T22:17:39.363Z,1755987459.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.092682 m,
nav range: 96.391808 m,
bearing: 132.688319 deg,
approach rate: -0.503487 m/s,
LOS rate: 0.046045 deg/s,
cmd heading: 130.258674 deg,
new cmd heading: 130.300418 deg.
2025-08-23T22:17:39.364Z,1755987459.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.274171 target range: 98.092682 and range: 98.70 m.
2025-08-23T22:17:39.375Z,1755987459.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018483
2025-08-23T22:17:39.622Z,1755987459.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266783
2025-08-23T22:17:39.714Z,1755987459.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.09 m.
2025-08-23T22:17:39.717Z,1755987459.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.092682 m,
nav range: 96.191902 m,
bearing: 132.706568 deg,
approach rate: -0.558855 m/s,
LOS rate: 0.051122 deg/s,
cmd heading: 130.300420 deg,
new cmd heading: 130.336994 deg.
2025-08-23T22:17:39.718Z,1755987459.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.274810 target range: 98.092682 and range: 98.70 m.
2025-08-23T22:17:39.814Z,1755987459.814 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:17:39.874Z,1755987459.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518806
2025-08-23T22:17:40.127Z,1755987460.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770972
2025-08-23T22:17:40.136Z,1755987460.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.09 m.
2025-08-23T22:17:40.139Z,1755987460.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.092682 m,
nav range: 95.957703 m,
bearing: 132.725653 deg,
approach rate: -0.553891 m/s,
LOS rate: 0.045248 deg/s,
cmd heading: 130.336989 deg,
new cmd heading: 130.375253 deg.
2025-08-23T22:17:40.140Z,1755987460.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275477 target range: 98.092682 and range: 98.70 m.
2025-08-23T22:17:40.379Z,1755987460.379 [DAT](INFO): DAT read: Rx Time:22:17:39.5807
2025-08-23T22:17:40.379Z,1755987460.379 [DAT](INFO): Rx dataTimestamp_ set to:1755987460.379176
2025-08-23T22:17:40.380Z,1755987460.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024352
2025-08-23T22:17:40.515Z,1755987460.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.09 m.
2025-08-23T22:17:40.517Z,1755987460.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.092682 m,
nav range: 95.755722 m,
bearing: 132.742112 deg,
approach rate: -0.534224 m/s,
LOS rate: 0.043626 deg/s,
cmd heading: 130.375252 deg,
new cmd heading: 130.408240 deg.
2025-08-23T22:17:40.518Z,1755987460.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276053 target range: 98.092682 and range: 98.70 m.
2025-08-23T22:17:40.631Z,1755987460.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275120
2025-08-23T22:17:40.823Z,1755987460.823 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:17:40.888Z,1755987460.888 [DAT](INFO): DAT read: 22:17:39.5807 LVL= 26432, 32017, 27250, 32755, AGC= 67, IDX= 419, 0.30,-0.165,-1.972,-0.040,-0.488, PHS= 0.425,-1.438, 0.405, RAW= 149.4, 6.6, CAL= 148.8, 7.0, ROT= 1.2, -7.0
2025-08-23T22:17:40.889Z,1755987460.889 [DAT](INFO): got valid direction response:
22:17:39.5807 LVL= 26432, 32017, 27250, 32755, AGC= 67, IDX= 419, 0.30,-0.165,-1.972,-0.040,-0.488, PHS= 0.425,-1.438, 0.405, RAW= 149.4, 6.6, CAL= 148.8, 7.0, ROT= 1.2, -7.0
2025-08-23T22:17:40.890Z,1755987460.890 [DAT](INFO): DAT read: Bearing 294.1, 1.3 (Local)
2025-08-23T22:17:40.890Z,1755987460.890 [DAT](INFO): Local bearing/azimuth received:
Bearing 294.1, 1.3 (Local)
2025-08-23T22:17:40.892Z,1755987460.892 [DAT](INFO): DAT read: Range 11 to 50 : 96.6 m (Round-trip 128.8 ms) speed 0.4 m/s
2025-08-23T22:17:40.892Z,1755987460.892 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:40.893Z,1755987460.893 [DAT](INFO): direction in FSK: [0.992328,0.020786,0.121869]
2025-08-23T22:17:40.893Z,1755987460.893 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:40.897Z,1755987460.897 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:40.897Z,1755987460.897 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:40.897Z,1755987460.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:41.060Z,1755987461.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 96.599998 m,
deltaT: 3.778503 s,
deltaX: -2.099998 m,
approachRate: -0.555775 m/s,
rangeRepo size: 4
2025-08-23T22:17:41.075Z,1755987461.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 96.004631 m,
bearing: 130.728864 deg,
lat: 36.779374 deg,
lon: -121.859619 deg,
deltaT: 3.778503 s,
deltaX: -2.088051 m,
approachRate: -0.552613 m/s,
posRepo size: 4
2025-08-23T22:17:41.084Z,1755987461.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-08-23T22:17:41.096Z,1755987461.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.004631 m,
nav range: 95.285301 m,
bearing: 131.672557 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.043626 deg/s,
cmd heading: 130.408242 deg,
new cmd heading: 130.455030 deg.
2025-08-23T22:17:41.097Z,1755987461.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276870 target range: 96.004631 and range: 96.60 m.
2025-08-23T22:17:41.136Z,1755987461.136 [DAT](INFO): DAT read: user:1688>
2025-08-23T22:17:41.136Z,1755987461.136 [DAT](INFO): DAT read: Tx time:22:17:40.7978
2025-08-23T22:17:41.137Z,1755987461.137 [DAT](INFO): Ping request sent.
2025-08-23T22:17:41.137Z,1755987461.137 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:41.137Z,1755987461.137 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:41.138Z,1755987461.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000845
2025-08-23T22:17:41.387Z,1755987461.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249845
2025-08-23T22:17:41.457Z,1755987461.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:41.459Z,1755987461.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-08-23T22:17:41.462Z,1755987461.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.004631 m,
nav range: 95.026855 m,
bearing: 131.685273 deg,
approach rate: -0.632484 m/s,
LOS rate: 0.031204 deg/s,
cmd heading: 130.455029 deg,
new cmd heading: 130.480529 deg.
2025-08-23T22:17:41.463Z,1755987461.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277315 target range: 96.004631 and range: 96.60 m.
2025-08-23T22:17:41.642Z,1755987461.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504823
2025-08-23T22:17:41.843Z,1755987461.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-08-23T22:17:41.846Z,1755987461.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.004631 m,
nav range: 94.814095 m,
bearing: 131.695676 deg,
approach rate: -0.554850 m/s,
LOS rate: 0.027191 deg/s,
cmd heading: 130.480532 deg,
new cmd heading: 130.501386 deg.
2025-08-23T22:17:41.847Z,1755987461.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277679 target range: 96.004631 and range: 96.60 m.
2025-08-23T22:17:41.891Z,1755987461.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754540
2025-08-23T22:17:42.142Z,1755987462.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005799
2025-08-23T22:17:42.249Z,1755987462.249 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -13.66, +349.9 +4.92, 8.77, 0.00
2025-08-23T22:17:42.264Z,1755987462.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-08-23T22:17:42.267Z,1755987462.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.004631 m,
nav range: 94.580643 m,
bearing: 131.707025 deg,
approach rate: -0.553769 m/s,
LOS rate: 0.026987 deg/s,
cmd heading: 130.501392 deg,
new cmd heading: 130.524146 deg.
2025-08-23T22:17:42.268Z,1755987462.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278076 target range: 96.004631 and range: 96.60 m.
2025-08-23T22:17:42.395Z,1755987462.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258001
2025-08-23T22:17:42.647Z,1755987462.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509813
2025-08-23T22:17:42.658Z,1755987462.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-08-23T22:17:42.661Z,1755987462.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.004631 m,
nav range: 94.373665 m,
bearing: 131.717025 deg,
approach rate: -0.525590 m/s,
LOS rate: 0.025451 deg/s,
cmd heading: 130.524150 deg,
new cmd heading: 130.544195 deg.
2025-08-23T22:17:42.666Z,1755987462.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278426 target range: 96.004631 and range: 96.60 m.
2025-08-23T22:17:42.900Z,1755987462.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763096
2025-08-23T22:17:43.057Z,1755987463.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-08-23T22:17:43.098Z,1755987463.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.004631 m,
nav range: 94.144783 m,
bearing: 131.728020 deg,
approach rate: -0.575902 m/s,
LOS rate: 0.027731 deg/s,
cmd heading: 130.544190 deg,
new cmd heading: 130.566232 deg.
2025-08-23T22:17:43.101Z,1755987463.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278811 target range: 96.004631 and range: 96.60 m.
2025-08-23T22:17:43.151Z,1755987463.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014164
2025-08-23T22:17:43.402Z,1755987463.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265801
2025-08-23T22:17:43.481Z,1755987463.481 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:43.484Z,1755987463.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-08-23T22:17:43.486Z,1755987463.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.004631 m,
nav range: 93.906563 m,
bearing: 131.742529 deg,
approach rate: -0.556799 m/s,
LOS rate: 0.033998 deg/s,
cmd heading: 130.566238 deg,
new cmd heading: 130.595329 deg.
2025-08-23T22:17:43.487Z,1755987463.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279319 target range: 96.004631 and range: 96.60 m.
2025-08-23T22:17:43.654Z,1755987463.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517749
2025-08-23T22:17:43.854Z,1755987463.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-08-23T22:17:43.856Z,1755987463.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.004631 m,
nav range: 93.701057 m,
bearing: 131.754980 deg,
approach rate: -0.555271 m/s,
LOS rate: 0.033717 deg/s,
cmd heading: 130.595334 deg,
new cmd heading: 130.620291 deg.
2025-08-23T22:17:43.857Z,1755987463.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279754 target range: 96.004631 and range: 96.60 m.
2025-08-23T22:17:43.907Z,1755987463.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770672
2025-08-23T22:17:44.158Z,1755987464.158 [DAT](INFO): DAT read: Rx Time:22:17:43.3280
2025-08-23T22:17:44.159Z,1755987464.159 [DAT](INFO): Rx dataTimestamp_ set to:1755987464.158677
2025-08-23T22:17:44.160Z,1755987464.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022842
2025-08-23T22:17:44.302Z,1755987464.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-08-23T22:17:44.308Z,1755987464.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.004631 m,
nav range: 93.467186 m,
bearing: 131.769051 deg,
approach rate: -0.522658 m/s,
LOS rate: 0.031526 deg/s,
cmd heading: 130.620292 deg,
new cmd heading: 130.648505 deg.
2025-08-23T22:17:44.310Z,1755987464.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280246 target range: 96.004631 and range: 96.60 m.
2025-08-23T22:17:44.411Z,1755987464.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274412
2025-08-23T22:17:44.668Z,1755987464.668 [DAT](INFO): DAT read: 22:17:43.3280 LVL= 23456, 29569, 26674, 32755, AGC= 66, IDX= 407, 0.44, 0.529,-1.301, 0.664, 0.212, PHS= 0.420,-1.467, 0.408, RAW= 149.7, 6.8, CAL= 149.1, 7.3, ROT= 0.9, -7.3
2025-08-23T22:17:44.669Z,1755987464.669 [DAT](INFO): got valid direction response:
22:17:43.3280 LVL= 23456, 29569, 26674, 32755, AGC= 66, IDX= 407, 0.44, 0.529,-1.301, 0.664, 0.212, PHS= 0.420,-1.467, 0.408, RAW= 149.7, 6.8, CAL= 149.1, 7.3, ROT= 0.9, -7.3
2025-08-23T22:17:44.670Z,1755987464.670 [DAT](INFO): DAT read: Bearing 295.6, 1.5 (Local)
2025-08-23T22:17:44.670Z,1755987464.670 [DAT](INFO): Local bearing/azimuth received:
Bearing 295.6, 1.5 (Local)
2025-08-23T22:17:44.672Z,1755987464.672 [DAT](INFO): DAT read: Range 11 to 50 : 94.5 m (Round-trip 126.0 ms) speed 0.5 m/s
2025-08-23T22:17:44.672Z,1755987464.672 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:44.673Z,1755987464.673 [DAT](INFO): direction in FSK: [0.991772,0.015580,0.127065]
2025-08-23T22:17:44.673Z,1755987464.673 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:44.677Z,1755987464.677 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:44.677Z,1755987464.677 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:44.677Z,1755987464.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:44.712Z,1755987464.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 94.500000 m,
deltaT: 3.780041 s,
deltaX: -2.099998 m,
approachRate: -0.555549 m/s,
rangeRepo size: 4
2025-08-23T22:17:44.726Z,1755987464.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 93.915085 m,
bearing: 130.945854 deg,
lat: 36.779377 deg,
lon: -121.859615 deg,
deltaT: 3.780041 s,
deltaX: -2.089546 m,
approachRate: -0.552784 m/s,
posRepo size: 4
2025-08-23T22:17:44.726Z,1755987464.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-23T22:17:44.729Z,1755987464.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.915085 m,
nav range: 93.300903 m,
bearing: 131.500372 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.031526 deg/s,
cmd heading: 130.648500 deg,
new cmd heading: 130.674339 deg.
2025-08-23T22:17:44.742Z,1755987464.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280697 target range: 93.915085 and range: 94.50 m.
2025-08-23T22:17:44.915Z,1755987464.915 [DAT](INFO): DAT read: user:1689>
2025-08-23T22:17:44.915Z,1755987464.915 [DAT](INFO): DAT read: Tx time:22:17:44.5978
2025-08-23T22:17:44.916Z,1755987464.916 [DAT](INFO): Ping request sent.
2025-08-23T22:17:44.916Z,1755987464.916 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:44.916Z,1755987464.916 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:44.917Z,1755987464.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-23T22:17:45.151Z,1755987465.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-23T22:17:45.160Z,1755987465.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.915085 m,
nav range: 93.072243 m,
bearing: 131.513438 deg,
approach rate: -0.519654 m/s,
LOS rate: 0.029766 deg/s,
cmd heading: 130.674332 deg,
new cmd heading: 130.700528 deg.
2025-08-23T22:17:45.161Z,1755987465.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281155 target range: 93.915085 and range: 94.50 m.
2025-08-23T22:17:45.170Z,1755987465.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253578
2025-08-23T22:17:45.423Z,1755987465.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507515
2025-08-23T22:17:45.563Z,1755987465.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:45.566Z,1755987465.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-23T22:17:45.568Z,1755987465.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.915085 m,
nav range: 92.834572 m,
bearing: 131.528138 deg,
approach rate: -0.573471 m/s,
LOS rate: 0.035560 deg/s,
cmd heading: 130.700533 deg,
new cmd heading: 130.730008 deg.
2025-08-23T22:17:45.569Z,1755987465.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281669 target range: 93.915085 and range: 94.50 m.
2025-08-23T22:17:45.674Z,1755987465.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758537
2025-08-23T22:17:45.927Z,1755987465.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010787
2025-08-23T22:17:45.939Z,1755987465.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-23T22:17:45.942Z,1755987465.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.915085 m,
nav range: 92.625160 m,
bearing: 131.541111 deg,
approach rate: -0.560440 m/s,
LOS rate: 0.034796 deg/s,
cmd heading: 130.730012 deg,
new cmd heading: 130.756016 deg.
2025-08-23T22:17:45.943Z,1755987465.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282123 target range: 93.915085 and range: 94.50 m.
2025-08-23T22:17:46.182Z,1755987466.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266092
2025-08-23T22:17:46.369Z,1755987466.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-23T22:17:46.372Z,1755987466.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.915085 m,
nav range: 92.400658 m,
bearing: 131.554433 deg,
approach rate: -0.522054 m/s,
LOS rate: 0.031055 deg/s,
cmd heading: 130.756021 deg,
new cmd heading: 130.782731 deg.
2025-08-23T22:17:46.373Z,1755987466.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282589 target range: 93.915085 and range: 94.50 m.
2025-08-23T22:17:46.431Z,1755987466.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515278
2025-08-23T22:17:46.683Z,1755987466.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766943
2025-08-23T22:17:46.745Z,1755987466.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-23T22:17:46.747Z,1755987466.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.915085 m,
nav range: 92.204437 m,
bearing: 131.566095 deg,
approach rate: -0.522412 m/s,
LOS rate: 0.031114 deg/s,
cmd heading: 130.782727 deg,
new cmd heading: 130.806100 deg.
2025-08-23T22:17:46.748Z,1755987466.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282997 target range: 93.915085 and range: 94.50 m.
2025-08-23T22:17:46.935Z,1755987466.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019359
2025-08-23T22:17:47.187Z,1755987467.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271139
2025-08-23T22:17:47.241Z,1755987467.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-23T22:17:47.243Z,1755987467.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.915085 m,
nav range: 91.941055 m,
bearing: 131.582989 deg,
approach rate: -0.531090 m/s,
LOS rate: 0.034163 deg/s,
cmd heading: 130.806100 deg,
new cmd heading: 130.839985 deg.
2025-08-23T22:17:47.244Z,1755987467.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283589 target range: 93.915085 and range: 94.50 m.
2025-08-23T22:17:47.439Z,1755987467.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523301
2025-08-23T22:17:47.548Z,1755987467.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-23T22:17:47.551Z,1755987467.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.915085 m,
nav range: 91.777473 m,
bearing: 131.593508 deg,
approach rate: -0.531334 m/s,
LOS rate: 0.034228 deg/s,
cmd heading: 130.839992 deg,
new cmd heading: 130.861067 deg.
2025-08-23T22:17:47.552Z,1755987467.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283957 target range: 93.915085 and range: 94.50 m.
2025-08-23T22:17:47.691Z,1755987467.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774732
2025-08-23T22:17:47.942Z,1755987467.942 [DAT](INFO): DAT read: Rx Time:22:17:47.1253
2025-08-23T22:17:47.943Z,1755987467.943 [DAT](INFO): Rx dataTimestamp_ set to:1755987467.942615
2025-08-23T22:17:47.943Z,1755987467.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027660
2025-08-23T22:17:47.983Z,1755987467.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:47.990Z,1755987467.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-23T22:17:47.992Z,1755987467.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.915085 m,
nav range: 91.558289 m,
bearing: 131.607629 deg,
approach rate: -0.501539 m/s,
LOS rate: 0.032389 deg/s,
cmd heading: 130.861070 deg,
new cmd heading: 130.889380 deg.
2025-08-23T22:17:47.993Z,1755987467.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284451 target range: 93.915085 and range: 94.50 m.
2025-08-23T22:17:48.195Z,1755987468.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279283
2025-08-23T22:17:48.424Z,1755987468.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.92 m.
2025-08-23T22:17:48.427Z,1755987468.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.915085 m,
nav range: 91.308136 m,
bearing: 131.622385 deg,
approach rate: -0.570247 m/s,
LOS rate: 0.033730 deg/s,
cmd heading: 130.889374 deg,
new cmd heading: 130.918967 deg.
2025-08-23T22:17:48.428Z,1755987468.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284967 target range: 93.915085 and range: 94.50 m.
2025-08-23T22:17:48.452Z,1755987468.452 [DAT](INFO): DAT read: 22:17:47.1253 LVL= 21808, 26817, 21858, 32755, AGC= 65, IDX= 412,-0.34, 0.606,-1.233, 0.738, 0.279, PHS= 0.428,-1.468, 0.415, RAW= 149.6, 6.7, CAL= 149.0, 7.1, ROT= 1.0, -7.1
2025-08-23T22:17:48.453Z,1755987468.453 [DAT](INFO): got valid direction response:
22:17:47.1253 LVL= 21808, 26817, 21858, 32755, AGC= 65, IDX= 412,-0.34, 0.606,-1.233, 0.738, 0.279, PHS= 0.428,-1.468, 0.415, RAW= 149.6, 6.7, CAL= 149.0, 7.1, ROT= 1.0, -7.1
2025-08-23T22:17:48.454Z,1755987468.454 [DAT](INFO): DAT read: Bearing 296.1, 1.8 (Local)
2025-08-23T22:17:48.454Z,1755987468.454 [DAT](INFO): Local bearing/azimuth received:
Bearing 296.1, 1.8 (Local)
2025-08-23T22:17:48.456Z,1755987468.456 [DAT](INFO): DAT read: Range 11 to 50 : 92.5 m (Round-trip 123.4 ms) speed 0.4 m/s
2025-08-23T22:17:48.456Z,1755987468.456 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:48.457Z,1755987468.457 [DAT](INFO): direction in FSK: [0.992181,0.017319,0.123601]
2025-08-23T22:17:48.457Z,1755987468.457 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:48.461Z,1755987468.461 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:48.461Z,1755987468.461 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:48.461Z,1755987468.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:48.698Z,1755987468.698 [DAT](INFO): DAT read: user:1690>
2025-08-23T22:17:48.699Z,1755987468.699 [DAT](INFO): DAT read: Tx time:22:17:48.3978
2025-08-23T22:17:48.699Z,1755987468.699 [DAT](INFO): Ping request sent.
2025-08-23T22:17:48.700Z,1755987468.700 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:48.700Z,1755987468.700 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:48.700Z,1755987468.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-08-23T22:17:48.787Z,1755987468.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 92.500000 m,
deltaT: 3.783941 s,
deltaX: -2.000000 m,
approachRate: -0.528549 m/s,
rangeRepo size: 4
2025-08-23T22:17:48.790Z,1755987468.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 91.927505 m,
bearing: 131.318149 deg,
lat: 36.779380 deg,
lon: -121.859611 deg,
deltaT: 3.783941 s,
deltaX: -1.987579 m,
approachRate: -0.525267 m/s,
posRepo size: 4
2025-08-23T22:17:48.792Z,1755987468.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.93 m.
2025-08-23T22:17:48.797Z,1755987468.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.927505 m,
nav range: 91.121910 m,
bearing: 131.317819 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.033730 deg/s,
cmd heading: 130.918962 deg,
new cmd heading: 130.943260 deg.
2025-08-23T22:17:48.799Z,1755987468.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285391 target range: 91.927505 and range: 92.50 m.
2025-08-23T22:17:48.951Z,1755987468.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251083
2025-08-23T22:17:49.205Z,1755987469.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505246
2025-08-23T22:17:49.239Z,1755987469.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.93 m.
2025-08-23T22:17:49.242Z,1755987469.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.927505 m,
nav range: 90.874214 m,
bearing: 131.331675 deg,
approach rate: -0.544348 m/s,
LOS rate: 0.030532 deg/s,
cmd heading: 130.943264 deg,
new cmd heading: 130.971051 deg.
2025-08-23T22:17:49.243Z,1755987469.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285876 target range: 91.927505 and range: 92.50 m.
2025-08-23T22:17:49.455Z,1755987469.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755325
2025-08-23T22:17:49.587Z,1755987469.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.93 m.
2025-08-23T22:17:49.590Z,1755987469.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.927505 m,
nav range: 90.685013 m,
bearing: 131.340661 deg,
approach rate: -0.543945 m/s,
LOS rate: 0.025889 deg/s,
cmd heading: 130.971049 deg,
new cmd heading: 130.989059 deg.
2025-08-23T22:17:49.591Z,1755987469.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286190 target range: 91.927505 and range: 92.50 m.
2025-08-23T22:17:49.707Z,1755987469.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007836
2025-08-23T22:17:49.959Z,1755987469.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259024
2025-08-23T22:17:49.971Z,1755987469.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.93 m.
2025-08-23T22:17:49.974Z,1755987469.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.927505 m,
nav range: 90.480797 m,
bearing: 131.350406 deg,
approach rate: -0.531756 m/s,
LOS rate: 0.025431 deg/s,
cmd heading: 130.989054 deg,
new cmd heading: 131.008587 deg.
2025-08-23T22:17:49.975Z,1755987469.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286531 target range: 91.927505 and range: 92.50 m.
2025-08-23T22:17:50.211Z,1755987470.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511300
2025-08-23T22:17:50.398Z,1755987470.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:50.400Z,1755987470.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.93 m.
2025-08-23T22:17:50.403Z,1755987470.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.927505 m,
nav range: 90.250557 m,
bearing: 131.363761 deg,
approach rate: -0.536885 m/s,
LOS rate: 0.031221 deg/s,
cmd heading: 131.008588 deg,
new cmd heading: 131.035366 deg.
2025-08-23T22:17:50.404Z,1755987470.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286999 target range: 91.927505 and range: 92.50 m.
2025-08-23T22:17:50.463Z,1755987470.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763299
2025-08-23T22:17:50.715Z,1755987470.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014924
2025-08-23T22:17:50.807Z,1755987470.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.93 m.
2025-08-23T22:17:50.814Z,1755987470.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.927505 m,
nav range: 90.043732 m,
bearing: 131.375810 deg,
approach rate: -0.508318 m/s,
LOS rate: 0.029682 deg/s,
cmd heading: 131.035362 deg,
new cmd heading: 131.059516 deg.
2025-08-23T22:17:50.815Z,1755987470.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287420 target range: 91.927505 and range: 92.50 m.
2025-08-23T22:17:50.971Z,1755987470.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271571
2025-08-23T22:17:51.225Z,1755987471.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525137
2025-08-23T22:17:51.253Z,1755987471.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.93 m.
2025-08-23T22:17:51.260Z,1755987471.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.927505 m,
nav range: 89.796371 m,
bearing: 131.390266 deg,
approach rate: -0.554790 m/s,
LOS rate: 0.032512 deg/s,
cmd heading: 131.059514 deg,
new cmd heading: 131.088505 deg.
2025-08-23T22:17:51.261Z,1755987471.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287926 target range: 91.927505 and range: 92.50 m.
2025-08-23T22:17:51.475Z,1755987471.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775039
2025-08-23T22:17:51.628Z,1755987471.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.93 m.
2025-08-23T22:17:51.631Z,1755987471.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.927505 m,
nav range: 89.587677 m,
bearing: 131.401138 deg,
approach rate: -0.556354 m/s,
LOS rate: 0.029051 deg/s,
cmd heading: 131.088501 deg,
new cmd heading: 131.110296 deg.
2025-08-23T22:17:51.632Z,1755987471.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288306 target range: 91.927505 and range: 92.50 m.
2025-08-23T22:17:51.727Z,1755987471.727 [DAT](INFO): DAT read: Rx Time:22:17:50.9225
2025-08-23T22:17:51.727Z,1755987471.727 [DAT](INFO): Rx dataTimestamp_ set to:1755987471.726780
2025-08-23T22:17:51.728Z,1755987471.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028021
2025-08-23T22:17:51.979Z,1755987471.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278955
2025-08-23T22:17:52.007Z,1755987472.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.93 m.
2025-08-23T22:17:52.010Z,1755987472.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.927505 m,
nav range: 89.381859 m,
bearing: 131.411894 deg,
approach rate: -0.543272 m/s,
LOS rate: 0.028456 deg/s,
cmd heading: 131.110290 deg,
new cmd heading: 131.131850 deg.
2025-08-23T22:17:52.011Z,1755987472.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288682 target range: 91.927505 and range: 92.50 m.
2025-08-23T22:17:52.242Z,1755987472.242 [DAT](INFO): DAT read: 22:17:50.9225 LVL= 28336, 32753, 29042, 32755, AGC= 65, IDX= 415, 0.41, 2.834, 1.011, 2.961, 2.525, PHS= 0.410,-1.469, 0.392, RAW= 149.5, 7.2, CAL= 149.0, 7.7, ROT= 1.0, -7.7
2025-08-23T22:17:52.244Z,1755987472.244 [DAT](INFO): got valid direction response:
22:17:50.9225 LVL= 28336, 32753, 29042, 32755, AGC= 65, IDX= 415, 0.41, 2.834, 1.011, 2.961, 2.525, PHS= 0.410,-1.469, 0.392, RAW= 149.5, 7.2, CAL= 149.0, 7.7, ROT= 1.0, -7.7
2025-08-23T22:17:52.245Z,1755987472.245 [DAT](INFO): DAT read: Bearing 297.1, 2.2 (Local)
2025-08-23T22:17:52.245Z,1755987472.245 [DAT](INFO): Local bearing/azimuth received:
Bearing 297.1, 2.2 (Local)
2025-08-23T22:17:52.256Z,1755987472.256 [DAT](INFO): DAT read: Range 11 to 50 : 90.4 m (Round-trip 120.6 ms) speed 0.5 m/s
2025-08-23T22:17:52.257Z,1755987472.257 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:52.268Z,1755987472.268 [DAT](INFO): direction in FSK: [0.990832,0.017295,0.133986]
2025-08-23T22:17:52.269Z,1755987472.269 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:52.292Z,1755987472.292 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:52.292Z,1755987472.292 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:52.292Z,1755987472.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:52.382Z,1755987472.382 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-08-23T22:17:52.382Z,1755987472.382 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-08-23T22:17:52.382Z,1755987472.382 [ThrusterHE] Communications Fault, FailCount= 1
2025-08-23T22:17:52.382Z,1755987472.382 [ThrusterHE](ERROR): Communications Fault
2025-08-23T22:17:52.391Z,1755987472.391 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-08-23T22:17:52.482Z,1755987472.482 [DAT](INFO): DAT read: user:1691>
2025-08-23T22:17:52.483Z,1755987472.483 [DAT](INFO): DAT read: Tx time:22:17:52.2478
2025-08-23T22:17:52.484Z,1755987472.484 [DAT](INFO): Ping request sent.
2025-08-23T22:17:52.484Z,1755987472.484 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:52.484Z,1755987472.484 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:52.484Z,1755987472.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-08-23T22:17:52.488Z,1755987472.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 90.400002 m,
deltaT: 3.785520 s,
deltaX: -2.099998 m,
approachRate: -0.554745 m/s,
rangeRepo size: 4
2025-08-23T22:17:52.506Z,1755987472.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 89.840973 m,
bearing: 131.345870 deg,
lat: 36.779382 deg,
lon: -121.859611 deg,
deltaT: 3.785520 s,
deltaX: -2.086533 m,
approachRate: -0.551188 m/s,
posRepo size: 4
2025-08-23T22:17:52.506Z,1755987472.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.84 m.
2025-08-23T22:17:52.509Z,1755987472.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.840973 m,
nav range: 88.957863 m,
bearing: 131.298869 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.028456 deg/s,
cmd heading: 131.131846 deg,
new cmd heading: 131.159170 deg.
2025-08-23T22:17:52.514Z,1755987472.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289159 target range: 89.840973 and range: 90.40 m.
2025-08-23T22:17:52.735Z,1755987472.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251107
2025-08-23T22:17:52.751Z,1755987472.751 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-08-23T22:17:52.751Z,1755987472.751 [ThrusterHE](INFO): Powering down
2025-08-23T22:17:52.845Z,1755987472.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:52.854Z,1755987472.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.84 m.
2025-08-23T22:17:52.857Z,1755987472.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.840973 m,
nav range: 88.765488 m,
bearing: 131.308985 deg,
approach rate: -0.528119 m/s,
LOS rate: 0.027831 deg/s,
cmd heading: 131.159166 deg,
new cmd heading: 131.179442 deg.
2025-08-23T22:17:52.858Z,1755987472.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289513 target range: 89.840973 and range: 90.40 m.
2025-08-23T22:17:52.989Z,1755987472.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504943
2025-08-23T22:17:53.242Z,1755987473.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757263
2025-08-23T22:17:53.325Z,1755987473.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.84 m.
2025-08-23T22:17:53.328Z,1755987473.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.840973 m,
nav range: 88.504860 m,
bearing: 131.322921 deg,
approach rate: -0.550354 m/s,
LOS rate: 0.029515 deg/s,
cmd heading: 131.179438 deg,
new cmd heading: 131.207393 deg.
2025-08-23T22:17:53.328Z,1755987473.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290001 target range: 89.840973 and range: 90.40 m.
2025-08-23T22:17:53.490Z,1755987473.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006830
2025-08-23T22:17:53.538Z,1755987473.538 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-08-23T22:17:53.659Z,1755987473.659 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-08-23T22:17:53.662Z,1755987473.662 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-08-23T22:17:53.662Z,1755987473.662 [ThrusterHE] No Fault, FailCount= 1
2025-08-23T22:17:53.706Z,1755987473.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.84 m.
2025-08-23T22:17:53.708Z,1755987473.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.840973 m,
nav range: 88.298843 m,
bearing: 131.333728 deg,
approach rate: -0.540940 m/s,
LOS rate: 0.028441 deg/s,
cmd heading: 131.207388 deg,
new cmd heading: 131.229051 deg.
2025-08-23T22:17:53.709Z,1755987473.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290379 target range: 89.840973 and range: 90.40 m.
2025-08-23T22:17:53.744Z,1755987473.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259522
2025-08-23T22:17:53.994Z,1755987473.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510798
2025-08-23T22:17:54.137Z,1755987474.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.84 m.
2025-08-23T22:17:54.142Z,1755987474.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.840973 m,
nav range: 88.073196 m,
bearing: 131.345623 deg,
approach rate: -0.522884 m/s,
LOS rate: 0.027634 deg/s,
cmd heading: 131.229053 deg,
new cmd heading: 131.252903 deg.
2025-08-23T22:17:54.143Z,1755987474.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290795 target range: 89.840973 and range: 90.40 m.
2025-08-23T22:17:54.250Z,1755987474.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765450
2025-08-23T22:17:54.499Z,1755987474.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014882
2025-08-23T22:17:54.558Z,1755987474.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.84 m.
2025-08-23T22:17:54.561Z,1755987474.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.840973 m,
nav range: 87.845581 m,
bearing: 131.358100 deg,
approach rate: -0.540301 m/s,
LOS rate: 0.029695 deg/s,
cmd heading: 131.252904 deg,
new cmd heading: 131.277923 deg.
2025-08-23T22:17:54.562Z,1755987474.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.291232 target range: 89.840973 and range: 90.40 m.
2025-08-23T22:17:54.751Z,1755987474.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267570
2025-08-23T22:17:54.938Z,1755987474.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:54.940Z,1755987474.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.84 m.
2025-08-23T22:17:54.943Z,1755987474.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.840973 m,
nav range: 87.646523 m,
bearing: 131.368841 deg,
approach rate: -0.521563 m/s,
LOS rate: 0.028206 deg/s,
cmd heading: 131.277930 deg,
new cmd heading: 131.299460 deg.
2025-08-23T22:17:54.944Z,1755987474.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.291608 target range: 89.840973 and range: 90.40 m.
2025-08-23T22:17:55.003Z,1755987475.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518968
2025-08-23T22:17:55.259Z,1755987475.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774468
2025-08-23T22:17:55.380Z,1755987475.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.84 m.
2025-08-23T22:17:55.382Z,1755987475.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.840973 m,
nav range: 87.430252 m,
bearing: 131.382321 deg,
approach rate: -0.492157 m/s,
LOS rate: 0.030752 deg/s,
cmd heading: 131.299458 deg,
new cmd heading: 131.326486 deg.
2025-08-23T22:17:55.383Z,1755987475.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.292080 target range: 89.840973 and range: 90.40 m.
2025-08-23T22:17:55.506Z,1755987475.506 [DAT](INFO): DAT read: Rx Time:22:17:54.7698
2025-08-23T22:17:55.507Z,1755987475.507 [DAT](INFO): Rx dataTimestamp_ set to:1755987475.506619
2025-08-23T22:17:55.507Z,1755987475.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023796
2025-08-23T22:17:55.760Z,1755987475.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276397
2025-08-23T22:17:55.819Z,1755987475.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.84 m.
2025-08-23T22:17:55.821Z,1755987475.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.840973 m,
nav range: 87.214005 m,
bearing: 131.395850 deg,
approach rate: -0.492525 m/s,
LOS rate: 0.030891 deg/s,
cmd heading: 131.326492 deg,
new cmd heading: 131.353618 deg.
2025-08-23T22:17:55.822Z,1755987475.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.292553 target range: 89.840973 and range: 90.40 m.
2025-08-23T22:17:56.030Z,1755987476.030 [DAT](INFO): DAT read: 22:17:54.7698 LVL= 27312, 31825, 27634, 32755, AGC= 65, IDX= 419, 0.12, 0.714,-1.152, 0.862, 0.386, PHS= 0.430,-1.493, 0.432, RAW= 150.0, 6.6, CAL= 149.4, 7.0, ROT= 0.6, -7.0
2025-08-23T22:17:56.032Z,1755987476.032 [DAT](INFO): got valid direction response:
22:17:54.7698 LVL= 27312, 31825, 27634, 32755, AGC= 65, IDX= 419, 0.12, 0.714,-1.152, 0.862, 0.386, PHS= 0.430,-1.493, 0.432, RAW= 150.0, 6.6, CAL= 149.4, 7.0, ROT= 0.6, -7.0
2025-08-23T22:17:56.042Z,1755987476.042 [DAT](INFO): DAT read: Bearing 297.0, 2.2 (Local)
2025-08-23T22:17:56.043Z,1755987476.043 [DAT](INFO): Local bearing/azimuth received:
Bearing 297.0, 2.2 (Local)
2025-08-23T22:17:56.045Z,1755987476.045 [DAT](INFO): DAT read: Range 11 to 50 : 88.3 m (Round-trip 117.8 ms) speed 0.1 m/s
2025-08-23T22:17:56.050Z,1755987476.050 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:56.051Z,1755987476.051 [DAT](INFO): direction in FSK: [0.992492,0.010394,0.121869]
2025-08-23T22:17:56.051Z,1755987476.051 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:56.063Z,1755987476.063 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:56.063Z,1755987476.063 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:56.063Z,1755987476.063 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:17:56.265Z,1755987476.265 [DAT](INFO): DAT read: user:1692>
2025-08-23T22:17:56.268Z,1755987476.268 [DAT](INFO): DAT read: Tx time:22:17:55.9978
2025-08-23T22:17:56.269Z,1755987476.269 [DAT](INFO): Ping request sent.
2025-08-23T22:17:56.270Z,1755987476.270 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:17:56.271Z,1755987476.271 [DAT](INFO): publishing transmit ping time
2025-08-23T22:17:56.273Z,1755987476.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003180
2025-08-23T22:17:56.365Z,1755987476.365 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-08-23T22:17:56.419Z,1755987476.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 88.300003 m,
deltaT: 3.780032 s,
deltaX: -2.099998 m,
approachRate: -0.555550 m/s,
rangeRepo size: 4
2025-08-23T22:17:56.427Z,1755987476.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 87.752831 m,
bearing: 130.969357 deg,
lat: 36.779384 deg,
lon: -121.859610 deg,
deltaT: 3.780032 s,
deltaX: -2.088142 m,
approachRate: -0.552414 m/s,
posRepo size: 4
2025-08-23T22:17:56.428Z,1755987476.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-23T22:17:56.436Z,1755987476.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.752831 m,
nav range: 86.913490 m,
bearing: 131.280204 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.030891 deg/s,
cmd heading: 131.353622 deg,
new cmd heading: 131.390594 deg.
2025-08-23T22:17:56.437Z,1755987476.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293199 target range: 87.752831 and range: 88.30 m.
2025-08-23T22:17:56.515Z,1755987476.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245524
2025-08-23T22:17:56.768Z,1755987476.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498639
2025-08-23T22:17:56.839Z,1755987476.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-23T22:17:56.842Z,1755987476.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.752831 m,
nav range: 86.696609 m,
bearing: 131.294344 deg,
approach rate: -0.514015 m/s,
LOS rate: 0.033596 deg/s,
cmd heading: 131.390601 deg,
new cmd heading: 131.418951 deg.
2025-08-23T22:17:56.843Z,1755987476.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293693 target range: 87.752831 and range: 88.30 m.
2025-08-23T22:17:57.018Z,1755987477.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749177
2025-08-23T22:17:57.240Z,1755987477.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:57.242Z,1755987477.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-23T22:17:57.249Z,1755987477.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.752831 m,
nav range: 86.501602 m,
bearing: 131.307108 deg,
approach rate: -0.483480 m/s,
LOS rate: 0.031718 deg/s,
cmd heading: 131.418946 deg,
new cmd heading: 131.444532 deg.
2025-08-23T22:17:57.250Z,1755987477.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.294140 target range: 87.752831 and range: 88.30 m.
2025-08-23T22:17:57.282Z,1755987477.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004145
2025-08-23T22:17:57.523Z,1755987477.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253971
2025-08-23T22:17:57.661Z,1755987477.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-23T22:17:57.679Z,1755987477.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.752831 m,
nav range: 86.313744 m,
bearing: 131.321105 deg,
approach rate: -0.448982 m/s,
LOS rate: 0.033526 deg/s,
cmd heading: 131.444532 deg,
new cmd heading: 131.472587 deg.
2025-08-23T22:17:57.680Z,1755987477.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.294630 target range: 87.752831 and range: 88.30 m.
2025-08-23T22:17:57.775Z,1755987477.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506207
2025-08-23T22:17:58.027Z,1755987478.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757383
2025-08-23T22:17:58.063Z,1755987478.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-23T22:17:58.065Z,1755987478.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.752831 m,
nav range: 86.133728 m,
bearing: 131.334635 deg,
approach rate: -0.447929 m/s,
LOS rate: 0.033735 deg/s,
cmd heading: 131.472590 deg,
new cmd heading: 131.499705 deg.
2025-08-23T22:17:58.075Z,1755987478.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295103 target range: 87.752831 and range: 88.30 m.
2025-08-23T22:17:58.283Z,1755987478.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012824
2025-08-23T22:17:58.482Z,1755987478.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-23T22:17:58.485Z,1755987478.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.752831 m,
nav range: 85.952934 m,
bearing: 131.348764 deg,
approach rate: -0.430661 m/s,
LOS rate: 0.033728 deg/s,
cmd heading: 131.499706 deg,
new cmd heading: 131.528025 deg.
2025-08-23T22:17:58.486Z,1755987478.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295597 target range: 87.752831 and range: 88.30 m.
2025-08-23T22:17:58.531Z,1755987478.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261918
2025-08-23T22:17:58.783Z,1755987478.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513365
2025-08-23T22:17:58.860Z,1755987478.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-23T22:17:58.863Z,1755987478.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.752831 m,
nav range: 85.790260 m,
bearing: 131.361548 deg,
approach rate: -0.430859 m/s,
LOS rate: 0.033924 deg/s,
cmd heading: 131.528024 deg,
new cmd heading: 131.553641 deg.
2025-08-23T22:17:58.864Z,1755987478.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296044 target range: 87.752831 and range: 88.30 m.
2025-08-23T22:17:59.035Z,1755987479.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765331
2025-08-23T22:17:59.066Z,1755987479.066 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-08-23T22:17:59.287Z,1755987479.287 [DAT](INFO): DAT read: Rx Time:22:17:58.5175
2025-08-23T22:17:59.287Z,1755987479.287 [DAT](INFO): Rx dataTimestamp_ set to:1755987479.286788
2025-08-23T22:17:59.288Z,1755987479.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018432
2025-08-23T22:17:59.297Z,1755987479.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:17:59.324Z,1755987479.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-23T22:17:59.357Z,1755987479.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.752831 m,
nav range: 85.616615 m,
bearing: 131.375257 deg,
approach rate: -0.380603 m/s,
LOS rate: 0.030108 deg/s,
cmd heading: 131.553637 deg,
new cmd heading: 131.581110 deg.
2025-08-23T22:17:59.362Z,1755987479.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296524 target range: 87.752831 and range: 88.30 m.
2025-08-23T22:17:59.539Z,1755987479.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269306
2025-08-23T22:17:59.686Z,1755987479.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-23T22:17:59.689Z,1755987479.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.752831 m,
nav range: 85.439590 m,
bearing: 131.389307 deg,
approach rate: -0.478676 m/s,
LOS rate: 0.038070 deg/s,
cmd heading: 131.581108 deg,
new cmd heading: 131.609267 deg.
2025-08-23T22:17:59.690Z,1755987479.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.297015 target range: 87.752831 and range: 88.30 m.
2025-08-23T22:17:59.800Z,1755987479.800 [DAT](INFO): DAT read: 22:17:58.5175 LVL= 24688, 27889, 25330, 32755, AGC= 65, IDX= 412, 0.11,-1.928, 2.541,-1.782,-2.238, PHS= 0.411,-1.459, 0.412, RAW= 150.0, 6.9, CAL= 149.4, 7.3, ROT= 0.6, -7.3
2025-08-23T22:17:59.826Z,1755987479.826 [DAT](INFO): got valid direction response:
22:17:58.5175 LVL= 24688, 27889, 25330, 32755, AGC= 65, IDX= 412, 0.11,-1.928, 2.541,-1.782,-2.238, PHS= 0.411,-1.459, 0.412, RAW= 150.0, 6.9, CAL= 149.4, 7.3, ROT= 0.6, -7.3
2025-08-23T22:17:59.827Z,1755987479.827 [DAT](INFO): DAT read: Bearing 297.1, 2.3 (Local)
2025-08-23T22:17:59.827Z,1755987479.827 [DAT](INFO): Local bearing/azimuth received:
Bearing 297.1, 2.3 (Local)
2025-08-23T22:17:59.828Z,1755987479.828 [DAT](INFO): DAT read: Range 11 to 50 : 86.7 m (Round-trip 115.6 ms) speed 0.4 m/s
2025-08-23T22:17:59.829Z,1755987479.829 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:17:59.834Z,1755987479.834 [DAT](INFO): direction in FSK: [0.991840,0.010387,0.127065]
2025-08-23T22:17:59.834Z,1755987479.834 [DAT](INFO): publishing direction and range info
2025-08-23T22:17:59.842Z,1755987479.842 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:17:59.842Z,1755987479.842 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:17:59.843Z,1755987479.843 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:00.042Z,1755987480.042 [DAT](INFO): DAT read: user:1693>
2025-08-23T22:18:00.043Z,1755987480.043 [DAT](INFO): DAT read: Tx time:22:17:59.7478
2025-08-23T22:18:00.043Z,1755987480.043 [DAT](INFO): Ping request sent.
2025-08-23T22:18:00.044Z,1755987480.044 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:00.044Z,1755987480.044 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:00.044Z,1755987480.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-23T22:18:00.112Z,1755987480.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 86.699997 m,
deltaT: 3.780853 s,
deltaX: -1.600006 m,
approachRate: -0.423187 m/s,
rangeRepo size: 4
2025-08-23T22:18:00.118Z,1755987480.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 86.162323 m,
bearing: 130.729077 deg,
lat: 36.779384 deg,
lon: -121.859610 deg,
deltaT: 3.780853 s,
deltaX: -1.590508 m,
approachRate: -0.420674 m/s,
posRepo size: 4
2025-08-23T22:18:00.119Z,1755987480.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-23T22:18:00.125Z,1755987480.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.162323 m,
nav range: 85.274857 m,
bearing: 131.402502 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.038070 deg/s,
cmd heading: 131.609262 deg,
new cmd heading: 131.641634 deg.
2025-08-23T22:18:00.127Z,1755987480.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.297580 target range: 86.162323 and range: 86.70 m.
2025-08-23T22:18:00.297Z,1755987480.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253098
2025-08-23T22:18:00.493Z,1755987480.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-23T22:18:00.496Z,1755987480.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.162323 m,
nav range: 85.117851 m,
bearing: 131.415344 deg,
approach rate: -0.411263 m/s,
LOS rate: 0.033701 deg/s,
cmd heading: 131.641637 deg,
new cmd heading: 131.667369 deg.
2025-08-23T22:18:00.497Z,1755987480.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.298029 target range: 86.162323 and range: 86.70 m.
2025-08-23T22:18:00.548Z,1755987480.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504043
2025-08-23T22:18:00.799Z,1755987480.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754928
2025-08-23T22:18:00.881Z,1755987480.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-23T22:18:00.884Z,1755987480.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.162323 m,
nav range: 84.970612 m,
bearing: 131.427606 deg,
approach rate: -0.379634 m/s,
LOS rate: 0.031670 deg/s,
cmd heading: 131.667373 deg,
new cmd heading: 131.691940 deg.
2025-08-23T22:18:00.885Z,1755987480.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.298458 target range: 86.162323 and range: 86.70 m.
2025-08-23T22:18:01.051Z,1755987481.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006939
2025-08-23T22:18:01.292Z,1755987481.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-23T22:18:01.295Z,1755987481.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.162323 m,
nav range: 84.814667 m,
bearing: 131.440748 deg,
approach rate: -0.379454 m/s,
LOS rate: 0.032038 deg/s,
cmd heading: 131.691935 deg,
new cmd heading: 131.718268 deg.
2025-08-23T22:18:01.296Z,1755987481.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.298918 target range: 86.162323 and range: 86.70 m.
2025-08-23T22:18:01.303Z,1755987481.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259033
2025-08-23T22:18:01.554Z,1755987481.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510728
2025-08-23T22:18:01.703Z,1755987481.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:01.706Z,1755987481.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-23T22:18:01.708Z,1755987481.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.162323 m,
nav range: 84.651741 m,
bearing: 131.454869 deg,
approach rate: -0.393793 m/s,
LOS rate: 0.034196 deg/s,
cmd heading: 131.718272 deg,
new cmd heading: 131.746568 deg.
2025-08-23T22:18:01.709Z,1755987481.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299411 target range: 86.162323 and range: 86.70 m.
2025-08-23T22:18:01.808Z,1755987481.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763713
2025-08-23T22:18:02.059Z,1755987482.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014906
2025-08-23T22:18:02.141Z,1755987482.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-23T22:18:02.148Z,1755987482.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.162323 m,
nav range: 84.483063 m,
bearing: 131.469561 deg,
approach rate: -0.387550 m/s,
LOS rate: 0.033823 deg/s,
cmd heading: 131.746563 deg,
new cmd heading: 131.776005 deg.
2025-08-23T22:18:02.148Z,1755987482.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299925 target range: 86.162323 and range: 86.70 m.
2025-08-23T22:18:02.311Z,1755987482.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266913
2025-08-23T22:18:02.527Z,1755987482.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-23T22:18:02.542Z,1755987482.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.162323 m,
nav range: 84.335358 m,
bearing: 131.482817 deg,
approach rate: -0.382050 m/s,
LOS rate: 0.034347 deg/s,
cmd heading: 131.776001 deg,
new cmd heading: 131.802559 deg.
2025-08-23T22:18:02.543Z,1755987482.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300389 target range: 86.162323 and range: 86.70 m.
2025-08-23T22:18:02.563Z,1755987482.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519005
2025-08-23T22:18:02.821Z,1755987482.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777403
2025-08-23T22:18:02.918Z,1755987482.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-23T22:18:02.921Z,1755987482.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.162323 m,
nav range: 84.179764 m,
bearing: 131.496770 deg,
approach rate: -0.415493 m/s,
LOS rate: 0.037329 deg/s,
cmd heading: 131.802557 deg,
new cmd heading: 131.830515 deg.
2025-08-23T22:18:02.930Z,1755987482.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300877 target range: 86.162323 and range: 86.70 m.
2025-08-23T22:18:03.067Z,1755987483.067 [DAT](INFO): DAT read: Rx Time:22:18:02.2656
2025-08-23T22:18:03.067Z,1755987483.067 [DAT](INFO): Rx dataTimestamp_ set to:1755987483.066790
2025-08-23T22:18:03.068Z,1755987483.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024001
2025-08-23T22:18:03.319Z,1755987483.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274980
2025-08-23T22:18:03.319Z,1755987483.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-23T22:18:03.322Z,1755987483.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.162323 m,
nav range: 84.015816 m,
bearing: 131.511529 deg,
approach rate: -0.394335 m/s,
LOS rate: 0.035569 deg/s,
cmd heading: 131.830519 deg,
new cmd heading: 131.860095 deg.
2025-08-23T22:18:03.323Z,1755987483.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301393 target range: 86.162323 and range: 86.70 m.
2025-08-23T22:18:03.580Z,1755987483.580 [DAT](INFO): DAT read: 22:18:02.2656 LVL= 28912, 30065, 28722, 32755, AGC= 65, IDX= 424, 0.09,-2.043, 2.441,-1.926,-2.350, PHS= 0.410,-1.447, 0.380, RAW= 149.2, 7.2, CAL= 148.7, 7.7, ROT= 1.3, -7.7
2025-08-23T22:18:03.581Z,1755987483.581 [DAT](INFO): got valid direction response:
22:18:02.2656 LVL= 28912, 30065, 28722, 32755, AGC= 65, IDX= 424, 0.09,-2.043, 2.441,-1.926,-2.350, PHS= 0.410,-1.447, 0.380, RAW= 149.2, 7.2, CAL= 148.7, 7.7, ROT= 1.3, -7.7
2025-08-23T22:18:03.582Z,1755987483.582 [DAT](INFO): DAT read: Bearing 297.4, 2.7 (Local)
2025-08-23T22:18:03.582Z,1755987483.582 [DAT](INFO): Local bearing/azimuth received:
Bearing 297.4, 2.7 (Local)
2025-08-23T22:18:03.584Z,1755987483.584 [DAT](INFO): DAT read: Range 11 to 50 : 85.2 m (Round-trip 113.6 ms) speed 0.3 m/s
2025-08-23T22:18:03.584Z,1755987483.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:03.585Z,1755987483.585 [DAT](INFO): direction in FSK: [0.990728,0.022483,0.133986]
2025-08-23T22:18:03.586Z,1755987483.586 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:03.589Z,1755987483.589 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:03.589Z,1755987483.589 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:03.589Z,1755987483.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:03.748Z,1755987483.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 85.199997 m,
deltaT: 3.781773 s,
deltaX: -1.500000 m,
approachRate: -0.396639 m/s,
rangeRepo size: 4
2025-08-23T22:18:03.752Z,1755987483.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 84.672684 m,
bearing: 131.281401 deg,
lat: 36.779387 deg,
lon: -121.859608 deg,
deltaT: 3.781773 s,
deltaX: -1.489639 m,
approachRate: -0.393900 m/s,
posRepo size: 4
2025-08-23T22:18:03.752Z,1755987483.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.67 m.
2025-08-23T22:18:03.758Z,1755987483.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.672684 m,
nav range: 83.771973 m,
bearing: 131.281096 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.035569 deg/s,
cmd heading: 131.860094 deg,
new cmd heading: 131.890547 deg.
2025-08-23T22:18:03.759Z,1755987483.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301924 target range: 84.672684 and range: 85.20 m.
2025-08-23T22:18:03.827Z,1755987483.827 [DAT](INFO): DAT read: user:1694>
2025-08-23T22:18:03.829Z,1755987483.829 [DAT](INFO): DAT read: Tx time:22:18:03.4978
2025-08-23T22:18:03.829Z,1755987483.829 [DAT](INFO): Ping request sent.
2025-08-23T22:18:03.829Z,1755987483.829 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:03.830Z,1755987483.830 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:03.830Z,1755987483.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001206
2025-08-23T22:18:04.079Z,1755987484.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249612
2025-08-23T22:18:04.130Z,1755987484.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:04.132Z,1755987484.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.67 m.
2025-08-23T22:18:04.135Z,1755987484.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.672684 m,
nav range: 83.608810 m,
bearing: 131.294347 deg,
approach rate: -0.422552 m/s,
LOS rate: 0.034382 deg/s,
cmd heading: 131.890543 deg,
new cmd heading: 131.917096 deg.
2025-08-23T22:18:04.136Z,1755987484.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302388 target range: 84.672684 and range: 85.20 m.
2025-08-23T22:18:04.330Z,1755987484.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501534
2025-08-23T22:18:04.530Z,1755987484.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.67 m.
2025-08-23T22:18:04.532Z,1755987484.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.672684 m,
nav range: 83.441086 m,
bearing: 131.306909 deg,
approach rate: -0.421728 m/s,
LOS rate: 0.031650 deg/s,
cmd heading: 131.917099 deg,
new cmd heading: 131.942273 deg.
2025-08-23T22:18:04.533Z,1755987484.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302827 target range: 84.672684 and range: 85.20 m.
2025-08-23T22:18:04.584Z,1755987484.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754955
2025-08-23T22:18:04.834Z,1755987484.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005504
2025-08-23T22:18:04.917Z,1755987484.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.67 m.
2025-08-23T22:18:04.920Z,1755987484.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.672684 m,
nav range: 83.277870 m,
bearing: 131.319142 deg,
approach rate: -0.421451 m/s,
LOS rate: 0.031650 deg/s,
cmd heading: 131.942275 deg,
new cmd heading: 131.966789 deg.
2025-08-23T22:18:04.921Z,1755987484.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303255 target range: 84.672684 and range: 85.20 m.
2025-08-23T22:18:05.087Z,1755987485.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257588
2025-08-23T22:18:05.334Z,1755987485.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.67 m.
2025-08-23T22:18:05.336Z,1755987485.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.672684 m,
nav range: 83.108833 m,
bearing: 131.331776 deg,
approach rate: -0.405584 m/s,
LOS rate: 0.030375 deg/s,
cmd heading: 131.966795 deg,
new cmd heading: 131.992114 deg.
2025-08-23T22:18:05.342Z,1755987485.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509647
2025-08-23T22:18:05.342Z,1755987485.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303697 target range: 84.672684 and range: 85.20 m.
2025-08-23T22:18:05.591Z,1755987485.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761618
2025-08-23T22:18:05.764Z,1755987485.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.67 m.
2025-08-23T22:18:05.767Z,1755987485.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.672684 m,
nav range: 82.919815 m,
bearing: 131.346484 deg,
approach rate: -0.438711 m/s,
LOS rate: 0.034217 deg/s,
cmd heading: 131.992108 deg,
new cmd heading: 132.021593 deg.
2025-08-23T22:18:05.768Z,1755987485.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304211 target range: 84.672684 and range: 85.20 m.
2025-08-23T22:18:05.843Z,1755987485.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013864
2025-08-23T22:18:06.095Z,1755987486.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265585
2025-08-23T22:18:06.144Z,1755987486.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:06.146Z,1755987486.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.67 m.
2025-08-23T22:18:06.149Z,1755987486.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.672684 m,
nav range: 82.752388 m,
bearing: 131.359481 deg,
approach rate: -0.438655 m/s,
LOS rate: 0.034119 deg/s,
cmd heading: 132.021587 deg,
new cmd heading: 132.047633 deg.
2025-08-23T22:18:06.150Z,1755987486.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304666 target range: 84.672684 and range: 85.20 m.
2025-08-23T22:18:06.347Z,1755987486.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517543
2025-08-23T22:18:06.554Z,1755987486.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.67 m.
2025-08-23T22:18:06.557Z,1755987486.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.672684 m,
nav range: 82.571899 m,
bearing: 131.371519 deg,
approach rate: -0.442134 m/s,
LOS rate: 0.029555 deg/s,
cmd heading: 132.047637 deg,
new cmd heading: 132.071767 deg.
2025-08-23T22:18:06.558Z,1755987486.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305087 target range: 84.672684 and range: 85.20 m.
2025-08-23T22:18:06.602Z,1755987486.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772968
2025-08-23T22:18:06.851Z,1755987486.851 [DAT](INFO): DAT read: Rx Time:22:18:06.0134
2025-08-23T22:18:06.851Z,1755987486.851 [DAT](INFO): Rx dataTimestamp_ set to:1755987486.850688
2025-08-23T22:18:06.852Z,1755987486.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022577
2025-08-23T22:18:06.955Z,1755987486.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.67 m.
2025-08-23T22:18:06.957Z,1755987486.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.672684 m,
nav range: 82.395462 m,
bearing: 131.383338 deg,
approach rate: -0.440848 m/s,
LOS rate: 0.029594 deg/s,
cmd heading: 132.071762 deg,
new cmd heading: 132.095450 deg.
2025-08-23T22:18:06.958Z,1755987486.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305501 target range: 84.672684 and range: 85.20 m.
2025-08-23T22:18:07.104Z,1755987487.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274646
2025-08-23T22:18:07.360Z,1755987487.360 [DAT](INFO): DAT read: 22:18:06.0134 LVL= 24096, 30833, 26034, 32755, AGC= 65, IDX= 418,-0.26, 2.694, 0.885, 2.811, 2.390, PHS= 0.406,-1.460, 0.377, RAW= 149.2, 7.4, CAL= 148.7, 7.9, ROT= 1.3, -7.9
2025-08-23T22:18:07.361Z,1755987487.361 [DAT](INFO): got valid direction response:
22:18:06.0134 LVL= 24096, 30833, 26034, 32755, AGC= 65, IDX= 418,-0.26, 2.694, 0.885, 2.811, 2.390, PHS= 0.406,-1.460, 0.377, RAW= 149.2, 7.4, CAL= 148.7, 7.9, ROT= 1.3, -7.9
2025-08-23T22:18:07.362Z,1755987487.362 [DAT](INFO): DAT read: Bearing 298.5, 2.6 (Local)
2025-08-23T22:18:07.363Z,1755987487.363 [DAT](INFO): Local bearing/azimuth received:
Bearing 298.5, 2.6 (Local)
2025-08-23T22:18:07.364Z,1755987487.364 [DAT](INFO): DAT read: Range 11 to 50 : 83.6 m (Round-trip 111.5 ms) speed 0.4 m/s
2025-08-23T22:18:07.365Z,1755987487.365 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:07.366Z,1755987487.366 [DAT](INFO): direction in FSK: [0.990255,0.022472,0.137445]
2025-08-23T22:18:07.366Z,1755987487.366 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:07.370Z,1755987487.370 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:07.370Z,1755987487.370 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:07.370Z,1755987487.370 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:07.373Z,1755987487.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.67 m.
2025-08-23T22:18:07.375Z,1755987487.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.672684 m,
nav range: 82.225861 m,
bearing: 131.394588 deg,
approach rate: -0.429195 m/s,
LOS rate: 0.028529 deg/s,
cmd heading: 132.095449 deg,
new cmd heading: 132.117995 deg.
2025-08-23T22:18:07.376Z,1755987487.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305894 target range: 84.672684 and range: 85.20 m.
2025-08-23T22:18:07.610Z,1755987487.610 [DAT](INFO): DAT read: user:1695>
2025-08-23T22:18:07.614Z,1755987487.614 [DAT](INFO): DAT read: Tx time:22:18:07.2978
2025-08-23T22:18:07.614Z,1755987487.614 [DAT](INFO): Ping request sent.
2025-08-23T22:18:07.614Z,1755987487.614 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:07.614Z,1755987487.614 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:07.615Z,1755987487.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-08-23T22:18:07.846Z,1755987487.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 83.599998 m,
deltaT: 3.779821 s,
deltaX: -1.599998 m,
approachRate: -0.423300 m/s,
rangeRepo size: 4
2025-08-23T22:18:07.848Z,1755987487.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 83.080772 m,
bearing: 131.616067 deg,
lat: 36.779387 deg,
lon: -121.859608 deg,
deltaT: 3.779821 s,
deltaX: -1.591911 m,
approachRate: -0.421160 m/s,
posRepo size: 4
2025-08-23T22:18:07.849Z,1755987487.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.08 m.
2025-08-23T22:18:07.856Z,1755987487.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.080772 m,
nav range: 82.007996 m,
bearing: 131.409797 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.028529 deg/s,
cmd heading: 132.118002 deg,
new cmd heading: 132.145378 deg.
2025-08-23T22:18:07.857Z,1755987487.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306372 target range: 83.080772 and range: 83.60 m.
2025-08-23T22:18:07.859Z,1755987487.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244759
2025-08-23T22:18:08.111Z,1755987488.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496416
2025-08-23T22:18:08.167Z,1755987488.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:08.169Z,1755987488.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.08 m.
2025-08-23T22:18:08.172Z,1755987488.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.080772 m,
nav range: 81.854797 m,
bearing: 131.420447 deg,
approach rate: -0.451421 m/s,
LOS rate: 0.031442 deg/s,
cmd heading: 132.145377 deg,
new cmd heading: 132.166718 deg.
2025-08-23T22:18:08.173Z,1755987488.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306744 target range: 83.080772 and range: 83.60 m.
2025-08-23T22:18:08.362Z,1755987488.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748357
2025-08-23T22:18:08.576Z,1755987488.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.08 m.
2025-08-23T22:18:08.579Z,1755987488.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.080772 m,
nav range: 81.664055 m,
bearing: 131.433877 deg,
approach rate: -0.468100 m/s,
LOS rate: 0.033035 deg/s,
cmd heading: 132.166715 deg,
new cmd heading: 132.193637 deg.
2025-08-23T22:18:08.580Z,1755987488.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307214 target range: 83.080772 and range: 83.60 m.
2025-08-23T22:18:08.615Z,1755987488.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000494
2025-08-23T22:18:08.867Z,1755987488.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252417
2025-08-23T22:18:08.962Z,1755987488.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.08 m.
2025-08-23T22:18:08.964Z,1755987488.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.080772 m,
nav range: 81.483810 m,
bearing: 131.446488 deg,
approach rate: -0.467981 m/s,
LOS rate: 0.032816 deg/s,
cmd heading: 132.193640 deg,
new cmd heading: 132.218918 deg.
2025-08-23T22:18:08.965Z,1755987488.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307656 target range: 83.080772 and range: 83.60 m.
2025-08-23T22:18:09.119Z,1755987489.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504414
2025-08-23T22:18:09.369Z,1755987489.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.08 m.
2025-08-23T22:18:09.371Z,1755987489.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756786
2025-08-23T22:18:09.373Z,1755987489.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.080772 m,
nav range: 81.293350 m,
bearing: 131.459743 deg,
approach rate: -0.467778 m/s,
LOS rate: 0.032630 deg/s,
cmd heading: 132.218925 deg,
new cmd heading: 132.245496 deg.
2025-08-23T22:18:09.374Z,1755987489.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308119 target range: 83.080772 and range: 83.60 m.
2025-08-23T22:18:09.623Z,1755987489.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008422
2025-08-23T22:18:09.797Z,1755987489.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.08 m.
2025-08-23T22:18:09.804Z,1755987489.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.080772 m,
nav range: 81.089813 m,
bearing: 131.473020 deg,
approach rate: -0.474874 m/s,
LOS rate: 0.031054 deg/s,
cmd heading: 132.245494 deg,
new cmd heading: 132.272115 deg.
2025-08-23T22:18:09.806Z,1755987489.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308584 target range: 83.080772 and range: 83.60 m.
2025-08-23T22:18:09.875Z,1755987489.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260500
2025-08-23T22:18:10.126Z,1755987490.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512373
2025-08-23T22:18:10.179Z,1755987490.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:10.182Z,1755987490.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.08 m.
2025-08-23T22:18:10.186Z,1755987490.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.080772 m,
nav range: 80.908730 m,
bearing: 131.484817 deg,
approach rate: -0.471274 m/s,
LOS rate: 0.030772 deg/s,
cmd heading: 132.272118 deg,
new cmd heading: 132.295766 deg.
2025-08-23T22:18:10.188Z,1755987490.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308997 target range: 83.080772 and range: 83.60 m.
2025-08-23T22:18:10.379Z,1755987490.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764916
2025-08-23T22:18:10.591Z,1755987490.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.08 m.
2025-08-23T22:18:10.594Z,1755987490.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.080772 m,
nav range: 80.709724 m,
bearing: 131.496424 deg,
approach rate: -0.485619 m/s,
LOS rate: 0.028392 deg/s,
cmd heading: 132.295765 deg,
new cmd heading: 132.319035 deg.
2025-08-23T22:18:10.595Z,1755987490.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309403 target range: 83.080772 and range: 83.60 m.
2025-08-23T22:18:10.631Z,1755987490.631 [DAT](INFO): DAT read: Rx Time:22:18:09.8110
2025-08-23T22:18:10.631Z,1755987490.631 [DAT](INFO): Rx dataTimestamp_ set to:1755987490.630809
2025-08-23T22:18:10.632Z,1755987490.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017534
2025-08-23T22:18:10.884Z,1755987490.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269154
2025-08-23T22:18:10.942Z,1755987490.942 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:18:10.983Z,1755987490.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.08 m.
2025-08-23T22:18:10.986Z,1755987490.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.080772 m,
nav range: 80.520477 m,
bearing: 131.507471 deg,
approach rate: -0.483350 m/s,
LOS rate: 0.028283 deg/s,
cmd heading: 132.319028 deg,
new cmd heading: 132.341175 deg.
2025-08-23T22:18:10.987Z,1755987490.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309789 target range: 83.080772 and range: 83.60 m.
2025-08-23T22:18:11.140Z,1755987491.140 [DAT](INFO): DAT read: 22:18:09.8110 LVL= 24240, 29489, 24674, 32755, AGC= 64, IDX= 409, 0.43, 0.857,-0.960, 0.995, 0.540, PHS= 0.419,-1.455, 0.411, RAW= 149.8, 6.7, CAL= 149.2, 7.2, ROT= 0.8, -7.2
2025-08-23T22:18:11.141Z,1755987491.141 [DAT](INFO): got valid direction response:
22:18:09.8110 LVL= 24240, 29489, 24674, 32755, AGC= 64, IDX= 409, 0.43, 0.857,-0.960, 0.995, 0.540, PHS= 0.419,-1.455, 0.411, RAW= 149.8, 6.7, CAL= 149.2, 7.2, ROT= 0.8, -7.2
2025-08-23T22:18:11.142Z,1755987491.142 [DAT](INFO): DAT read: Bearing 298.7, 2.2 (Local)
2025-08-23T22:18:11.142Z,1755987491.142 [DAT](INFO): Local bearing/azimuth received:
Bearing 298.7, 2.2 (Local)
2025-08-23T22:18:11.143Z,1755987491.143 [DAT](INFO): DAT read: Range 11 to 50 : 81.7 m (Round-trip 109.0 ms) speed 0.4 m/s
2025-08-23T22:18:11.144Z,1755987491.144 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:11.145Z,1755987491.145 [DAT](INFO): direction in FSK: [0.992018,0.013852,0.125333]
2025-08-23T22:18:11.145Z,1755987491.145 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:11.149Z,1755987491.149 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:11.149Z,1755987491.149 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:11.149Z,1755987491.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:11.387Z,1755987491.387 [DAT](INFO): DAT read: user:1696>
2025-08-23T22:18:11.387Z,1755987491.387 [DAT](INFO): DAT read: Tx time:22:18:11.0478
2025-08-23T22:18:11.388Z,1755987491.388 [DAT](INFO): Ping request sent.
2025-08-23T22:18:11.388Z,1755987491.388 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:11.388Z,1755987491.388 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:11.388Z,1755987491.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-23T22:18:11.394Z,1755987491.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 81.699997 m,
deltaT: 3.780041 s,
deltaX: -1.900002 m,
approachRate: -0.502640 m/s,
rangeRepo size: 4
2025-08-23T22:18:11.396Z,1755987491.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.191017 m,
bearing: 131.509603 deg,
lat: 36.779387 deg,
lon: -121.859607 deg,
deltaT: 3.780041 s,
deltaX: -1.889755 m,
approachRate: -0.499930 m/s,
posRepo size: 4
2025-08-23T22:18:11.397Z,1755987491.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.19 m.
2025-08-23T22:18:11.400Z,1755987491.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.191017 m,
nav range: 80.394295 m,
bearing: 131.475792 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.028283 deg/s,
cmd heading: 132.341172 deg,
new cmd heading: 132.364399 deg.
2025-08-23T22:18:11.401Z,1755987491.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310194 target range: 81.191017 and range: 81.70 m.
2025-08-23T22:18:11.639Z,1755987491.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251390
2025-08-23T22:18:11.818Z,1755987491.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.19 m.
2025-08-23T22:18:11.821Z,1755987491.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.191017 m,
nav range: 80.197128 m,
bearing: 131.490203 deg,
approach rate: -0.463979 m/s,
LOS rate: 0.033995 deg/s,
cmd heading: 132.364394 deg,
new cmd heading: 132.393286 deg.
2025-08-23T22:18:11.822Z,1755987491.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310699 target range: 81.191017 and range: 81.70 m.
2025-08-23T22:18:11.891Z,1755987491.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503098
2025-08-23T22:18:11.946Z,1755987491.946 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:18:12.143Z,1755987492.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754852
2025-08-23T22:18:12.208Z,1755987492.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:12.211Z,1755987492.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.19 m.
2025-08-23T22:18:12.215Z,1755987492.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.191017 m,
nav range: 80.022827 m,
bearing: 131.502919 deg,
approach rate: -0.443739 m/s,
LOS rate: 0.032445 deg/s,
cmd heading: 132.393286 deg,
new cmd heading: 132.418775 deg.
2025-08-23T22:18:12.217Z,1755987492.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311144 target range: 81.191017 and range: 81.70 m.
2025-08-23T22:18:12.395Z,1755987492.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006898
2025-08-23T22:18:12.626Z,1755987492.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.19 m.
2025-08-23T22:18:12.629Z,1755987492.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.191017 m,
nav range: 79.814484 m,
bearing: 131.515533 deg,
approach rate: -0.502108 m/s,
LOS rate: 0.030479 deg/s,
cmd heading: 132.418776 deg,
new cmd heading: 132.444070 deg.
2025-08-23T22:18:12.630Z,1755987492.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311585 target range: 81.191017 and range: 81.70 m.
2025-08-23T22:18:12.647Z,1755987492.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258913
2025-08-23T22:18:12.898Z,1755987492.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510773
2025-08-23T22:18:12.998Z,1755987492.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.19 m.
2025-08-23T22:18:13.001Z,1755987493.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.191017 m,
nav range: 79.631660 m,
bearing: 131.526585 deg,
approach rate: -0.491316 m/s,
LOS rate: 0.029769 deg/s,
cmd heading: 132.444075 deg,
new cmd heading: 132.466230 deg.
2025-08-23T22:18:13.002Z,1755987493.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311972 target range: 81.191017 and range: 81.70 m.
2025-08-23T22:18:13.151Z,1755987493.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762849
2025-08-23T22:18:13.403Z,1755987493.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014972
2025-08-23T22:18:13.419Z,1755987493.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.19 m.
2025-08-23T22:18:13.422Z,1755987493.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.191017 m,
nav range: 79.433235 m,
bearing: 131.538667 deg,
approach rate: -0.471530 m/s,
LOS rate: 0.028782 deg/s,
cmd heading: 132.466232 deg,
new cmd heading: 132.490456 deg.
2025-08-23T22:18:13.423Z,1755987493.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312395 target range: 81.191017 and range: 81.70 m.
2025-08-23T22:18:13.656Z,1755987493.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268342
2025-08-23T22:18:13.907Z,1755987493.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518864
2025-08-23T22:18:13.938Z,1755987493.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.19 m.
2025-08-23T22:18:13.940Z,1755987493.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.191017 m,
nav range: 79.181358 m,
bearing: 131.554328 deg,
approach rate: -0.485896 m/s,
LOS rate: 0.030307 deg/s,
cmd heading: 132.490452 deg,
new cmd heading: 132.521874 deg.
2025-08-23T22:18:13.941Z,1755987493.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312943 target range: 81.191017 and range: 81.70 m.
2025-08-23T22:18:14.159Z,1755987494.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770826
2025-08-23T22:18:14.325Z,1755987494.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:14.343Z,1755987494.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.19 m.
2025-08-23T22:18:14.347Z,1755987494.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.191017 m,
nav range: 78.997887 m,
bearing: 131.565792 deg,
approach rate: -0.451836 m/s,
LOS rate: 0.028299 deg/s,
cmd heading: 132.521871 deg,
new cmd heading: 132.544853 deg.
2025-08-23T22:18:14.348Z,1755987494.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313344 target range: 81.191017 and range: 81.70 m.
2025-08-23T22:18:14.411Z,1755987494.411 [DAT](INFO): DAT read: Rx Time:22:18:13.5586
2025-08-23T22:18:14.411Z,1755987494.411 [DAT](INFO): Rx dataTimestamp_ set to:1755987494.410816
2025-08-23T22:18:14.412Z,1755987494.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023975
2025-08-23T22:18:14.662Z,1755987494.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274800
2025-08-23T22:18:14.866Z,1755987494.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.19 m.
2025-08-23T22:18:14.869Z,1755987494.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.191017 m,
nav range: 78.725945 m,
bearing: 131.581507 deg,
approach rate: -0.520163 m/s,
LOS rate: 0.030163 deg/s,
cmd heading: 132.544848 deg,
new cmd heading: 132.576387 deg.
2025-08-23T22:18:14.890Z,1755987494.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313895 target range: 81.191017 and range: 81.70 m.
2025-08-23T22:18:14.920Z,1755987494.920 [DAT](INFO): DAT read: 22:18:13.5586 LVL= 29360, 31217, 30546, 32755, AGC= 62, IDX= 417, 0.33,-2.934, 1.556,-2.780, 3.033, PHS= 0.418,-1.432, 0.426, RAW= 150.2, 6.4, CAL= 149.6, 6.8, ROT= 0.4, -6.8
2025-08-23T22:18:14.921Z,1755987494.921 [DAT](INFO): got valid direction response:
22:18:13.5586 LVL= 29360, 31217, 30546, 32755, AGC= 62, IDX= 417, 0.33,-2.934, 1.556,-2.780, 3.033, PHS= 0.418,-1.432, 0.426, RAW= 150.2, 6.4, CAL= 149.6, 6.8, ROT= 0.4, -6.8
2025-08-23T22:18:14.922Z,1755987494.922 [DAT](INFO): DAT read: Bearing 299.2, 1.7 (Local)
2025-08-23T22:18:14.922Z,1755987494.922 [DAT](INFO): Local bearing/azimuth received:
Bearing 299.2, 1.7 (Local)
2025-08-23T22:18:14.924Z,1755987494.924 [DAT](INFO): DAT read: Range 11 to 50 : 80.0 m (Round-trip 106.7 ms) speed 0.4 m/s
2025-08-23T22:18:14.924Z,1755987494.924 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:14.925Z,1755987494.925 [DAT](INFO): direction in FSK: [0.992941,0.006932,0.118404]
2025-08-23T22:18:14.926Z,1755987494.926 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:14.929Z,1755987494.929 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:14.929Z,1755987494.929 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:14.929Z,1755987494.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:15.167Z,1755987495.167 [DAT](INFO): DAT read: user:1697>
2025-08-23T22:18:15.168Z,1755987495.168 [DAT](INFO): DAT read: Tx time:22:18:14.8478
2025-08-23T22:18:15.168Z,1755987495.168 [DAT](INFO): Ping request sent.
2025-08-23T22:18:15.168Z,1755987495.168 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:15.168Z,1755987495.168 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:15.169Z,1755987495.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-08-23T22:18:15.291Z,1755987495.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 80.000000 m,
deltaT: 3.779999 s,
deltaX: -1.699997 m,
approachRate: -0.449735 m/s,
rangeRepo size: 4
2025-08-23T22:18:15.293Z,1755987495.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 79.501282 m,
bearing: 131.334610 deg,
lat: 36.779387 deg,
lon: -121.859607 deg,
deltaT: 3.779999 s,
deltaX: -1.689735 m,
approachRate: -0.447020 m/s,
posRepo size: 4
2025-08-23T22:18:15.294Z,1755987495.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m.
2025-08-23T22:18:15.296Z,1755987495.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.501282 m,
nav range: 78.514008 m,
bearing: 131.593747 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.030163 deg/s,
cmd heading: 132.576390 deg,
new cmd heading: 132.601903 deg.
2025-08-23T22:18:15.297Z,1755987495.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314340 target range: 79.501282 and range: 80.00 m.
2025-08-23T22:18:15.419Z,1755987495.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250767
2025-08-23T22:18:15.671Z,1755987495.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502373
2025-08-23T22:18:15.727Z,1755987495.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m.
2025-08-23T22:18:15.737Z,1755987495.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.501282 m,
nav range: 78.313148 m,
bearing: 131.608288 deg,
approach rate: -0.459344 m/s,
LOS rate: 0.033340 deg/s,
cmd heading: 132.601907 deg,
new cmd heading: 132.631064 deg.
2025-08-23T22:18:15.742Z,1755987495.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314849 target range: 79.501282 and range: 80.00 m.
2025-08-23T22:18:15.922Z,1755987495.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754183
2025-08-23T22:18:16.086Z,1755987496.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m.
2025-08-23T22:18:16.089Z,1755987496.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.501282 m,
nav range: 78.124229 m,
bearing: 131.621919 deg,
approach rate: -0.524944 m/s,
LOS rate: 0.037968 deg/s,
cmd heading: 132.631059 deg,
new cmd heading: 132.658387 deg.
2025-08-23T22:18:16.090Z,1755987496.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315326 target range: 79.501282 and range: 80.00 m.
2025-08-23T22:18:16.175Z,1755987496.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006587
2025-08-23T22:18:16.427Z,1755987496.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258265
2025-08-23T22:18:16.484Z,1755987496.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:16.486Z,1755987496.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m.
2025-08-23T22:18:16.489Z,1755987496.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.501282 m,
nav range: 77.929543 m,
bearing: 131.635928 deg,
approach rate: -0.486930 m/s,
LOS rate: 0.035123 deg/s,
cmd heading: 132.658393 deg,
new cmd heading: 132.686479 deg.
2025-08-23T22:18:16.491Z,1755987496.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315816 target range: 79.501282 and range: 80.00 m.
2025-08-23T22:18:16.678Z,1755987496.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510128
2025-08-23T22:18:16.914Z,1755987496.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m.
2025-08-23T22:18:16.916Z,1755987496.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.501282 m,
nav range: 77.705452 m,
bearing: 131.652247 deg,
approach rate: -0.524554 m/s,
LOS rate: 0.038310 deg/s,
cmd heading: 132.686479 deg,
new cmd heading: 132.719211 deg.
2025-08-23T22:18:16.917Z,1755987496.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.316387 target range: 79.501282 and range: 80.00 m.
2025-08-23T22:18:16.931Z,1755987496.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762336
2025-08-23T22:18:17.183Z,1755987497.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015053
2025-08-23T22:18:17.302Z,1755987497.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m.
2025-08-23T22:18:17.305Z,1755987497.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.501282 m,
nav range: 77.501778 m,
bearing: 131.666950 deg,
approach rate: -0.523641 m/s,
LOS rate: 0.037903 deg/s,
cmd heading: 132.719209 deg,
new cmd heading: 132.748694 deg.
2025-08-23T22:18:17.307Z,1755987497.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.316902 target range: 79.501282 and range: 80.00 m.
2025-08-23T22:18:17.434Z,1755987497.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266227
2025-08-23T22:18:17.687Z,1755987497.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518322
2025-08-23T22:18:17.760Z,1755987497.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m.
2025-08-23T22:18:17.767Z,1755987497.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.501282 m,
nav range: 77.270752 m,
bearing: 131.681945 deg,
approach rate: -0.504321 m/s,
LOS rate: 0.032830 deg/s,
cmd heading: 132.748688 deg,
new cmd heading: 132.778767 deg.
2025-08-23T22:18:17.768Z,1755987497.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.317427 target range: 79.501282 and range: 80.00 m.
2025-08-23T22:18:17.938Z,1755987497.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770244
2025-08-23T22:18:18.119Z,1755987498.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m.
2025-08-23T22:18:18.123Z,1755987498.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.501282 m,
nav range: 77.082260 m,
bearing: 131.694246 deg,
approach rate: -0.525006 m/s,
LOS rate: 0.034345 deg/s,
cmd heading: 132.778768 deg,
new cmd heading: 132.803430 deg.
2025-08-23T22:18:18.124Z,1755987498.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.317857 target range: 79.501282 and range: 80.00 m.
2025-08-23T22:18:18.192Z,1755987498.192 [DAT](INFO): DAT read: Rx Time:22:18:17.3561
2025-08-23T22:18:18.192Z,1755987498.192 [DAT](INFO): Rx dataTimestamp_ set to:1755987498.191725
2025-08-23T22:18:18.193Z,1755987498.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024702
2025-08-23T22:18:18.443Z,1755987498.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274393
2025-08-23T22:18:18.504Z,1755987498.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:18.506Z,1755987498.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m.
2025-08-23T22:18:18.509Z,1755987498.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.501282 m,
nav range: 76.884056 m,
bearing: 131.706967 deg,
approach rate: -0.512154 m/s,
LOS rate: 0.032956 deg/s,
cmd heading: 132.803425 deg,
new cmd heading: 132.828934 deg.
2025-08-23T22:18:18.510Z,1755987498.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318302 target range: 79.501282 and range: 80.00 m.
2025-08-23T22:18:18.700Z,1755987498.700 [DAT](INFO): DAT read: 22:18:17.3561 LVL= 27632, 31473, 28962, 32755, AGC= 63, IDX= 423, 0.05,-0.775,-2.581,-0.614,-1.088, PHS= 0.416,-1.447, 0.430, RAW= 150.4, 6.5, CAL= 149.7, 6.9, ROT= 0.3, -6.9
2025-08-23T22:18:18.702Z,1755987498.702 [DAT](INFO): got valid direction response:
22:18:17.3561 LVL= 27632, 31473, 28962, 32755, AGC= 63, IDX= 423, 0.05,-0.775,-2.581,-0.614,-1.088, PHS= 0.416,-1.447, 0.430, RAW= 150.4, 6.5, CAL= 149.7, 6.9, ROT= 0.3, -6.9
2025-08-23T22:18:18.704Z,1755987498.704 [DAT](INFO): DAT read: Bearing 300.1, 1.0 (Local)
2025-08-23T22:18:18.705Z,1755987498.705 [DAT](INFO): Local bearing/azimuth received:
Bearing 300.1, 1.0 (Local)
2025-08-23T22:18:18.708Z,1755987498.708 [DAT](INFO): DAT read: Range 11 to 50 : 78.0 m (Round-trip 104.1 ms) speed 0.4 m/s
2025-08-23T22:18:18.710Z,1755987498.710 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:18.710Z,1755987498.710 [DAT](INFO): direction in FSK: [0.992744,0.005198,0.120137]
2025-08-23T22:18:18.711Z,1755987498.711 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:18.717Z,1755987498.717 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:18.726Z,1755987498.726 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:18.727Z,1755987498.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:18.946Z,1755987498.946 [DAT](INFO): DAT read: user:1698>
2025-08-23T22:18:18.947Z,1755987498.947 [DAT](INFO): DAT read: Tx time:22:18:18.6478
2025-08-23T22:18:18.947Z,1755987498.947 [DAT](INFO): Ping request sent.
2025-08-23T22:18:18.947Z,1755987498.947 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:18.948Z,1755987498.948 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:18.948Z,1755987498.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-23T22:18:18.986Z,1755987498.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 78.000000 m,
deltaT: 3.779818 s,
deltaX: -2.000000 m,
approachRate: -0.529126 m/s,
rangeRepo size: 4
2025-08-23T22:18:18.988Z,1755987498.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 77.513672 m,
bearing: 131.680605 deg,
lat: 36.779386 deg,
lon: -121.859607 deg,
deltaT: 3.779818 s,
deltaX: -1.987610 m,
approachRate: -0.525848 m/s,
posRepo size: 4
2025-08-23T22:18:18.989Z,1755987498.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.51 m.
2025-08-23T22:18:18.999Z,1755987498.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.513672 m,
nav range: 76.701378 m,
bearing: 131.756628 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.032956 deg/s,
cmd heading: 132.828929 deg,
new cmd heading: 132.860204 deg.
2025-08-23T22:18:19.000Z,1755987499.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318848 target range: 77.513672 and range: 78.00 m.
2025-08-23T22:18:19.200Z,1755987499.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251940
2025-08-23T22:18:19.350Z,1755987499.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.51 m.
2025-08-23T22:18:19.353Z,1755987499.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.513672 m,
nav range: 76.497971 m,
bearing: 131.769810 deg,
approach rate: -0.550635 m/s,
LOS rate: 0.035779 deg/s,
cmd heading: 132.860198 deg,
new cmd heading: 132.886632 deg.
2025-08-23T22:18:19.355Z,1755987499.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319309 target range: 77.513672 and range: 78.00 m.
2025-08-23T22:18:19.451Z,1755987499.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503090
2025-08-23T22:18:19.704Z,1755987499.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756241
2025-08-23T22:18:19.789Z,1755987499.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.51 m.
2025-08-23T22:18:19.792Z,1755987499.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.513672 m,
nav range: 76.286758 m,
bearing: 131.782288 deg,
approach rate: -0.481733 m/s,
LOS rate: 0.028539 deg/s,
cmd heading: 132.886631 deg,
new cmd heading: 132.911656 deg.
2025-08-23T22:18:19.793Z,1755987499.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319746 target range: 77.513672 and range: 78.00 m.
2025-08-23T22:18:19.954Z,1755987499.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006944
2025-08-23T22:18:20.171Z,1755987500.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.51 m.
2025-08-23T22:18:20.179Z,1755987500.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.513672 m,
nav range: 76.102745 m,
bearing: 131.793216 deg,
approach rate: -0.481095 m/s,
LOS rate: 0.028638 deg/s,
cmd heading: 132.911656 deg,
new cmd heading: 132.933564 deg.
2025-08-23T22:18:20.181Z,1755987500.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320128 target range: 77.513672 and range: 78.00 m.
2025-08-23T22:18:20.208Z,1755987500.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260106
2025-08-23T22:18:20.458Z,1755987500.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510899
2025-08-23T22:18:20.556Z,1755987500.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:20.579Z,1755987500.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.51 m.
2025-08-23T22:18:20.586Z,1755987500.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.513672 m,
nav range: 75.917046 m,
bearing: 131.804145 deg,
approach rate: -0.480655 m/s,
LOS rate: 0.028359 deg/s,
cmd heading: 132.933568 deg,
new cmd heading: 132.955481 deg.
2025-08-23T22:18:20.587Z,1755987500.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320511 target range: 77.513672 and range: 78.00 m.
2025-08-23T22:18:20.712Z,1755987500.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764077
2025-08-23T22:18:20.962Z,1755987500.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014901
2025-08-23T22:18:21.003Z,1755987501.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.51 m.
2025-08-23T22:18:21.022Z,1755987501.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.513672 m,
nav range: 75.694778 m,
bearing: 131.817788 deg,
approach rate: -0.499314 m/s,
LOS rate: 0.030738 deg/s,
cmd heading: 132.955479 deg,
new cmd heading: 132.982844 deg.
2025-08-23T22:18:21.023Z,1755987501.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320988 target range: 77.513672 and range: 78.00 m.
2025-08-23T22:18:21.215Z,1755987501.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267447
2025-08-23T22:18:21.387Z,1755987501.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.51 m.
2025-08-23T22:18:21.390Z,1755987501.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.513672 m,
nav range: 75.503128 m,
bearing: 131.829583 deg,
approach rate: -0.499064 m/s,
LOS rate: 0.030793 deg/s,
cmd heading: 132.982841 deg,
new cmd heading: 133.006491 deg.
2025-08-23T22:18:21.391Z,1755987501.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321401 target range: 77.513672 and range: 78.00 m.
2025-08-23T22:18:21.467Z,1755987501.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519347
2025-08-23T22:18:21.720Z,1755987501.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771963
2025-08-23T22:18:21.818Z,1755987501.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.51 m.
2025-08-23T22:18:21.821Z,1755987501.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.513672 m,
nav range: 75.284042 m,
bearing: 131.842977 deg,
approach rate: -0.507780 m/s,
LOS rate: 0.031133 deg/s,
cmd heading: 133.006487 deg,
new cmd heading: 133.033351 deg.
2025-08-23T22:18:21.822Z,1755987501.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321870 target range: 77.513672 and range: 78.00 m.
2025-08-23T22:18:21.971Z,1755987501.971 [DAT](INFO): DAT read: Rx Time:22:18:21.1536
2025-08-23T22:18:21.971Z,1755987501.971 [DAT](INFO): Rx dataTimestamp_ set to:1755987501.970815
2025-08-23T22:18:21.972Z,1755987501.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024112
2025-08-23T22:18:22.224Z,1755987502.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275902
2025-08-23T22:18:22.253Z,1755987502.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.51 m.
2025-08-23T22:18:22.256Z,1755987502.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.513672 m,
nav range: 75.063957 m,
bearing: 131.856415 deg,
approach rate: -0.510642 m/s,
LOS rate: 0.031271 deg/s,
cmd heading: 133.033357 deg,
new cmd heading: 133.060312 deg.
2025-08-23T22:18:22.257Z,1755987502.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322340 target range: 77.513672 and range: 78.00 m.
2025-08-23T22:18:22.480Z,1755987502.480 [DAT](INFO): DAT read: 22:18:21.1536 LVL= 30256, 32497, 29170, 32755, AGC= 65, IDX= 413, 0.07, 3.014, 1.212,-3.072, 2.739, PHS= 0.377,-1.482, 0.429, RAW= 151.4, 7.2, CAL= 150.8, 7.7, ROT= 359.2, -7.7
2025-08-23T22:18:22.481Z,1755987502.481 [DAT](INFO): got valid direction response:
22:18:21.1536 LVL= 30256, 32497, 29170, 32755, AGC= 65, IDX= 413, 0.07, 3.014, 1.212,-3.072, 2.739, PHS= 0.377,-1.482, 0.429, RAW= 151.4, 7.2, CAL= 150.8, 7.7, ROT= 359.2, -7.7
2025-08-23T22:18:22.482Z,1755987502.482 [DAT](INFO): DAT read: Bearing 301.7, -0.7 (Local)
2025-08-23T22:18:22.482Z,1755987502.482 [DAT](INFO): Local bearing/azimuth received:
Bearing 301.7, -0.7 (Local)
2025-08-23T22:18:22.483Z,1755987502.483 [DAT](INFO): DAT read: Range 11 to 50 : 76.2 m (Round-trip 101.6 ms) speed 0.4 m/s
2025-08-23T22:18:22.484Z,1755987502.484 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:22.485Z,1755987502.485 [DAT](INFO): direction in FSK: [0.990887,-0.013836,0.133986]
2025-08-23T22:18:22.485Z,1755987502.485 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:22.488Z,1755987502.488 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:22.488Z,1755987502.488 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:22.489Z,1755987502.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:22.726Z,1755987502.726 [DAT](INFO): DAT read: user:1699>
2025-08-23T22:18:22.727Z,1755987502.727 [DAT](INFO): DAT read: Tx time:22:18:22.3978
2025-08-23T22:18:22.727Z,1755987502.727 [DAT](INFO): Ping request sent.
2025-08-23T22:18:22.728Z,1755987502.728 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:22.728Z,1755987502.728 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:22.728Z,1755987502.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-23T22:18:22.810Z,1755987502.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 76.199997 m,
deltaT: 3.780030 s,
deltaX: -1.800003 m,
approachRate: -0.476187 m/s,
rangeRepo size: 4
2025-08-23T22:18:22.812Z,1755987502.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 75.724411 m,
bearing: 130.923865 deg,
lat: 36.779386 deg,
lon: -121.859604 deg,
deltaT: 3.780030 s,
deltaX: -1.789261 m,
approachRate: -0.473346 m/s,
posRepo size: 4
2025-08-23T22:18:22.813Z,1755987502.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m.
2025-08-23T22:18:22.820Z,1755987502.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.724411 m,
nav range: 74.971100 m,
bearing: 131.745994 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.031271 deg/s,
cmd heading: 133.060309 deg,
new cmd heading: 133.094854 deg.
2025-08-23T22:18:22.821Z,1755987502.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322943 target range: 75.724411 and range: 76.20 m.
2025-08-23T22:18:22.979Z,1755987502.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251099
2025-08-23T22:18:23.166Z,1755987503.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:23.168Z,1755987503.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m.
2025-08-23T22:18:23.171Z,1755987503.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.724411 m,
nav range: 74.776550 m,
bearing: 131.756593 deg,
approach rate: -0.530406 m/s,
LOS rate: 0.028972 deg/s,
cmd heading: 133.094856 deg,
new cmd heading: 133.116109 deg.
2025-08-23T22:18:23.172Z,1755987503.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323314 target range: 75.724411 and range: 76.20 m.
2025-08-23T22:18:23.231Z,1755987503.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503467
2025-08-23T22:18:23.482Z,1755987503.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754843
2025-08-23T22:18:23.580Z,1755987503.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m.
2025-08-23T22:18:23.583Z,1755987503.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.724411 m,
nav range: 74.572807 m,
bearing: 131.767597 deg,
approach rate: -0.494818 m/s,
LOS rate: 0.026797 deg/s,
cmd heading: 133.116111 deg,
new cmd heading: 133.138179 deg.
2025-08-23T22:18:23.584Z,1755987503.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323699 target range: 75.724411 and range: 76.20 m.
2025-08-23T22:18:23.735Z,1755987503.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007013
2025-08-23T22:18:23.987Z,1755987503.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259056
2025-08-23T22:18:23.997Z,1755987503.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m.
2025-08-23T22:18:23.000Z,1755987504.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.724411 m,
nav range: 74.349380 m,
bearing: 131.781236 deg,
approach rate: -0.536595 m/s,
LOS rate: 0.032856 deg/s,
cmd heading: 133.138173 deg,
new cmd heading: 133.165534 deg.
2025-08-23T22:18:24.001Z,1755987504.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324177 target range: 75.724411 and range: 76.20 m.
2025-08-23T22:18:24.243Z,1755987504.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515699
2025-08-23T22:18:24.380Z,1755987504.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m.
2025-08-23T22:18:24.383Z,1755987504.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.724411 m,
nav range: 74.151993 m,
bearing: 131.792985 deg,
approach rate: -0.514781 m/s,
LOS rate: 0.030721 deg/s,
cmd heading: 133.165534 deg,
new cmd heading: 133.189094 deg.
2025-08-23T22:18:24.384Z,1755987504.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324588 target range: 75.724411 and range: 76.20 m.
2025-08-23T22:18:24.495Z,1755987504.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767031
2025-08-23T22:18:24.747Z,1755987504.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018988
2025-08-23T22:18:24.818Z,1755987504.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m.
2025-08-23T22:18:24.821Z,1755987504.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.724411 m,
nav range: 73.923836 m,
bearing: 131.805312 deg,
approach rate: -0.520652 m/s,
LOS rate: 0.028218 deg/s,
cmd heading: 133.189099 deg,
new cmd heading: 133.213830 deg.
2025-08-23T22:18:24.826Z,1755987504.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325020 target range: 75.724411 and range: 76.20 m.
2025-08-23T22:18:24.998Z,1755987504.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270884
2025-08-23T22:18:25.199Z,1755987505.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:25.208Z,1755987505.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m.
2025-08-23T22:18:25.222Z,1755987505.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.724411 m,
nav range: 73.727112 m,
bearing: 131.815823 deg,
approach rate: -0.505783 m/s,
LOS rate: 0.027096 deg/s,
cmd heading: 133.213824 deg,
new cmd heading: 133.234902 deg.
2025-08-23T22:18:25.223Z,1755987505.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325388 target range: 75.724411 and range: 76.20 m.
2025-08-23T22:18:25.251Z,1755987505.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523034
2025-08-23T22:18:25.503Z,1755987505.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775245
2025-08-23T22:18:25.585Z,1755987505.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m.
2025-08-23T22:18:25.588Z,1755987505.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.724411 m,
nav range: 73.513123 m,
bearing: 131.827048 deg,
approach rate: -0.566925 m/s,
LOS rate: 0.029825 deg/s,
cmd heading: 133.234902 deg,
new cmd heading: 133.257417 deg.
2025-08-23T22:18:25.592Z,1755987505.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325781 target range: 75.724411 and range: 76.20 m.
2025-08-23T22:18:25.755Z,1755987505.755 [DAT](INFO): DAT read: Rx Time:22:18:24.9008
2025-08-23T22:18:25.755Z,1755987505.755 [DAT](INFO): Rx dataTimestamp_ set to:1755987505.754826
2025-08-23T22:18:25.756Z,1755987505.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028052
2025-08-23T22:18:26.006Z,1755987506.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278820
2025-08-23T22:18:26.028Z,1755987506.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m.
2025-08-23T22:18:26.038Z,1755987506.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.724411 m,
nav range: 73.291000 m,
bearing: 131.838182 deg,
approach rate: -0.501531 m/s,
LOS rate: 0.025215 deg/s,
cmd heading: 133.257414 deg,
new cmd heading: 133.279749 deg.
2025-08-23T22:18:26.039Z,1755987506.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.326170 target range: 75.724411 and range: 76.20 m.
2025-08-23T22:18:26.264Z,1755987506.264 [DAT](INFO): DAT read: 22:18:24.9008 LVL= 24032, 30689, 20978, 32755, AGC= 65, IDX= 417, 0.48,-1.670, 2.830,-1.455,-1.937, PHS= 0.369,-1.471, 0.438, RAW= 151.8, 7.1, CAL= 151.2, 7.5, ROT= 358.8, -7.5
2025-08-23T22:18:26.265Z,1755987506.265 [DAT](INFO): got valid direction response:
22:18:24.9008 LVL= 24032, 30689, 20978, 32755, AGC= 65, IDX= 417, 0.48,-1.670, 2.830,-1.455,-1.937, PHS= 0.369,-1.471, 0.438, RAW= 151.8, 7.1, CAL= 151.2, 7.5, ROT= 358.8, -7.5
2025-08-23T22:18:26.267Z,1755987506.267 [DAT](INFO): DAT read: Bearing 302.2, -1.8 (Local)
2025-08-23T22:18:26.267Z,1755987506.267 [DAT](INFO): Local bearing/azimuth received:
Bearing 302.2, -1.8 (Local)
2025-08-23T22:18:26.269Z,1755987506.269 [DAT](INFO): DAT read: Range 11 to 50 : 74.1 m (Round-trip 98.9 ms) speed 0.4 m/s
2025-08-23T22:18:26.270Z,1755987506.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:26.271Z,1755987506.271 [DAT](INFO): direction in FSK: [0.991227,-0.020763,0.130526]
2025-08-23T22:18:26.272Z,1755987506.272 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:26.276Z,1755987506.276 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:26.276Z,1755987506.276 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:26.276Z,1755987506.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:26.428Z,1755987506.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 74.099998 m,
deltaT: 3.784131 s,
deltaX: -2.099998 m,
approachRate: -0.554949 m/s,
rangeRepo size: 4
2025-08-23T22:18:26.434Z,1755987506.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 73.637482 m,
bearing: 131.166528 deg,
lat: 36.779387 deg,
lon: -121.859601 deg,
deltaT: 3.784131 s,
deltaX: -2.086929 m,
approachRate: -0.551495 m/s,
posRepo size: 4
2025-08-23T22:18:26.435Z,1755987506.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.64 m.
2025-08-23T22:18:26.441Z,1755987506.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.637482 m,
nav range: 73.191490 m,
bearing: 131.660752 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.025215 deg/s,
cmd heading: 133.279749 deg,
new cmd heading: 133.299907 deg.
2025-08-23T22:18:26.442Z,1755987506.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.326522 target range: 73.637482 and range: 74.10 m.
2025-08-23T22:18:26.511Z,1755987506.511 [DAT](INFO): DAT read: user:1700>
2025-08-23T22:18:26.513Z,1755987506.513 [DAT](INFO): DAT read: Tx time:22:18:26.1978
2025-08-23T22:18:26.513Z,1755987506.513 [DAT](INFO): Ping request sent.
2025-08-23T22:18:26.513Z,1755987506.513 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:26.514Z,1755987506.514 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:26.514Z,1755987506.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001189
2025-08-23T22:18:26.763Z,1755987506.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249387
2025-08-23T22:18:26.823Z,1755987506.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.64 m.
2025-08-23T22:18:26.826Z,1755987506.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.637482 m,
nav range: 72.966347 m,
bearing: 131.669730 deg,
approach rate: -0.569107 m/s,
LOS rate: 0.022763 deg/s,
cmd heading: 133.299912 deg,
new cmd heading: 133.317922 deg.
2025-08-23T22:18:26.827Z,1755987506.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.326837 target range: 73.637482 and range: 74.10 m.
2025-08-23T22:18:27.014Z,1755987507.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501336
2025-08-23T22:18:27.239Z,1755987507.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:27.245Z,1755987507.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.64 m.
2025-08-23T22:18:27.248Z,1755987507.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.637482 m,
nav range: 72.753357 m,
bearing: 131.678026 deg,
approach rate: -0.509047 m/s,
LOS rate: 0.019885 deg/s,
cmd heading: 133.317916 deg,
new cmd heading: 133.334556 deg.
2025-08-23T22:18:27.249Z,1755987507.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327127 target range: 73.637482 and range: 74.10 m.
2025-08-23T22:18:27.267Z,1755987507.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753477
2025-08-23T22:18:27.518Z,1755987507.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005305
2025-08-23T22:18:27.603Z,1755987507.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.64 m.
2025-08-23T22:18:27.605Z,1755987507.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.637482 m,
nav range: 72.540024 m,
bearing: 131.686180 deg,
approach rate: -0.590282 m/s,
LOS rate: 0.022630 deg/s,
cmd heading: 133.334554 deg,
new cmd heading: 133.350912 deg.
2025-08-23T22:18:27.606Z,1755987507.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327412 target range: 73.637482 and range: 74.10 m.
2025-08-23T22:18:27.773Z,1755987507.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259558
2025-08-23T22:18:28.023Z,1755987508.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509431
2025-08-23T22:18:28.024Z,1755987508.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.64 m.
2025-08-23T22:18:28.027Z,1755987508.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.637482 m,
nav range: 72.319893 m,
bearing: 131.694028 deg,
approach rate: -0.522384 m/s,
LOS rate: 0.018679 deg/s,
cmd heading: 133.350906 deg,
new cmd heading: 133.366648 deg.
2025-08-23T22:18:28.028Z,1755987508.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327687 target range: 73.637482 and range: 74.10 m.
2025-08-23T22:18:28.275Z,1755987508.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761389
2025-08-23T22:18:28.416Z,1755987508.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.64 m.
2025-08-23T22:18:28.419Z,1755987508.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.637482 m,
nav range: 72.113350 m,
bearing: 131.701351 deg,
approach rate: -0.527466 m/s,
LOS rate: 0.018756 deg/s,
cmd heading: 133.366643 deg,
new cmd heading: 133.381332 deg.
2025-08-23T22:18:28.420Z,1755987508.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327943 target range: 73.637482 and range: 74.10 m.
2025-08-23T22:18:28.527Z,1755987508.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013469
2025-08-23T22:18:28.778Z,1755987508.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265306
2025-08-23T22:18:28.844Z,1755987508.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.64 m.
2025-08-23T22:18:28.847Z,1755987508.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.637482 m,
nav range: 71.891190 m,
bearing: 131.708934 deg,
approach rate: -0.518381 m/s,
LOS rate: 0.017749 deg/s,
cmd heading: 133.381327 deg,
new cmd heading: 133.396541 deg.
2025-08-23T22:18:28.848Z,1755987508.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328209 target range: 73.637482 and range: 74.10 m.
2025-08-23T22:18:29.031Z,1755987509.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517437
2025-08-23T22:18:29.245Z,1755987509.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:29.251Z,1755987509.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.64 m.
2025-08-23T22:18:29.254Z,1755987509.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.637482 m,
nav range: 71.681763 m,
bearing: 131.716126 deg,
approach rate: -0.514804 m/s,
LOS rate: 0.017730 deg/s,
cmd heading: 133.396545 deg,
new cmd heading: 133.410971 deg.
2025-08-23T22:18:29.255Z,1755987509.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328461 target range: 73.637482 and range: 74.10 m.
2025-08-23T22:18:29.283Z,1755987509.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769485
2025-08-23T22:18:29.535Z,1755987509.535 [DAT](INFO): DAT read: Rx Time:22:18:28.6982
2025-08-23T22:18:29.535Z,1755987509.535 [DAT](INFO): Rx dataTimestamp_ set to:1755987509.534702
2025-08-23T22:18:29.536Z,1755987509.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022398
2025-08-23T22:18:29.648Z,1755987509.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.64 m.
2025-08-23T22:18:29.651Z,1755987509.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.637482 m,
nav range: 71.481071 m,
bearing: 131.722831 deg,
approach rate: -0.508964 m/s,
LOS rate: 0.017052 deg/s,
cmd heading: 133.410970 deg,
new cmd heading: 133.424418 deg.
2025-08-23T22:18:29.652Z,1755987509.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328695 target range: 73.637482 and range: 74.10 m.
2025-08-23T22:18:29.791Z,1755987509.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277346
2025-08-23T22:18:30.044Z,1755987510.044 [DAT](INFO): DAT read: 22:18:28.6982 LVL= 27088, 30561, 27170, 32755, AGC= 63, IDX= 422, 0.22, 2.067, 0.270, 2.319, 1.814, PHS= 0.355,-1.499, 0.461, RAW= 152.8, 7.2, CAL= 152.2, 7.6, ROT= 357.8, -7.6
2025-08-23T22:18:30.045Z,1755987510.045 [DAT](INFO): got valid direction response:
22:18:28.6982 LVL= 27088, 30561, 27170, 32755, AGC= 63, IDX= 422, 0.22, 2.067, 0.270, 2.319, 1.814, PHS= 0.355,-1.499, 0.461, RAW= 152.8, 7.2, CAL= 152.2, 7.6, ROT= 357.8, -7.6
2025-08-23T22:18:30.046Z,1755987510.046 [DAT](INFO): DAT read: Bearing 302.9, -3.2 (Local)
2025-08-23T22:18:30.046Z,1755987510.046 [DAT](INFO): Local bearing/azimuth received:
Bearing 302.9, -3.2 (Local)
2025-08-23T22:18:30.048Z,1755987510.048 [DAT](INFO): DAT read: Range 11 to 50 : 72.1 m (Round-trip 96.2 ms) speed 0.4 m/s
2025-08-23T22:18:30.048Z,1755987510.048 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:30.049Z,1755987510.049 [DAT](INFO): direction in FSK: [0.990485,-0.038051,0.132256]
2025-08-23T22:18:30.049Z,1755987510.049 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:30.053Z,1755987510.053 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:30.053Z,1755987510.053 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:30.053Z,1755987510.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:30.082Z,1755987510.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 72.099998 m,
deltaT: 3.780008 s,
deltaX: -2.000000 m,
approachRate: -0.529099 m/s,
rangeRepo size: 4
2025-08-23T22:18:30.084Z,1755987510.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 71.650017 m,
bearing: 130.670147 deg,
lat: 36.779391 deg,
lon: -121.859596 deg,
deltaT: 3.780008 s,
deltaX: -1.987465 m,
approachRate: -0.525783 m/s,
posRepo size: 4
2025-08-23T22:18:30.085Z,1755987510.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.65 m.
2025-08-23T22:18:30.095Z,1755987510.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.650017 m,
nav range: 71.296783 m,
bearing: 131.222697 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017052 deg/s,
cmd heading: 133.424412 deg,
new cmd heading: 133.438725 deg.
2025-08-23T22:18:30.096Z,1755987510.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328945 target range: 71.650017 and range: 72.10 m.
2025-08-23T22:18:30.291Z,1755987510.291 [DAT](INFO): DAT read: user:1701>
2025-08-23T22:18:30.291Z,1755987510.291 [DAT](INFO): DAT read: Tx time:22:18:29.9978
2025-08-23T22:18:30.292Z,1755987510.292 [DAT](INFO): Ping request sent.
2025-08-23T22:18:30.292Z,1755987510.292 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:30.292Z,1755987510.292 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:30.293Z,1755987510.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-23T22:18:30.428Z,1755987510.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.65 m.
2025-08-23T22:18:30.431Z,1755987510.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.650017 m,
nav range: 71.095367 m,
bearing: 131.228415 deg,
approach rate: -0.554986 m/s,
LOS rate: 0.015800 deg/s,
cmd heading: 133.438728 deg,
new cmd heading: 133.450197 deg.
2025-08-23T22:18:30.432Z,1755987510.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329145 target range: 71.650017 and range: 72.10 m.
2025-08-23T22:18:30.543Z,1755987510.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250780
2025-08-23T22:18:30.801Z,1755987510.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508649
2025-08-23T22:18:30.870Z,1755987510.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.65 m.
2025-08-23T22:18:30.873Z,1755987510.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.650017 m,
nav range: 70.875854 m,
bearing: 131.234072 deg,
approach rate: -0.496335 m/s,
LOS rate: 0.012831 deg/s,
cmd heading: 133.450203 deg,
new cmd heading: 133.461553 deg.
2025-08-23T22:18:30.874Z,1755987510.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329344 target range: 71.650017 and range: 72.10 m.
2025-08-23T22:18:31.050Z,1755987511.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758683
2025-08-23T22:18:31.250Z,1755987511.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:31.253Z,1755987511.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.65 m.
2025-08-23T22:18:31.255Z,1755987511.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.650017 m,
nav range: 70.686279 m,
bearing: 131.238873 deg,
approach rate: -0.495795 m/s,
LOS rate: 0.012588 deg/s,
cmd heading: 133.461555 deg,
new cmd heading: 133.471181 deg.
2025-08-23T22:18:31.256Z,1755987511.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329512 target range: 71.650017 and range: 72.10 m.
2025-08-23T22:18:31.303Z,1755987511.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011502
2025-08-23T22:18:31.555Z,1755987511.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262735
2025-08-23T22:18:31.634Z,1755987511.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.65 m.
2025-08-23T22:18:31.637Z,1755987511.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.650017 m,
nav range: 70.496162 m,
bearing: 131.243675 deg,
approach rate: -0.497757 m/s,
LOS rate: 0.012607 deg/s,
cmd heading: 133.471185 deg,
new cmd heading: 133.480816 deg.
2025-08-23T22:18:31.638Z,1755987511.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329680 target range: 71.650017 and range: 72.10 m.
2025-08-23T22:18:31.809Z,1755987511.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516924
2025-08-23T22:18:32.058Z,1755987512.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766610
2025-08-23T22:18:32.077Z,1755987512.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.65 m.
2025-08-23T22:18:32.084Z,1755987512.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.650017 m,
nav range: 70.280472 m,
bearing: 131.250114 deg,
approach rate: -0.487579 m/s,
LOS rate: 0.014600 deg/s,
cmd heading: 133.480816 deg,
new cmd heading: 133.493733 deg.
2025-08-23T22:18:32.089Z,1755987512.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329905 target range: 71.650017 and range: 72.10 m.
2025-08-23T22:18:32.311Z,1755987512.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018771
2025-08-23T22:18:32.467Z,1755987512.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.65 m.
2025-08-23T22:18:32.486Z,1755987512.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.650017 m,
nav range: 70.070885 m,
bearing: 131.256304 deg,
approach rate: -0.537120 m/s,
LOS rate: 0.015912 deg/s,
cmd heading: 133.493739 deg,
new cmd heading: 133.506157 deg.
2025-08-23T22:18:32.487Z,1755987512.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330122 target range: 71.650017 and range: 72.10 m.
2025-08-23T22:18:32.563Z,1755987512.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270772
2025-08-23T22:18:32.817Z,1755987512.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524582
2025-08-23T22:18:32.897Z,1755987512.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.65 m.
2025-08-23T22:18:32.900Z,1755987512.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.650017 m,
nav range: 69.845375 m,
bearing: 131.264025 deg,
approach rate: -0.524580 m/s,
LOS rate: 0.018017 deg/s,
cmd heading: 133.506156 deg,
new cmd heading: 133.521647 deg.
2025-08-23T22:18:32.901Z,1755987512.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330392 target range: 71.650017 and range: 72.10 m.
2025-08-23T22:18:33.067Z,1755987513.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774950
2025-08-23T22:18:33.284Z,1755987513.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:33.290Z,1755987513.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.65 m.
2025-08-23T22:18:33.293Z,1755987513.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.650017 m,
nav range: 69.649750 m,
bearing: 131.270744 deg,
approach rate: -0.497204 m/s,
LOS rate: 0.017127 deg/s,
cmd heading: 133.521647 deg,
new cmd heading: 133.535124 deg.
2025-08-23T22:18:33.298Z,1755987513.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330628 target range: 71.650017 and range: 72.10 m.
2025-08-23T22:18:33.319Z,1755987513.319 [DAT](INFO): DAT read: Rx Time:22:18:32.4957
2025-08-23T22:18:33.319Z,1755987513.319 [DAT](INFO): Rx dataTimestamp_ set to:1755987513.318700
2025-08-23T22:18:33.320Z,1755987513.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027759
2025-08-23T22:18:33.571Z,1755987513.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278760
2025-08-23T22:18:33.726Z,1755987513.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.65 m.
2025-08-23T22:18:33.749Z,1755987513.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.650017 m,
nav range: 69.436798 m,
bearing: 131.278001 deg,
approach rate: -0.495000 m/s,
LOS rate: 0.016921 deg/s,
cmd heading: 133.535130 deg,
new cmd heading: 133.549688 deg.
2025-08-23T22:18:33.754Z,1755987513.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330882 target range: 71.650017 and range: 72.10 m.
2025-08-23T22:18:33.847Z,1755987513.847 [DAT](INFO): DAT read: 22:18:32.4957 LVL= 28080, 32753, 29170, 32755, AGC= 67, IDX= 411, 0.48, 2.046, 0.284, 2.299, 1.799, PHS= 0.349,-1.471, 0.456, RAW= 152.8, 7.2, CAL= 152.2, 7.5, ROT= 357.8, -7.5
2025-08-23T22:18:33.848Z,1755987513.848 [DAT](INFO): got valid direction response:
22:18:32.4957 LVL= 28080, 32753, 29170, 32755, AGC= 67, IDX= 411, 0.48, 2.046, 0.284, 2.299, 1.799, PHS= 0.349,-1.471, 0.456, RAW= 152.8, 7.2, CAL= 152.2, 7.5, ROT= 357.8, -7.5
2025-08-23T22:18:33.849Z,1755987513.849 [DAT](INFO): DAT read: Bearing 303.1, -3.7 (Local)
2025-08-23T22:18:33.849Z,1755987513.849 [DAT](INFO): Local bearing/azimuth received:
Bearing 303.1, -3.7 (Local)
2025-08-23T22:18:33.851Z,1755987513.851 [DAT](INFO): DAT read: Range 11 to 50 : 70.2 m (Round-trip 93.7 ms) speed 0.4 m/s
2025-08-23T22:18:33.851Z,1755987513.851 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:33.852Z,1755987513.852 [DAT](INFO): direction in FSK: [0.990714,-0.038060,0.130526]
2025-08-23T22:18:33.852Z,1755987513.852 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:33.884Z,1755987513.884 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:33.884Z,1755987513.884 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:33.884Z,1755987513.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:34.075Z,1755987514.075 [DAT](INFO): DAT read: user:1702>
2025-08-23T22:18:34.076Z,1755987514.076 [DAT](INFO): DAT read: Tx time:22:18:33.8478
2025-08-23T22:18:34.076Z,1755987514.076 [DAT](INFO): Ping request sent.
2025-08-23T22:18:34.076Z,1755987514.076 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:34.076Z,1755987514.076 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:34.077Z,1755987514.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-23T22:18:34.249Z,1755987514.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 70.199997 m,
deltaT: 3.786117 s,
deltaX: -1.900002 m,
approachRate: -0.501834 m/s,
rangeRepo size: 4
2025-08-23T22:18:34.251Z,1755987514.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 69.761269 m,
bearing: 130.941163 deg,
lat: 36.779392 deg,
lon: -121.859594 deg,
deltaT: 3.786117 s,
deltaX: -1.888748 m,
approachRate: -0.498862 m/s,
posRepo size: 4
2025-08-23T22:18:34.252Z,1755987514.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:34.255Z,1755987514.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 69.224640 m,
bearing: 131.123091 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.016921 deg/s,
cmd heading: 133.549692 deg,
new cmd heading: 133.567542 deg.
2025-08-23T22:18:34.256Z,1755987514.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331193 target range: 69.761269 and range: 70.20 m.
2025-08-23T22:18:34.327Z,1755987514.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250415
2025-08-23T22:18:34.578Z,1755987514.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502234
2025-08-23T22:18:34.612Z,1755987514.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:34.619Z,1755987514.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 69.025810 m,
bearing: 131.129394 deg,
approach rate: -0.545673 m/s,
LOS rate: 0.017346 deg/s,
cmd heading: 133.567546 deg,
new cmd heading: 133.580187 deg.
2025-08-23T22:18:34.620Z,1755987514.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331414 target range: 69.761269 and range: 70.20 m.
2025-08-23T22:18:34.833Z,1755987514.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756268
2025-08-23T22:18:35.038Z,1755987515.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:35.040Z,1755987515.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 68.798737 m,
bearing: 131.136575 deg,
approach rate: -0.534069 m/s,
LOS rate: 0.016947 deg/s,
cmd heading: 133.580182 deg,
new cmd heading: 133.594592 deg.
2025-08-23T22:18:35.083Z,1755987515.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006683
2025-08-23T22:18:35.083Z,1755987515.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331666 target range: 69.761269 and range: 70.20 m.
2025-08-23T22:18:35.335Z,1755987515.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258779
2025-08-23T22:18:35.406Z,1755987515.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:35.408Z,1755987515.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:35.434Z,1755987515.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 68.602409 m,
bearing: 131.142768 deg,
approach rate: -0.530531 m/s,
LOS rate: 0.016783 deg/s,
cmd heading: 133.594593 deg,
new cmd heading: 133.607015 deg.
2025-08-23T22:18:35.435Z,1755987515.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331882 target range: 69.761269 and range: 70.20 m.
2025-08-23T22:18:35.586Z,1755987515.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510259
2025-08-23T22:18:35.818Z,1755987515.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:35.821Z,1755987515.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 68.388992 m,
bearing: 131.149474 deg,
approach rate: -0.521105 m/s,
LOS rate: 0.016425 deg/s,
cmd heading: 133.607011 deg,
new cmd heading: 133.620464 deg.
2025-08-23T22:18:35.822Z,1755987515.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332117 target range: 69.761269 and range: 70.20 m.
2025-08-23T22:18:35.850Z,1755987515.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764923
2025-08-23T22:18:36.091Z,1755987516.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014392
2025-08-23T22:18:36.263Z,1755987516.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:36.266Z,1755987516.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 68.153107 m,
bearing: 131.156910 deg,
approach rate: -0.529270 m/s,
LOS rate: 0.016741 deg/s,
cmd heading: 133.620466 deg,
new cmd heading: 133.635388 deg.
2025-08-23T22:18:36.267Z,1755987516.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332377 target range: 69.761269 and range: 70.20 m.
2025-08-23T22:18:36.343Z,1755987516.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267211
2025-08-23T22:18:36.595Z,1755987516.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518668
2025-08-23T22:18:36.620Z,1755987516.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:36.623Z,1755987516.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 67.965225 m,
bearing: 131.162882 deg,
approach rate: -0.525940 m/s,
LOS rate: 0.016764 deg/s,
cmd heading: 133.635383 deg,
new cmd heading: 133.647360 deg.
2025-08-23T22:18:36.624Z,1755987516.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332587 target range: 69.761269 and range: 70.20 m.
2025-08-23T22:18:36.850Z,1755987516.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773180
2025-08-23T22:18:37.050Z,1755987517.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:37.052Z,1755987517.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 67.748154 m,
bearing: 131.172170 deg,
approach rate: -0.505657 m/s,
LOS rate: 0.021707 deg/s,
cmd heading: 133.647363 deg,
new cmd heading: 133.666000 deg.
2025-08-23T22:18:37.053Z,1755987517.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332912 target range: 69.761269 and range: 70.20 m.
2025-08-23T22:18:37.099Z,1755987517.099 [DAT](INFO): DAT read: Rx Time:22:18:36.3428
2025-08-23T22:18:37.099Z,1755987517.099 [DAT](INFO): Rx dataTimestamp_ set to:1755987517.098883
2025-08-23T22:18:37.100Z,1755987517.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023524
2025-08-23T22:18:37.350Z,1755987517.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274277
2025-08-23T22:18:37.424Z,1755987517.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:37.426Z,1755987517.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:37.447Z,1755987517.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 67.557823 m,
bearing: 131.180319 deg,
approach rate: -0.505050 m/s,
LOS rate: 0.021682 deg/s,
cmd heading: 133.665996 deg,
new cmd heading: 133.682338 deg.
2025-08-23T22:18:37.448Z,1755987517.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333197 target range: 69.761269 and range: 70.20 m.
2025-08-23T22:18:37.607Z,1755987517.607 [DAT](INFO): DAT read: 22:18:36.3428 LVL= 26288, 28465, 28242, 32755, AGC= 64, IDX= 415, 0.43, 2.419, 0.654, 2.672, 2.179, PHS= 0.342,-1.479, 0.449, RAW= 152.8, 7.4, CAL= 152.3, 7.8, ROT= 357.7, -7.8
2025-08-23T22:18:37.608Z,1755987517.608 [DAT](INFO): got valid direction response:
22:18:36.3428 LVL= 26288, 28465, 28242, 32755, AGC= 64, IDX= 415, 0.43, 2.419, 0.654, 2.672, 2.179, PHS= 0.342,-1.479, 0.449, RAW= 152.8, 7.4, CAL= 152.3, 7.8, ROT= 357.7, -7.8
2025-08-23T22:18:37.609Z,1755987517.609 [DAT](INFO): DAT read: Bearing 303.6, -4.0 (Local)
2025-08-23T22:18:37.609Z,1755987517.609 [DAT](INFO): Local bearing/azimuth received:
Bearing 303.6, -4.0 (Local)
2025-08-23T22:18:37.610Z,1755987517.610 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:18:37.611Z,1755987517.611 [DAT](INFO): direction in FSK: [0.989950,-0.039760,0.135716]
2025-08-23T22:18:37.614Z,1755987517.614 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:37.615Z,1755987517.615 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:37.615Z,1755987517.615 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:18:37.842Z,1755987517.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:37.848Z,1755987517.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 67.348305 m,
bearing: 131.189348 deg,
approach rate: -0.504602 m/s,
LOS rate: 0.021815 deg/s,
cmd heading: 133.682334 deg,
new cmd heading: 133.700450 deg.
2025-08-23T22:18:37.850Z,1755987517.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333513 target range: 69.761269 and range: 70.20 m.
2025-08-23T22:18:37.855Z,1755987517.855 [DAT](INFO): DAT read: Range 11 to 50 : 68.2 m (Round-trip 91.0 ms) speed 0.4 m/s
2025-08-23T22:18:37.856Z,1755987517.856 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-08-23T22:18:37.857Z,1755987517.857 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:37.857Z,1755987517.857 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:37.857Z,1755987517.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:38.106Z,1755987518.106 [DAT](INFO): DAT read: user:1703>
2025-08-23T22:18:38.107Z,1755987518.107 [DAT](INFO): DAT read: Tx time:22:18:37.7977
2025-08-23T22:18:38.107Z,1755987518.107 [DAT](INFO): Ping request sent.
2025-08-23T22:18:38.108Z,1755987518.108 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:38.108Z,1755987518.108 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:38.108Z,1755987518.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-23T22:18:38.288Z,1755987518.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.199997 m,
deltaT: 4.029877 s,
deltaX: -2.000000 m,
approachRate: -0.496293 m/s,
rangeRepo size: 4
2025-08-23T22:18:38.288Z,1755987518.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:38.291Z,1755987518.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 67.117462 m,
bearing: 131.195904 deg,
approach rate: -0.517971 m/s,
LOS rate: 0.014762 deg/s,
cmd heading: 133.700448 deg,
new cmd heading: 133.713605 deg.
2025-08-23T22:18:38.292Z,1755987518.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333743 target range: 69.761269 and range: 68.20 m.
2025-08-23T22:18:38.359Z,1755987518.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251776
2025-08-23T22:18:38.611Z,1755987518.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502974
2025-08-23T22:18:38.705Z,1755987518.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:38.708Z,1755987518.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 66.915863 m,
bearing: 131.201673 deg,
approach rate: -0.482584 m/s,
LOS rate: 0.013850 deg/s,
cmd heading: 133.713603 deg,
new cmd heading: 133.725174 deg.
2025-08-23T22:18:38.709Z,1755987518.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333945 target range: 69.761269 and range: 68.20 m.
2025-08-23T22:18:38.865Z,1755987518.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757051
2025-08-23T22:18:39.090Z,1755987519.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:39.092Z,1755987519.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 66.705811 m,
bearing: 131.206916 deg,
approach rate: -0.546351 m/s,
LOS rate: 0.013681 deg/s,
cmd heading: 133.725173 deg,
new cmd heading: 133.735692 deg.
2025-08-23T22:18:39.093Z,1755987519.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334128 target range: 69.761269 and range: 68.20 m.
2025-08-23T22:18:39.115Z,1755987519.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007044
2025-08-23T22:18:39.367Z,1755987519.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258962
2025-08-23T22:18:39.469Z,1755987519.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:39.475Z,1755987519.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:39.482Z,1755987519.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 66.517448 m,
bearing: 131.211596 deg,
approach rate: -0.488578 m/s,
LOS rate: 0.012173 deg/s,
cmd heading: 133.735691 deg,
new cmd heading: 133.745078 deg.
2025-08-23T22:18:39.483Z,1755987519.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334292 target range: 69.761269 and range: 68.20 m.
2025-08-23T22:18:39.618Z,1755987519.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510924
2025-08-23T22:18:39.870Z,1755987519.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762927
2025-08-23T22:18:39.929Z,1755987519.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:39.952Z,1755987519.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 66.296623 m,
bearing: 131.217116 deg,
approach rate: -0.488019 m/s,
LOS rate: 0.012240 deg/s,
cmd heading: 133.745076 deg,
new cmd heading: 133.756153 deg.
2025-08-23T22:18:39.958Z,1755987519.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334485 target range: 69.761269 and range: 68.20 m.
2025-08-23T22:18:40.122Z,1755987520.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014913
2025-08-23T22:18:40.314Z,1755987520.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:40.316Z,1755987520.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 66.071930 m,
bearing: 131.222909 deg,
approach rate: -0.581922 m/s,
LOS rate: 0.015052 deg/s,
cmd heading: 133.756155 deg,
new cmd heading: 133.767779 deg.
2025-08-23T22:18:40.317Z,1755987520.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334688 target range: 69.761269 and range: 68.20 m.
2025-08-23T22:18:40.375Z,1755987520.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267059
2025-08-23T22:18:40.627Z,1755987520.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518976
2025-08-23T22:18:40.708Z,1755987520.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:40.719Z,1755987520.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 65.862106 m,
bearing: 131.228308 deg,
approach rate: -0.532250 m/s,
LOS rate: 0.013739 deg/s,
cmd heading: 133.767780 deg,
new cmd heading: 133.778612 deg.
2025-08-23T22:18:40.720Z,1755987520.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334877 target range: 69.761269 and range: 68.20 m.
2025-08-23T22:18:40.879Z,1755987520.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771401
2025-08-23T22:18:41.122Z,1755987521.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:41.124Z,1755987521.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 65.649025 m,
bearing: 131.234365 deg,
approach rate: -0.515203 m/s,
LOS rate: 0.014693 deg/s,
cmd heading: 133.778612 deg,
new cmd heading: 133.790766 deg.
2025-08-23T22:18:41.125Z,1755987521.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335089 target range: 69.761269 and range: 68.20 m.
2025-08-23T22:18:41.131Z,1755987521.131 [DAT](INFO): DAT read: Rx Time:22:18:40.2901
2025-08-23T22:18:41.131Z,1755987521.131 [DAT](INFO): Rx dataTimestamp_ set to:1755987521.131096
2025-08-23T22:18:41.132Z,1755987521.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024382
2025-08-23T22:18:41.383Z,1755987521.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275183
2025-08-23T22:18:41.555Z,1755987521.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:41.562Z,1755987521.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.76 m.
2025-08-23T22:18:41.564Z,1755987521.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.761269 m,
nav range: 65.447433 m,
bearing: 131.240170 deg,
approach rate: -0.462349 m/s,
LOS rate: 0.013354 deg/s,
cmd heading: 133.790770 deg,
new cmd heading: 133.802415 deg.
2025-08-23T22:18:41.565Z,1755987521.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335293 target range: 69.761269 and range: 68.20 m.
2025-08-23T22:18:41.643Z,1755987521.643 [DAT](INFO): DAT read: 22:18:40.2901 LVL= 24048, 28225, 22738, 31219, AGC= 64, IDX= 420,-0.20, 1.207,-0.552, 1.495, 0.980, PHS= 0.330,-1.487, 0.471, RAW= 153.7, 7.3, CAL= 153.2, 7.6, ROT= 356.8, -7.6
2025-08-23T22:18:41.645Z,1755987521.645 [DAT](INFO): got valid direction response:
22:18:40.2901 LVL= 24048, 28225, 22738, 31219, AGC= 64, IDX= 420,-0.20, 1.207,-0.552, 1.495, 0.980, PHS= 0.330,-1.487, 0.471, RAW= 153.7, 7.3, CAL= 153.2, 7.6, ROT= 356.8, -7.6
2025-08-23T22:18:41.646Z,1755987521.646 [DAT](INFO): DAT read: Bearing 304.0, -5.2 (Local)
2025-08-23T22:18:41.647Z,1755987521.647 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.0, -5.2 (Local)
2025-08-23T22:18:41.650Z,1755987521.650 [DAT](INFO): DAT read: Range 11 to 50 : 66.1 m (Round-trip 88.2 ms) speed 0.4 m/s
2025-08-23T22:18:41.651Z,1755987521.651 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:41.662Z,1755987521.662 [DAT](INFO): direction in FSK: [0.989670,-0.055331,0.132256]
2025-08-23T22:18:41.663Z,1755987521.663 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:41.673Z,1755987521.673 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:41.673Z,1755987521.673 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:41.673Z,1755987521.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:41.886Z,1755987521.886 [DAT](INFO): DAT read: user:1704>
2025-08-23T22:18:41.887Z,1755987521.887 [DAT](INFO): DAT read: Tx time:22:18:41.5977
2025-08-23T22:18:41.887Z,1755987521.887 [DAT](INFO): Ping request sent.
2025-08-23T22:18:41.887Z,1755987521.887 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:41.888Z,1755987521.888 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:41.888Z,1755987521.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-23T22:18:42.013Z,1755987522.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 66.099998 m,
deltaT: 3.780857 s,
deltaX: -2.099998 m,
approachRate: -0.555429 m/s,
rangeRepo size: 4
2025-08-23T22:18:42.019Z,1755987522.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 65.686798 m,
bearing: 130.010440 deg,
lat: 36.779392 deg,
lon: -121.859591 deg,
deltaT: 7.810734 s,
deltaX: -4.074471 m,
approachRate: -0.521650 m/s,
posRepo size: 4
2025-08-23T22:18:42.020Z,1755987522.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-08-23T22:18:42.027Z,1755987522.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.686798 m,
nav range: 65.391502 m,
bearing: 131.087841 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.013354 deg/s,
cmd heading: 133.802409 deg,
new cmd heading: 133.814553 deg.
2025-08-23T22:18:42.028Z,1755987522.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335505 target range: 65.686798 and range: 66.10 m.
2025-08-23T22:18:42.075Z,1755987522.075 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:18:42.139Z,1755987522.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251346
2025-08-23T22:18:42.391Z,1755987522.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503135
2025-08-23T22:18:42.400Z,1755987522.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-08-23T22:18:42.402Z,1755987522.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.686798 m,
nav range: 65.177620 m,
bearing: 131.091145 deg,
approach rate: -0.552034 m/s,
LOS rate: 0.008556 deg/s,
cmd heading: 133.814553 deg,
new cmd heading: 133.821183 deg.
2025-08-23T22:18:42.403Z,1755987522.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335620 target range: 65.686798 and range: 66.10 m.
2025-08-23T22:18:42.643Z,1755987522.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756009
2025-08-23T22:18:42.742Z,1755987522.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-08-23T22:18:42.745Z,1755987522.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.686798 m,
nav range: 64.994583 m,
bearing: 131.093988 deg,
approach rate: -0.533733 m/s,
LOS rate: 0.008313 deg/s,
cmd heading: 133.821178 deg,
new cmd heading: 133.826879 deg.
2025-08-23T22:18:42.746Z,1755987522.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335720 target range: 65.686798 and range: 66.10 m.
2025-08-23T22:18:42.895Z,1755987522.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007143
2025-08-23T22:18:43.078Z,1755987523.078 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:18:43.148Z,1755987523.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260532
2025-08-23T22:18:43.217Z,1755987523.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-08-23T22:18:43.220Z,1755987523.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.686798 m,
nav range: 64.766922 m,
bearing: 131.097074 deg,
approach rate: -0.483912 m/s,
LOS rate: 0.006583 deg/s,
cmd heading: 133.826874 deg,
new cmd heading: 133.833068 deg.
2025-08-23T22:18:43.221Z,1755987523.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335828 target range: 65.686798 and range: 66.10 m.
2025-08-23T22:18:43.399Z,1755987523.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511055
2025-08-23T22:18:43.569Z,1755987523.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:43.571Z,1755987523.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-08-23T22:18:43.574Z,1755987523.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.686798 m,
nav range: 64.567238 m,
bearing: 131.099803 deg,
approach rate: -0.557824 m/s,
LOS rate: 0.007647 deg/s,
cmd heading: 133.833063 deg,
new cmd heading: 133.838537 deg.
2025-08-23T22:18:43.575Z,1755987523.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335923 target range: 65.686798 and range: 66.10 m.
2025-08-23T22:18:43.652Z,1755987523.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764825
2025-08-23T22:18:43.902Z,1755987523.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014984
2025-08-23T22:18:44.028Z,1755987524.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-08-23T22:18:44.031Z,1755987524.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.686798 m,
nav range: 64.331177 m,
bearing: 131.102919 deg,
approach rate: -0.516516 m/s,
LOS rate: 0.006845 deg/s,
cmd heading: 133.838540 deg,
new cmd heading: 133.844797 deg.
2025-08-23T22:18:44.032Z,1755987524.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336032 target range: 65.686798 and range: 66.10 m.
2025-08-23T22:18:44.155Z,1755987524.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267524
2025-08-23T22:18:44.395Z,1755987524.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-08-23T22:18:44.398Z,1755987524.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.686798 m,
nav range: 64.138802 m,
bearing: 131.106294 deg,
approach rate: -0.523692 m/s,
LOS rate: 0.009213 deg/s,
cmd heading: 133.844797 deg,
new cmd heading: 133.851566 deg.
2025-08-23T22:18:44.399Z,1755987524.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336151 target range: 65.686798 and range: 66.10 m.
2025-08-23T22:18:44.407Z,1755987524.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519184
2025-08-23T22:18:44.659Z,1755987524.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771765
2025-08-23T22:18:44.774Z,1755987524.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-08-23T22:18:44.777Z,1755987524.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.686798 m,
nav range: 63.939991 m,
bearing: 131.109813 deg,
approach rate: -0.524238 m/s,
LOS rate: 0.009308 deg/s,
cmd heading: 133.851572 deg,
new cmd heading: 133.858632 deg.
2025-08-23T22:18:44.778Z,1755987524.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336274 target range: 65.686798 and range: 66.10 m.
2025-08-23T22:18:44.910Z,1755987524.910 [DAT](INFO): DAT read: Rx Time:22:18:44.0874
2025-08-23T22:18:44.911Z,1755987524.911 [DAT](INFO): Rx dataTimestamp_ set to:1755987524.910659
2025-08-23T22:18:44.911Z,1755987524.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024031
2025-08-23T22:18:45.164Z,1755987525.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275823
2025-08-23T22:18:45.243Z,1755987525.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-08-23T22:18:45.250Z,1755987525.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.686798 m,
nav range: 63.696812 m,
bearing: 131.113819 deg,
approach rate: -0.519096 m/s,
LOS rate: 0.008585 deg/s,
cmd heading: 133.858635 deg,
new cmd heading: 133.866678 deg.
2025-08-23T22:18:45.251Z,1755987525.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336414 target range: 65.686798 and range: 66.10 m.
2025-08-23T22:18:45.420Z,1755987525.420 [DAT](INFO): DAT read: 22:18:44.0874 LVL= 24432, 27937, 24178, 32755, AGC= 62, IDX= 408, 0.20, 1.945, 0.175, 2.203, 1.706, PHS= 0.341,-1.486, 0.452, RAW= 152.9, 7.4, CAL= 152.4, 7.8, ROT= 357.6, -7.8
2025-08-23T22:18:45.422Z,1755987525.422 [DAT](INFO): got valid direction response:
22:18:44.0874 LVL= 24432, 27937, 24178, 32755, AGC= 62, IDX= 408, 0.20, 1.945, 0.175, 2.203, 1.706, PHS= 0.341,-1.486, 0.452, RAW= 152.9, 7.4, CAL= 152.4, 7.8, ROT= 357.6, -7.8
2025-08-23T22:18:45.423Z,1755987525.423 [DAT](INFO): DAT read: Bearing 304.5, -4.7 (Local)
2025-08-23T22:18:45.424Z,1755987525.424 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.5, -4.7 (Local)
2025-08-23T22:18:45.426Z,1755987525.426 [DAT](INFO): DAT read: Range 11 to 50 : 64.1 m (Round-trip 85.5 ms) speed 0.4 m/s
2025-08-23T22:18:45.427Z,1755987525.427 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:45.428Z,1755987525.428 [DAT](INFO): direction in FSK: [0.989879,-0.041488,0.135716]
2025-08-23T22:18:45.429Z,1755987525.429 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:45.442Z,1755987525.442 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:45.442Z,1755987525.442 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:45.443Z,1755987525.443 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:45.615Z,1755987525.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 64.099998 m,
deltaT: 3.779151 s,
deltaX: -2.000000 m,
approachRate: -0.529219 m/s,
rangeRepo size: 4
2025-08-23T22:18:45.618Z,1755987525.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 63.699631 m,
bearing: 130.917362 deg,
lat: 36.779394 deg,
lon: -121.859590 deg,
deltaT: 3.779151 s,
deltaX: -1.987167 m,
approachRate: -0.525824 m/s,
posRepo size: 4
2025-08-23T22:18:45.618Z,1755987525.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-23T22:18:45.621Z,1755987525.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.699631 m,
nav range: 63.439854 m,
bearing: 130.951449 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.008585 deg/s,
cmd heading: 133.866681 deg,
new cmd heading: 133.873064 deg.
2025-08-23T22:18:45.622Z,1755987525.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336526 target range: 63.699631 and range: 64.10 m.
2025-08-23T22:18:45.667Z,1755987525.667 [DAT](INFO): DAT read: user:1705>
2025-08-23T22:18:45.669Z,1755987525.669 [DAT](INFO): DAT read: Tx time:22:18:45.3477
2025-08-23T22:18:45.671Z,1755987525.671 [DAT](INFO): Ping request sent.
2025-08-23T22:18:45.671Z,1755987525.671 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:45.671Z,1755987525.671 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:45.672Z,1755987525.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000769
2025-08-23T22:18:45.919Z,1755987525.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247767
2025-08-23T22:18:46.052Z,1755987526.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:46.059Z,1755987526.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-23T22:18:46.061Z,1755987526.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.699631 m,
nav range: 63.195583 m,
bearing: 130.954801 deg,
approach rate: -0.550324 m/s,
LOS rate: 0.007582 deg/s,
cmd heading: 133.873060 deg,
new cmd heading: 133.879791 deg.
2025-08-23T22:18:46.066Z,1755987526.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336643 target range: 63.699631 and range: 64.10 m.
2025-08-23T22:18:46.171Z,1755987526.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500174
2025-08-23T22:18:46.423Z,1755987526.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751822
2025-08-23T22:18:46.436Z,1755987526.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-23T22:18:46.438Z,1755987526.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.699631 m,
nav range: 62.994053 m,
bearing: 130.961415 deg,
approach rate: -0.534538 m/s,
LOS rate: 0.017598 deg/s,
cmd heading: 133.879795 deg,
new cmd heading: 133.893064 deg.
2025-08-23T22:18:46.439Z,1755987526.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336875 target range: 63.699631 and range: 64.10 m.
2025-08-23T22:18:46.676Z,1755987526.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004424
2025-08-23T22:18:46.804Z,1755987526.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-23T22:18:46.806Z,1755987526.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.699631 m,
nav range: 62.802021 m,
bearing: 130.967792 deg,
approach rate: -0.521975 m/s,
LOS rate: 0.017387 deg/s,
cmd heading: 133.893059 deg,
new cmd heading: 133.905852 deg.
2025-08-23T22:18:46.807Z,1755987526.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.337098 target range: 63.699631 and range: 64.10 m.
2025-08-23T22:18:46.927Z,1755987526.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255760
2025-08-23T22:18:47.180Z,1755987527.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508723
2025-08-23T22:18:47.251Z,1755987527.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-23T22:18:47.254Z,1755987527.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.699631 m,
nav range: 62.561699 m,
bearing: 130.978130 deg,
approach rate: -0.536859 m/s,
LOS rate: 0.023185 deg/s,
cmd heading: 133.905845 deg,
new cmd heading: 133.926602 deg.
2025-08-23T22:18:47.255Z,1755987527.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.337460 target range: 63.699631 and range: 64.10 m.
2025-08-23T22:18:47.431Z,1755987527.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759760
2025-08-23T22:18:47.611Z,1755987527.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-23T22:18:47.614Z,1755987527.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.699631 m,
nav range: 62.368374 m,
bearing: 130.986461 deg,
approach rate: -0.536696 m/s,
LOS rate: 0.023198 deg/s,
cmd heading: 133.926609 deg,
new cmd heading: 133.943321 deg.
2025-08-23T22:18:47.615Z,1755987527.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.337752 target range: 63.699631 and range: 64.10 m.
2025-08-23T22:18:47.683Z,1755987527.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011861
2025-08-23T22:18:47.934Z,1755987527.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263677
2025-08-23T22:18:48.078Z,1755987528.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:48.080Z,1755987528.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-23T22:18:48.086Z,1755987528.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.699631 m,
nav range: 62.147121 m,
bearing: 130.995985 deg,
approach rate: -0.472460 m/s,
LOS rate: 0.020411 deg/s,
cmd heading: 133.943315 deg,
new cmd heading: 133.962432 deg.
2025-08-23T22:18:48.087Z,1755987528.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.338085 target range: 63.699631 and range: 64.10 m.
2025-08-23T22:18:48.189Z,1755987528.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517885
2025-08-23T22:18:48.439Z,1755987528.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767816
2025-08-23T22:18:48.490Z,1755987528.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-23T22:18:48.493Z,1755987528.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.699631 m,
nav range: 61.906475 m,
bearing: 131.007591 deg,
approach rate: -0.592662 m/s,
LOS rate: 0.028693 deg/s,
cmd heading: 133.962426 deg,
new cmd heading: 133.985727 deg.
2025-08-23T22:18:48.499Z,1755987528.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.338492 target range: 63.699631 and range: 64.10 m.
2025-08-23T22:18:48.691Z,1755987528.691 [DAT](INFO): DAT read: Rx Time:22:18:47.8348
2025-08-23T22:18:48.692Z,1755987528.692 [DAT](INFO): Rx dataTimestamp_ set to:1755987528.691354
2025-08-23T22:18:48.693Z,1755987528.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021753
2025-08-23T22:18:48.851Z,1755987528.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.70 m.
2025-08-23T22:18:48.854Z,1755987528.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.699631 m,
nav range: 61.700943 m,
bearing: 131.017613 deg,
approach rate: -0.562641 m/s,
LOS rate: 0.027528 deg/s,
cmd heading: 133.985731 deg,
new cmd heading: 134.005843 deg.
2025-08-23T22:18:48.855Z,1755987528.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.338843 target range: 63.699631 and range: 64.10 m.
2025-08-23T22:18:48.943Z,1755987528.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272298
2025-08-23T22:18:49.202Z,1755987529.202 [DAT](INFO): DAT read: 22:18:47.8348 LVL= 23376, 27041, 25858, 32755, AGC= 63, IDX= 414,-0.28,-1.429,-3.110,-1.174,-1.647, PHS= 0.320,-1.418, 0.429, RAW= 153.0, 7.5, CAL= 152.5, 7.9, ROT= 357.5, -7.9
2025-08-23T22:18:49.203Z,1755987529.203 [DAT](INFO): got valid direction response:
22:18:47.8348 LVL= 23376, 27041, 25858, 32755, AGC= 63, IDX= 414,-0.28,-1.429,-3.110,-1.174,-1.647, PHS= 0.320,-1.418, 0.429, RAW= 153.0, 7.5, CAL= 152.5, 7.9, ROT= 357.5, -7.9
2025-08-23T22:18:49.204Z,1755987529.204 [DAT](INFO): DAT read: Bearing 304.9, -4.9 (Local)
2025-08-23T22:18:49.205Z,1755987529.205 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.9, -4.9 (Local)
2025-08-23T22:18:49.207Z,1755987529.207 [DAT](INFO): DAT read: Range 11 to 50 : 62.2 m (Round-trip 83.0 ms) speed 0.4 m/s
2025-08-23T22:18:49.208Z,1755987529.208 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:49.209Z,1755987529.209 [DAT](INFO): direction in FSK: [0.989567,-0.043205,0.137445]
2025-08-23T22:18:49.210Z,1755987529.210 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:49.219Z,1755987529.219 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:49.219Z,1755987529.219 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:49.219Z,1755987529.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:49.350Z,1755987529.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 62.200001 m,
deltaT: 3.779969 s,
deltaX: -1.899998 m,
approachRate: -0.502649 m/s,
rangeRepo size: 4
2025-08-23T22:18:49.352Z,1755987529.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 61.811138 m,
bearing: 130.862318 deg,
lat: 36.779394 deg,
lon: -121.859590 deg,
deltaT: 3.779969 s,
deltaX: -1.888493 m,
approachRate: -0.499605 m/s,
posRepo size: 4
2025-08-23T22:18:49.353Z,1755987529.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m.
2025-08-23T22:18:49.368Z,1755987529.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.811138 m,
nav range: 61.472603 m,
bearing: 130.972445 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.027528 deg/s,
cmd heading: 134.005839 deg,
new cmd heading: 134.033039 deg.
2025-08-23T22:18:49.369Z,1755987529.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.339318 target range: 61.811138 and range: 62.20 m.
2025-08-23T22:18:49.447Z,1755987529.447 [DAT](INFO): DAT read: user:1706>
2025-08-23T22:18:49.447Z,1755987529.447 [DAT](INFO): DAT read: Tx time:22:18:49.1477
2025-08-23T22:18:49.448Z,1755987529.448 [DAT](INFO): Ping request sent.
2025-08-23T22:18:49.448Z,1755987529.448 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:49.448Z,1755987529.448 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:49.449Z,1755987529.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-23T22:18:49.699Z,1755987529.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250845
2025-08-23T22:18:49.701Z,1755987529.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m.
2025-08-23T22:18:49.704Z,1755987529.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.811138 m,
nav range: 61.274334 m,
bearing: 130.982598 deg,
approach rate: -0.557079 m/s,
LOS rate: 0.028619 deg/s,
cmd heading: 134.033037 deg,
new cmd heading: 134.053408 deg.
2025-08-23T22:18:49.706Z,1755987529.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.339673 target range: 61.811138 and range: 62.20 m.
2025-08-23T22:18:49.951Z,1755987529.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502991
2025-08-23T22:18:50.181Z,1755987530.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:50.188Z,1755987530.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m.
2025-08-23T22:18:50.197Z,1755987530.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.811138 m,
nav range: 61.028866 m,
bearing: 130.993745 deg,
approach rate: -0.504085 m/s,
LOS rate: 0.022984 deg/s,
cmd heading: 134.053404 deg,
new cmd heading: 134.075789 deg.
2025-08-23T22:18:50.203Z,1755987530.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755517
2025-08-23T22:18:50.205Z,1755987530.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340064 target range: 61.811138 and range: 62.20 m.
2025-08-23T22:18:50.455Z,1755987530.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006796
2025-08-23T22:18:50.551Z,1755987530.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m.
2025-08-23T22:18:50.554Z,1755987530.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.811138 m,
nav range: 60.822212 m,
bearing: 131.003131 deg,
approach rate: -0.568924 m/s,
LOS rate: 0.025927 deg/s,
cmd heading: 134.075794 deg,
new cmd heading: 134.094629 deg.
2025-08-23T22:18:50.555Z,1755987530.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340393 target range: 61.811138 and range: 62.20 m.
2025-08-23T22:18:50.706Z,1755987530.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258622
2025-08-23T22:18:50.949Z,1755987530.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m.
2025-08-23T22:18:50.952Z,1755987530.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.811138 m,
nav range: 60.610912 m,
bearing: 131.012706 deg,
approach rate: -0.530958 m/s,
LOS rate: 0.024143 deg/s,
cmd heading: 134.094631 deg,
new cmd heading: 134.113847 deg.
2025-08-23T22:18:50.953Z,1755987530.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340728 target range: 61.811138 and range: 62.20 m.
2025-08-23T22:18:50.959Z,1755987530.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510807
2025-08-23T22:18:51.212Z,1755987531.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763765
2025-08-23T22:18:51.381Z,1755987531.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m.
2025-08-23T22:18:51.384Z,1755987531.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.811138 m,
nav range: 60.382042 m,
bearing: 131.022616 deg,
approach rate: -0.530001 m/s,
LOS rate: 0.023036 deg/s,
cmd heading: 134.113852 deg,
new cmd heading: 134.133747 deg.
2025-08-23T22:18:51.385Z,1755987531.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341075 target range: 61.811138 and range: 62.20 m.
2025-08-23T22:18:51.464Z,1755987531.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015533
2025-08-23T22:18:51.715Z,1755987531.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266947
2025-08-23T22:18:51.760Z,1755987531.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m.
2025-08-23T22:18:51.763Z,1755987531.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.811138 m,
nav range: 60.180450 m,
bearing: 131.031220 deg,
approach rate: -0.531504 m/s,
LOS rate: 0.022762 deg/s,
cmd heading: 134.133741 deg,
new cmd heading: 134.151008 deg.
2025-08-23T22:18:51.764Z,1755987531.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341377 target range: 61.811138 and range: 62.20 m.
2025-08-23T22:18:51.968Z,1755987531.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519991
2025-08-23T22:18:52.219Z,1755987532.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770785
2025-08-23T22:18:52.233Z,1755987532.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:52.235Z,1755987532.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m.
2025-08-23T22:18:52.238Z,1755987532.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.811138 m,
nav range: 59.929546 m,
bearing: 131.042090 deg,
approach rate: -0.528306 m/s,
LOS rate: 0.022983 deg/s,
cmd heading: 134.151008 deg,
new cmd heading: 134.172838 deg.
2025-08-23T22:18:52.239Z,1755987532.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341758 target range: 61.811138 and range: 62.20 m.
2025-08-23T22:18:52.470Z,1755987532.470 [DAT](INFO): DAT read: Rx Time:22:18:51.6320
2025-08-23T22:18:52.471Z,1755987532.471 [DAT](INFO): Rx dataTimestamp_ set to:1755987532.470596
2025-08-23T22:18:52.471Z,1755987532.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023643
2025-08-23T22:18:52.586Z,1755987532.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m.
2025-08-23T22:18:52.588Z,1755987532.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.811138 m,
nav range: 59.752605 m,
bearing: 131.049797 deg,
approach rate: -0.529337 m/s,
LOS rate: 0.023126 deg/s,
cmd heading: 134.172837 deg,
new cmd heading: 134.188298 deg.
2025-08-23T22:18:52.589Z,1755987532.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342028 target range: 61.811138 and range: 62.20 m.
2025-08-23T22:18:52.722Z,1755987532.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274681
2025-08-23T22:18:52.980Z,1755987532.980 [DAT](INFO): DAT read: 22:18:51.6320 LVL= 20976, 27041, 22722, 30035, AGC= 64, IDX= 417,-0.27,-0.401,-2.126,-0.126,-0.613, PHS= 0.314,-1.468, 0.443, RAW= 153.4, 7.7, CAL= 152.9, 8.2, ROT= 357.1, -8.2
2025-08-23T22:18:52.981Z,1755987532.981 [DAT](INFO): got valid direction response:
22:18:51.6320 LVL= 20976, 27041, 22722, 30035, AGC= 64, IDX= 417,-0.27,-0.401,-2.126,-0.126,-0.613, PHS= 0.314,-1.468, 0.443, RAW= 153.4, 7.7, CAL= 152.9, 8.2, ROT= 357.1, -8.2
2025-08-23T22:18:52.982Z,1755987532.982 [DAT](INFO): DAT read: Bearing 305.6, -5.5 (Local)
2025-08-23T22:18:52.982Z,1755987532.982 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.6, -5.5 (Local)
2025-08-23T22:18:52.983Z,1755987532.983 [DAT](INFO): DAT read: Range 11 to 50 : 60.0 m (Round-trip 80.1 ms) speed 0.4 m/s
2025-08-23T22:18:52.984Z,1755987532.984 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:52.985Z,1755987532.985 [DAT](INFO): direction in FSK: [0.988509,-0.050076,0.142629]
2025-08-23T22:18:52.985Z,1755987532.985 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:52.989Z,1755987532.989 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:52.989Z,1755987532.989 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:52.989Z,1755987532.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:53.011Z,1755987533.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 60.000000 m,
deltaT: 3.780004 s,
deltaX: -2.200001 m,
approachRate: -0.582010 m/s,
rangeRepo size: 4
2025-08-23T22:18:53.013Z,1755987533.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 59.625004 m,
bearing: 130.704106 deg,
lat: 36.779394 deg,
lon: -121.859588 deg,
deltaT: 3.780004 s,
deltaX: -2.186134 m,
approachRate: -0.578342 m/s,
posRepo size: 4
2025-08-23T22:18:53.018Z,1755987533.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.63 m.
2025-08-23T22:18:53.018Z,1755987533.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-08-23T22:18:53.021Z,1755987533.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.625004 m,
nav range: 59.651878 m,
bearing: 130.963313 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.023126 deg/s,
cmd heading: 134.188301 deg,
new cmd heading: 134.208476 deg.
2025-08-23T22:18:53.026Z,1755987533.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342380 target range: 59.625004 and range: 60.00 m.
2025-08-23T22:18:53.064Z,1755987533.064 [DockingStepper](INFO): Changing to mode: 2
2025-08-23T22:18:53.227Z,1755987533.227 [DAT](INFO): DAT read: user:1707>
2025-08-23T22:18:53.228Z,1755987533.228 [DAT](INFO): DAT read: Tx time:22:18:52.8977
2025-08-23T22:18:53.228Z,1755987533.228 [DAT](INFO): Ping request sent.
2025-08-23T22:18:53.228Z,1755987533.228 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:53.228Z,1755987533.228 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:53.229Z,1755987533.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-23T22:18:53.479Z,1755987533.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250826
2025-08-23T22:18:53.494Z,1755987533.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.63 m.
2025-08-23T22:18:53.494Z,1755987533.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-08-23T22:18:53.497Z,1755987533.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.625004 m,
nav range: 59.384552 m,
bearing: 130.971877 deg,
approach rate: -0.552541 m/s,
LOS rate: 0.017781 deg/s,
cmd heading: 134.208477 deg,
new cmd heading: 134.225683 deg.
2025-08-23T22:18:53.502Z,1755987533.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342680 target range: 59.625004 and range: 60.00 m.
2025-08-23T22:18:53.731Z,1755987533.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502954
2025-08-23T22:18:53.828Z,1755987533.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.63 m.
2025-08-23T22:18:53.828Z,1755987533.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-08-23T22:18:53.831Z,1755987533.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.625004 m,
nav range: 59.199448 m,
bearing: 130.977993 deg,
approach rate: -0.546680 m/s,
LOS rate: 0.018118 deg/s,
cmd heading: 134.225689 deg,
new cmd heading: 134.237959 deg.
2025-08-23T22:18:53.832Z,1755987533.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342894 target range: 59.625004 and range: 60.00 m.
2025-08-23T22:18:53.983Z,1755987533.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754627
2025-08-23T22:18:54.235Z,1755987534.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006667
2025-08-23T22:18:54.268Z,1755987534.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:54.270Z,1755987534.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.63 m.
2025-08-23T22:18:54.271Z,1755987534.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-08-23T22:18:54.274Z,1755987534.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.625004 m,
nav range: 58.964516 m,
bearing: 130.981762 deg,
approach rate: -0.531383 m/s,
LOS rate: 0.008559 deg/s,
cmd heading: 134.237956 deg,
new cmd heading: 134.245525 deg.
2025-08-23T22:18:54.275Z,1755987534.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343026 target range: 59.625004 and range: 60.00 m.
2025-08-23T22:18:54.490Z,1755987534.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262323
2025-08-23T22:18:54.668Z,1755987534.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.63 m.
2025-08-23T22:18:54.669Z,1755987534.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-08-23T22:18:54.676Z,1755987534.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.625004 m,
nav range: 58.756111 m,
bearing: 130.985228 deg,
approach rate: -0.523745 m/s,
LOS rate: 0.008742 deg/s,
cmd heading: 134.245524 deg,
new cmd heading: 134.252481 deg.
2025-08-23T22:18:54.676Z,1755987534.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343148 target range: 59.625004 and range: 60.00 m.
2025-08-23T22:18:54.739Z,1755987534.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511426
2025-08-23T22:18:54.991Z,1755987534.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762594
2025-08-23T22:18:55.056Z,1755987535.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.63 m.
2025-08-23T22:18:55.056Z,1755987535.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-08-23T22:18:55.075Z,1755987535.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.625004 m,
nav range: 58.547626 m,
bearing: 130.988685 deg,
approach rate: -0.537415 m/s,
LOS rate: 0.008941 deg/s,
cmd heading: 134.252477 deg,
new cmd heading: 134.259414 deg.
2025-08-23T22:18:55.076Z,1755987535.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343269 target range: 59.625004 and range: 60.00 m.
2025-08-23T22:18:55.242Z,1755987535.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014478
2025-08-23T22:18:55.495Z,1755987535.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267241
2025-08-23T22:18:55.647Z,1755987535.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.63 m.
2025-08-23T22:18:55.648Z,1755987535.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-08-23T22:18:55.651Z,1755987535.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.625004 m,
nav range: 58.242237 m,
bearing: 130.984602 deg,
approach rate: -0.516556 m/s,
LOS rate: -0.006941 deg/s,
cmd heading: 134.259417 deg,
new cmd heading: 134.251209 deg.
2025-08-23T22:18:55.652Z,1755987535.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343126 target range: 59.625004 and range: 60.00 m.
2025-08-23T22:18:55.747Z,1755987535.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518618
2025-08-23T22:18:55.999Z,1755987535.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770987
2025-08-23T22:18:56.178Z,1755987536.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.63 m.
2025-08-23T22:18:56.180Z,1755987536.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-08-23T22:18:56.197Z,1755987536.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.625004 m,
nav range: 57.985634 m,
bearing: 130.981105 deg,
approach rate: -0.488832 m/s,
LOS rate: -0.006692 deg/s,
cmd heading: 134.251207 deg,
new cmd heading: 134.244181 deg.
2025-08-23T22:18:56.203Z,1755987536.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343003 target range: 59.625004 and range: 60.00 m.
2025-08-23T22:18:56.253Z,1755987536.253 [DAT](INFO): DAT read: Rx Time:22:18:55.3792
2025-08-23T22:18:56.253Z,1755987536.253 [DAT](INFO): Rx dataTimestamp_ set to:1755987536.252710
2025-08-23T22:18:56.254Z,1755987536.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025717
2025-08-23T22:18:56.502Z,1755987536.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274537
2025-08-23T22:18:56.714Z,1755987536.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:56.717Z,1755987536.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.63 m.
2025-08-23T22:18:56.717Z,1755987536.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-08-23T22:18:56.720Z,1755987536.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.625004 m,
nav range: 57.689735 m,
bearing: 130.982577 deg,
approach rate: -0.543562 m/s,
LOS rate: 0.002718 deg/s,
cmd heading: 134.244185 deg,
new cmd heading: 134.247144 deg.
2025-08-23T22:18:56.721Z,1755987536.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343055 target range: 59.625004 and range: 60.00 m.
2025-08-23T22:18:56.762Z,1755987536.762 [DAT](INFO): DAT read: 22:18:55.3792 LVL= 23776, 31553, 22178, 32755, AGC= 60, IDX= 421, 0.36, 1.937, 0.244, 2.353, 1.740, PHS= 0.299,-1.451, 0.568, RAW= 157.1, 6.2, CAL= 156.4, 6.1, ROT= 353.6, -6.1
2025-08-23T22:18:56.764Z,1755987536.764 [DAT](INFO): got valid direction response:
22:18:55.3792 LVL= 23776, 31553, 22178, 32755, AGC= 60, IDX= 421, 0.36, 1.937, 0.244, 2.353, 1.740, PHS= 0.299,-1.451, 0.568, RAW= 157.1, 6.2, CAL= 156.4, 6.1, ROT= 353.6, -6.1
2025-08-23T22:18:56.765Z,1755987536.765 [DAT](INFO): DAT read: Bearing 304.3, -9.3 (Local)
2025-08-23T22:18:56.766Z,1755987536.766 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.3, -9.3 (Local)
2025-08-23T22:18:56.768Z,1755987536.768 [DAT](INFO): DAT read: Range 11 to 50 : 58.0 m (Round-trip 77.4 ms) speed 0.4 m/s
2025-08-23T22:18:56.769Z,1755987536.769 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:18:56.771Z,1755987536.771 [DAT](INFO): direction in FSK: [0.988141,-0.110838,0.106264]
2025-08-23T22:18:56.772Z,1755987536.772 [DAT](INFO): publishing direction and range info
2025-08-23T22:18:56.779Z,1755987536.779 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:18:56.779Z,1755987536.779 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:18:56.780Z,1755987536.780 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:18:57.006Z,1755987537.006 [DAT](INFO): DAT read: user:1708>
2025-08-23T22:18:57.007Z,1755987537.007 [DAT](INFO): DAT read: Tx time:22:18:56.6977
2025-08-23T22:18:57.007Z,1755987537.007 [DAT](INFO): Ping request sent.
2025-08-23T22:18:57.008Z,1755987537.008 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:18:57.008Z,1755987537.008 [DAT](INFO): publishing transmit ping time
2025-08-23T22:18:57.008Z,1755987537.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-23T22:18:57.088Z,1755987537.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 58.000000 m,
deltaT: 3.780479 s,
deltaX: -2.000000 m,
approachRate: -0.529033 m/s,
rangeRepo size: 4
2025-08-23T22:18:57.091Z,1755987537.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 57.638382 m,
bearing: 127.228131 deg,
lat: 36.779397 deg,
lon: -121.859588 deg,
deltaT: 3.780479 s,
deltaX: -1.986622 m,
approachRate: -0.525495 m/s,
posRepo size: 4
2025-08-23T22:18:57.091Z,1755987537.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.64 m.
2025-08-23T22:18:57.092Z,1755987537.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-23T22:18:57.095Z,1755987537.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.638382 m,
nav range: 57.276768 m,
bearing: 130.695427 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002718 deg/s,
cmd heading: 134.247150 deg,
new cmd heading: 134.249164 deg.
2025-08-23T22:18:57.096Z,1755987537.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343090 target range: 57.638382 and range: 58.00 m.
2025-08-23T22:18:57.259Z,1755987537.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251089
2025-08-23T22:18:57.490Z,1755987537.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.64 m.
2025-08-23T22:18:57.490Z,1755987537.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-23T22:18:57.493Z,1755987537.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.638382 m,
nav range: 57.072948 m,
bearing: 130.695319 deg,
approach rate: -0.527113 m/s,
LOS rate: -0.000281 deg/s,
cmd heading: 134.249158 deg,
new cmd heading: 134.248941 deg.
2025-08-23T22:18:57.498Z,1755987537.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343086 target range: 57.638382 and range: 58.00 m.
2025-08-23T22:18:57.511Z,1755987537.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502993
2025-08-23T22:18:57.763Z,1755987537.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754909
2025-08-23T22:18:57.877Z,1755987537.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.64 m.
2025-08-23T22:18:57.877Z,1755987537.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-23T22:18:57.880Z,1755987537.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.638382 m,
nav range: 56.862617 m,
bearing: 130.694931 deg,
approach rate: -0.521913 m/s,
LOS rate: -0.000965 deg/s,
cmd heading: 134.248939 deg,
new cmd heading: 134.248161 deg.
2025-08-23T22:18:57.881Z,1755987537.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343072 target range: 57.638382 and range: 58.00 m.
2025-08-23T22:18:58.016Z,1755987538.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008286
2025-08-23T22:18:58.266Z,1755987538.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258868
2025-08-23T22:18:58.325Z,1755987538.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.64 m.
2025-08-23T22:18:58.325Z,1755987538.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-23T22:18:58.328Z,1755987538.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.638382 m,
nav range: 56.628281 m,
bearing: 130.690390 deg,
approach rate: -0.523066 m/s,
LOS rate: -0.010179 deg/s,
cmd heading: 134.248160 deg,
new cmd heading: 134.239040 deg.
2025-08-23T22:18:58.329Z,1755987538.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342913 target range: 57.638382 and range: 58.00 m.
2025-08-23T22:18:58.519Z,1755987538.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511040
2025-08-23T22:18:58.697Z,1755987538.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.64 m.
2025-08-23T22:18:58.698Z,1755987538.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-23T22:18:58.701Z,1755987538.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.638382 m,
nav range: 56.433121 m,
bearing: 130.686306 deg,
approach rate: -0.523887 m/s,
LOS rate: -0.011000 deg/s,
cmd heading: 134.239035 deg,
new cmd heading: 134.230840 deg.
2025-08-23T22:18:58.702Z,1755987538.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342770 target range: 57.638382 and range: 58.00 m.
2025-08-23T22:18:58.772Z,1755987538.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763820
2025-08-23T22:18:59.022Z,1755987539.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014889
2025-08-23T22:18:59.081Z,1755987539.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:18:59.099Z,1755987539.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.64 m.
2025-08-23T22:18:59.100Z,1755987539.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-23T22:18:59.100Z,1755987539.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 58.00 m.
2025-08-23T22:18:59.100Z,1755987539.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-23T22:18:59.114Z,1755987539.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.638382 m,
nav range: 56.231239 m,
bearing: 130.681349 deg,
approach rate: -0.501919 m/s,
LOS rate: -0.012368 deg/s,
cmd heading: 134.230839 deg,
new cmd heading: 134.220890 deg.
2025-08-23T22:18:59.115Z,1755987539.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342597 target range: 57.638382 and range: 58.00 m.
2025-08-23T22:18:59.227Z,1755987539.227 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-08-23T22:18:59.228Z,1755987539.228 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-23T22:18:59.275Z,1755987539.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267626
2025-08-23T22:18:59.527Z,1755987539.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519059
2025-08-23T22:18:59.571Z,1755987539.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.64 m.
2025-08-23T22:18:59.578Z,1755987539.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.638382 m,
nav range: 55.985302 m,
bearing: 130.676788 deg,
approach rate: -0.521814 m/s,
LOS rate: -0.009721 deg/s,
cmd heading: 134.220894 deg,
new cmd heading: 134.211731 deg.
2025-08-23T22:18:59.579Z,1755987539.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342437 target range: 57.638382 and range: 58.00 m.
2025-08-23T22:18:59.778Z,1755987539.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770825
2025-08-23T22:18:59.944Z,1755987539.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.64 m.
2025-08-23T22:18:59.947Z,1755987539.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.638382 m,
nav range: 55.794842 m,
bearing: 130.672931 deg,
approach rate: -0.509909 m/s,
LOS rate: -0.010362 deg/s,
cmd heading: 134.211728 deg,
new cmd heading: 134.203988 deg.
2025-08-23T22:18:59.948Z,1755987539.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342301 target range: 57.638382 and range: 58.00 m.
2025-08-23T22:19:00.031Z,1755987540.031 [DAT](INFO): DAT read: Rx Time:22:18:59.1767
2025-08-23T22:19:00.032Z,1755987540.032 [DAT](INFO): Rx dataTimestamp_ set to:1755987540.031542
2025-08-23T22:19:00.033Z,1755987540.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025136
2025-08-23T22:19:00.283Z,1755987540.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274919
2025-08-23T22:19:00.367Z,1755987540.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.64 m.
2025-08-23T22:19:00.370Z,1755987540.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.638382 m,
nav range: 55.563339 m,
bearing: 130.671236 deg,
approach rate: -0.547436 m/s,
LOS rate: -0.004024 deg/s,
cmd heading: 134.203983 deg,
new cmd heading: 134.200579 deg.
2025-08-23T22:19:00.371Z,1755987540.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342242 target range: 57.638382 and range: 58.00 m.
2025-08-23T22:19:00.540Z,1755987540.540 [DAT](INFO): DAT read: 22:18:59.1767 LVL= 23312, 30193, 21458, 32755, AGC= 59, IDX= 411, 0.04, 1.759, 0.045, 2.175, 1.601, PHS= 0.259,-1.511, 0.529, RAW= 157.0, 7.6, CAL= 156.5, 7.8, ROT= 353.5, -7.8
2025-08-23T22:19:00.541Z,1755987540.541 [DAT](INFO): got valid direction response:
22:18:59.1767 LVL= 23312, 30193, 21458, 32755, AGC= 59, IDX= 411, 0.04, 1.759, 0.045, 2.175, 1.601, PHS= 0.259,-1.511, 0.529, RAW= 157.0, 7.6, CAL= 156.5, 7.8, ROT= 353.5, -7.8
2025-08-23T22:19:00.542Z,1755987540.542 [DAT](INFO): DAT read: Bearing 306.9, -9.3 (Local)
2025-08-23T22:19:00.542Z,1755987540.542 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.9, -9.3 (Local)
2025-08-23T22:19:00.544Z,1755987540.544 [DAT](INFO): DAT read: Range 11 to 50 : 56.1 m (Round-trip 74.9 ms) speed 0.4 m/s
2025-08-23T22:19:00.544Z,1755987540.544 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:19:00.545Z,1755987540.545 [DAT](INFO): direction in FSK: [0.984379,-0.112156,0.135716]
2025-08-23T22:19:00.546Z,1755987540.546 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:00.549Z,1755987540.549 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:19:00.549Z,1755987540.549 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:19:00.549Z,1755987540.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:19:00.748Z,1755987540.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.099998 m,
deltaT: 3.779565 s,
deltaX: -1.900002 m,
approachRate: -0.502704 m/s,
rangeRepo size: 4
2025-08-23T22:19:00.750Z,1755987540.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 55.750755 m,
bearing: 127.913783 deg,
lat: 36.779397 deg,
lon: -121.859588 deg,
deltaT: 3.779565 s,
deltaX: -1.887627 m,
approachRate: -0.499430 m/s,
posRepo size: 4
2025-08-23T22:19:00.751Z,1755987540.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-08-23T22:19:00.754Z,1755987540.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.750755 m,
nav range: 55.365696 m,
bearing: 130.669397 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004024 deg/s,
cmd heading: 134.200581 deg,
new cmd heading: 134.197520 deg.
2025-08-23T22:19:00.755Z,1755987540.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342189 target range: 55.750755 and range: 56.10 m.
2025-08-23T22:19:00.787Z,1755987540.787 [DAT](INFO): DAT read: user:1709>
2025-08-23T22:19:00.788Z,1755987540.788 [DAT](INFO): DAT read: Tx time:22:19:00.4477
2025-08-23T22:19:00.788Z,1755987540.788 [DAT](INFO): Ping request sent.
2025-08-23T22:19:00.788Z,1755987540.788 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:19:00.789Z,1755987540.789 [DAT](INFO): publishing transmit ping time
2025-08-23T22:19:00.790Z,1755987540.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001190
2025-08-23T22:19:01.039Z,1755987541.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250060
2025-08-23T22:19:01.149Z,1755987541.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:01.152Z,1755987541.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-08-23T22:19:01.155Z,1755987541.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.750755 m,
nav range: 55.151932 m,
bearing: 130.666976 deg,
approach rate: -0.528303 m/s,
LOS rate: -0.006007 deg/s,
cmd heading: 134.197521 deg,
new cmd heading: 134.192660 deg.
2025-08-23T22:19:01.156Z,1755987541.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342104 target range: 55.750755 and range: 56.10 m.
2025-08-23T22:19:01.292Z,1755987541.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503063
2025-08-23T22:19:01.543Z,1755987541.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754240
2025-08-23T22:19:01.587Z,1755987541.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-08-23T22:19:01.594Z,1755987541.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.750755 m,
nav range: 54.934204 m,
bearing: 130.663219 deg,
approach rate: -0.500611 m/s,
LOS rate: -0.008672 deg/s,
cmd heading: 134.192658 deg,
new cmd heading: 134.185115 deg.
2025-08-23T22:19:01.595Z,1755987541.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341972 target range: 55.750755 and range: 56.10 m.
2025-08-23T22:19:01.795Z,1755987541.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006078
2025-08-23T22:19:01.971Z,1755987541.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-08-23T22:19:01.974Z,1755987541.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.750755 m,
nav range: 54.722969 m,
bearing: 130.659138 deg,
approach rate: -0.550557 m/s,
LOS rate: -0.010678 deg/s,
cmd heading: 134.185118 deg,
new cmd heading: 134.176924 deg.
2025-08-23T22:19:01.975Z,1755987541.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341829 target range: 55.750755 and range: 56.10 m.
2025-08-23T22:19:02.047Z,1755987542.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258699
2025-08-23T22:19:02.298Z,1755987542.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509993
2025-08-23T22:19:02.405Z,1755987542.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-08-23T22:19:02.408Z,1755987542.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.750755 m,
nav range: 54.496189 m,
bearing: 130.655257 deg,
approach rate: -0.522133 m/s,
LOS rate: -0.008972 deg/s,
cmd heading: 134.176922 deg,
new cmd heading: 134.169128 deg.
2025-08-23T22:19:02.409Z,1755987542.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341693 target range: 55.750755 and range: 56.10 m.
2025-08-23T22:19:02.551Z,1755987542.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762115
2025-08-23T22:19:02.785Z,1755987542.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-08-23T22:19:02.787Z,1755987542.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.750755 m,
nav range: 54.297310 m,
bearing: 130.651556 deg,
approach rate: -0.524205 m/s,
LOS rate: -0.009791 deg/s,
cmd heading: 134.169121 deg,
new cmd heading: 134.161693 deg.
2025-08-23T22:19:02.788Z,1755987542.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341563 target range: 55.750755 and range: 56.10 m.
2025-08-23T22:19:02.803Z,1755987542.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014109
2025-08-23T22:19:03.058Z,1755987543.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269436
2025-08-23T22:19:03.188Z,1755987543.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:03.192Z,1755987543.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-08-23T22:19:03.196Z,1755987543.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.750755 m,
nav range: 54.087139 m,
bearing: 130.647326 deg,
approach rate: -0.516582 m/s,
LOS rate: -0.010437 deg/s,
cmd heading: 134.161690 deg,
new cmd heading: 134.153198 deg.
2025-08-23T22:19:03.198Z,1755987543.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341415 target range: 55.750755 and range: 56.10 m.
2025-08-23T22:19:03.307Z,1755987543.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518734
2025-08-23T22:19:03.558Z,1755987543.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770040
2025-08-23T22:19:03.645Z,1755987543.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-08-23T22:19:03.648Z,1755987543.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.750755 m,
nav range: 53.857960 m,
bearing: 130.647905 deg,
approach rate: -0.505006 m/s,
LOS rate: 0.001282 deg/s,
cmd heading: 134.153193 deg,
new cmd heading: 134.154357 deg.
2025-08-23T22:19:03.649Z,1755987543.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341435 target range: 55.750755 and range: 56.10 m.
2025-08-23T22:19:03.811Z,1755987543.811 [DAT](INFO): DAT read: Rx Time:22:19:02.9241
2025-08-23T22:19:03.811Z,1755987543.811 [DAT](INFO): Rx dataTimestamp_ set to:1755987543.810952
2025-08-23T22:19:03.812Z,1755987543.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023346
2025-08-23T22:19:04.011Z,1755987544.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-08-23T22:19:04.014Z,1755987544.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.750755 m,
nav range: 53.680317 m,
bearing: 130.647993 deg,
approach rate: -0.486035 m/s,
LOS rate: 0.000241 deg/s,
cmd heading: 134.154355 deg,
new cmd heading: 134.154531 deg.
2025-08-23T22:19:04.015Z,1755987544.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341438 target range: 55.750755 and range: 56.10 m.
2025-08-23T22:19:04.063Z,1755987544.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274963
2025-08-23T22:19:04.324Z,1755987544.324 [DAT](INFO): DAT read: 22:19:02.9241 LVL= 28096, 31089, 25570, 32755, AGC= 65, IDX= 416,-0.09,-2.433, 2.182,-1.976,-2.538, PHS= 0.207,-1.518, 0.518, RAW= 158.1, 8.4, CAL= 157.8, 8.8, ROT= 352.2, -8.8
2025-08-23T22:19:04.325Z,1755987544.325 [DAT](INFO): got valid direction response:
22:19:02.9241 LVL= 28096, 31089, 25570, 32755, AGC= 65, IDX= 416,-0.09,-2.433, 2.182,-1.976,-2.538, PHS= 0.207,-1.518, 0.518, RAW= 158.1, 8.4, CAL= 157.8, 8.8, ROT= 352.2, -8.8
2025-08-23T22:19:04.326Z,1755987544.326 [DAT](INFO): DAT read: Bearing 309.1, -10.3 (Local)
2025-08-23T22:19:04.327Z,1755987544.327 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.1, -10.3 (Local)
2025-08-23T22:19:04.328Z,1755987544.328 [DAT](INFO): DAT read: Range 11 to 50 : 54.1 m (Round-trip 72.2 ms) speed 0.4 m/s
2025-08-23T22:19:04.328Z,1755987544.328 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:19:04.330Z,1755987544.330 [DAT](INFO): direction in FSK: [0.979085,-0.134118,0.152986]
2025-08-23T22:19:04.330Z,1755987544.330 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:04.333Z,1755987544.333 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:19:04.333Z,1755987544.333 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:19:04.337Z,1755987544.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:19:04.498Z,1755987544.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.099998 m,
deltaT: 3.781241 s,
deltaX: -2.000000 m,
approachRate: -0.528927 m/s,
rangeRepo size: 4
2025-08-23T22:19:04.500Z,1755987544.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 53.765709 m,
bearing: 127.404151 deg,
lat: 36.779415 deg,
lon: -121.859567 deg,
deltaT: 3.781241 s,
deltaX: -1.985046 m,
approachRate: -0.524972 m/s,
posRepo size: 4
2025-08-23T22:19:04.501Z,1755987544.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.77 m.
2025-08-23T22:19:04.511Z,1755987544.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.765709 m,
nav range: 53.682102 m,
bearing: 127.790002 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000241 deg/s,
cmd heading: 134.154532 deg,
new cmd heading: 134.154761 deg.
2025-08-23T22:19:04.512Z,1755987544.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341442 target range: 53.765709 and range: 54.10 m.
2025-08-23T22:19:04.567Z,1755987544.567 [DAT](INFO): DAT read: user:1710>
2025-08-23T22:19:04.568Z,1755987544.568 [DAT](INFO): DAT read: Tx time:22:19:04.2477
2025-08-23T22:19:04.569Z,1755987544.569 [DAT](INFO): Ping request sent.
2025-08-23T22:19:04.569Z,1755987544.569 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:19:04.569Z,1755987544.569 [DAT](INFO): publishing transmit ping time
2025-08-23T22:19:04.570Z,1755987544.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001222
2025-08-23T22:19:04.819Z,1755987544.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249523
2025-08-23T22:19:04.852Z,1755987544.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.77 m.
2025-08-23T22:19:04.855Z,1755987544.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.765709 m,
nav range: 53.491703 m,
bearing: 127.776073 deg,
approach rate: -0.519077 m/s,
LOS rate: -0.038109 deg/s,
cmd heading: 134.154764 deg,
new cmd heading: 134.126808 deg.
2025-08-23T22:19:04.856Z,1755987544.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340954 target range: 53.765709 and range: 54.10 m.
2025-08-23T22:19:05.071Z,1755987545.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501987
2025-08-23T22:19:05.316Z,1755987545.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:05.318Z,1755987545.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.77 m.
2025-08-23T22:19:05.321Z,1755987545.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.765709 m,
nav range: 53.285297 m,
bearing: 127.760400 deg,
approach rate: -0.442978 m/s,
LOS rate: -0.033767 deg/s,
cmd heading: 134.126802 deg,
new cmd heading: 134.095334 deg.
2025-08-23T22:19:05.323Z,1755987545.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753826
2025-08-23T22:19:05.330Z,1755987545.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340405 target range: 53.765709 and range: 54.10 m.
2025-08-23T22:19:05.576Z,1755987545.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006487
2025-08-23T22:19:05.826Z,1755987545.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257336
2025-08-23T22:19:05.854Z,1755987545.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.77 m.
2025-08-23T22:19:05.860Z,1755987545.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.765709 m,
nav range: 52.982895 m,
bearing: 127.738519 deg,
approach rate: -0.564595 m/s,
LOS rate: -0.041085 deg/s,
cmd heading: 134.095328 deg,
new cmd heading: 134.051317 deg.
2025-08-23T22:19:05.862Z,1755987545.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.339637 target range: 53.765709 and range: 54.10 m.
2025-08-23T22:19:06.078Z,1755987546.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509375
2025-08-23T22:19:06.180Z,1755987546.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.77 m.
2025-08-23T22:19:06.184Z,1755987546.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.765709 m,
nav range: 52.809013 m,
bearing: 127.725824 deg,
approach rate: -0.532822 m/s,
LOS rate: -0.039029 deg/s,
cmd heading: 134.051314 deg,
new cmd heading: 134.025841 deg.
2025-08-23T22:19:06.202Z,1755987546.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.339192 target range: 53.765709 and range: 54.10 m.
2025-08-23T22:19:06.334Z,1755987546.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763955
2025-08-23T22:19:06.582Z,1755987546.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013303
2025-08-23T22:19:06.631Z,1755987546.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.77 m.
2025-08-23T22:19:06.638Z,1755987546.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.765709 m,
nav range: 52.579426 m,
bearing: 127.706286 deg,
approach rate: -0.508927 m/s,
LOS rate: -0.043498 deg/s,
cmd heading: 134.025838 deg,
new cmd heading: 133.986592 deg.
2025-08-23T22:19:06.639Z,1755987546.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.338507 target range: 53.765709 and range: 54.10 m.
2025-08-23T22:19:06.836Z,1755987546.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266533
2025-08-23T22:19:06.970Z,1755987546.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.77 m.
2025-08-23T22:19:06.972Z,1755987546.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.765709 m,
nav range: 52.397568 m,
bearing: 127.690349 deg,
approach rate: -0.537037 m/s,
LOS rate: -0.047229 deg/s,
cmd heading: 133.986592 deg,
new cmd heading: 133.954605 deg.
2025-08-23T22:19:06.974Z,1755987546.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.337949 target range: 53.765709 and range: 54.10 m.
2025-08-23T22:19:07.088Z,1755987547.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518423
2025-08-23T22:19:07.345Z,1755987547.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775435
2025-08-23T22:19:07.440Z,1755987547.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:07.442Z,1755987547.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.77 m.
2025-08-23T22:19:07.445Z,1755987547.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.765709 m,
nav range: 52.167061 m,
bearing: 127.667254 deg,
approach rate: -0.487331 m/s,
LOS rate: -0.049043 deg/s,
cmd heading: 133.954599 deg,
new cmd heading: 133.908205 deg.
2025-08-23T22:19:07.446Z,1755987547.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.337139 target range: 53.765709 and range: 54.10 m.
2025-08-23T22:19:07.596Z,1755987547.596 [DAT](INFO): DAT read: Rx Time:22:19:06.7214
2025-08-23T22:19:07.597Z,1755987547.597 [DAT](INFO): Rx dataTimestamp_ set to:1755987547.596469
2025-08-23T22:19:07.598Z,1755987547.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028972
2025-08-23T22:19:07.782Z,1755987547.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.77 m.
2025-08-23T22:19:07.785Z,1755987547.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.765709 m,
nav range: 52.001030 m,
bearing: 127.650225 deg,
approach rate: -0.488529 m/s,
LOS rate: -0.050265 deg/s,
cmd heading: 133.908208 deg,
new cmd heading: 133.874042 deg.
2025-08-23T22:19:07.786Z,1755987547.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336543 target range: 53.765709 and range: 54.10 m.
2025-08-23T22:19:07.851Z,1755987547.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282232
2025-08-23T22:19:08.112Z,1755987548.112 [DAT](INFO): DAT read: 22:19:06.7214 LVL= 23792, 26929, 21746, 29683, AGC= 63, IDX= 422,-0.21, 0.472,-1.170, 0.973, 0.357, PHS= 0.217,-1.482, 0.572, RAW= 159.3, 7.3, CAL= 158.8, 7.4, ROT= 351.2, -7.4
2025-08-23T22:19:08.114Z,1755987548.114 [DAT](INFO): got valid direction response:
22:19:06.7214 LVL= 23792, 26929, 21746, 29683, AGC= 63, IDX= 422,-0.21, 0.472,-1.170, 0.973, 0.357, PHS= 0.217,-1.482, 0.572, RAW= 159.3, 7.3, CAL= 158.8, 7.4, ROT= 351.2, -7.4
2025-08-23T22:19:08.116Z,1755987548.116 [DAT](INFO): DAT read: Bearing 308.4, -11.0 (Local)
2025-08-23T22:19:08.116Z,1755987548.116 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.4, -11.0 (Local)
2025-08-23T22:19:08.122Z,1755987548.122 [DAT](INFO): DAT read: Range 11 to 50 : 52.2 m (Round-trip 69.7 ms) speed 0.4 m/s
2025-08-23T22:19:08.123Z,1755987548.123 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:19:08.124Z,1755987548.124 [DAT](INFO): direction in FSK: [0.979998,-0.151711,0.128796]
2025-08-23T22:19:08.124Z,1755987548.124 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:08.132Z,1755987548.132 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:19:08.132Z,1755987548.132 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:19:08.132Z,1755987548.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:19:08.232Z,1755987548.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.200001 m,
deltaT: 3.787670 s,
deltaX: -1.899998 m,
approachRate: -0.501627 m/s,
rangeRepo size: 4
2025-08-23T22:19:08.239Z,1755987548.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 51.878441 m,
bearing: 127.419633 deg,
lat: 36.779416 deg,
lon: -121.859566 deg,
deltaT: 3.787670 s,
deltaX: -1.887268 m,
approachRate: -0.498266 m/s,
posRepo size: 4
2025-08-23T22:19:08.239Z,1755987548.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-08-23T22:19:08.246Z,1755987548.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.878441 m,
nav range: 51.715611 m,
bearing: 127.419444 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.050265 deg/s,
cmd heading: 133.874044 deg,
new cmd heading: 133.828918 deg.
2025-08-23T22:19:08.247Z,1755987548.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335755 target range: 51.878441 and range: 52.20 m.
2025-08-23T22:19:08.357Z,1755987548.357 [DAT](INFO): DAT read: user:1711>
2025-08-23T22:19:08.360Z,1755987548.360 [DAT](INFO): DAT read: Tx time:22:19:08.0476
2025-08-23T22:19:08.361Z,1755987548.361 [DAT](INFO): Ping request sent.
2025-08-23T22:19:08.361Z,1755987548.361 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:19:08.362Z,1755987548.362 [DAT](INFO): publishing transmit ping time
2025-08-23T22:19:08.364Z,1755987548.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002904
2025-08-23T22:19:08.607Z,1755987548.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246288
2025-08-23T22:19:08.647Z,1755987548.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-08-23T22:19:08.655Z,1755987548.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.878441 m,
nav range: 51.493137 m,
bearing: 127.388891 deg,
approach rate: -0.534331 m/s,
LOS rate: -0.073697 deg/s,
cmd heading: 133.828923 deg,
new cmd heading: 133.767555 deg.
2025-08-23T22:19:08.656Z,1755987548.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334684 target range: 51.878441 and range: 52.20 m.
2025-08-23T22:19:08.858Z,1755987548.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497905
2025-08-23T22:19:08.995Z,1755987548.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-08-23T22:19:08.998Z,1755987548.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.878441 m,
nav range: 51.314693 m,
bearing: 127.364059 deg,
approach rate: -0.513630 m/s,
LOS rate: -0.071725 deg/s,
cmd heading: 133.767561 deg,
new cmd heading: 133.717724 deg.
2025-08-23T22:19:08.999Z,1755987548.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333815 target range: 51.878441 and range: 52.20 m.
2025-08-23T22:19:09.112Z,1755987549.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750962
2025-08-23T22:19:09.365Z,1755987549.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004015
2025-08-23T22:19:09.454Z,1755987549.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:09.456Z,1755987549.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-08-23T22:19:09.469Z,1755987549.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.878441 m,
nav range: 51.089546 m,
bearing: 127.331938 deg,
approach rate: -0.488534 m/s,
LOS rate: -0.070005 deg/s,
cmd heading: 133.717728 deg,
new cmd heading: 133.653202 deg.
2025-08-23T22:19:09.471Z,1755987549.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332688 target range: 51.878441 and range: 52.20 m.
2025-08-23T22:19:09.615Z,1755987549.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254085
2025-08-23T22:19:09.815Z,1755987549.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-08-23T22:19:09.818Z,1755987549.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.878441 m,
nav range: 50.906525 m,
bearing: 127.305584 deg,
approach rate: -0.509569 m/s,
LOS rate: -0.073638 deg/s,
cmd heading: 133.653196 deg,
new cmd heading: 133.600299 deg.
2025-08-23T22:19:09.819Z,1755987549.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331765 target range: 51.878441 and range: 52.20 m.
2025-08-23T22:19:09.867Z,1755987549.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506338
2025-08-23T22:19:10.118Z,1755987550.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757926
2025-08-23T22:19:10.225Z,1755987550.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-08-23T22:19:10.228Z,1755987550.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.878441 m,
nav range: 50.702961 m,
bearing: 127.275942 deg,
approach rate: -0.496757 m/s,
LOS rate: -0.072626 deg/s,
cmd heading: 133.600303 deg,
new cmd heading: 133.540781 deg.
2025-08-23T22:19:10.229Z,1755987550.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330726 target range: 51.878441 and range: 52.20 m.
2025-08-23T22:19:10.374Z,1755987550.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012990
2025-08-23T22:19:10.623Z,1755987550.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262242
2025-08-23T22:19:10.746Z,1755987550.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-08-23T22:19:10.749Z,1755987550.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.878441 m,
nav range: 50.441128 m,
bearing: 127.239412 deg,
approach rate: -0.502022 m/s,
LOS rate: -0.070405 deg/s,
cmd heading: 133.540785 deg,
new cmd heading: 133.467345 deg.
2025-08-23T22:19:10.750Z,1755987550.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329445 target range: 51.878441 and range: 52.20 m.
2025-08-23T22:19:10.875Z,1755987550.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514708
2025-08-23T22:19:11.127Z,1755987551.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766041
2025-08-23T22:19:11.140Z,1755987551.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-08-23T22:19:11.167Z,1755987551.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.878441 m,
nav range: 50.242870 m,
bearing: 127.211497 deg,
approach rate: -0.503354 m/s,
LOS rate: -0.071152 deg/s,
cmd heading: 133.467347 deg,
new cmd heading: 133.411297 deg.
2025-08-23T22:19:11.168Z,1755987551.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328466 target range: 51.878441 and range: 52.20 m.
2025-08-23T22:19:11.384Z,1755987551.384 [DAT](INFO): DAT read: Rx Time:22:19:10.5189
2025-08-23T22:19:11.385Z,1755987551.385 [DAT](INFO): Rx dataTimestamp_ set to:1755987551.384233
2025-08-23T22:19:11.388Z,1755987551.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026745
2025-08-23T22:19:11.630Z,1755987551.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269882
2025-08-23T22:19:11.697Z,1755987551.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:11.703Z,1755987551.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-08-23T22:19:11.710Z,1755987551.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.878441 m,
nav range: 49.974125 m,
bearing: 127.171128 deg,
approach rate: -0.477296 m/s,
LOS rate: -0.072081 deg/s,
cmd heading: 133.411298 deg,
new cmd heading: 133.330126 deg.
2025-08-23T22:19:11.711Z,1755987551.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327050 target range: 51.878441 and range: 52.20 m.
2025-08-23T22:19:11.888Z,1755987551.888 [DAT](INFO): DAT read: 22:19:10.5189 LVL= 26768, 28657, 25298, 29059, AGC= 63, IDX= 412, 0.06,-2.826, 1.798,-2.333,-2.929, PHS= 0.204,-1.511, 0.551, RAW= 159.0, 7.9, CAL= 158.6, 8.2, ROT= 351.4, -8.2
2025-08-23T22:19:11.889Z,1755987551.889 [DAT](INFO): got valid direction response:
22:19:10.5189 LVL= 26768, 28657, 25298, 29059, AGC= 63, IDX= 412, 0.06,-2.826, 1.798,-2.333,-2.929, PHS= 0.204,-1.511, 0.551, RAW= 159.0, 7.9, CAL= 158.6, 8.2, ROT= 351.4, -8.2
2025-08-23T22:19:11.890Z,1755987551.890 [DAT](INFO): DAT read: Bearing 309.3, -10.5 (Local)
2025-08-23T22:19:11.890Z,1755987551.890 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.3, -10.5 (Local)
2025-08-23T22:19:11.891Z,1755987551.891 [DAT](INFO): DAT read: Range 11 to 50 : 50.3 m (Round-trip 67.1 ms) speed 0.4 m/s
2025-08-23T22:19:11.892Z,1755987551.892 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:19:11.893Z,1755987551.893 [DAT](INFO): direction in FSK: [0.978648,-0.148007,0.142629]
2025-08-23T22:19:11.894Z,1755987551.894 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:11.898Z,1755987551.898 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:19:11.898Z,1755987551.898 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:19:11.898Z,1755987551.898 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:19:12.123Z,1755987552.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.299999 m,
deltaT: 3.779034 s,
deltaX: -1.900002 m,
approachRate: -0.502774 m/s,
rangeRepo size: 4
2025-08-23T22:19:12.127Z,1755987552.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.991608 m,
bearing: 127.882875 deg,
lat: 36.779416 deg,
lon: -121.859566 deg,
deltaT: 3.779034 s,
deltaX: -1.886833 m,
approachRate: -0.499290 m/s,
posRepo size: 4
2025-08-23T22:19:12.128Z,1755987552.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-23T22:19:12.134Z,1755987552.134 [DAT](INFO): DAT read: user:1712>
2025-08-23T22:19:12.135Z,1755987552.135 [DAT](INFO): DAT read: Tx time:22:19:11.7976
2025-08-23T22:19:12.135Z,1755987552.135 [DAT](INFO): Ping request sent.
2025-08-23T22:19:12.136Z,1755987552.136 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:19:12.136Z,1755987552.136 [DAT](INFO): publishing transmit ping time
2025-08-23T22:19:12.136Z,1755987552.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-23T22:19:12.140Z,1755987552.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.991608 m,
nav range: 49.778942 m,
bearing: 127.141576 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.072081 deg/s,
cmd heading: 133.330128 deg,
new cmd heading: 133.269651 deg.
2025-08-23T22:19:12.141Z,1755987552.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325994 target range: 49.991608 and range: 50.30 m.
2025-08-23T22:19:12.408Z,1755987552.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.271904
2025-08-23T22:19:12.623Z,1755987552.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-23T22:19:12.634Z,1755987552.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.991608 m,
nav range: 49.529808 m,
bearing: 127.103642 deg,
approach rate: -0.498176 m/s,
LOS rate: -0.076237 deg/s,
cmd heading: 133.269654 deg,
new cmd heading: 133.193403 deg.
2025-08-23T22:19:12.635Z,1755987552.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324663 target range: 49.991608 and range: 50.30 m.
2025-08-23T22:19:12.639Z,1755987552.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502969
2025-08-23T22:19:12.891Z,1755987552.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755547
2025-08-23T22:19:12.988Z,1755987552.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-23T22:19:12.991Z,1755987552.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.991608 m,
nav range: 49.339462 m,
bearing: 127.074559 deg,
approach rate: -0.521327 m/s,
LOS rate: -0.079959 deg/s,
cmd heading: 133.193402 deg,
new cmd heading: 133.135013 deg.
2025-08-23T22:19:12.992Z,1755987552.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323644 target range: 49.991608 and range: 50.30 m.
2025-08-23T22:19:13.143Z,1755987553.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007184
2025-08-23T22:19:13.198Z,1755987553.198 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:19:13.398Z,1755987553.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261533
2025-08-23T22:19:13.485Z,1755987553.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-23T22:19:13.488Z,1755987553.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.991608 m,
nav range: 49.094688 m,
bearing: 127.042879 deg,
approach rate: -0.492331 m/s,
LOS rate: -0.064039 deg/s,
cmd heading: 133.135017 deg,
new cmd heading: 133.071340 deg.
2025-08-23T22:19:13.489Z,1755987553.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322533 target range: 49.991608 and range: 50.30 m.
2025-08-23T22:19:13.646Z,1755987553.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510827
2025-08-23T22:19:13.791Z,1755987553.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:13.794Z,1755987553.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-23T22:19:13.796Z,1755987553.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.991608 m,
nav range: 48.942970 m,
bearing: 127.023175 deg,
approach rate: -0.492106 m/s,
LOS rate: -0.064107 deg/s,
cmd heading: 133.071346 deg,
new cmd heading: 133.031818 deg.
2025-08-23T22:19:13.797Z,1755987553.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321843 target range: 49.991608 and range: 50.30 m.
2025-08-23T22:19:13.899Z,1755987553.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763471
2025-08-23T22:19:14.156Z,1755987554.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019971
2025-08-23T22:19:14.202Z,1755987554.202 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:19:14.215Z,1755987554.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-23T22:19:14.218Z,1755987554.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.991608 m,
nav range: 48.738335 m,
bearing: 126.996593 deg,
approach rate: -0.485350 m/s,
LOS rate: -0.063313 deg/s,
cmd heading: 133.031813 deg,
new cmd heading: 132.978425 deg.
2025-08-23T22:19:14.219Z,1755987554.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320911 target range: 49.991608 and range: 50.30 m.
2025-08-23T22:19:14.405Z,1755987554.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268948
2025-08-23T22:19:14.641Z,1755987554.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-23T22:19:14.644Z,1755987554.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.991608 m,
nav range: 48.527554 m,
bearing: 126.966324 deg,
approach rate: -0.494940 m/s,
LOS rate: -0.071383 deg/s,
cmd heading: 132.978428 deg,
new cmd heading: 132.917628 deg.
2025-08-23T22:19:14.645Z,1755987554.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319850 target range: 49.991608 and range: 50.30 m.
2025-08-23T22:19:14.655Z,1755987554.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519025
2025-08-23T22:19:14.907Z,1755987554.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770971
2025-08-23T22:19:15.005Z,1755987555.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-23T22:19:15.026Z,1755987555.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.991608 m,
nav range: 48.349770 m,
bearing: 126.940800 deg,
approach rate: -0.487934 m/s,
LOS rate: -0.070310 deg/s,
cmd heading: 132.917626 deg,
new cmd heading: 132.866390 deg.
2025-08-23T22:19:15.027Z,1755987555.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318956 target range: 49.991608 and range: 50.30 m.
2025-08-23T22:19:15.159Z,1755987555.159 [DAT](INFO): DAT read: Rx Time:22:19:14.2664
2025-08-23T22:19:15.159Z,1755987555.159 [DAT](INFO): Rx dataTimestamp_ set to:1755987555.158749
2025-08-23T22:19:15.160Z,1755987555.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024042
2025-08-23T22:19:15.414Z,1755987555.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277524
2025-08-23T22:19:15.535Z,1755987555.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-23T22:19:15.542Z,1755987555.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.991608 m,
nav range: 48.110550 m,
bearing: 126.906439 deg,
approach rate: -0.451845 m/s,
LOS rate: -0.065224 deg/s,
cmd heading: 132.866386 deg,
new cmd heading: 132.797323 deg.
2025-08-23T22:19:15.543Z,1755987555.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.317750 target range: 49.991608 and range: 50.30 m.
2025-08-23T22:19:15.668Z,1755987555.668 [DAT](INFO): DAT read: 22:19:14.2664 LVL= 28944, 28993, 24210, 32755, AGC= 63, IDX= 418, 0.21,-0.470,-2.130, 0.000,-0.583, PHS= 0.215,-1.502, 0.539, RAW= 158.5, 7.9, CAL= 158.1, 8.1, ROT= 351.9, -8.1
2025-08-23T22:19:15.669Z,1755987555.669 [DAT](INFO): got valid direction response:
22:19:14.2664 LVL= 28944, 28993, 24210, 32755, AGC= 63, IDX= 418, 0.21,-0.470,-2.130, 0.000,-0.583, PHS= 0.215,-1.502, 0.539, RAW= 158.5, 7.9, CAL= 158.1, 8.1, ROT= 351.9, -8.1
2025-08-23T22:19:15.673Z,1755987555.673 [DAT](INFO): DAT read: Bearing 308.8, -9.3 (Local)
2025-08-23T22:19:15.673Z,1755987555.673 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.8, -9.3 (Local)
2025-08-23T22:19:15.674Z,1755987555.674 [DAT](INFO): DAT read: Range 11 to 50 : 48.4 m (Round-trip 64.6 ms) speed 0.4 m/s
2025-08-23T22:19:15.675Z,1755987555.675 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:19:15.676Z,1755987555.676 [DAT](INFO): direction in FSK: [0.980147,-0.139495,0.140901]
2025-08-23T22:19:15.676Z,1755987555.676 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:15.716Z,1755987555.716 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:19:15.716Z,1755987555.716 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:19:15.716Z,1755987555.716 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:19:15.915Z,1755987555.915 [DAT](INFO): DAT read: user:1713>
2025-08-23T22:19:15.915Z,1755987555.915 [DAT](INFO): DAT read: Tx time:22:19:15.6476
2025-08-23T22:19:15.916Z,1755987555.916 [DAT](INFO): Ping request sent.
2025-08-23T22:19:15.916Z,1755987555.916 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:19:15.916Z,1755987555.916 [DAT](INFO): publishing transmit ping time
2025-08-23T22:19:15.916Z,1755987555.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-23T22:19:15.948Z,1755987555.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.400002 m,
deltaT: 3.779987 s,
deltaX: -1.899998 m,
approachRate: -0.502647 m/s,
rangeRepo size: 4
2025-08-23T22:19:15.954Z,1755987555.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.104614 m,
bearing: 127.912108 deg,
lat: 36.779415 deg,
lon: -121.859567 deg,
deltaT: 3.779987 s,
deltaX: -1.886993 m,
approachRate: -0.499206 m/s,
posRepo size: 4
2025-08-23T22:19:15.955Z,1755987555.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-23T22:19:15.966Z,1755987555.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.104614 m,
nav range: 47.984997 m,
bearing: 127.109964 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.065224 deg/s,
cmd heading: 132.797319 deg,
new cmd heading: 132.743515 deg.
2025-08-23T22:19:15.967Z,1755987555.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.316811 target range: 48.104614 and range: 48.40 m.
2025-08-23T22:19:16.166Z,1755987556.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250649
2025-08-23T22:19:16.304Z,1755987556.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:16.306Z,1755987556.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-23T22:19:16.309Z,1755987556.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.104614 m,
nav range: 47.802876 m,
bearing: 127.090150 deg,
approach rate: -0.507730 m/s,
LOS rate: -0.055450 deg/s,
cmd heading: 132.743511 deg,
new cmd heading: 132.703731 deg.
2025-08-23T22:19:16.310Z,1755987556.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.316117 target range: 48.104614 and range: 48.40 m.
2025-08-23T22:19:16.419Z,1755987556.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503231
2025-08-23T22:19:16.673Z,1755987556.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756935
2025-08-23T22:19:16.743Z,1755987556.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-23T22:19:16.746Z,1755987556.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.104614 m,
nav range: 47.592987 m,
bearing: 127.063230 deg,
approach rate: -0.479930 m/s,
LOS rate: -0.061826 deg/s,
cmd heading: 132.703732 deg,
new cmd heading: 132.649655 deg.
2025-08-23T22:19:16.747Z,1755987556.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315173 target range: 48.104614 and range: 48.40 m.
2025-08-23T22:19:16.922Z,1755987556.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006714
2025-08-23T22:19:17.175Z,1755987557.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259046
2025-08-23T22:19:17.245Z,1755987557.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-23T22:19:17.252Z,1755987557.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.104614 m,
nav range: 47.355900 m,
bearing: 127.032790 deg,
approach rate: -0.472349 m/s,
LOS rate: -0.060949 deg/s,
cmd heading: 132.649650 deg,
new cmd heading: 132.588466 deg.
2025-08-23T22:19:17.253Z,1755987557.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314105 target range: 48.104614 and range: 48.40 m.
2025-08-23T22:19:17.427Z,1755987557.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510801
2025-08-23T22:19:17.554Z,1755987557.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-23T22:19:17.557Z,1755987557.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.104614 m,
nav range: 47.204948 m,
bearing: 127.014331 deg,
approach rate: -0.488048 m/s,
LOS rate: -0.059872 deg/s,
cmd heading: 132.588465 deg,
new cmd heading: 132.551429 deg.
2025-08-23T22:19:17.558Z,1755987557.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313459 target range: 48.104614 and range: 48.40 m.
2025-08-23T22:19:17.679Z,1755987557.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763243
2025-08-23T22:19:17.931Z,1755987557.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014868
2025-08-23T22:19:17.936Z,1755987557.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-23T22:19:17.955Z,1755987557.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.104614 m,
nav range: 47.024204 m,
bearing: 126.992380 deg,
approach rate: -0.474103 m/s,
LOS rate: -0.057800 deg/s,
cmd heading: 132.551432 deg,
new cmd heading: 132.507362 deg.
2025-08-23T22:19:17.955Z,1755987557.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312690 target range: 48.104614 and range: 48.40 m.
2025-08-23T22:19:18.183Z,1755987558.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267152
2025-08-23T22:19:18.346Z,1755987558.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:18.348Z,1755987558.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-23T22:19:18.351Z,1755987558.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.104614 m,
nav range: 46.831997 m,
bearing: 126.969221 deg,
approach rate: -0.465522 m/s,
LOS rate: -0.056321 deg/s,
cmd heading: 132.507364 deg,
new cmd heading: 132.460855 deg.
2025-08-23T22:19:18.352Z,1755987558.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311878 target range: 48.104614 and range: 48.40 m.
2025-08-23T22:19:18.435Z,1755987558.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519633
2025-08-23T22:19:18.686Z,1755987558.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770776
2025-08-23T22:19:18.766Z,1755987558.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-23T22:19:18.769Z,1755987558.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.104614 m,
nav range: 46.620152 m,
bearing: 126.946950 deg,
approach rate: -0.507797 m/s,
LOS rate: -0.053627 deg/s,
cmd heading: 132.460850 deg,
new cmd heading: 132.416105 deg.
2025-08-23T22:19:18.786Z,1755987558.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311097 target range: 48.104614 and range: 48.40 m.
2025-08-23T22:19:18.939Z,1755987558.939 [DAT](INFO): DAT read: Rx Time:22:19:18.1139
2025-08-23T22:19:18.939Z,1755987558.939 [DAT](INFO): Rx dataTimestamp_ set to:1755987558.938887
2025-08-23T22:19:18.940Z,1755987558.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024017
2025-08-23T22:19:19.146Z,1755987559.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-08-23T22:19:19.149Z,1755987559.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.104614 m,
nav range: 46.431309 m,
bearing: 126.927260 deg,
approach rate: -0.495859 m/s,
LOS rate: -0.051911 deg/s,
cmd heading: 132.416099 deg,
new cmd heading: 132.376559 deg.
2025-08-23T22:19:19.150Z,1755987559.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310407 target range: 48.104614 and range: 48.40 m.
2025-08-23T22:19:19.191Z,1755987559.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275312
2025-08-23T22:19:19.452Z,1755987559.452 [DAT](INFO): DAT read: 22:19:18.1139 LVL= 24800, 31601, 22322, 32755, AGC= 62, IDX= 409,-0.31, 0.972,-0.707, 1.411, 0.829, PHS= 0.245,-1.491, 0.538, RAW= 157.7, 7.5, CAL= 157.2, 7.7, ROT= 352.8, -7.7
2025-08-23T22:19:19.453Z,1755987559.453 [DAT](INFO): got valid direction response:
22:19:18.1139 LVL= 24800, 31601, 22322, 32755, AGC= 62, IDX= 409,-0.31, 0.972,-0.707, 1.411, 0.829, PHS= 0.245,-1.491, 0.538, RAW= 157.7, 7.5, CAL= 157.2, 7.7, ROT= 352.8, -7.7
2025-08-23T22:19:19.454Z,1755987559.454 [DAT](INFO): DAT read: Bearing 307.7, -7.7 (Local)
2025-08-23T22:19:19.454Z,1755987559.454 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.7, -7.7 (Local)
2025-08-23T22:19:19.455Z,1755987559.455 [DAT](INFO): DAT read: Range 11 to 50 : 46.6 m (Round-trip 62.2 ms) speed 0.4 m/s
2025-08-23T22:19:19.456Z,1755987559.456 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:19:19.457Z,1755987559.457 [DAT](INFO): direction in FSK: [0.983169,-0.124203,0.133986]
2025-08-23T22:19:19.462Z,1755987559.462 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:19.502Z,1755987559.502 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:19:19.503Z,1755987559.503 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:19:19.503Z,1755987559.503 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:19:19.695Z,1755987559.695 [DAT](INFO): DAT read: user:1714>
2025-08-23T22:19:19.695Z,1755987559.695 [DAT](INFO): DAT read: Tx time:22:19:19.4476
2025-08-23T22:19:19.696Z,1755987559.696 [DAT](INFO): Ping request sent.
2025-08-23T22:19:19.696Z,1755987559.696 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:19:19.696Z,1755987559.696 [DAT](INFO): publishing transmit ping time
2025-08-23T22:19:19.696Z,1755987559.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-23T22:19:19.708Z,1755987559.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.599998 m,
deltaT: 3.780023 s,
deltaX: -1.800003 m,
approachRate: -0.476188 m/s,
rangeRepo size: 4
2025-08-23T22:19:19.715Z,1755987559.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.316315 m,
bearing: 128.239348 deg,
lat: 36.779412 deg,
lon: -121.859571 deg,
deltaT: 3.780023 s,
deltaX: -1.788300 m,
approachRate: -0.473092 m/s,
posRepo size: 4
2025-08-23T22:19:19.715Z,1755987559.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.32 m.
2025-08-23T22:19:19.722Z,1755987559.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.316315 m,
nav range: 46.038483 m,
bearing: 127.461814 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.051911 deg/s,
cmd heading: 132.376566 deg,
new cmd heading: 132.318359 deg.
2025-08-23T22:19:19.723Z,1755987559.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309391 target range: 46.316315 and range: 46.60 m.
2025-08-23T22:19:19.946Z,1755987559.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250715
2025-08-23T22:19:20.100Z,1755987560.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.32 m.
2025-08-23T22:19:20.121Z,1755987560.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.316315 m,
nav range: 45.843861 m,
bearing: 127.442132 deg,
approach rate: -0.494899 m/s,
LOS rate: -0.050263 deg/s,
cmd heading: 132.318359 deg,
new cmd heading: 132.278827 deg.
2025-08-23T22:19:20.122Z,1755987560.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308701 target range: 46.316315 and range: 46.60 m.
2025-08-23T22:19:20.200Z,1755987560.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504100
2025-08-23T22:19:20.451Z,1755987560.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754920
2025-08-23T22:19:20.507Z,1755987560.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:20.515Z,1755987560.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.32 m.
2025-08-23T22:19:20.537Z,1755987560.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.316315 m,
nav range: 45.656441 m,
bearing: 127.423535 deg,
approach rate: -0.453593 m/s,
LOS rate: -0.045191 deg/s,
cmd heading: 132.278826 deg,
new cmd heading: 132.241481 deg.
2025-08-23T22:19:20.545Z,1755987560.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308049 target range: 46.316315 and range: 46.60 m.
2025-08-23T22:19:20.702Z,1755987560.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006725
2025-08-23T22:19:20.918Z,1755987560.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.32 m.
2025-08-23T22:19:20.921Z,1755987560.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.316315 m,
nav range: 45.455734 m,
bearing: 127.405920 deg,
approach rate: -0.501494 m/s,
LOS rate: -0.044209 deg/s,
cmd heading: 132.241478 deg,
new cmd heading: 132.206092 deg.
2025-08-23T22:19:20.926Z,1755987560.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307432 target range: 46.316315 and range: 46.60 m.
2025-08-23T22:19:20.955Z,1755987560.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258995
2025-08-23T22:19:21.207Z,1755987561.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511501
2025-08-23T22:19:21.302Z,1755987561.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.32 m.
2025-08-23T22:19:21.305Z,1755987561.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.316315 m,
nav range: 45.262718 m,
bearing: 127.389197 deg,
approach rate: -0.497076 m/s,
LOS rate: -0.043252 deg/s,
cmd heading: 132.206098 deg,
new cmd heading: 132.172508 deg.
2025-08-23T22:19:21.306Z,1755987561.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306845 target range: 46.316315 and range: 46.60 m.
2025-08-23T22:19:21.458Z,1755987561.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762748
2025-08-23T22:19:21.710Z,1755987561.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014665
2025-08-23T22:19:21.736Z,1755987561.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.32 m.
2025-08-23T22:19:21.744Z,1755987561.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.316315 m,
nav range: 45.046894 m,
bearing: 127.378119 deg,
approach rate: -0.496885 m/s,
LOS rate: -0.025626 deg/s,
cmd heading: 132.172507 deg,
new cmd heading: 132.150245 deg.
2025-08-23T22:19:21.744Z,1755987561.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306457 target range: 46.316315 and range: 46.60 m.
2025-08-23T22:19:21.966Z,1755987561.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270118
2025-08-23T22:19:22.118Z,1755987562.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.32 m.
2025-08-23T22:19:22.121Z,1755987562.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.316315 m,
nav range: 44.860851 m,
bearing: 127.368484 deg,
approach rate: -0.487221 m/s,
LOS rate: -0.025337 deg/s,
cmd heading: 132.150241 deg,
new cmd heading: 132.130891 deg.
2025-08-23T22:19:22.150Z,1755987562.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306119 target range: 46.316315 and range: 46.60 m.
2025-08-23T22:19:22.215Z,1755987562.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518894
2025-08-23T22:19:22.466Z,1755987562.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770669
2025-08-23T22:19:22.508Z,1755987562.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:22.520Z,1755987562.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.32 m.
2025-08-23T22:19:22.553Z,1755987562.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.316315 m,
nav range: 44.673660 m,
bearing: 127.359006 deg,
approach rate: -0.467138 m/s,
LOS rate: -0.023753 deg/s,
cmd heading: 132.130897 deg,
new cmd heading: 132.111861 deg.
2025-08-23T22:19:22.566Z,1755987562.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305787 target range: 46.316315 and range: 46.60 m.
2025-08-23T22:19:22.719Z,1755987562.719 [DAT](INFO): DAT read: Rx Time:22:19:21.9114
2025-08-23T22:19:22.719Z,1755987562.719 [DAT](INFO): Rx dataTimestamp_ set to:1755987562.718756
2025-08-23T22:19:22.720Z,1755987562.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023870
2025-08-23T22:19:22.947Z,1755987562.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.32 m.
2025-08-23T22:19:22.949Z,1755987562.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.316315 m,
nav range: 44.456242 m,
bearing: 127.346732 deg,
approach rate: -0.508556 m/s,
LOS rate: -0.028849 deg/s,
cmd heading: 132.111855 deg,
new cmd heading: 132.087188 deg.
2025-08-23T22:19:22.950Z,1755987562.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305356 target range: 46.316315 and range: 46.60 m.
2025-08-23T22:19:22.971Z,1755987562.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274850
2025-08-23T22:19:23.228Z,1755987563.228 [DAT](INFO): DAT read: 22:19:21.9114 LVL= 27120, 30641, 21026, 32755, AGC= 60, IDX= 415,-0.01,-2.908, 1.685,-2.520,-3.078, PHS= 0.272,-1.476, 0.514, RAW= 156.4, 7.4, CAL= 155.9, 7.6, ROT= 354.1, -7.6
2025-08-23T22:19:23.229Z,1755987563.229 [DAT](INFO): got valid direction response:
22:19:21.9114 LVL= 27120, 30641, 21026, 32755, AGC= 60, IDX= 415,-0.01,-2.908, 1.685,-2.520,-3.078, PHS= 0.272,-1.476, 0.514, RAW= 156.4, 7.4, CAL= 155.9, 7.6, ROT= 354.1, -7.6
2025-08-23T22:19:23.230Z,1755987563.230 [DAT](INFO): DAT read: Bearing 306.9, -5.7 (Local)
2025-08-23T22:19:23.230Z,1755987563.230 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.9, -5.7 (Local)
2025-08-23T22:19:23.232Z,1755987563.232 [DAT](INFO): DAT read: Range 11 to 50 : 44.7 m (Round-trip 59.6 ms) speed 0.4 m/s
2025-08-23T22:19:23.232Z,1755987563.232 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:19:23.233Z,1755987563.233 [DAT](INFO): direction in FSK: [0.985965,-0.101889,0.132256]
2025-08-23T22:19:23.234Z,1755987563.234 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:23.237Z,1755987563.237 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:19:23.237Z,1755987563.237 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:19:23.237Z,1755987563.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:19:23.384Z,1755987563.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.700001 m,
deltaT: 3.780292 s,
deltaX: -1.899998 m,
approachRate: -0.502606 m/s,
rangeRepo size: 4
2025-08-23T22:19:23.390Z,1755987563.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.427933 m,
bearing: 129.115948 deg,
lat: 36.779411 deg,
lon: -121.859573 deg,
deltaT: 3.780292 s,
deltaX: -1.888382 m,
approachRate: -0.499533 m/s,
posRepo size: 4
2025-08-23T22:19:23.391Z,1755987563.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:23.398Z,1755987563.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 44.181030 m,
bearing: 127.614985 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.028849 deg/s,
cmd heading: 132.087184 deg,
new cmd heading: 132.061988 deg.
2025-08-23T22:19:23.399Z,1755987563.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304917 target range: 44.427933 and range: 44.70 m.
2025-08-23T22:19:23.480Z,1755987563.480 [DAT](INFO): DAT read: user:1715>
2025-08-23T22:19:23.481Z,1755987563.481 [DAT](INFO): DAT read: Tx time:22:19:23.1476
2025-08-23T22:19:23.481Z,1755987563.481 [DAT](INFO): Ping request sent.
2025-08-23T22:19:23.481Z,1755987563.481 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:19:23.481Z,1755987563.481 [DAT](INFO): publishing transmit ping time
2025-08-23T22:19:23.482Z,1755987563.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001001
2025-08-23T22:19:23.731Z,1755987563.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249487
2025-08-23T22:19:23.785Z,1755987563.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:23.792Z,1755987563.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 43.989651 m,
bearing: 127.609700 deg,
approach rate: -0.476657 m/s,
LOS rate: -0.013220 deg/s,
cmd heading: 132.061994 deg,
new cmd heading: 132.051378 deg.
2025-08-23T22:19:23.793Z,1755987563.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304731 target range: 44.427933 and range: 44.70 m.
2025-08-23T22:19:23.983Z,1755987563.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501686
2025-08-23T22:19:24.156Z,1755987564.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:24.159Z,1755987564.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 43.811783 m,
bearing: 127.605000 deg,
approach rate: -0.482193 m/s,
LOS rate: -0.012793 deg/s,
cmd heading: 132.051380 deg,
new cmd heading: 132.041942 deg.
2025-08-23T22:19:24.160Z,1755987564.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304567 target range: 44.427933 and range: 44.70 m.
2025-08-23T22:19:24.236Z,1755987564.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754587
2025-08-23T22:19:24.486Z,1755987564.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005413
2025-08-23T22:19:24.540Z,1755987564.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:24.543Z,1755987564.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:24.547Z,1755987564.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 43.621021 m,
bearing: 127.600199 deg,
approach rate: -0.490073 m/s,
LOS rate: -0.012389 deg/s,
cmd heading: 132.041941 deg,
new cmd heading: 132.032296 deg.
2025-08-23T22:19:24.568Z,1755987564.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304398 target range: 44.427933 and range: 44.70 m.
2025-08-23T22:19:24.739Z,1755987564.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257493
2025-08-23T22:19:24.962Z,1755987564.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:24.964Z,1755987564.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 43.415100 m,
bearing: 127.592408 deg,
approach rate: -0.491958 m/s,
LOS rate: -0.018701 deg/s,
cmd heading: 132.032297 deg,
new cmd heading: 132.016642 deg.
2025-08-23T22:19:24.965Z,1755987564.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304125 target range: 44.427933 and range: 44.70 m.
2025-08-23T22:19:24.991Z,1755987564.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509600
2025-08-23T22:19:25.242Z,1755987565.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761435
2025-08-23T22:19:25.351Z,1755987565.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:25.370Z,1755987565.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 43.225769 m,
bearing: 127.585484 deg,
approach rate: -0.486343 m/s,
LOS rate: -0.017864 deg/s,
cmd heading: 132.016642 deg,
new cmd heading: 132.002733 deg.
2025-08-23T22:19:25.374Z,1755987565.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303882 target range: 44.427933 and range: 44.70 m.
2025-08-23T22:19:25.494Z,1755987565.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013406
2025-08-23T22:19:25.747Z,1755987565.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265490
2025-08-23T22:19:25.786Z,1755987565.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:25.789Z,1755987565.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 43.015251 m,
bearing: 127.581159 deg,
approach rate: -0.483538 m/s,
LOS rate: -0.009983 deg/s,
cmd heading: 132.002736 deg,
new cmd heading: 131.994043 deg.
2025-08-23T22:19:25.806Z,1755987565.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303731 target range: 44.427933 and range: 44.70 m.
2025-08-23T22:19:25.998Z,1755987565.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517369
2025-08-23T22:19:26.152Z,1755987566.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:26.155Z,1755987566.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 42.838203 m,
bearing: 127.577842 deg,
approach rate: -0.484374 m/s,
LOS rate: -0.009112 deg/s,
cmd heading: 131.994048 deg,
new cmd heading: 131.987386 deg.
2025-08-23T22:19:26.155Z,1755987566.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303614 target range: 44.427933 and range: 44.70 m.
2025-08-23T22:19:26.251Z,1755987566.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769534
2025-08-23T22:19:26.503Z,1755987566.503 [DAT](INFO): DAT read: Rx Time:22:19:25.6089
2025-08-23T22:19:26.503Z,1755987566.503 [DAT](INFO): Rx dataTimestamp_ set to:1755987566.502765
2025-08-23T22:19:26.504Z,1755987566.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022574
2025-08-23T22:19:26.598Z,1755987566.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:26.614Z,1755987566.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:26.632Z,1755987566.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 42.633492 m,
bearing: 127.574348 deg,
approach rate: -0.448114 m/s,
LOS rate: -0.007683 deg/s,
cmd heading: 131.987381 deg,
new cmd heading: 131.980361 deg.
2025-08-23T22:19:26.640Z,1755987566.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303492 target range: 44.427933 and range: 44.70 m.
2025-08-23T22:19:26.755Z,1755987566.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273895
2025-08-23T22:19:27.012Z,1755987567.012 [DAT](INFO): DAT read: 22:19:25.6089 LVL= 29120, 27825, 28146, 32755, AGC= 61, IDX= 422,-0.07, 0.171,-1.550, 0.522,-0.028, PHS= 0.301,-1.477, 0.506, RAW= 155.4, 7.2, CAL= 154.8, 7.4, ROT= 355.2, -7.4
2025-08-23T22:19:27.013Z,1755987567.013 [DAT](INFO): got valid direction response:
22:19:25.6089 LVL= 29120, 27825, 28146, 32755, AGC= 61, IDX= 422,-0.07, 0.171,-1.550, 0.522,-0.028, PHS= 0.301,-1.477, 0.506, RAW= 155.4, 7.2, CAL= 154.8, 7.4, ROT= 355.2, -7.4
2025-08-23T22:19:27.014Z,1755987567.014 [DAT](INFO): DAT read: Bearing 306.1, -4.0 (Local)
2025-08-23T22:19:27.014Z,1755987567.014 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.1, -4.0 (Local)
2025-08-23T22:19:27.015Z,1755987567.015 [DAT](INFO): DAT read: Range 11 to 50 : 42.9 m (Round-trip 57.2 ms) speed 0.4 m/s
2025-08-23T22:19:27.016Z,1755987567.016 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:19:27.017Z,1755987567.017 [DAT](INFO): direction in FSK: [0.988193,-0.082981,0.128796]
2025-08-23T22:19:27.017Z,1755987567.017 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:27.020Z,1755987567.020 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:19:27.020Z,1755987567.020 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:19:27.021Z,1755987567.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:19:27.032Z,1755987567.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.900002 m,
deltaT: 3.783546 s,
deltaX: -1.799999 m,
approachRate: -0.475744 m/s,
rangeRepo size: 4
2025-08-23T22:19:27.032Z,1755987567.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:27.040Z,1755987567.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 42.428928 m,
bearing: 127.568435 deg,
approach rate: -0.484057 m/s,
LOS rate: -0.014061 deg/s,
cmd heading: 131.980360 deg,
new cmd heading: 131.968476 deg.
2025-08-23T22:19:27.047Z,1755987567.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303284 target range: 44.427933 and range: 42.90 m.
2025-08-23T22:19:27.259Z,1755987567.259 [DAT](INFO): DAT read: user:1716>
2025-08-23T22:19:27.259Z,1755987567.259 [DAT](INFO): DAT read: Tx time:22:19:26.9476
2025-08-23T22:19:27.260Z,1755987567.260 [DAT](INFO): Ping request sent.
2025-08-23T22:19:27.260Z,1755987567.260 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:19:27.260Z,1755987567.260 [DAT](INFO): publishing transmit ping time
2025-08-23T22:19:27.261Z,1755987567.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-23T22:19:27.431Z,1755987567.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:27.434Z,1755987567.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 42.225025 m,
bearing: 127.562829 deg,
approach rate: -0.516983 m/s,
LOS rate: -0.014281 deg/s,
cmd heading: 131.968476 deg,
new cmd heading: 131.957210 deg.
2025-08-23T22:19:27.435Z,1755987567.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303088 target range: 44.427933 and range: 42.90 m.
2025-08-23T22:19:27.511Z,1755987567.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250952
2025-08-23T22:19:27.763Z,1755987567.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502653
2025-08-23T22:19:27.866Z,1755987567.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:27.868Z,1755987567.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 42.022465 m,
bearing: 127.555242 deg,
approach rate: -0.460390 m/s,
LOS rate: -0.017328 deg/s,
cmd heading: 131.957206 deg,
new cmd heading: 131.941957 deg.
2025-08-23T22:19:27.874Z,1755987567.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302822 target range: 44.427933 and range: 42.90 m.
2025-08-23T22:19:28.015Z,1755987568.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754689
2025-08-23T22:19:28.267Z,1755987568.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007246
2025-08-23T22:19:28.338Z,1755987568.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:28.341Z,1755987568.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 41.787056 m,
bearing: 127.546739 deg,
approach rate: -0.498156 m/s,
LOS rate: -0.018094 deg/s,
cmd heading: 131.941961 deg,
new cmd heading: 131.924860 deg.
2025-08-23T22:19:28.362Z,1755987568.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302523 target range: 44.427933 and range: 42.90 m.
2025-08-23T22:19:28.519Z,1755987568.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258959
2025-08-23T22:19:28.771Z,1755987568.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510784
2025-08-23T22:19:28.851Z,1755987568.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:28.853Z,1755987568.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:28.856Z,1755987568.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 41.538956 m,
bearing: 127.540510 deg,
approach rate: -0.481926 m/s,
LOS rate: -0.012173 deg/s,
cmd heading: 131.924858 deg,
new cmd heading: 131.912325 deg.
2025-08-23T22:19:28.857Z,1755987568.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302305 target range: 44.427933 and range: 42.90 m.
2025-08-23T22:19:29.024Z,1755987569.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763786
2025-08-23T22:19:29.275Z,1755987569.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014673
2025-08-23T22:19:29.332Z,1755987569.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:29.335Z,1755987569.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 41.307358 m,
bearing: 127.534901 deg,
approach rate: -0.482933 m/s,
LOS rate: -0.011762 deg/s,
cmd heading: 131.912331 deg,
new cmd heading: 131.901050 deg.
2025-08-23T22:19:29.336Z,1755987569.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302108 target range: 44.427933 and range: 42.90 m.
2025-08-23T22:19:29.527Z,1755987569.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266691
2025-08-23T22:19:29.758Z,1755987569.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:29.761Z,1755987569.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 41.101227 m,
bearing: 127.521046 deg,
approach rate: -0.484538 m/s,
LOS rate: -0.032730 deg/s,
cmd heading: 131.901048 deg,
new cmd heading: 131.873200 deg.
2025-08-23T22:19:29.762Z,1755987569.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301621 target range: 44.427933 and range: 42.90 m.
2025-08-23T22:19:29.778Z,1755987569.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518565
2025-08-23T22:19:30.030Z,1755987570.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770633
2025-08-23T22:19:30.136Z,1755987570.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:30.139Z,1755987570.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 40.918125 m,
bearing: 127.508913 deg,
approach rate: -0.484719 m/s,
LOS rate: -0.032263 deg/s,
cmd heading: 131.873194 deg,
new cmd heading: 131.848820 deg.
2025-08-23T22:19:30.139Z,1755987570.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301196 target range: 44.427933 and range: 42.90 m.
2025-08-23T22:19:30.286Z,1755987570.286 [DAT](INFO): DAT read: Rx Time:22:19:29.4065
2025-08-23T22:19:30.286Z,1755987570.286 [DAT](INFO): Rx dataTimestamp_ set to:1755987570.286058
2025-08-23T22:19:30.287Z,1755987570.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027065
2025-08-23T22:19:30.536Z,1755987570.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276046
2025-08-23T22:19:30.581Z,1755987570.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.43 m.
2025-08-23T22:19:30.588Z,1755987570.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.427933 m,
nav range: 40.714325 m,
bearing: 127.495413 deg,
approach rate: -0.457643 m/s,
LOS rate: -0.030467 deg/s,
cmd heading: 131.848824 deg,
new cmd heading: 131.821689 deg.
2025-08-23T22:19:30.589Z,1755987570.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300723 target range: 44.427933 and range: 42.90 m.
2025-08-23T22:19:30.792Z,1755987570.792 [DAT](INFO): DAT read: 22:19:29.4065 LVL= 29504, 32753, 26258, 32755, AGC= 61, IDX= 413, 0.24,-1.126,-2.836,-0.800,-1.331, PHS= 0.308,-1.460, 0.488, RAW= 154.8, 7.2, CAL= 154.2, 7.4, ROT= 355.8, -7.4
2025-08-23T22:19:30.793Z,1755987570.793 [DAT](INFO): got valid direction response:
22:19:29.4065 LVL= 29504, 32753, 26258, 32755, AGC= 61, IDX= 413, 0.24,-1.126,-2.836,-0.800,-1.331, PHS= 0.308,-1.460, 0.488, RAW= 154.8, 7.2, CAL= 154.2, 7.4, ROT= 355.8, -7.4
2025-08-23T22:19:30.794Z,1755987570.794 [DAT](INFO): DAT read: Bearing 305.8, -2.9 (Local)
2025-08-23T22:19:30.794Z,1755987570.794 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.8, -2.9 (Local)
2025-08-23T22:19:30.795Z,1755987570.795 [DAT](INFO): DAT read: Range 11 to 50 : 41.0 m (Round-trip 54.7 ms) speed 0.4 m/s
2025-08-23T22:19:30.796Z,1755987570.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:19:30.797Z,1755987570.797 [DAT](INFO): direction in FSK: [0.989008,-0.072628,0.128796]
2025-08-23T22:19:30.797Z,1755987570.797 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:30.808Z,1755987570.808 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:19:30.808Z,1755987570.808 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:19:30.808Z,1755987570.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:19:30.975Z,1755987570.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.000000 m,
deltaT: 3.780248 s,
deltaX: -1.900002 m,
approachRate: -0.502613 m/s,
rangeRepo size: 4
2025-08-23T22:19:30.977Z,1755987570.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.750118 m,
bearing: 129.625288 deg,
lat: 36.779403 deg,
lon: -121.859582 deg,
deltaT: 7.563794 s,
deltaX: -3.677814 m,
approachRate: -0.486239 m/s,
posRepo size: 4
2025-08-23T22:19:30.979Z,1755987570.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.75 m.
2025-08-23T22:19:30.998Z,1755987570.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.750118 m,
nav range: 40.378006 m,
bearing: 129.123551 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.030467 deg/s,
cmd heading: 131.821695 deg,
new cmd heading: 131.797705 deg.
2025-08-23T22:19:30.999Z,1755987570.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300304 target range: 40.750118 and range: 41.00 m.
2025-08-23T22:19:31.040Z,1755987571.040 [DAT](INFO): DAT read: user:1717>
2025-08-23T22:19:31.042Z,1755987571.042 [DAT](INFO): DAT read: Tx time:22:19:30.7476
2025-08-23T22:19:31.043Z,1755987571.043 [DAT](INFO): Ping request sent.
2025-08-23T22:19:31.043Z,1755987571.043 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:19:31.043Z,1755987571.043 [DAT](INFO): publishing transmit ping time
2025-08-23T22:19:31.044Z,1755987571.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001150
2025-08-23T22:19:31.290Z,1755987571.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247685
2025-08-23T22:19:31.356Z,1755987571.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:31.358Z,1755987571.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.75 m.
2025-08-23T22:19:31.361Z,1755987571.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.750118 m,
nav range: 40.188766 m,
bearing: 129.123307 deg,
approach rate: -0.493062 m/s,
LOS rate: -0.000639 deg/s,
cmd heading: 131.797707 deg,
new cmd heading: 131.797217 deg.
2025-08-23T22:19:31.362Z,1755987571.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300295 target range: 40.750118 and range: 41.00 m.
2025-08-23T22:19:31.544Z,1755987571.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500899
2025-08-23T22:19:31.795Z,1755987571.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752107
2025-08-23T22:19:31.807Z,1755987571.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.75 m.
2025-08-23T22:19:31.811Z,1755987571.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.750118 m,
nav range: 39.969021 m,
bearing: 129.118459 deg,
approach rate: -0.489788 m/s,
LOS rate: -0.010865 deg/s,
cmd heading: 131.797215 deg,
new cmd heading: 131.787466 deg.
2025-08-23T22:19:31.812Z,1755987571.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300125 target range: 40.750118 and range: 41.00 m.
2025-08-23T22:19:32.051Z,1755987572.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008195
2025-08-23T22:19:32.196Z,1755987572.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.75 m.
2025-08-23T22:19:32.201Z,1755987572.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.750118 m,
nav range: 39.792374 m,
bearing: 129.115061 deg,
approach rate: -0.457764 m/s,
LOS rate: -0.008844 deg/s,
cmd heading: 131.787462 deg,
new cmd heading: 131.780636 deg.
2025-08-23T22:19:32.218Z,1755987572.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300006 target range: 40.750118 and range: 41.00 m.
2025-08-23T22:19:32.303Z,1755987572.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260497
2025-08-23T22:19:32.556Z,1755987572.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513018
2025-08-23T22:19:32.598Z,1755987572.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.75 m.
2025-08-23T22:19:32.600Z,1755987572.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.750118 m,
nav range: 39.594162 m,
bearing: 129.111545 deg,
approach rate: -0.495001 m/s,
LOS rate: -0.008826 deg/s,
cmd heading: 131.780632 deg,
new cmd heading: 131.773564 deg.
2025-08-23T22:19:32.601Z,1755987572.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299883 target range: 40.750118 and range: 41.00 m.
2025-08-23T22:19:32.808Z,1755987572.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765121
2025-08-23T22:19:32.983Z,1755987572.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.75 m.
2025-08-23T22:19:32.986Z,1755987572.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.750118 m,
nav range: 39.395729 m,
bearing: 129.103049 deg,
approach rate: -0.509346 m/s,
LOS rate: -0.021918 deg/s,
cmd heading: 131.773569 deg,
new cmd heading: 131.756491 deg.
2025-08-23T22:19:32.987Z,1755987572.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299585 target range: 40.750118 and range: 41.00 m.
2025-08-23T22:19:33.059Z,1755987573.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016521
2025-08-23T22:19:33.311Z,1755987573.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267877
2025-08-23T22:19:33.372Z,1755987573.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:33.379Z,1755987573.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.75 m.
2025-08-23T22:19:33.386Z,1755987573.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.750118 m,
nav range: 39.212086 m,
bearing: 129.095365 deg,
approach rate: -0.463717 m/s,
LOS rate: -0.019492 deg/s,
cmd heading: 131.756494 deg,
new cmd heading: 131.741055 deg.
2025-08-23T22:19:33.387Z,1755987573.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299315 target range: 40.750118 and range: 41.00 m.
2025-08-23T22:19:33.562Z,1755987573.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519739
2025-08-23T22:19:33.804Z,1755987573.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.75 m.
2025-08-23T22:19:33.807Z,1755987573.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.750118 m,
nav range: 38.997803 m,
bearing: 129.092890 deg,
approach rate: -0.504572 m/s,
LOS rate: -0.005861 deg/s,
cmd heading: 131.741058 deg,
new cmd heading: 131.736080 deg.
2025-08-23T22:19:33.807Z,1755987573.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299228 target range: 40.750118 and range: 41.00 m.
2025-08-23T22:19:33.815Z,1755987573.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771908
2025-08-23T22:19:34.067Z,1755987574.067 [DAT](INFO): DAT read: Rx Time:22:19:33.2041
2025-08-23T22:19:34.068Z,1755987574.068 [DAT](INFO): Rx dataTimestamp_ set to:1755987574.067341
2025-08-23T22:19:34.068Z,1755987574.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025496
2025-08-23T22:19:34.175Z,1755987574.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.75 m.
2025-08-23T22:19:34.179Z,1755987574.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.750118 m,
nav range: 38.817501 m,
bearing: 129.091032 deg,
approach rate: -0.485665 m/s,
LOS rate: -0.005027 deg/s,
cmd heading: 131.736085 deg,
new cmd heading: 131.732353 deg.
2025-08-23T22:19:34.180Z,1755987574.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299163 target range: 40.750118 and range: 41.00 m.
2025-08-23T22:19:34.319Z,1755987574.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276419
2025-08-23T22:19:34.576Z,1755987574.576 [DAT](INFO): DAT read: 22:19:33.2041 LVL= 28592, 32289, 24498, 32755, AGC= 57, IDX= 420, 0.29,-2.808, 1.730,-2.494,-3.032, PHS= 0.327,-1.476, 0.495, RAW= 154.4, 7.0, CAL= 153.8, 7.2, ROT= 356.2, -7.2
2025-08-23T22:19:34.577Z,1755987574.577 [DAT](INFO): got valid direction response:
22:19:33.2041 LVL= 28592, 32289, 24498, 32755, AGC= 57, IDX= 420, 0.29,-2.808, 1.730,-2.494,-3.032, PHS= 0.327,-1.476, 0.495, RAW= 154.4, 7.0, CAL= 153.8, 7.2, ROT= 356.2, -7.2
2025-08-23T22:19:34.582Z,1755987574.582 [DAT](INFO): DAT read: Bearing 305.1, -2.6 (Local)
2025-08-23T22:19:34.582Z,1755987574.582 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.1, -2.6 (Local)
2025-08-23T22:19:34.584Z,1755987574.584 [DAT](INFO): DAT read: Range 11 to 50 : 39.2 m (Round-trip 52.3 ms) speed 0.4 m/s
2025-08-23T22:19:34.584Z,1755987574.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:19:34.585Z,1755987574.585 [DAT](INFO): direction in FSK: [0.989934,-0.065751,0.125333]
2025-08-23T22:19:34.586Z,1755987574.586 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:34.589Z,1755987574.589 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:19:34.589Z,1755987574.589 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:19:34.589Z,1755987574.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:19:34.661Z,1755987574.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.200001 m,
deltaT: 3.783961 s,
deltaX: -1.799999 m,
approachRate: -0.475692 m/s,
rangeRepo size: 4
2025-08-23T22:19:34.667Z,1755987574.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.960850 m,
bearing: 129.567164 deg,
lat: 36.779401 deg,
lon: -121.859583 deg,
deltaT: 3.783961 s,
deltaX: -1.789268 m,
approachRate: -0.472856 m/s,
posRepo size: 4
2025-08-23T22:19:34.668Z,1755987574.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-23T22:19:34.675Z,1755987574.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.960850 m,
nav range: 38.721649 m,
bearing: 129.382664 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005027 deg/s,
cmd heading: 131.732356 deg,
new cmd heading: 131.727478 deg.
2025-08-23T22:19:34.676Z,1755987574.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299078 target range: 38.960850 and range: 39.20 m.
2025-08-23T22:19:34.823Z,1755987574.823 [DAT](INFO): DAT read: user:1718>
2025-08-23T22:19:34.823Z,1755987574.823 [DAT](INFO): DAT read: Tx time:22:19:34.4976
2025-08-23T22:19:34.824Z,1755987574.824 [DAT](INFO): Ping request sent.
2025-08-23T22:19:34.824Z,1755987574.824 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:19:34.824Z,1755987574.824 [DAT](INFO): publishing transmit ping time
2025-08-23T22:19:34.824Z,1755987574.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-08-23T22:19:35.075Z,1755987575.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250795
2025-08-23T22:19:35.101Z,1755987575.101 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-23T22:19:35.101Z,1755987575.101 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-23T22:19:35.102Z,1755987575.102 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-23T22:19:35.103Z,1755987575.103 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.200001 m (mode 2.000000 count ).
2025-08-23T22:19:35.103Z,1755987575.103 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-23T22:19:35.103Z,1755987575.103 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-23T22:19:35.105Z,1755987575.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-23T22:19:35.108Z,1755987575.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.960850 m,
nav range: 38.487225 m,
bearing: 129.384801 deg,
approach rate: -0.526681 m/s,
LOS rate: 0.004830 deg/s,
cmd heading: 131.727479 deg,
new cmd heading: 131.731779 deg.
2025-08-23T22:19:35.109Z,1755987575.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299153 target range: 38.960850 and range: 39.20 m.
2025-08-23T22:19:35.326Z,1755987575.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502723
2025-08-23T22:19:35.466Z,1755987575.466 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-23T22:19:35.466Z,1755987575.466 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-23T22:19:35.467Z,1755987575.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:35.469Z,1755987575.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-23T22:19:35.472Z,1755987575.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.960850 m,
nav range: 38.314857 m,
bearing: 129.386635 deg,
approach rate: -0.473858 m/s,
LOS rate: 0.005063 deg/s,
cmd heading: 131.731782 deg,
new cmd heading: 131.735466 deg.
2025-08-23T22:19:35.473Z,1755987575.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299218 target range: 38.960850 and range: 39.20 m.
2025-08-23T22:19:35.579Z,1755987575.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755063
2025-08-23T22:19:35.830Z,1755987575.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006727
2025-08-23T22:19:35.896Z,1755987575.896 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-23T22:19:35.896Z,1755987575.896 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-23T22:19:35.899Z,1755987575.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-23T22:19:35.902Z,1755987575.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.960850 m,
nav range: 38.104851 m,
bearing: 129.392386 deg,
approach rate: -0.488556 m/s,
LOS rate: 0.013454 deg/s,
cmd heading: 131.735470 deg,
new cmd heading: 131.747037 deg.
2025-08-23T22:19:35.903Z,1755987575.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299420 target range: 38.960850 and range: 39.20 m.
2025-08-23T22:19:36.082Z,1755987576.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258697
2025-08-23T22:19:36.267Z,1755987576.267 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-23T22:19:36.267Z,1755987576.267 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-23T22:19:36.267Z,1755987576.267 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-23T22:19:36.268Z,1755987576.268 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-23T22:19:36.287Z,1755987576.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-23T22:19:36.304Z,1755987576.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.960850 m,
nav range: 37.921242 m,
bearing: 129.397720 deg,
approach rate: -0.494974 m/s,
LOS rate: 0.014448 deg/s,
cmd heading: 131.747041 deg,
new cmd heading: 131.757760 deg.
2025-08-23T22:19:36.304Z,1755987576.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299607 target range: 38.960850 and range: 39.20 m.
2025-08-23T22:19:36.335Z,1755987576.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510945
2025-08-23T22:19:36.587Z,1755987576.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763333
2025-08-23T22:19:36.676Z,1755987576.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-23T22:19:36.679Z,1755987576.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.960850 m,
nav range: 37.722298 m,
bearing: 129.403783 deg,
approach rate: -0.489523 m/s,
LOS rate: 0.014999 deg/s,
cmd heading: 131.757764 deg,
new cmd heading: 131.769955 deg.
2025-08-23T22:19:36.680Z,1755987576.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299819 target range: 38.960850 and range: 39.20 m.
2025-08-23T22:19:36.839Z,1755987576.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014817
2025-08-23T22:19:37.093Z,1755987577.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269088
2025-08-23T22:19:37.109Z,1755987577.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-23T22:19:37.112Z,1755987577.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.960850 m,
nav range: 37.513653 m,
bearing: 129.417535 deg,
approach rate: -0.482346 m/s,
LOS rate: 0.031969 deg/s,
cmd heading: 131.769949 deg,
new cmd heading: 131.797606 deg.
2025-08-23T22:19:37.113Z,1755987577.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300302 target range: 38.960850 and range: 39.20 m.
2025-08-23T22:19:37.343Z,1755987577.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519357
2025-08-23T22:19:37.514Z,1755987577.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:37.518Z,1755987577.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-23T22:19:37.524Z,1755987577.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.960850 m,
nav range: 37.317406 m,
bearing: 129.430611 deg,
approach rate: -0.479933 m/s,
LOS rate: 0.032144 deg/s,
cmd heading: 131.797612 deg,
new cmd heading: 131.823900 deg.
2025-08-23T22:19:37.525Z,1755987577.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300761 target range: 38.960850 and range: 39.20 m.
2025-08-23T22:19:37.595Z,1755987577.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771703
2025-08-23T22:19:37.847Z,1755987577.847 [DAT](INFO): DAT read: Rx Time:22:19:36.9517
2025-08-23T22:19:37.847Z,1755987577.847 [DAT](INFO): Rx dataTimestamp_ set to:1755987577.846859
2025-08-23T22:19:37.848Z,1755987577.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023970
2025-08-23T22:19:37.944Z,1755987577.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-23T22:19:37.951Z,1755987577.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.960850 m,
nav range: 37.124027 m,
bearing: 129.447097 deg,
approach rate: -0.453678 m/s,
LOS rate: 0.038881 deg/s,
cmd heading: 131.823894 deg,
new cmd heading: 131.857040 deg.
2025-08-23T22:19:37.952Z,1755987577.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301339 target range: 38.960850 and range: 39.20 m.
2025-08-23T22:19:38.099Z,1755987578.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274756
2025-08-23T22:19:38.300Z,1755987578.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-23T22:19:38.304Z,1755987578.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.960850 m,
nav range: 36.955204 m,
bearing: 129.461731 deg,
approach rate: -0.474179 m/s,
LOS rate: 0.041289 deg/s,
cmd heading: 131.857034 deg,
new cmd heading: 131.886435 deg.
2025-08-23T22:19:38.304Z,1755987578.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301852 target range: 38.960850 and range: 39.20 m.
2025-08-23T22:19:38.359Z,1755987578.359 [DAT](INFO): DAT read: 22:19:36.9517 LVL= 26592, 32753, 21794, 32755, AGC= 61, IDX= 412,-0.11, 2.703, 0.944, 3.012, 2.488, PHS= 0.317,-1.499, 0.480, RAW= 154.3, 7.4, CAL= 153.7, 7.7, ROT= 356.3, -7.7
2025-08-23T22:19:38.361Z,1755987578.361 [DAT](INFO): got valid direction response:
22:19:36.9517 LVL= 26592, 32753, 21794, 32755, AGC= 61, IDX= 412,-0.11, 2.703, 0.944, 3.012, 2.488, PHS= 0.317,-1.499, 0.480, RAW= 154.3, 7.4, CAL= 153.7, 7.7, ROT= 356.3, -7.7
2025-08-23T22:19:38.362Z,1755987578.362 [DAT](INFO): DAT read: Bearing 305.4, -2.4 (Local)
2025-08-23T22:19:38.363Z,1755987578.363 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.4, -2.4 (Local)
2025-08-23T22:19:38.364Z,1755987578.364 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m (Round-trip 50.0 ms) speed 0.4 m/s
2025-08-23T22:19:38.366Z,1755987578.366 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:19:38.367Z,1755987578.367 [DAT](INFO): direction in FSK: [0.988918,-0.063951,0.133986]
2025-08-23T22:19:38.368Z,1755987578.368 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:38.389Z,1755987578.389 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:19:38.389Z,1755987578.389 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:19:38.389Z,1755987578.389 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:19:38.602Z,1755987578.602 [DAT](INFO): DAT read: user:1719>
2025-08-23T22:19:38.603Z,1755987578.603 [DAT](INFO): DAT read: Tx time:22:19:38.2976
2025-08-23T22:19:38.603Z,1755987578.603 [DAT](INFO): Ping request sent.
2025-08-23T22:19:38.604Z,1755987578.604 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:19:38.604Z,1755987578.604 [DAT](INFO): publishing transmit ping time
2025-08-23T22:19:38.604Z,1755987578.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-23T22:19:38.708Z,1755987578.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.500000 m,
deltaT: 3.780376 s,
deltaX: -1.700001 m,
approachRate: -0.449691 m/s,
rangeRepo size: 4
2025-08-23T22:19:38.710Z,1755987578.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.271141 m,
bearing: 129.242150 deg,
lat: 36.779401 deg,
lon: -121.859583 deg,
deltaT: 3.780376 s,
deltaX: -1.689709 m,
approachRate: -0.446968 m/s,
posRepo size: 4
2025-08-23T22:19:38.711Z,1755987578.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:19:38.714Z,1755987578.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.271141 m,
nav range: 36.766106 m,
bearing: 129.478352 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.041289 deg/s,
cmd heading: 131.886431 deg,
new cmd heading: 131.920071 deg.
2025-08-23T22:19:38.715Z,1755987578.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302440 target range: 37.271141 and range: 37.50 m.
2025-08-23T22:19:38.855Z,1755987578.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250885
2025-08-23T22:19:39.107Z,1755987579.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502963
2025-08-23T22:19:39.125Z,1755987579.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:19:39.127Z,1755987579.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.271141 m,
nav range: 36.561615 m,
bearing: 129.500020 deg,
approach rate: -0.490077 m/s,
LOS rate: 0.052220 deg/s,
cmd heading: 131.920077 deg,
new cmd heading: 131.963656 deg.
2025-08-23T22:19:39.128Z,1755987579.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303200 target range: 37.271141 and range: 37.50 m.
2025-08-23T22:19:39.358Z,1755987579.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754867
2025-08-23T22:19:39.535Z,1755987579.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:39.543Z,1755987579.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:19:39.550Z,1755987579.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.271141 m,
nav range: 36.375843 m,
bearing: 129.519956 deg,
approach rate: -0.443966 m/s,
LOS rate: 0.047886 deg/s,
cmd heading: 131.963653 deg,
new cmd heading: 132.003728 deg.
2025-08-23T22:19:39.551Z,1755987579.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303900 target range: 37.271141 and range: 37.50 m.
2025-08-23T22:19:39.611Z,1755987579.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007641
2025-08-23T22:19:39.862Z,1755987579.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258857
2025-08-23T22:19:39.956Z,1755987579.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:19:39.959Z,1755987579.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.271141 m,
nav range: 36.155426 m,
bearing: 129.544458 deg,
approach rate: -0.533630 m/s,
LOS rate: 0.059681 deg/s,
cmd heading: 132.003733 deg,
new cmd heading: 132.053036 deg.
2025-08-23T22:19:39.960Z,1755987579.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304760 target range: 37.271141 and range: 37.50 m.
2025-08-23T22:19:40.114Z,1755987580.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510861
2025-08-23T22:19:40.343Z,1755987580.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:19:40.350Z,1755987580.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.271141 m,
nav range: 35.974861 m,
bearing: 129.564755 deg,
approach rate: -0.466995 m/s,
LOS rate: 0.052757 deg/s,
cmd heading: 132.053033 deg,
new cmd heading: 132.093831 deg.
2025-08-23T22:19:40.351Z,1755987580.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305472 target range: 37.271141 and range: 37.50 m.
2025-08-23T22:19:40.367Z,1755987580.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763084
2025-08-23T22:19:40.618Z,1755987580.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014840
2025-08-23T22:19:40.739Z,1755987580.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:19:40.742Z,1755987580.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.271141 m,
nav range: 35.769989 m,
bearing: 129.587805 deg,
approach rate: -0.516994 m/s,
LOS rate: 0.058500 deg/s,
cmd heading: 132.093837 deg,
new cmd heading: 132.140201 deg.
2025-08-23T22:19:40.743Z,1755987580.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306282 target range: 37.271141 and range: 37.50 m.
2025-08-23T22:19:40.872Z,1755987580.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267946
2025-08-23T22:19:41.123Z,1755987581.123 [DAT](INFO): DAT read: Rx Time:22:19:40.4743
2025-08-23T22:19:41.124Z,1755987581.124 [DAT](INFO): Rx dataTimestamp_ set to:1755987581.123346
2025-08-23T22:19:41.125Z,1755987581.125 [DAT](INFO): DAT read: Bearing 304.2, -2.2 (Local)
2025-08-23T22:19:41.125Z,1755987581.125 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.2, -2.2 (Local)
2025-08-23T22:19:41.127Z,1755987581.127 [DAT](INFO): DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed 0.4
2025-08-23T22:19:41.132Z,1755987581.132 [DAT](INFO): DAT read: 22:19:40.4743 LVL= 26256, 31105, 23858, 32755, AGC= 61, IDX= 419, 0.13, 0.356,-1.391, 0.662, 0.110, PHS= 0.348,-1.456, 0.508, RAW= 154.2, 6.4, CAL= 153.5, 6.5, ROT= 356.5, -6.5
2025-08-23T22:19:41.133Z,1755987581.133 [DAT](INFO): got valid direction response:
22:19:40.4743 LVL= 26256, 31105, 23858, 32755, AGC= 61, IDX= 419, 0.13, 0.356,-1.391, 0.662, 0.110, PHS= 0.348,-1.456, 0.508, RAW= 154.2, 6.4, CAL= 153.5, 6.5, ROT= 356.5, -6.5
2025-08-23T22:19:41.133Z,1755987581.133 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:19:41.134Z,1755987581.134 [DAT](INFO): direction in FSK: [0.991719,-0.060656,0.113203]
2025-08-23T22:19:41.134Z,1755987581.134 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:41.139Z,1755987581.139 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.535540
2025-08-23T22:19:41.229Z,1755987581.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.700001 m,
deltaT: 2.772890 s,
deltaX: -1.799999 m,
approachRate: -0.649142 m/s,
rangeRepo size: 4
2025-08-23T22:19:41.236Z,1755987581.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.482250 m,
bearing: 129.539822 deg,
lat: 36.779401 deg,
lon: -121.859585 deg,
deltaT: 2.772890 s,
deltaX: -1.788891 m,
approachRate: -0.645136 m/s,
posRepo size: 4
2025-08-23T22:19:41.236Z,1755987581.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.48 m.
2025-08-23T22:19:41.243Z,1755987581.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.482250 m,
nav range: 35.398460 m,
bearing: 129.807571 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.058500 deg/s,
cmd heading: 132.140200 deg,
new cmd heading: 132.195750 deg.
2025-08-23T22:19:41.244Z,1755987581.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307251 target range: 35.482250 and range: 35.70 m.
2025-08-23T22:19:41.375Z,1755987581.375 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771113
2025-08-23T22:19:41.568Z,1755987581.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:41.582Z,1755987581.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.48 m.
2025-08-23T22:19:41.585Z,1755987581.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.482250 m,
nav range: 35.204689 m,
bearing: 129.824590 deg,
approach rate: -0.544548 m/s,
LOS rate: 0.048092 deg/s,
cmd heading: 132.195757 deg,
new cmd heading: 132.229983 deg.
2025-08-23T22:19:41.590Z,1755987581.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307848 target range: 35.482250 and range: 35.70 m.
2025-08-23T22:19:41.627Z,1755987581.627 [DAT](INFO): DAT read: Rx Time:22:19:40.9741
2025-08-23T22:19:41.628Z,1755987581.628 [DAT](INFO): Rx dataTimestamp_ set to:1755987581.627344
2025-08-23T22:19:41.629Z,1755987581.629 [DAT](INFO): DAT read: Bearing 304.7, -2.3 (Local)
2025-08-23T22:19:41.629Z,1755987581.629 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.7, -2.3 (Local)
2025-08-23T22:19:41.631Z,1755987581.631 [DAT](INFO): DAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed 0.4
2025-08-23T22:19:41.637Z,1755987581.637 [DAT](INFO): DAT read: 22:19:40.9741 LVL= 28480, 27985, 26194, 32755, AGC= 60, IDX= 497,-0.32,-2.073, 2.469,-1.765,-2.302, PHS= 0.331,-1.467, 0.493, RAW= 154.3, 6.9, CAL= 153.7, 7.1, ROT= 356.3, -7.1
2025-08-23T22:19:41.638Z,1755987581.638 [DAT](INFO): got valid direction response:
22:19:40.9741 LVL= 28480, 27985, 26194, 32755, AGC= 60, IDX= 497,-0.32,-2.073, 2.469,-1.765,-2.302, PHS= 0.331,-1.467, 0.493, RAW= 154.3, 6.9, CAL= 153.7, 7.1, ROT= 356.3, -7.1
2025-08-23T22:19:41.639Z,1755987581.639 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-23T22:19:41.640Z,1755987581.640 [DAT](INFO): direction in FSK: [0.990264,-0.064038,0.123601]
2025-08-23T22:19:41.641Z,1755987581.641 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:41.647Z,1755987581.647 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.042774
2025-08-23T22:19:41.878Z,1755987581.878 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274851
2025-08-23T22:19:41.972Z,1755987581.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.400002 m,
deltaT: 0.503998 s,
deltaX: -0.299999 m,
approachRate: -0.595239 m/s,
rangeRepo size: 4
2025-08-23T22:19:41.978Z,1755987581.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.183884 m,
bearing: 129.324928 deg,
lat: 36.779402 deg,
lon: -121.859585 deg,
deltaT: 0.503998 s,
deltaX: -0.298367 m,
approachRate: -0.591999 m/s,
posRepo size: 4
2025-08-23T22:19:41.979Z,1755987581.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m.
2025-08-23T22:19:41.996Z,1755987581.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.183884 m,
nav range: 34.976677 m,
bearing: 129.761914 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.048092 deg/s,
cmd heading: 132.229976 deg,
new cmd heading: 132.268582 deg.
2025-08-23T22:19:42.005Z,1755987582.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308522 target range: 35.183884 and range: 35.40 m.
2025-08-23T22:19:42.132Z,1755987582.132 [DAT](INFO): DAT read: Rx Time:22:19:41.4740
2025-08-23T22:19:42.133Z,1755987582.133 [DAT](INFO): Rx dataTimestamp_ set to:1755987582.132608
2025-08-23T22:19:42.135Z,1755987582.135 [DAT](INFO): DAT read: Bearing 307.2, -0.7 (Local)
2025-08-23T22:19:42.136Z,1755987582.136 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.2, -0.7 (Local)
2025-08-23T22:19:42.139Z,1755987582.139 [DAT](INFO): DAT read: Range 11 to 50 : 35.3 m (trip time 23.5 ms) speed 0.4
2025-08-23T22:19:42.146Z,1755987582.146 [DAT](INFO): DAT read: 22:19:41.4740 LVL= 22768, 29681, 19906, 32755, AGC= 59, IDX= 512, 0.08, 0.505,-0.934, 0.730, 0.361, PHS= 0.246,-1.250, 0.325, RAW= 152.6, 8.9, CAL= 152.2, 9.5, ROT= 357.8, -9.5
2025-08-23T22:19:42.148Z,1755987582.148 [DAT](INFO): got valid direction response:
22:19:41.4740 LVL= 22768, 29681, 19906, 32755, AGC= 59, IDX= 512, 0.08, 0.505,-0.934, 0.730, 0.361, PHS= 0.246,-1.250, 0.325, RAW= 152.6, 8.9, CAL= 152.2, 9.5, ROT= 357.8, -9.5
2025-08-23T22:19:42.148Z,1755987582.148 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-23T22:19:42.151Z,1755987582.151 [DAT](INFO): direction in FSK: [0.985559,-0.037862,0.165048]
2025-08-23T22:19:42.151Z,1755987582.151 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:42.155Z,1755987582.155 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.551142
2025-08-23T22:19:42.383Z,1755987582.383 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.779071
2025-08-23T22:19:42.422Z,1755987582.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.299999 m,
deltaT: 0.505264 s,
deltaX: -0.100002 m,
approachRate: -0.197921 m/s,
rangeRepo size: 4
2025-08-23T22:19:42.424Z,1755987582.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.084492 m,
bearing: 130.756165 deg,
lat: 36.779402 deg,
lon: -121.859585 deg,
deltaT: 0.505264 s,
deltaX: -0.099392 m,
approachRate: -0.196713 m/s,
posRepo size: 4
2025-08-23T22:19:42.425Z,1755987582.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.08 m.
2025-08-23T22:19:42.439Z,1755987582.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.084492 m,
nav range: 34.752747 m,
bearing: 129.776109 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.048092 deg/s,
cmd heading: 132.268580 deg,
new cmd heading: 132.310354 deg.
2025-08-23T22:19:42.440Z,1755987582.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309251 target range: 35.084492 and range: 35.30 m.
2025-08-23T22:19:42.635Z,1755987582.635 [DAT](INFO): DAT read: Rx Time:22:19:41.9738
2025-08-23T22:19:42.636Z,1755987582.636 [DAT](INFO): Rx dataTimestamp_ set to:1755987582.635231
2025-08-23T22:19:42.637Z,1755987582.637 [DAT](INFO): DAT read: Bearing 304.4, -1.9 (Local)
2025-08-23T22:19:42.637Z,1755987582.637 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.4, -1.9 (Local)
2025-08-23T22:19:42.640Z,1755987582.640 [DAT](INFO): DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed 0.4
2025-08-23T22:19:42.644Z,1755987582.644 [DAT](INFO): DAT read: 22:19:41.9738 LVL= 23168, 30993, 24386, 32755, AGC= 59, IDX= 510,-0.39,-2.087, 2.487,-1.793,-2.324, PHS= 0.340,-1.427, 0.487, RAW= 154.0, 6.6, CAL= 153.3, 6.7, ROT= 356.7, -6.7
2025-08-23T22:19:42.646Z,1755987582.646 [DAT](INFO): got valid direction response:
22:19:41.9738 LVL= 23168, 30993, 24386, 32755, AGC= 59, IDX= 510,-0.39,-2.087, 2.487,-1.793,-2.324, PHS= 0.340,-1.427, 0.487, RAW= 154.0, 6.6, CAL= 153.3, 6.7, ROT= 356.7, -6.7
2025-08-23T22:19:42.646Z,1755987582.646 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-23T22:19:42.647Z,1755987582.647 [DAT](INFO): direction in FSK: [0.991524,-0.057171,0.116671]
2025-08-23T22:19:42.647Z,1755987582.647 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:42.651Z,1755987582.651 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.047124
2025-08-23T22:19:42.887Z,1755987582.887 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283224
2025-08-23T22:19:42.902Z,1755987582.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.000000 m,
deltaT: 0.502623 s,
deltaX: -0.299999 m,
approachRate: -0.596867 m/s,
rangeRepo size: 4
2025-08-23T22:19:42.904Z,1755987582.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.786243 m,
bearing: 129.711818 deg,
lat: 36.779403 deg,
lon: -121.859585 deg,
deltaT: 0.502623 s,
deltaX: -0.298248 m,
approachRate: -0.593384 m/s,
posRepo size: 4
2025-08-23T22:19:42.905Z,1755987582.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.79 m.
2025-08-23T22:19:42.912Z,1755987582.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.786243 m,
nav range: 34.473358 m,
bearing: 129.711693 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.048092 deg/s,
cmd heading: 132.310354 deg,
new cmd heading: 132.357714 deg.
2025-08-23T22:19:42.913Z,1755987582.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310078 target range: 34.786243 and range: 35.00 m.
2025-08-23T22:19:43.139Z,1755987583.139 [DAT](INFO): DAT read: Rx Time:22:19:42.4735
2025-08-23T22:19:43.140Z,1755987583.140 [DAT](INFO): Rx dataTimestamp_ set to:1755987583.139302
2025-08-23T22:19:43.141Z,1755987583.141 [DAT](INFO): DAT read: Bearing 304.4, -1.7 (Local)
2025-08-23T22:19:43.141Z,1755987583.141 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.4, -1.7 (Local)
2025-08-23T22:19:43.144Z,1755987583.144 [DAT](INFO): DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed 0.4
2025-08-23T22:19:43.151Z,1755987583.151 [DAT](INFO): DAT read: 22:19:42.4735 LVL= 21376, 27953, 21938, 32755, AGC= 58, IDX= 508, 0.05,-0.851,-2.569,-0.563,-1.096, PHS= 0.347,-1.429, 0.488, RAW= 153.8, 6.5, CAL= 153.1, 6.6, ROT= 356.9, -6.6
2025-08-23T22:19:43.152Z,1755987583.152 [DAT](INFO): got valid direction response:
22:19:42.4735 LVL= 21376, 27953, 21938, 32755, AGC= 58, IDX= 508, 0.05,-0.851,-2.569,-0.563,-1.096, PHS= 0.347,-1.429, 0.488, RAW= 153.8, 6.5, CAL= 153.1, 6.6, ROT= 356.9, -6.6
2025-08-23T22:19:43.153Z,1755987583.153 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-23T22:19:43.155Z,1755987583.155 [DAT](INFO): direction in FSK: [0.991919,-0.053720,0.114937]
2025-08-23T22:19:43.156Z,1755987583.156 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:43.186Z,1755987583.186 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.582199
2025-08-23T22:19:43.391Z,1755987583.391 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786881
2025-08-23T22:19:43.462Z,1755987583.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.500000 m,
deltaT: 0.504071 s,
deltaX: -0.500000 m,
approachRate: -0.991924 m/s,
rangeRepo size: 4
2025-08-23T22:19:43.464Z,1755987583.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.289295 m,
bearing: 129.910940 deg,
lat: 36.779403 deg,
lon: -121.859586 deg,
deltaT: 0.504071 s,
deltaX: -0.496948 m,
approachRate: -0.985870 m/s,
posRepo size: 4
2025-08-23T22:19:43.465Z,1755987583.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.29 m.
2025-08-23T22:19:43.468Z,1755987583.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.289295 m,
nav range: 34.113567 m,
bearing: 129.732872 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.048092 deg/s,
cmd heading: 132.357714 deg,
new cmd heading: 132.411938 deg.
2025-08-23T22:19:43.469Z,1755987583.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311024 target range: 34.289295 and range: 34.50 m.
2025-08-23T22:19:43.644Z,1755987583.644 [DAT](INFO): DAT read: Rx Time:22:19:42.9733
2025-08-23T22:19:43.645Z,1755987583.645 [DAT](INFO): Rx dataTimestamp_ set to:1755987583.644538
2025-08-23T22:19:43.647Z,1755987583.647 [DAT](INFO): DAT read: Bearing 305.0, -1.9 (Local)
2025-08-23T22:19:43.647Z,1755987583.647 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.0, -1.9 (Local)
2025-08-23T22:19:43.649Z,1755987583.649 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.4
2025-08-23T22:19:43.654Z,1755987583.654 [DAT](INFO): DAT read: 22:19:42.9733 LVL= 23536, 28385, 20690, 32291, AGC= 59, IDX= 506,-0.39, 2.884, 1.142,-3.102, 2.653, PHS= 0.333,-1.465, 0.484, RAW= 154.0, 7.0, CAL= 153.4, 7.2, ROT= 356.6, -7.2
2025-08-23T22:19:43.655Z,1755987583.655 [DAT](INFO): got valid direction response:
22:19:42.9733 LVL= 23536, 28385, 20690, 32291, AGC= 59, IDX= 506,-0.39, 2.884, 1.142,-3.102, 2.653, PHS= 0.333,-1.465, 0.484, RAW= 154.0, 7.0, CAL= 153.4, 7.2, ROT= 356.6, -7.2
2025-08-23T22:19:43.655Z,1755987583.655 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-23T22:19:43.656Z,1755987583.656 [DAT](INFO): direction in FSK: [0.990368,-0.058839,0.125333]
2025-08-23T22:19:43.657Z,1755987583.657 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:43.664Z,1755987583.664 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.060556
2025-08-23T22:19:43.899Z,1755987583.899 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.294337
2025-08-23T22:19:43.909Z,1755987583.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.200001 m,
deltaT: 0.505236 s,
deltaX: -0.299999 m,
approachRate: -0.593780 m/s,
rangeRepo size: 4
2025-08-23T22:19:43.915Z,1755987583.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.991215 m,
bearing: 129.589424 deg,
lat: 36.779403 deg,
lon: -121.859587 deg,
deltaT: 0.505236 s,
deltaX: -0.298080 m,
approachRate: -0.589983 m/s,
posRepo size: 4
2025-08-23T22:19:43.916Z,1755987583.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-08-23T22:19:43.923Z,1755987583.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.991215 m,
nav range: 33.800079 m,
bearing: 129.909865 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.048092 deg/s,
cmd heading: 132.411932 deg,
new cmd heading: 132.454897 deg.
2025-08-23T22:19:43.924Z,1755987583.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311774 target range: 33.991215 and range: 34.20 m.
2025-08-23T22:19:44.147Z,1755987584.147 [DAT](INFO): DAT read: Rx Time:22:19:43.4732
2025-08-23T22:19:44.148Z,1755987584.148 [DAT](INFO): Rx dataTimestamp_ set to:1755987584.147630
2025-08-23T22:19:44.149Z,1755987584.149 [DAT](INFO): DAT read: Bearing 304.3, -2.0 (Local)
2025-08-23T22:19:44.150Z,1755987584.150 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.3, -2.0 (Local)
2025-08-23T22:19:44.152Z,1755987584.152 [DAT](INFO): DAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed 0.4
2025-08-23T22:19:44.156Z,1755987584.156 [DAT](INFO): DAT read: 22:19:43.4732 LVL= 28592, 32753, 25474, 32755, AGC= 60, IDX= 505, 0.05,-0.714,-2.495,-0.409,-0.968, PHS= 0.356,-1.481, 0.515, RAW= 154.1, 6.4, CAL= 153.4, 6.5, ROT= 356.6, -6.5
2025-08-23T22:19:44.157Z,1755987584.157 [DAT](INFO): got valid direction response:
22:19:43.4732 LVL= 28592, 32753, 25474, 32755, AGC= 60, IDX= 505, 0.05,-0.714,-2.495,-0.409,-0.968, PHS= 0.356,-1.481, 0.515, RAW= 154.1, 6.4, CAL= 153.4, 6.5, ROT= 356.6, -6.5
2025-08-23T22:19:44.158Z,1755987584.158 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-23T22:19:44.159Z,1755987584.159 [DAT](INFO): direction in FSK: [0.991823,-0.058925,0.113203]
2025-08-23T22:19:44.159Z,1755987584.159 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:44.179Z,1755987584.179 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.575659
2025-08-23T22:19:44.326Z,1755987584.326 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:19:44.349Z,1755987584.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.099998 m,
deltaT: 0.503092 s,
deltaX: -0.100002 m,
approachRate: -0.198775 m/s,
rangeRepo size: 4
2025-08-23T22:19:44.351Z,1755987584.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.891823 m,
bearing: 129.629883 deg,
lat: 36.779403 deg,
lon: -121.859587 deg,
deltaT: 0.503092 s,
deltaX: -0.099392 m,
approachRate: -0.197562 m/s,
posRepo size: 4
2025-08-23T22:19:44.352Z,1755987584.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.89 m.
2025-08-23T22:19:44.355Z,1755987584.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.891823 m,
nav range: 33.565437 m,
bearing: 129.914370 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.048092 deg/s,
cmd heading: 132.454894 deg,
new cmd heading: 132.497253 deg.
2025-08-23T22:19:44.356Z,1755987584.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312513 target range: 33.891823 and range: 34.10 m.
2025-08-23T22:19:44.399Z,1755987584.399 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.794954
2025-08-23T22:19:44.651Z,1755987584.651 [DAT](INFO): DAT read: Rx Time:22:19:43.9730
2025-08-23T22:19:44.652Z,1755987584.652 [DAT](INFO): Rx dataTimestamp_ set to:1755987584.651329
2025-08-23T22:19:44.653Z,1755987584.653 [DAT](INFO): DAT read: Bearing 305.0, -2.1 (Local)
2025-08-23T22:19:44.653Z,1755987584.653 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.0, -2.1 (Local)
2025-08-23T22:19:44.655Z,1755987584.655 [DAT](INFO): DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.4
2025-08-23T22:19:44.660Z,1755987584.660 [DAT](INFO): DAT read: 22:19:43.9730 LVL= 27504, 30081, 22962, 32755, AGC= 59, IDX= 503,-0.35, 2.394, 0.636, 2.701, 2.164, PHS= 0.333,-1.483, 0.493, RAW= 154.2, 7.0, CAL= 153.6, 7.2, ROT= 356.4, -7.2
2025-08-23T22:19:44.661Z,1755987584.661 [DAT](INFO): got valid direction response:
22:19:43.9730 LVL= 27504, 30081, 22962, 32755, AGC= 59, IDX= 503,-0.35, 2.394, 0.636, 2.701, 2.164, PHS= 0.333,-1.483, 0.493, RAW= 154.2, 7.0, CAL= 153.6, 7.2, ROT= 356.4, -7.2
2025-08-23T22:19:44.662Z,1755987584.662 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-23T22:19:44.663Z,1755987584.663 [DAT](INFO): direction in FSK: [0.990157,-0.062296,0.125333]
2025-08-23T22:19:44.663Z,1755987584.663 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:44.667Z,1755987584.667 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.062987
2025-08-23T22:19:44.779Z,1755987584.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.799999 m,
deltaT: 0.503699 s,
deltaX: -0.299999 m,
approachRate: -0.595592 m/s,
rangeRepo size: 4
2025-08-23T22:19:44.780Z,1755987584.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.593605 m,
bearing: 129.407207 deg,
lat: 36.779404 deg,
lon: -121.859586 deg,
deltaT: 0.503699 s,
deltaX: -0.298218 m,
approachRate: -0.592055 m/s,
posRepo size: 4
2025-08-23T22:19:44.781Z,1755987584.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-08-23T22:19:44.788Z,1755987584.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.593605 m,
nav range: 33.375530 m,
bearing: 129.669939 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.048092 deg/s,
cmd heading: 132.497255 deg,
new cmd heading: 132.538534 deg.
2025-08-23T22:19:44.789Z,1755987584.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313234 target range: 33.593605 and range: 33.80 m.
2025-08-23T22:19:44.907Z,1755987584.907 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.302544
2025-08-23T22:19:45.155Z,1755987585.155 [DAT](INFO): DAT read: Rx Time:22:19:44.4729
2025-08-23T22:19:45.156Z,1755987585.156 [DAT](INFO): Rx dataTimestamp_ set to:1755987585.155374
2025-08-23T22:19:45.157Z,1755987585.157 [DAT](INFO): DAT read: Bearing 304.5, -2.1 (Local)
2025-08-23T22:19:45.157Z,1755987585.157 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.5, -2.1 (Local)
2025-08-23T22:19:45.159Z,1755987585.159 [DAT](INFO): DAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed 0.4
2025-08-23T22:19:45.164Z,1755987585.164 [DAT](INFO): DAT read: 22:19:44.4729 LVL= 28816, 32753, 26658, 32755, AGC= 59, IDX= 502, 0.11,-1.204,-2.982,-0.899,-1.454, PHS= 0.352,-1.483, 0.511, RAW= 154.1, 6.5, CAL= 153.4, 6.7, ROT= 356.6, -6.7
2025-08-23T22:19:45.165Z,1755987585.165 [DAT](INFO): got valid direction response:
22:19:44.4729 LVL= 28816, 32753, 26658, 32755, AGC= 59, IDX= 502, 0.11,-1.204,-2.982,-0.899,-1.454, PHS= 0.352,-1.483, 0.511, RAW= 154.1, 6.5, CAL= 153.4, 6.7, ROT= 356.6, -6.7
2025-08-23T22:19:45.166Z,1755987585.166 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-23T22:19:45.167Z,1755987585.167 [DAT](INFO): direction in FSK: [0.991422,-0.058901,0.116671]
2025-08-23T22:19:45.167Z,1755987585.167 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:45.171Z,1755987585.171 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.567244
2025-08-23T22:19:45.216Z,1755987585.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.599998 m,
deltaT: 0.504045 s,
deltaX: -0.200001 m,
approachRate: -0.396791 m/s,
rangeRepo size: 4
2025-08-23T22:19:45.222Z,1755987585.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.394829 m,
bearing: 129.658265 deg,
lat: 36.779404 deg,
lon: -121.859587 deg,
deltaT: 0.504045 s,
deltaX: -0.198776 m,
approachRate: -0.394362 m/s,
posRepo size: 4
2025-08-23T22:19:45.223Z,1755987585.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.39 m.
2025-08-23T22:19:45.234Z,1755987585.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.394829 m,
nav range: 33.096035 m,
bearing: 129.658144 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.048092 deg/s,
cmd heading: 132.538537 deg,
new cmd heading: 132.580621 deg.
2025-08-23T22:19:45.235Z,1755987585.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313968 target range: 33.394829 and range: 33.60 m.
2025-08-23T22:19:45.330Z,1755987585.330 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:19:45.407Z,1755987585.407 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.803275
2025-08-23T22:19:45.606Z,1755987585.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:45.608Z,1755987585.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.39 m.
2025-08-23T22:19:45.611Z,1755987585.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.394829 m,
nav range: 32.894833 m,
bearing: 129.655218 deg,
approach rate: -0.512281 m/s,
LOS rate: -0.007495 deg/s,
cmd heading: 132.580624 deg,
new cmd heading: 132.574737 deg.
2025-08-23T22:19:45.612Z,1755987585.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313866 target range: 33.394829 and range: 33.60 m.
2025-08-23T22:19:45.660Z,1755987585.660 [DAT](INFO): DAT read: Rx Time:22:19:44.9727
2025-08-23T22:19:45.661Z,1755987585.661 [DAT](INFO): Rx dataTimestamp_ set to:1755987585.660418
2025-08-23T22:19:45.663Z,1755987585.663 [DAT](INFO): DAT read: Bearing 305.1, -2.2 (Local)
2025-08-23T22:19:45.663Z,1755987585.663 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.1, -2.2 (Local)
2025-08-23T22:19:45.667Z,1755987585.667 [DAT](INFO): DAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms) speed 0.4
2025-08-23T22:19:45.677Z,1755987585.677 [DAT](INFO): DAT read: 22:19:44.9727 LVL= 25280, 29809, 26354, 32755, AGC= 58, IDX= 500,-0.24, 1.152,-0.596, 1.455, 0.922, PHS= 0.332,-1.473, 0.489, RAW= 154.1, 6.9, CAL= 153.5, 7.2, ROT= 356.5, -7.2
2025-08-23T22:19:45.685Z,1755987585.685 [DAT](INFO): got valid direction response:
22:19:44.9727 LVL= 25280, 29809, 26354, 32755, AGC= 58, IDX= 500,-0.24, 1.152,-0.596, 1.455, 0.922, PHS= 0.332,-1.473, 0.489, RAW= 154.1, 6.9, CAL= 153.5, 7.2, ROT= 356.5, -7.2
2025-08-23T22:19:45.685Z,1755987585.685 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-23T22:19:45.690Z,1755987585.690 [DAT](INFO): direction in FSK: [0.990264,-0.060567,0.125333]
2025-08-23T22:19:45.691Z,1755987585.691 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:45.707Z,1755987585.707 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.103113
2025-08-23T22:19:45.913Z,1755987585.913 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.308800
2025-08-23T22:19:46.066Z,1755987586.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.299999 m,
deltaT: 0.505044 s,
deltaX: -0.299999 m,
approachRate: -0.594006 m/s,
rangeRepo size: 4
2025-08-23T22:19:46.068Z,1755987586.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.096710 m,
bearing: 129.587084 deg,
lat: 36.779404 deg,
lon: -121.859586 deg,
deltaT: 0.505044 s,
deltaX: -0.298119 m,
approachRate: -0.590282 m/s,
posRepo size: 4
2025-08-23T22:19:46.069Z,1755987586.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.10 m.
2025-08-23T22:19:46.072Z,1755987586.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.096710 m,
nav range: 32.725899 m,
bearing: 129.582614 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007495 deg/s,
cmd heading: 132.574737 deg,
new cmd heading: 132.567883 deg.
2025-08-23T22:19:46.073Z,1755987586.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313746 target range: 33.096710 and range: 33.30 m.
2025-08-23T22:19:46.163Z,1755987586.163 [DAT](INFO): DAT read: Rx Time:22:19:45.4725
2025-08-23T22:19:46.164Z,1755987586.164 [DAT](INFO): Rx dataTimestamp_ set to:1755987586.163557
2025-08-23T22:19:46.165Z,1755987586.165 [DAT](INFO): DAT read: Bearing 304.9, -2.3 (Local)
2025-08-23T22:19:46.166Z,1755987586.166 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.9, -2.3 (Local)
2025-08-23T22:19:46.168Z,1755987586.168 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.4
2025-08-23T22:19:46.172Z,1755987586.172 [DAT](INFO): DAT read: 22:19:45.4725 LVL= 29568, 32753, 25586, 32755, AGC= 59, IDX= 498, 0.17,-3.013, 1.491,-2.700, 3.029, PHS= 0.343,-1.493, 0.510, RAW= 154.3, 6.7, CAL= 153.7, 6.9, ROT= 356.3, -6.9
2025-08-23T22:19:46.173Z,1755987586.173 [DAT](INFO): got valid direction response:
22:19:45.4725 LVL= 29568, 32753, 25586, 32755, AGC= 59, IDX= 498, 0.17,-3.013, 1.491,-2.700, 3.029, PHS= 0.343,-1.493, 0.510, RAW= 154.3, 6.7, CAL= 153.7, 6.9, ROT= 356.3, -6.9
2025-08-23T22:19:46.174Z,1755987586.174 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-23T22:19:46.175Z,1755987586.175 [DAT](INFO): direction in FSK: [0.990688,-0.064065,0.120137]
2025-08-23T22:19:46.175Z,1755987586.175 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:46.180Z,1755987586.180 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.576871
2025-08-23T22:19:46.415Z,1755987586.415 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.810899
2025-08-23T22:19:46.437Z,1755987586.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.000000 m,
deltaT: 0.503139 s,
deltaX: -0.299999 m,
approachRate: -0.596255 m/s,
rangeRepo size: 4
2025-08-23T22:19:46.443Z,1755987586.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.798542 m,
bearing: 129.403239 deg,
lat: 36.779404 deg,
lon: -121.859586 deg,
deltaT: 0.503139 s,
deltaX: -0.298168 m,
approachRate: -0.592616 m/s,
posRepo size: 4
2025-08-23T22:19:46.444Z,1755987586.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.80 m.
2025-08-23T22:19:46.455Z,1755987586.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.798542 m,
nav range: 32.572369 m,
bearing: 129.554299 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007495 deg/s,
cmd heading: 132.567879 deg,
new cmd heading: 132.562319 deg.
2025-08-23T22:19:46.456Z,1755987586.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313649 target range: 32.798542 and range: 33.00 m.
2025-08-23T22:19:46.667Z,1755987586.667 [DAT](INFO): DAT read: Rx Time:22:19:45.9723
2025-08-23T22:19:46.668Z,1755987586.668 [DAT](INFO): Rx dataTimestamp_ set to:1755987586.667239
2025-08-23T22:19:46.669Z,1755987586.669 [DAT](INFO): DAT read: Bearing 305.6, -2.6 (Local)
2025-08-23T22:19:46.669Z,1755987586.669 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.6, -2.6 (Local)
2025-08-23T22:19:46.671Z,1755987586.671 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.4
2025-08-23T22:19:46.676Z,1755987586.676 [DAT](INFO): DAT read: 22:19:45.9723 LVL= 29936, 32753, 26210, 32755, AGC= 59, IDX= 496,-0.21,-0.119,-1.885, 0.201,-0.338, PHS= 0.321,-1.502, 0.494, RAW= 154.5, 7.2, CAL= 153.9, 7.5, ROT= 356.1, -7.5
2025-08-23T22:19:46.677Z,1755987586.677 [DAT](INFO): got valid direction response:
22:19:45.9723 LVL= 29936, 32753, 26210, 32755, AGC= 59, IDX= 496,-0.21,-0.119,-1.885, 0.201,-0.338, PHS= 0.321,-1.502, 0.494, RAW= 154.5, 7.2, CAL= 153.9, 7.5, ROT= 356.1, -7.5
2025-08-23T22:19:46.677Z,1755987586.677 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-23T22:19:46.678Z,1755987586.678 [DAT](INFO): direction in FSK: [0.989149,-0.067433,0.130526]
2025-08-23T22:19:46.679Z,1755987586.679 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:46.682Z,1755987586.682 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.078536
2025-08-23T22:19:46.922Z,1755987586.922 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.317296
2025-08-23T22:19:46.924Z,1755987586.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.700001 m,
deltaT: 0.503682 s,
deltaX: -0.299999 m,
approachRate: -0.595612 m/s,
rangeRepo size: 4
2025-08-23T22:19:46.940Z,1755987586.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.500362 m,
bearing: 129.160962 deg,
lat: 36.779405 deg,
lon: -121.859586 deg,
deltaT: 0.503682 s,
deltaX: -0.298180 m,
approachRate: -0.592000 m/s,
posRepo size: 4
2025-08-23T22:19:46.946Z,1755987586.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.50 m.
2025-08-23T22:19:46.948Z,1755987586.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.500362 m,
nav range: 32.278851 m,
bearing: 129.413661 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007495 deg/s,
cmd heading: 132.562319 deg,
new cmd heading: 132.555207 deg.
2025-08-23T22:19:46.954Z,1755987586.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313525 target range: 32.500362 and range: 32.70 m.
2025-08-23T22:19:47.171Z,1755987587.171 [DAT](INFO): DAT read: Rx Time:22:19:46.4722
2025-08-23T22:19:47.171Z,1755987587.171 [DAT](INFO): Rx dataTimestamp_ set to:1755987587.171202
2025-08-23T22:19:47.173Z,1755987587.173 [DAT](INFO): DAT read: Bearing 305.3, -2.8 (Local)
2025-08-23T22:19:47.173Z,1755987587.173 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.3, -2.8 (Local)
2025-08-23T22:19:47.175Z,1755987587.175 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4
2025-08-23T22:19:47.215Z,1755987587.215 [DAT](INFO): DAT read: 22:19:46.4722 LVL= 28448, 32753, 28098, 32755, AGC= 58, IDX= 511, 0.19, 2.432, 0.665, 2.755, 2.203, PHS= 0.330,-1.494, 0.508, RAW= 154.6, 6.9, CAL= 154.0, 7.1, ROT= 356.0, -7.1
2025-08-23T22:19:47.216Z,1755987587.216 [DAT](INFO): got valid direction response:
22:19:46.4722 LVL= 28448, 32753, 28098, 32755, AGC= 58, IDX= 511, 0.19, 2.432, 0.665, 2.755, 2.203, PHS= 0.330,-1.494, 0.508, RAW= 154.6, 6.9, CAL= 154.0, 7.1, ROT= 356.0, -7.1
2025-08-23T22:19:47.217Z,1755987587.217 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-23T22:19:47.226Z,1755987587.226 [DAT](INFO): direction in FSK: [0.989915,-0.069221,0.123601]
2025-08-23T22:19:47.227Z,1755987587.227 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:47.235Z,1755987587.235 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.631065
2025-08-23T22:19:47.409Z,1755987587.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.599998 m,
deltaT: 0.503963 s,
deltaX: -0.100002 m,
approachRate: -0.198432 m/s,
rangeRepo size: 4
2025-08-23T22:19:47.411Z,1755987587.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.400970 m,
bearing: 129.110646 deg,
lat: 36.779405 deg,
lon: -121.859586 deg,
deltaT: 0.503963 s,
deltaX: -0.099392 m,
approachRate: -0.197221 m/s,
posRepo size: 4
2025-08-23T22:19:47.412Z,1755987587.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.40 m.
2025-08-23T22:19:47.423Z,1755987587.423 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818967
2025-08-23T22:19:47.430Z,1755987587.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.400970 m,
nav range: 32.037834 m,
bearing: 129.388236 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007495 deg/s,
cmd heading: 132.555202 deg,
new cmd heading: 132.547747 deg.
2025-08-23T22:19:47.434Z,1755987587.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313395 target range: 32.400970 and range: 32.60 m.
2025-08-23T22:19:47.676Z,1755987587.676 [DAT](INFO): DAT read: Rx Time:22:19:46.9720
2025-08-23T22:19:47.677Z,1755987587.677 [DAT](INFO): Rx dataTimestamp_ set to:1755987587.676339
2025-08-23T22:19:47.679Z,1755987587.679 [DAT](INFO): DAT read: Bearing 305.8, -3.2 (Local)
2025-08-23T22:19:47.679Z,1755987587.679 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.8, -3.2 (Local)
2025-08-23T22:19:47.682Z,1755987587.682 [DAT](INFO): DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed 0.4
2025-08-23T22:19:47.687Z,1755987587.687 [DAT](INFO): DAT read: 22:19:46.9720 LVL= 29600, 32753, 24466, 32755, AGC= 58, IDX= 509,-0.18,-1.090,-2.851,-0.754,-1.301, PHS= 0.313,-1.505, 0.503, RAW= 154.9, 7.2, CAL= 154.4, 7.5, ROT= 355.6, -7.5
2025-08-23T22:19:47.688Z,1755987587.688 [DAT](INFO): got valid direction response:
22:19:46.9720 LVL= 29600, 32753, 24466, 32755, AGC= 58, IDX= 509,-0.18,-1.090,-2.851,-0.754,-1.301, PHS= 0.313,-1.505, 0.503, RAW= 154.9, 7.2, CAL= 154.4, 7.5, ROT= 355.6, -7.5
2025-08-23T22:19:47.688Z,1755987587.688 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-23T22:19:47.690Z,1755987587.690 [DAT](INFO): direction in FSK: [0.988523,-0.076063,0.130526]
2025-08-23T22:19:47.690Z,1755987587.690 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:47.694Z,1755987587.694 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.090551
2025-08-23T22:19:47.823Z,1755987587.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.299999 m,
deltaT: 0.505137 s,
deltaX: -0.299999 m,
approachRate: -0.593897 m/s,
rangeRepo size: 4
2025-08-23T22:19:47.825Z,1755987587.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.102509 m,
bearing: 128.696127 deg,
lat: 36.779406 deg,
lon: -121.859586 deg,
deltaT: 0.505137 s,
deltaX: -0.298462 m,
approachRate: -0.590853 m/s,
posRepo size: 4
2025-08-23T22:19:47.830Z,1755987587.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.10 m.
2025-08-23T22:19:47.832Z,1755987587.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.102509 m,
nav range: 31.811367 m,
bearing: 129.256617 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007495 deg/s,
cmd heading: 132.547744 deg,
new cmd heading: 132.541535 deg.
2025-08-23T22:19:47.842Z,1755987587.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313286 target range: 32.102509 and range: 32.30 m.
2025-08-23T22:19:47.930Z,1755987587.930 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.325241
2025-08-23T22:19:48.180Z,1755987588.180 [DAT](INFO): DAT read: Rx Time:22:19:47.4719
2025-08-23T22:19:48.180Z,1755987588.180 [DAT](INFO): Rx dataTimestamp_ set to:1755987588.180008
2025-08-23T22:19:48.182Z,1755987588.182 [DAT](INFO): DAT read: Bearing 305.4, -3.1 (Local)
2025-08-23T22:19:48.183Z,1755987588.183 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.4, -3.1 (Local)
2025-08-23T22:19:48.186Z,1755987588.186 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4
2025-08-23T22:19:48.193Z,1755987588.193 [DAT](INFO): DAT read: 22:19:47.4719 LVL= 27760, 31713, 24098, 32755, AGC= 57, IDX= 508, 0.24, 1.933, 0.168, 2.265, 1.705, PHS= 0.330,-1.492, 0.515, RAW= 154.8, 6.8, CAL= 154.2, 7.0, ROT= 355.8, -7.0
2025-08-23T22:19:48.194Z,1755987588.194 [DAT](INFO): got valid direction response:
22:19:47.4719 LVL= 27760, 31713, 24098, 32755, AGC= 57, IDX= 508, 0.24, 1.933, 0.168, 2.265, 1.705, PHS= 0.330,-1.492, 0.515, RAW= 154.8, 6.8, CAL= 154.2, 7.0, ROT= 355.8, -7.0
2025-08-23T22:19:48.195Z,1755987588.195 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-23T22:19:48.196Z,1755987588.196 [DAT](INFO): direction in FSK: [0.989881,-0.072692,0.121869]
2025-08-23T22:19:48.197Z,1755987588.197 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:48.210Z,1755987588.210 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.597778
2025-08-23T22:19:48.327Z,1755987588.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.099998 m,
deltaT: 0.503669 s,
deltaX: -0.200001 m,
approachRate: -0.397088 m/s,
rangeRepo size: 4
2025-08-23T22:19:48.338Z,1755987588.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.903730 m,
bearing: 128.913949 deg,
lat: 36.779407 deg,
lon: -121.859584 deg,
deltaT: 0.503669 s,
deltaX: -0.198778 m,
approachRate: -0.394660 m/s,
posRepo size: 4
2025-08-23T22:19:48.338Z,1755987588.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.90 m.
2025-08-23T22:19:48.341Z,1755987588.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.903730 m,
nav range: 31.611597 m,
bearing: 128.955868 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007495 deg/s,
cmd heading: 132.541528 deg,
new cmd heading: 132.533967 deg.
2025-08-23T22:19:48.346Z,1755987588.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313154 target range: 31.903730 and range: 32.10 m.
2025-08-23T22:19:48.432Z,1755987588.432 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.828247
2025-08-23T22:19:48.659Z,1755987588.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:48.661Z,1755987588.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.90 m.
2025-08-23T22:19:48.664Z,1755987588.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.903730 m,
nav range: 31.439453 m,
bearing: 128.952198 deg,
approach rate: -0.515068 m/s,
LOS rate: -0.011040 deg/s,
cmd heading: 132.533961 deg,
new cmd heading: 132.526581 deg.
2025-08-23T22:19:48.665Z,1755987588.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313025 target range: 31.903730 and range: 32.10 m.
2025-08-23T22:19:48.684Z,1755987588.684 [DAT](INFO): DAT read: Rx Time:22:19:47.9717
2025-08-23T22:19:48.684Z,1755987588.684 [DAT](INFO): Rx dataTimestamp_ set to:1755987588.684130
2025-08-23T22:19:48.686Z,1755987588.686 [DAT](INFO): DAT read: Bearing 305.7, -3.4 (Local)
2025-08-23T22:19:48.686Z,1755987588.686 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.7, -3.4 (Local)
2025-08-23T22:19:48.688Z,1755987588.688 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.4
2025-08-23T22:19:48.709Z,1755987588.709 [DAT](INFO): DAT read: 22:19:47.9717 LVL= 28224, 30705, 24226, 32755, AGC= 57, IDX= 506,-0.13,-1.635, 2.897,-1.297,-1.850, PHS= 0.317,-1.491, 0.509, RAW= 155.0, 7.0, CAL= 154.4, 7.2, ROT= 355.6, -7.2
2025-08-23T22:19:48.711Z,1755987588.711 [DAT](INFO): got valid direction response:
22:19:47.9717 LVL= 28224, 30705, 24226, 32755, AGC= 57, IDX= 506,-0.13,-1.635, 2.897,-1.297,-1.850, PHS= 0.317,-1.491, 0.509, RAW= 155.0, 7.0, CAL= 154.4, 7.2, ROT= 355.6, -7.2
2025-08-23T22:19:48.712Z,1755987588.712 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-23T22:19:48.713Z,1755987588.713 [DAT](INFO): direction in FSK: [0.989191,-0.076114,0.125333]
2025-08-23T22:19:48.722Z,1755987588.722 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:48.734Z,1755987588.734 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.121653
2025-08-23T22:19:48.937Z,1755987588.937 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.333216
2025-08-23T22:19:49.106Z,1755987589.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.799999 m,
deltaT: 0.504122 s,
deltaX: -0.299999 m,
approachRate: -0.595093 m/s,
rangeRepo size: 4
2025-08-23T22:19:49.108Z,1755987589.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.605427 m,
bearing: 128.898566 deg,
lat: 36.779407 deg,
lon: -121.859584 deg,
deltaT: 0.504122 s,
deltaX: -0.298304 m,
approachRate: -0.591729 m/s,
posRepo size: 4
2025-08-23T22:19:49.109Z,1755987589.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.61 m.
2025-08-23T22:19:49.131Z,1755987589.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.605427 m,
nav range: 31.239250 m,
bearing: 128.928914 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.011040 deg/s,
cmd heading: 132.526584 deg,
new cmd heading: 132.516780 deg.
2025-08-23T22:19:49.132Z,1755987589.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312854 target range: 31.605427 and range: 31.80 m.
2025-08-23T22:19:49.188Z,1755987589.188 [DAT](INFO): DAT read: Rx Time:22:19:48.4716
2025-08-23T22:19:49.189Z,1755987589.189 [DAT](INFO): Rx dataTimestamp_ set to:1755987589.188427
2025-08-23T22:19:49.191Z,1755987589.191 [DAT](INFO): DAT read: Bearing 305.5, -3.5 (Local)
2025-08-23T22:19:49.191Z,1755987589.191 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.5, -3.5 (Local)
2025-08-23T22:19:49.195Z,1755987589.195 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4
2025-08-23T22:19:49.201Z,1755987589.201 [DAT](INFO): DAT read: 22:19:48.4716 LVL= 26096, 29617, 21954, 32755, AGC= 56, IDX= 505, 0.31, 0.810,-0.942, 1.150, 0.588, PHS= 0.324,-1.484, 0.519, RAW= 155.0, 6.8, CAL= 154.4, 6.9, ROT= 355.6, -6.9
2025-08-23T22:19:49.202Z,1755987589.202 [DAT](INFO): got valid direction response:
22:19:48.4716 LVL= 26096, 29617, 21954, 32755, AGC= 56, IDX= 505, 0.31, 0.810,-0.942, 1.150, 0.588, PHS= 0.324,-1.484, 0.519, RAW= 155.0, 6.8, CAL= 154.4, 6.9, ROT= 355.6, -6.9
2025-08-23T22:19:49.203Z,1755987589.203 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-23T22:19:49.204Z,1755987589.204 [DAT](INFO): direction in FSK: [0.989831,-0.076163,0.120137]
2025-08-23T22:19:49.204Z,1755987589.204 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:49.220Z,1755987589.220 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.616719
2025-08-23T22:19:49.439Z,1755987589.439 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.834956
2025-08-23T22:19:49.497Z,1755987589.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.700001 m,
deltaT: 0.504297 s,
deltaX: -0.099998 m,
approachRate: -0.198293 m/s,
rangeRepo size: 4
2025-08-23T22:19:49.540Z,1755987589.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.506039 m,
bearing: 128.936815 deg,
lat: 36.779407 deg,
lon: -121.859584 deg,
deltaT: 0.504297 s,
deltaX: -0.099388 m,
approachRate: -0.197083 m/s,
posRepo size: 4
2025-08-23T22:19:49.546Z,1755987589.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.51 m.
2025-08-23T22:19:49.548Z,1755987589.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.506039 m,
nav range: 31.085003 m,
bearing: 128.961907 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.011040 deg/s,
cmd heading: 132.516776 deg,
new cmd heading: 132.508218 deg.
2025-08-23T22:19:49.554Z,1755987589.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312705 target range: 31.506039 and range: 31.70 m.
2025-08-23T22:19:49.691Z,1755987589.691 [DAT](INFO): DAT read: Rx Time:22:19:48.9714
2025-08-23T22:19:49.692Z,1755987589.692 [DAT](INFO): Rx dataTimestamp_ set to:1755987589.691544
2025-08-23T22:19:49.693Z,1755987589.693 [DAT](INFO): DAT read: Bearing 306.8, -4.1 (Local)
2025-08-23T22:19:49.694Z,1755987589.694 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.8, -4.1 (Local)
2025-08-23T22:19:49.696Z,1755987589.696 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.4
2025-08-23T22:19:49.700Z,1755987589.700 [DAT](INFO): DAT read: 22:19:48.9714 LVL= 30416, 30817, 25330, 32755, AGC= 57, IDX= 503,-0.11,-2.575, 1.964,-2.220,-2.758, PHS= 0.285,-1.517, 0.494, RAW= 155.4, 7.8, CAL= 154.9, 8.1, ROT= 355.1, -8.1
2025-08-23T22:19:49.702Z,1755987589.702 [DAT](INFO): got valid direction response:
22:19:48.9714 LVL= 30416, 30817, 25330, 32755, AGC= 57, IDX= 503,-0.11,-2.575, 1.964,-2.220,-2.758, PHS= 0.285,-1.517, 0.494, RAW= 155.4, 7.8, CAL= 154.9, 8.1, ROT= 355.1, -8.1
2025-08-23T22:19:49.702Z,1755987589.702 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-23T22:19:49.703Z,1755987589.703 [DAT](INFO): direction in FSK: [0.986405,-0.084565,0.140901]
2025-08-23T22:19:49.703Z,1755987589.703 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:49.707Z,1755987589.707 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.103531
2025-08-23T22:19:49.946Z,1755987589.946 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.341462
2025-08-23T22:19:49.967Z,1755987589.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.400000 m,
deltaT: 0.503117 s,
deltaX: -0.300001 m,
approachRate: -0.596285 m/s,
rangeRepo size: 4
2025-08-23T22:19:49.976Z,1755987589.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.207829 m,
bearing: 128.429814 deg,
lat: 36.779407 deg,
lon: -121.859583 deg,
deltaT: 0.503117 s,
deltaX: -0.298210 m,
approachRate: -0.592725 m/s,
posRepo size: 4
2025-08-23T22:19:49.977Z,1755987589.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.21 m.
2025-08-23T22:19:50.000Z,1755987590.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.207829 m,
nav range: 30.900782 m,
bearing: 128.816784 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.011040 deg/s,
cmd heading: 132.508224 deg,
new cmd heading: 132.498113 deg.
2025-08-23T22:19:50.009Z,1755987590.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312528 target range: 31.207829 and range: 31.40 m.
2025-08-23T22:19:50.196Z,1755987590.196 [DAT](INFO): DAT read: Rx Time:22:19:49.4712
2025-08-23T22:19:50.197Z,1755987590.197 [DAT](INFO): Rx dataTimestamp_ set to:1755987590.196612
2025-08-23T22:19:50.199Z,1755987590.199 [DAT](INFO): DAT read: Bearing 305.9, -4.1 (Local)
2025-08-23T22:19:50.200Z,1755987590.200 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.9, -4.1 (Local)
2025-08-23T22:19:50.203Z,1755987590.203 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4
2025-08-23T22:19:50.209Z,1755987590.209 [DAT](INFO): DAT read: 22:19:49.4712 LVL= 26224, 29985, 22226, 32755, AGC= 56, IDX= 501, 0.31,-0.439,-2.183,-0.083,-0.651, PHS= 0.313,-1.488, 0.523, RAW= 155.4, 6.9, CAL= 154.8, 7.0, ROT= 355.2, -7.0
2025-08-23T22:19:50.211Z,1755987590.211 [DAT](INFO): got valid direction response:
22:19:49.4712 LVL= 26224, 29985, 22226, 32755, AGC= 56, IDX= 501, 0.31,-0.439,-2.183,-0.083,-0.651, PHS= 0.313,-1.488, 0.523, RAW= 155.4, 6.9, CAL= 154.8, 7.0, ROT= 355.2, -7.0
2025-08-23T22:19:50.211Z,1755987590.211 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-23T22:19:50.213Z,1755987590.213 [DAT](INFO): direction in FSK: [0.989065,-0.083054,0.121869]
2025-08-23T22:19:50.213Z,1755987590.213 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:50.222Z,1755987590.222 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.613696
2025-08-23T22:19:50.344Z,1755987590.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.200001 m,
deltaT: 0.505068 s,
deltaX: -0.199999 m,
approachRate: -0.395984 m/s,
rangeRepo size: 4
2025-08-23T22:19:50.354Z,1755987590.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.009052 m,
bearing: 128.627784 deg,
lat: 36.779407 deg,
lon: -121.859582 deg,
deltaT: 0.505068 s,
deltaX: -0.198776 m,
approachRate: -0.393563 m/s,
posRepo size: 4
2025-08-23T22:19:50.355Z,1755987590.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.01 m.
2025-08-23T22:19:50.362Z,1755987590.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.009052 m,
nav range: 30.750317 m,
bearing: 128.723642 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.011040 deg/s,
cmd heading: 132.498116 deg,
new cmd heading: 132.489441 deg.
2025-08-23T22:19:50.363Z,1755987590.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312377 target range: 31.009052 and range: 31.20 m.
2025-08-23T22:19:50.447Z,1755987590.447 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.843000
2025-08-23T22:19:50.699Z,1755987590.699 [DAT](INFO): DAT read: Rx Time:22:19:49.9710
2025-08-23T22:19:50.700Z,1755987590.700 [DAT](INFO): Rx dataTimestamp_ set to:1755987590.699426
2025-08-23T22:19:50.704Z,1755987590.704 [DAT](INFO): DAT read: Bearing 306.7, -4.4 (Local)
2025-08-23T22:19:50.706Z,1755987590.706 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.7, -4.4 (Local)
2025-08-23T22:19:50.708Z,1755987590.708 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4
2025-08-23T22:19:50.712Z,1755987590.712 [DAT](INFO): DAT read: 22:19:49.9710 LVL= 27728, 29745, 21570, 32755, AGC= 56, IDX= 499,-0.11, 2.625, 0.889, 2.989, 2.439, PHS= 0.288,-1.505, 0.506, RAW= 155.7, 7.5, CAL= 155.1, 7.8, ROT= 354.9, -7.8
2025-08-23T22:19:50.718Z,1755987590.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:50.720Z,1755987590.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.01 m.
2025-08-23T22:19:50.722Z,1755987590.722 [DAT](INFO): got valid direction response:
22:19:49.9710 LVL= 27728, 29745, 21570, 32755, AGC= 56, IDX= 499,-0.11, 2.625, 0.889, 2.989, 2.439, PHS= 0.288,-1.505, 0.506, RAW= 155.7, 7.5, CAL= 155.1, 7.8, ROT= 354.9, -7.8
2025-08-23T22:19:50.722Z,1755987590.722 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-23T22:19:50.723Z,1755987590.723 [DAT](INFO): direction in FSK: [0.986826,-0.088072,0.135716]
2025-08-23T22:19:50.723Z,1755987590.723 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:50.727Z,1755987590.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.009052 m,
nav range: 30.573231 m,
bearing: 128.719869 deg,
approach rate: -0.469757 m/s,
LOS rate: -0.010066 deg/s,
cmd heading: 132.489441 deg,
new cmd heading: 132.481852 deg.
2025-08-23T22:19:50.735Z,1755987590.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312244 target range: 31.009052 and range: 31.20 m.
2025-08-23T22:19:50.738Z,1755987590.738 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.125706
2025-08-23T22:19:50.954Z,1755987590.954 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.349379
2025-08-23T22:19:51.119Z,1755987591.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.900000 m,
deltaT: 0.502814 s,
deltaX: -0.300001 m,
approachRate: -0.596644 m/s,
rangeRepo size: 4
2025-08-23T22:19:51.122Z,1755987591.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.710737 m,
bearing: 128.422002 deg,
lat: 36.779407 deg,
lon: -121.859582 deg,
deltaT: 0.502814 s,
deltaX: -0.298315 m,
approachRate: -0.593291 m/s,
posRepo size: 4
2025-08-23T22:19:51.122Z,1755987591.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.71 m.
2025-08-23T22:19:51.125Z,1755987591.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.710737 m,
nav range: 30.373083 m,
bearing: 128.633366 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010066 deg/s,
cmd heading: 132.481846 deg,
new cmd heading: 132.473827 deg.
2025-08-23T22:19:51.126Z,1755987591.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312104 target range: 30.710737 and range: 30.90 m.
2025-08-23T22:19:51.204Z,1755987591.204 [DAT](INFO): DAT read: Rx Time:22:19:50.4709
2025-08-23T22:19:51.205Z,1755987591.205 [DAT](INFO): Rx dataTimestamp_ set to:1755987591.204814
2025-08-23T22:19:51.207Z,1755987591.207 [DAT](INFO): DAT read: Bearing 306.6, -4.6 (Local)
2025-08-23T22:19:51.208Z,1755987591.208 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.6, -4.6 (Local)
2025-08-23T22:19:51.211Z,1755987591.211 [DAT](INFO): DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.4
2025-08-23T22:19:51.216Z,1755987591.216 [DAT](INFO): DAT read: 22:19:50.4709 LVL= 29584, 30225, 24018, 32755, AGC= 57, IDX= 498, 0.29,-0.218,-1.967, 0.151,-0.411, PHS= 0.295,-1.511, 0.518, RAW= 155.8, 7.3, CAL= 155.2, 7.5, ROT= 354.8, -7.5
2025-08-23T22:19:51.217Z,1755987591.217 [DAT](INFO): got valid direction response:
22:19:50.4709 LVL= 29584, 30225, 24018, 32755, AGC= 57, IDX= 498, 0.29,-0.218,-1.967, 0.151,-0.411, PHS= 0.295,-1.511, 0.518, RAW= 155.8, 7.3, CAL= 155.2, 7.5, ROT= 354.8, -7.5
2025-08-23T22:19:51.218Z,1755987591.218 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-23T22:19:51.219Z,1755987591.219 [DAT](INFO): direction in FSK: [0.987364,-0.089857,0.130526]
2025-08-23T22:19:51.219Z,1755987591.219 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:51.223Z,1755987591.223 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.619543
2025-08-23T22:19:51.455Z,1755987591.455 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.850911
2025-08-23T22:19:51.580Z,1755987591.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.799999 m,
deltaT: 0.505388 s,
deltaX: -0.100000 m,
approachRate: -0.197869 m/s,
rangeRepo size: 4
2025-08-23T22:19:51.587Z,1755987591.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.611044 m,
bearing: 128.438790 deg,
lat: 36.779407 deg,
lon: -121.859582 deg,
deltaT: 0.505388 s,
deltaX: -0.099693 m,
approachRate: -0.197261 m/s,
posRepo size: 4
2025-08-23T22:19:51.587Z,1755987591.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.61 m.
2025-08-23T22:19:51.594Z,1755987591.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.611044 m,
nav range: 30.167509 m,
bearing: 128.621073 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010066 deg/s,
cmd heading: 132.473828 deg,
new cmd heading: 132.464546 deg.
2025-08-23T22:19:51.595Z,1755987591.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311943 target range: 30.611044 and range: 30.80 m.
2025-08-23T22:19:51.707Z,1755987591.707 [DAT](INFO): DAT read: Rx Time:22:19:50.9708
2025-08-23T22:19:51.708Z,1755987591.708 [DAT](INFO): Rx dataTimestamp_ set to:1755987591.707587
2025-08-23T22:19:51.709Z,1755987591.709 [DAT](INFO): DAT read: Bearing 306.9, -4.7 (Local)
2025-08-23T22:19:51.710Z,1755987591.710 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.9, -4.7 (Local)
2025-08-23T22:19:51.712Z,1755987591.712 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4
2025-08-23T22:19:51.716Z,1755987591.716 [DAT](INFO): DAT read: 22:19:50.9708 LVL= 26464, 27889, 22466, 32755, AGC= 56, IDX= 496,-0.14,-2.601, 1.971,-2.233,-2.782, PHS= 0.283,-1.486, 0.505, RAW= 155.8, 7.4, CAL= 155.3, 7.7, ROT= 354.7, -7.7
2025-08-23T22:19:51.717Z,1755987591.717 [DAT](INFO): got valid direction response:
22:19:50.9708 LVL= 26464, 27889, 22466, 32755, AGC= 56, IDX= 496,-0.14,-2.601, 1.971,-2.233,-2.782, PHS= 0.283,-1.486, 0.505, RAW= 155.8, 7.4, CAL= 155.3, 7.7, ROT= 354.7, -7.7
2025-08-23T22:19:51.718Z,1755987591.718 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-23T22:19:51.719Z,1755987591.719 [DAT](INFO): direction in FSK: [0.986746,-0.091538,0.133986]
2025-08-23T22:19:51.719Z,1755987591.719 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:51.723Z,1755987591.723 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.119138
2025-08-23T22:19:51.962Z,1755987591.962 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.357301
2025-08-23T22:19:52.060Z,1755987592.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.500000 m,
deltaT: 0.502773 s,
deltaX: -0.299999 m,
approachRate: -0.596689 m/s,
rangeRepo size: 4
2025-08-23T22:19:52.067Z,1755987592.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.312885 m,
bearing: 128.409940 deg,
lat: 36.779408 deg,
lon: -121.859581 deg,
deltaT: 0.502773 s,
deltaX: -0.298159 m,
approachRate: -0.593028 m/s,
posRepo size: 4
2025-08-23T22:19:52.067Z,1755987592.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.31 m.
2025-08-23T22:19:52.074Z,1755987592.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.312885 m,
nav range: 30.009745 m,
bearing: 128.447616 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010066 deg/s,
cmd heading: 132.464552 deg,
new cmd heading: 132.454887 deg.
2025-08-23T22:19:52.075Z,1755987592.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311774 target range: 30.312885 and range: 30.50 m.
2025-08-23T22:19:52.213Z,1755987592.213 [DAT](INFO): DAT read: Rx Time:22:19:51.4707
2025-08-23T22:19:52.214Z,1755987592.214 [DAT](INFO): Rx dataTimestamp_ set to:1755987592.213207
2025-08-23T22:19:52.215Z,1755987592.215 [DAT](INFO): DAT read: Bearing 306.6, -4.8 (Local)
2025-08-23T22:19:52.215Z,1755987592.215 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.6, -4.8 (Local)
2025-08-23T22:19:52.218Z,1755987592.218 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.4
2025-08-23T22:19:52.222Z,1755987592.222 [DAT](INFO): DAT read: 22:19:51.4707 LVL= 30384, 32753, 24754, 32755, AGC= 57, IDX= 511, 0.19, 0.839,-0.898, 1.213, 0.645, PHS= 0.296,-1.498, 0.524, RAW= 155.9, 7.1, CAL= 155.3, 7.3, ROT= 354.7, -7.3
2025-08-23T22:19:52.223Z,1755987592.223 [DAT](INFO): got valid direction response:
22:19:51.4707 LVL= 30384, 32753, 24754, 32755, AGC= 57, IDX= 511, 0.19, 0.839,-0.898, 1.213, 0.645, PHS= 0.296,-1.498, 0.524, RAW= 155.9, 7.1, CAL= 155.3, 7.3, ROT= 354.7, -7.3
2025-08-23T22:19:52.223Z,1755987592.223 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-23T22:19:52.224Z,1755987592.224 [DAT](INFO): direction in FSK: [0.987654,-0.091622,0.127065]
2025-08-23T22:19:52.225Z,1755987592.225 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:52.228Z,1755987592.228 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.624834
2025-08-23T22:19:52.443Z,1755987592.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.299999 m,
deltaT: 0.505620 s,
deltaX: -0.200001 m,
approachRate: -0.395555 m/s,
rangeRepo size: 4
2025-08-23T22:19:52.446Z,1755987592.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.114111 m,
bearing: 128.484470 deg,
lat: 36.779407 deg,
lon: -121.859581 deg,
deltaT: 0.505620 s,
deltaX: -0.198774 m,
approachRate: -0.393130 m/s,
posRepo size: 4
2025-08-23T22:19:52.446Z,1755987592.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.11 m.
2025-08-23T22:19:52.449Z,1755987592.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.114111 m,
nav range: 29.850973 m,
bearing: 128.477030 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010066 deg/s,
cmd heading: 132.454881 deg,
new cmd heading: 132.447173 deg.
2025-08-23T22:19:52.450Z,1755987592.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311639 target range: 30.114111 and range: 30.30 m.
2025-08-23T22:19:52.470Z,1755987592.470 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.866297
2025-08-23T22:19:52.716Z,1755987592.716 [DAT](INFO): DAT read: Rx Time:22:19:51.9705
2025-08-23T22:19:52.716Z,1755987592.716 [DAT](INFO): Rx dataTimestamp_ set to:1755987592.716128
2025-08-23T22:19:52.718Z,1755987592.718 [DAT](INFO): DAT read: Bearing 307.0, -5.2 (Local)
2025-08-23T22:19:52.718Z,1755987592.718 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.0, -5.2 (Local)
2025-08-23T22:19:52.720Z,1755987592.720 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4
2025-08-23T22:19:52.724Z,1755987592.724 [DAT](INFO): DAT read: 22:19:51.9705 LVL= 30704, 32689, 25874, 32755, AGC= 58, IDX= 509,-0.29,-0.959,-2.695,-0.571,-1.137, PHS= 0.280,-1.513, 0.521, RAW= 156.2, 7.4, CAL= 155.7, 7.7, ROT= 354.3, -7.7
2025-08-23T22:19:52.726Z,1755987592.726 [DAT](INFO): got valid direction response:
22:19:51.9705 LVL= 30704, 32689, 25874, 32755, AGC= 58, IDX= 509,-0.29,-0.959,-2.695,-0.571,-1.137, PHS= 0.280,-1.513, 0.521, RAW= 156.2, 7.4, CAL= 155.7, 7.7, ROT= 354.3, -7.7
2025-08-23T22:19:52.726Z,1755987592.726 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-23T22:19:52.727Z,1755987592.727 [DAT](INFO): direction in FSK: [0.986083,-0.098424,0.133986]
2025-08-23T22:19:52.727Z,1755987592.727 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:52.731Z,1755987592.731 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.127150
2025-08-23T22:19:52.872Z,1755987592.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.000000 m,
deltaT: 0.502921 s,
deltaX: -0.299999 m,
approachRate: -0.596514 m/s,
rangeRepo size: 4
2025-08-23T22:19:52.878Z,1755987592.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.815760 m,
bearing: 128.071257 deg,
lat: 36.779408 deg,
lon: -121.859581 deg,
deltaT: 0.502921 s,
deltaX: -0.298351 m,
approachRate: -0.593237 m/s,
posRepo size: 4
2025-08-23T22:19:52.878Z,1755987592.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-08-23T22:19:52.881Z,1755987592.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.815760 m,
nav range: 29.641092 m,
bearing: 128.400383 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010066 deg/s,
cmd heading: 132.447176 deg,
new cmd heading: 132.438555 deg.
2025-08-23T22:19:52.886Z,1755987592.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311489 target range: 29.815760 and range: 30.00 m.
2025-08-23T22:19:52.967Z,1755987592.967 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.363210
2025-08-23T22:19:53.219Z,1755987593.219 [DAT](INFO): DAT read: Rx Time:22:19:52.4704
2025-08-23T22:19:53.220Z,1755987593.220 [DAT](INFO): Rx dataTimestamp_ set to:1755987593.219343
2025-08-23T22:19:53.221Z,1755987593.221 [DAT](INFO): DAT read: Bearing 306.7, -5.2 (Local)
2025-08-23T22:19:53.221Z,1755987593.221 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.7, -5.2 (Local)
2025-08-23T22:19:53.223Z,1755987593.223 [DAT](INFO): DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed 0.4
2025-08-23T22:19:53.228Z,1755987593.228 [DAT](INFO): DAT read: 22:19:52.4704 LVL= 28368, 31633, 23762, 32755, AGC= 59, IDX= 508, 0.09, 2.363, 0.636, 2.747, 2.175, PHS= 0.289,-1.495, 0.528, RAW= 156.2, 7.1, CAL= 155.6, 7.3, ROT= 354.4, -7.3
2025-08-23T22:19:53.229Z,1755987593.229 [DAT](INFO): got valid direction response:
22:19:52.4704 LVL= 28368, 31633, 23762, 32755, AGC= 59, IDX= 508, 0.09, 2.363, 0.636, 2.747, 2.175, PHS= 0.289,-1.495, 0.528, RAW= 156.2, 7.1, CAL= 155.6, 7.3, ROT= 354.4, -7.3
2025-08-23T22:19:53.229Z,1755987593.229 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-23T22:19:53.230Z,1755987593.230 [DAT](INFO): direction in FSK: [0.987161,-0.096792,0.127065]
2025-08-23T22:19:53.231Z,1755987593.231 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:53.258Z,1755987593.258 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.654670
2025-08-23T22:19:53.358Z,1755987593.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.900000 m,
deltaT: 0.503215 s,
deltaX: -0.100000 m,
approachRate: -0.198723 m/s,
rangeRepo size: 4
2025-08-23T22:19:53.360Z,1755987593.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.716373 m,
bearing: 128.292263 deg,
lat: 36.779408 deg,
lon: -121.859580 deg,
deltaT: 0.503215 s,
deltaX: -0.099386 m,
approachRate: -0.197502 m/s,
posRepo size: 4
2025-08-23T22:19:53.361Z,1755987593.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.72 m.
2025-08-23T22:19:53.368Z,1755987593.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.716373 m,
nav range: 29.432762 m,
bearing: 128.367376 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010066 deg/s,
cmd heading: 132.438556 deg,
new cmd heading: 132.428759 deg.
2025-08-23T22:19:53.369Z,1755987593.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311318 target range: 29.716373 and range: 29.90 m.
2025-08-23T22:19:53.471Z,1755987593.471 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.867491
2025-08-23T22:19:53.694Z,1755987593.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:53.696Z,1755987593.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.72 m.
2025-08-23T22:19:53.723Z,1755987593.723 [DAT](INFO): DAT read: Rx Time:22:19:52.9702
2025-08-23T22:19:53.724Z,1755987593.724 [DAT](INFO): Rx dataTimestamp_ set to:1755987593.723391
2025-08-23T22:19:53.725Z,1755987593.725 [DAT](INFO): DAT read: Bearing 306.8, -5.5 (Local)
2025-08-23T22:19:53.725Z,1755987593.725 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.8, -5.5 (Local)
2025-08-23T22:19:53.727Z,1755987593.727 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4
2025-08-23T22:19:53.732Z,1755987593.732 [DAT](INFO): DAT read: 22:19:52.9702 LVL= 25824, 32625, 21858, 32755, AGC= 58, IDX= 506,-0.39, 0.356,-1.334, 0.745, 0.180, PHS= 0.278,-1.470, 0.521, RAW= 156.4, 7.2, CAL= 155.9, 7.3, ROT= 354.1, -7.3
2025-08-23T22:19:53.733Z,1755987593.733 [DAT](INFO): got valid direction response:
22:19:52.9702 LVL= 25824, 32625, 21858, 32755, AGC= 58, IDX= 506,-0.39, 0.356,-1.334, 0.745, 0.180, PHS= 0.278,-1.470, 0.521, RAW= 156.4, 7.2, CAL= 155.9, 7.3, ROT= 354.1, -7.3
2025-08-23T22:19:53.733Z,1755987593.733 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-23T22:19:53.734Z,1755987593.734 [DAT](INFO): direction in FSK: [0.986640,-0.101959,0.127065]
2025-08-23T22:19:53.735Z,1755987593.735 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:53.738Z,1755987593.738 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.134554
2025-08-23T22:19:53.740Z,1755987593.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.716373 m,
nav range: 29.263327 m,
bearing: 128.360210 deg,
approach rate: -0.500909 m/s,
LOS rate: -0.021306 deg/s,
cmd heading: 132.428762 deg,
new cmd heading: 132.414348 deg.
2025-08-23T22:19:53.746Z,1755987593.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311066 target range: 29.716373 and range: 29.90 m.
2025-08-23T22:19:53.979Z,1755987593.979 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.374365
2025-08-23T22:19:54.132Z,1755987594.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.600000 m,
deltaT: 0.504048 s,
deltaX: -0.299999 m,
approachRate: -0.595180 m/s,
rangeRepo size: 4
2025-08-23T22:19:54.135Z,1755987594.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.418060 m,
bearing: 128.086044 deg,
lat: 36.779408 deg,
lon: -121.859580 deg,
deltaT: 0.504048 s,
deltaX: -0.298313 m,
approachRate: -0.591835 m/s,
posRepo size: 4
2025-08-23T22:19:54.135Z,1755987594.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.42 m.
2025-08-23T22:19:54.138Z,1755987594.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.418060 m,
nav range: 29.049129 m,
bearing: 128.339632 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.021306 deg/s,
cmd heading: 132.414350 deg,
new cmd heading: 132.395779 deg.
2025-08-23T22:19:54.139Z,1755987594.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310742 target range: 29.418060 and range: 29.60 m.
2025-08-23T22:19:54.228Z,1755987594.228 [DAT](INFO): DAT read: Rx Time:22:19:53.4700
2025-08-23T22:19:54.229Z,1755987594.229 [DAT](INFO): Rx dataTimestamp_ set to:1755987594.228490
2025-08-23T22:19:54.231Z,1755987594.231 [DAT](INFO): DAT read: Bearing 306.8, -5.5 (Local)
2025-08-23T22:19:54.232Z,1755987594.232 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.8, -5.5 (Local)
2025-08-23T22:19:54.234Z,1755987594.234 [DAT](INFO): DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4
2025-08-23T22:19:54.239Z,1755987594.239 [DAT](INFO): DAT read: 22:19:53.4700 LVL= 24432, 30705, 21074, 32755, AGC= 58, IDX= 504, 0.04, 1.519,-0.188, 1.909, 1.338, PHS= 0.283,-1.481, 0.527, RAW= 156.4, 7.1, CAL= 155.8, 7.3, ROT= 354.2, -7.3
2025-08-23T22:19:54.240Z,1755987594.240 [DAT](INFO): got valid direction response:
22:19:53.4700 LVL= 24432, 30705, 21074, 32755, AGC= 58, IDX= 504, 0.04, 1.519,-0.188, 1.909, 1.338, PHS= 0.283,-1.481, 0.527, RAW= 156.4, 7.1, CAL= 155.8, 7.3, ROT= 354.2, -7.3
2025-08-23T22:19:54.240Z,1755987594.240 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-23T22:19:54.241Z,1755987594.241 [DAT](INFO): direction in FSK: [0.986817,-0.100237,0.127065]
2025-08-23T22:19:54.242Z,1755987594.242 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:54.245Z,1755987594.245 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.641391
2025-08-23T22:19:54.480Z,1755987594.480 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.876022
2025-08-23T22:19:54.608Z,1755987594.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.299999 m,
deltaT: 0.505099 s,
deltaX: -0.300001 m,
approachRate: -0.593945 m/s,
rangeRepo size: 4
2025-08-23T22:19:54.614Z,1755987594.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.119844 m,
bearing: 128.263693 deg,
lat: 36.779408 deg,
lon: -121.859579 deg,
deltaT: 0.505099 s,
deltaX: -0.298216 m,
approachRate: -0.590411 m/s,
posRepo size: 4
2025-08-23T22:19:54.615Z,1755987594.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.12 m.
2025-08-23T22:19:54.622Z,1755987594.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.119844 m,
nav range: 28.883699 m,
bearing: 128.269263 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.021306 deg/s,
cmd heading: 132.395772 deg,
new cmd heading: 132.375510 deg.
2025-08-23T22:19:54.623Z,1755987594.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310389 target range: 29.119844 and range: 29.30 m.
2025-08-23T22:19:54.731Z,1755987594.731 [DAT](INFO): DAT read: Rx Time:22:19:53.9697
2025-08-23T22:19:54.732Z,1755987594.732 [DAT](INFO): Rx dataTimestamp_ set to:1755987594.731485
2025-08-23T22:19:54.733Z,1755987594.733 [DAT](INFO): DAT read: Bearing 307.2, -5.8 (Local)
2025-08-23T22:19:54.734Z,1755987594.734 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.2, -5.8 (Local)
2025-08-23T22:19:54.736Z,1755987594.736 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4
2025-08-23T22:19:54.743Z,1755987594.743 [DAT](INFO): DAT read: 22:19:53.9697 LVL= 28144, 28721, 24274, 32755, AGC= 58, IDX= 502,-0.49,-0.724,-2.407,-0.330,-0.888, PHS= 0.266,-1.473, 0.514, RAW= 156.6, 7.4, CAL= 156.1, 7.6, ROT= 353.9, -7.6
2025-08-23T22:19:54.744Z,1755987594.744 [DAT](INFO): got valid direction response:
22:19:53.9697 LVL= 28144, 28721, 24274, 32755, AGC= 58, IDX= 502,-0.49,-0.724,-2.407,-0.330,-0.888, PHS= 0.266,-1.473, 0.514, RAW= 156.6, 7.4, CAL= 156.1, 7.6, ROT= 353.9, -7.6
2025-08-23T22:19:54.745Z,1755987594.745 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-23T22:19:54.747Z,1755987594.747 [DAT](INFO): direction in FSK: [0.985603,-0.105331,0.132256]
2025-08-23T22:19:54.747Z,1755987594.747 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:54.763Z,1755987594.763 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.159246
2025-08-23T22:19:54.986Z,1755987594.986 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.381388
2025-08-23T22:19:55.091Z,1755987595.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.799999 m,
deltaT: 0.502995 s,
deltaX: -0.500000 m,
approachRate: -0.994046 m/s,
rangeRepo size: 4
2025-08-23T22:19:55.093Z,1755987595.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.622919 m,
bearing: 127.997047 deg,
lat: 36.779408 deg,
lon: -121.859579 deg,
deltaT: 0.502995 s,
deltaX: -0.496925 m,
approachRate: -0.987933 m/s,
posRepo size: 4
2025-08-23T22:19:55.098Z,1755987595.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-08-23T22:19:55.101Z,1755987595.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.622919 m,
nav range: 28.640106 m,
bearing: 128.226346 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.021306 deg/s,
cmd heading: 132.375514 deg,
new cmd heading: 132.354921 deg.
2025-08-23T22:19:55.107Z,1755987595.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310029 target range: 28.622919 and range: 28.80 m.
2025-08-23T22:19:55.235Z,1755987595.235 [DAT](INFO): DAT read: Rx Time:22:19:54.4697
2025-08-23T22:19:55.236Z,1755987595.236 [DAT](INFO): Rx dataTimestamp_ set to:1755987595.235490
2025-08-23T22:19:55.237Z,1755987595.237 [DAT](INFO): DAT read: Bearing 306.9, -5.8 (Local)
2025-08-23T22:19:55.237Z,1755987595.237 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.9, -5.8 (Local)
2025-08-23T22:19:55.239Z,1755987595.239 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4
2025-08-23T22:19:55.244Z,1755987595.244 [DAT](INFO): DAT read: 22:19:54.4697 LVL= 24464, 28129, 20850, 32755, AGC= 57, IDX= 501,-0.01, 0.801,-0.892, 1.195, 0.627, PHS= 0.276,-1.474, 0.523, RAW= 156.5, 7.2, CAL= 156.0, 7.4, ROT= 354.0, -7.4
2025-08-23T22:19:55.245Z,1755987595.245 [DAT](INFO): got valid direction response:
22:19:54.4697 LVL= 24464, 28129, 20850, 32755, AGC= 57, IDX= 501,-0.01, 0.801,-0.892, 1.195, 0.627, PHS= 0.276,-1.474, 0.523, RAW= 156.5, 7.2, CAL= 156.0, 7.4, ROT= 354.0, -7.4
2025-08-23T22:19:55.246Z,1755987595.246 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-23T22:19:55.247Z,1755987595.247 [DAT](INFO): direction in FSK: [0.986239,-0.103658,0.128796]
2025-08-23T22:19:55.247Z,1755987595.247 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:55.251Z,1755987595.251 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.646933
2025-08-23T22:19:55.491Z,1755987595.491 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.885670
2025-08-23T22:19:55.555Z,1755987595.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.799999 m,
deltaT: 0.504005 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:19:55.562Z,1755987595.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.622919 m,
bearing: 128.148184 deg,
lat: 36.779408 deg,
lon: -121.859579 deg,
deltaT: 0.504005 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:19:55.562Z,1755987595.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-08-23T22:19:55.565Z,1755987595.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.622919 m,
nav range: 28.437408 m,
bearing: 128.215444 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.021306 deg/s,
cmd heading: 132.354928 deg,
new cmd heading: 132.335140 deg.
2025-08-23T22:19:55.570Z,1755987595.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309684 target range: 28.622919 and range: 28.80 m.
2025-08-23T22:19:55.739Z,1755987595.739 [DAT](INFO): DAT read: Rx Time:22:19:54.9694
2025-08-23T22:19:55.739Z,1755987595.739 [DAT](INFO): Rx dataTimestamp_ set to:1755987595.739212
2025-08-23T22:19:55.741Z,1755987595.741 [DAT](INFO): DAT read: Bearing 307.2, -5.8 (Local)
2025-08-23T22:19:55.741Z,1755987595.741 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.2, -5.8 (Local)
2025-08-23T22:19:55.743Z,1755987595.743 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.4
2025-08-23T22:19:55.748Z,1755987595.748 [DAT](INFO): DAT read: 22:19:54.9694 LVL= 27520, 28081, 25858, 32755, AGC= 57, IDX= 498, 0.39, 0.541,-1.146, 0.935, 0.376, PHS= 0.267,-1.477, 0.515, RAW= 156.5, 7.4, CAL= 156.0, 7.7, ROT= 354.0, -7.7
2025-08-23T22:19:55.749Z,1755987595.749 [DAT](INFO): got valid direction response:
22:19:54.9694 LVL= 27520, 28081, 25858, 32755, AGC= 57, IDX= 498, 0.39, 0.541,-1.146, 0.935, 0.376, PHS= 0.267,-1.477, 0.515, RAW= 156.5, 7.4, CAL= 156.0, 7.7, ROT= 354.0, -7.7
2025-08-23T22:19:55.749Z,1755987595.749 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-23T22:19:55.750Z,1755987595.750 [DAT](INFO): direction in FSK: [0.985554,-0.103586,0.133986]
2025-08-23T22:19:55.750Z,1755987595.750 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:55.754Z,1755987595.754 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.150400
2025-08-23T22:19:55.943Z,1755987595.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.400000 m,
deltaT: 0.503722 s,
deltaX: -0.400000 m,
approachRate: -0.794088 m/s,
rangeRepo size: 4
2025-08-23T22:19:55.945Z,1755987595.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.225313 m,
bearing: 128.182261 deg,
lat: 36.779408 deg,
lon: -121.859580 deg,
deltaT: 0.503722 s,
deltaX: -0.397606 m,
approachRate: -0.789336 m/s,
posRepo size: 4
2025-08-23T22:19:55.945Z,1755987595.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.23 m.
2025-08-23T22:19:55.949Z,1755987595.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.225313 m,
nav range: 28.183300 m,
bearing: 128.135111 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.021306 deg/s,
cmd heading: 132.335134 deg,
new cmd heading: 132.318814 deg.
2025-08-23T22:19:55.958Z,1755987595.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309399 target range: 28.225313 and range: 28.40 m.
2025-08-23T22:19:55.994Z,1755987595.994 [DAT](INFO): DAT read: Rx Time:22:19:55.4694
2025-08-23T22:19:55.995Z,1755987595.995 [DAT](INFO): Rx dataTimestamp_ set to:1755987595.994280
2025-08-23T22:19:55.997Z,1755987595.997 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.393173
2025-08-23T22:19:56.243Z,1755987596.243 [DAT](INFO): DAT read: Bearing 307.5, -6.2 (Local)
2025-08-23T22:19:56.244Z,1755987596.244 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.5, -6.2 (Local)
2025-08-23T22:19:56.246Z,1755987596.246 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.4
2025-08-23T22:19:56.250Z,1755987596.250 [DAT](INFO): DAT read: 22:19:55.4694 LVL= 30480, 32753, 25026, 32755, AGC= 59, IDX= 498,-0.08, 0.432,-1.275, 0.839, 0.275, PHS= 0.260,-1.505, 0.521, RAW= 156.8, 7.6, CAL= 156.3, 7.9, ROT= 353.7, -7.9
2025-08-23T22:19:56.251Z,1755987596.251 [DAT](INFO): got valid direction response:
22:19:55.4694 LVL= 30480, 32753, 25026, 32755, AGC= 59, IDX= 498,-0.08, 0.432,-1.275, 0.839, 0.275, PHS= 0.260,-1.505, 0.521, RAW= 156.8, 7.6, CAL= 156.3, 7.9, ROT= 353.7, -7.9
2025-08-23T22:19:56.252Z,1755987596.252 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-23T22:19:56.252Z,1755987596.252 [DAT](INFO): direction in FSK: [0.984528,-0.108693,0.137445]
2025-08-23T22:19:56.253Z,1755987596.253 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:56.257Z,1755987596.257 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.653111
2025-08-23T22:19:56.433Z,1755987596.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.400000 m,
deltaT: 0.502790 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:19:56.443Z,1755987596.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.225313 m,
bearing: 127.959267 deg,
lat: 36.779409 deg,
lon: -121.859580 deg,
deltaT: 0.502790 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:19:56.444Z,1755987596.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.23 m.
2025-08-23T22:19:56.451Z,1755987596.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.225313 m,
nav range: 27.918785 m,
bearing: 128.067892 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.021306 deg/s,
cmd heading: 132.318810 deg,
new cmd heading: 132.297732 deg.
2025-08-23T22:19:56.452Z,1755987596.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309031 target range: 28.225313 and range: 28.40 m.
2025-08-23T22:19:56.499Z,1755987596.499 [DAT](INFO): DAT read: Rx Time:22:19:55.9691
2025-08-23T22:19:56.501Z,1755987596.501 [DAT](INFO): Rx dataTimestamp_ set to:1755987596.499694
2025-08-23T22:19:56.504Z,1755987596.504 [DAT](INFO): DAT read: Bearing 306.9, -6.2 (Local)
2025-08-23T22:19:56.505Z,1755987596.505 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.9, -6.2 (Local)
2025-08-23T22:19:56.507Z,1755987596.507 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.902882
2025-08-23T22:19:56.748Z,1755987596.748 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.4
2025-08-23T22:19:56.753Z,1755987596.753 [DAT](INFO): DAT read: 22:19:55.9691 LVL= 30528, 30577, 24306, 32755, AGC= 59, IDX= 495, 0.29, 0.800,-0.917, 1.209, 0.626, PHS= 0.276,-1.498, 0.539, RAW= 156.8, 7.2, CAL= 156.3, 7.3, ROT= 353.7, -7.3
2025-08-23T22:19:56.754Z,1755987596.754 [DAT](INFO): got valid direction response:
22:19:55.9691 LVL= 30528, 30577, 24306, 32755, AGC= 59, IDX= 495, 0.29, 0.800,-0.917, 1.209, 0.626, PHS= 0.276,-1.498, 0.539, RAW= 156.8, 7.2, CAL= 156.3, 7.3, ROT= 353.7, -7.3
2025-08-23T22:19:56.755Z,1755987596.755 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-23T22:19:56.756Z,1755987596.756 [DAT](INFO): direction in FSK: [0.985904,-0.108845,0.127065]
2025-08-23T22:19:56.756Z,1755987596.756 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:56.760Z,1755987596.760 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.156460
2025-08-23T22:19:56.868Z,1755987596.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.900000 m,
deltaT: 0.504055 s,
deltaX: -0.500000 m,
approachRate: -0.991955 m/s,
rangeRepo size: 4
2025-08-23T22:19:56.874Z,1755987596.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.728361 m,
bearing: 127.976459 deg,
lat: 36.779409 deg,
lon: -121.859581 deg,
deltaT: 0.504055 s,
deltaX: -0.496952 m,
approachRate: -0.985908 m/s,
posRepo size: 4
2025-08-23T22:19:56.875Z,1755987596.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-08-23T22:19:56.882Z,1755987596.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.728361 m,
nav range: 27.574839 m,
bearing: 128.095402 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.021306 deg/s,
cmd heading: 132.297732 deg,
new cmd heading: 132.279205 deg.
2025-08-23T22:19:56.882Z,1755987596.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308708 target range: 27.728361 and range: 27.90 m.
2025-08-23T22:19:57.002Z,1755987597.002 [DAT](INFO): DAT read: Rx Time:22:19:56.4691
2025-08-23T22:19:57.004Z,1755987597.004 [DAT](INFO): Rx dataTimestamp_ set to:1755987597.002795
2025-08-23T22:19:57.007Z,1755987597.007 [DAT](INFO): DAT read: Bearing 307.2, -6.4 (Local)
2025-08-23T22:19:57.008Z,1755987597.008 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.2, -6.4 (Local)
2025-08-23T22:19:57.011Z,1755987597.011 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.407089
2025-08-23T22:19:57.252Z,1755987597.252 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.4
2025-08-23T22:19:57.257Z,1755987597.257 [DAT](INFO): DAT read: 22:19:56.4691 LVL= 28448, 30049, 22162, 32755, AGC= 57, IDX= 511,-0.13, 0.001,-1.693, 0.411,-0.160, PHS= 0.264,-1.487, 0.528, RAW= 156.9, 7.4, CAL= 156.4, 7.6, ROT= 353.6, -7.6
2025-08-23T22:19:57.258Z,1755987597.258 [DAT](INFO): got valid direction response:
22:19:56.4691 LVL= 28448, 30049, 22162, 32755, AGC= 57, IDX= 511,-0.13, 0.001,-1.693, 0.411,-0.160, PHS= 0.264,-1.487, 0.528, RAW= 156.9, 7.4, CAL= 156.4, 7.6, ROT= 353.6, -7.6
2025-08-23T22:19:57.258Z,1755987597.258 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-23T22:19:57.259Z,1755987597.259 [DAT](INFO): direction in FSK: [0.985038,-0.110490,0.132256]
2025-08-23T22:19:57.260Z,1755987597.260 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:57.272Z,1755987597.272 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.667864
2025-08-23T22:19:57.288Z,1755987597.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.900000 m,
deltaT: 0.504018 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:19:57.294Z,1755987597.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.728361 m,
bearing: 127.933573 deg,
lat: 36.779409 deg,
lon: -121.859580 deg,
deltaT: 0.504018 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:19:57.295Z,1755987597.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-08-23T22:19:57.306Z,1755987597.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.728361 m,
nav range: 27.488394 m,
bearing: 127.979671 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.021306 deg/s,
cmd heading: 132.279208 deg,
new cmd heading: 132.261306 deg.
2025-08-23T22:19:57.307Z,1755987597.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308395 target range: 27.728361 and range: 27.90 m.
2025-08-23T22:19:57.508Z,1755987597.508 [DAT](INFO): DAT read: Rx Time:22:19:56.9688
2025-08-23T22:19:57.511Z,1755987597.511 [DAT](INFO): Rx dataTimestamp_ set to:1755987597.508704
2025-08-23T22:19:57.514Z,1755987597.514 [DAT](INFO): DAT read: Bearing 307.1, -6.5 (Local)
2025-08-23T22:19:57.515Z,1755987597.515 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.1, -6.5 (Local)
2025-08-23T22:19:57.525Z,1755987597.525 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4
2025-08-23T22:19:57.536Z,1755987597.536 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-08-23T22:19:57.570Z,1755987597.570 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.966557
2025-08-23T22:19:57.623Z,1755987597.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:19:57.630Z,1755987597.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.500000 m,
deltaT: 0.258629 s,
deltaX: -0.400000 m,
approachRate: -1.546615 m/s,
rangeRepo size: 4
2025-08-23T22:19:57.630Z,1755987597.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-08-23T22:19:57.633Z,1755987597.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.728361 m,
nav range: 27.317066 m,
bearing: 127.966497 deg,
approach rate: -0.507595 m/s,
LOS rate: -0.039276 deg/s,
cmd heading: 132.261299 deg,
new cmd heading: 132.234786 deg.
2025-08-23T22:19:57.638Z,1755987597.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307932 target range: 27.728361 and range: 27.50 m.
2025-08-23T22:19:57.758Z,1755987597.758 [DAT](INFO): DAT read: 22:19:56.9688 LVL= 29232, 30289, 23570, 32755, AGC= 57, IDX= 508, 0.28,-0.032,-1.751, 0.382,-0.200, PHS= 0.270,-1.506, 0.539, RAW= 156.9, 7.3, CAL= 156.4, 7.4, ROT= 353.6, -7.4
2025-08-23T22:19:57.759Z,1755987597.759 [DAT](INFO): got valid direction response:
22:19:56.9688 LVL= 29232, 30289, 23570, 32755, AGC= 57, IDX= 508, 0.28,-0.032,-1.751, 0.382,-0.200, PHS= 0.270,-1.506, 0.539, RAW= 156.9, 7.3, CAL= 156.4, 7.4, ROT= 353.6, -7.4
2025-08-23T22:19:57.760Z,1755987597.760 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-08-23T22:19:57.761Z,1755987597.761 [DAT](INFO): direction in FSK: [0.985491,-0.110540,0.128796]
2025-08-23T22:19:57.765Z,1755987597.765 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.161228
2025-08-23T22:19:58.011Z,1755987598.011 [DAT](INFO): DAT read: Rx Time:22:19:57.4687
2025-08-23T22:19:58.013Z,1755987598.013 [DAT](INFO): Rx dataTimestamp_ set to:1755987598.011873
2025-08-23T22:19:58.016Z,1755987598.016 [DAT](INFO): DAT read: Bearing 307.6, -6.7 (Local)
2025-08-23T22:19:58.020Z,1755987598.020 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.6, -6.7 (Local)
2025-08-23T22:19:58.031Z,1755987598.031 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.426315
2025-08-23T22:19:58.114Z,1755987598.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-08-23T22:19:58.116Z,1755987598.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.728361 m,
nav range: 27.086767 m,
bearing: 127.948387 deg,
approach rate: -0.475338 m/s,
LOS rate: -0.037698 deg/s,
cmd heading: 132.234785 deg,
new cmd heading: 132.198256 deg.
2025-08-23T22:19:58.117Z,1755987598.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307295 target range: 27.728361 and range: 27.50 m.
2025-08-23T22:19:58.260Z,1755987598.260 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4
2025-08-23T22:19:58.264Z,1755987598.264 [DAT](INFO): DAT read: 22:19:57.4687 LVL= 29680, 30881, 24514, 32755, AGC= 56, IDX= 507,-0.13,-1.773, 2.824,-1.354,-1.921, PHS= 0.250,-1.493, 0.523, RAW= 157.2, 7.7, CAL= 156.7, 7.9, ROT= 353.3, -7.9
2025-08-23T22:19:58.266Z,1755987598.266 [DAT](INFO): got valid direction response:
22:19:57.4687 LVL= 29680, 30881, 24514, 32755, AGC= 56, IDX= 507,-0.13,-1.773, 2.824,-1.354,-1.921, PHS= 0.250,-1.493, 0.523, RAW= 157.2, 7.7, CAL= 156.7, 7.9, ROT= 353.3, -7.9
2025-08-23T22:19:58.266Z,1755987598.266 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-23T22:19:58.267Z,1755987598.267 [DAT](INFO): direction in FSK: [0.983745,-0.115564,0.137445]
2025-08-23T22:19:58.267Z,1755987598.267 [DAT](INFO): publishing direction and range info
2025-08-23T22:19:58.274Z,1755987598.274 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.669771
2025-08-23T22:19:58.514Z,1755987598.514 [DAT](INFO): DAT read: Rx Time:22:19:57.9684
2025-08-23T22:19:58.516Z,1755987598.516 [DAT](INFO): Rx dataTimestamp_ set to:1755987598.514728
2025-08-23T22:19:58.520Z,1755987598.520 [DAT](INFO): DAT read: Bearing 307.2, -6.7 (Local)
2025-08-23T22:19:58.521Z,1755987598.521 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.2, -6.7 (Local)
2025-08-23T22:19:58.530Z,1755987598.530 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4
2025-08-23T22:19:58.533Z,1755987598.533 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-08-23T22:19:58.540Z,1755987598.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.299999 m,
deltaT: 0.749210 s,
deltaX: -0.200001 m,
approachRate: -0.266949 m/s,
rangeRepo size: 4
2025-08-23T22:19:58.542Z,1755987598.542 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.938675
2025-08-23T22:19:58.545Z,1755987598.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.131983 m,
bearing: 127.690819 deg,
lat: 36.779409 deg,
lon: -121.859579 deg,
deltaT: 1.007839 s,
deltaX: -0.596378 m,
approachRate: -0.591740 m/s,
posRepo size: 4
2025-08-23T22:19:58.554Z,1755987598.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-23T22:19:58.557Z,1755987598.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.131983 m,
nav range: 26.909830 m,
bearing: 127.833644 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.037698 deg/s,
cmd heading: 132.198257 deg,
new cmd heading: 132.165857 deg.
2025-08-23T22:19:58.562Z,1755987598.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306729 target range: 27.131983 and range: 27.30 m.
2025-08-23T22:19:58.766Z,1755987598.766 [DAT](INFO): DAT read: 22:19:57.9684 LVL= 28016, 30369, 22322, 32755, AGC= 57, IDX= 504, 0.27,-1.764, 2.830,-1.348,-1.923, PHS= 0.261,-1.485, 0.531, RAW= 157.1, 7.4, CAL= 156.6, 7.5, ROT= 353.4, -7.5
2025-08-23T22:19:58.768Z,1755987598.768 [DAT](INFO): got valid direction response:
22:19:57.9684 LVL= 28016, 30369, 22322, 32755, AGC= 57, IDX= 504, 0.27,-1.764, 2.830,-1.348,-1.923, PHS= 0.261,-1.485, 0.531, RAW= 157.1, 7.4, CAL= 156.6, 7.5, ROT= 353.4, -7.5
2025-08-23T22:19:58.768Z,1755987598.768 [DAT](INFO): #Rx 38: Read direction message, but no range.
2025-08-23T22:19:58.771Z,1755987598.771 [DAT](INFO): direction in FSK: [0.984874,-0.113954,0.130526]
2025-08-23T22:19:58.780Z,1755987598.780 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.176413
2025-08-23T22:19:58.892Z,1755987598.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.900000 m,
deltaT: 0.256814 s,
deltaX: -0.400000 m,
approachRate: -1.557546 m/s,
rangeRepo size: 4
2025-08-23T22:19:58.894Z,1755987598.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.734344 m,
bearing: 127.827242 deg,
lat: 36.779410 deg,
lon: -121.859579 deg,
deltaT: 0.256814 s,
deltaX: -0.397638 m,
approachRate: -1.548351 m/s,
posRepo size: 4
2025-08-23T22:19:58.895Z,1755987598.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.73 m.
2025-08-23T22:19:58.898Z,1755987598.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.734344 m,
nav range: 26.673769 m,
bearing: 127.726320 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.037698 deg/s,
cmd heading: 132.165854 deg,
new cmd heading: 132.139295 deg.
2025-08-23T22:19:58.899Z,1755987598.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306266 target range: 26.734344 and range: 26.90 m.
2025-08-23T22:19:59.019Z,1755987599.019 [DAT](INFO): DAT read: Rx Time:22:19:58.4684
2025-08-23T22:19:59.021Z,1755987599.021 [DAT](INFO): Rx dataTimestamp_ set to:1755987599.019905
2025-08-23T22:19:59.024Z,1755987599.024 [DAT](INFO): DAT read: Bearing 307.6, -6.9 (Local)
2025-08-23T22:19:59.026Z,1755987599.026 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.6, -6.9 (Local)
2025-08-23T22:19:59.036Z,1755987599.036 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4
2025-08-23T22:19:59.037Z,1755987599.037 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-08-23T22:19:59.042Z,1755987599.042 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.438061
2025-08-23T22:19:59.270Z,1755987599.270 [DAT](INFO): DAT read: 22:19:58.4684 LVL= 27808, 29825, 23906, 32755, AGC= 57, IDX= 504,-0.14,-2.182, 2.421,-1.762,-2.328, PHS= 0.248,-1.489, 0.522, RAW= 157.2, 7.7, CAL= 156.7, 7.9, ROT= 353.3, -7.9
2025-08-23T22:19:59.271Z,1755987599.271 [DAT](INFO): got valid direction response:
22:19:58.4684 LVL= 27808, 29825, 23906, 32755, AGC= 57, IDX= 504,-0.14,-2.182, 2.421,-1.762,-2.328, PHS= 0.248,-1.489, 0.522, RAW= 157.2, 7.7, CAL= 156.7, 7.9, ROT= 353.3, -7.9
2025-08-23T22:19:59.271Z,1755987599.271 [DAT](INFO): #Rx 40: Read direction message, but no range.
2025-08-23T22:19:59.272Z,1755987599.272 [DAT](INFO): direction in FSK: [0.983745,-0.115564,0.137445]
2025-08-23T22:19:59.276Z,1755987599.276 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.672176
2025-08-23T22:19:59.394Z,1755987599.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.900000 m,
deltaT: 0.505177 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:19:59.396Z,1755987599.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.734344 m,
bearing: 127.718688 deg,
lat: 36.779410 deg,
lon: -121.859579 deg,
deltaT: 0.505177 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:19:59.397Z,1755987599.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.73 m.
2025-08-23T22:19:59.404Z,1755987599.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.734344 m,
nav range: 26.437681 m,
bearing: 127.697071 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.037698 deg/s,
cmd heading: 132.139299 deg,
new cmd heading: 132.101759 deg.
2025-08-23T22:19:59.404Z,1755987599.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305611 target range: 26.734344 and range: 26.90 m.
2025-08-23T22:19:59.524Z,1755987599.524 [DAT](INFO): DAT read: Rx Time:22:19:58.9681
2025-08-23T22:19:59.526Z,1755987599.526 [DAT](INFO): Rx dataTimestamp_ set to:1755987599.524982
2025-08-23T22:19:59.531Z,1755987599.531 [DAT](INFO): DAT read: Bearing 307.4, -7.2 (Local)
2025-08-23T22:19:59.532Z,1755987599.532 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.4, -7.2 (Local)
2025-08-23T22:19:59.537Z,1755987599.537 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4
2025-08-23T22:19:59.543Z,1755987599.543 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-08-23T22:19:59.544Z,1755987599.544 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.940426
2025-08-23T22:19:59.774Z,1755987599.774 [DAT](INFO): DAT read: 22:19:58.9681 LVL= 28976, 30401, 24290, 32755, AGC= 56, IDX= 501, 0.25,-1.225,-2.922,-0.793,-1.377, PHS= 0.254,-1.500, 0.540, RAW= 157.4, 7.4, CAL= 156.9, 7.6, ROT= 353.1, -7.6
2025-08-23T22:19:59.775Z,1755987599.775 [DAT](INFO): got valid direction response:
22:19:58.9681 LVL= 28976, 30401, 24290, 32755, AGC= 56, IDX= 501, 0.25,-1.225,-2.922,-0.793,-1.377, PHS= 0.254,-1.500, 0.540, RAW= 157.4, 7.4, CAL= 156.9, 7.6, ROT= 353.1, -7.6
2025-08-23T22:19:59.775Z,1755987599.775 [DAT](INFO): #Rx 42: Read direction message, but no range.
2025-08-23T22:19:59.776Z,1755987599.776 [DAT](INFO): direction in FSK: [0.984037,-0.119081,0.132256]
2025-08-23T22:19:59.780Z,1755987599.780 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.176153
2025-08-23T22:19:59.870Z,1755987599.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.400000 m,
deltaT: 0.505077 s,
deltaX: -0.500000 m,
approachRate: -0.989948 m/s,
rangeRepo size: 4
2025-08-23T22:19:59.872Z,1755987599.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.237246 m,
bearing: 127.526667 deg,
lat: 36.779410 deg,
lon: -121.859579 deg,
deltaT: 0.505077 s,
deltaX: -0.497099 m,
approachRate: -0.984204 m/s,
posRepo size: 4
2025-08-23T22:19:59.872Z,1755987599.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.24 m.
2025-08-23T22:19:59.879Z,1755987599.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.237246 m,
nav range: 26.205465 m,
bearing: 127.667785 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.037698 deg/s,
cmd heading: 132.101760 deg,
new cmd heading: 132.065909 deg.
2025-08-23T22:19:59.880Z,1755987599.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304985 target range: 26.237246 and range: 26.40 m.
2025-08-23T22:20:00.029Z,1755987600.029 [DAT](INFO): DAT read: Rx Time:22:19:59.4681
2025-08-23T22:20:00.031Z,1755987600.031 [DAT](INFO): Rx dataTimestamp_ set to:1755987600.029616
2025-08-23T22:20:00.034Z,1755987600.034 [DAT](INFO): DAT read: Bearing 307.8, -7.4 (Local)
2025-08-23T22:20:00.035Z,1755987600.035 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.8, -7.4 (Local)
2025-08-23T22:20:00.037Z,1755987600.037 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4
2025-08-23T22:20:00.038Z,1755987600.038 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-08-23T22:20:00.039Z,1755987600.039 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.435320
2025-08-23T22:20:00.278Z,1755987600.278 [DAT](INFO): DAT read: 22:19:59.4681 LVL= 29856, 32753, 24754, 32755, AGC= 58, IDX= 501,-0.18,-2.252, 2.347,-1.815,-2.387, PHS= 0.237,-1.504, 0.528, RAW= 157.6, 7.8, CAL= 157.1, 8.0, ROT= 352.9, -8.0
2025-08-23T22:20:00.279Z,1755987600.279 [DAT](INFO): got valid direction response:
22:19:59.4681 LVL= 29856, 32753, 24754, 32755, AGC= 58, IDX= 501,-0.18,-2.252, 2.347,-1.815,-2.387, PHS= 0.237,-1.504, 0.528, RAW= 157.6, 7.8, CAL= 157.1, 8.0, ROT= 352.9, -8.0
2025-08-23T22:20:00.280Z,1755987600.280 [DAT](INFO): #Rx 44: Read direction message, but no range.
2025-08-23T22:20:00.281Z,1755987600.281 [DAT](INFO): direction in FSK: [0.982675,-0.122399,0.139173]
2025-08-23T22:20:00.284Z,1755987600.284 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.680487
2025-08-23T22:20:00.324Z,1755987600.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.400000 m,
deltaT: 0.504634 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:00.335Z,1755987600.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.237246 m,
bearing: 127.373991 deg,
lat: 36.779410 deg,
lon: -121.859579 deg,
deltaT: 0.504634 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:20:00.335Z,1755987600.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.24 m.
2025-08-23T22:20:00.342Z,1755987600.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.237246 m,
nav range: 25.999556 m,
bearing: 127.505735 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.037698 deg/s,
cmd heading: 132.065915 deg,
new cmd heading: 132.031305 deg.
2025-08-23T22:20:00.343Z,1755987600.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304381 target range: 26.237246 and range: 26.40 m.
2025-08-23T22:20:00.532Z,1755987600.532 [DAT](INFO): DAT read: Rx Time:22:19:59.9678
2025-08-23T22:20:00.534Z,1755987600.534 [DAT](INFO): Rx dataTimestamp_ set to:1755987600.532874
2025-08-23T22:20:00.537Z,1755987600.537 [DAT](INFO): DAT read: Bearing 307.2, -7.5 (Local)
2025-08-23T22:20:00.538Z,1755987600.538 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.2, -7.5 (Local)
2025-08-23T22:20:00.540Z,1755987600.540 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4
2025-08-23T22:20:00.544Z,1755987600.544 [DAT](INFO): DAT read: 22:19:59.9678 LVL= 29472, 32017, 26322, 32755, AGC= 58, IDX= 498, 0.20,-1.447, 3.131,-1.003,-1.600, PHS= 0.255,-1.507, 0.553, RAW= 157.7, 7.3, CAL= 157.2, 7.4, ROT= 352.8, -7.4
2025-08-23T22:20:00.545Z,1755987600.545 [DAT](INFO): got valid direction response:
22:19:59.9678 LVL= 29472, 32017, 26322, 32755, AGC= 58, IDX= 498, 0.20,-1.447, 3.131,-1.003,-1.600, PHS= 0.255,-1.507, 0.553, RAW= 157.7, 7.3, CAL= 157.2, 7.4, ROT= 352.8, -7.4
2025-08-23T22:20:00.546Z,1755987600.546 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-23T22:20:00.547Z,1755987600.547 [DAT](INFO): direction in FSK: [0.983851,-0.124290,0.128796]
2025-08-23T22:20:00.547Z,1755987600.547 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:00.551Z,1755987600.551 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.947849
2025-08-23T22:20:00.747Z,1755987600.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.000000 m,
deltaT: 0.503258 s,
deltaX: -0.400000 m,
approachRate: -0.794820 m/s,
rangeRepo size: 4
2025-08-23T22:20:00.749Z,1755987600.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.839462 m,
bearing: 127.295508 deg,
lat: 36.779410 deg,
lon: -121.859579 deg,
deltaT: 0.503258 s,
deltaX: -0.397783 m,
approachRate: -0.790416 m/s,
posRepo size: 4
2025-08-23T22:20:00.753Z,1755987600.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-08-23T22:20:00.756Z,1755987600.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.839462 m,
nav range: 25.729029 m,
bearing: 127.473059 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.037698 deg/s,
cmd heading: 132.031300 deg,
new cmd heading: 132.000085 deg.
2025-08-23T22:20:00.757Z,1755987600.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303836 target range: 25.839462 and range: 26.00 m.
2025-08-23T22:20:00.779Z,1755987600.779 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.174955
2025-08-23T22:20:01.035Z,1755987601.035 [DAT](INFO): DAT read: Rx Time:22:20:00.4678
2025-08-23T22:20:01.036Z,1755987601.036 [DAT](INFO): Rx dataTimestamp_ set to:1755987601.035518
2025-08-23T22:20:01.038Z,1755987601.038 [DAT](INFO): DAT read: Bearing 307.8, -7.8 (Local)
2025-08-23T22:20:01.038Z,1755987601.038 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.8, -7.8 (Local)
2025-08-23T22:20:01.040Z,1755987601.040 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4
2025-08-23T22:20:01.041Z,1755987601.041 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-08-23T22:20:01.042Z,1755987601.042 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.437794
2025-08-23T22:20:01.227Z,1755987601.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:01.230Z,1755987601.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.000000 m,
deltaT: 0.502644 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:01.230Z,1755987601.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-08-23T22:20:01.233Z,1755987601.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.839462 m,
nav range: 25.480156 m,
bearing: 127.435583 deg,
approach rate: -0.506683 m/s,
LOS rate: -0.077042 deg/s,
cmd heading: 132.000086 deg,
new cmd heading: 131.924403 deg.
2025-08-23T22:20:01.234Z,1755987601.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302515 target range: 25.839462 and range: 26.00 m.
2025-08-23T22:20:01.289Z,1755987601.289 [DAT](INFO): DAT read: 22:20:00.4678 LVL= 29616, 30929, 25810, 32755, AGC= 58, IDX= 498,-0.21,-1.883, 2.724,-1.437,-2.014, PHS= 0.233,-1.501, 0.533, RAW= 157.9, 7.8, CAL= 157.4, 8.0, ROT= 352.6, -8.0
2025-08-23T22:20:01.291Z,1755987601.291 [DAT](INFO): got valid direction response:
22:20:00.4678 LVL= 29616, 30929, 25810, 32755, AGC= 58, IDX= 498,-0.21,-1.883, 2.724,-1.437,-2.014, PHS= 0.233,-1.501, 0.533, RAW= 157.9, 7.8, CAL= 157.4, 8.0, ROT= 352.6, -8.0
2025-08-23T22:20:01.291Z,1755987601.291 [DAT](INFO): #Rx 47: Read direction message, but no range.
2025-08-23T22:20:01.293Z,1755987601.293 [DAT](INFO): direction in FSK: [0.982020,-0.127542,0.139173]
2025-08-23T22:20:01.296Z,1755987601.296 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.692478
2025-08-23T22:20:01.537Z,1755987601.537 [DAT](INFO): DAT read: Rx Time:22:20:00.9675
2025-08-23T22:20:01.538Z,1755987601.538 [DAT](INFO): Rx dataTimestamp_ set to:1755987601.537539
2025-08-23T22:20:01.539Z,1755987601.539 [DAT](INFO): DAT read: Bearing 307.5, -7.6 (Local)
2025-08-23T22:20:01.539Z,1755987601.539 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.5, -7.6 (Local)
2025-08-23T22:20:01.542Z,1755987601.542 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.4
2025-08-23T22:20:01.546Z,1755987601.546 [DAT](INFO): DAT read: 22:20:00.9675 LVL= 29936, 29729, 23906, 32755, AGC= 57, IDX= 495, 0.14,-1.221,-2.899,-0.780,-1.362, PHS= 0.243,-1.492, 0.537, RAW= 157.7, 7.5, CAL= 157.2, 7.7, ROT= 352.8, -7.7
2025-08-23T22:20:01.547Z,1755987601.547 [DAT](INFO): got valid direction response:
22:20:00.9675 LVL= 29936, 29729, 23906, 32755, AGC= 57, IDX= 495, 0.14,-1.221,-2.899,-0.780,-1.362, PHS= 0.243,-1.492, 0.537, RAW= 157.7, 7.5, CAL= 157.2, 7.7, ROT= 352.8, -7.7
2025-08-23T22:20:01.547Z,1755987601.547 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-23T22:20:01.548Z,1755987601.548 [DAT](INFO): direction in FSK: [0.983169,-0.124203,0.133986]
2025-08-23T22:20:01.549Z,1755987601.549 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:01.556Z,1755987601.556 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.952692
2025-08-23T22:20:01.636Z,1755987601.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.500000 m,
deltaT: 0.502021 s,
deltaX: -0.500000 m,
approachRate: -0.995974 m/s,
rangeRepo size: 4
2025-08-23T22:20:01.643Z,1755987601.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.342316 m,
bearing: 127.224584 deg,
lat: 36.779411 deg,
lon: -121.859579 deg,
deltaT: 1.004665 s,
deltaX: -0.497147 m,
approachRate: -0.494838 m/s,
posRepo size: 4
2025-08-23T22:20:01.643Z,1755987601.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-23T22:20:01.651Z,1755987601.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.342316 m,
nav range: 25.245264 m,
bearing: 127.272391 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.077042 deg/s,
cmd heading: 131.924407 deg,
new cmd heading: 131.861809 deg.
2025-08-23T22:20:01.652Z,1755987601.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301423 target range: 25.342316 and range: 25.50 m.
2025-08-23T22:20:01.787Z,1755987601.787 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.183327
2025-08-23T22:20:02.039Z,1755987602.039 [DAT](INFO): DAT read: Rx Time:22:20:01.4674
2025-08-23T22:20:02.040Z,1755987602.040 [DAT](INFO): Rx dataTimestamp_ set to:1755987602.039446
2025-08-23T22:20:02.041Z,1755987602.041 [DAT](INFO): DAT read: Bearing 307.6, -8.1 (Local)
2025-08-23T22:20:02.041Z,1755987602.041 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.6, -8.1 (Local)
2025-08-23T22:20:02.043Z,1755987602.043 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4
2025-08-23T22:20:02.048Z,1755987602.048 [DAT](INFO): DAT read: 22:20:01.4674 LVL= 28016, 31137, 22194, 32755, AGC= 57, IDX= 510,-0.32,-2.365, 2.243,-1.909,-2.497, PHS= 0.234,-1.499, 0.543, RAW= 158.1, 7.6, CAL= 157.6, 7.8, ROT= 352.4, -7.8
2025-08-23T22:20:02.050Z,1755987602.050 [DAT](INFO): got valid direction response:
22:20:01.4674 LVL= 28016, 31137, 22194, 32755, AGC= 57, IDX= 510,-0.32,-2.365, 2.243,-1.909,-2.497, PHS= 0.234,-1.499, 0.543, RAW= 158.1, 7.6, CAL= 157.6, 7.8, ROT= 352.4, -7.8
2025-08-23T22:20:02.050Z,1755987602.050 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-23T22:20:02.051Z,1755987602.051 [DAT](INFO): direction in FSK: [0.982045,-0.131033,0.135716]
2025-08-23T22:20:02.051Z,1755987602.051 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:02.067Z,1755987602.067 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.463566
2025-08-23T22:20:02.156Z,1755987602.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.400000 m,
deltaT: 0.501907 s,
deltaX: -0.100000 m,
approachRate: -0.199241 m/s,
rangeRepo size: 4
2025-08-23T22:20:02.159Z,1755987602.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.242935 m,
bearing: 126.803972 deg,
lat: 36.779411 deg,
lon: -121.859579 deg,
deltaT: 0.501907 s,
deltaX: -0.099380 m,
approachRate: -0.198006 m/s,
posRepo size: 4
2025-08-23T22:20:02.159Z,1755987602.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m.
2025-08-23T22:20:02.166Z,1755987602.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.242935 m,
nav range: 25.006908 m,
bearing: 127.190284 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.077042 deg/s,
cmd heading: 131.861815 deg,
new cmd heading: 131.781608 deg.
2025-08-23T22:20:02.167Z,1755987602.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300023 target range: 25.242935 and range: 25.40 m.
2025-08-23T22:20:02.291Z,1755987602.291 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.687368
2025-08-23T22:20:02.543Z,1755987602.543 [DAT](INFO): DAT read: Rx Time:22:20:01.9671
2025-08-23T22:20:02.543Z,1755987602.543 [DAT](INFO): Rx dataTimestamp_ set to:1755987602.543121
2025-08-23T22:20:02.545Z,1755987602.545 [DAT](INFO): DAT read: Bearing 307.4, -8.2 (Local)
2025-08-23T22:20:02.545Z,1755987602.545 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.4, -8.2 (Local)
2025-08-23T22:20:02.547Z,1755987602.547 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4
2025-08-23T22:20:02.548Z,1755987602.548 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-08-23T22:20:02.548Z,1755987602.548 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.944818
2025-08-23T22:20:02.676Z,1755987602.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.900000 m,
deltaT: 0.503675 s,
deltaX: -0.500000 m,
approachRate: -0.992704 m/s,
rangeRepo size: 4
2025-08-23T22:20:02.677Z,1755987602.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m.
2025-08-23T22:20:02.680Z,1755987602.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.242935 m,
nav range: 24.714884 m,
bearing: 127.133371 deg,
approach rate: -0.563741 m/s,
LOS rate: -0.111166 deg/s,
cmd heading: 131.781615 deg,
new cmd heading: 131.666444 deg.
2025-08-23T22:20:02.681Z,1755987602.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.298013 target range: 25.242935 and range: 24.90 m.
2025-08-23T22:20:02.800Z,1755987602.800 [DAT](INFO): DAT read: 22:20:01.9671 LVL= 29824, 29777, 24258, 32755, AGC= 58, IDX= 507, 0.04,-2.036, 2.567,-1.581,-2.174, PHS= 0.240,-1.497, 0.550, RAW= 158.1, 7.5, CAL= 157.6, 7.6, ROT= 352.4, -7.6
2025-08-23T22:20:02.801Z,1755987602.801 [DAT](INFO): got valid direction response:
22:20:01.9671 LVL= 29824, 29777, 24258, 32755, AGC= 58, IDX= 507, 0.04,-2.036, 2.567,-1.581,-2.174, PHS= 0.240,-1.497, 0.550, RAW= 158.1, 7.5, CAL= 157.6, 7.6, ROT= 352.4, -7.6
2025-08-23T22:20:02.802Z,1755987602.802 [DAT](INFO): #Rx 51: Read direction message, but no range.
2025-08-23T22:20:02.803Z,1755987602.803 [DAT](INFO): direction in FSK: [0.982508,-0.131095,0.132256]
2025-08-23T22:20:02.807Z,1755987602.807 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.203018
2025-08-23T22:20:02.942Z,1755987602.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m.
2025-08-23T22:20:02.945Z,1755987602.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.242935 m,
nav range: 24.584902 m,
bearing: 127.107662 deg,
approach rate: -0.484975 m/s,
LOS rate: -0.096431 deg/s,
cmd heading: 131.666445 deg,
new cmd heading: 131.614754 deg.
2025-08-23T22:20:02.947Z,1755987602.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.297111 target range: 25.242935 and range: 24.90 m.
2025-08-23T22:20:03.047Z,1755987603.047 [DAT](INFO): DAT read: Rx Time:22:20:02.4670
2025-08-23T22:20:03.048Z,1755987603.048 [DAT](INFO): Rx dataTimestamp_ set to:1755987603.047437
2025-08-23T22:20:03.049Z,1755987603.049 [DAT](INFO): DAT read: Bearing 307.0, -8.3 (Local)
2025-08-23T22:20:03.049Z,1755987603.049 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.0, -8.3 (Local)
2025-08-23T22:20:03.051Z,1755987603.051 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4
2025-08-23T22:20:03.056Z,1755987603.056 [DAT](INFO): DAT read: 22:20:02.4670 LVL= 23760, 30449, 19986, 32755, AGC= 56, IDX= 506, 0.48,-0.843,-2.495,-0.390,-0.986, PHS= 0.245,-1.464, 0.553, RAW= 158.1, 7.1, CAL= 157.6, 7.2, ROT= 352.4, -7.2
2025-08-23T22:20:03.058Z,1755987603.058 [DAT](INFO): got valid direction response:
22:20:02.4670 LVL= 23760, 30449, 19986, 32755, AGC= 56, IDX= 506, 0.48,-0.843,-2.495,-0.390,-0.986, PHS= 0.245,-1.464, 0.553, RAW= 158.1, 7.1, CAL= 157.6, 7.2, ROT= 352.4, -7.2
2025-08-23T22:20:03.058Z,1755987603.058 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-23T22:20:03.059Z,1755987603.059 [DAT](INFO): direction in FSK: [0.983400,-0.131213,0.125333]
2025-08-23T22:20:03.059Z,1755987603.059 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:03.065Z,1755987603.065 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.461216
2025-08-23T22:20:03.299Z,1755987603.299 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.694878
2025-08-23T22:20:03.399Z,1755987603.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.900000 m,
deltaT: 0.504316 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:03.401Z,1755987603.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.745886 m,
bearing: 126.764164 deg,
lat: 36.779411 deg,
lon: -121.859578 deg,
deltaT: 1.007991 s,
deltaX: -0.497049 m,
approachRate: -0.493109 m/s,
posRepo size: 4
2025-08-23T22:20:03.401Z,1755987603.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-23T22:20:03.405Z,1755987603.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.745886 m,
nav range: 24.451233 m,
bearing: 126.924634 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.096431 deg/s,
cmd heading: 131.614754 deg,
new cmd heading: 131.530668 deg.
2025-08-23T22:20:03.410Z,1755987603.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295643 target range: 24.745886 and range: 24.90 m.
2025-08-23T22:20:03.552Z,1755987603.552 [DAT](INFO): DAT read: Rx Time:22:20:02.9668
2025-08-23T22:20:03.553Z,1755987603.553 [DAT](INFO): Rx dataTimestamp_ set to:1755987603.552332
2025-08-23T22:20:03.554Z,1755987603.554 [DAT](INFO): DAT read: Bearing 307.6, -8.5 (Local)
2025-08-23T22:20:03.554Z,1755987603.554 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.6, -8.5 (Local)
2025-08-23T22:20:03.556Z,1755987603.556 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4
2025-08-23T22:20:03.561Z,1755987603.561 [DAT](INFO): DAT read: 22:20:02.9668 LVL= 32480, 32753, 29266, 32755, AGC= 56, IDX= 504,-0.06, 2.836, 1.206,-2.995, 2.711, PHS= 0.226,-1.461, 0.533, RAW= 158.2, 7.6, CAL= 157.7, 7.8, ROT= 352.3, -7.8
2025-08-23T22:20:03.562Z,1755987603.562 [DAT](INFO): got valid direction response:
22:20:02.9668 LVL= 32480, 32753, 29266, 32755, AGC= 56, IDX= 504,-0.06, 2.836, 1.206,-2.995, 2.711, PHS= 0.226,-1.461, 0.533, RAW= 158.2, 7.6, CAL= 157.7, 7.8, ROT= 352.3, -7.8
2025-08-23T22:20:03.563Z,1755987603.563 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-23T22:20:03.564Z,1755987603.564 [DAT](INFO): direction in FSK: [0.981814,-0.132747,0.135716]
2025-08-23T22:20:03.564Z,1755987603.564 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:03.568Z,1755987603.568 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.964502
2025-08-23T22:20:03.780Z,1755987603.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504895 s,
deltaX: -0.299999 m,
approachRate: -0.594181 m/s,
rangeRepo size: 4
2025-08-23T22:20:03.786Z,1755987603.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.447609 m,
bearing: 126.652629 deg,
lat: 36.779412 deg,
lon: -121.859577 deg,
deltaT: 0.504895 s,
deltaX: -0.298277 m,
approachRate: -0.590770 m/s,
posRepo size: 4
2025-08-23T22:20:03.787Z,1755987603.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.45 m.
2025-08-23T22:20:03.789Z,1755987603.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.447609 m,
nav range: 24.281290 m,
bearing: 126.736997 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.096431 deg/s,
cmd heading: 131.530674 deg,
new cmd heading: 131.453289 deg.
2025-08-23T22:20:03.794Z,1755987603.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.294293 target range: 24.447609 and range: 24.60 m.
2025-08-23T22:20:03.803Z,1755987603.803 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.199015
2025-08-23T22:20:04.055Z,1755987604.055 [DAT](INFO): DAT read: Rx Time:22:20:03.4667
2025-08-23T22:20:04.056Z,1755987604.056 [DAT](INFO): Rx dataTimestamp_ set to:1755987604.055313
2025-08-23T22:20:04.057Z,1755987604.057 [DAT](INFO): DAT read: Bearing 307.2, -8.6 (Local)
2025-08-23T22:20:04.057Z,1755987604.057 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.2, -8.6 (Local)
2025-08-23T22:20:04.059Z,1755987604.059 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.4
2025-08-23T22:20:04.064Z,1755987604.064 [DAT](INFO): DAT read: 22:20:03.4667 LVL= 24224, 29585, 20402, 32755, AGC= 56, IDX= 503, 0.33,-0.993,-2.652,-0.529,-1.127, PHS= 0.236,-1.480, 0.554, RAW= 158.3, 7.3, CAL= 157.8, 7.4, ROT= 352.2, -7.4
2025-08-23T22:20:04.065Z,1755987604.065 [DAT](INFO): got valid direction response:
22:20:03.4667 LVL= 24224, 29585, 20402, 32755, AGC= 56, IDX= 503, 0.33,-0.993,-2.652,-0.529,-1.127, PHS= 0.236,-1.480, 0.554, RAW= 158.3, 7.3, CAL= 157.8, 7.4, ROT= 352.2, -7.4
2025-08-23T22:20:04.065Z,1755987604.065 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-23T22:20:04.075Z,1755987604.075 [DAT](INFO): direction in FSK: [0.982496,-0.134585,0.128796]
2025-08-23T22:20:04.075Z,1755987604.075 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:04.079Z,1755987604.079 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.474972
2025-08-23T22:20:04.307Z,1755987604.307 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.702950
2025-08-23T22:20:04.325Z,1755987604.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.502981 s,
deltaX: -0.100000 m,
approachRate: -0.198815 m/s,
rangeRepo size: 4
2025-08-23T22:20:04.331Z,1755987604.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.348228 m,
bearing: 126.544400 deg,
lat: 36.779412 deg,
lon: -121.859577 deg,
deltaT: 0.502981 s,
deltaX: -0.099380 m,
approachRate: -0.197583 m/s,
posRepo size: 4
2025-08-23T22:20:04.334Z,1755987604.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-08-23T22:20:04.336Z,1755987604.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.348228 m,
nav range: 24.036203 m,
bearing: 126.642094 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.096431 deg/s,
cmd heading: 131.453288 deg,
new cmd heading: 131.348126 deg.
2025-08-23T22:20:04.338Z,1755987604.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.292457 target range: 24.348228 and range: 24.50 m.
2025-08-23T22:20:04.560Z,1755987604.560 [DAT](INFO): DAT read: Rx Time:22:20:03.9666
2025-08-23T22:20:04.561Z,1755987604.561 [DAT](INFO): Rx dataTimestamp_ set to:1755987604.560126
2025-08-23T22:20:04.563Z,1755987604.563 [DAT](INFO): DAT read: Bearing 307.6, -8.9 (Local)
2025-08-23T22:20:04.563Z,1755987604.563 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.6, -8.9 (Local)
2025-08-23T22:20:04.567Z,1755987604.567 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4
2025-08-23T22:20:04.572Z,1755987604.572 [DAT](INFO): DAT read: 22:20:03.9666 LVL= 29040, 27873, 22162, 32755, AGC= 56, IDX= 501,-0.12, 1.984, 0.312, 2.458, 1.863, PHS= 0.222,-1.506, 0.551, RAW= 158.6, 7.7, CAL= 158.1, 7.9, ROT= 351.9, -7.9
2025-08-23T22:20:04.573Z,1755987604.573 [DAT](INFO): got valid direction response:
22:20:03.9666 LVL= 29040, 27873, 22162, 32755, AGC= 56, IDX= 501,-0.12, 1.984, 0.312, 2.458, 1.863, PHS= 0.222,-1.506, 0.551, RAW= 158.6, 7.7, CAL= 158.1, 7.9, ROT= 351.9, -7.9
2025-08-23T22:20:04.573Z,1755987604.573 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-23T22:20:04.583Z,1755987604.583 [DAT](INFO): direction in FSK: [0.980628,-0.139564,0.137445]
2025-08-23T22:20:04.584Z,1755987604.584 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:04.602Z,1755987604.602 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.998318
2025-08-23T22:20:04.725Z,1755987604.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.504813 s,
deltaX: -0.299999 m,
approachRate: -0.594278 m/s,
rangeRepo size: 4
2025-08-23T22:20:04.727Z,1755987604.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.050009 m,
bearing: 126.233341 deg,
lat: 36.779412 deg,
lon: -121.859576 deg,
deltaT: 0.504813 s,
deltaX: -0.298220 m,
approachRate: -0.590753 m/s,
posRepo size: 4
2025-08-23T22:20:04.728Z,1755987604.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m.
2025-08-23T22:20:04.735Z,1755987604.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.050009 m,
nav range: 23.898336 m,
bearing: 126.416305 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.096431 deg/s,
cmd heading: 131.348130 deg,
new cmd heading: 131.273007 deg.
2025-08-23T22:20:04.736Z,1755987604.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.291146 target range: 24.050009 and range: 24.20 m.
2025-08-23T22:20:04.811Z,1755987604.811 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.207048
2025-08-23T22:20:05.063Z,1755987605.063 [DAT](INFO): DAT read: Rx Time:22:20:04.4665
2025-08-23T22:20:05.064Z,1755987605.064 [DAT](INFO): Rx dataTimestamp_ set to:1755987605.063395
2025-08-23T22:20:05.065Z,1755987605.065 [DAT](INFO): DAT read: Bearing 307.2, -8.9 (Local)
2025-08-23T22:20:05.065Z,1755987605.065 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.2, -8.9 (Local)
2025-08-23T22:20:05.067Z,1755987605.067 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.4
2025-08-23T22:20:05.072Z,1755987605.072 [DAT](INFO): DAT read: 22:20:04.4665 LVL= 25392, 28273, 20770, 32755, AGC= 56, IDX= 500, 0.25,-1.620, 2.993,-1.148,-1.751, PHS= 0.233,-1.494, 0.559, RAW= 158.5, 7.4, CAL= 158.0, 7.5, ROT= 352.0, -7.5
2025-08-23T22:20:05.073Z,1755987605.073 [DAT](INFO): got valid direction response:
22:20:04.4665 LVL= 25392, 28273, 20770, 32755, AGC= 56, IDX= 500, 0.25,-1.620, 2.993,-1.148,-1.751, PHS= 0.233,-1.494, 0.559, RAW= 158.5, 7.4, CAL= 158.0, 7.5, ROT= 352.0, -7.5
2025-08-23T22:20:05.073Z,1755987605.073 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-23T22:20:05.074Z,1755987605.074 [DAT](INFO): direction in FSK: [0.981796,-0.137982,0.130526]
2025-08-23T22:20:05.075Z,1755987605.075 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:05.082Z,1755987605.082 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.478603
2025-08-23T22:20:05.256Z,1755987605.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.000000 m,
deltaT: 0.503269 s,
deltaX: -0.200001 m,
approachRate: -0.397403 m/s,
rangeRepo size: 4
2025-08-23T22:20:05.271Z,1755987605.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.851248 m,
bearing: 126.354040 deg,
lat: 36.779412 deg,
lon: -121.859576 deg,
deltaT: 0.503269 s,
deltaX: -0.198761 m,
approachRate: -0.394940 m/s,
posRepo size: 4
2025-08-23T22:20:05.271Z,1755987605.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-23T22:20:05.279Z,1755987605.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.851248 m,
nav range: 23.704628 m,
bearing: 126.368175 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.096431 deg/s,
cmd heading: 131.273012 deg,
new cmd heading: 131.169853 deg.
2025-08-23T22:20:05.280Z,1755987605.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289346 target range: 23.851248 and range: 24.00 m.
2025-08-23T22:20:05.315Z,1755987605.315 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.710953
2025-08-23T22:20:05.567Z,1755987605.567 [DAT](INFO): DAT read: Rx Time:22:20:04.9663
2025-08-23T22:20:05.567Z,1755987605.567 [DAT](INFO): Rx dataTimestamp_ set to:1755987605.567125
2025-08-23T22:20:05.569Z,1755987605.569 [DAT](INFO): DAT read: Bearing 307.3, -9.2 (Local)
2025-08-23T22:20:05.569Z,1755987605.569 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.3, -9.2 (Local)
2025-08-23T22:20:05.571Z,1755987605.571 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4
2025-08-23T22:20:05.575Z,1755987605.575 [DAT](INFO): DAT read: 22:20:04.9663 LVL= 23888, 30353, 20818, 32755, AGC= 55, IDX= 498,-0.20, 2.183, 0.544, 2.660, 2.065, PHS= 0.221,-1.475, 0.552, RAW= 158.8, 7.5, CAL= 158.3, 7.6, ROT= 351.7, -7.6
2025-08-23T22:20:05.576Z,1755987605.576 [DAT](INFO): got valid direction response:
22:20:04.9663 LVL= 23888, 30353, 20818, 32755, AGC= 55, IDX= 498,-0.20, 2.183, 0.544, 2.660, 2.065, PHS= 0.221,-1.475, 0.552, RAW= 158.8, 7.5, CAL= 158.3, 7.6, ROT= 351.7, -7.6
2025-08-23T22:20:05.577Z,1755987605.577 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-23T22:20:05.582Z,1755987605.582 [DAT](INFO): direction in FSK: [0.980833,-0.143088,0.132256]
2025-08-23T22:20:05.582Z,1755987605.582 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:05.586Z,1755987605.586 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.982168
2025-08-23T22:20:05.744Z,1755987605.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.700001 m,
deltaT: 0.503730 s,
deltaX: -0.299999 m,
approachRate: -0.595556 m/s,
rangeRepo size: 4
2025-08-23T22:20:05.751Z,1755987605.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.552845 m,
bearing: 125.992678 deg,
lat: 36.779412 deg,
lon: -121.859576 deg,
deltaT: 0.503730 s,
deltaX: -0.298403 m,
approachRate: -0.592386 m/s,
posRepo size: 4
2025-08-23T22:20:05.751Z,1755987605.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-23T22:20:05.758Z,1755987605.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.552845 m,
nav range: 23.438271 m,
bearing: 126.230985 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.096431 deg/s,
cmd heading: 131.169849 deg,
new cmd heading: 131.074384 deg.
2025-08-23T22:20:05.763Z,1755987605.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287680 target range: 23.552845 and range: 23.70 m.
2025-08-23T22:20:05.820Z,1755987605.820 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.215801
2025-08-23T22:20:06.071Z,1755987606.071 [DAT](INFO): DAT read: Rx Time:22:20:05.4661
2025-08-23T22:20:06.072Z,1755987606.072 [DAT](INFO): Rx dataTimestamp_ set to:1755987606.071328
2025-08-23T22:20:06.073Z,1755987606.073 [DAT](INFO): DAT read: Bearing 307.1, -9.0 (Local)
2025-08-23T22:20:06.073Z,1755987606.073 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.1, -9.0 (Local)
2025-08-23T22:20:06.076Z,1755987606.076 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4
2025-08-23T22:20:06.080Z,1755987606.080 [DAT](INFO): DAT read: 22:20:05.4661 LVL= 25952, 28273, 22146, 32755, AGC= 56, IDX= 496, 0.16,-2.467, 2.143,-1.991,-2.598, PHS= 0.233,-1.497, 0.563, RAW= 158.6, 7.4, CAL= 158.1, 7.4, ROT= 351.9, -7.4
2025-08-23T22:20:06.082Z,1755987606.082 [DAT](INFO): got valid direction response:
22:20:05.4661 LVL= 25952, 28273, 22146, 32755, AGC= 56, IDX= 496, 0.16,-2.467, 2.143,-1.991,-2.598, PHS= 0.233,-1.497, 0.563, RAW= 158.6, 7.4, CAL= 158.1, 7.4, ROT= 351.9, -7.4
2025-08-23T22:20:06.082Z,1755987606.082 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-23T22:20:06.083Z,1755987606.083 [DAT](INFO): direction in FSK: [0.981778,-0.139728,0.128796]
2025-08-23T22:20:06.083Z,1755987606.083 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:06.088Z,1755987606.088 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.484028
2025-08-23T22:20:06.105Z,1755987606.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.400000 m,
deltaT: 0.504203 s,
deltaX: -0.300001 m,
approachRate: -0.595001 m/s,
rangeRepo size: 4
2025-08-23T22:20:06.111Z,1755987606.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.254707 m,
bearing: 126.158251 deg,
lat: 36.779412 deg,
lon: -121.859576 deg,
deltaT: 0.504203 s,
deltaX: -0.298138 m,
approachRate: -0.591305 m/s,
posRepo size: 4
2025-08-23T22:20:06.112Z,1755987606.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-23T22:20:06.119Z,1755987606.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.254707 m,
nav range: 23.233044 m,
bearing: 126.058296 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.096431 deg/s,
cmd heading: 131.074390 deg,
new cmd heading: 131.004785 deg.
2025-08-23T22:20:06.120Z,1755987606.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286465 target range: 23.254707 and range: 23.40 m.
2025-08-23T22:20:06.323Z,1755987606.323 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.719074
2025-08-23T22:20:06.558Z,1755987606.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:06.560Z,1755987606.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-23T22:20:06.567Z,1755987606.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.254707 m,
nav range: 22.998756 m,
bearing: 125.996729 deg,
approach rate: -0.513979 m/s,
LOS rate: -0.136442 deg/s,
cmd heading: 131.004790 deg,
new cmd heading: 130.880402 deg.
2025-08-23T22:20:06.568Z,1755987606.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284294 target range: 23.254707 and range: 23.40 m.
2025-08-23T22:20:06.575Z,1755987606.575 [DAT](INFO): DAT read: Rx Time:22:20:05.9659
2025-08-23T22:20:06.576Z,1755987606.576 [DAT](INFO): Rx dataTimestamp_ set to:1755987606.575394
2025-08-23T22:20:06.577Z,1755987606.577 [DAT](INFO): DAT read: Bearing 307.5, -9.5 (Local)
2025-08-23T22:20:06.577Z,1755987606.577 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.5, -9.5 (Local)
2025-08-23T22:20:06.579Z,1755987606.579 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.4
2025-08-23T22:20:06.588Z,1755987606.588 [DAT](INFO): DAT read: 22:20:05.9659 LVL= 24704, 27825, 20690, 32755, AGC= 55, IDX= 510,-0.28, 0.794,-0.849, 1.282, 0.684, PHS= 0.211,-1.489, 0.554, RAW= 159.0, 7.7, CAL= 158.5, 7.8, ROT= 351.5, -7.8
2025-08-23T22:20:06.589Z,1755987606.589 [DAT](INFO): got valid direction response:
22:20:05.9659 LVL= 24704, 27825, 20690, 32755, AGC= 55, IDX= 510,-0.28, 0.794,-0.849, 1.282, 0.684, PHS= 0.211,-1.489, 0.554, RAW= 159.0, 7.7, CAL= 158.5, 7.8, ROT= 351.5, -7.8
2025-08-23T22:20:06.589Z,1755987606.589 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-23T22:20:06.590Z,1755987606.590 [DAT](INFO): direction in FSK: [0.979865,-0.146442,0.135716]
2025-08-23T22:20:06.591Z,1755987606.591 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:06.594Z,1755987606.594 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.990814
2025-08-23T22:20:06.827Z,1755987606.827 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.222939
2025-08-23T22:20:06.918Z,1755987606.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.100000 m,
deltaT: 0.504066 s,
deltaX: -0.299999 m,
approachRate: -0.595159 m/s,
rangeRepo size: 4
2025-08-23T22:20:06.920Z,1755987606.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.956306 m,
bearing: 125.706547 deg,
lat: 36.779413 deg,
lon: -121.859576 deg,
deltaT: 0.504066 s,
deltaX: -0.298401 m,
approachRate: -0.591988 m/s,
posRepo size: 4
2025-08-23T22:20:06.921Z,1755987606.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-08-23T22:20:06.940Z,1755987606.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.956306 m,
nav range: 22.807058 m,
bearing: 125.899375 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136442 deg/s,
cmd heading: 130.880399 deg,
new cmd heading: 130.782987 deg.
2025-08-23T22:20:06.941Z,1755987606.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282594 target range: 22.956306 and range: 23.10 m.
2025-08-23T22:20:07.081Z,1755987607.081 [DAT](INFO): DAT read: Rx Time:22:20:06.4658
2025-08-23T22:20:07.081Z,1755987607.081 [DAT](INFO): Rx dataTimestamp_ set to:1755987607.080807
2025-08-23T22:20:07.083Z,1755987607.083 [DAT](INFO): DAT read: Bearing 307.3, -9.6 (Local)
2025-08-23T22:20:07.084Z,1755987607.084 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.3, -9.6 (Local)
2025-08-23T22:20:07.087Z,1755987607.087 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.4
2025-08-23T22:20:07.094Z,1755987607.094 [DAT](INFO): DAT read: 22:20:06.4658 LVL= 27152, 28721, 25074, 32755, AGC= 55, IDX= 509, 0.12,-2.497, 2.130,-2.005,-2.610, PHS= 0.216,-1.498, 0.561, RAW= 159.0, 7.6, CAL= 158.5, 7.7, ROT= 351.5, -7.7
2025-08-23T22:20:07.095Z,1755987607.095 [DAT](INFO): got valid direction response:
22:20:06.4658 LVL= 27152, 28721, 25074, 32755, AGC= 55, IDX= 509, 0.12,-2.497, 2.130,-2.005,-2.610, PHS= 0.216,-1.498, 0.561, RAW= 159.0, 7.6, CAL= 158.5, 7.7, ROT= 351.5, -7.7
2025-08-23T22:20:07.096Z,1755987607.096 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-23T22:20:07.097Z,1755987607.097 [DAT](INFO): direction in FSK: [0.980098,-0.146477,0.133986]
2025-08-23T22:20:07.097Z,1755987607.097 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:07.100Z,1755987607.100 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.496750
2025-08-23T22:20:07.331Z,1755987607.331 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.727045
2025-08-23T22:20:07.434Z,1755987607.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.000000 m,
deltaT: 0.505413 s,
deltaX: -0.100000 m,
approachRate: -0.197859 m/s,
rangeRepo size: 4
2025-08-23T22:20:07.436Z,1755987607.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.856928 m,
bearing: 125.666767 deg,
lat: 36.779413 deg,
lon: -121.859575 deg,
deltaT: 0.505413 s,
deltaX: -0.099379 m,
approachRate: -0.196628 m/s,
posRepo size: 4
2025-08-23T22:20:07.437Z,1755987607.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-08-23T22:20:07.445Z,1755987607.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.856928 m,
nav range: 22.600576 m,
bearing: 125.780816 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136442 deg/s,
cmd heading: 130.782987 deg,
new cmd heading: 130.643262 deg.
2025-08-23T22:20:07.452Z,1755987607.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280155 target range: 22.856928 and range: 23.00 m.
2025-08-23T22:20:07.584Z,1755987607.584 [DAT](INFO): DAT read: Rx Time:22:20:06.9656
2025-08-23T22:20:07.585Z,1755987607.585 [DAT](INFO): Rx dataTimestamp_ set to:1755987607.584426
2025-08-23T22:20:07.593Z,1755987607.593 [DAT](INFO): DAT read: Bearing 307.5, -9.7 (Local)
2025-08-23T22:20:07.593Z,1755987607.593 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.5, -9.7 (Local)
2025-08-23T22:20:07.600Z,1755987607.600 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.4
2025-08-23T22:20:07.621Z,1755987607.621 [DAT](INFO): DAT read: 22:20:06.9656 LVL= 27632, 28657, 23202, 32755, AGC= 56, IDX= 507,-0.34, 0.929,-0.732, 1.423, 0.820, PHS= 0.211,-1.506, 0.559, RAW= 159.1, 7.7, CAL= 158.6, 7.9, ROT= 351.4, -7.9
2025-08-23T22:20:07.626Z,1755987607.626 [DAT](INFO): got valid direction response:
22:20:06.9656 LVL= 27632, 28657, 23202, 32755, AGC= 56, IDX= 507,-0.34, 0.929,-0.732, 1.423, 0.820, PHS= 0.211,-1.506, 0.559, RAW= 159.1, 7.7, CAL= 158.6, 7.9, ROT= 351.4, -7.9
2025-08-23T22:20:07.627Z,1755987607.627 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-23T22:20:07.628Z,1755987607.628 [DAT](INFO): direction in FSK: [0.979373,-0.148116,0.137445]
2025-08-23T22:20:07.628Z,1755987607.628 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:07.636Z,1755987607.636 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.032379
2025-08-23T22:20:07.819Z,1755987607.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.700001 m,
deltaT: 0.503619 s,
deltaX: -0.299999 m,
approachRate: -0.595687 m/s,
rangeRepo size: 4
2025-08-23T22:20:07.821Z,1755987607.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.558756 m,
bearing: 125.539468 deg,
lat: 36.779413 deg,
lon: -121.859575 deg,
deltaT: 0.503619 s,
deltaX: -0.298172 m,
approachRate: -0.592059 m/s,
posRepo size: 4
2025-08-23T22:20:07.822Z,1755987607.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-08-23T22:20:07.824Z,1755987607.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.558756 m,
nav range: 22.427635 m,
bearing: 125.702227 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136442 deg/s,
cmd heading: 130.643269 deg,
new cmd heading: 130.538389 deg.
2025-08-23T22:20:07.826Z,1755987607.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278325 target range: 22.558756 and range: 22.70 m.
2025-08-23T22:20:07.835Z,1755987607.835 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.230976
2025-08-23T22:20:08.087Z,1755987608.087 [DAT](INFO): DAT read: Rx Time:22:20:07.4655
2025-08-23T22:20:08.088Z,1755987608.088 [DAT](INFO): Rx dataTimestamp_ set to:1755987608.087292
2025-08-23T22:20:08.089Z,1755987608.089 [DAT](INFO): DAT read: Bearing 307.1, -9.8 (Local)
2025-08-23T22:20:08.089Z,1755987608.089 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.1, -9.8 (Local)
2025-08-23T22:20:08.091Z,1755987608.091 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.4
2025-08-23T22:20:08.096Z,1755987608.096 [DAT](INFO): DAT read: 22:20:07.4655 LVL= 23648, 28721, 21026, 32755, AGC= 55, IDX= 506, 0.07,-3.029, 1.611,-2.538, 3.140, PHS= 0.216,-1.485, 0.561, RAW= 159.1, 7.5, CAL= 158.6, 7.6, ROT= 351.4, -7.6
2025-08-23T22:20:08.097Z,1755987608.097 [DAT](INFO): got valid direction response:
22:20:07.4655 LVL= 23648, 28721, 21026, 32755, AGC= 55, IDX= 506, 0.07,-3.029, 1.611,-2.538, 3.140, PHS= 0.216,-1.485, 0.561, RAW= 159.1, 7.5, CAL= 158.6, 7.6, ROT= 351.4, -7.6
2025-08-23T22:20:08.097Z,1755987608.097 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-23T22:20:08.098Z,1755987608.098 [DAT](INFO): direction in FSK: [0.980071,-0.148222,0.132256]
2025-08-23T22:20:08.098Z,1755987608.098 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:08.102Z,1755987608.102 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.498461
2025-08-23T22:20:08.293Z,1755987608.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.500000 m,
deltaT: 0.502866 s,
deltaX: -0.200001 m,
approachRate: -0.397722 m/s,
rangeRepo size: 4
2025-08-23T22:20:08.299Z,1755987608.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.359999 m,
bearing: 125.511571 deg,
lat: 36.779413 deg,
lon: -121.859575 deg,
deltaT: 0.502866 s,
deltaX: -0.198757 m,
approachRate: -0.395249 m/s,
posRepo size: 4
2025-08-23T22:20:08.300Z,1755987608.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-23T22:20:08.307Z,1755987608.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.359999 m,
nav range: 22.217134 m,
bearing: 125.553572 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136442 deg/s,
cmd heading: 130.538384 deg,
new cmd heading: 130.407859 deg.
2025-08-23T22:20:08.307Z,1755987608.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276047 target range: 22.359999 and range: 22.50 m.
2025-08-23T22:20:08.338Z,1755987608.338 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.734739
2025-08-23T22:20:08.591Z,1755987608.591 [DAT](INFO): DAT read: Rx Time:22:20:07.9653
2025-08-23T22:20:08.592Z,1755987608.592 [DAT](INFO): Rx dataTimestamp_ set to:1755987608.591353
2025-08-23T22:20:08.593Z,1755987608.593 [DAT](INFO): DAT read: Bearing 307.2, -10.1 (Local)
2025-08-23T22:20:08.593Z,1755987608.593 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.2, -10.1 (Local)
2025-08-23T22:20:08.595Z,1755987608.595 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4
2025-08-23T22:20:08.600Z,1755987608.600 [DAT](INFO): DAT read: 22:20:07.9653 LVL= 22832, 26945, 20130, 32755, AGC= 55, IDX= 504,-0.44, 1.092,-0.547, 1.595, 0.989, PHS= 0.205,-1.491, 0.562, RAW= 159.4, 7.7, CAL= 158.9, 7.8, ROT= 351.1, -7.8
2025-08-23T22:20:08.601Z,1755987608.601 [DAT](INFO): got valid direction response:
22:20:07.9653 LVL= 22832, 26945, 20130, 32755, AGC= 55, IDX= 504,-0.44, 1.092,-0.547, 1.595, 0.989, PHS= 0.205,-1.491, 0.562, RAW= 159.4, 7.7, CAL= 158.9, 7.8, ROT= 351.1, -7.8
2025-08-23T22:20:08.602Z,1755987608.602 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-23T22:20:08.603Z,1755987608.603 [DAT](INFO): direction in FSK: [0.978819,-0.153279,0.135716]
2025-08-23T22:20:08.603Z,1755987608.603 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:08.619Z,1755987608.619 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.015291
2025-08-23T22:20:08.731Z,1755987608.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.200001 m,
deltaT: 0.504061 s,
deltaX: -0.299999 m,
approachRate: -0.595165 m/s,
rangeRepo size: 4
2025-08-23T22:20:08.746Z,1755987608.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.061941 m,
bearing: 125.172509 deg,
lat: 36.779413 deg,
lon: -121.859574 deg,
deltaT: 0.504061 s,
deltaX: -0.298058 m,
approachRate: -0.591312 m/s,
posRepo size: 4
2025-08-23T22:20:08.746Z,1755987608.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.06 m.
2025-08-23T22:20:08.749Z,1755987608.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.061941 m,
nav range: 22.002106 m,
bearing: 125.410905 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136442 deg/s,
cmd heading: 130.407859 deg,
new cmd heading: 130.288153 deg.
2025-08-23T22:20:08.754Z,1755987608.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.273957 target range: 22.061941 and range: 22.20 m.
2025-08-23T22:20:08.843Z,1755987608.843 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.239111
2025-08-23T22:20:09.080Z,1755987609.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:09.082Z,1755987609.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.06 m.
2025-08-23T22:20:09.085Z,1755987609.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.061941 m,
nav range: 21.815193 m,
bearing: 125.358742 deg,
approach rate: -0.532445 m/s,
LOS rate: -0.149866 deg/s,
cmd heading: 130.288153 deg,
new cmd heading: 130.182934 deg.
2025-08-23T22:20:09.086Z,1755987609.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272121 target range: 22.061941 and range: 22.20 m.
2025-08-23T22:20:09.095Z,1755987609.095 [DAT](INFO): DAT read: Rx Time:22:20:08.4652
2025-08-23T22:20:09.096Z,1755987609.096 [DAT](INFO): Rx dataTimestamp_ set to:1755987609.095337
2025-08-23T22:20:09.097Z,1755987609.097 [DAT](INFO): DAT read: Bearing 307.0, -9.9 (Local)
2025-08-23T22:20:09.097Z,1755987609.097 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.0, -9.9 (Local)
2025-08-23T22:20:09.108Z,1755987609.108 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.4
2025-08-23T22:20:09.125Z,1755987609.125 [DAT](INFO): DAT read: 22:20:08.4652 LVL= 24864, 28833, 21474, 32755, AGC= 56, IDX= 503, 0.02,-2.801, 1.827,-2.305,-2.916, PHS= 0.217,-1.496, 0.567, RAW= 159.1, 7.5, CAL= 158.6, 7.6, ROT= 351.4, -7.6
2025-08-23T22:20:09.155Z,1755987609.155 [DAT](INFO): got valid direction response:
22:20:08.4652 LVL= 24864, 28833, 21474, 32755, AGC= 56, IDX= 503, 0.02,-2.801, 1.827,-2.305,-2.916, PHS= 0.217,-1.496, 0.567, RAW= 159.1, 7.5, CAL= 158.6, 7.6, ROT= 351.4, -7.6
2025-08-23T22:20:09.155Z,1755987609.155 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-23T22:20:09.157Z,1755987609.157 [DAT](INFO): direction in FSK: [0.980071,-0.148222,0.132256]
2025-08-23T22:20:09.157Z,1755987609.157 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:09.191Z,1755987609.191 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.587730
2025-08-23T22:20:09.347Z,1755987609.347 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.743309
2025-08-23T22:20:09.573Z,1755987609.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.100000 m,
deltaT: 0.503984 s,
deltaX: -0.100000 m,
approachRate: -0.198420 m/s,
rangeRepo size: 4
2025-08-23T22:20:09.575Z,1755987609.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.962563 m,
bearing: 125.361080 deg,
lat: 36.779413 deg,
lon: -121.859574 deg,
deltaT: 0.503984 s,
deltaX: -0.099379 m,
approachRate: -0.197186 m/s,
posRepo size: 4
2025-08-23T22:20:09.576Z,1755987609.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m.
2025-08-23T22:20:09.594Z,1755987609.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.962563 m,
nav range: 21.622608 m,
bearing: 125.344362 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.149866 deg/s,
cmd heading: 130.182927 deg,
new cmd heading: 130.035982 deg.
2025-08-23T22:20:09.595Z,1755987609.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269556 target range: 21.962563 and range: 22.10 m.
2025-08-23T22:20:09.599Z,1755987609.599 [DAT](INFO): DAT read: Rx Time:22:20:08.9650
2025-08-23T22:20:09.600Z,1755987609.600 [DAT](INFO): Rx dataTimestamp_ set to:1755987609.599440
2025-08-23T22:20:09.601Z,1755987609.601 [DAT](INFO): DAT read: Bearing 307.0, -10.1 (Local)
2025-08-23T22:20:09.601Z,1755987609.601 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.0, -10.1 (Local)
2025-08-23T22:20:09.603Z,1755987609.603 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.4
2025-08-23T22:20:09.608Z,1755987609.608 [DAT](INFO): DAT read: 22:20:08.9650 LVL= 23776, 29281, 20850, 32755, AGC= 55, IDX= 500, 0.49, 2.722, 1.078,-3.062, 2.614, PHS= 0.210,-1.491, 0.563, RAW= 159.3, 7.6, CAL= 158.8, 7.7, ROT= 351.2, -7.7
2025-08-23T22:20:09.609Z,1755987609.609 [DAT](INFO): got valid direction response:
22:20:08.9650 LVL= 23776, 29281, 20850, 32755, AGC= 55, IDX= 500, 0.49, 2.722, 1.078,-3.062, 2.614, PHS= 0.210,-1.491, 0.563, RAW= 159.3, 7.6, CAL= 158.8, 7.7, ROT= 351.2, -7.7
2025-08-23T22:20:09.614Z,1755987609.614 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-23T22:20:09.615Z,1755987609.615 [DAT](INFO): direction in FSK: [0.979318,-0.151606,0.133986]
2025-08-23T22:20:09.615Z,1755987609.615 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:09.619Z,1755987609.619 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.015341
2025-08-23T22:20:09.851Z,1755987609.851 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.246954
2025-08-23T22:20:09.907Z,1755987609.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.799999 m,
deltaT: 0.504103 s,
deltaX: -0.300001 m,
approachRate: -0.595119 m/s,
rangeRepo size: 4
2025-08-23T22:20:09.909Z,1755987609.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.664314 m,
bearing: 125.100691 deg,
lat: 36.779413 deg,
lon: -121.859574 deg,
deltaT: 0.504103 s,
deltaX: -0.298248 m,
approachRate: -0.591642 m/s,
posRepo size: 4
2025-08-23T22:20:09.918Z,1755987609.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m.
2025-08-23T22:20:09.929Z,1755987609.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.664314 m,
nav range: 21.459669 m,
bearing: 125.271512 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.149866 deg/s,
cmd heading: 130.035983 deg,
new cmd heading: 129.935711 deg.
2025-08-23T22:20:09.931Z,1755987609.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.267806 target range: 21.664314 and range: 21.80 m.
2025-08-23T22:20:10.103Z,1755987610.103 [DAT](INFO): DAT read: Rx Time:22:20:09.4649
2025-08-23T22:20:10.104Z,1755987610.104 [DAT](INFO): Rx dataTimestamp_ set to:1755987610.103494
2025-08-23T22:20:10.105Z,1755987610.105 [DAT](INFO): DAT read: Bearing 307.0, -10.2 (Local)
2025-08-23T22:20:10.105Z,1755987610.105 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.0, -10.2 (Local)
2025-08-23T22:20:10.107Z,1755987610.107 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4
2025-08-23T22:20:10.112Z,1755987610.112 [DAT](INFO): DAT read: 22:20:09.4649 LVL= 23664, 29297, 20370, 32755, AGC= 55, IDX= 500,-0.01, 2.904, 1.268,-2.883, 2.798, PHS= 0.208,-1.485, 0.558, RAW= 159.2, 7.6, CAL= 158.8, 7.8, ROT= 351.2, -7.8
2025-08-23T22:20:10.113Z,1755987610.113 [DAT](INFO): got valid direction response:
22:20:09.4649 LVL= 23664, 29297, 20370, 32755, AGC= 55, IDX= 500,-0.01, 2.904, 1.268,-2.883, 2.798, PHS= 0.208,-1.485, 0.558, RAW= 159.2, 7.6, CAL= 158.8, 7.8, ROT= 351.2, -7.8
2025-08-23T22:20:10.114Z,1755987610.114 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-23T22:20:10.115Z,1755987610.115 [DAT](INFO): direction in FSK: [0.979085,-0.151570,0.135716]
2025-08-23T22:20:10.115Z,1755987610.115 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:10.123Z,1755987610.123 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.518997
2025-08-23T22:20:10.359Z,1755987610.359 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.755335
2025-08-23T22:20:10.410Z,1755987610.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.600000 m,
deltaT: 0.504054 s,
deltaX: -0.199999 m,
approachRate: -0.396781 m/s,
rangeRepo size: 4
2025-08-23T22:20:10.412Z,1755987610.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.465559 m,
bearing: 125.020571 deg,
lat: 36.779413 deg,
lon: -121.859573 deg,
deltaT: 0.504054 s,
deltaX: -0.198755 m,
approachRate: -0.394313 m/s,
posRepo size: 4
2025-08-23T22:20:10.412Z,1755987610.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.47 m.
2025-08-23T22:20:10.419Z,1755987610.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.465559 m,
nav range: 21.325449 m,
bearing: 125.059251 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.149866 deg/s,
cmd heading: 129.935716 deg,
new cmd heading: 129.786340 deg.
2025-08-23T22:20:10.420Z,1755987610.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.265199 target range: 21.465559 and range: 21.60 m.
2025-08-23T22:20:10.611Z,1755987610.611 [DAT](INFO): DAT read: Rx Time:22:20:09.9647
2025-08-23T22:20:10.611Z,1755987610.611 [DAT](INFO): Rx dataTimestamp_ set to:1755987610.611213
2025-08-23T22:20:10.613Z,1755987610.613 [DAT](INFO): DAT read: Bearing 306.9, -10.3 (Local)
2025-08-23T22:20:10.613Z,1755987610.613 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.9, -10.3 (Local)
2025-08-23T22:20:10.619Z,1755987610.619 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4
2025-08-23T22:20:10.624Z,1755987610.624 [DAT](INFO): DAT read: 22:20:09.9647 LVL= 22736, 28849, 20530, 32755, AGC= 55, IDX= 497, 0.46, 2.200, 0.549, 2.702, 2.092, PHS= 0.209,-1.499, 0.566, RAW= 159.3, 7.6, CAL= 158.8, 7.7, ROT= 351.2, -7.7
2025-08-23T22:20:10.625Z,1755987610.625 [DAT](INFO): got valid direction response:
22:20:09.9647 LVL= 22736, 28849, 20530, 32755, AGC= 55, IDX= 497, 0.46, 2.200, 0.549, 2.702, 2.092, PHS= 0.209,-1.499, 0.566, RAW= 159.3, 7.6, CAL= 158.8, 7.7, ROT= 351.2, -7.7
2025-08-23T22:20:10.625Z,1755987610.625 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-23T22:20:10.626Z,1755987610.626 [DAT](INFO): direction in FSK: [0.979318,-0.151606,0.133986]
2025-08-23T22:20:10.626Z,1755987610.626 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:10.630Z,1755987610.630 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.026268
2025-08-23T22:20:10.783Z,1755987610.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.299999 m,
deltaT: 0.507719 s,
deltaX: -0.300001 m,
approachRate: -0.590880 m/s,
rangeRepo size: 4
2025-08-23T22:20:10.794Z,1755987610.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.167406 m,
bearing: 124.947691 deg,
lat: 36.779413 deg,
lon: -121.859573 deg,
deltaT: 0.507719 s,
deltaX: -0.298153 m,
approachRate: -0.587240 m/s,
posRepo size: 4
2025-08-23T22:20:10.796Z,1755987610.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.17 m.
2025-08-23T22:20:10.803Z,1755987610.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.167406 m,
nav range: 21.156664 m,
bearing: 124.975934 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.149866 deg/s,
cmd heading: 129.786339 deg,
new cmd heading: 129.673083 deg.
2025-08-23T22:20:10.804Z,1755987610.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263222 target range: 21.167406 and range: 21.30 m.
2025-08-23T22:20:10.864Z,1755987610.864 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.260090
2025-08-23T22:20:11.115Z,1755987611.115 [DAT](INFO): DAT read: Rx Time:22:20:10.4646
2025-08-23T22:20:11.116Z,1755987611.116 [DAT](INFO): Rx dataTimestamp_ set to:1755987611.115532
2025-08-23T22:20:11.117Z,1755987611.117 [DAT](INFO): DAT read: Bearing 307.1, -10.4 (Local)
2025-08-23T22:20:11.117Z,1755987611.117 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.1, -10.4 (Local)
2025-08-23T22:20:11.119Z,1755987611.119 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4
2025-08-23T22:20:11.136Z,1755987611.136 [DAT](INFO): DAT read: 22:20:10.4646 LVL= 23984, 26801, 21650, 32755, AGC= 55, IDX= 497,-0.00, 2.627, 0.983, 3.130, 2.527, PHS= 0.202,-1.500, 0.559, RAW= 159.3, 7.8, CAL= 158.9, 8.0, ROT= 351.1, -8.0
2025-08-23T22:20:11.137Z,1755987611.137 [DAT](INFO): got valid direction response:
22:20:10.4646 LVL= 23984, 26801, 21650, 32755, AGC= 55, IDX= 497,-0.00, 2.627, 0.983, 3.130, 2.527, PHS= 0.202,-1.500, 0.559, RAW= 159.3, 7.8, CAL= 158.9, 8.0, ROT= 351.1, -8.0
2025-08-23T22:20:11.137Z,1755987611.137 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-23T22:20:11.138Z,1755987611.138 [DAT](INFO): direction in FSK: [0.978345,-0.153205,0.139173]
2025-08-23T22:20:11.139Z,1755987611.139 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:11.150Z,1755987611.150 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.546738
2025-08-23T22:20:11.318Z,1755987611.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.200001 m,
deltaT: 0.504319 s,
deltaX: -0.099998 m,
approachRate: -0.198284 m/s,
rangeRepo size: 4
2025-08-23T22:20:11.320Z,1755987611.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.068031 m,
bearing: 124.678821 deg,
lat: 36.779413 deg,
lon: -121.859573 deg,
deltaT: 0.504319 s,
deltaX: -0.099375 m,
approachRate: -0.197047 m/s,
posRepo size: 4
2025-08-23T22:20:11.321Z,1755987611.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-08-23T22:20:11.328Z,1755987611.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.068031 m,
nav range: 20.942724 m,
bearing: 124.855762 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.149866 deg/s,
cmd heading: 129.673081 deg,
new cmd heading: 129.514164 deg.
2025-08-23T22:20:11.329Z,1755987611.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.260449 target range: 21.068031 and range: 21.20 m.
2025-08-23T22:20:11.367Z,1755987611.367 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.763100
2025-08-23T22:20:11.620Z,1755987611.620 [DAT](INFO): DAT read: Rx Time:22:20:10.9644
2025-08-23T22:20:11.620Z,1755987611.620 [DAT](INFO): Rx dataTimestamp_ set to:1755987611.619758
2025-08-23T22:20:11.621Z,1755987611.621 [DAT](INFO): DAT read: Bearing 306.4, -10.1 (Local)
2025-08-23T22:20:11.622Z,1755987611.622 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.4, -10.1 (Local)
2025-08-23T22:20:11.624Z,1755987611.624 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4
2025-08-23T22:20:11.628Z,1755987611.628 [DAT](INFO): DAT read: 22:20:10.9644 LVL= 21648, 27681, 19938, 32755, AGC= 54, IDX= 510, 0.47, 2.009, 0.360, 2.504, 1.890, PHS= 0.221,-1.485, 0.570, RAW= 159.1, 7.3, CAL= 158.6, 7.4, ROT= 351.4, -7.4
2025-08-23T22:20:11.629Z,1755987611.629 [DAT](INFO): got valid direction response:
22:20:10.9644 LVL= 21648, 27681, 19938, 32755, AGC= 54, IDX= 510, 0.47, 2.009, 0.360, 2.504, 1.890, PHS= 0.221,-1.485, 0.570, RAW= 159.1, 7.3, CAL= 158.6, 7.4, ROT= 351.4, -7.4
2025-08-23T22:20:11.630Z,1755987611.630 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-23T22:20:11.630Z,1755987611.630 [DAT](INFO): direction in FSK: [0.980521,-0.148290,0.128796]
2025-08-23T22:20:11.631Z,1755987611.631 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:11.634Z,1755987611.634 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.030655
2025-08-23T22:20:11.808Z,1755987611.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.900000 m,
deltaT: 0.504226 s,
deltaX: -0.300001 m,
approachRate: -0.594974 m/s,
rangeRepo size: 4
2025-08-23T22:20:11.815Z,1755987611.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.769707 m,
bearing: 124.987100 deg,
lat: 36.779413 deg,
lon: -121.859573 deg,
deltaT: 0.504226 s,
deltaX: -0.298325 m,
approachRate: -0.591649 m/s,
posRepo size: 4
2025-08-23T22:20:11.816Z,1755987611.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m.
2025-08-23T22:20:11.823Z,1755987611.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.769707 m,
nav range: 20.653954 m,
bearing: 124.823277 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.149866 deg/s,
cmd heading: 129.514170 deg,
new cmd heading: 129.365896 deg.
2025-08-23T22:20:11.824Z,1755987611.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257861 target range: 20.769707 and range: 20.90 m.
2025-08-23T22:20:11.871Z,1755987611.871 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.267063
2025-08-23T22:20:12.123Z,1755987612.123 [DAT](INFO): DAT read: Rx Time:22:20:11.4643
2025-08-23T22:20:12.124Z,1755987612.124 [DAT](INFO): Rx dataTimestamp_ set to:1755987612.123251
2025-08-23T22:20:12.125Z,1755987612.125 [DAT](INFO): DAT read: Bearing 306.8, -10.4 (Local)
2025-08-23T22:20:12.125Z,1755987612.125 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.8, -10.4 (Local)
2025-08-23T22:20:12.127Z,1755987612.127 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.4
2025-08-23T22:20:12.132Z,1755987612.132 [DAT](INFO): DAT read: 22:20:11.4643 LVL= 24896, 27201, 22306, 32755, AGC= 55, IDX= 510, 0.01, 2.469, 0.804, 2.974, 2.363, PHS= 0.208,-1.515, 0.567, RAW= 159.3, 7.7, CAL= 158.8, 7.9, ROT= 351.2, -7.9
2025-08-23T22:20:12.133Z,1755987612.133 [DAT](INFO): got valid direction response:
22:20:11.4643 LVL= 24896, 27201, 22306, 32755, AGC= 55, IDX= 510, 0.01, 2.469, 0.804, 2.974, 2.363, PHS= 0.208,-1.515, 0.567, RAW= 159.3, 7.7, CAL= 158.8, 7.9, ROT= 351.2, -7.9
2025-08-23T22:20:12.154Z,1755987612.154 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-23T22:20:12.155Z,1755987612.155 [DAT](INFO): direction in FSK: [0.978850,-0.151534,0.137445]
2025-08-23T22:20:12.155Z,1755987612.155 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:12.158Z,1755987612.158 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.554775
2025-08-23T22:20:12.348Z,1755987612.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.700001 m,
deltaT: 0.503493 s,
deltaX: -0.199999 m,
approachRate: -0.397223 m/s,
rangeRepo size: 4
2025-08-23T22:20:12.354Z,1755987612.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.570953 m,
bearing: 124.604647 deg,
lat: 36.779413 deg,
lon: -121.859573 deg,
deltaT: 0.503493 s,
deltaX: -0.198753 m,
approachRate: -0.394749 m/s,
posRepo size: 4
2025-08-23T22:20:12.355Z,1755987612.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-08-23T22:20:12.362Z,1755987612.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.570953 m,
nav range: 20.431854 m,
bearing: 124.667839 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.149866 deg/s,
cmd heading: 129.365900 deg,
new cmd heading: 129.204168 deg.
2025-08-23T22:20:12.363Z,1755987612.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255038 target range: 20.570953 and range: 20.70 m.
2025-08-23T22:20:12.375Z,1755987612.375 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.770927
2025-08-23T22:20:12.630Z,1755987612.630 [DAT](INFO): DAT read: Rx Time:22:20:11.9641
2025-08-23T22:20:12.631Z,1755987612.631 [DAT](INFO): Rx dataTimestamp_ set to:1755987612.630235
2025-08-23T22:20:12.632Z,1755987612.632 [DAT](INFO): DAT read: Bearing 307.0, -10.4 (Local)
2025-08-23T22:20:12.632Z,1755987612.632 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.0, -10.4 (Local)
2025-08-23T22:20:12.667Z,1755987612.667 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4
2025-08-23T22:20:12.671Z,1755987612.671 [DAT](INFO): DAT read: 22:20:11.9641 LVL= 22336, 27921, 21362, 32755, AGC= 54, IDX= 508,-0.47, 0.647,-0.997, 1.145, 0.548, PHS= 0.201,-1.500, 0.553, RAW= 159.2, 7.9, CAL= 158.8, 8.1, ROT= 351.2, -8.1
2025-08-23T22:20:12.672Z,1755987612.672 [DAT](INFO): got valid direction response:
22:20:11.9641 LVL= 22336, 27921, 21362, 32755, AGC= 54, IDX= 508,-0.47, 0.647,-0.997, 1.145, 0.548, PHS= 0.201,-1.500, 0.553, RAW= 159.2, 7.9, CAL= 158.8, 8.1, ROT= 351.2, -8.1
2025-08-23T22:20:12.673Z,1755987612.673 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-23T22:20:12.698Z,1755987612.698 [DAT](INFO): direction in FSK: [0.978370,-0.151459,0.140901]
2025-08-23T22:20:12.698Z,1755987612.698 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:12.713Z,1755987612.713 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.106445
2025-08-23T22:20:12.861Z,1755987612.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.400000 m,
deltaT: 0.506984 s,
deltaX: -0.300001 m,
approachRate: -0.591737 m/s,
rangeRepo size: 4
2025-08-23T22:20:12.867Z,1755987612.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.272669 m,
bearing: 124.485480 deg,
lat: 36.779413 deg,
lon: -121.859572 deg,
deltaT: 0.506984 s,
deltaX: -0.298285 m,
approachRate: -0.588351 m/s,
posRepo size: 4
2025-08-23T22:20:12.868Z,1755987612.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-23T22:20:12.875Z,1755987612.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.272669 m,
nav range: 20.162422 m,
bearing: 124.487392 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.149866 deg/s,
cmd heading: 129.204175 deg,
new cmd heading: 129.050507 deg.
2025-08-23T22:20:12.875Z,1755987612.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252356 target range: 20.272669 and range: 20.40 m.
2025-08-23T22:20:12.879Z,1755987612.879 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.274982
2025-08-23T22:20:13.131Z,1755987613.131 [DAT](INFO): DAT read: Rx Time:22:20:12.4639
2025-08-23T22:20:13.132Z,1755987613.132 [DAT](INFO): Rx dataTimestamp_ set to:1755987613.131351
2025-08-23T22:20:13.133Z,1755987613.133 [DAT](INFO): DAT read: Bearing 306.6, -10.2 (Local)
2025-08-23T22:20:13.133Z,1755987613.133 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.6, -10.2 (Local)
2025-08-23T22:20:13.135Z,1755987613.135 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.4
2025-08-23T22:20:13.140Z,1755987613.140 [DAT](INFO): DAT read: 22:20:12.4639 LVL= 22704, 28625, 22194, 32755, AGC= 54, IDX= 506, 0.05, 1.499,-0.156, 1.992, 1.389, PHS= 0.212,-1.501, 0.559, RAW= 159.0, 7.7, CAL= 158.6, 7.8, ROT= 351.4, -7.8
2025-08-23T22:20:13.141Z,1755987613.141 [DAT](INFO): got valid direction response:
22:20:12.4639 LVL= 22704, 28625, 22194, 32755, AGC= 54, IDX= 506, 0.05, 1.499,-0.156, 1.992, 1.389, PHS= 0.212,-1.501, 0.559, RAW= 159.0, 7.7, CAL= 158.6, 7.8, ROT= 351.4, -7.8
2025-08-23T22:20:13.141Z,1755987613.141 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-23T22:20:13.142Z,1755987613.142 [DAT](INFO): direction in FSK: [0.979608,-0.148152,0.135716]
2025-08-23T22:20:13.143Z,1755987613.143 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:13.170Z,1755987613.170 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.566696
2025-08-23T22:20:13.259Z,1755987613.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.100000 m,
deltaT: 0.501116 s,
deltaX: -0.299999 m,
approachRate: -0.598662 m/s,
rangeRepo size: 4
2025-08-23T22:20:13.261Z,1755987613.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.974543 m,
bearing: 124.534485 deg,
lat: 36.779413 deg,
lon: -121.859572 deg,
deltaT: 0.501116 s,
deltaX: -0.298126 m,
approachRate: -0.594925 m/s,
posRepo size: 4
2025-08-23T22:20:13.266Z,1755987613.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-23T22:20:13.292Z,1755987613.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.974543 m,
nav range: 19.980026 m,
bearing: 124.429699 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.149866 deg/s,
cmd heading: 129.050509 deg,
new cmd heading: 128.931023 deg.
2025-08-23T22:20:13.300Z,1755987613.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250271 target range: 19.974543 and range: 20.10 m.
2025-08-23T22:20:13.383Z,1755987613.383 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.779774
2025-08-23T22:20:13.630Z,1755987613.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:13.632Z,1755987613.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-23T22:20:13.635Z,1755987613.635 [DAT](INFO): DAT read: Rx Time:22:20:12.9637
2025-08-23T22:20:13.636Z,1755987613.636 [DAT](INFO): Rx dataTimestamp_ set to:1755987613.635382
2025-08-23T22:20:13.637Z,1755987613.637 [DAT](INFO): DAT read: Bearing 306.8, -10.3 (Local)
2025-08-23T22:20:13.637Z,1755987613.637 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.8, -10.3 (Local)
2025-08-23T22:20:13.639Z,1755987613.639 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4
2025-08-23T22:20:13.648Z,1755987613.648 [DAT](INFO): DAT read: 22:20:12.9637 LVL= 22832, 30481, 22610, 32755, AGC= 54, IDX= 504,-0.39,-0.965,-2.611,-0.473,-1.067, PHS= 0.204,-1.499, 0.550, RAW= 159.1, 7.9, CAL= 158.6, 8.1, ROT= 351.4, -8.1
2025-08-23T22:20:13.649Z,1755987613.649 [DAT](INFO): got valid direction response:
22:20:12.9637 LVL= 22832, 30481, 22610, 32755, AGC= 54, IDX= 504,-0.39,-0.965,-2.611,-0.473,-1.067, PHS= 0.204,-1.499, 0.550, RAW= 159.1, 7.9, CAL= 158.6, 8.1, ROT= 351.4, -8.1
2025-08-23T22:20:13.655Z,1755987613.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.974543 m,
nav range: 19.791647 m,
bearing: 124.378849 deg,
approach rate: -0.504677 m/s,
LOS rate: -0.137526 deg/s,
cmd heading: 128.931022 deg,
new cmd heading: 128.828354 deg.
2025-08-23T22:20:13.656Z,1755987613.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.248479 target range: 19.974543 and range: 20.10 m.
2025-08-23T22:20:13.653Z,1755987613.653 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-23T22:20:13.658Z,1755987613.658 [DAT](INFO): direction in FSK: [0.978892,-0.148044,0.140901]
2025-08-23T22:20:13.659Z,1755987613.659 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:13.670Z,1755987613.670 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.066753
2025-08-23T22:20:13.887Z,1755987613.887 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.282951
2025-08-23T22:20:14.065Z,1755987614.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.799999 m,
deltaT: 0.504031 s,
deltaX: -0.300001 m,
approachRate: -0.595204 m/s,
rangeRepo size: 4
2025-08-23T22:20:14.067Z,1755987614.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.676414 m,
bearing: 124.362397 deg,
lat: 36.779413 deg,
lon: -121.859573 deg,
deltaT: 0.504031 s,
deltaX: -0.298128 m,
approachRate: -0.591488 m/s,
posRepo size: 4
2025-08-23T22:20:14.068Z,1755987614.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m.
2025-08-23T22:20:14.079Z,1755987614.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.676414 m,
nav range: 19.574230 m,
bearing: 124.368387 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.137526 deg/s,
cmd heading: 128.828351 deg,
new cmd heading: 128.709474 deg.
2025-08-23T22:20:14.080Z,1755987614.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.246404 target range: 19.676414 and range: 19.80 m.
2025-08-23T22:20:14.139Z,1755987614.139 [DAT](INFO): DAT read: Rx Time:22:20:13.4636
2025-08-23T22:20:14.140Z,1755987614.140 [DAT](INFO): Rx dataTimestamp_ set to:1755987614.139390
2025-08-23T22:20:14.141Z,1755987614.141 [DAT](INFO): DAT read: Bearing 306.3, -10.1 (Local)
2025-08-23T22:20:14.141Z,1755987614.141 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.3, -10.1 (Local)
2025-08-23T22:20:14.143Z,1755987614.143 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.4
2025-08-23T22:20:14.148Z,1755987614.148 [DAT](INFO): DAT read: 22:20:13.4636 LVL= 22160, 27537, 19698, 32755, AGC= 53, IDX= 503, 0.10, 1.182,-0.472, 1.666, 1.067, PHS= 0.218,-1.494, 0.555, RAW= 158.8, 7.6, CAL= 158.4, 7.8, ROT= 351.6, -7.8
2025-08-23T22:20:14.149Z,1755987614.149 [DAT](INFO): got valid direction response:
22:20:13.4636 LVL= 22160, 27537, 19698, 32755, AGC= 53, IDX= 503, 0.10, 1.182,-0.472, 1.666, 1.067, PHS= 0.218,-1.494, 0.555, RAW= 158.8, 7.6, CAL= 158.4, 7.8, ROT= 351.6, -7.8
2025-08-23T22:20:14.150Z,1755987614.150 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-23T22:20:14.151Z,1755987614.151 [DAT](INFO): direction in FSK: [0.980119,-0.144731,0.135716]
2025-08-23T22:20:14.151Z,1755987614.151 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:14.155Z,1755987614.155 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.550938
2025-08-23T22:20:14.390Z,1755987614.390 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.786835
2025-08-23T22:20:14.563Z,1755987614.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.700001 m,
deltaT: 0.504008 s,
deltaX: -0.099998 m,
approachRate: -0.198407 m/s,
rangeRepo size: 4
2025-08-23T22:20:14.565Z,1755987614.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.577042 m,
bearing: 124.565768 deg,
lat: 36.779413 deg,
lon: -121.859572 deg,
deltaT: 0.504008 s,
deltaX: -0.099373 m,
approachRate: -0.197165 m/s,
posRepo size: 4
2025-08-23T22:20:14.566Z,1755987614.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-08-23T22:20:14.569Z,1755987614.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.577042 m,
nav range: 19.360355 m,
bearing: 124.256966 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.137526 deg/s,
cmd heading: 128.709478 deg,
new cmd heading: 128.572383 deg.
2025-08-23T22:20:14.571Z,1755987614.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.244011 target range: 19.577042 and range: 19.70 m.
2025-08-23T22:20:14.643Z,1755987614.643 [DAT](INFO): DAT read: Rx Time:22:20:13.9634
2025-08-23T22:20:14.644Z,1755987614.644 [DAT](INFO): Rx dataTimestamp_ set to:1755987614.643481
2025-08-23T22:20:14.646Z,1755987614.646 [DAT](INFO): DAT read: Bearing 306.6, -10.2 (Local)
2025-08-23T22:20:14.646Z,1755987614.646 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.6, -10.2 (Local)
2025-08-23T22:20:14.649Z,1755987614.649 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4
2025-08-23T22:20:14.660Z,1755987614.660 [DAT](INFO): DAT read: 22:20:13.9634 LVL= 21472, 26817, 19602, 32755, AGC= 53, IDX= 501,-0.30,-1.771, 2.883,-1.290,-1.871, PHS= 0.202,-1.485, 0.537, RAW= 158.9, 8.0, CAL= 158.5, 8.2, ROT= 351.5, -8.2
2025-08-23T22:20:14.662Z,1755987614.662 [DAT](INFO): got valid direction response:
22:20:13.9634 LVL= 21472, 26817, 19602, 32755, AGC= 53, IDX= 501,-0.30,-1.771, 2.883,-1.290,-1.871, PHS= 0.202,-1.485, 0.537, RAW= 158.9, 8.0, CAL= 158.5, 8.2, ROT= 351.5, -8.2
2025-08-23T22:20:14.662Z,1755987614.662 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-23T22:20:14.663Z,1755987614.663 [DAT](INFO): direction in FSK: [0.978904,-0.146298,0.142629]
2025-08-23T22:20:14.663Z,1755987614.663 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:14.687Z,1755987614.687 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.083290
2025-08-23T22:20:14.883Z,1755987614.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.400000 m,
deltaT: 0.504091 s,
deltaX: -0.300001 m,
approachRate: -0.595133 m/s,
rangeRepo size: 4
2025-08-23T22:20:14.885Z,1755987614.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.278955 m,
bearing: 124.298379 deg,
lat: 36.779413 deg,
lon: -121.859573 deg,
deltaT: 0.504091 s,
deltaX: -0.298086 m,
approachRate: -0.591334 m/s,
posRepo size: 4
2025-08-23T22:20:14.886Z,1755987614.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.28 m.
2025-08-23T22:20:14.889Z,1755987614.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.278955 m,
nav range: 19.169886 m,
bearing: 124.254653 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.137526 deg/s,
cmd heading: 128.572383 deg,
new cmd heading: 128.484383 deg.
2025-08-23T22:20:14.890Z,1755987614.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.242476 target range: 19.278955 and range: 19.40 m.
2025-08-23T22:20:14.895Z,1755987614.895 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.291046
2025-08-23T22:20:15.148Z,1755987615.148 [DAT](INFO): DAT read: Rx Time:22:20:14.4633
2025-08-23T22:20:15.149Z,1755987615.149 [DAT](INFO): Rx dataTimestamp_ set to:1755987615.148600
2025-08-23T22:20:15.151Z,1755987615.151 [DAT](INFO): DAT read: Bearing 306.4, -10.0 (Local)
2025-08-23T22:20:15.151Z,1755987615.151 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.4, -10.0 (Local)
2025-08-23T22:20:15.153Z,1755987615.153 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.4
2025-08-23T22:20:15.158Z,1755987615.158 [DAT](INFO): DAT read: 22:20:14.4633 LVL= 24672, 26929, 21874, 32755, AGC= 54, IDX= 500, 0.13, 1.104,-0.573, 1.587, 0.992, PHS= 0.214,-1.520, 0.551, RAW= 158.7, 7.9, CAL= 158.3, 8.1, ROT= 351.7, -8.1
2025-08-23T22:20:15.159Z,1755987615.159 [DAT](INFO): got valid direction response:
22:20:14.4633 LVL= 24672, 26929, 21874, 32755, AGC= 54, IDX= 500, 0.13, 1.104,-0.573, 1.587, 0.992, PHS= 0.214,-1.520, 0.551, RAW= 158.7, 7.9, CAL= 158.3, 8.1, ROT= 351.7, -8.1
2025-08-23T22:20:15.159Z,1755987615.159 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-23T22:20:15.160Z,1755987615.160 [DAT](INFO): direction in FSK: [0.979654,-0.142916,0.140901]
2025-08-23T22:20:15.160Z,1755987615.160 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:15.164Z,1755987615.164 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.560780
2025-08-23T22:20:15.370Z,1755987615.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.200001 m,
deltaT: 0.505119 s,
deltaX: -0.199999 m,
approachRate: -0.395944 m/s,
rangeRepo size: 4
2025-08-23T22:20:15.372Z,1755987615.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.080204 m,
bearing: 124.424136 deg,
lat: 36.779413 deg,
lon: -121.859573 deg,
deltaT: 0.505119 s,
deltaX: -0.198751 m,
approachRate: -0.393475 m/s,
posRepo size: 4
2025-08-23T22:20:15.372Z,1755987615.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m.
2025-08-23T22:20:15.380Z,1755987615.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.080204 m,
nav range: 18.971407 m,
bearing: 124.241486 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.137526 deg/s,
cmd heading: 128.484382 deg,
new cmd heading: 128.352240 deg.
2025-08-23T22:20:15.381Z,1755987615.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240169 target range: 19.080204 and range: 19.20 m.
2025-08-23T22:20:15.399Z,1755987615.399 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.794975
2025-08-23T22:20:15.459Z,1755987615.459 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:20:15.651Z,1755987615.651 [DAT](INFO): DAT read: Rx Time:22:20:14.9631
2025-08-23T22:20:15.652Z,1755987615.652 [DAT](INFO): Rx dataTimestamp_ set to:1755987615.651346
2025-08-23T22:20:15.653Z,1755987615.653 [DAT](INFO): DAT read: Bearing 306.5, -9.8 (Local)
2025-08-23T22:20:15.653Z,1755987615.653 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.5, -9.8 (Local)
2025-08-23T22:20:15.655Z,1755987615.655 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.4
2025-08-23T22:20:15.664Z,1755987615.664 [DAT](INFO): DAT read: 22:20:14.9631 LVL= 20944, 26737, 20514, 32755, AGC= 53, IDX= 498,-0.27,-1.113,-2.742,-0.647,-1.218, PHS= 0.206,-1.480, 0.526, RAW= 158.5, 8.1, CAL= 158.1, 8.3, ROT= 351.9, -8.3
2025-08-23T22:20:15.665Z,1755987615.665 [DAT](INFO): got valid direction response:
22:20:14.9631 LVL= 20944, 26737, 20514, 32755, AGC= 53, IDX= 498,-0.27,-1.113,-2.742,-0.647,-1.218, PHS= 0.206,-1.480, 0.526, RAW= 158.5, 8.1, CAL= 158.1, 8.3, ROT= 351.9, -8.3
2025-08-23T22:20:15.666Z,1755987615.666 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-23T22:20:15.667Z,1755987615.667 [DAT](INFO): direction in FSK: [0.979654,-0.139425,0.144356]
2025-08-23T22:20:15.667Z,1755987615.667 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:15.671Z,1755987615.671 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.066906
2025-08-23T22:20:15.814Z,1755987615.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.900000 m,
deltaT: 0.502746 s,
deltaX: -0.300001 m,
approachRate: -0.596725 m/s,
rangeRepo size: 4
2025-08-23T22:20:15.816Z,1755987615.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.782072 m,
bearing: 124.511171 deg,
lat: 36.779413 deg,
lon: -121.859573 deg,
deltaT: 0.502746 s,
deltaX: -0.298132 m,
approachRate: -0.593007 m/s,
posRepo size: 4
2025-08-23T22:20:15.816Z,1755987615.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-23T22:20:15.823Z,1755987615.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.782072 m,
nav range: 18.764631 m,
bearing: 124.322253 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.137526 deg/s,
cmd heading: 128.352246 deg,
new cmd heading: 128.229586 deg.
2025-08-23T22:20:15.826Z,1755987615.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.238029 target range: 18.782072 and range: 18.90 m.
2025-08-23T22:20:15.903Z,1755987615.903 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.298996
2025-08-23T22:20:16.153Z,1755987616.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:16.155Z,1755987616.155 [DAT](INFO): DAT read: Rx Time:22:20:15.4630
2025-08-23T22:20:16.156Z,1755987616.156 [DAT](INFO): Rx dataTimestamp_ set to:1755987616.155364
2025-08-23T22:20:16.157Z,1755987616.157 [DAT](INFO): DAT read: Bearing 306.1, -9.4 (Local)
2025-08-23T22:20:16.157Z,1755987616.157 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.1, -9.4 (Local)
2025-08-23T22:20:16.159Z,1755987616.159 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4
2025-08-23T22:20:16.164Z,1755987616.164 [DAT](INFO): DAT read: 22:20:15.4630 LVL= 20448, 27377, 20290, 32755, AGC= 53, IDX= 497, 0.14, 1.744, 0.091, 2.199, 1.620, PHS= 0.226,-1.485, 0.534, RAW= 158.2, 7.7, CAL= 157.7, 7.9, ROT= 352.3, -7.9
2025-08-23T22:20:16.165Z,1755987616.165 [DAT](INFO): got valid direction response:
22:20:15.4630 LVL= 20448, 27377, 20290, 32755, AGC= 53, IDX= 497, 0.14, 1.744, 0.091, 2.199, 1.620, PHS= 0.226,-1.485, 0.534, RAW= 158.2, 7.7, CAL= 157.7, 7.9, ROT= 352.3, -7.9
2025-08-23T22:20:16.165Z,1755987616.165 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-23T22:20:16.166Z,1755987616.166 [DAT](INFO): direction in FSK: [0.981578,-0.132715,0.137445]
2025-08-23T22:20:16.167Z,1755987616.167 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:16.173Z,1755987616.173 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.569080
2025-08-23T22:20:16.172Z,1755987616.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 0.504018 s,
deltaX: -0.100000 m,
approachRate: -0.198406 m/s,
rangeRepo size: 4
2025-08-23T22:20:16.174Z,1755987616.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-23T22:20:16.187Z,1755987616.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.782072 m,
nav range: 18.590521 m,
bearing: 124.278966 deg,
approach rate: -0.480499 m/s,
LOS rate: -0.120578 deg/s,
cmd heading: 128.229589 deg,
new cmd heading: 128.142205 deg.
2025-08-23T22:20:16.188Z,1755987616.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.236503 target range: 18.782072 and range: 18.80 m.
2025-08-23T22:20:16.408Z,1755987616.408 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.804523
2025-08-23T22:20:16.462Z,1755987616.462 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:20:16.626Z,1755987616.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-23T22:20:16.629Z,1755987616.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.782072 m,
nav range: 18.363728 m,
bearing: 124.217725 deg,
approach rate: -0.498168 m/s,
LOS rate: -0.136181 deg/s,
cmd heading: 128.142204 deg,
new cmd heading: 128.018209 deg.
2025-08-23T22:20:16.630Z,1755987616.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.234339 target range: 18.782072 and range: 18.80 m.
2025-08-23T22:20:16.659Z,1755987616.659 [DAT](INFO): DAT read: Rx Time:22:20:15.9628
2025-08-23T22:20:16.660Z,1755987616.660 [DAT](INFO): Rx dataTimestamp_ set to:1755987616.659349
2025-08-23T22:20:16.661Z,1755987616.661 [DAT](INFO): DAT read: Bearing 306.7, -9.4 (Local)
2025-08-23T22:20:16.661Z,1755987616.661 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.7, -9.4 (Local)
2025-08-23T22:20:16.667Z,1755987616.667 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4
2025-08-23T22:20:16.672Z,1755987616.672 [DAT](INFO): DAT read: 22:20:15.9628 LVL= 21216, 26241, 20978, 32755, AGC= 54, IDX= 511,-0.28,-0.541,-2.188,-0.093,-0.648, PHS= 0.209,-1.495, 0.511, RAW= 158.0, 8.3, CAL= 157.7, 8.7, ROT= 352.3, -8.7
2025-08-23T22:20:16.673Z,1755987616.673 [DAT](INFO): got valid direction response:
22:20:15.9628 LVL= 21216, 26241, 20978, 32755, AGC= 54, IDX= 511,-0.28,-0.541,-2.188,-0.093,-0.648, PHS= 0.209,-1.495, 0.511, RAW= 158.0, 8.3, CAL= 157.7, 8.7, ROT= 352.3, -8.7
2025-08-23T22:20:16.673Z,1755987616.673 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-23T22:20:16.674Z,1755987616.674 [DAT](INFO): direction in FSK: [0.979581,-0.132445,0.151261]
2025-08-23T22:20:16.674Z,1755987616.674 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:16.688Z,1755987616.688 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.084267
2025-08-23T22:20:16.912Z,1755987616.912 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.308308
2025-08-23T22:20:17.065Z,1755987617.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.503985 s,
deltaX: -0.199999 m,
approachRate: -0.396835 m/s,
rangeRepo size: 4
2025-08-23T22:20:17.071Z,1755987617.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.483887 m,
bearing: 124.588751 deg,
lat: 36.779413 deg,
lon: -121.859573 deg,
deltaT: 1.008003 s,
deltaX: -0.298185 m,
approachRate: -0.295818 m/s,
posRepo size: 4
2025-08-23T22:20:17.072Z,1755987617.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:20:17.091Z,1755987617.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.483887 m,
nav range: 18.155275 m,
bearing: 124.170008 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136181 deg/s,
cmd heading: 128.018208 deg,
new cmd heading: 127.899033 deg.
2025-08-23T22:20:17.091Z,1755987617.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232259 target range: 18.483887 and range: 18.60 m.
2025-08-23T22:20:17.164Z,1755987617.164 [DAT](INFO): DAT read: Rx Time:22:20:16.4626
2025-08-23T22:20:17.164Z,1755987617.164 [DAT](INFO): Rx dataTimestamp_ set to:1755987617.164130
2025-08-23T22:20:17.166Z,1755987617.166 [DAT](INFO): DAT read: Bearing 306.2, -9.1 (Local)
2025-08-23T22:20:17.167Z,1755987617.167 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.2, -9.1 (Local)
2025-08-23T22:20:17.171Z,1755987617.171 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.4
2025-08-23T22:20:17.177Z,1755987617.177 [DAT](INFO): DAT read: 22:20:16.4626 LVL= 19056, 22417, 19154, 31027, AGC= 53, IDX= 509, 0.14, 1.048,-0.616, 1.491, 0.927, PHS= 0.224,-1.497, 0.520, RAW= 157.8, 8.0, CAL= 157.4, 8.3, ROT= 352.6, -8.3
2025-08-23T22:20:17.179Z,1755987617.179 [DAT](INFO): got valid direction response:
22:20:16.4626 LVL= 19056, 22417, 19154, 31027, AGC= 53, IDX= 509, 0.14, 1.048,-0.616, 1.491, 0.927, PHS= 0.224,-1.497, 0.520, RAW= 157.8, 8.0, CAL= 157.4, 8.3, ROT= 352.6, -8.3
2025-08-23T22:20:17.180Z,1755987617.180 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-23T22:20:17.186Z,1755987617.186 [DAT](INFO): direction in FSK: [0.981284,-0.127446,0.144356]
2025-08-23T22:20:17.186Z,1755987617.186 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:17.196Z,1755987617.196 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.592514
2025-08-23T22:20:17.415Z,1755987617.415 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.810883
2025-08-23T22:20:17.570Z,1755987617.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.504781 s,
deltaX: -0.300001 m,
approachRate: -0.594319 m/s,
rangeRepo size: 4
2025-08-23T22:20:17.572Z,1755987617.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.185759 m,
bearing: 124.771948 deg,
lat: 36.779411 deg,
lon: -121.859572 deg,
deltaT: 0.504781 s,
deltaX: -0.298128 m,
approachRate: -0.590609 m/s,
posRepo size: 4
2025-08-23T22:20:17.573Z,1755987617.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-08-23T22:20:17.592Z,1755987617.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.185759 m,
nav range: 18.063112 m,
bearing: 124.658886 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136181 deg/s,
cmd heading: 127.899035 deg,
new cmd heading: 127.761426 deg.
2025-08-23T22:20:17.593Z,1755987617.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229857 target range: 18.185759 and range: 18.30 m.
2025-08-23T22:20:17.668Z,1755987617.668 [DAT](INFO): DAT read: Rx Time:22:20:16.9625
2025-08-23T22:20:17.669Z,1755987617.669 [DAT](INFO): Rx dataTimestamp_ set to:1755987617.668395
2025-08-23T22:20:17.671Z,1755987617.671 [DAT](INFO): DAT read: Bearing 306.6, -8.8 (Local)
2025-08-23T22:20:17.672Z,1755987617.672 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.6, -8.8 (Local)
2025-08-23T22:20:17.675Z,1755987617.675 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.4
2025-08-23T22:20:17.680Z,1755987617.680 [DAT](INFO): DAT read: 22:20:16.9625 LVL= 21840, 25761, 21106, 32755, AGC= 54, IDX= 507,-0.27,-1.441,-3.088,-1.018,-1.554, PHS= 0.215,-1.489, 0.492, RAW= 157.4, 8.5, CAL= 157.1, 8.9, ROT= 352.9, -8.9
2025-08-23T22:20:17.682Z,1755987617.682 [DAT](INFO): got valid direction response:
22:20:16.9625 LVL= 21840, 25761, 21106, 32755, AGC= 54, IDX= 507,-0.27,-1.441,-3.088,-1.018,-1.554, PHS= 0.215,-1.489, 0.492, RAW= 157.4, 8.5, CAL= 157.1, 8.9, ROT= 352.9, -8.9
2025-08-23T22:20:17.682Z,1755987617.682 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-23T22:20:17.683Z,1755987617.683 [DAT](INFO): direction in FSK: [0.980384,-0.122113,0.154710]
2025-08-23T22:20:17.683Z,1755987617.683 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:17.687Z,1755987617.687 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.083450
2025-08-23T22:20:17.919Z,1755987617.919 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.314846
2025-08-23T22:20:18.037Z,1755987618.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.504265 s,
deltaX: -0.299999 m,
approachRate: -0.594924 m/s,
rangeRepo size: 4
2025-08-23T22:20:18.043Z,1755987618.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.887556 m,
bearing: 124.859174 deg,
lat: 36.779411 deg,
lon: -121.859572 deg,
deltaT: 0.504265 s,
deltaX: -0.298203 m,
approachRate: -0.591361 m/s,
posRepo size: 4
2025-08-23T22:20:18.044Z,1755987618.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:20:18.051Z,1755987618.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.887556 m,
nav range: 17.867682 m,
bearing: 124.643915 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136181 deg/s,
cmd heading: 127.761421 deg,
new cmd heading: 127.634202 deg.
2025-08-23T22:20:18.052Z,1755987618.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.227637 target range: 17.887556 and range: 18.00 m.
2025-08-23T22:20:18.171Z,1755987618.171 [DAT](INFO): DAT read: Rx Time:22:20:17.4624
2025-08-23T22:20:18.172Z,1755987618.172 [DAT](INFO): Rx dataTimestamp_ set to:1755987618.171392
2025-08-23T22:20:18.173Z,1755987618.173 [DAT](INFO): DAT read: Bearing 306.3, -8.5 (Local)
2025-08-23T22:20:18.173Z,1755987618.173 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.3, -8.5 (Local)
2025-08-23T22:20:18.176Z,1755987618.176 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4
2025-08-23T22:20:18.182Z,1755987618.182 [DAT](INFO): DAT read: 22:20:17.4624 LVL= 20912, 22673, 20466, 31475, AGC= 54, IDX= 506, 0.15, 1.215,-0.463, 1.632, 1.088, PHS= 0.229,-1.507, 0.500, RAW= 157.1, 8.3, CAL= 156.8, 8.7, ROT= 353.2, -8.7
2025-08-23T22:20:18.183Z,1755987618.183 [DAT](INFO): got valid direction response:
22:20:17.4624 LVL= 20912, 22673, 20466, 31475, AGC= 54, IDX= 506, 0.15, 1.215,-0.463, 1.632, 1.088, PHS= 0.229,-1.507, 0.500, RAW= 157.1, 8.3, CAL= 156.8, 8.7, ROT= 353.2, -8.7
2025-08-23T22:20:18.184Z,1755987618.184 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-23T22:20:18.185Z,1755987618.185 [DAT](INFO): direction in FSK: [0.981540,-0.117041,0.151261]
2025-08-23T22:20:18.186Z,1755987618.186 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:18.191Z,1755987618.191 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.587425
2025-08-23T22:20:18.424Z,1755987618.424 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.820129
2025-08-23T22:20:18.550Z,1755987618.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.502997 s,
deltaX: -0.100000 m,
approachRate: -0.198809 m/s,
rangeRepo size: 4
2025-08-23T22:20:18.552Z,1755987618.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.788179 m,
bearing: 125.053432 deg,
lat: 36.779410 deg,
lon: -121.859572 deg,
deltaT: 0.502997 s,
deltaX: -0.099377 m,
approachRate: -0.197569 m/s,
posRepo size: 4
2025-08-23T22:20:18.552Z,1755987618.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:20:18.559Z,1755987618.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.788179 m,
nav range: 17.638319 m,
bearing: 124.675510 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136181 deg/s,
cmd heading: 127.634201 deg,
new cmd heading: 127.495677 deg.
2025-08-23T22:20:18.560Z,1755987618.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.225219 target range: 17.788179 and range: 17.90 m.
2025-08-23T22:20:18.675Z,1755987618.675 [DAT](INFO): DAT read: Rx Time:22:20:17.9622
2025-08-23T22:20:18.676Z,1755987618.676 [DAT](INFO): Rx dataTimestamp_ set to:1755987618.675514
2025-08-23T22:20:18.678Z,1755987618.678 [DAT](INFO): DAT read: Bearing 306.4, -7.8 (Local)
2025-08-23T22:20:18.679Z,1755987618.679 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.4, -7.8 (Local)
2025-08-23T22:20:18.682Z,1755987618.682 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4
2025-08-23T22:20:18.688Z,1755987618.688 [DAT](INFO): DAT read: 22:20:17.9622 LVL= 21568, 29553, 21154, 32755, AGC= 53, IDX= 504,-0.27,-1.314,-2.947,-0.933,-1.444, PHS= 0.232,-1.458, 0.467, RAW= 156.4, 8.4, CAL= 156.0, 8.8, ROT= 354.0, -8.8
2025-08-23T22:20:18.694Z,1755987618.694 [DAT](INFO): got valid direction response:
22:20:17.9622 LVL= 21568, 29553, 21154, 32755, AGC= 53, IDX= 504,-0.27,-1.314,-2.947,-0.933,-1.444, PHS= 0.232,-1.458, 0.467, RAW= 156.4, 8.4, CAL= 156.0, 8.8, ROT= 354.0, -8.8
2025-08-23T22:20:18.694Z,1755987618.694 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-23T22:20:18.695Z,1755987618.695 [DAT](INFO): direction in FSK: [0.982815,-0.103298,0.152986]
2025-08-23T22:20:18.696Z,1755987618.696 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:18.699Z,1755987618.699 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.095467
2025-08-23T22:20:18.915Z,1755987618.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.600000 m,
deltaT: 0.504122 s,
deltaX: -0.299999 m,
approachRate: -0.595093 m/s,
rangeRepo size: 4
2025-08-23T22:20:18.927Z,1755987618.927 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.323643
2025-08-23T22:20:18.934Z,1755987618.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.490040 m,
bearing: 125.755590 deg,
lat: 36.779410 deg,
lon: -121.859573 deg,
deltaT: 0.504122 s,
deltaX: -0.298140 m,
approachRate: -0.591404 m/s,
posRepo size: 4
2025-08-23T22:20:18.936Z,1755987618.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:20:18.950Z,1755987618.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.490040 m,
nav range: 17.397001 m,
bearing: 124.684586 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136181 deg/s,
cmd heading: 127.495672 deg,
new cmd heading: 127.394936 deg.
2025-08-23T22:20:18.951Z,1755987618.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.223461 target range: 17.490040 and range: 17.60 m.
2025-08-23T22:20:19.184Z,1755987619.184 [DAT](INFO): DAT read: Rx Time:22:20:18.4620
2025-08-23T22:20:19.185Z,1755987619.185 [DAT](INFO): Rx dataTimestamp_ set to:1755987619.184728
2025-08-23T22:20:19.187Z,1755987619.187 [DAT](INFO): DAT read: Bearing 306.2, -7.7 (Local)
2025-08-23T22:20:19.188Z,1755987619.188 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.2, -7.7 (Local)
2025-08-23T22:20:19.192Z,1755987619.192 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4
2025-08-23T22:20:19.198Z,1755987619.198 [DAT](INFO): DAT read: 22:20:18.4620 LVL= 20720, 25633, 21234, 32755, AGC= 54, IDX= 503, 0.16, 1.278,-0.402, 1.660, 1.138, PHS= 0.242,-1.495, 0.478, RAW= 156.3, 8.4, CAL= 155.9, 8.8, ROT= 354.1, -8.8
2025-08-23T22:20:19.200Z,1755987619.200 [DAT](INFO): got valid direction response:
22:20:18.4620 LVL= 20720, 25633, 21234, 32755, AGC= 54, IDX= 503, 0.16, 1.278,-0.402, 1.660, 1.138, PHS= 0.242,-1.495, 0.478, RAW= 156.3, 8.4, CAL= 155.9, 8.8, ROT= 354.1, -8.8
2025-08-23T22:20:19.200Z,1755987619.200 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-23T22:20:19.202Z,1755987619.202 [DAT](INFO): direction in FSK: [0.982994,-0.101582,0.152986]
2025-08-23T22:20:19.203Z,1755987619.203 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:19.208Z,1755987619.208 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.604641
2025-08-23T22:20:19.339Z,1755987619.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 0.509214 s,
deltaX: -0.300001 m,
approachRate: -0.589146 m/s,
rangeRepo size: 4
2025-08-23T22:20:19.346Z,1755987619.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.191914 m,
bearing: 125.709821 deg,
lat: 36.779409 deg,
lon: -121.859574 deg,
deltaT: 0.509214 s,
deltaX: -0.298126 m,
approachRate: -0.585464 m/s,
posRepo size: 4
2025-08-23T22:20:19.348Z,1755987619.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-23T22:20:19.355Z,1755987619.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.191914 m,
nav range: 17.189573 m,
bearing: 125.123239 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136181 deg/s,
cmd heading: 127.394940 deg,
new cmd heading: 127.279472 deg.
2025-08-23T22:20:19.356Z,1755987619.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221446 target range: 17.191914 and range: 17.30 m.
2025-08-23T22:20:19.432Z,1755987619.432 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.828251
2025-08-23T22:20:19.684Z,1755987619.684 [DAT](INFO): DAT read: Rx Time:22:20:18.9618
2025-08-23T22:20:19.684Z,1755987619.684 [DAT](INFO): Rx dataTimestamp_ set to:1755987619.683869
2025-08-23T22:20:19.686Z,1755987619.686 [DAT](INFO): DAT read: Bearing 306.5, -7.0 (Local)
2025-08-23T22:20:19.686Z,1755987619.686 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.5, -7.0 (Local)
2025-08-23T22:20:19.688Z,1755987619.688 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4
2025-08-23T22:20:19.693Z,1755987619.693 [DAT](INFO): DAT read: 22:20:18.9618 LVL= 20512, 26817, 22642, 32755, AGC= 53, IDX= 501,-0.27,-1.321,-2.971,-0.972,-1.459, PHS= 0.240,-1.467, 0.442, RAW= 155.5, 8.7, CAL= 155.2, 9.2, ROT= 354.8, -9.2
2025-08-23T22:20:19.698Z,1755987619.698 [DAT](INFO): got valid direction response:
22:20:18.9618 LVL= 20512, 26817, 22642, 32755, AGC= 53, IDX= 501,-0.27,-1.321,-2.971,-0.972,-1.459, PHS= 0.240,-1.467, 0.442, RAW= 155.5, 8.7, CAL= 155.2, 9.2, ROT= 354.8, -9.2
2025-08-23T22:20:19.698Z,1755987619.698 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-23T22:20:19.699Z,1755987619.699 [DAT](INFO): direction in FSK: [0.983074,-0.089467,0.159881]
2025-08-23T22:20:19.699Z,1755987619.699 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:19.723Z,1755987619.723 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.119549
2025-08-23T22:20:19.870Z,1755987619.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.000000 m,
deltaT: 0.499141 s,
deltaX: -0.299999 m,
approachRate: -0.601031 m/s,
rangeRepo size: 4
2025-08-23T22:20:19.872Z,1755987619.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.893747 m,
bearing: 126.274819 deg,
lat: 36.779409 deg,
lon: -121.859575 deg,
deltaT: 0.499141 s,
deltaX: -0.298166 m,
approachRate: -0.597359 m/s,
posRepo size: 4
2025-08-23T22:20:19.873Z,1755987619.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:20:19.881Z,1755987619.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.893747 m,
nav range: 16.890495 m,
bearing: 125.526406 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136181 deg/s,
cmd heading: 127.279469 deg,
new cmd heading: 127.137072 deg.
2025-08-23T22:20:19.886Z,1755987619.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.218961 target range: 16.893747 and range: 17.00 m.
2025-08-23T22:20:19.937Z,1755987619.937 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.333115
2025-08-23T22:20:20.188Z,1755987620.188 [DAT](INFO): DAT read: Rx Time:22:20:19.4618
2025-08-23T22:20:20.189Z,1755987620.189 [DAT](INFO): Rx dataTimestamp_ set to:1755987620.188497
2025-08-23T22:20:20.192Z,1755987620.192 [DAT](INFO): DAT read: Bearing 306.1, -6.5 (Local)
2025-08-23T22:20:20.193Z,1755987620.193 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.1, -6.5 (Local)
2025-08-23T22:20:20.195Z,1755987620.195 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4
2025-08-23T22:20:20.202Z,1755987620.202 [DAT](INFO): DAT read: 22:20:19.4618 LVL= 21088, 26385, 21186, 32755, AGC= 53, IDX= 500, 0.15, 1.245,-0.431, 1.578, 1.090, PHS= 0.258,-1.476, 0.445, RAW= 155.1, 8.5, CAL= 154.7, 9.0, ROT= 355.3, -9.0
2025-08-23T22:20:20.203Z,1755987620.203 [DAT](INFO): got valid direction response:
22:20:19.4618 LVL= 21088, 26385, 21186, 32755, AGC= 53, IDX= 500, 0.15, 1.245,-0.431, 1.578, 1.090, PHS= 0.258,-1.476, 0.445, RAW= 155.1, 8.5, CAL= 154.7, 9.0, ROT= 355.3, -9.0
2025-08-23T22:20:20.204Z,1755987620.204 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-23T22:20:20.205Z,1755987620.205 [DAT](INFO): direction in FSK: [0.984367,-0.080930,0.156434]
2025-08-23T22:20:20.214Z,1755987620.214 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:20.217Z,1755987620.217 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.613430
2025-08-23T22:20:20.312Z,1755987620.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.000000 m,
deltaT: 0.504628 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:20.314Z,1755987620.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.893747 m,
bearing: 126.774862 deg,
lat: 36.779408 deg,
lon: -121.859576 deg,
deltaT: 0.504628 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:20:20.315Z,1755987620.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:20:20.322Z,1755987620.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.893747 m,
nav range: 16.650507 m,
bearing: 125.782337 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.136181 deg/s,
cmd heading: 127.137073 deg,
new cmd heading: 127.014578 deg.
2025-08-23T22:20:20.323Z,1755987620.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.216823 target range: 16.893747 and range: 17.00 m.
2025-08-23T22:20:20.440Z,1755987620.440 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.836567
2025-08-23T22:20:20.681Z,1755987620.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:20.683Z,1755987620.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:20:20.686Z,1755987620.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.893747 m,
nav range: 16.452616 m,
bearing: 125.754278 deg,
approach rate: -0.532378 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 127.014580 deg,
new cmd heading: 126.957788 deg.
2025-08-23T22:20:20.687Z,1755987620.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.215832 target range: 16.893747 and range: 17.00 m.
2025-08-23T22:20:20.691Z,1755987620.691 [DAT](INFO): DAT read: Rx Time:22:20:19.9616
2025-08-23T22:20:20.692Z,1755987620.692 [DAT](INFO): Rx dataTimestamp_ set to:1755987620.691387
2025-08-23T22:20:20.693Z,1755987620.693 [DAT](INFO): DAT read: Bearing 306.7, -5.9 (Local)
2025-08-23T22:20:20.693Z,1755987620.693 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.7, -5.9 (Local)
2025-08-23T22:20:20.703Z,1755987620.703 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4
2025-08-23T22:20:20.720Z,1755987620.720 [DAT](INFO): DAT read: 22:20:19.9616 LVL= 19568, 25953, 20258, 31827, AGC= 53, IDX= 498,-0.27,-1.415,-3.079,-1.107,-1.560, PHS= 0.247,-1.474, 0.409, RAW= 154.4, 9.1, CAL= 154.1, 9.7, ROT= 355.9, -9.7
2025-08-23T22:20:20.721Z,1755987620.721 [DAT](INFO): got valid direction response:
22:20:19.9616 LVL= 19568, 25953, 20258, 31827, AGC= 53, IDX= 498,-0.27,-1.415,-3.079,-1.107,-1.560, PHS= 0.247,-1.474, 0.409, RAW= 154.4, 9.1, CAL= 154.1, 9.7, ROT= 355.9, -9.7
2025-08-23T22:20:20.721Z,1755987620.721 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-23T22:20:20.732Z,1755987620.732 [DAT](INFO): direction in FSK: [0.983181,-0.070476,0.168489]
2025-08-23T22:20:20.742Z,1755987620.742 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:20.745Z,1755987620.745 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.141396
2025-08-23T22:20:20.944Z,1755987620.944 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.339935
2025-08-23T22:20:21.072Z,1755987621.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.502890 s,
deltaX: -0.299999 m,
approachRate: -0.596550 m/s,
rangeRepo size: 4
2025-08-23T22:20:21.075Z,1755987621.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.595579 m,
bearing: 127.014049 deg,
lat: 36.779408 deg,
lon: -121.859577 deg,
deltaT: 0.502890 s,
deltaX: -0.298168 m,
approachRate: -0.592909 m/s,
posRepo size: 4
2025-08-23T22:20:21.075Z,1755987621.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-08-23T22:20:21.078Z,1755987621.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.595579 m,
nav range: 16.246161 m,
bearing: 126.009659 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.957794 deg,
new cmd heading: 126.898418 deg.
2025-08-23T22:20:21.079Z,1755987621.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214795 target range: 16.595579 and range: 16.70 m.
2025-08-23T22:20:21.197Z,1755987621.197 [DAT](INFO): DAT read: Rx Time:22:20:20.4613
2025-08-23T22:20:21.198Z,1755987621.198 [DAT](INFO): Rx dataTimestamp_ set to:1755987621.196939
2025-08-23T22:20:21.199Z,1755987621.199 [DAT](INFO): DAT read: Bearing 306.8, -5.9 (Local)
2025-08-23T22:20:21.200Z,1755987621.200 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.8, -5.9 (Local)
2025-08-23T22:20:21.203Z,1755987621.203 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4
2025-08-23T22:20:21.210Z,1755987621.210 [DAT](INFO): DAT read: 22:20:20.4613 LVL= 20176, 24129, 21970, 30915, AGC= 54, IDX= 496, 0.15,-0.082,-1.792, 0.226,-0.232, PHS= 0.252,-1.515, 0.414, RAW= 154.3, 9.2, CAL= 154.0, 9.9, ROT= 356.0, -9.9
2025-08-23T22:20:21.211Z,1755987621.211 [DAT](INFO): got valid direction response:
22:20:20.4613 LVL= 20176, 24129, 21970, 30915, AGC= 54, IDX= 496, 0.15,-0.082,-1.792, 0.226,-0.232, PHS= 0.252,-1.515, 0.414, RAW= 154.3, 9.2, CAL= 154.0, 9.9, ROT= 356.0, -9.9
2025-08-23T22:20:21.212Z,1755987621.212 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-23T22:20:21.218Z,1755987621.218 [DAT](INFO): direction in FSK: [0.982710,-0.068718,0.171929]
2025-08-23T22:20:21.218Z,1755987621.218 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:21.234Z,1755987621.234 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.630081
2025-08-23T22:20:21.450Z,1755987621.450 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.845268
2025-08-23T22:20:21.585Z,1755987621.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.200001 m,
deltaT: 0.505552 s,
deltaX: -0.500000 m,
approachRate: -0.989018 m/s,
rangeRepo size: 4
2025-08-23T22:20:21.591Z,1755987621.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.098705 m,
bearing: 126.966963 deg,
lat: 36.779406 deg,
lon: -121.859577 deg,
deltaT: 0.505552 s,
deltaX: -0.496874 m,
approachRate: -0.982834 m/s,
posRepo size: 4
2025-08-23T22:20:21.592Z,1755987621.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:20:21.599Z,1755987621.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.098705 m,
nav range: 16.115501 m,
bearing: 126.548540 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.898412 deg,
new cmd heading: 126.820090 deg.
2025-08-23T22:20:21.600Z,1755987621.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.213428 target range: 16.098705 and range: 16.20 m.
2025-08-23T22:20:21.701Z,1755987621.701 [DAT](INFO): DAT read: Rx Time:22:20:20.9611
2025-08-23T22:20:21.707Z,1755987621.707 [DAT](INFO): Rx dataTimestamp_ set to:1755987621.700963
2025-08-23T22:20:21.709Z,1755987621.709 [DAT](INFO): DAT read: Bearing 306.7, -4.6 (Local)
2025-08-23T22:20:21.709Z,1755987621.709 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.7, -4.6 (Local)
2025-08-23T22:20:21.711Z,1755987621.711 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4
2025-08-23T22:20:21.716Z,1755987621.716 [DAT](INFO): DAT read: 22:20:20.9611 LVL= 19616, 26849, 21874, 32755, AGC= 52, IDX= 510,-0.23, 3.048, 1.374,-2.978, 2.886, PHS= 0.264,-1.467, 0.375, RAW= 153.1, 9.3, CAL= 152.7, 10.0, ROT= 357.3, -10.0
2025-08-23T22:20:21.717Z,1755987621.717 [DAT](INFO): got valid direction response:
22:20:20.9611 LVL= 19616, 26849, 21874, 32755, AGC= 52, IDX= 510,-0.23, 3.048, 1.374,-2.978, 2.886, PHS= 0.264,-1.467, 0.375, RAW= 153.1, 9.3, CAL= 152.7, 10.0, ROT= 357.3, -10.0
2025-08-23T22:20:21.717Z,1755987621.717 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-23T22:20:21.724Z,1755987621.724 [DAT](INFO): direction in FSK: [0.983714,-0.046391,0.173648]
2025-08-23T22:20:21.724Z,1755987621.724 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:21.728Z,1755987621.728 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.124218
2025-08-23T22:20:21.950Z,1755987621.950 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.346760
2025-08-23T22:20:22.033Z,1755987622.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 0.504024 s,
deltaX: -0.300001 m,
approachRate: -0.595212 m/s,
rangeRepo size: 4
2025-08-23T22:20:22.039Z,1755987622.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.800445 m,
bearing: 128.116468 deg,
lat: 36.779405 deg,
lon: -121.859578 deg,
deltaT: 0.504024 s,
deltaX: -0.298261 m,
approachRate: -0.591759 m/s,
posRepo size: 4
2025-08-23T22:20:22.040Z,1755987622.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-23T22:20:22.047Z,1755987622.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.800445 m,
nav range: 15.893243 m,
bearing: 126.920507 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.820084 deg,
new cmd heading: 126.752813 deg.
2025-08-23T22:20:22.048Z,1755987622.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.212254 target range: 15.800445 and range: 15.90 m.
2025-08-23T22:20:22.204Z,1755987622.204 [DAT](INFO): DAT read: Rx Time:22:20:21.4610
2025-08-23T22:20:22.205Z,1755987622.205 [DAT](INFO): Rx dataTimestamp_ set to:1755987622.204171
2025-08-23T22:20:22.216Z,1755987622.216 [DAT](INFO): DAT read: Bearing 306.4, -4.3 (Local)
2025-08-23T22:20:22.219Z,1755987622.219 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.4, -4.3 (Local)
2025-08-23T22:20:22.239Z,1755987622.239 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4
2025-08-23T22:20:22.244Z,1755987622.244 [DAT](INFO): DAT read: 22:20:21.4610 LVL= 20464, 26817, 23138, 32755, AGC= 53, IDX= 509, 0.18, 0.001,-1.723, 0.255,-0.178, PHS= 0.281,-1.501, 0.388, RAW= 152.9, 9.1, CAL= 152.5, 9.8, ROT= 357.5, -9.8
2025-08-23T22:20:22.245Z,1755987622.245 [DAT](INFO): got valid direction response:
22:20:21.4610 LVL= 20464, 26817, 23138, 32755, AGC= 53, IDX= 509, 0.18, 0.001,-1.723, 0.255,-0.178, PHS= 0.281,-1.501, 0.388, RAW= 152.9, 9.1, CAL= 152.5, 9.8, ROT= 357.5, -9.8
2025-08-23T22:20:22.245Z,1755987622.245 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-23T22:20:22.274Z,1755987622.274 [DAT](INFO): direction in FSK: [0.984470,-0.042983,0.170209]
2025-08-23T22:20:22.275Z,1755987622.275 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:22.291Z,1755987622.291 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.681763
2025-08-23T22:20:22.455Z,1755987622.455 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.851810
2025-08-23T22:20:22.539Z,1755987622.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.503208 s,
deltaX: -0.099999 m,
approachRate: -0.198724 m/s,
rangeRepo size: 4
2025-08-23T22:20:22.541Z,1755987622.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.701072 m,
bearing: 128.040129 deg,
lat: 36.779404 deg,
lon: -121.859579 deg,
deltaT: 0.503208 s,
deltaX: -0.099373 m,
approachRate: -0.197479 m/s,
posRepo size: 4
2025-08-23T22:20:22.546Z,1755987622.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:20:22.548Z,1755987622.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.701072 m,
nav range: 15.631577 m,
bearing: 127.462077 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.752820 deg,
new cmd heading: 126.674341 deg.
2025-08-23T22:20:22.553Z,1755987622.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210884 target range: 15.701072 and range: 15.80 m.
2025-08-23T22:20:22.707Z,1755987622.707 [DAT](INFO): DAT read: Rx Time:22:20:21.9608
2025-08-23T22:20:22.707Z,1755987622.707 [DAT](INFO): Rx dataTimestamp_ set to:1755987622.707181
2025-08-23T22:20:22.709Z,1755987622.709 [DAT](INFO): DAT read: Bearing 307.3, -3.7 (Local)
2025-08-23T22:20:22.709Z,1755987622.709 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.3, -3.7 (Local)
2025-08-23T22:20:22.711Z,1755987622.711 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4
2025-08-23T22:20:22.716Z,1755987622.716 [DAT](INFO): DAT read: 22:20:21.9608 LVL= 20976, 24433, 20722, 32755, AGC= 53, IDX= 507,-0.22, 3.068, 1.353,-2.988, 2.907, PHS= 0.263,-1.509, 0.344, RAW= 152.2, 10.0, CAL= 152.0, 10.9, ROT= 358.0, -10.9
2025-08-23T22:20:22.717Z,1755987622.717 [DAT](INFO): got valid direction response:
22:20:21.9608 LVL= 20976, 24433, 20722, 32755, AGC= 53, IDX= 507,-0.22, 3.068, 1.353,-2.988, 2.907, PHS= 0.263,-1.509, 0.344, RAW= 152.2, 10.0, CAL= 152.0, 10.9, ROT= 358.0, -10.9
2025-08-23T22:20:22.717Z,1755987622.717 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-23T22:20:22.718Z,1755987622.718 [DAT](INFO): direction in FSK: [0.981361,-0.034270,0.189095]
2025-08-23T22:20:22.718Z,1755987622.718 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:22.726Z,1755987622.726 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.122177
2025-08-23T22:20:22.959Z,1755987622.959 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.354969
2025-08-23T22:20:22.990Z,1755987622.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.500000 m,
deltaT: 0.503010 s,
deltaX: -0.300000 m,
approachRate: -0.596410 m/s,
rangeRepo size: 4
2025-08-23T22:20:23.019Z,1755987623.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.402924 m,
bearing: 128.393377 deg,
lat: 36.779404 deg,
lon: -121.859580 deg,
deltaT: 0.503010 s,
deltaX: -0.298148 m,
approachRate: -0.592728 m/s,
posRepo size: 4
2025-08-23T22:20:23.026Z,1755987623.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:20:23.035Z,1755987623.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.402924 m,
nav range: 15.286006 m,
bearing: 127.861399 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.674341 deg,
new cmd heading: 126.607314 deg.
2025-08-23T22:20:23.036Z,1755987623.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209714 target range: 15.402924 and range: 15.50 m.
2025-08-23T22:20:23.212Z,1755987623.212 [DAT](INFO): DAT read: Rx Time:22:20:22.4607
2025-08-23T22:20:23.213Z,1755987623.213 [DAT](INFO): Rx dataTimestamp_ set to:1755987623.212395
2025-08-23T22:20:23.214Z,1755987623.214 [DAT](INFO): DAT read: Bearing 307.1, -3.5 (Local)
2025-08-23T22:20:23.215Z,1755987623.215 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.1, -3.5 (Local)
2025-08-23T22:20:23.217Z,1755987623.217 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4
2025-08-23T22:20:23.221Z,1755987623.221 [DAT](INFO): DAT read: 22:20:22.4607 LVL= 20288, 23313, 24242, 30659, AGC= 53, IDX= 506, 0.21,-0.579,-2.320,-0.358,-0.748, PHS= 0.271,-1.526, 0.346, RAW= 152.0, 9.9, CAL= 151.7, 10.8, ROT= 358.3, -10.8
2025-08-23T22:20:23.222Z,1755987623.222 [DAT](INFO): got valid direction response:
22:20:22.4607 LVL= 20288, 23313, 24242, 30659, AGC= 53, IDX= 506, 0.21,-0.579,-2.320,-0.358,-0.748, PHS= 0.271,-1.526, 0.346, RAW= 152.0, 9.9, CAL= 151.7, 10.8, ROT= 358.3, -10.8
2025-08-23T22:20:23.223Z,1755987623.223 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-23T22:20:23.224Z,1755987623.224 [DAT](INFO): direction in FSK: [0.981855,-0.029141,0.187381]
2025-08-23T22:20:23.224Z,1755987623.224 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:23.228Z,1755987623.228 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.624100
2025-08-23T22:20:23.466Z,1755987623.466 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.861385
2025-08-23T22:20:23.536Z,1755987623.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 0.505214 s,
deltaX: -0.200000 m,
approachRate: -0.395871 m/s,
rangeRepo size: 4
2025-08-23T22:20:23.543Z,1755987623.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.204176 m,
bearing: 128.550414 deg,
lat: 36.779404 deg,
lon: -121.859582 deg,
deltaT: 0.505214 s,
deltaX: -0.198748 m,
approachRate: -0.393393 m/s,
posRepo size: 4
2025-08-23T22:20:23.544Z,1755987623.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:20:23.551Z,1755987623.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.204176 m,
nav range: 15.004773 m,
bearing: 128.389957 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.607310 deg,
new cmd heading: 126.523275 deg.
2025-08-23T22:20:23.552Z,1755987623.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208248 target range: 15.204176 and range: 15.30 m.
2025-08-23T22:20:23.715Z,1755987623.715 [DAT](INFO): DAT read: Rx Time:22:20:22.9605
2025-08-23T22:20:23.716Z,1755987623.716 [DAT](INFO): Rx dataTimestamp_ set to:1755987623.715343
2025-08-23T22:20:23.717Z,1755987623.717 [DAT](INFO): DAT read: Bearing 307.5, -2.5 (Local)
2025-08-23T22:20:23.717Z,1755987623.717 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.5, -2.5 (Local)
2025-08-23T22:20:23.719Z,1755987623.719 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4
2025-08-23T22:20:23.724Z,1755987623.724 [DAT](INFO): DAT read: 22:20:22.9605 LVL= 21056, 25073, 23250, 32755, AGC= 53, IDX= 504,-0.20, 3.096, 1.359,-3.007, 2.925, PHS= 0.273,-1.521, 0.307, RAW= 150.9, 10.4, CAL= 150.7, 11.4, ROT= 359.3, -11.4
2025-08-23T22:20:23.725Z,1755987623.725 [DAT](INFO): got valid direction response:
22:20:22.9605 LVL= 21056, 25073, 23250, 32755, AGC= 53, IDX= 504,-0.20, 3.096, 1.359,-3.007, 2.925, PHS= 0.273,-1.521, 0.307, RAW= 150.9, 10.4, CAL= 150.7, 11.4, ROT= 359.3, -11.4
2025-08-23T22:20:23.726Z,1755987623.726 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-23T22:20:23.727Z,1755987623.727 [DAT](INFO): direction in FSK: [0.980198,-0.011976,0.197657]
2025-08-23T22:20:23.727Z,1755987623.727 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:23.750Z,1755987623.750 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.146137
2025-08-23T22:20:23.950Z,1755987623.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.000000 m,
deltaT: 0.502948 s,
deltaX: -0.300000 m,
approachRate: -0.596484 m/s,
rangeRepo size: 4
2025-08-23T22:20:23.952Z,1755987623.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.906081 m,
bearing: 129.393493 deg,
lat: 36.779403 deg,
lon: -121.859582 deg,
deltaT: 0.502948 s,
deltaX: -0.298095 m,
approachRate: -0.592695 m/s,
posRepo size: 4
2025-08-23T22:20:23.953Z,1755987623.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-08-23T22:20:23.956Z,1755987623.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.906081 m,
nav range: 14.755216 m,
bearing: 128.453731 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.523271 deg,
new cmd heading: 126.458696 deg.
2025-08-23T22:20:23.957Z,1755987623.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.207121 target range: 14.906081 and range: 15.00 m.
2025-08-23T22:20:23.978Z,1755987623.978 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.373631
2025-08-23T22:20:24.228Z,1755987624.228 [DAT](INFO): DAT read: Rx Time:22:20:23.4604
2025-08-23T22:20:24.228Z,1755987624.228 [DAT](INFO): Rx dataTimestamp_ set to:1755987624.227903
2025-08-23T22:20:24.230Z,1755987624.230 [DAT](INFO): DAT read: Bearing 307.0, -2.1 (Local)
2025-08-23T22:20:24.230Z,1755987624.230 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.0, -2.1 (Local)
2025-08-23T22:20:24.232Z,1755987624.232 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.4
2025-08-23T22:20:24.236Z,1755987624.236 [DAT](INFO): DAT read: 22:20:23.4604 LVL= 19584, 25489, 22034, 32307, AGC= 52, IDX= 503, 0.22,-0.576,-2.317,-0.409,-0.766, PHS= 0.292,-1.506, 0.313, RAW= 150.6, 10.0, CAL= 150.3, 10.9, ROT= 359.7, -10.9
2025-08-23T22:20:24.237Z,1755987624.237 [DAT](INFO): got valid direction response:
22:20:23.4604 LVL= 19584, 25489, 22034, 32307, AGC= 52, IDX= 503, 0.22,-0.576,-2.317,-0.409,-0.766, PHS= 0.292,-1.506, 0.313, RAW= 150.6, 10.0, CAL= 150.3, 10.9, ROT= 359.7, -10.9
2025-08-23T22:20:24.238Z,1755987624.238 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-23T22:20:24.239Z,1755987624.239 [DAT](INFO): direction in FSK: [0.981945,-0.005141,0.189095]
2025-08-23T22:20:24.239Z,1755987624.239 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:24.242Z,1755987624.242 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.638844
2025-08-23T22:20:24.398Z,1755987624.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 0.512560 s,
deltaX: -0.100000 m,
approachRate: -0.195100 m/s,
rangeRepo size: 4
2025-08-23T22:20:24.400Z,1755987624.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.806707 m,
bearing: 129.490336 deg,
lat: 36.779403 deg,
lon: -121.859582 deg,
deltaT: 0.512560 s,
deltaX: -0.099374 m,
approachRate: -0.193877 m/s,
posRepo size: 4
2025-08-23T22:20:24.401Z,1755987624.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:20:24.415Z,1755987624.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.806707 m,
nav range: 14.571770 m,
bearing: 128.627477 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.458699 deg,
new cmd heading: 126.390863 deg.
2025-08-23T22:20:24.422Z,1755987624.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205937 target range: 14.806707 and range: 14.90 m.
2025-08-23T22:20:24.484Z,1755987624.484 [DAT](INFO): DAT read: Rx Time:22:20:23.9602
2025-08-23T22:20:24.487Z,1755987624.487 [DAT](INFO): Rx dataTimestamp_ set to:1755987624.485139
2025-08-23T22:20:24.489Z,1755987624.489 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.884949
2025-08-23T22:20:24.732Z,1755987624.732 [DAT](INFO): DAT read: Bearing 307.4, -1.1 (Local)
2025-08-23T22:20:24.732Z,1755987624.732 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.4, -1.1 (Local)
2025-08-23T22:20:24.747Z,1755987624.747 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4
2025-08-23T22:20:24.751Z,1755987624.751 [DAT](INFO): DAT read: 22:20:23.9602 LVL= 20976, 26657, 22802, 32755, AGC= 52, IDX= 501,-0.19, 3.094, 1.355,-3.061, 2.904, PHS= 0.292,-1.504, 0.274, RAW= 149.5, 10.5, CAL= 149.2, 11.5, ROT= 0.8, -11.5
2025-08-23T22:20:24.752Z,1755987624.752 [DAT](INFO): got valid direction response:
22:20:23.9602 LVL= 20976, 26657, 22802, 32755, AGC= 52, IDX= 501,-0.19, 3.094, 1.355,-3.061, 2.904, PHS= 0.292,-1.504, 0.274, RAW= 149.5, 10.5, CAL= 149.2, 11.5, ROT= 0.8, -11.5
2025-08-23T22:20:24.753Z,1755987624.753 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-23T22:20:24.754Z,1755987624.754 [DAT](INFO): direction in FSK: [0.979829,0.013682,0.199368]
2025-08-23T22:20:24.754Z,1755987624.754 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:24.758Z,1755987624.758 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.153931
2025-08-23T22:20:24.942Z,1755987624.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.600000 m,
deltaT: 0.502025 s,
deltaX: -0.299999 m,
approachRate: -0.597578 m/s,
rangeRepo size: 4
2025-08-23T22:20:24.944Z,1755987624.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.508522 m,
bearing: 130.435632 deg,
lat: 36.779402 deg,
lon: -121.859583 deg,
deltaT: 0.502025 s,
deltaX: -0.298185 m,
approachRate: -0.593965 m/s,
posRepo size: 4
2025-08-23T22:20:24.945Z,1755987624.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-08-23T22:20:24.948Z,1755987624.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.508522 m,
nav range: 14.316206 m,
bearing: 129.273419 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.390861 deg,
new cmd heading: 126.307179 deg.
2025-08-23T22:20:24.949Z,1755987624.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204476 target range: 14.508522 and range: 14.60 m.
2025-08-23T22:20:24.986Z,1755987624.986 [DAT](INFO): DAT read: Rx Time:22:20:24.4600
2025-08-23T22:20:24.988Z,1755987624.988 [DAT](INFO): Rx dataTimestamp_ set to:1755987624.986674
2025-08-23T22:20:24.991Z,1755987624.991 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.385757
2025-08-23T22:20:25.237Z,1755987625.237 [DAT](INFO): DAT read: Bearing 307.3, -0.9 (Local)
2025-08-23T22:20:25.237Z,1755987625.237 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.3, -0.9 (Local)
2025-08-23T22:20:25.240Z,1755987625.240 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4
2025-08-23T22:20:25.247Z,1755987625.247 [DAT](INFO): DAT read: 22:20:24.4600 LVL= 20160, 23873, 21554, 32371, AGC= 52, IDX= 499, 0.23,-1.830, 2.686,-1.710,-2.029, PHS= 0.300,-1.523, 0.275, RAW= 149.3, 10.5, CAL= 149.0, 11.5, ROT= 1.0, -11.5
2025-08-23T22:20:25.248Z,1755987625.248 [DAT](INFO): got valid direction response:
22:20:24.4600 LVL= 20160, 23873, 21554, 32371, AGC= 52, IDX= 499, 0.23,-1.830, 2.686,-1.710,-2.029, PHS= 0.300,-1.523, 0.275, RAW= 149.3, 10.5, CAL= 149.0, 11.5, ROT= 1.0, -11.5
2025-08-23T22:20:25.249Z,1755987625.249 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-23T22:20:25.250Z,1755987625.250 [DAT](INFO): direction in FSK: [0.979775,0.017102,0.199368]
2025-08-23T22:20:25.250Z,1755987625.250 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:25.254Z,1755987625.254 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.650055
2025-08-23T22:20:25.439Z,1755987625.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.300000 m,
deltaT: 0.504915 s,
deltaX: -0.300000 m,
approachRate: -0.594160 m/s,
rangeRepo size: 4
2025-08-23T22:20:25.441Z,1755987625.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.210402 m,
bearing: 130.471979 deg,
lat: 36.779401 deg,
lon: -121.859584 deg,
deltaT: 0.504915 s,
deltaX: -0.298120 m,
approachRate: -0.590437 m/s,
posRepo size: 4
2025-08-23T22:20:25.446Z,1755987625.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-08-23T22:20:25.462Z,1755987625.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.210402 m,
nav range: 14.081027 m,
bearing: 129.872177 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.307178 deg,
new cmd heading: 126.231197 deg.
2025-08-23T22:20:25.470Z,1755987625.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203150 target range: 14.210402 and range: 14.30 m.
2025-08-23T22:20:25.491Z,1755987625.491 [DAT](INFO): DAT read: Rx Time:22:20:24.9598
2025-08-23T22:20:25.493Z,1755987625.493 [DAT](INFO): Rx dataTimestamp_ set to:1755987625.491996
2025-08-23T22:20:25.500Z,1755987625.500 [DAT](INFO): DAT read: Bearing 307.9, 0.3 (Local)
2025-08-23T22:20:25.501Z,1755987625.501 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.9, 0.3 (Local)
2025-08-23T22:20:25.531Z,1755987625.531 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4
2025-08-23T22:20:25.542Z,1755987625.542 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-08-23T22:20:25.542Z,1755987625.542 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.938812
2025-08-23T22:20:25.742Z,1755987625.742 [DAT](INFO): DAT read: 22:20:24.9598 LVL= 20864, 23217, 22162, 30883, AGC= 52, IDX= 497,-0.18, 1.184,-0.578, 1.261, 0.991, PHS= 0.295,-1.524, 0.226, RAW= 148.1, 11.2, CAL= 147.8, 12.3, ROT= 2.2, -12.3
2025-08-23T22:20:25.744Z,1755987625.744 [DAT](INFO): got valid direction response:
22:20:24.9598 LVL= 20864, 23217, 22162, 30883, AGC= 52, IDX= 497,-0.18, 1.184,-0.578, 1.261, 0.991, PHS= 0.295,-1.524, 0.226, RAW= 148.1, 11.2, CAL= 147.8, 12.3, ROT= 2.2, -12.3
2025-08-23T22:20:25.744Z,1755987625.744 [DAT](INFO): #Rx 98: Read direction message, but no range.
2025-08-23T22:20:25.746Z,1755987625.746 [DAT](INFO): direction in FSK: [0.976325,0.037507,0.213030]
2025-08-23T22:20:25.751Z,1755987625.751 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.146908
2025-08-23T22:20:25.950Z,1755987625.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.000000 m,
deltaT: 0.257153 s,
deltaX: -0.300000 m,
approachRate: -1.166621 m/s,
rangeRepo size: 4
2025-08-23T22:20:25.952Z,1755987625.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.912293 m,
bearing: 131.516559 deg,
lat: 36.779400 deg,
lon: -121.859585 deg,
deltaT: 0.257153 s,
deltaX: -0.298108 m,
approachRate: -1.159264 m/s,
posRepo size: 4
2025-08-23T22:20:25.953Z,1755987625.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:20:25.960Z,1755987625.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.912293 m,
nav range: 13.820832 m,
bearing: 130.441655 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.231199 deg,
new cmd heading: 126.153779 deg.
2025-08-23T22:20:25.961Z,1755987625.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201799 target range: 13.912293 and range: 14.00 m.
2025-08-23T22:20:25.995Z,1755987625.995 [DAT](INFO): DAT read: Rx Time:22:20:25.4597
2025-08-23T22:20:25.997Z,1755987625.997 [DAT](INFO): Rx dataTimestamp_ set to:1755987625.996133
2025-08-23T22:20:26.001Z,1755987626.001 [DAT](INFO): DAT read: Bearing 297.4, -1.3 (Local)
2025-08-23T22:20:26.002Z,1755987626.002 [DAT](INFO): Local bearing/azimuth received:
Bearing 297.4, -1.3 (Local)
2025-08-23T22:20:26.011Z,1755987626.011 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4
2025-08-23T22:20:26.038Z,1755987626.038 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-08-23T22:20:26.039Z,1755987626.039 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.435043
2025-08-23T22:20:26.246Z,1755987626.246 [DAT](INFO): DAT read: 22:20:25.4597 LVL= 19600, 24305, 20850, 32755, AGC= 50, IDX= 512, 0.22,-1.020,-2.726,-0.865,-1.442, PHS= 0.523,-1.239, 0.533, RAW= 150.3, 2.1, CAL= 149.2, 1.8, ROT= 0.8, -1.8
2025-08-23T22:20:26.247Z,1755987626.247 [DAT](INFO): got valid direction response:
22:20:25.4597 LVL= 19600, 24305, 20850, 32755, AGC= 50, IDX= 512, 0.22,-1.020,-2.726,-0.865,-1.442, PHS= 0.523,-1.239, 0.533, RAW= 150.3, 2.1, CAL= 149.2, 1.8, ROT= 0.8, -1.8
2025-08-23T22:20:26.248Z,1755987626.248 [DAT](INFO): #Rx 100: Read direction message, but no range.
2025-08-23T22:20:26.248Z,1755987626.248 [DAT](INFO): direction in FSK: [0.999409,0.013955,0.031411]
2025-08-23T22:20:26.252Z,1755987626.252 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.648132
2025-08-23T22:20:26.362Z,1755987626.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 0.504137 s,
deltaX: -0.200000 m,
approachRate: -0.396717 m/s,
rangeRepo size: 4
2025-08-23T22:20:26.364Z,1755987626.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.713547 m,
bearing: 130.172865 deg,
lat: 36.779400 deg,
lon: -121.859585 deg,
deltaT: 0.504137 s,
deltaX: -0.198747 m,
approachRate: -0.394231 m/s,
posRepo size: 4
2025-08-23T22:20:26.364Z,1755987626.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:20:26.371Z,1755987626.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.713547 m,
nav range: 13.619055 m,
bearing: 130.526919 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.153785 deg,
new cmd heading: 126.090907 deg.
2025-08-23T22:20:26.372Z,1755987626.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200701 target range: 13.713547 and range: 13.80 m.
2025-08-23T22:20:26.499Z,1755987626.499 [DAT](INFO): DAT read: Rx Time:22:20:25.9595
2025-08-23T22:20:26.501Z,1755987626.501 [DAT](INFO): Rx dataTimestamp_ set to:1755987626.499951
2025-08-23T22:20:26.505Z,1755987626.505 [DAT](INFO): DAT read: Bearing 308.0, 1.7 (Local)
2025-08-23T22:20:26.507Z,1755987626.507 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.0, 1.7 (Local)
2025-08-23T22:20:26.535Z,1755987626.535 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4
2025-08-23T22:20:26.535Z,1755987626.535 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-08-23T22:20:26.536Z,1755987626.536 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.932613
2025-08-23T22:20:26.750Z,1755987626.750 [DAT](INFO): DAT read: 22:20:25.9595 LVL= 20272, 25073, 21458, 32739, AGC= 52, IDX= 510,-0.18, 1.144,-0.644, 1.167, 0.935, PHS= 0.311,-1.534, 0.188, RAW= 146.6, 11.6, CAL= 146.3, 12.7, ROT= 3.7, -12.7
2025-08-23T22:20:26.751Z,1755987626.751 [DAT](INFO): got valid direction response:
22:20:25.9595 LVL= 20272, 25073, 21458, 32739, AGC= 52, IDX= 510,-0.18, 1.144,-0.644, 1.167, 0.935, PHS= 0.311,-1.534, 0.188, RAW= 146.6, 11.6, CAL= 146.3, 12.7, ROT= 3.7, -12.7
2025-08-23T22:20:26.752Z,1755987626.752 [DAT](INFO): #Rx 102: Read direction message, but no range.
2025-08-23T22:20:26.753Z,1755987626.753 [DAT](INFO): direction in FSK: [0.973501,0.062953,0.219846]
2025-08-23T22:20:26.760Z,1755987626.760 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.156494
2025-08-23T22:20:26.788Z,1755987626.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.500000 m,
deltaT: 0.503818 s,
deltaX: -0.300000 m,
approachRate: -0.595454 m/s,
rangeRepo size: 4
2025-08-23T22:20:26.798Z,1755987626.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.415453 m,
bearing: 132.691022 deg,
lat: 36.779400 deg,
lon: -121.859585 deg,
deltaT: 0.503818 s,
deltaX: -0.298094 m,
approachRate: -0.591670 m/s,
posRepo size: 4
2025-08-23T22:20:26.799Z,1755987626.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-08-23T22:20:26.806Z,1755987626.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.415453 m,
nav range: 13.430418 m,
bearing: 130.930285 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076393 deg/s,
cmd heading: 126.090906 deg,
new cmd heading: 126.025175 deg.
2025-08-23T22:20:26.807Z,1755987626.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199554 target range: 13.415453 and range: 13.50 m.
2025-08-23T22:20:27.004Z,1755987627.004 [DAT](INFO): DAT read: Rx Time:22:20:26.4594
2025-08-23T22:20:27.007Z,1755987627.007 [DAT](INFO): Rx dataTimestamp_ set to:1755987627.004998
2025-08-23T22:20:27.010Z,1755987627.010 [DAT](INFO): DAT read: Bearing 307.4, 1.8 (Local)
2025-08-23T22:20:27.011Z,1755987627.011 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.4, 1.8 (Local)
2025-08-23T22:20:27.018Z,1755987627.018 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4
2025-08-23T22:20:27.021Z,1755987627.021 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-23T22:20:27.025Z,1755987627.025 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.420891
2025-08-23T22:20:27.122Z,1755987627.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:27.125Z,1755987627.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.400000 m,
deltaT: 0.505047 s,
deltaX: -0.100000 m,
approachRate: -0.198002 m/s,
rangeRepo size: 4
2025-08-23T22:20:27.126Z,1755987627.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-08-23T22:20:27.128Z,1755987627.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.415453 m,
nav range: 13.253532 m,
bearing: 131.025605 deg,
approach rate: -0.524469 m/s,
LOS rate: 0.286395 deg/s,
cmd heading: 126.025173 deg,
new cmd heading: 126.218355 deg.
2025-08-23T22:20:27.130Z,1755987627.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202926 target range: 13.415453 and range: 13.40 m.
2025-08-23T22:20:27.254Z,1755987627.254 [DAT](INFO): DAT read: 22:20:26.4594 LVL= 21440, 25585, 22770, 32755, AGC= 52, IDX= 509, 0.23,-1.869, 2.613,-1.849,-2.093, PHS= 0.326,-1.532, 0.199, RAW= 146.5, 11.2, CAL= 146.2, 12.2, ROT= 3.8, -12.2
2025-08-23T22:20:27.255Z,1755987627.255 [DAT](INFO): got valid direction response:
22:20:26.4594 LVL= 21440, 25585, 22770, 32755, AGC= 52, IDX= 509, 0.23,-1.869, 2.613,-1.849,-2.093, PHS= 0.326,-1.532, 0.199, RAW= 146.5, 11.2, CAL= 146.2, 12.2, ROT= 3.8, -12.2
2025-08-23T22:20:27.256Z,1755987627.256 [DAT](INFO): #Rx 104: Read direction message, but no range.
2025-08-23T22:20:27.257Z,1755987627.257 [DAT](INFO): direction in FSK: [0.975267,0.064777,0.211325]
2025-08-23T22:20:27.260Z,1755987627.260 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=48.656696
2025-08-23T22:20:27.508Z,1755987627.508 [DAT](INFO): DAT read: Rx Time:22:20:26.9592
2025-08-23T22:20:27.510Z,1755987627.510 [DAT](INFO): Rx dataTimestamp_ set to:1755987627.508307
2025-08-23T22:20:27.517Z,1755987627.517 [DAT](INFO): DAT read: Bearing 307.8, 3.3 (Local)
2025-08-23T22:20:27.519Z,1755987627.519 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.8, 3.3 (Local)
2025-08-23T22:20:27.546Z,1755987627.546 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.4
2025-08-23T22:20:27.563Z,1755987627.563 [DAT](INFO): DAT read: 22:20:26.9592 LVL= 21648, 24881, 23666, 32755, AGC= 51, IDX= 507,-0.18, 1.098,-0.702, 1.065, 0.868, PHS= 0.332,-1.525, 0.154, RAW= 145.0, 11.7, CAL= 144.6, 12.8, ROT= 5.4, -12.8
2025-08-23T22:20:27.564Z,1755987627.564 [DAT](INFO): got valid direction response:
22:20:26.9592 LVL= 21648, 24881, 23666, 32755, AGC= 51, IDX= 507,-0.18, 1.098,-0.702, 1.065, 0.868, PHS= 0.332,-1.525, 0.154, RAW= 145.0, 11.7, CAL= 144.6, 12.8, ROT= 5.4, -12.8
2025-08-23T22:20:27.564Z,1755987627.564 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-23T22:20:27.565Z,1755987627.565 [DAT](INFO): direction in FSK: [0.970822,0.091770,0.221548]
2025-08-23T22:20:27.565Z,1755987627.565 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:27.590Z,1755987627.590 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=48.986092
2025-08-23T22:20:27.682Z,1755987627.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.100000 m,
deltaT: 0.503309 s,
deltaX: -0.299999 m,
approachRate: -0.596054 m/s,
rangeRepo size: 4
2025-08-23T22:20:27.684Z,1755987627.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.017958 m,
bearing: 133.999138 deg,
lat: 36.779399 deg,
lon: -121.859588 deg,
deltaT: 1.008356 s,
deltaX: -0.397495 m,
approachRate: -0.394201 m/s,
posRepo size: 4
2025-08-23T22:20:27.685Z,1755987627.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-23T22:20:27.688Z,1755987627.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.017958 m,
nav range: 12.878706 m,
bearing: 131.995508 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.286395 deg/s,
cmd heading: 126.218358 deg,
new cmd heading: 126.535240 deg.
2025-08-23T22:20:27.689Z,1755987627.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208457 target range: 13.017958 and range: 13.10 m.
2025-08-23T22:20:27.755Z,1755987627.755 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.151764
2025-08-23T22:20:28.010Z,1755987628.010 [DAT](INFO): DAT read: Rx Time:22:20:27.4591
2025-08-23T22:20:28.012Z,1755987628.012 [DAT](INFO): Rx dataTimestamp_ set to:1755987628.010738
2025-08-23T22:20:28.016Z,1755987628.016 [DAT](INFO): DAT read: Bearing 307.6, 3.3 (Local)
2025-08-23T22:20:28.017Z,1755987628.017 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.6, 3.3 (Local)
2025-08-23T22:20:28.038Z,1755987628.038 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4
2025-08-23T22:20:28.051Z,1755987628.051 [DAT](INFO): DAT read: 22:20:27.4591 LVL= 23216, 26849, 21874, 32755, AGC= 50, IDX= 506, 0.23,-1.884, 2.586,-1.917,-2.120, PHS= 0.338,-1.532, 0.159, RAW= 145.0, 11.6, CAL= 144.6, 12.6, ROT= 5.4, -12.6
2025-08-23T22:20:28.052Z,1755987628.052 [DAT](INFO): got valid direction response:
22:20:27.4591 LVL= 23216, 26849, 21874, 32755, AGC= 50, IDX= 506, 0.23,-1.884, 2.586,-1.917,-2.120, PHS= 0.338,-1.532, 0.159, RAW= 145.0, 11.6, CAL= 144.6, 12.6, ROT= 5.4, -12.6
2025-08-23T22:20:28.052Z,1755987628.052 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-23T22:20:28.053Z,1755987628.053 [DAT](INFO): direction in FSK: [0.971586,0.091842,0.218143]
2025-08-23T22:20:28.062Z,1755987628.062 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:28.065Z,1755987628.065 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.461472
2025-08-23T22:20:28.160Z,1755987628.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.900000 m,
deltaT: 0.502431 s,
deltaX: -0.200001 m,
approachRate: -0.398066 m/s,
rangeRepo size: 4
2025-08-23T22:20:28.170Z,1755987628.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.819198 m,
bearing: 133.889537 deg,
lat: 36.779399 deg,
lon: -121.859591 deg,
deltaT: 0.502431 s,
deltaX: -0.198760 m,
approachRate: -0.395597 m/s,
posRepo size: 4
2025-08-23T22:20:28.171Z,1755987628.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-23T22:20:28.173Z,1755987628.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.819198 m,
nav range: 12.544236 m,
bearing: 133.158755 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.286395 deg/s,
cmd heading: 126.535238 deg,
new cmd heading: 126.810964 deg.
2025-08-23T22:20:28.179Z,1755987628.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.213269 target range: 12.819198 and range: 12.90 m.
2025-08-23T22:20:28.260Z,1755987628.260 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.655743
2025-08-23T22:20:28.516Z,1755987628.516 [DAT](INFO): DAT read: Rx Time:22:20:27.9589
2025-08-23T22:20:28.521Z,1755987628.521 [DAT](INFO): Rx dataTimestamp_ set to:1755987628.516602
2025-08-23T22:20:28.525Z,1755987628.525 [DAT](INFO): DAT read: Bearing 308.0, 4.5 (Local)
2025-08-23T22:20:28.545Z,1755987628.545 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.0, 4.5 (Local)
2025-08-23T22:20:28.547Z,1755987628.547 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4
2025-08-23T22:20:28.556Z,1755987628.556 [DAT](INFO): DAT read: 22:20:27.9589 LVL= 24704, 26737, 23618, 32755, AGC= 51, IDX= 504,-0.15, 1.242,-0.584, 1.168, 1.003, PHS= 0.342,-1.541, 0.121, RAW= 143.9, 12.1, CAL= 143.4, 13.1, ROT= 6.6, -13.1
2025-08-23T22:20:28.557Z,1755987628.557 [DAT](INFO): got valid direction response:
22:20:27.9589 LVL= 24704, 26737, 23618, 32755, AGC= 51, IDX= 504,-0.15, 1.242,-0.584, 1.168, 1.003, PHS= 0.342,-1.541, 0.121, RAW= 143.9, 12.1, CAL= 143.4, 13.1, ROT= 6.6, -13.1
2025-08-23T22:20:28.566Z,1755987628.566 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-23T22:20:28.567Z,1755987628.567 [DAT](INFO): direction in FSK: [0.967521,0.111946,0.226651]
2025-08-23T22:20:28.567Z,1755987628.567 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:28.579Z,1755987628.579 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=49.975014
2025-08-23T22:20:28.682Z,1755987628.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.600000 m,
deltaT: 0.505864 s,
deltaX: -0.299999 m,
approachRate: -0.593043 m/s,
rangeRepo size: 4
2025-08-23T22:20:28.684Z,1755987628.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.521077 m,
bearing: 134.925266 deg,
lat: 36.779397 deg,
lon: -121.859591 deg,
deltaT: 0.505864 s,
deltaX: -0.298120 m,
approachRate: -0.589329 m/s,
posRepo size: 4
2025-08-23T22:20:28.685Z,1755987628.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-08-23T22:20:28.692Z,1755987628.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.521077 m,
nav range: 12.353978 m,
bearing: 134.111726 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.286395 deg/s,
cmd heading: 126.810959 deg,
new cmd heading: 127.107707 deg.
2025-08-23T22:20:28.692Z,1755987628.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.218448 target range: 12.521077 and range: 12.60 m.
2025-08-23T22:20:28.764Z,1755987628.764 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.159603
2025-08-23T22:20:29.019Z,1755987629.019 [DAT](INFO): DAT read: Rx Time:22:20:28.4587
2025-08-23T22:20:29.021Z,1755987629.021 [DAT](INFO): Rx dataTimestamp_ set to:1755987629.019538
2025-08-23T22:20:29.025Z,1755987629.025 [DAT](INFO): DAT read: Bearing 307.8, 4.6 (Local)
2025-08-23T22:20:29.026Z,1755987629.026 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.8, 4.6 (Local)
2025-08-23T22:20:29.047Z,1755987629.047 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4
2025-08-23T22:20:29.059Z,1755987629.059 [DAT](INFO): DAT read: 22:20:28.4587 LVL= 25840, 27601, 23922, 32755, AGC= 51, IDX= 502, 0.26, 2.715, 0.874, 2.636, 2.469, PHS= 0.349,-1.550, 0.124, RAW= 143.8, 12.0, CAL= 143.3, 13.0, ROT= 6.7, -13.0
2025-08-23T22:20:29.061Z,1755987629.061 [DAT](INFO): got valid direction response:
22:20:28.4587 LVL= 25840, 27601, 23922, 32755, AGC= 51, IDX= 502, 0.26, 2.715, 0.874, 2.636, 2.469, PHS= 0.349,-1.550, 0.124, RAW= 143.8, 12.0, CAL= 143.3, 13.0, ROT= 6.7, -13.0
2025-08-23T22:20:29.061Z,1755987629.061 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-23T22:20:29.070Z,1755987629.070 [DAT](INFO): direction in FSK: [0.967716,0.113680,0.224951]
2025-08-23T22:20:29.070Z,1755987629.070 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:29.082Z,1755987629.082 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=50.478565
2025-08-23T22:20:29.146Z,1755987629.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.502936 s,
deltaX: -0.100000 m,
approachRate: -0.198833 m/s,
rangeRepo size: 4
2025-08-23T22:20:29.148Z,1755987629.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.421663 m,
bearing: 134.905072 deg,
lat: 36.779397 deg,
lon: -121.859592 deg,
deltaT: 0.502936 s,
deltaX: -0.099414 m,
approachRate: -0.197667 m/s,
posRepo size: 4
2025-08-23T22:20:29.149Z,1755987629.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-23T22:20:29.156Z,1755987629.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.421663 m,
nav range: 12.124259 m,
bearing: 134.533162 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.286395 deg/s,
cmd heading: 127.107703 deg,
new cmd heading: 127.372105 deg.
2025-08-23T22:20:29.157Z,1755987629.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.223063 target range: 12.421663 and range: 12.50 m.
2025-08-23T22:20:29.267Z,1755987629.267 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=50.663227
2025-08-23T22:20:29.524Z,1755987629.524 [DAT](INFO): DAT read: Rx Time:22:20:28.9585
2025-08-23T22:20:29.529Z,1755987629.529 [DAT](INFO): Rx dataTimestamp_ set to:1755987629.524894
2025-08-23T22:20:29.533Z,1755987629.533 [DAT](INFO): DAT read: Bearing 308.3, 5.4 (Local)
2025-08-23T22:20:29.534Z,1755987629.534 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.3, 5.4 (Local)
2025-08-23T22:20:29.541Z,1755987629.541 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4
2025-08-23T22:20:29.575Z,1755987629.575 [DAT](INFO): DAT read: 22:20:28.9585 LVL= 23072, 27985, 22258, 32755, AGC= 51, IDX= 500,-0.13, 0.272,-1.583, 0.165, 0.030, PHS= 0.344,-1.567, 0.091, RAW= 143.0, 12.6, CAL= 142.5, 13.6, ROT= 7.5, -13.6
2025-08-23T22:20:29.577Z,1755987629.577 [DAT](INFO): got valid direction response:
22:20:28.9585 LVL= 23072, 27985, 22258, 32755, AGC= 51, IDX= 500,-0.13, 0.272,-1.583, 0.165, 0.030, PHS= 0.344,-1.567, 0.091, RAW= 143.0, 12.6, CAL= 142.5, 13.6, ROT= 7.5, -13.6
2025-08-23T22:20:29.577Z,1755987629.577 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-23T22:20:29.579Z,1755987629.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:29.581Z,1755987629.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-23T22:20:29.586Z,1755987629.586 [DAT](INFO): direction in FSK: [0.963646,0.126866,0.235142]
2025-08-23T22:20:29.586Z,1755987629.586 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:29.591Z,1755987629.591 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=50.986916
2025-08-23T22:20:29.593Z,1755987629.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.421663 m,
nav range: 11.949562 m,
bearing: 134.702451 deg,
approach rate: -0.395071 m/s,
LOS rate: 0.388438 deg/s,
cmd heading: 127.372100 deg,
new cmd heading: 127.715624 deg.
2025-08-23T22:20:29.598Z,1755987629.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229058 target range: 12.421663 and range: 12.50 m.
2025-08-23T22:20:29.771Z,1755987629.771 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.166912
2025-08-23T22:20:29.938Z,1755987629.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.505356 s,
deltaX: -0.300000 m,
approachRate: -0.593641 m/s,
rangeRepo size: 4
2025-08-23T22:20:29.945Z,1755987629.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.123556 m,
bearing: 135.555460 deg,
lat: 36.779396 deg,
lon: -121.859592 deg,
deltaT: 0.505356 s,
deltaX: -0.298107 m,
approachRate: -0.589895 m/s,
posRepo size: 4
2025-08-23T22:20:29.962Z,1755987629.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:20:29.964Z,1755987629.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.123556 m,
nav range: 11.778468 m,
bearing: 135.109263 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.388438 deg/s,
cmd heading: 127.715617 deg,
new cmd heading: 127.992627 deg.
2025-08-23T22:20:29.972Z,1755987629.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233893 target range: 12.123556 and range: 12.20 m.
2025-08-23T22:20:30.027Z,1755987630.027 [DAT](INFO): DAT read: Rx Time:22:20:29.4584
2025-08-23T22:20:30.028Z,1755987630.028 [DAT](INFO): Rx dataTimestamp_ set to:1755987630.027538
2025-08-23T22:20:30.029Z,1755987630.029 [DAT](INFO): DAT read: Bearing 307.9, 5.3 (Local)
2025-08-23T22:20:30.030Z,1755987630.030 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.9, 5.3 (Local)
2025-08-23T22:20:30.032Z,1755987630.032 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4
2025-08-23T22:20:30.036Z,1755987630.036 [DAT](INFO): DAT read: 22:20:29.4584 LVL= 26800, 30001, 25202, 32755, AGC= 51, IDX= 499, 0.30, 2.992, 1.131, 2.888, 2.740, PHS= 0.354,-1.563, 0.104, RAW= 143.1, 12.2, CAL= 142.6, 13.3, ROT= 7.4, -13.3
2025-08-23T22:20:30.037Z,1755987630.037 [DAT](INFO): got valid direction response:
22:20:29.4584 LVL= 26800, 30001, 25202, 32755, AGC= 51, IDX= 499, 0.30, 2.992, 1.131, 2.888, 2.740, PHS= 0.354,-1.563, 0.104, RAW= 143.1, 12.2, CAL= 142.6, 13.3, ROT= 7.4, -13.3
2025-08-23T22:20:30.042Z,1755987630.042 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-23T22:20:30.043Z,1755987630.043 [DAT](INFO): direction in FSK: [0.965073,0.125341,0.230050]
2025-08-23T22:20:30.043Z,1755987630.043 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:30.067Z,1755987630.067 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.463242
2025-08-23T22:20:30.276Z,1755987630.276 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.672096
2025-08-23T22:20:30.412Z,1755987630.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.502644 s,
deltaX: -0.200000 m,
approachRate: -0.397896 m/s,
rangeRepo size: 4
2025-08-23T22:20:30.416Z,1755987630.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.924809 m,
bearing: 135.260950 deg,
lat: 36.779396 deg,
lon: -121.859592 deg,
deltaT: 0.502644 s,
deltaX: -0.198747 m,
approachRate: -0.395402 m/s,
posRepo size: 4
2025-08-23T22:20:30.417Z,1755987630.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m.
2025-08-23T22:20:30.422Z,1755987630.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.924809 m,
nav range: 11.612164 m,
bearing: 135.467009 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.388438 deg/s,
cmd heading: 127.992622 deg,
new cmd heading: 128.359946 deg.
2025-08-23T22:20:30.423Z,1755987630.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240304 target range: 11.924809 and range: 12.00 m.
2025-08-23T22:20:30.534Z,1755987630.534 [DAT](INFO): DAT read: Rx Time:22:20:29.9583
2025-08-23T22:20:30.536Z,1755987630.536 [DAT](INFO): Rx dataTimestamp_ set to:1755987630.534697
2025-08-23T22:20:30.539Z,1755987630.539 [DAT](INFO): DAT read: Bearing 308.4, 6.0 (Local)
2025-08-23T22:20:30.540Z,1755987630.540 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.4, 6.0 (Local)
2025-08-23T22:20:30.544Z,1755987630.544 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4
2025-08-23T22:20:30.547Z,1755987630.547 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-08-23T22:20:30.555Z,1755987630.555 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=51.945522
2025-08-23T22:20:30.782Z,1755987630.782 [DAT](INFO): DAT read: 22:20:29.9583 LVL= 24816, 29809, 22514, 32755, AGC= 51, IDX= 497,-0.09,-0.079,-1.948,-0.206,-0.327, PHS= 0.350,-1.576, 0.076, RAW= 142.5, 12.7, CAL= 141.9, 13.8, ROT= 8.1, -13.8
2025-08-23T22:20:30.783Z,1755987630.783 [DAT](INFO): got valid direction response:
22:20:29.9583 LVL= 24816, 29809, 22514, 32755, AGC= 51, IDX= 497,-0.09,-0.079,-1.948,-0.206,-0.327, PHS= 0.350,-1.576, 0.076, RAW= 142.5, 12.7, CAL= 141.9, 13.8, ROT= 8.1, -13.8
2025-08-23T22:20:30.784Z,1755987630.784 [DAT](INFO): #Rx 112: Read direction message, but no range.
2025-08-23T22:20:30.785Z,1755987630.785 [DAT](INFO): direction in FSK: [0.961446,0.136834,0.238533]
2025-08-23T22:20:30.792Z,1755987630.792 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.188396
2025-08-23T22:20:30.860Z,1755987630.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.507159 s,
deltaX: -0.300000 m,
approachRate: -0.591531 m/s,
rangeRepo size: 4
2025-08-23T22:20:30.867Z,1755987630.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.626697 m,
bearing: 135.895315 deg,
lat: 36.779396 deg,
lon: -121.859592 deg,
deltaT: 0.507159 s,
deltaX: -0.298113 m,
approachRate: -0.587810 m/s,
posRepo size: 4
2025-08-23T22:20:30.867Z,1755987630.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:20:30.874Z,1755987630.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.626697 m,
nav range: 11.404824 m,
bearing: 135.809146 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.388438 deg/s,
cmd heading: 128.359950 deg,
new cmd heading: 128.709271 deg.
2025-08-23T22:20:30.875Z,1755987630.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.246401 target range: 11.626697 and range: 11.70 m.
2025-08-23T22:20:31.031Z,1755987631.031 [DAT](INFO): DAT read: Rx Time:22:20:30.4582
2025-08-23T22:20:31.032Z,1755987631.032 [DAT](INFO): Rx dataTimestamp_ set to:1755987631.031550
2025-08-23T22:20:31.033Z,1755987631.033 [DAT](INFO): DAT read: Bearing 300.6, 12.8 (Local)
2025-08-23T22:20:31.033Z,1755987631.033 [DAT](INFO): Local bearing/azimuth received:
Bearing 300.6, 12.8 (Local)
2025-08-23T22:20:31.035Z,1755987631.035 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4
2025-08-23T22:20:31.040Z,1755987631.040 [DAT](INFO): DAT read: 22:20:30.4582 LVL= 27792, 30049, 22674, 32755, AGC= 51, IDX= 512, 0.37,-2.947, 1.544, 2.983, 2.795, PHS= 0.644,-1.205, 0.144, RAW= 134.9, 5.1, CAL= 135.0, 6.1, ROT= 15.0, -6.1
2025-08-23T22:20:31.041Z,1755987631.041 [DAT](INFO): got valid direction response:
22:20:30.4582 LVL= 27792, 30049, 22674, 32755, AGC= 51, IDX= 512, 0.37,-2.947, 1.544, 2.983, 2.795, PHS= 0.644,-1.205, 0.144, RAW= 134.9, 5.1, CAL= 135.0, 6.1, ROT= 15.0, -6.1
2025-08-23T22:20:31.042Z,1755987631.042 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-23T22:20:31.043Z,1755987631.043 [DAT](INFO): direction in FSK: [0.960457,0.257354,0.106264]
2025-08-23T22:20:31.043Z,1755987631.043 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:31.046Z,1755987631.046 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=52.442738
2025-08-23T22:20:31.279Z,1755987631.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.496853 s,
deltaX: -0.099999 m,
approachRate: -0.201266 m/s,
rangeRepo size: 4
2025-08-23T22:20:31.283Z,1755987631.283 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=52.679031
2025-08-23T22:20:31.286Z,1755987631.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.527324 m,
bearing: 143.022100 deg,
lat: 36.779396 deg,
lon: -121.859592 deg,
deltaT: 0.496853 s,
deltaX: -0.099373 m,
approachRate: -0.200005 m/s,
posRepo size: 4
2025-08-23T22:20:31.287Z,1755987631.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:20:31.294Z,1755987631.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.527324 m,
nav range: 11.219934 m,
bearing: 136.049844 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.388438 deg/s,
cmd heading: 128.709273 deg,
new cmd heading: 129.034748 deg.
2025-08-23T22:20:31.295Z,1755987631.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252081 target range: 11.527324 and range: 11.60 m.
2025-08-23T22:20:31.535Z,1755987631.535 [DAT](INFO): DAT read: Rx Time:22:20:30.9580
2025-08-23T22:20:31.536Z,1755987631.536 [DAT](INFO): Rx dataTimestamp_ set to:1755987631.535264
2025-08-23T22:20:31.537Z,1755987631.537 [DAT](INFO): DAT read: Bearing 308.4, 6.1 (Local)
2025-08-23T22:20:31.538Z,1755987631.538 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.4, 6.1 (Local)
2025-08-23T22:20:31.547Z,1755987631.547 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.4
2025-08-23T22:20:31.562Z,1755987631.562 [DAT](INFO): DAT read: 22:20:30.9580 LVL= 27120, 31121, 23410, 32755, AGC= 50, IDX= 510,-0.05,-0.231,-2.097,-0.361,-0.480, PHS= 0.350,-1.573, 0.075, RAW= 142.4, 12.7, CAL= 141.8, 13.8, ROT= 8.2, -13.8
2025-08-23T22:20:31.566Z,1755987631.566 [DAT](INFO): got valid direction response:
22:20:30.9580 LVL= 27120, 31121, 23410, 32755, AGC= 50, IDX= 510,-0.05,-0.231,-2.097,-0.361,-0.480, PHS= 0.350,-1.573, 0.075, RAW= 142.4, 12.7, CAL= 141.8, 13.8, ROT= 8.2, -13.8
2025-08-23T22:20:31.567Z,1755987631.567 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-23T22:20:31.572Z,1755987631.572 [DAT](INFO): direction in FSK: [0.961206,0.138512,0.238533]
2025-08-23T22:20:31.608Z,1755987631.608 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:31.624Z,1755987631.624 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.020576
2025-08-23T22:20:31.733Z,1755987631.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.300000 m,
deltaT: 0.503714 s,
deltaX: -0.300000 m,
approachRate: -0.595576 m/s,
rangeRepo size: 4
2025-08-23T22:20:31.739Z,1755987631.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.229203 m,
bearing: 135.965614 deg,
lat: 36.779396 deg,
lon: -121.859592 deg,
deltaT: 0.503714 s,
deltaX: -0.298120 m,
approachRate: -0.591845 m/s,
posRepo size: 4
2025-08-23T22:20:31.740Z,1755987631.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-23T22:20:31.747Z,1755987631.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.229203 m,
nav range: 11.002598 m,
bearing: 136.240037 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.388438 deg/s,
cmd heading: 129.034745 deg,
new cmd heading: 129.386993 deg.
2025-08-23T22:20:31.748Z,1755987631.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.258229 target range: 11.229203 and range: 11.30 m.
2025-08-23T22:20:31.787Z,1755987631.787 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.182972
2025-08-23T22:20:32.039Z,1755987632.039 [DAT](INFO): DAT read: Rx Time:22:20:31.4579
2025-08-23T22:20:32.040Z,1755987632.040 [DAT](INFO): Rx dataTimestamp_ set to:1755987632.039353
2025-08-23T22:20:32.041Z,1755987632.041 [DAT](INFO): DAT read: Bearing 308.5, 5.6 (Local)
2025-08-23T22:20:32.041Z,1755987632.041 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.5, 5.6 (Local)
2025-08-23T22:20:32.043Z,1755987632.043 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4
2025-08-23T22:20:32.048Z,1755987632.048 [DAT](INFO): DAT read: 22:20:31.4579 LVL= 28848, 32241, 23410, 32755, AGC= 50, IDX= 509, 0.45, 2.007, 0.132, 1.895, 1.767, PHS= 0.342,-1.590, 0.084, RAW= 142.9, 12.8, CAL= 142.4, 13.8, ROT= 7.6, -13.8
2025-08-23T22:20:32.049Z,1755987632.049 [DAT](INFO): got valid direction response:
22:20:31.4579 LVL= 28848, 32241, 23410, 32755, AGC= 50, IDX= 509, 0.45, 2.007, 0.132, 1.895, 1.767, PHS= 0.342,-1.590, 0.084, RAW= 142.9, 12.8, CAL= 142.4, 13.8, ROT= 7.6, -13.8
2025-08-23T22:20:32.049Z,1755987632.049 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-23T22:20:32.050Z,1755987632.050 [DAT](INFO): direction in FSK: [0.962603,0.128439,0.238533]
2025-08-23T22:20:32.050Z,1755987632.050 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:32.063Z,1755987632.063 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=53.458984
2025-08-23T22:20:32.145Z,1755987632.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.100000 m,
deltaT: 0.504089 s,
deltaX: -0.200000 m,
approachRate: -0.396755 m/s,
rangeRepo size: 4
2025-08-23T22:20:32.159Z,1755987632.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.030478 m,
bearing: 135.334419 deg,
lat: 36.779396 deg,
lon: -121.859591 deg,
deltaT: 0.504089 s,
deltaX: -0.198726 m,
approachRate: -0.394227 m/s,
posRepo size: 4
2025-08-23T22:20:32.160Z,1755987632.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-08-23T22:20:32.162Z,1755987632.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.030478 m,
nav range: 10.829297 m,
bearing: 136.270791 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.388438 deg/s,
cmd heading: 129.386992 deg,
new cmd heading: 129.706812 deg.
2025-08-23T22:20:32.163Z,1755987632.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263811 target range: 11.030478 and range: 11.10 m.
2025-08-23T22:20:32.291Z,1755987632.291 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=53.687111
2025-08-23T22:20:32.531Z,1755987632.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:32.538Z,1755987632.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-08-23T22:20:32.547Z,1755987632.547 [DAT](INFO): DAT read: Rx Time:22:20:31.9577
2025-08-23T22:20:32.549Z,1755987632.549 [DAT](INFO): Rx dataTimestamp_ set to:1755987632.548173
2025-08-23T22:20:32.553Z,1755987632.553 [DAT](INFO): DAT read: Bearing 308.6, 5.5 (Local)
2025-08-23T22:20:32.555Z,1755987632.555 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.6, 5.5 (Local)
2025-08-23T22:20:32.579Z,1755987632.579 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.4
2025-08-23T22:20:32.594Z,1755987632.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.030478 m,
nav range: 10.643099 m,
bearing: 136.466450 deg,
approach rate: -0.478023 m/s,
LOS rate: 0.511097 deg/s,
cmd heading: 129.706809 deg,
new cmd heading: 130.104964 deg.
2025-08-23T22:20:32.606Z,1755987632.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270760 target range: 11.030478 and range: 11.10 m.
2025-08-23T22:20:32.614Z,1755987632.614 [DAT](INFO): DAT read: 22:20:31.9577 LVL= 25904, 29489, 22258, 32755, AGC= 50, IDX= 507, 0.02, 0.572,-1.307, 0.465, 0.337, PHS= 0.338,-1.599, 0.085, RAW= 143.1, 12.9, CAL= 142.6, 13.9, ROT= 7.4, -13.9
2025-08-23T22:20:32.615Z,1755987632.615 [DAT](INFO): got valid direction response:
22:20:31.9577 LVL= 25904, 29489, 22258, 32755, AGC= 50, IDX= 507, 0.02, 0.572,-1.307, 0.465, 0.337, PHS= 0.338,-1.599, 0.085, RAW= 143.1, 12.9, CAL= 142.6, 13.9, ROT= 7.4, -13.9
2025-08-23T22:20:32.615Z,1755987632.615 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-23T22:20:32.616Z,1755987632.616 [DAT](INFO): direction in FSK: [0.962632,0.125024,0.240228]
2025-08-23T22:20:32.617Z,1755987632.617 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:32.629Z,1755987632.629 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.024944
2025-08-23T22:20:32.795Z,1755987632.795 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.190979
2025-08-23T22:20:33.047Z,1755987633.047 [DAT](INFO): DAT read: Rx Time:22:20:32.4575
2025-08-23T22:20:33.048Z,1755987633.048 [DAT](INFO): Rx dataTimestamp_ set to:1755987633.047390
2025-08-23T22:20:33.049Z,1755987633.049 [DAT](INFO): DAT read: Bearing 308.9, 5.4 (Local)
2025-08-23T22:20:33.049Z,1755987633.049 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.9, 5.4 (Local)
2025-08-23T22:20:33.051Z,1755987633.051 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4
2025-08-23T22:20:33.056Z,1755987633.056 [DAT](INFO): DAT read: 22:20:32.4575 LVL= 27888, 32753, 20898, 32755, AGC= 49, IDX= 506,-0.40,-0.452,-2.328,-0.554,-0.681, PHS= 0.331,-1.602, 0.083, RAW= 143.2, 13.0, CAL= 142.7, 14.1, ROT= 7.3, -14.1
2025-08-23T22:20:33.057Z,1755987633.057 [DAT](INFO): got valid direction response:
22:20:32.4575 LVL= 27888, 32753, 20898, 32755, AGC= 49, IDX= 506,-0.40,-0.452,-2.328,-0.554,-0.681, PHS= 0.331,-1.602, 0.083, RAW= 143.2, 13.0, CAL= 142.7, 14.1, ROT= 7.3, -14.1
2025-08-23T22:20:33.057Z,1755987633.057 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-23T22:20:33.058Z,1755987633.058 [DAT](INFO): direction in FSK: [0.962011,0.123236,0.243615]
2025-08-23T22:20:33.059Z,1755987633.059 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:33.066Z,1755987633.066 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.462574
2025-08-23T22:20:33.072Z,1755987633.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.500000 m,
deltaT: 1.008037 s,
deltaX: -0.600000 m,
approachRate: -0.595217 m/s,
rangeRepo size: 4
2025-08-23T22:20:33.083Z,1755987633.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.434214 m,
bearing: 135.010911 deg,
lat: 36.779396 deg,
lon: -121.859591 deg,
deltaT: 1.008037 s,
deltaX: -0.596264 m,
approachRate: -0.591510 m/s,
posRepo size: 4
2025-08-23T22:20:33.083Z,1755987633.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-23T22:20:33.090Z,1755987633.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.434214 m,
nav range: 10.368443 m,
bearing: 136.648707 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.511097 deg/s,
cmd heading: 130.104968 deg,
new cmd heading: 130.655173 deg.
2025-08-23T22:20:33.091Z,1755987633.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280363 target range: 10.434214 and range: 10.50 m.
2025-08-23T22:20:33.299Z,1755987633.299 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.695137
2025-08-23T22:20:33.374Z,1755987633.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-23T22:20:33.376Z,1755987633.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.434214 m,
nav range: 10.220697 m,
bearing: 136.827843 deg,
approach rate: -0.496105 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 130.655167 deg,
new cmd heading: 131.018611 deg.
2025-08-23T22:20:33.382Z,1755987633.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286706 target range: 10.434214 and range: 10.50 m.
2025-08-23T22:20:33.551Z,1755987633.551 [DAT](INFO): DAT read: Rx Time:22:20:32.9573
2025-08-23T22:20:33.552Z,1755987633.552 [DAT](INFO): Rx dataTimestamp_ set to:1755987633.551404
2025-08-23T22:20:33.556Z,1755987633.556 [DAT](INFO): DAT read: Bearing 309.3, 4.7 (Local)
2025-08-23T22:20:33.557Z,1755987633.557 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.3, 4.7 (Local)
2025-08-23T22:20:33.559Z,1755987633.559 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4
2025-08-23T22:20:33.564Z,1755987633.564 [DAT](INFO): DAT read: 22:20:32.9573 LVL= 27744, 32305, 23026, 32755, AGC= 48, IDX= 503, 0.08,-0.552,-2.415,-0.627,-0.761, PHS= 0.312,-1.609, 0.091, RAW= 144.0, 13.2, CAL= 143.5, 14.3, ROT= 6.5, -14.3
2025-08-23T22:20:33.565Z,1755987633.565 [DAT](INFO): got valid direction response:
22:20:32.9573 LVL= 27744, 32305, 23026, 32755, AGC= 48, IDX= 503, 0.08,-0.552,-2.415,-0.627,-0.761, PHS= 0.312,-1.609, 0.091, RAW= 144.0, 13.2, CAL= 143.5, 14.3, ROT= 6.5, -14.3
2025-08-23T22:20:33.565Z,1755987633.565 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-23T22:20:33.567Z,1755987633.567 [DAT](INFO): direction in FSK: [0.962787,0.109696,0.246999]
2025-08-23T22:20:33.567Z,1755987633.567 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:33.589Z,1755987633.589 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=54.984486
2025-08-23T22:20:33.803Z,1755987633.803 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.198837
2025-08-23T22:20:33.825Z,1755987633.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 0.504014 s,
deltaX: -0.300000 m,
approachRate: -0.595222 m/s,
rangeRepo size: 4
2025-08-23T22:20:33.827Z,1755987633.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.136096 m,
bearing: 134.267644 deg,
lat: 36.779397 deg,
lon: -121.859590 deg,
deltaT: 0.504014 s,
deltaX: -0.298118 m,
approachRate: -0.591487 m/s,
posRepo size: 4
2025-08-23T22:20:33.828Z,1755987633.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:20:33.839Z,1755987633.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.136096 m,
nav range: 10.010604 m,
bearing: 136.222017 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 131.018615 deg,
new cmd heading: 131.573922 deg.
2025-08-23T22:20:33.840Z,1755987633.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296398 target range: 10.136096 and range: 10.20 m.
2025-08-23T22:20:34.055Z,1755987634.055 [DAT](INFO): DAT read: Rx Time:22:20:33.4572
2025-08-23T22:20:34.056Z,1755987634.056 [DAT](INFO): Rx dataTimestamp_ set to:1755987634.055244
2025-08-23T22:20:34.057Z,1755987634.057 [DAT](INFO): DAT read: Bearing 309.5, 4.6 (Local)
2025-08-23T22:20:34.057Z,1755987634.057 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.5, 4.6 (Local)
2025-08-23T22:20:34.059Z,1755987634.059 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4
2025-08-23T22:20:34.064Z,1755987634.064 [DAT](INFO): DAT read: 22:20:33.4572 LVL= 28112, 32753, 23666, 32755, AGC= 49, IDX= 503,-0.29,-1.085,-2.965,-1.157,-1.293, PHS= 0.309,-1.627, 0.092, RAW= 144.1, 13.3, CAL= 143.7, 14.4, ROT= 6.3, -14.4
2025-08-23T22:20:34.065Z,1755987634.065 [DAT](INFO): got valid direction response:
22:20:33.4572 LVL= 28112, 32753, 23666, 32755, AGC= 49, IDX= 503,-0.29,-1.085,-2.965,-1.157,-1.293, PHS= 0.309,-1.627, 0.092, RAW= 144.1, 13.3, CAL= 143.7, 14.4, ROT= 6.3, -14.4
2025-08-23T22:20:34.065Z,1755987634.065 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-23T22:20:34.066Z,1755987634.066 [DAT](INFO): direction in FSK: [0.962734,0.106287,0.248690]
2025-08-23T22:20:34.067Z,1755987634.067 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:34.070Z,1755987634.070 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.466503
2025-08-23T22:20:34.239Z,1755987634.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.100000 m,
deltaT: 0.503840 s,
deltaX: -0.099999 m,
approachRate: -0.198475 m/s,
rangeRepo size: 4
2025-08-23T22:20:34.250Z,1755987634.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.036723 m,
bearing: 134.151094 deg,
lat: 36.779399 deg,
lon: -121.859590 deg,
deltaT: 0.503840 s,
deltaX: -0.099373 m,
approachRate: -0.197231 m/s,
posRepo size: 4
2025-08-23T22:20:34.250Z,1755987634.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-08-23T22:20:34.253Z,1755987634.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.036723 m,
nav range: 9.682748 m,
bearing: 135.538333 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 131.573923 deg,
new cmd heading: 132.079423 deg.
2025-08-23T22:20:34.262Z,1755987634.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305221 target range: 10.036723 and range: 10.10 m.
2025-08-23T22:20:34.307Z,1755987634.307 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.703060
2025-08-23T22:20:34.559Z,1755987634.559 [DAT](INFO): DAT read: Rx Time:22:20:33.9570
2025-08-23T22:20:34.560Z,1755987634.560 [DAT](INFO): Rx dataTimestamp_ set to:1755987634.559422
2025-08-23T22:20:34.561Z,1755987634.561 [DAT](INFO): DAT read: Bearing 309.7, 3.5 (Local)
2025-08-23T22:20:34.561Z,1755987634.561 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.7, 3.5 (Local)
2025-08-23T22:20:34.563Z,1755987634.563 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4
2025-08-23T22:20:34.581Z,1755987634.581 [DAT](INFO): DAT read: 22:20:33.9570 LVL= 30144, 32753, 21970, 32755, AGC= 48, IDX= 500, 0.17,-0.442,-2.301,-0.474,-0.633, PHS= 0.293,-1.623, 0.115, RAW= 145.2, 13.2, CAL= 144.8, 14.4, ROT= 5.2, -14.4
2025-08-23T22:20:34.625Z,1755987634.625 [DAT](INFO): got valid direction response:
22:20:33.9570 LVL= 30144, 32753, 21970, 32755, AGC= 48, IDX= 500, 0.17,-0.442,-2.301,-0.474,-0.633, PHS= 0.293,-1.623, 0.115, RAW= 145.2, 13.2, CAL= 144.8, 14.4, ROT= 5.2, -14.4
2025-08-23T22:20:34.635Z,1755987634.635 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-23T22:20:34.636Z,1755987634.636 [DAT](INFO): direction in FSK: [0.964597,0.087785,0.248690]
2025-08-23T22:20:34.636Z,1755987634.636 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:34.655Z,1755987634.655 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:20:34.656Z,1755987634.656 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:20:34.656Z,1755987634.656 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:34.703Z,1755987634.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.800000 m,
deltaT: 0.504178 s,
deltaX: -0.300000 m,
approachRate: -0.595028 m/s,
rangeRepo size: 4
2025-08-23T22:20:34.705Z,1755987634.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.738603 m,
bearing: 133.195620 deg,
lat: 36.779400 deg,
lon: -121.859588 deg,
deltaT: 0.504178 s,
deltaX: -0.298120 m,
approachRate: -0.591300 m/s,
posRepo size: 4
2025-08-23T22:20:34.705Z,1755987634.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m.
2025-08-23T22:20:34.710Z,1755987634.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m.
2025-08-23T22:20:34.710Z,1755987634.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-23T22:20:34.713Z,1755987634.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 9.514410 m,
bearing: 134.765632 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 132.079425 deg,
new cmd heading: 132.639299 deg.
2025-08-23T22:20:34.722Z,1755987634.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314992 target range: 9.738603 and range: 9.80 m.
2025-08-23T22:20:34.812Z,1755987634.812 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:34.812Z,1755987634.812 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:34.812Z,1755987634.812 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:35.057Z,1755987635.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:35.063Z,1755987635.063 [DAT](INFO): DAT read: Rx Time:22:20:34.4569
2025-08-23T22:20:35.064Z,1755987635.064 [DAT](INFO): Rx dataTimestamp_ set to:1755987635.063353
2025-08-23T22:20:35.065Z,1755987635.065 [DAT](INFO): DAT read: Bearing 310.3, 3.1 (Local)
2025-08-23T22:20:35.065Z,1755987635.065 [DAT](INFO): Local bearing/azimuth received:
Bearing 310.3, 3.1 (Local)
2025-08-23T22:20:35.067Z,1755987635.067 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4
2025-08-23T22:20:35.072Z,1755987635.072 [DAT](INFO): DAT read: 22:20:34.4569 LVL= 29472, 32753, 23762, 32755, AGC= 49, IDX= 500,-0.19,-0.988,-2.862,-1.005,-1.164, PHS= 0.278,-1.653, 0.116, RAW= 145.6, 13.5, CAL= 145.3, 14.7, ROT= 4.7, -14.7
2025-08-23T22:20:35.073Z,1755987635.073 [DAT](INFO): got valid direction response:
22:20:34.4569 LVL= 29472, 32753, 23762, 32755, AGC= 49, IDX= 500,-0.19,-0.988,-2.862,-1.005,-1.164, PHS= 0.278,-1.653, 0.116, RAW= 145.6, 13.5, CAL= 145.3, 14.7, ROT= 4.7, -14.7
2025-08-23T22:20:35.073Z,1755987635.073 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:20:35.075Z,1755987635.075 [DAT](INFO): direction in FSK: [0.964015,0.079256,0.253758]
2025-08-23T22:20:35.075Z,1755987635.075 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:35.079Z,1755987635.079 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:35.080Z,1755987635.080 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:35.085Z,1755987635.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:35.092Z,1755987635.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 9.326630 m,
bearing: 134.957843 deg,
approach rate: -0.495499 m/s,
LOS rate: 0.517400 deg/s,
cmd heading: 132.639296 deg,
new cmd heading: 133.031450 deg.
2025-08-23T22:20:35.093Z,1755987635.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321837 target range: 9.738603 and range: 9.80 m.
2025-08-23T22:20:35.314Z,1755987635.314 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:35.315Z,1755987635.315 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:35.315Z,1755987635.315 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:35.450Z,1755987635.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 0.503931 s,
deltaX: -0.200000 m,
approachRate: -0.396879 m/s,
rangeRepo size: 4
2025-08-23T22:20:35.452Z,1755987635.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.539818 m,
bearing: 132.954190 deg,
lat: 36.779400 deg,
lon: -121.859587 deg,
deltaT: 0.503931 s,
deltaX: -0.198785 m,
approachRate: -0.394468 m/s,
posRepo size: 4
2025-08-23T22:20:35.453Z,1755987635.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.74 m.
2025-08-23T22:20:35.456Z,1755987635.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 9.143767 m,
bearing: 135.148399 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 133.031444 deg,
new cmd heading: 133.486148 deg.
2025-08-23T22:20:35.456Z,1755987635.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329773 target range: 9.738603 and range: 9.60 m.
2025-08-23T22:20:35.568Z,1755987635.568 [DAT](INFO): DAT read: Rx Time:22:20:34.9567
2025-08-23T22:20:35.569Z,1755987635.569 [DAT](INFO): Rx dataTimestamp_ set to:1755987635.568392
2025-08-23T22:20:35.572Z,1755987635.572 [DAT](INFO): DAT read: Bearing 310.9, 1.9 (Local)
2025-08-23T22:20:35.572Z,1755987635.572 [DAT](INFO): Local bearing/azimuth received:
Bearing 310.9, 1.9 (Local)
2025-08-23T22:20:35.576Z,1755987635.576 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4
2025-08-23T22:20:35.584Z,1755987635.584 [DAT](INFO): DAT read: 22:20:34.9567 LVL= 28640, 32753, 23186, 32755, AGC= 49, IDX= 497, 0.24,-0.277,-2.125,-0.246,-0.424, PHS= 0.250,-1.655, 0.134, RAW= 146.9, 13.7, CAL= 146.7, 15.0, ROT= 3.3, -15.0
2025-08-23T22:20:35.587Z,1755987635.587 [DAT](INFO): got valid direction response:
22:20:34.9567 LVL= 28640, 32753, 23186, 32755, AGC= 49, IDX= 497, 0.24,-0.277,-2.125,-0.246,-0.424, PHS= 0.250,-1.655, 0.134, RAW= 146.9, 13.7, CAL= 146.7, 15.0, ROT= 3.3, -15.0
2025-08-23T22:20:35.588Z,1755987635.588 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:20:35.589Z,1755987635.589 [DAT](INFO): direction in FSK: [0.964324,0.055603,0.258819]
2025-08-23T22:20:35.589Z,1755987635.589 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:35.646Z,1755987635.646 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:35.647Z,1755987635.647 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:35.818Z,1755987635.818 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:35.818Z,1755987635.818 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:35.819Z,1755987635.819 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:35.935Z,1755987635.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.300000 m,
deltaT: 0.505039 s,
deltaX: -0.300000 m,
approachRate: -0.594014 m/s,
rangeRepo size: 4
2025-08-23T22:20:35.940Z,1755987635.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.241691 m,
bearing: 131.688654 deg,
lat: 36.779401 deg,
lon: -121.859586 deg,
deltaT: 1.008970 s,
deltaX: -0.496912 m,
approachRate: -0.492494 m/s,
posRepo size: 4
2025-08-23T22:20:35.941Z,1755987635.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.74 m.
2025-08-23T22:20:35.944Z,1755987635.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 8.926419 m,
bearing: 135.377042 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 133.486144 deg,
new cmd heading: 134.078714 deg.
2025-08-23T22:20:35.945Z,1755987635.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340115 target range: 9.738603 and range: 9.30 m.
2025-08-23T22:20:36.073Z,1755987636.073 [DAT](INFO): DAT read: Rx Time:22:20:35.4566
2025-08-23T22:20:36.074Z,1755987636.074 [DAT](INFO): Rx dataTimestamp_ set to:1755987636.073319
2025-08-23T22:20:36.075Z,1755987636.075 [DAT](INFO): DAT read: Bearing 306.0, 3.0 (Local)
2025-08-23T22:20:36.075Z,1755987636.075 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.0, 3.0 (Local)
2025-08-23T22:20:36.077Z,1755987636.077 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4
2025-08-23T22:20:36.083Z,1755987636.083 [DAT](INFO): DAT read: 22:20:35.4566 LVL= 31328, 32753, 25490, 32755, AGC= 48, IDX= 512,-0.13,-1.189, 2.879,-1.228,-1.576, PHS= 0.489,-1.783, 0.304, RAW= 145.8, 9.1, CAL= 145.4, 9.9, ROT= 4.6, -9.9
2025-08-23T22:20:36.084Z,1755987636.084 [DAT](INFO): got valid direction response:
22:20:35.4566 LVL= 31328, 32753, 25490, 32755, AGC= 48, IDX= 512,-0.13,-1.189, 2.879,-1.228,-1.576, PHS= 0.489,-1.783, 0.304, RAW= 145.8, 9.1, CAL= 145.4, 9.9, ROT= 4.6, -9.9
2025-08-23T22:20:36.085Z,1755987636.085 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:20:36.088Z,1755987636.088 [DAT](INFO): direction in FSK: [0.981936,0.079005,0.171929]
2025-08-23T22:20:36.088Z,1755987636.088 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:36.092Z,1755987636.092 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:36.093Z,1755987636.093 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:36.322Z,1755987636.322 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:36.322Z,1755987636.322 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:36.323Z,1755987636.323 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:36.357Z,1755987636.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.504927 s,
deltaX: -0.100000 m,
approachRate: -0.198049 m/s,
rangeRepo size: 4
2025-08-23T22:20:36.359Z,1755987636.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.142317 m,
bearing: 133.334797 deg,
lat: 36.779401 deg,
lon: -121.859584 deg,
deltaT: 1.513897 s,
deltaX: -0.596286 m,
approachRate: -0.393875 m/s,
posRepo size: 4
2025-08-23T22:20:36.360Z,1755987636.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.14 m. 9.74 m.
2025-08-23T22:20:36.362Z,1755987636.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 8.720305 m,
bearing: 135.604548 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 134.078717 deg,
new cmd heading: 134.592815 deg.
2025-08-23T22:20:36.363Z,1755987636.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.349088 target range: 9.738603 and range: 9.20 m.
2025-08-23T22:20:36.575Z,1755987636.575 [DAT](INFO): DAT read: Rx Time:22:20:35.9563
2025-08-23T22:20:36.576Z,1755987636.576 [DAT](INFO): Rx dataTimestamp_ set to:1755987636.575420
2025-08-23T22:20:36.577Z,1755987636.577 [DAT](INFO): DAT read: Bearing 311.8, 0.2 (Local)
2025-08-23T22:20:36.578Z,1755987636.578 [DAT](INFO): Local bearing/azimuth received:
Bearing 311.8, 0.2 (Local)
2025-08-23T22:20:36.580Z,1755987636.580 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4
2025-08-23T22:20:36.595Z,1755987636.595 [DAT](INFO): DAT read: 22:20:35.9563 LVL= 28448, 32753, 26354, 32755, AGC= 48, IDX= 509, 0.34,-1.847, 2.605,-1.751,-1.959, PHS= 0.215,-1.674, 0.164, RAW= 148.7, 13.8, CAL= 148.6, 15.3, ROT= 1.4, -15.3
2025-08-23T22:20:36.596Z,1755987636.596 [DAT](INFO): got valid direction response:
22:20:35.9563 LVL= 28448, 32753, 26354, 32755, AGC= 48, IDX= 509, 0.34,-1.847, 2.605,-1.751,-1.959, PHS= 0.215,-1.674, 0.164, RAW= 148.7, 13.8, CAL= 148.6, 15.3, ROT= 1.4, -15.3
2025-08-23T22:20:36.596Z,1755987636.596 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:20:36.620Z,1755987636.620 [DAT](INFO): direction in FSK: [0.964269,0.023566,0.263873]
2025-08-23T22:20:36.632Z,1755987636.632 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:36.663Z,1755987636.663 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:36.664Z,1755987636.664 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:36.826Z,1755987636.826 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:36.827Z,1755987636.827 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:36.827Z,1755987636.827 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:36.839Z,1755987636.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.502101 s,
deltaX: -0.500000 m,
approachRate: -0.995816 m/s,
rangeRepo size: 4
2025-08-23T22:20:36.841Z,1755987636.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.645460 m,
bearing: 130.234005 deg,
lat: 36.779401 deg,
lon: -121.859583 deg,
deltaT: 2.015998 s,
deltaX: -1.093143 m,
approachRate: -0.542234 m/s,
posRepo size: 4
2025-08-23T22:20:36.846Z,1755987636.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.65 m. 9.74 m.
2025-08-23T22:20:36.848Z,1755987636.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 8.514663 m,
bearing: 135.853986 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 134.592812 deg,
new cmd heading: 135.181362 deg.
2025-08-23T22:20:36.854Z,1755987636.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.359360 target range: 9.738603 and range: 8.70 m.
2025-08-23T22:20:37.079Z,1755987637.079 [DAT](INFO): DAT read: Rx Time:22:20:36.4563
2025-08-23T22:20:37.080Z,1755987637.080 [DAT](INFO): Rx dataTimestamp_ set to:1755987637.079434
2025-08-23T22:20:37.081Z,1755987637.081 [DAT](INFO): DAT read: Bearing 312.8, -0.4 (Local)
2025-08-23T22:20:37.082Z,1755987637.082 [DAT](INFO): Local bearing/azimuth received:
Bearing 312.8, -0.4 (Local)
2025-08-23T22:20:37.084Z,1755987637.084 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4
2025-08-23T22:20:37.089Z,1755987637.089 [DAT](INFO): DAT read: 22:20:36.4563 LVL= 31008, 32753, 27378, 32755, AGC= 48, IDX= 509,-0.06,-2.311, 2.150,-2.192,-2.399, PHS= 0.190,-1.689, 0.163, RAW= 149.3, 14.2, CAL= 149.4, 15.8, ROT= 0.6, -15.8
2025-08-23T22:20:37.090Z,1755987637.090 [DAT](INFO): got valid direction response:
22:20:36.4563 LVL= 31008, 32753, 27378, 32755, AGC= 48, IDX= 509,-0.06,-2.311, 2.150,-2.192,-2.399, PHS= 0.190,-1.689, 0.163, RAW= 149.3, 14.2, CAL= 149.4, 15.8, ROT= 0.6, -15.8
2025-08-23T22:20:37.090Z,1755987637.090 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:20:37.091Z,1755987637.091 [DAT](INFO): direction in FSK: [0.962165,0.010076,0.272280]
2025-08-23T22:20:37.092Z,1755987637.092 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:37.104Z,1755987637.104 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:37.104Z,1755987637.104 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:37.274Z,1755987637.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.504014 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:37.276Z,1755987637.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.645460 m,
bearing: 129.893521 deg,
lat: 36.779403 deg,
lon: -121.859583 deg,
deltaT: 2.520012 s,
deltaX: -1.093143 m,
approachRate: -0.433785 m/s,
posRepo size: 4
2025-08-23T22:20:37.281Z,1755987637.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.65 m. 9.74 m.
2025-08-23T22:20:37.284Z,1755987637.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 8.313246 m,
bearing: 136.095014 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 135.181356 deg,
new cmd heading: 135.702736 deg.
2025-08-23T22:20:37.285Z,1755987637.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.368459 target range: 9.738603 and range: 8.70 m.
2025-08-23T22:20:37.330Z,1755987637.330 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:37.330Z,1755987637.330 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:37.331Z,1755987637.331 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:37.583Z,1755987637.583 [DAT](INFO): DAT read: Rx Time:22:20:36.9560
2025-08-23T22:20:37.584Z,1755987637.584 [DAT](INFO): Rx dataTimestamp_ set to:1755987637.583320
2025-08-23T22:20:37.585Z,1755987637.585 [DAT](INFO): DAT read: Bearing 312.9, -1.7 (Local)
2025-08-23T22:20:37.585Z,1755987637.585 [DAT](INFO): Local bearing/azimuth received:
Bearing 312.9, -1.7 (Local)
2025-08-23T22:20:37.587Z,1755987637.587 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4
2025-08-23T22:20:37.596Z,1755987637.596 [DAT](INFO): DAT read: 22:20:36.9560 LVL= 25808, 32753, 24050, 32755, AGC= 49, IDX= 506, 0.42,-1.555, 2.943,-1.382,-1.628, PHS= 0.175,-1.667, 0.202, RAW= 150.7, 13.8, CAL= 150.8, 15.4, ROT= 359.2, -15.4
2025-08-23T22:20:37.597Z,1755987637.597 [DAT](INFO): got valid direction response:
22:20:36.9560 LVL= 25808, 32753, 24050, 32755, AGC= 49, IDX= 506, 0.42,-1.555, 2.943,-1.382,-1.628, PHS= 0.175,-1.667, 0.202, RAW= 150.7, 13.8, CAL= 150.8, 15.4, ROT= 359.2, -15.4
2025-08-23T22:20:37.597Z,1755987637.597 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:20:37.598Z,1755987637.598 [DAT](INFO): direction in FSK: [0.964001,-0.013461,0.265556]
2025-08-23T22:20:37.598Z,1755987637.598 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:37.602Z,1755987637.602 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:37.602Z,1755987637.602 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:37.740Z,1755987637.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.503886 s,
deltaX: -0.400000 m,
approachRate: -0.793830 m/s,
rangeRepo size: 4
2025-08-23T22:20:37.746Z,1755987637.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.247968 m,
bearing: 128.852683 deg,
lat: 36.779405 deg,
lon: -121.859583 deg,
deltaT: 3.023898 s,
deltaX: -1.490635 m,
approachRate: -0.492951 m/s,
posRepo size: 4
2025-08-23T22:20:37.747Z,1755987637.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.25 m. 9.74 m.
2025-08-23T22:20:37.758Z,1755987637.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 8.086916 m,
bearing: 136.370289 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 135.702731 deg,
new cmd heading: 136.280662 deg.
2025-08-23T22:20:37.759Z,1755987637.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.378546 target range: 9.738603 and range: 8.30 m.
2025-08-23T22:20:37.835Z,1755987637.835 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:37.835Z,1755987637.835 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:37.836Z,1755987637.836 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:38.087Z,1755987638.087 [DAT](INFO): DAT read: Rx Time:22:20:37.4560
2025-08-23T22:20:38.088Z,1755987638.088 [DAT](INFO): Rx dataTimestamp_ set to:1755987638.087338
2025-08-23T22:20:38.089Z,1755987638.089 [DAT](INFO): DAT read: Bearing 313.7, -2.4 (Local)
2025-08-23T22:20:38.089Z,1755987638.089 [DAT](INFO): Local bearing/azimuth received:
Bearing 313.7, -2.4 (Local)
2025-08-23T22:20:38.091Z,1755987638.091 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4
2025-08-23T22:20:38.096Z,1755987638.096 [DAT](INFO): DAT read: 22:20:37.4560 LVL= 32752, 32753, 29682, 32755, AGC= 49, IDX= 506,-0.02,-1.323,-3.137,-1.122,-1.381, PHS= 0.159,-1.711, 0.214, RAW= 151.4, 14.0, CAL= 151.6, 15.6, ROT= 358.4, -15.6
2025-08-23T22:20:38.097Z,1755987638.097 [DAT](INFO): got valid direction response:
22:20:37.4560 LVL= 32752, 32753, 29682, 32755, AGC= 49, IDX= 506,-0.02,-1.323,-3.137,-1.122,-1.381, PHS= 0.159,-1.711, 0.214, RAW= 151.4, 14.0, CAL= 151.6, 15.6, ROT= 358.4, -15.6
2025-08-23T22:20:38.097Z,1755987638.097 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:20:38.098Z,1755987638.098 [DAT](INFO): direction in FSK: [0.962787,-0.026893,0.268920]
2025-08-23T22:20:38.098Z,1755987638.098 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:38.106Z,1755987638.106 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:38.106Z,1755987638.106 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:38.156Z,1755987638.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.504018 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:38.163Z,1755987638.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.247967 m,
bearing: 128.378857 deg,
lat: 36.779406 deg,
lon: -121.859581 deg,
deltaT: 3.527916 s,
deltaX: -1.490636 m,
approachRate: -0.422526 m/s,
posRepo size: 4
2025-08-23T22:20:38.164Z,1755987638.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.25 m. 9.74 m.
2025-08-23T22:20:38.171Z,1755987638.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 7.884442 m,
bearing: 136.626165 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 136.280661 deg,
new cmd heading: 136.789343 deg.
2025-08-23T22:20:38.171Z,1755987638.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387424 target range: 9.738603 and range: 8.30 m.
2025-08-23T22:20:38.338Z,1755987638.338 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:38.338Z,1755987638.338 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:38.339Z,1755987638.339 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:38.541Z,1755987638.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:38.544Z,1755987638.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:38.555Z,1755987638.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 7.704710 m,
bearing: 136.856942 deg,
approach rate: -0.463244 m/s,
LOS rate: 0.608683 deg/s,
cmd heading: 136.789346 deg,
new cmd heading: 137.261655 deg.
2025-08-23T22:20:38.556Z,1755987638.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395668 target range: 9.738603 and range: 8.30 m.
2025-08-23T22:20:38.591Z,1755987638.591 [DAT](INFO): DAT read: Rx Time:22:20:37.9557
2025-08-23T22:20:38.592Z,1755987638.592 [DAT](INFO): Rx dataTimestamp_ set to:1755987638.591393
2025-08-23T22:20:38.593Z,1755987638.593 [DAT](INFO): DAT read: Bearing 314.7, -3.4 (Local)
2025-08-23T22:20:38.593Z,1755987638.593 [DAT](INFO): Local bearing/azimuth received:
Bearing 314.7, -3.4 (Local)
2025-08-23T22:20:38.595Z,1755987638.595 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4
2025-08-23T22:20:38.600Z,1755987638.600 [DAT](INFO): DAT read: 22:20:37.9557 LVL= 24528, 31537, 22578, 32755, AGC= 49, IDX= 504,-0.45,-2.684, 1.852,-2.443,-2.709, PHS= 0.126,-1.677, 0.221, RAW= 152.5, 14.2, CAL= 152.8, 16.0, ROT= 357.2, -16.0
2025-08-23T22:20:38.601Z,1755987638.601 [DAT](INFO): got valid direction response:
22:20:37.9557 LVL= 24528, 31537, 22578, 32755, AGC= 49, IDX= 504,-0.45,-2.684, 1.852,-2.443,-2.709, PHS= 0.126,-1.677, 0.221, RAW= 152.5, 14.2, CAL= 152.8, 16.0, ROT= 357.2, -16.0
2025-08-23T22:20:38.601Z,1755987638.601 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:20:38.602Z,1755987638.602 [DAT](INFO): direction in FSK: [0.960114,-0.046957,0.275637]
2025-08-23T22:20:38.603Z,1755987638.603 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:38.614Z,1755987638.614 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:38.616Z,1755987638.616 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:38.842Z,1755987638.842 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:38.842Z,1755987638.842 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:38.843Z,1755987638.843 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:39.012Z,1755987639.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.504055 s,
deltaX: -0.500000 m,
approachRate: -0.991955 m/s,
rangeRepo size: 4
2025-08-23T22:20:39.028Z,1755987639.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.751101 m,
bearing: 127.789699 deg,
lat: 36.779406 deg,
lon: -121.859580 deg,
deltaT: 4.031971 s,
deltaX: -1.987502 m,
approachRate: -0.492936 m/s,
posRepo size: 4
2025-08-23T22:20:39.029Z,1755987639.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.75 m. 9.74 m.
2025-08-23T22:20:39.048Z,1755987639.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 7.505237 m,
bearing: 137.119872 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 137.261654 deg,
new cmd heading: 137.822917 deg.
2025-08-23T22:20:39.049Z,1755987639.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405464 target range: 9.738603 and range: 7.80 m.
2025-08-23T22:20:39.096Z,1755987639.096 [DAT](INFO): DAT read: Rx Time:22:20:38.4557
2025-08-23T22:20:39.097Z,1755987639.097 [DAT](INFO): Rx dataTimestamp_ set to:1755987639.096027
2025-08-23T22:20:39.099Z,1755987639.099 [DAT](INFO): DAT read: Bearing 314.8, -4.6 (Local)
2025-08-23T22:20:39.099Z,1755987639.099 [DAT](INFO): Local bearing/azimuth received:
Bearing 314.8, -4.6 (Local)
2025-08-23T22:20:39.102Z,1755987639.102 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4
2025-08-23T22:20:39.108Z,1755987639.108 [DAT](INFO): DAT read: 22:20:38.4557 LVL= 32752, 32753, 28962, 32755, AGC= 50, IDX= 503, 0.04,-0.249,-2.033, 0.042,-0.268, PHS= 0.121,-1.720, 0.266, RAW= 153.8, 13.8, CAL= 154.1, 15.5, ROT= 355.9, -15.5
2025-08-23T22:20:39.111Z,1755987639.111 [DAT](INFO): got valid direction response:
22:20:38.4557 LVL= 32752, 32753, 28962, 32755, AGC= 50, IDX= 503, 0.04,-0.249,-2.033, 0.042,-0.268, PHS= 0.121,-1.720, 0.266, RAW= 153.8, 13.8, CAL= 154.1, 15.5, ROT= 355.9, -15.5
2025-08-23T22:20:39.111Z,1755987639.111 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:20:39.113Z,1755987639.113 [DAT](INFO): direction in FSK: [0.961164,-0.068897,0.267238]
2025-08-23T22:20:39.113Z,1755987639.113 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:39.130Z,1755987639.130 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:39.130Z,1755987639.130 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:39.346Z,1755987639.346 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:39.347Z,1755987639.347 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:39.347Z,1755987639.347 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:39.363Z,1755987639.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.504634 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:39.365Z,1755987639.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.751101 m,
bearing: 126.921190 deg,
lat: 36.779407 deg,
lon: -121.859579 deg,
deltaT: 4.536605 s,
deltaX: -1.987502 m,
approachRate: -0.438103 m/s,
posRepo size: 4
2025-08-23T22:20:39.366Z,1755987639.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.75 m. 9.74 m.
2025-08-23T22:20:39.369Z,1755987639.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 7.324332 m,
bearing: 137.360958 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 137.822918 deg,
new cmd heading: 138.260416 deg.
2025-08-23T22:20:39.381Z,1755987639.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413100 target range: 9.738603 and range: 7.80 m.
2025-08-23T22:20:39.602Z,1755987639.602 [DAT](INFO): DAT read: Rx Time:22:20:38.9555
2025-08-23T22:20:39.602Z,1755987639.602 [DAT](INFO): Rx dataTimestamp_ set to:1755987639.601771
2025-08-23T22:20:39.604Z,1755987639.604 [DAT](INFO): DAT read: Bearing 316.9, -5.2 (Local)
2025-08-23T22:20:39.604Z,1755987639.604 [DAT](INFO): Local bearing/azimuth received:
Bearing 316.9, -5.2 (Local)
2025-08-23T22:20:39.608Z,1755987639.608 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4
2025-08-23T22:20:39.615Z,1755987639.615 [DAT](INFO): DAT read: 22:20:38.9555 LVL= 31120, 32753, 30498, 32755, AGC= 50, IDX= 501,-0.31, 2.562, 0.821, 2.874, 2.595, PHS= 0.068,-1.729, 0.235, RAW= 154.4, 15.0, CAL= 154.9, 17.0, ROT= 355.1, -17.0
2025-08-23T22:20:39.616Z,1755987639.616 [DAT](INFO): got valid direction response:
22:20:38.9555 LVL= 31120, 32753, 30498, 32755, AGC= 50, IDX= 501,-0.31, 2.562, 0.821, 2.874, 2.595, PHS= 0.068,-1.729, 0.235, RAW= 154.4, 15.0, CAL= 154.9, 17.0, ROT= 355.1, -17.0
2025-08-23T22:20:39.616Z,1755987639.616 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:20:39.617Z,1755987639.617 [DAT](INFO): direction in FSK: [0.952810,-0.081685,0.292372]
2025-08-23T22:20:39.622Z,1755987639.622 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:39.625Z,1755987639.625 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:39.643Z,1755987639.643 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:39.850Z,1755987639.850 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:39.850Z,1755987639.850 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:39.851Z,1755987639.851 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:39.859Z,1755987639.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.500000 m,
deltaT: 0.505744 s,
deltaX: -0.300000 m,
approachRate: -0.593186 m/s,
rangeRepo size: 4
2025-08-23T22:20:39.861Z,1755987639.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.452990 m,
bearing: 126.359343 deg,
lat: 36.779407 deg,
lon: -121.859578 deg,
deltaT: 5.042349 s,
deltaX: -2.285613 m,
approachRate: -0.453283 m/s,
posRepo size: 4
2025-08-23T22:20:39.870Z,1755987639.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.45 m. 9.74 m.
2025-08-23T22:20:39.884Z,1755987639.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 7.094957 m,
bearing: 137.657416 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 138.260418 deg,
new cmd heading: 138.840162 deg.
2025-08-23T22:20:39.885Z,1755987639.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423218 target range: 9.738603 and range: 7.50 m.
2025-08-23T22:20:40.104Z,1755987640.104 [DAT](INFO): DAT read: Rx Time:22:20:39.4553
2025-08-23T22:20:40.104Z,1755987640.104 [DAT](INFO): Rx dataTimestamp_ set to:1755987640.103693
2025-08-23T22:20:40.105Z,1755987640.105 [DAT](INFO): DAT read: Bearing 316.7, -7.2 (Local)
2025-08-23T22:20:40.106Z,1755987640.106 [DAT](INFO): Local bearing/azimuth received:
Bearing 316.7, -7.2 (Local)
2025-08-23T22:20:40.108Z,1755987640.108 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4
2025-08-23T22:20:40.114Z,1755987640.114 [DAT](INFO): DAT read: 22:20:39.4553 LVL= 26896, 32753, 26690, 32755, AGC= 50, IDX= 499, 0.19,-1.745, 2.850,-1.358,-1.699, PHS= 0.056,-1.690, 0.297, RAW= 156.4, 14.1, CAL= 156.9, 16.1, ROT= 353.1, -16.1
2025-08-23T22:20:40.116Z,1755987640.116 [DAT](INFO): got valid direction response:
22:20:39.4553 LVL= 26896, 32753, 26690, 32755, AGC= 50, IDX= 499, 0.19,-1.745, 2.850,-1.358,-1.699, PHS= 0.056,-1.690, 0.297, RAW= 156.4, 14.1, CAL= 156.9, 16.1, ROT= 353.1, -16.1
2025-08-23T22:20:40.116Z,1755987640.116 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:20:40.120Z,1755987640.120 [DAT](INFO): direction in FSK: [0.953821,-0.115425,0.277315]
2025-08-23T22:20:40.121Z,1755987640.121 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:40.127Z,1755987640.127 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:40.128Z,1755987640.128 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:40.315Z,1755987640.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.501922 s,
deltaX: -0.300000 m,
approachRate: -0.597703 m/s,
rangeRepo size: 4
2025-08-23T22:20:40.317Z,1755987640.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.154871 m,
bearing: 124.843217 deg,
lat: 36.779408 deg,
lon: -121.859577 deg,
deltaT: 5.544271 s,
deltaX: -2.583732 m,
approachRate: -0.466018 m/s,
posRepo size: 4
2025-08-23T22:20:40.322Z,1755987640.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.15 m. 9.74 m.
2025-08-23T22:20:40.324Z,1755987640.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 6.866575 m,
bearing: 137.958824 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 138.840165 deg,
new cmd heading: 139.411832 deg.
2025-08-23T22:20:40.325Z,1755987640.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433196 target range: 9.738603 and range: 7.20 m.
2025-08-23T22:20:40.356Z,1755987640.356 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:40.356Z,1755987640.356 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:40.356Z,1755987640.356 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:40.608Z,1755987640.608 [DAT](INFO): DAT read: Rx Time:22:20:39.9551
2025-08-23T22:20:40.608Z,1755987640.608 [DAT](INFO): Rx dataTimestamp_ set to:1755987640.607933
2025-08-23T22:20:40.610Z,1755987640.610 [DAT](INFO): DAT read: Bearing 319.6, -7.9 (Local)
2025-08-23T22:20:40.610Z,1755987640.610 [DAT](INFO): Local bearing/azimuth received:
Bearing 319.6, -7.9 (Local)
2025-08-23T22:20:40.612Z,1755987640.612 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4
2025-08-23T22:20:40.617Z,1755987640.617 [DAT](INFO): DAT read: 22:20:39.9551 LVL= 28656, 32753, 31794, 32755, AGC= 50, IDX= 497,-0.13, 1.057,-0.595, 1.469, 1.175, PHS=-0.016,-1.725, 0.250, RAW= 157.1, 15.9, CAL= 158.0, 18.4, ROT= 352.0, -18.4
2025-08-23T22:20:40.619Z,1755987640.619 [DAT](INFO): got valid direction response:
22:20:39.9551 LVL= 28656, 32753, 31794, 32755, AGC= 50, IDX= 497,-0.13, 1.057,-0.595, 1.469, 1.175, PHS=-0.016,-1.725, 0.250, RAW= 157.1, 15.9, CAL= 158.0, 18.4, ROT= 352.0, -18.4
2025-08-23T22:20:40.619Z,1755987640.619 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:20:40.620Z,1755987640.620 [DAT](INFO): direction in FSK: [0.939642,-0.132058,0.315649]
2025-08-23T22:20:40.620Z,1755987640.620 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:40.624Z,1755987640.624 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:40.624Z,1755987640.624 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:40.844Z,1755987640.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.900000 m,
deltaT: 0.504240 s,
deltaX: -0.300000 m,
approachRate: -0.594954 m/s,
rangeRepo size: 4
2025-08-23T22:20:40.850Z,1755987640.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.856749 m,
bearing: 123.915156 deg,
lat: 36.779408 deg,
lon: -121.859576 deg,
deltaT: 6.048511 s,
deltaX: -2.881854 m,
approachRate: -0.476457 m/s,
posRepo size: 4
2025-08-23T22:20:40.851Z,1755987640.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.86 m. 9.74 m.
2025-08-23T22:20:40.858Z,1755987640.858 [DAT](INFO): Reached modem response timeout
2025-08-23T22:20:40.858Z,1755987640.858 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:20:40.859Z,1755987640.859 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:20:40.867Z,1755987640.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 6.607613 m,
bearing: 138.321456 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 139.411838 deg,
new cmd heading: 140.068215 deg.
2025-08-23T22:20:40.869Z,1755987640.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444652 target range: 9.738603 and range: 6.90 m.
2025-08-23T22:20:41.112Z,1755987641.112 [DAT](INFO): DAT read: user:1720>
2025-08-23T22:20:41.113Z,1755987641.113 [DAT](INFO): DAT read: Command 'l' not found
2025-08-23T22:20:41.113Z,1755987641.113 [DAT](INFO): unknown deviceResponse_: Command 'l' not found
2025-08-23T22:20:41.114Z,1755987641.114 [DAT](INFO): DAT read: Error
2025-08-23T22:20:41.114Z,1755987641.114 [DAT](INFO): unknown deviceResponse_: Error
2025-08-23T22:20:41.115Z,1755987641.115 [DAT](INFO): DAT read: user:1721>
2025-08-23T22:20:41.116Z,1755987641.116 [DAT](INFO): DAT read: Tx time:22:20:40.9474
2025-08-23T22:20:41.116Z,1755987641.116 [DAT](INFO): Ping request sent.
2025-08-23T22:20:41.116Z,1755987641.116 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:20:41.117Z,1755987641.117 [DAT](INFO): publishing transmit ping time
2025-08-23T22:20:41.117Z,1755987641.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-08-23T22:20:41.292Z,1755987641.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:41.299Z,1755987641.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:41.306Z,1755987641.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 6.386072 m,
bearing: 138.627046 deg,
approach rate: -0.486702 m/s,
LOS rate: 0.694636 deg/s,
cmd heading: 140.068219 deg,
new cmd heading: 140.700574 deg.
2025-08-23T22:20:41.314Z,1755987641.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455688 target range: 9.738603 and range: 6.90 m.
2025-08-23T22:20:41.364Z,1755987641.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247341
2025-08-23T22:20:41.615Z,1755987641.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498114
2025-08-23T22:20:41.662Z,1755987641.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:41.665Z,1755987641.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 6.216636 m,
bearing: 138.863638 deg,
approach rate: -0.466283 m/s,
LOS rate: 0.668839 deg/s,
cmd heading: 140.700572 deg,
new cmd heading: 141.186639 deg.
2025-08-23T22:20:41.671Z,1755987641.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464172 target range: 9.738603 and range: 6.90 m.
2025-08-23T22:20:41.868Z,1755987641.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751498
2025-08-23T22:20:42.089Z,1755987642.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:42.092Z,1755987642.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 6.010656 m,
bearing: 139.124237 deg,
approach rate: -0.482660 m/s,
LOS rate: 0.631568 deg/s,
cmd heading: 141.186635 deg,
new cmd heading: 141.725677 deg.
2025-08-23T22:20:42.093Z,1755987642.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473580 target range: 9.738603 and range: 6.90 m.
2025-08-23T22:20:42.119Z,1755987642.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002227
2025-08-23T22:20:42.372Z,1755987642.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255900
2025-08-23T22:20:42.471Z,1755987642.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:42.474Z,1755987642.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 5.832960 m,
bearing: 139.350055 deg,
approach rate: -0.465121 m/s,
LOS rate: 0.609085 deg/s,
cmd heading: 141.725674 deg,
new cmd heading: 142.191057 deg.
2025-08-23T22:20:42.475Z,1755987642.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.481702 target range: 9.738603 and range: 6.90 m.
2025-08-23T22:20:42.623Z,1755987642.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506317
2025-08-23T22:20:42.876Z,1755987642.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758953
2025-08-23T22:20:42.939Z,1755987642.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:42.942Z,1755987642.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 5.604122 m,
bearing: 139.577484 deg,
approach rate: -0.489389 m/s,
LOS rate: 0.506236 deg/s,
cmd heading: 142.191056 deg,
new cmd heading: 142.664474 deg.
2025-08-23T22:20:42.943Z,1755987642.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.489965 target range: 9.738603 and range: 6.90 m.
2025-08-23T22:20:43.130Z,1755987643.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013186
2025-08-23T22:20:43.278Z,1755987643.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:43.280Z,1755987643.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 5.438374 m,
bearing: 139.741116 deg,
approach rate: -0.489207 m/s,
LOS rate: 0.497680 deg/s,
cmd heading: 142.664470 deg,
new cmd heading: 143.001704 deg.
2025-08-23T22:20:43.281Z,1755987643.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495851 target range: 9.738603 and range: 6.90 m.
2025-08-23T22:20:43.383Z,1755987643.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265911
2025-08-23T22:20:43.635Z,1755987643.635 [DAT](INFO): DAT read: Rx Time:22:20:43.0844
2025-08-23T22:20:43.635Z,1755987643.635 [DAT](INFO): Rx dataTimestamp_ set to:1755987643.634876
2025-08-23T22:20:43.636Z,1755987643.636 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4
2025-08-23T22:20:43.637Z,1755987643.637 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:20:43.638Z,1755987643.638 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.521463
2025-08-23T22:20:43.761Z,1755987643.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:43.784Z,1755987643.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.000000 m,
deltaT: 3.026943 s,
deltaX: -0.900000 m,
approachRate: -0.297330 m/s,
rangeRepo size: 4
2025-08-23T22:20:43.785Z,1755987643.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:43.795Z,1755987643.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 5.219752 m,
bearing: 139.972918 deg,
approach rate: -0.438732 m/s,
LOS rate: 0.484662 deg/s,
cmd heading: 143.001704 deg,
new cmd heading: 143.484711 deg.
2025-08-23T22:20:43.796Z,1755987643.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504281 target range: 9.738603 and range: 6.00 m.
2025-08-23T22:20:43.889Z,1755987643.889 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.772366
2025-08-23T22:20:44.145Z,1755987644.145 [DAT](INFO): DAT read: Rx Time:22:20:43.5841
2025-08-23T22:20:44.146Z,1755987644.146 [DAT](INFO): Rx dataTimestamp_ set to:1755987644.145138
2025-08-23T22:20:44.151Z,1755987644.151 [DAT](INFO): DAT read: Bearing 67.5, 2.9 (Local)
2025-08-23T22:20:44.153Z,1755987644.153 [DAT](INFO): Local bearing/azimuth received:
Bearing 67.5, 2.9 (Local)
2025-08-23T22:20:44.184Z,1755987644.184 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.4
2025-08-23T22:20:44.207Z,1755987644.207 [DAT](INFO): DAT read: 22:20:43.5841 LVL= 23792, 12865, 21554, 24147, AGC= 51, IDX= 506, 0.07,-1.236,-0.316,-0.995, 0.197, PHS=-1.331,-0.468,-1.236, RAW= 324.2, 52.6, CAL= 324.1, 56.3, ROT= 185.9, -56.3
2025-08-23T22:20:44.208Z,1755987644.208 [DAT](INFO): got valid direction response:
22:20:43.5841 LVL= 23792, 12865, 21554, 24147, AGC= 51, IDX= 506, 0.07,-1.236,-0.316,-0.995, 0.197, PHS=-1.331,-0.468,-1.236, RAW= 324.2, 52.6, CAL= 324.1, 56.3, ROT= 185.9, -56.3
2025-08-23T22:20:44.209Z,1755987644.209 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-23T22:20:44.227Z,1755987644.227 [DAT](INFO): direction in FSK: [-0.551905,-0.057034,0.831954]
2025-08-23T22:20:44.227Z,1755987644.227 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:44.239Z,1755987644.239 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.122735
2025-08-23T22:20:44.338Z,1755987644.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.600000 m,
deltaT: 0.510262 s,
deltaX: -0.400000 m,
approachRate: -0.783911 m/s,
rangeRepo size: 4
2025-08-23T22:20:44.340Z,1755987644.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.564877 m,
bearing: 332.305071 deg,
lat: 36.779410 deg,
lon: -121.859576 deg,
deltaT: 9.585716 s,
deltaX: -4.173726 m,
approachRate: -0.435411 m/s,
posRepo size: 4
2025-08-23T22:20:44.346Z,1755987644.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.56 m. 9.74 m.
2025-08-23T22:20:44.348Z,1755987644.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 4.938212 m,
bearing: 140.315540 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 143.484707 deg,
new cmd heading: 144.165567 deg.
2025-08-23T22:20:44.349Z,1755987644.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.516164 target range: 9.738603 and range: 5.60 m.
2025-08-23T22:20:44.392Z,1755987644.392 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.275206
2025-08-23T22:20:44.646Z,1755987644.646 [DAT](INFO): DAT read: Rx Time:22:20:44.0839
2025-08-23T22:20:44.648Z,1755987644.648 [DAT](INFO): Rx dataTimestamp_ set to:1755987644.647053
2025-08-23T22:20:44.652Z,1755987644.652 [DAT](INFO): DAT read: Bearing 25.8, 48.6 (Local)
2025-08-23T22:20:44.653Z,1755987644.653 [DAT](INFO): Local bearing/azimuth received:
Bearing 25.8, 48.6 (Local)
2025-08-23T22:20:44.655Z,1755987644.655 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.4
2025-08-23T22:20:44.656Z,1755987644.656 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-08-23T22:20:44.657Z,1755987644.657 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.540487
2025-08-23T22:20:44.883Z,1755987644.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.300000 m,
deltaT: 0.501915 s,
deltaX: -0.300000 m,
approachRate: -0.597710 m/s,
rangeRepo size: 4
2025-08-23T22:20:44.890Z,1755987644.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:44.892Z,1755987644.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 4.684956 m,
bearing: 140.487421 deg,
approach rate: -0.466146 m/s,
LOS rate: 0.333467 deg/s,
cmd heading: 144.165568 deg,
new cmd heading: 144.527907 deg.
2025-08-23T22:20:44.893Z,1755987644.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.522488 target range: 9.738603 and range: 5.30 m.
2025-08-23T22:20:44.901Z,1755987644.901 [DAT](INFO): DAT read: 22:20:44.0839 LVL= 22192, 11233, 14770, 20515, AGC= 49, IDX= 502, 0.32, 1.371, 0.212,-0.318, 1.757, PHS=-0.284,-1.499,-2.119, RAW= 70.6, 40.5, CAL= 66.5, 47.0, ROT= 83.5, -47.0
2025-08-23T22:20:44.903Z,1755987644.903 [DAT](INFO): got valid direction response:
22:20:44.0839 LVL= 22192, 11233, 14770, 20515, AGC= 49, IDX= 502, 0.32, 1.371, 0.212,-0.318, 1.757, PHS=-0.284,-1.499,-2.119, RAW= 70.6, 40.5, CAL= 66.5, 47.0, ROT= 83.5, -47.0
2025-08-23T22:20:44.903Z,1755987644.903 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-23T22:20:44.904Z,1755987644.904 [DAT](INFO): direction in FSK: [0.077204,0.677614,0.731354]
2025-08-23T22:20:44.907Z,1755987644.907 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.791010
2025-08-23T22:20:45.155Z,1755987645.155 [DAT](INFO): DAT read: Rx Time:22:20:44.5838
2025-08-23T22:20:45.157Z,1755987645.157 [DAT](INFO): Rx dataTimestamp_ set to:1755987645.155552
2025-08-23T22:20:45.162Z,1755987645.162 [DAT](INFO): DAT read: Bearing 347.7, 28.7 (Local)
2025-08-23T22:20:45.163Z,1755987645.163 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.7, 28.7 (Local)
2025-08-23T22:20:45.165Z,1755987645.165 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.4
2025-08-23T22:20:45.166Z,1755987645.166 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-08-23T22:20:45.167Z,1755987645.167 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.050422
2025-08-23T22:20:45.289Z,1755987645.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.100000 m,
deltaT: 0.508499 s,
deltaX: -0.200000 m,
approachRate: -0.393315 m/s,
rangeRepo size: 4
2025-08-23T22:20:45.291Z,1755987645.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.068017 m,
bearing: 218.486301 deg,
lat: 36.779410 deg,
lon: -121.859577 deg,
deltaT: 10.596130 s,
deltaX: -4.670585 m,
approachRate: -0.440782 m/s,
posRepo size: 4
2025-08-23T22:20:45.292Z,1755987645.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.07 m. 9.74 m.
2025-08-23T22:20:45.299Z,1755987645.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 4.489511 m,
bearing: 140.613636 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 144.527909 deg,
new cmd heading: 145.025517 deg.
2025-08-23T22:20:45.300Z,1755987645.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531173 target range: 9.738603 and range: 5.10 m.
2025-08-23T22:20:45.407Z,1755987645.407 [DAT](INFO): DAT read: 22:20:44.5838 LVL= 25248, 15441, 15394, 24307, AGC= 48, IDX= 502,-0.28,-0.968,-2.746,-1.804,-0.901, PHS= 0.035,-1.800,-0.947, RAW= 117.7, 31.1, CAL= 115.6, 40.1, ROT= 34.4, -40.1
2025-08-23T22:20:45.409Z,1755987645.409 [DAT](INFO): got valid direction response:
22:20:44.5838 LVL= 25248, 15441, 15394, 24307, AGC= 48, IDX= 502,-0.28,-0.968,-2.746,-1.804,-0.901, PHS= 0.035,-1.800,-0.947, RAW= 117.7, 31.1, CAL= 115.6, 40.1, ROT= 34.4, -40.1
2025-08-23T22:20:45.410Z,1755987645.410 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-23T22:20:45.412Z,1755987645.412 [DAT](INFO): direction in FSK: [0.631147,0.432155,0.644124]
2025-08-23T22:20:45.416Z,1755987645.416 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.299619
2025-08-23T22:20:45.656Z,1755987645.656 [DAT](INFO): DAT read: Rx Time:22:20:45.0836
2025-08-23T22:20:45.656Z,1755987645.656 [DAT](INFO): Rx dataTimestamp_ set to:1755987645.655960
2025-08-23T22:20:45.658Z,1755987645.658 [DAT](INFO): DAT read: Bearing 332.9, 5.8 (Local)
2025-08-23T22:20:45.658Z,1755987645.658 [DAT](INFO): Local bearing/azimuth received:
Bearing 332.9, 5.8 (Local)
2025-08-23T22:20:45.660Z,1755987645.660 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4
2025-08-23T22:20:45.660Z,1755987645.660 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-08-23T22:20:45.670Z,1755987645.670 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=4.544905
2025-08-23T22:20:45.740Z,1755987645.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 0.500408 s,
deltaX: -0.300000 m,
approachRate: -0.599510 m/s,
rangeRepo size: 4
2025-08-23T22:20:45.746Z,1755987645.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.769899 m,
bearing: 167.678685 deg,
lat: 36.779410 deg,
lon: -121.859610 deg,
deltaT: 11.096538 s,
deltaX: -4.968704 m,
approachRate: -0.447771 m/s,
posRepo size: 4
2025-08-23T22:20:45.749Z,1755987645.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.74 m.
2025-08-23T22:20:45.771Z,1755987645.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 4.277202 m,
bearing: 140.742464 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 145.025516 deg,
new cmd heading: 145.580690 deg.
2025-08-23T22:20:45.778Z,1755987645.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540862 target range: 9.738603 and range: 4.80 m.
2025-08-23T22:20:45.912Z,1755987645.912 [DAT](INFO): DAT read: 22:20:45.0836 LVL= 22304, 19665, 13074, 27059, AGC= 45, IDX= 499, 0.33,-0.334,-2.192,-0.456,-0.283, PHS= 0.051,-1.864,-0.218, RAW= 142.6, 21.8, CAL= 145.0, 27.9, ROT= 5.0, -27.9
2025-08-23T22:20:45.914Z,1755987645.914 [DAT](INFO): got valid direction response:
22:20:45.0836 LVL= 22304, 19665, 13074, 27059, AGC= 45, IDX= 499, 0.33,-0.334,-2.192,-0.456,-0.283, PHS= 0.051,-1.864,-0.218, RAW= 142.6, 21.8, CAL= 145.0, 27.9, ROT= 5.0, -27.9
2025-08-23T22:20:45.914Z,1755987645.914 [DAT](INFO): #Rx 8: Read direction message, but no range.
2025-08-23T22:20:45.916Z,1755987645.916 [DAT](INFO): direction in FSK: [0.880403,0.077025,0.467930]
2025-08-23T22:20:45.920Z,1755987645.920 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=4.803354
2025-08-23T22:20:46.159Z,1755987646.159 [DAT](INFO): DAT read: Rx Time:22:20:45.5836
2025-08-23T22:20:46.160Z,1755987646.160 [DAT](INFO): Rx dataTimestamp_ set to:1755987646.159327
2025-08-23T22:20:46.161Z,1755987646.161 [DAT](INFO): DAT read: Bearing 331.0, -1.4 (Local)
2025-08-23T22:20:46.161Z,1755987646.161 [DAT](INFO): Local bearing/azimuth received:
Bearing 331.0, -1.4 (Local)
2025-08-23T22:20:46.163Z,1755987646.163 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4
2025-08-23T22:20:46.168Z,1755987646.168 [DAT](INFO): DAT read: 22:20:45.5836 LVL= 25712, 24417, 17618, 28899, AGC= 45, IDX= 499, 0.06, 1.318,-0.549, 1.502, 1.450, PHS=-0.030,-1.955, 0.008, RAW= 151.0, 19.8, CAL= 152.8, 24.7, ROT= 357.2, -24.7
2025-08-23T22:20:46.169Z,1755987646.169 [DAT](INFO): got valid direction response:
22:20:45.5836 LVL= 25712, 24417, 17618, 28899, AGC= 45, IDX= 499, 0.06, 1.318,-0.549, 1.502, 1.450, PHS=-0.030,-1.955, 0.008, RAW= 151.0, 19.8, CAL= 152.8, 24.7, ROT= 357.2, -24.7
2025-08-23T22:20:46.169Z,1755987646.169 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-23T22:20:46.170Z,1755987646.170 [DAT](INFO): direction in FSK: [0.907424,-0.044380,0.417867]
2025-08-23T22:20:46.171Z,1755987646.171 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:46.179Z,1755987646.179 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.062160
2025-08-23T22:20:46.291Z,1755987646.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 0.503367 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:46.293Z,1755987646.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.769908 m,
bearing: 133.909034 deg,
lat: 36.779409 deg,
lon: -121.859610 deg,
deltaT: 11.599905 s,
deltaX: -4.968695 m,
approachRate: -0.428339 m/s,
posRepo size: 4
2025-08-23T22:20:46.298Z,1755987646.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.74 m.
2025-08-23T22:20:46.300Z,1755987646.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 4.015169 m,
bearing: 140.803584 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 145.580687 deg,
new cmd heading: 146.247253 deg.
2025-08-23T22:20:46.307Z,1755987646.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552496 target range: 9.738603 and range: 4.80 m.
2025-08-23T22:20:46.411Z,1755987646.411 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.294632
2025-08-23T22:20:46.643Z,1755987646.643 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:20:46.663Z,1755987646.663 [DAT](INFO): DAT read: Rx Time:22:20:46.0834
2025-08-23T22:20:46.664Z,1755987646.664 [DAT](INFO): Rx dataTimestamp_ set to:1755987646.663424
2025-08-23T22:20:46.665Z,1755987646.665 [DAT](INFO): DAT read: Bearing 335.3, -5.6 (Local)
2025-08-23T22:20:46.665Z,1755987646.665 [DAT](INFO): Local bearing/azimuth received:
Bearing 335.3, -5.6 (Local)
2025-08-23T22:20:46.667Z,1755987646.667 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4
2025-08-23T22:20:46.672Z,1755987646.672 [DAT](INFO): DAT read: 22:20:46.0834 LVL= 28848, 31777, 24738, 32755, AGC= 46, IDX= 497,-0.07,-1.920, 2.621,-1.552,-1.659, PHS=-0.160,-1.958, 0.063, RAW= 155.8, 20.7, CAL= 158.0, 27.7, ROT= 352.0, -27.7
2025-08-23T22:20:46.673Z,1755987646.673 [DAT](INFO): got valid direction response:
22:20:46.0834 LVL= 28848, 31777, 24738, 32755, AGC= 46, IDX= 497,-0.07,-1.920, 2.621,-1.552,-1.659, PHS=-0.160,-1.958, 0.063, RAW= 155.8, 20.7, CAL= 158.0, 27.7, ROT= 352.0, -27.7
2025-08-23T22:20:46.673Z,1755987646.673 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-23T22:20:46.674Z,1755987646.674 [DAT](INFO): direction in FSK: [0.876777,-0.123223,0.464842]
2025-08-23T22:20:46.675Z,1755987646.675 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:46.686Z,1755987646.686 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=5.569911
2025-08-23T22:20:46.747Z,1755987646.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 0.504097 s,
deltaX: -0.300000 m,
approachRate: -0.595124 m/s,
rangeRepo size: 4
2025-08-23T22:20:46.764Z,1755987646.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.471788 m,
bearing: 128.884813 deg,
lat: 36.779403 deg,
lon: -121.859610 deg,
deltaT: 12.104002 s,
deltaX: -5.266814 m,
approachRate: -0.435130 m/s,
posRepo size: 4
2025-08-23T22:20:46.776Z,1755987646.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.47 m. 9.74 m.
2025-08-23T22:20:46.814Z,1755987646.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 3.810734 m,
bearing: 140.832830 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 146.247259 deg,
new cmd heading: 146.789045 deg.
2025-08-23T22:20:46.815Z,1755987646.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561952 target range: 9.738603 and range: 4.50 m.
2025-08-23T22:20:46.915Z,1755987646.915 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=5.798528
2025-08-23T22:20:47.167Z,1755987647.167 [DAT](INFO): DAT read: Rx Time:22:20:46.5834
2025-08-23T22:20:47.168Z,1755987647.168 [DAT](INFO): Rx dataTimestamp_ set to:1755987647.167396
2025-08-23T22:20:47.169Z,1755987647.169 [DAT](INFO): DAT read: Bearing 344.7, -8.3 (Local)
2025-08-23T22:20:47.169Z,1755987647.169 [DAT](INFO): Local bearing/azimuth received:
Bearing 344.7, -8.3 (Local)
2025-08-23T22:20:47.171Z,1755987647.171 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4
2025-08-23T22:20:47.180Z,1755987647.180 [DAT](INFO): DAT read: 22:20:46.5834 LVL= 29920, 28193, 24050, 32755, AGC= 48, IDX= 497,-0.13,-2.392, 2.443,-1.875,-1.937, PHS=-0.354,-1.858, 0.018, RAW= 160.8, 24.3, CAL= 163.4, 35.7, ROT= 346.6, -35.7
2025-08-23T22:20:47.193Z,1755987647.193 [DAT](INFO): got valid direction response:
22:20:46.5834 LVL= 29920, 28193, 24050, 32755, AGC= 48, IDX= 497,-0.13,-2.392, 2.443,-1.875,-1.937, PHS=-0.354,-1.858, 0.018, RAW= 160.8, 24.3, CAL= 163.4, 35.7, ROT= 346.6, -35.7
2025-08-23T22:20:47.194Z,1755987647.194 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-23T22:20:47.195Z,1755987647.195 [DAT](INFO): direction in FSK: [0.789975,-0.188199,0.583541]
2025-08-23T22:20:47.195Z,1755987647.195 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:47.224Z,1755987647.224 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.107718
2025-08-23T22:20:47.334Z,1755987647.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 0.503972 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:47.336Z,1755987647.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.471786 m,
bearing: 123.469469 deg,
lat: 36.779403 deg,
lon: -121.859581 deg,
deltaT: 12.607974 s,
deltaX: -5.266816 m,
approachRate: -0.417737 m/s,
posRepo size: 4
2025-08-23T22:20:47.354Z,1755987647.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.47 m. 9.74 m.
2025-08-23T22:20:47.360Z,1755987647.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 3.510580 m,
bearing: 140.813402 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 146.789043 deg,
new cmd heading: 147.526040 deg.
2025-08-23T22:20:47.366Z,1755987647.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.574815 target range: 9.738603 and range: 4.50 m.
2025-08-23T22:20:47.419Z,1755987647.419 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.302141
2025-08-23T22:20:47.647Z,1755987647.647 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:20:47.671Z,1755987647.671 [DAT](INFO): DAT read: Rx Time:22:20:47.0832
2025-08-23T22:20:47.672Z,1755987647.672 [DAT](INFO): Rx dataTimestamp_ set to:1755987647.671368
2025-08-23T22:20:47.673Z,1755987647.673 [DAT](INFO): DAT read: Bearing 351.5, -11.7 (Local)
2025-08-23T22:20:47.673Z,1755987647.673 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.5, -11.7 (Local)
2025-08-23T22:20:47.675Z,1755987647.675 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.3
2025-08-23T22:20:47.680Z,1755987647.680 [DAT](INFO): DAT read: 22:20:47.0832 LVL= 25824, 22401, 18306, 32755, AGC= 47, IDX= 495,-0.36, 2.718, 1.657,-2.891,-2.956, PHS=-0.507,-1.626, 0.021, RAW= 168.3, 27.2, CAL= 169.8, 40.7, ROT= 340.2, -40.7
2025-08-23T22:20:47.681Z,1755987647.681 [DAT](INFO): got valid direction response:
22:20:47.0832 LVL= 25824, 22401, 18306, 32755, AGC= 47, IDX= 495,-0.36, 2.718, 1.657,-2.891,-2.956, PHS=-0.507,-1.626, 0.021, RAW= 168.3, 27.2, CAL= 169.8, 40.7, ROT= 340.2, -40.7
2025-08-23T22:20:47.681Z,1755987647.681 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-23T22:20:47.682Z,1755987647.682 [DAT](INFO): direction in FSK: [0.713314,-0.256809,0.652098]
2025-08-23T22:20:47.683Z,1755987647.683 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:47.689Z,1755987647.689 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.572182
2025-08-23T22:20:47.708Z,1755987647.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.100000 m,
deltaT: 0.503972 s,
deltaX: -0.400000 m,
approachRate: -0.793695 m/s,
rangeRepo size: 4
2025-08-23T22:20:47.734Z,1755987647.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.074294 m,
bearing: 117.118068 deg,
lat: 36.779403 deg,
lon: -121.859580 deg,
deltaT: 13.111946 s,
deltaX: -5.664309 m,
approachRate: -0.431996 m/s,
posRepo size: 4
2025-08-23T22:20:47.735Z,1755987647.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.07 m. 9.74 m.
2025-08-23T22:20:47.746Z,1755987647.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 3.334913 m,
bearing: 140.778207 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 147.526035 deg,
new cmd heading: 147.981672 deg.
2025-08-23T22:20:47.747Z,1755987647.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.582767 target range: 9.738603 and range: 4.10 m.
2025-08-23T22:20:47.923Z,1755987647.923 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.806186
2025-08-23T22:20:48.144Z,1755987648.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:48.159Z,1755987648.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:48.166Z,1755987648.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 3.149065 m,
bearing: 140.710377 deg,
approach rate: -0.411505 m/s,
LOS rate: -0.159051 deg/s,
cmd heading: 147.981676 deg,
new cmd heading: 147.838012 deg.
2025-08-23T22:20:48.167Z,1755987648.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.580260 target range: 9.738603 and range: 4.10 m.
2025-08-23T22:20:48.176Z,1755987648.176 [DAT](INFO): DAT read: Rx Time:22:20:47.5831
2025-08-23T22:20:48.176Z,1755987648.176 [DAT](INFO): Rx dataTimestamp_ set to:1755987648.175700
2025-08-23T22:20:48.178Z,1755987648.178 [DAT](INFO): DAT read: Bearing 354.7, -13.7 (Local)
2025-08-23T22:20:48.178Z,1755987648.178 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.7, -13.7 (Local)
2025-08-23T22:20:48.181Z,1755987648.181 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.3
2025-08-23T22:20:48.187Z,1755987648.187 [DAT](INFO): DAT read: 22:20:47.5831 LVL= 24432, 19633, 16674, 31219, AGC= 47, IDX= 509, 0.04, 2.338, 1.421, 3.106, 3.068, PHS=-0.627,-1.602,-0.005, RAW= 172.7, 29.5, CAL= 173.5, 42.5, ROT= 336.5, -42.5
2025-08-23T22:20:48.189Z,1755987648.189 [DAT](INFO): got valid direction response:
22:20:47.5831 LVL= 24432, 19633, 16674, 31219, AGC= 47, IDX= 509, 0.04, 2.338, 1.421, 3.106, 3.068, PHS=-0.627,-1.602,-0.005, RAW= 172.7, 29.5, CAL= 173.5, 42.5, ROT= 336.5, -42.5
2025-08-23T22:20:48.191Z,1755987648.191 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-23T22:20:48.193Z,1755987648.193 [DAT](INFO): direction in FSK: [0.676128,-0.293989,0.675590]
2025-08-23T22:20:48.206Z,1755987648.206 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:48.219Z,1755987648.219 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.102105
2025-08-23T22:20:48.427Z,1755987648.427 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.310821
2025-08-23T22:20:48.512Z,1755987648.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.900000 m,
deltaT: 0.504332 s,
deltaX: -0.200000 m,
approachRate: -0.396564 m/s,
rangeRepo size: 4
2025-08-23T22:20:48.514Z,1755987648.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.875552 m,
bearing: 113.870749 deg,
lat: 36.779405 deg,
lon: -121.859579 deg,
deltaT: 13.616278 s,
deltaX: -5.863050 m,
approachRate: -0.430591 m/s,
posRepo size: 4
2025-08-23T22:20:48.515Z,1755987648.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.74 m.
2025-08-23T22:20:48.518Z,1755987648.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 2.955123 m,
bearing: 140.630495 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 147.838010 deg,
new cmd heading: 148.268561 deg.
2025-08-23T22:20:48.519Z,1755987648.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.587775 target range: 9.738603 and range: 3.90 m.
2025-08-23T22:20:48.679Z,1755987648.679 [DAT](INFO): DAT read: Rx Time:22:20:48.0829
2025-08-23T22:20:48.679Z,1755987648.679 [DAT](INFO): Rx dataTimestamp_ set to:1755987648.678994
2025-08-23T22:20:48.680Z,1755987648.680 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.3
2025-08-23T22:20:48.681Z,1755987648.681 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-08-23T22:20:48.682Z,1755987648.682 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.565605
2025-08-23T22:20:48.931Z,1755987648.931 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.814239
2025-08-23T22:20:48.947Z,1755987648.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.600000 m,
deltaT: 0.503294 s,
deltaX: -0.300000 m,
approachRate: -0.596073 m/s,
rangeRepo size: 4
2025-08-23T22:20:48.948Z,1755987648.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:48.955Z,1755987648.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 2.761520 m,
bearing: 140.335205 deg,
approach rate: -0.444910 m/s,
LOS rate: -0.726164 deg/s,
cmd heading: 148.268558 deg,
new cmd heading: 147.636603 deg.
2025-08-23T22:20:48.956Z,1755987648.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576745 target range: 9.738603 and range: 3.60 m.
2025-08-23T22:20:49.184Z,1755987649.184 [DAT](INFO): DAT read: Rx Time:22:20:48.5829
2025-08-23T22:20:49.184Z,1755987649.184 [DAT](INFO): Rx dataTimestamp_ set to:1755987649.184146
2025-08-23T22:20:49.186Z,1755987649.186 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.2
2025-08-23T22:20:49.187Z,1755987649.187 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-08-23T22:20:49.189Z,1755987649.189 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.072141
2025-08-23T22:20:49.288Z,1755987649.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.600000 m,
deltaT: 0.505152 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:49.289Z,1755987649.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:49.292Z,1755987649.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 2.598201 m,
bearing: 140.025770 deg,
approach rate: -0.479263 m/s,
LOS rate: -0.965115 deg/s,
cmd heading: 147.636602 deg,
new cmd heading: 146.978863 deg.
2025-08-23T22:20:49.293Z,1755987649.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565265 target range: 9.738603 and range: 3.60 m.
2025-08-23T22:20:49.435Z,1755987649.435 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.318192
2025-08-23T22:20:49.687Z,1755987649.687 [DAT](INFO): DAT read: Rx Time:22:20:49.0826
2025-08-23T22:20:49.687Z,1755987649.687 [DAT](INFO): Rx dataTimestamp_ set to:1755987649.686845
2025-08-23T22:20:49.688Z,1755987649.688 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.2
2025-08-23T22:20:49.689Z,1755987649.689 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-08-23T22:20:49.690Z,1755987649.690 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.573440
2025-08-23T22:20:49.715Z,1755987649.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.502699 s,
deltaX: -0.400000 m,
approachRate: -0.795704 m/s,
rangeRepo size: 4
2025-08-23T22:20:49.716Z,1755987649.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:49.719Z,1755987649.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 2.403251 m,
bearing: 139.601091 deg,
approach rate: -0.456308 m/s,
LOS rate: -1.074645 deg/s,
cmd heading: 146.978868 deg,
new cmd heading: 146.060697 deg.
2025-08-23T22:20:49.720Z,1755987649.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549240 target range: 9.738603 and range: 3.20 m.
2025-08-23T22:20:49.948Z,1755987649.948 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.831649
2025-08-23T22:20:50.173Z,1755987650.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:50.181Z,1755987650.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-08-23T22:20:50.192Z,1755987650.192 [DAT](INFO): DAT read: Rx Time:22:20:49.5826
2025-08-23T22:20:50.193Z,1755987650.193 [DAT](INFO): Rx dataTimestamp_ set to:1755987650.192344
2025-08-23T22:20:50.195Z,1755987650.195 [DAT](INFO): DAT read: Bearing 7.4, -15.2 (Local)
2025-08-23T22:20:50.195Z,1755987650.195 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.4, -15.2 (Local)
2025-08-23T22:20:50.198Z,1755987650.198 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.2
2025-08-23T22:20:50.204Z,1755987650.204 [DAT](INFO): DAT read: 22:20:49.5826 LVL= 25296, 17841, 21282, 31011, AGC= 45, IDX= 506,-0.16,-0.147,-0.790, 0.835, 1.080, PHS=-1.125,-1.825,-0.289, RAW= 182.9, 40.7, CAL= 182.3, 51.0, ROT= 327.7, -51.0
2025-08-23T22:20:50.210Z,1755987650.210 [DAT](INFO): got valid direction response:
22:20:49.5826 LVL= 25296, 17841, 21282, 31011, AGC= 45, IDX= 506,-0.16,-0.147,-0.790, 0.835, 1.080, PHS=-1.125,-1.825,-0.289, RAW= 182.9, 40.7, CAL= 182.3, 51.0, ROT= 327.7, -51.0
2025-08-23T22:20:50.210Z,1755987650.210 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-23T22:20:50.212Z,1755987650.212 [DAT](INFO): direction in FSK: [0.531941,-0.336279,0.777146]
2025-08-23T22:20:50.212Z,1755987650.212 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:50.214Z,1755987650.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 2.185635 m,
bearing: 139.057812 deg,
approach rate: -0.467151 m/s,
LOS rate: -1.282342 deg/s,
cmd heading: 146.060699 deg,
new cmd heading: 144.866147 deg.
2025-08-23T22:20:50.215Z,1755987650.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528391 target range: 9.738603 and range: 3.20 m.
2025-08-23T22:20:50.224Z,1755987650.224 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.107942
2025-08-23T22:20:50.443Z,1755987650.443 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.326176
2025-08-23T22:20:50.525Z,1755987650.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.505499 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:50.535Z,1755987650.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.179944 m,
bearing: 107.047925 deg,
lat: 36.779407 deg,
lon: -121.859579 deg,
deltaT: 15.632922 s,
deltaX: -6.558659 m,
approachRate: -0.419541 m/s,
posRepo size: 4
2025-08-23T22:20:50.536Z,1755987650.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.74 m.
2025-08-23T22:20:50.543Z,1755987650.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.738603 m,
nav range: 2.023683 m,
bearing: 138.546717 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.610202 deg/s,
cmd heading: 144.866154 deg,
new cmd heading: 145.285392 deg.
2025-08-23T22:20:50.544Z,1755987650.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535708 target range: 9.738603 and range: 3.20 m.
2025-08-23T22:20:50.695Z,1755987650.695 [DAT](INFO): DAT read: Rx Time:22:20:50.0824
2025-08-23T22:20:50.696Z,1755987650.696 [DAT](INFO): Rx dataTimestamp_ set to:1755987650.695437
2025-08-23T22:20:50.697Z,1755987650.697 [DAT](INFO): DAT read: Bearing 24.8, -11.4 (Local)
2025-08-23T22:20:50.697Z,1755987650.697 [DAT](INFO): Local bearing/azimuth received:
Bearing 24.8, -11.4 (Local)
2025-08-23T22:20:50.699Z,1755987650.699 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.2
2025-08-23T22:20:50.704Z,1755987650.704 [DAT](INFO): DAT read: 22:20:50.0824 LVL= 22096, 16609, 19410, 30387, AGC= 43, IDX= 504, 0.09,-0.853,-0.977,-0.071, 0.618, PHS=-1.369,-1.550,-0.734, RAW= 197.8, 60.1, CAL= 196.3, 66.3, ROT= 313.7, -66.3
2025-08-23T22:20:50.705Z,1755987650.705 [DAT](INFO): got valid direction response:
22:20:50.0824 LVL= 22096, 16609, 19410, 30387, AGC= 43, IDX= 504, 0.09,-0.853,-0.977,-0.071, 0.618, PHS=-1.369,-1.550,-0.734, RAW= 197.8, 60.1, CAL= 196.3, 66.3, ROT= 313.7, -66.3
2025-08-23T22:20:50.705Z,1755987650.705 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-23T22:20:50.706Z,1755987650.706 [DAT](INFO): direction in FSK: [0.277699,-0.290595,0.915663]
2025-08-23T22:20:50.706Z,1755987650.706 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:50.710Z,1755987650.710 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.593596
2025-08-23T22:20:50.947Z,1755987650.947 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.830179
2025-08-23T22:20:50.997Z,1755987650.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.900000 m,
deltaT: 0.503093 s,
deltaX: -0.300000 m,
approachRate: -0.596311 m/s,
rangeRepo size: 4
2025-08-23T22:20:51.003Z,1755987651.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.881826 m,
bearing: 92.752416 deg,
lat: 36.779409 deg,
lon: -121.859579 deg,
deltaT: 16.136015 s,
deltaX: -6.856776 m,
approachRate: -0.424936 m/s,
posRepo size: 4
2025-08-23T22:20:51.004Z,1755987651.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m.
2025-08-23T22:20:51.004Z,1755987651.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-23T22:20:51.203Z,1755987651.203 [DAT](INFO): DAT read: Rx Time:22:20:50.5824
2025-08-23T22:20:51.204Z,1755987651.204 [DAT](INFO): Rx dataTimestamp_ set to:1755987651.203645
2025-08-23T22:20:51.206Z,1755987651.206 [DAT](INFO): DAT read: Bearing 45.4, 16.1 (Local)
2025-08-23T22:20:51.206Z,1755987651.206 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.4, 16.1 (Local)
2025-08-23T22:20:51.210Z,1755987651.210 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.1
2025-08-23T22:20:51.215Z,1755987651.215 [DAT](INFO): DAT read: 22:20:50.5824 LVL= 17520, 19905, 23538, 27987, AGC= 46, IDX= 503, 0.22, 1.870, 1.871, 1.619,-2.865, PHS=-1.447,-1.502,-1.844, RAW= 37.4, 77.6, CAL= 36.8, 79.0, ROT= 113.2, -79.0
2025-08-23T22:20:51.216Z,1755987651.216 [DAT](INFO): got valid direction response:
22:20:50.5824 LVL= 17520, 19905, 23538, 27987, AGC= 46, IDX= 503, 0.22, 1.870, 1.871, 1.619,-2.865, PHS=-1.447,-1.502,-1.844, RAW= 37.4, 77.6, CAL= 36.8, 79.0, ROT= 113.2, -79.0
2025-08-23T22:20:51.216Z,1755987651.216 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-23T22:20:51.218Z,1755987651.218 [DAT](INFO): direction in FSK: [-0.075168,0.175379,0.981627]
2025-08-23T22:20:51.218Z,1755987651.218 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:51.222Z,1755987651.222 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.105265
2025-08-23T22:20:51.387Z,1755987651.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.900000 m,
deltaT: 0.508208 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:51.393Z,1755987651.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.881826 m,
bearing: 266.288746 deg,
lat: 36.779409 deg,
lon: -121.859579 deg,
deltaT: 0.508208 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:20:51.456Z,1755987651.456 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.339344
2025-08-23T22:20:51.707Z,1755987651.707 [DAT](INFO): DAT read: Rx Time:22:20:51.0822
2025-08-23T22:20:51.707Z,1755987651.707 [DAT](INFO): Rx dataTimestamp_ set to:1755987651.706897
2025-08-23T22:20:51.708Z,1755987651.708 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.1
2025-08-23T22:20:51.709Z,1755987651.709 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-08-23T22:20:51.710Z,1755987651.710 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.593525
2025-08-23T22:20:51.732Z,1755987651.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.600000 m,
deltaT: 0.503252 s,
deltaX: -0.300000 m,
approachRate: -0.596123 m/s,
rangeRepo size: 4
2025-08-23T22:20:51.959Z,1755987651.959 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.842152
2025-08-23T22:20:52.211Z,1755987652.211 [DAT](INFO): DAT read: Rx Time:22:20:51.5823
2025-08-23T22:20:52.212Z,1755987652.212 [DAT](INFO): Rx dataTimestamp_ set to:1755987652.211640
2025-08-23T22:20:52.214Z,1755987652.214 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.1
2025-08-23T22:20:52.215Z,1755987652.215 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-08-23T22:20:52.215Z,1755987652.215 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.099046
2025-08-23T22:20:52.463Z,1755987652.463 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.346084
2025-08-23T22:20:52.538Z,1755987652.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:52.541Z,1755987652.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.700000 m,
deltaT: 0.504743 s,
deltaX: 0.100000 m,
approachRate: 0.198121 m/s,
rangeRepo size: 4
2025-08-23T22:20:52.715Z,1755987652.715 [DAT](INFO): DAT read: Rx Time:22:20:52.0824
2025-08-23T22:20:52.716Z,1755987652.716 [DAT](INFO): Rx dataTimestamp_ set to:1755987652.715477
2025-08-23T22:20:52.717Z,1755987652.717 [DAT](INFO): DAT read: Bearing 79.1, -17.0 (Local)
2025-08-23T22:20:52.718Z,1755987652.718 [DAT](INFO): Local bearing/azimuth received:
Bearing 79.1, -17.0 (Local)
2025-08-23T22:20:52.720Z,1755987652.720 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0
2025-08-23T22:20:52.724Z,1755987652.724 [DAT](INFO): DAT read: 22:20:52.0824 LVL= 32752, 25393, 32754, 32755, AGC= 47, IDX= 504,-0.07, 2.949,-2.070,-2.475,-1.687, PHS=-1.545,-0.338,-0.832, RAW= 294.0, 42.4, CAL= 296.8, 47.5, ROT= 213.2, -47.5
2025-08-23T22:20:52.725Z,1755987652.725 [DAT](INFO): got valid direction response:
22:20:52.0824 LVL= 32752, 25393, 32754, 32755, AGC= 47, IDX= 504,-0.07, 2.949,-2.070,-2.475,-1.687, PHS=-1.545,-0.338,-0.832, RAW= 294.0, 42.4, CAL= 296.8, 47.5, ROT= 213.2, -47.5
2025-08-23T22:20:52.726Z,1755987652.726 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-23T22:20:52.727Z,1755987652.727 [DAT](INFO): direction in FSK: [-0.565310,-0.369928,0.737277]
2025-08-23T22:20:52.727Z,1755987652.727 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:52.731Z,1755987652.731 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.614583
2025-08-23T22:20:52.967Z,1755987652.967 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.850163
2025-08-23T22:20:53.014Z,1755987653.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.900000 m,
deltaT: 0.503837 s,
deltaX: 0.200000 m,
approachRate: 0.396954 m/s,
rangeRepo size: 4
2025-08-23T22:20:53.016Z,1755987653.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.881819 m,
bearing: 4.207682 deg,
lat: 36.779410 deg,
lon: -121.859586 deg,
deltaT: 1.511832 s,
deltaX: -0.000007 m,
approachRate: -0.000005 m/s,
posRepo size: 4
2025-08-23T22:20:53.222Z,1755987653.222 [DAT](INFO): DAT read: Rx Time:22:20:52.5822
2025-08-23T22:20:53.222Z,1755987653.222 [DAT](INFO): Rx dataTimestamp_ set to:1755987653.221833
2025-08-23T22:20:53.223Z,1755987653.223 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0
2025-08-23T22:20:53.224Z,1755987653.224 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-08-23T22:20:53.225Z,1755987653.225 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.108334
2025-08-23T22:20:53.384Z,1755987653.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.600000 m,
deltaT: 0.506356 s,
deltaX: -0.300000 m,
approachRate: -0.592469 m/s,
rangeRepo size: 4
2025-08-23T22:20:53.385Z,1755987653.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m.
2025-08-23T22:20:53.471Z,1755987653.471 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.354460
2025-08-23T22:20:53.723Z,1755987653.723 [DAT](INFO): DAT read: Rx Time:22:20:53.0826
2025-08-23T22:20:53.724Z,1755987653.724 [DAT](INFO): Rx dataTimestamp_ set to:1755987653.723310
2025-08-23T22:20:53.725Z,1755987653.725 [DAT](INFO): DAT read: Bearing 56.9, -27.5 (Local)
2025-08-23T22:20:53.725Z,1755987653.725 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.9, -27.5 (Local)
2025-08-23T22:20:53.727Z,1755987653.727 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-23T22:20:53.732Z,1755987653.732 [DAT](INFO): DAT read: 22:20:53.0826 LVL= 32752, 32753, 32754, 32755, AGC= 45, IDX= 501, 0.20,-2.199,-0.871,-0.491, 0.425, PHS=-2.522,-1.251,-0.960, RAW= 259.9, 49.3, CAL= 261.6, 55.8, ROT= 248.4, -55.8
2025-08-23T22:20:53.733Z,1755987653.733 [DAT](INFO): got valid direction response:
22:20:53.0826 LVL= 32752, 32753, 32754, 32755, AGC= 45, IDX= 501, 0.20,-2.199,-0.871,-0.491, 0.425, PHS=-2.522,-1.251,-0.960, RAW= 259.9, 49.3, CAL= 261.6, 55.8, ROT= 248.4, -55.8
2025-08-23T22:20:53.733Z,1755987653.733 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-23T22:20:53.734Z,1755987653.734 [DAT](INFO): direction in FSK: [-0.206917,-0.522612,0.827081]
2025-08-23T22:20:53.734Z,1755987653.734 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:53.742Z,1755987653.742 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.625659
2025-08-23T22:20:53.826Z,1755987653.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.501477 s,
deltaX: 0.600000 m,
approachRate: 1.196466 m/s,
rangeRepo size: 4
2025-08-23T22:20:53.828Z,1755987653.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.179938 m,
bearing: 38.866355 deg,
lat: 36.779411 deg,
lon: -121.859586 deg,
deltaT: 1.007833 s,
deltaX: 0.298119 m,
approachRate: 0.295802 m/s,
posRepo size: 4
2025-08-23T22:20:53.828Z,1755987653.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.20 m.
2025-08-23T22:20:53.975Z,1755987653.975 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.858642
2025-08-23T22:20:54.227Z,1755987654.227 [DAT](INFO): DAT read: Rx Time:22:20:53.5823
2025-08-23T22:20:54.228Z,1755987654.228 [DAT](INFO): Rx dataTimestamp_ set to:1755987654.227365
2025-08-23T22:20:54.229Z,1755987654.229 [DAT](INFO): DAT read: Bearing 60.6, -25.5 (Local)
2025-08-23T22:20:54.229Z,1755987654.229 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.6, -25.5 (Local)
2025-08-23T22:20:54.231Z,1755987654.231 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.1
2025-08-23T22:20:54.236Z,1755987654.236 [DAT](INFO): DAT read: 22:20:53.5823 LVL= 30560, 23409, 28146, 29235, AGC= 44, IDX= 503,-0.29, 1.241, 2.637, 2.817,-2.466, PHS=-2.475,-1.136,-1.045, RAW= 266.7, 49.9, CAL= 268.4, 56.2, ROT= 241.6, -56.2
2025-08-23T22:20:54.237Z,1755987654.237 [DAT](INFO): got valid direction response:
22:20:53.5823 LVL= 30560, 23409, 28146, 29235, AGC= 44, IDX= 503,-0.29, 1.241, 2.637, 2.817,-2.466, PHS=-2.475,-1.136,-1.045, RAW= 266.7, 49.9, CAL= 268.4, 56.2, ROT= 241.6, -56.2
2025-08-23T22:20:54.252Z,1755987654.252 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-23T22:20:54.253Z,1755987654.253 [DAT](INFO): direction in FSK: [-0.264587,-0.489345,0.830984]
2025-08-23T22:20:54.253Z,1755987654.253 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:54.273Z,1755987654.273 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.156360
2025-08-23T22:20:54.407Z,1755987654.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.700000 m,
deltaT: 0.504055 s,
deltaX: -0.500000 m,
approachRate: -0.991955 m/s,
rangeRepo size: 4
2025-08-23T22:20:54.409Z,1755987654.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.683066 m,
bearing: 32.656970 deg,
lat: 36.779412 deg,
lon: -121.859586 deg,
deltaT: 0.504055 s,
deltaX: -0.496873 m,
approachRate: -0.985751 m/s,
posRepo size: 4
2025-08-23T22:20:54.480Z,1755987654.480 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.363070
2025-08-23T22:20:54.731Z,1755987654.731 [DAT](INFO): DAT read: Rx Time:22:20:54.0821
2025-08-23T22:20:54.731Z,1755987654.731 [DAT](INFO): Rx dataTimestamp_ set to:1755987654.730704
2025-08-23T22:20:54.732Z,1755987654.732 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.1
2025-08-23T22:20:54.733Z,1755987654.733 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-08-23T22:20:54.734Z,1755987654.734 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.617315
2025-08-23T22:20:54.806Z,1755987654.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:54.808Z,1755987654.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 0.503339 s,
deltaX: -0.300000 m,
approachRate: -0.596020 m/s,
rangeRepo size: 4
2025-08-23T22:20:54.983Z,1755987654.983 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.866134
2025-08-23T22:20:55.235Z,1755987655.235 [DAT](INFO): DAT read: Rx Time:22:20:54.5822
2025-08-23T22:20:55.235Z,1755987655.235 [DAT](INFO): Rx dataTimestamp_ set to:1755987655.234943
2025-08-23T22:20:55.236Z,1755987655.236 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.2
2025-08-23T22:20:55.237Z,1755987655.237 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-08-23T22:20:55.243Z,1755987655.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.600000 m,
deltaT: 0.504239 s,
deltaX: 0.200000 m,
approachRate: 0.396637 m/s,
rangeRepo size: 4
2025-08-23T22:20:55.245Z,1755987655.245 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.128099
2025-08-23T22:20:55.487Z,1755987655.487 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.370137
2025-08-23T22:20:55.588Z,1755987655.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m.
2025-08-23T22:20:55.740Z,1755987655.740 [DAT](INFO): DAT read: Rx Time:22:20:55.0822
2025-08-23T22:20:55.740Z,1755987655.740 [DAT](INFO): Rx dataTimestamp_ set to:1755987655.739724
2025-08-23T22:20:55.741Z,1755987655.741 [DAT](INFO): DAT read: Bearing 53.1, -46.1 (Local)
2025-08-23T22:20:55.742Z,1755987655.742 [DAT](INFO): Local bearing/azimuth received:
Bearing 53.1, -46.1 (Local)
2025-08-23T22:20:55.744Z,1755987655.744 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.2
2025-08-23T22:20:55.748Z,1755987655.748 [DAT](INFO): DAT read: 22:20:55.0822 LVL= 32752, 19393, 27026, 32755, AGC= 47, IDX= 503,-0.16, 1.646, 2.802,-2.521,-2.562, PHS=-1.973,-0.875,-0.003, RAW= 243.8, 30.5, CAL= 247.5, 40.1, ROT= 262.5, -40.1
2025-08-23T22:20:55.750Z,1755987655.750 [DAT](INFO): got valid direction response:
22:20:55.0822 LVL= 32752, 19393, 27026, 32755, AGC= 47, IDX= 503,-0.16, 1.646, 2.802,-2.521,-2.562, PHS=-1.973,-0.875,-0.003, RAW= 243.8, 30.5, CAL= 247.5, 40.1, ROT= 262.5, -40.1
2025-08-23T22:20:55.751Z,1755987655.751 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-23T22:20:55.752Z,1755987655.752 [DAT](INFO): direction in FSK: [-0.099842,-0.758377,0.644124]
2025-08-23T22:20:55.752Z,1755987655.752 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:55.756Z,1755987655.756 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.639332
2025-08-23T22:20:55.991Z,1755987655.991 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.874167
2025-08-23T22:20:56.054Z,1755987656.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.600000 m,
deltaT: 0.504781 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:56.056Z,1755987656.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.583684 m,
bearing: 51.036259 deg,
lat: 36.779412 deg,
lon: -121.859582 deg,
deltaT: 1.512359 s,
deltaX: -0.099382 m,
approachRate: -0.065713 m/s,
posRepo size: 4
2025-08-23T22:20:56.057Z,1755987656.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.60 m.
2025-08-23T22:20:56.243Z,1755987656.243 [DAT](INFO): DAT read: Rx Time:22:20:55.5825
2025-08-23T22:20:56.244Z,1755987656.244 [DAT](INFO): Rx dataTimestamp_ set to:1755987656.243387
2025-08-23T22:20:56.245Z,1755987656.245 [DAT](INFO): DAT read: Bearing 58.1, -53.9 (Local)
2025-08-23T22:20:56.245Z,1755987656.245 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.1, -53.9 (Local)
2025-08-23T22:20:56.248Z,1755987656.248 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.4
2025-08-23T22:20:56.259Z,1755987656.259 [DAT](INFO): DAT read: 22:20:55.5825 LVL= 32752, 30785, 32754, 32755, AGC= 49, IDX= 505,-0.02,-0.029, 1.122, 2.014, 1.797, PHS=-1.724,-0.630, 0.174, RAW= 245.1, 25.0, CAL= 248.6, 31.9, ROT= 261.4, -31.9
2025-08-23T22:20:56.260Z,1755987656.260 [DAT](INFO): got valid direction response:
22:20:55.5825 LVL= 32752, 30785, 32754, 32755, AGC= 49, IDX= 505,-0.02,-0.029, 1.122, 2.014, 1.797, PHS=-1.724,-0.630, 0.174, RAW= 245.1, 25.0, CAL= 248.6, 31.9, ROT= 261.4, -31.9
2025-08-23T22:20:56.261Z,1755987656.261 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-23T22:20:56.263Z,1755987656.263 [DAT](INFO): direction in FSK: [-0.126951,-0.839426,0.528438]
2025-08-23T22:20:56.263Z,1755987656.263 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:56.280Z,1755987656.280 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.163257
2025-08-23T22:20:56.432Z,1755987656.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.503663 s,
deltaX: 0.400000 m,
approachRate: 0.794182 m/s,
rangeRepo size: 4
2025-08-23T22:20:56.438Z,1755987656.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.981174 m,
bearing: 49.535155 deg,
lat: 36.779412 deg,
lon: -121.859580 deg,
deltaT: 0.503663 s,
deltaX: 0.397490 m,
approachRate: 0.789198 m/s,
posRepo size: 4
2025-08-23T22:20:56.439Z,1755987656.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m.
2025-08-23T22:20:56.496Z,1755987656.496 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.379290
2025-08-23T22:20:56.747Z,1755987656.747 [DAT](INFO): DAT read: Rx Time:22:20:56.0824
2025-08-23T22:20:56.748Z,1755987656.748 [DAT](INFO): Rx dataTimestamp_ set to:1755987656.747225
2025-08-23T22:20:56.749Z,1755987656.749 [DAT](INFO): DAT read: Bearing 90.5, -48.4 (Local)
2025-08-23T22:20:56.749Z,1755987656.749 [DAT](INFO): Local bearing/azimuth received:
Bearing 90.5, -48.4 (Local)
2025-08-23T22:20:56.751Z,1755987656.751 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed -0.3
2025-08-23T22:20:56.756Z,1755987656.756 [DAT](INFO): DAT read: 22:20:56.0824 LVL= 27424, 17137, 18226, 28115, AGC= 45, IDX= 505,-0.21, 0.424, 2.163, 2.259, 2.152, PHS=-1.626, 0.056, 0.062, RAW= 269.8, 17.5, CAL= 270.6, 24.5, ROT= 239.4, -24.5
2025-08-23T22:20:56.757Z,1755987656.757 [DAT](INFO): got valid direction response:
22:20:56.0824 LVL= 27424, 17137, 18226, 28115, AGC= 45, IDX= 505,-0.21, 0.424, 2.163, 2.259, 2.152, PHS=-1.626, 0.056, 0.062, RAW= 269.8, 17.5, CAL= 270.6, 24.5, ROT= 239.4, -24.5
2025-08-23T22:20:56.757Z,1755987656.757 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-23T22:20:56.758Z,1755987656.758 [DAT](INFO): direction in FSK: [-0.463208,-0.783242,0.414693]
2025-08-23T22:20:56.759Z,1755987656.759 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:56.772Z,1755987656.772 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.655770
2025-08-23T22:20:56.916Z,1755987656.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.900000 m,
deltaT: 0.503838 s,
deltaX: -0.100000 m,
approachRate: -0.198476 m/s,
rangeRepo size: 4
2025-08-23T22:20:56.940Z,1755987656.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.881804 m,
bearing: 27.562315 deg,
lat: 36.779412 deg,
lon: -121.859571 deg,
deltaT: 0.503838 s,
deltaX: -0.099370 m,
approachRate: -0.197226 m/s,
posRepo size: 4
2025-08-23T22:20:56.946Z,1755987656.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.90 m.
2025-08-23T22:20:56.999Z,1755987656.999 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.882178
2025-08-23T22:20:57.251Z,1755987657.251 [DAT](INFO): DAT read: Rx Time:22:20:56.5826
2025-08-23T22:20:57.252Z,1755987657.252 [DAT](INFO): Rx dataTimestamp_ set to:1755987657.251558
2025-08-23T22:20:57.253Z,1755987657.253 [DAT](INFO): DAT read: Bearing 96.3, -48.6 (Local)
2025-08-23T22:20:57.253Z,1755987657.253 [DAT](INFO): Local bearing/azimuth received:
Bearing 96.3, -48.6 (Local)
2025-08-23T22:20:57.255Z,1755987657.255 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.3
2025-08-23T22:20:57.260Z,1755987657.260 [DAT](INFO): DAT read: 22:20:56.5826 LVL= 32752, 19697, 30962, 32755, AGC= 48, IDX= 507,-0.29, 3.044,-1.075,-1.099,-1.268, PHS=-1.869, 0.238, 0.125, RAW= 272.7, 14.5, CAL= 272.7, 21.2, ROT= 237.3, -21.2
2025-08-23T22:20:57.261Z,1755987657.261 [DAT](INFO): got valid direction response:
22:20:56.5826 LVL= 32752, 19697, 30962, 32755, AGC= 48, IDX= 507,-0.29, 3.044,-1.075,-1.099,-1.268, PHS=-1.869, 0.238, 0.125, RAW= 272.7, 14.5, CAL= 272.7, 21.2, ROT= 237.3, -21.2
2025-08-23T22:20:57.262Z,1755987657.262 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-23T22:20:57.263Z,1755987657.263 [DAT](INFO): direction in FSK: [-0.503679,-0.784561,0.361625]
2025-08-23T22:20:57.263Z,1755987657.263 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:57.278Z,1755987657.278 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.161161
2025-08-23T22:20:57.400Z,1755987657.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.504333 s,
deltaX: 0.300000 m,
approachRate: 0.594845 m/s,
rangeRepo size: 4
2025-08-23T22:20:57.407Z,1755987657.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.179922 m,
bearing: 25.297886 deg,
lat: 36.779412 deg,
lon: -121.859569 deg,
deltaT: 0.504333 s,
deltaX: 0.298118 m,
approachRate: 0.591113 m/s,
posRepo size: 4
2025-08-23T22:20:57.503Z,1755987657.503 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.386988
2025-08-23T22:20:57.700Z,1755987657.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:20:57.756Z,1755987657.756 [DAT](INFO): DAT read: Rx Time:22:20:57.0826
2025-08-23T22:20:57.757Z,1755987657.757 [DAT](INFO): Rx dataTimestamp_ set to:1755987657.756432
2025-08-23T22:20:57.759Z,1755987657.759 [DAT](INFO): DAT read: Bearing 107.9, -63.6 (Local)
2025-08-23T22:20:57.759Z,1755987657.759 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.9, -63.6 (Local)
2025-08-23T22:20:57.761Z,1755987657.761 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.3
2025-08-23T22:20:57.780Z,1755987657.780 [DAT](INFO): DAT read: 22:20:57.0826 LVL= 32752, 19937, 16818, 32755, AGC= 47, IDX= 507, 0.19,-1.327, 0.357, 0.684, 0.203, PHS=-1.428, 0.199, 0.437, RAW= 263.3, 9.1, CAL= 262.2, 8.7, ROT= 247.8, -8.7
2025-08-23T22:20:57.786Z,1755987657.786 [DAT](INFO): got valid direction response:
22:20:57.0826 LVL= 32752, 19937, 16818, 32755, AGC= 47, IDX= 507, 0.19,-1.327, 0.357, 0.684, 0.203, PHS=-1.428, 0.199, 0.437, RAW= 263.3, 9.1, CAL= 262.2, 8.7, ROT= 247.8, -8.7
2025-08-23T22:20:57.786Z,1755987657.786 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-23T22:20:57.787Z,1755987657.787 [DAT](INFO): direction in FSK: [-0.373493,-0.915217,0.151261]
2025-08-23T22:20:57.788Z,1755987657.788 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:57.795Z,1755987657.795 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.678900
2025-08-23T22:20:58.007Z,1755987658.007 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.890144
2025-08-23T22:20:58.177Z,1755987658.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.504874 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:58.184Z,1755987658.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.179934 m,
bearing: 35.042967 deg,
lat: 36.779409 deg,
lon: -121.859568 deg,
deltaT: 0.504874 s,
deltaX: 0.000012 m,
approachRate: 0.000024 m/s,
posRepo size: 4
2025-08-23T22:20:58.261Z,1755987658.261 [DAT](INFO): DAT read: Rx Time:22:20:57.5828
2025-08-23T22:20:58.261Z,1755987658.261 [DAT](INFO): Rx dataTimestamp_ set to:1755987658.260893
2025-08-23T22:20:58.263Z,1755987658.263 [DAT](INFO): DAT read: Bearing 90.4, -39.3 (Local)
2025-08-23T22:20:58.264Z,1755987658.264 [DAT](INFO): Local bearing/azimuth received:
Bearing 90.4, -39.3 (Local)
2025-08-23T22:20:58.272Z,1755987658.272 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.3
2025-08-23T22:20:58.298Z,1755987658.298 [DAT](INFO): DAT read: 22:20:57.5828 LVL= 32752, 26001, 32754, 32755, AGC= 48, IDX= 509, 0.19, 3.043,-1.338,-1.535,-1.336, PHS=-1.802, 0.043,-0.244, RAW= 278.3, 22.4, CAL= 279.2, 30.0, ROT= 230.8, -30.0
2025-08-23T22:20:58.299Z,1755987658.299 [DAT](INFO): got valid direction response:
22:20:57.5828 LVL= 32752, 26001, 32754, 32755, AGC= 48, IDX= 509, 0.19, 3.043,-1.338,-1.535,-1.336, PHS=-1.802, 0.043,-0.244, RAW= 278.3, 22.4, CAL= 279.2, 30.0, ROT= 230.8, -30.0
2025-08-23T22:20:58.300Z,1755987658.300 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-23T22:20:58.301Z,1755987658.301 [DAT](INFO): direction in FSK: [-0.547353,-0.671122,0.500000]
2025-08-23T22:20:58.301Z,1755987658.301 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:58.309Z,1755987658.309 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.192272
2025-08-23T22:20:58.507Z,1755987658.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 0.504461 s,
deltaX: 0.300000 m,
approachRate: 0.594694 m/s,
rangeRepo size: 4
2025-08-23T22:20:58.509Z,1755987658.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.478052 m,
bearing: 19.491516 deg,
lat: 36.779411 deg,
lon: -121.859568 deg,
deltaT: 0.504461 s,
deltaX: 0.298119 m,
approachRate: 0.590965 m/s,
posRepo size: 4
2025-08-23T22:20:58.511Z,1755987658.511 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.394228
2025-08-23T22:20:58.764Z,1755987658.764 [DAT](INFO): DAT read: Rx Time:22:20:58.0828
2025-08-23T22:20:58.765Z,1755987658.765 [DAT](INFO): Rx dataTimestamp_ set to:1755987658.764261
2025-08-23T22:20:58.767Z,1755987658.767 [DAT](INFO): DAT read: Bearing 99.6, -29.6 (Local)
2025-08-23T22:20:58.767Z,1755987658.767 [DAT](INFO): Local bearing/azimuth received:
Bearing 99.6, -29.6 (Local)
2025-08-23T22:20:58.774Z,1755987658.774 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4
2025-08-23T22:20:58.779Z,1755987658.779 [DAT](INFO): DAT read: 22:20:58.0828 LVL= 32752, 20401, 17170, 32755, AGC= 46, IDX= 510,-0.39, 0.328, 2.056, 1.478, 1.842, PHS=-1.412, 0.258,-0.408, RAW= 293.3, 20.8, CAL= 292.9, 27.4, ROT= 217.1, -27.4
2025-08-23T22:20:58.780Z,1755987658.780 [DAT](INFO): got valid direction response:
22:20:58.0828 LVL= 32752, 20401, 17170, 32755, AGC= 46, IDX= 510,-0.39, 0.328, 2.056, 1.478, 1.842, PHS=-1.412, 0.258,-0.408, RAW= 293.3, 20.8, CAL= 292.9, 27.4, ROT= 217.1, -27.4
2025-08-23T22:20:58.780Z,1755987658.780 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-23T22:20:58.786Z,1755987658.786 [DAT](INFO): direction in FSK: [-0.708107,-0.535537,0.460200]
2025-08-23T22:20:58.786Z,1755987658.786 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:58.790Z,1755987658.790 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.673592
2025-08-23T22:20:58.950Z,1755987658.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 0.503368 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:58.966Z,1755987658.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.478057 m,
bearing: 5.697797 deg,
lat: 36.779411 deg,
lon: -121.859568 deg,
deltaT: 0.503368 s,
deltaX: 0.000005 m,
approachRate: 0.000010 m/s,
posRepo size: 4
2025-08-23T22:20:59.015Z,1755987659.015 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.898296
2025-08-23T22:20:59.268Z,1755987659.268 [DAT](INFO): DAT read: Rx Time:22:20:58.5830
2025-08-23T22:20:59.268Z,1755987659.268 [DAT](INFO): Rx dataTimestamp_ set to:1755987659.268127
2025-08-23T22:20:59.270Z,1755987659.270 [DAT](INFO): DAT read: Bearing 113.0, -70.5 (Local)
2025-08-23T22:20:59.270Z,1755987659.270 [DAT](INFO): Local bearing/azimuth received:
Bearing 113.0, -70.5 (Local)
2025-08-23T22:20:59.272Z,1755987659.272 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.4
2025-08-23T22:20:59.276Z,1755987659.276 [DAT](INFO): DAT read: 22:20:58.5830 LVL= 32704, 17377, 14962, 27443, AGC= 44, IDX= 511,-0.07, 0.930, 2.858,-2.868, 2.655, PHS=-1.623, 0.248, 0.716, RAW= 259.1, 6.2, CAL= 256.6, 4.5, ROT= 253.4, -4.5
2025-08-23T22:20:59.278Z,1755987659.278 [DAT](INFO): got valid direction response:
22:20:58.5830 LVL= 32704, 17377, 14962, 27443, AGC= 44, IDX= 511,-0.07, 0.930, 2.858,-2.868, 2.655, PHS=-1.623, 0.248, 0.716, RAW= 259.1, 6.2, CAL= 256.6, 4.5, ROT= 253.4, -4.5
2025-08-23T22:20:59.279Z,1755987659.279 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-23T22:20:59.280Z,1755987659.280 [DAT](INFO): direction in FSK: [-0.284808,-0.955368,0.078459]
2025-08-23T22:20:59.280Z,1755987659.280 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:59.283Z,1755987659.283 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.166897
2025-08-23T22:20:59.465Z,1755987659.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.800000 m,
deltaT: 0.503866 s,
deltaX: 0.300000 m,
approachRate: 0.595396 m/s,
rangeRepo size: 4
2025-08-23T22:20:59.471Z,1755987659.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.776177 m,
bearing: 40.470662 deg,
lat: 36.779411 deg,
lon: -121.859568 deg,
deltaT: 0.503866 s,
deltaX: 0.298119 m,
approachRate: 0.591664 m/s,
posRepo size: 4
2025-08-23T22:20:59.519Z,1755987659.519 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.402290
2025-08-23T22:20:59.771Z,1755987659.771 [DAT](INFO): DAT read: Rx Time:22:20:59.0830
2025-08-23T22:20:59.771Z,1755987659.771 [DAT](INFO): Rx dataTimestamp_ set to:1755987659.771148
2025-08-23T22:20:59.773Z,1755987659.773 [DAT](INFO): DAT read: Bearing 98.0, -44.6 (Local)
2025-08-23T22:20:59.773Z,1755987659.773 [DAT](INFO): Local bearing/azimuth received:
Bearing 98.0, -44.6 (Local)
2025-08-23T22:20:59.775Z,1755987659.775 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.4
2025-08-23T22:20:59.779Z,1755987659.779 [DAT](INFO): DAT read: 22:20:59.0830 LVL= 32752, 24737, 27634, 32755, AGC= 45, IDX= 511, 0.06,-2.972,-0.817,-1.034,-1.065, PHS=-1.805, 0.292,-0.014, RAW= 277.8, 15.4, CAL= 277.2, 22.5, ROT= 232.8, -22.5
2025-08-23T22:20:59.780Z,1755987659.780 [DAT](INFO): got valid direction response:
22:20:59.0830 LVL= 32752, 24737, 27634, 32755, AGC= 45, IDX= 511, 0.06,-2.972,-0.817,-1.034,-1.065, PHS=-1.805, 0.292,-0.014, RAW= 277.8, 15.4, CAL= 277.2, 22.5, ROT= 232.8, -22.5
2025-08-23T22:20:59.781Z,1755987659.781 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-23T22:20:59.782Z,1755987659.782 [DAT](INFO): direction in FSK: [-0.558577,-0.735898,0.382683]
2025-08-23T22:20:59.782Z,1755987659.782 [DAT](INFO): publishing direction and range info
2025-08-23T22:20:59.786Z,1755987659.786 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.669321
2025-08-23T22:20:59.873Z,1755987659.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.800000 m,
deltaT: 0.503021 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:20:59.899Z,1755987659.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.776177 m,
bearing: 21.000280 deg,
lat: 36.779410 deg,
lon: -121.859562 deg,
deltaT: 0.503021 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:21:00.026Z,1755987660.026 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.908737
2025-08-23T22:21:00.275Z,1755987660.275 [DAT](INFO): DAT read: Rx Time:22:20:59.5833
2025-08-23T22:21:00.276Z,1755987660.276 [DAT](INFO): Rx dataTimestamp_ set to:1755987660.275419
2025-08-23T22:21:00.277Z,1755987660.277 [DAT](INFO): DAT read: Bearing 104.1, -32.7 (Local)
2025-08-23T22:21:00.278Z,1755987660.278 [DAT](INFO): Local bearing/azimuth received:
Bearing 104.1, -32.7 (Local)
2025-08-23T22:21:00.280Z,1755987660.280 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed -0.4
2025-08-23T22:21:00.284Z,1755987660.284 [DAT](INFO): DAT read: 22:20:59.5833 LVL= 22800, 12369, 18322, 25635, AGC= 48, IDX= 1, 0.49,-0.778, 1.303, 0.592, 0.880, PHS=-1.557, 0.467,-0.332, RAW= 293.1, 15.9, CAL= 291.1, 22.8, ROT= 218.9, -22.8
2025-08-23T22:21:00.286Z,1755987660.286 [DAT](INFO): got valid direction response:
22:20:59.5833 LVL= 22800, 12369, 18322, 25635, AGC= 48, IDX= 1, 0.49,-0.778, 1.303, 0.592, 0.880, PHS=-1.557, 0.467,-0.332, RAW= 293.1, 15.9, CAL= 291.1, 22.8, ROT= 218.9, -22.8
2025-08-23T22:21:00.286Z,1755987660.286 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-23T22:21:00.287Z,1755987660.287 [DAT](INFO): direction in FSK: [-0.717434,-0.578896,0.387516]
2025-08-23T22:21:00.287Z,1755987660.287 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:00.291Z,1755987660.291 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.174450
2025-08-23T22:21:00.331Z,1755987660.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.504271 s,
deltaX: 0.400000 m,
approachRate: 0.793224 m/s,
rangeRepo size: 4
2025-08-23T22:21:00.339Z,1755987660.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.173666 m,
bearing: 7.193019 deg,
lat: 36.779411 deg,
lon: -121.859568 deg,
deltaT: 0.504271 s,
deltaX: 0.397489 m,
approachRate: 0.788245 m/s,
posRepo size: 4
2025-08-23T22:21:00.527Z,1755987660.527 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.410172
2025-08-23T22:21:00.699Z,1755987660.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:21:00.780Z,1755987660.780 [DAT](INFO): DAT read: Rx Time:22:21:00.0833
2025-08-23T22:21:00.781Z,1755987660.781 [DAT](INFO): Rx dataTimestamp_ set to:1755987660.780265
2025-08-23T22:21:00.783Z,1755987660.783 [DAT](INFO): DAT read: Bearing 107.5, -25.6 (Local)
2025-08-23T22:21:00.783Z,1755987660.783 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.5, -25.6 (Local)
2025-08-23T22:21:00.786Z,1755987660.786 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed -0.4
2025-08-23T22:21:00.791Z,1755987660.791 [DAT](INFO): DAT read: 22:21:00.0833 LVL= 31136, 24049, 21186, 32755, AGC= 46, IDX= 498,-0.01,-2.670,-0.652,-1.586,-1.150, PHS=-1.418, 0.543,-0.481, RAW= 301.5, 15.8, CAL= 299.4, 22.0, ROT= 210.6, -22.0
2025-08-23T22:21:00.792Z,1755987660.792 [DAT](INFO): got valid direction response:
22:21:00.0833 LVL= 31136, 24049, 21186, 32755, AGC= 46, IDX= 498,-0.01,-2.670,-0.652,-1.586,-1.150, PHS=-1.418, 0.543,-0.481, RAW= 301.5, 15.8, CAL= 299.4, 22.0, ROT= 210.6, -22.0
2025-08-23T22:21:00.792Z,1755987660.792 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-23T22:21:00.794Z,1755987660.794 [DAT](INFO): direction in FSK: [-0.798066,-0.471975,0.374607]
2025-08-23T22:21:00.794Z,1755987660.794 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:00.798Z,1755987660.798 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.681564
2025-08-23T22:21:01.031Z,1755987661.031 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.914083
2025-08-23T22:21:01.202Z,1755987661.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.504846 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:01.205Z,1755987661.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.173652 m,
bearing: 358.862813 deg,
lat: 36.779410 deg,
lon: -121.859569 deg,
deltaT: 0.504846 s,
deltaX: -0.000014 m,
approachRate: -0.000027 m/s,
posRepo size: 4
2025-08-23T22:21:01.283Z,1755987661.283 [DAT](INFO): DAT read: Rx Time:22:21:00.5835
2025-08-23T22:21:01.284Z,1755987661.284 [DAT](INFO): Rx dataTimestamp_ set to:1755987661.283596
2025-08-23T22:21:01.285Z,1755987661.285 [DAT](INFO): DAT read: Bearing 112.9, -22.9 (Local)
2025-08-23T22:21:01.286Z,1755987661.286 [DAT](INFO): Local bearing/azimuth received:
Bearing 112.9, -22.9 (Local)
2025-08-23T22:21:01.288Z,1755987661.288 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed -0.4
2025-08-23T22:21:01.292Z,1755987661.292 [DAT](INFO): DAT read: 22:21:00.5835 LVL= 30768, 21825, 16050, 27619, AGC= 47, IDX= 501,-0.23, 1.491,-2.731, 2.471, 2.916, PHS=-1.324, 0.680,-0.489, RAW= 305.5, 12.9, CAL= 303.3, 17.8, ROT= 206.7, -17.8
2025-08-23T22:21:01.294Z,1755987661.294 [DAT](INFO): got valid direction response:
22:21:00.5835 LVL= 30768, 21825, 16050, 27619, AGC= 47, IDX= 501,-0.23, 1.491,-2.731, 2.471, 2.916, PHS=-1.324, 0.680,-0.489, RAW= 305.5, 12.9, CAL= 303.3, 17.8, ROT= 206.7, -17.8
2025-08-23T22:21:01.294Z,1755987661.294 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-23T22:21:01.295Z,1755987661.295 [DAT](INFO): direction in FSK: [-0.850605,-0.427810,0.305695]
2025-08-23T22:21:01.295Z,1755987661.295 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:01.299Z,1755987661.299 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.182938
2025-08-23T22:21:01.535Z,1755987661.535 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.418171
2025-08-23T22:21:01.575Z,1755987661.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.700000 m,
deltaT: 0.503331 s,
deltaX: 0.500000 m,
approachRate: 0.993382 m/s,
rangeRepo size: 4
2025-08-23T22:21:01.578Z,1755987661.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.670516 m,
bearing: 354.682114 deg,
lat: 36.779410 deg,
lon: -121.859569 deg,
deltaT: 0.503331 s,
deltaX: 0.496864 m,
approachRate: 0.987151 m/s,
posRepo size: 4
2025-08-23T22:21:01.787Z,1755987661.787 [DAT](INFO): DAT read: Rx Time:22:21:01.0836
2025-08-23T22:21:01.788Z,1755987661.788 [DAT](INFO): Rx dataTimestamp_ set to:1755987661.787244
2025-08-23T22:21:01.789Z,1755987661.789 [DAT](INFO): DAT read: Bearing 116.2, -18.5 (Local)
2025-08-23T22:21:01.789Z,1755987661.789 [DAT](INFO): Local bearing/azimuth received:
Bearing 116.2, -18.5 (Local)
2025-08-23T22:21:01.791Z,1755987661.791 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4
2025-08-23T22:21:01.796Z,1755987661.796 [DAT](INFO): DAT read: 22:21:01.0836 LVL= 25840, 16785, 12786, 28147, AGC= 48, IDX= 501, 0.19, 2.312,-1.880,-3.122,-2.597, PHS=-1.272, 0.762,-0.568, RAW= 310.1, 12.0, CAL= 308.3, 15.5, ROT= 201.7, -15.5
2025-08-23T22:21:01.797Z,1755987661.797 [DAT](INFO): got valid direction response:
22:21:01.0836 LVL= 25840, 16785, 12786, 28147, AGC= 48, IDX= 501, 0.19, 2.312,-1.880,-3.122,-2.597, PHS=-1.272, 0.762,-0.568, RAW= 310.1, 12.0, CAL= 308.3, 15.5, ROT= 201.7, -15.5
2025-08-23T22:21:01.797Z,1755987661.797 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-23T22:21:01.799Z,1755987661.799 [DAT](INFO): direction in FSK: [-0.895340,-0.356299,0.267238]
2025-08-23T22:21:01.799Z,1755987661.799 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:01.807Z,1755987661.807 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.690804
2025-08-23T22:21:02.042Z,1755987662.042 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.924854
2025-08-23T22:21:02.046Z,1755987662.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 0.503648 s,
deltaX: 0.100000 m,
approachRate: 0.198552 m/s,
rangeRepo size: 4
2025-08-23T22:21:02.055Z,1755987662.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.769866 m,
bearing: 349.492635 deg,
lat: 36.779412 deg,
lon: -121.859573 deg,
deltaT: 0.503648 s,
deltaX: 0.099350 m,
approachRate: 0.197262 m/s,
posRepo size: 4
2025-08-23T22:21:02.292Z,1755987662.292 [DAT](INFO): DAT read: Rx Time:22:21:01.5838
2025-08-23T22:21:02.292Z,1755987662.292 [DAT](INFO): Rx dataTimestamp_ set to:1755987662.291936
2025-08-23T22:21:02.294Z,1755987662.294 [DAT](INFO): DAT read: Bearing 123.1, -26.3 (Local)
2025-08-23T22:21:02.294Z,1755987662.294 [DAT](INFO): Local bearing/azimuth received:
Bearing 123.1, -26.3 (Local)
2025-08-23T22:21:02.296Z,1755987662.296 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed -0.4
2025-08-23T22:21:02.300Z,1755987662.300 [DAT](INFO): DAT read: 22:21:01.5838 LVL= 24160, 13937, 10530, 20307, AGC= 46, IDX= 504, 0.09, 0.353, 2.573, 1.461, 1.742, PHS=-1.287, 0.876,-0.325, RAW= 303.7, 7.9, CAL= 301.2, 8.3, ROT= 208.8, -8.3
2025-08-23T22:21:02.302Z,1755987662.302 [DAT](INFO): got valid direction response:
22:21:01.5838 LVL= 24160, 13937, 10530, 20307, AGC= 46, IDX= 504, 0.09, 0.353, 2.573, 1.461, 1.742, PHS=-1.287, 0.876,-0.325, RAW= 303.7, 7.9, CAL= 301.2, 8.3, ROT= 208.8, -8.3
2025-08-23T22:21:02.302Z,1755987662.302 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-23T22:21:02.303Z,1755987662.303 [DAT](INFO): direction in FSK: [-0.867128,-0.476708,0.144356]
2025-08-23T22:21:02.303Z,1755987662.303 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:02.311Z,1755987662.311 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.194626
2025-08-23T22:21:02.484Z,1755987662.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.100000 m,
deltaT: 0.504692 s,
deltaX: 0.300000 m,
approachRate: 0.594421 m/s,
rangeRepo size: 4
2025-08-23T22:21:02.495Z,1755987662.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.067983 m,
bearing: 356.152100 deg,
lat: 36.779413 deg,
lon: -121.859573 deg,
deltaT: 0.504692 s,
deltaX: 0.298117 m,
approachRate: 0.590690 m/s,
posRepo size: 4
2025-08-23T22:21:02.543Z,1755987662.543 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.426195
2025-08-23T22:21:02.795Z,1755987662.795 [DAT](INFO): DAT read: Rx Time:22:21:02.0839
2025-08-23T22:21:02.795Z,1755987662.795 [DAT](INFO): Rx dataTimestamp_ set to:1755987662.795181
2025-08-23T22:21:02.797Z,1755987662.797 [DAT](INFO): DAT read: Bearing 131.1, -28.4 (Local)
2025-08-23T22:21:02.797Z,1755987662.797 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.1, -28.4 (Local)
2025-08-23T22:21:02.799Z,1755987662.799 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4
2025-08-23T22:21:02.804Z,1755987662.804 [DAT](INFO): DAT read: 22:21:02.0839 LVL= 23840, 13873, 10802, 20179, AGC= 48, IDX= 505,-0.29,-1.940, 0.463,-0.696,-0.544, PHS=-1.294, 1.053,-0.196, RAW= 302.1, 4.3, CAL= 299.7, 1.1, ROT= 210.3, -1.1
2025-08-23T22:21:02.805Z,1755987662.805 [DAT](INFO): got valid direction response:
22:21:02.0839 LVL= 23840, 13873, 10802, 20179, AGC= 48, IDX= 505,-0.29,-1.940, 0.463,-0.696,-0.544, PHS=-1.294, 1.053,-0.196, RAW= 302.1, 4.3, CAL= 299.7, 1.1, ROT= 210.3, -1.1
2025-08-23T22:21:02.805Z,1755987662.805 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-23T22:21:02.806Z,1755987662.806 [DAT](INFO): direction in FSK: [-0.863236,-0.504435,0.019197]
2025-08-23T22:21:02.806Z,1755987662.806 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:02.810Z,1755987662.810 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.693333
2025-08-23T22:21:02.940Z,1755987662.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.300000 m,
deltaT: 0.503245 s,
deltaX: 0.200000 m,
approachRate: 0.397421 m/s,
rangeRepo size: 4
2025-08-23T22:21:02.946Z,1755987662.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.266735 m,
bearing: 357.246399 deg,
lat: 36.779413 deg,
lon: -121.859573 deg,
deltaT: 0.503245 s,
deltaX: 0.198751 m,
approachRate: 0.394940 m/s,
posRepo size: 4
2025-08-23T22:21:03.050Z,1755987663.050 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.932995
2025-08-23T22:21:03.299Z,1755987663.299 [DAT](INFO): DAT read: Rx Time:22:21:02.5841
2025-08-23T22:21:03.300Z,1755987663.300 [DAT](INFO): Rx dataTimestamp_ set to:1755987663.299346
2025-08-23T22:21:03.301Z,1755987663.301 [DAT](INFO): DAT read: Bearing 134.8, -31.2 (Local)
2025-08-23T22:21:03.301Z,1755987663.301 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.8, -31.2 (Local)
2025-08-23T22:21:03.303Z,1755987663.303 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed -0.4
2025-08-23T22:21:03.308Z,1755987663.308 [DAT](INFO): DAT read: 22:21:02.5841 LVL= 24304, 11473, 12770, 18035, AGC= 49, IDX= 507,-0.23,-0.310, 2.272, 1.140, 1.140, PHS=-1.348, 1.177,-0.043, RAW= 298.9, 2.0, CAL= 297.1, -2.2, ROT= 212.9, 2.2
2025-08-23T22:21:03.309Z,1755987663.309 [DAT](INFO): got valid direction response:
22:21:02.5841 LVL= 24304, 11473, 12770, 18035, AGC= 49, IDX= 507,-0.23,-0.310, 2.272, 1.140, 1.140, PHS=-1.348, 1.177,-0.043, RAW= 298.9, 2.0, CAL= 297.1, -2.2, ROT= 212.9, 2.2
2025-08-23T22:21:03.310Z,1755987663.310 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-23T22:21:03.311Z,1755987663.311 [DAT](INFO): direction in FSK: [-0.839001,-0.542774,-0.038388]
2025-08-23T22:21:03.311Z,1755987663.311 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:03.317Z,1755987663.317 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.200268
2025-08-23T22:21:03.381Z,1755987663.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.600000 m,
deltaT: 0.504165 s,
deltaX: 0.300000 m,
approachRate: 0.595043 m/s,
rangeRepo size: 4
2025-08-23T22:21:03.399Z,1755987663.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.564851 m,
bearing: 359.668270 deg,
lat: 36.779415 deg,
lon: -121.859573 deg,
deltaT: 0.504165 s,
deltaX: 0.298117 m,
approachRate: 0.591308 m/s,
posRepo size: 4
2025-08-23T22:21:03.551Z,1755987663.551 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.434223
2025-08-23T22:21:03.664Z,1755987663.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:21:03.803Z,1755987663.803 [DAT](INFO): DAT read: Rx Time:22:21:03.0841
2025-08-23T22:21:03.803Z,1755987663.803 [DAT](INFO): Rx dataTimestamp_ set to:1755987663.803041
2025-08-23T22:21:03.804Z,1755987663.804 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed -0.4
2025-08-23T22:21:03.805Z,1755987663.805 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-08-23T22:21:03.806Z,1755987663.806 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.689655
2025-08-23T22:21:04.057Z,1755987664.057 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.940304
2025-08-23T22:21:04.155Z,1755987664.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.600000 m,
deltaT: 0.503695 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:04.307Z,1755987664.307 [DAT](INFO): DAT read: Rx Time:22:21:03.5844
2025-08-23T22:21:04.307Z,1755987664.307 [DAT](INFO): Rx dataTimestamp_ set to:1755987664.306748
2025-08-23T22:21:04.308Z,1755987664.308 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4
2025-08-23T22:21:04.309Z,1755987664.309 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-08-23T22:21:04.310Z,1755987664.310 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.193333
2025-08-23T22:21:04.474Z,1755987664.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.000000 m,
deltaT: 0.503707 s,
deltaX: 0.400000 m,
approachRate: 0.794113 m/s,
rangeRepo size: 4
2025-08-23T22:21:04.560Z,1755987664.560 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.443686
2025-08-23T22:21:04.813Z,1755987664.813 [DAT](INFO): DAT read: Rx Time:22:21:04.0845
2025-08-23T22:21:04.814Z,1755987664.814 [DAT](INFO): Rx dataTimestamp_ set to:1755987664.813436
2025-08-23T22:21:04.817Z,1755987664.817 [DAT](INFO): DAT read: Bearing 122.1, -32.9 (Local)
2025-08-23T22:21:04.817Z,1755987664.817 [DAT](INFO): Local bearing/azimuth received:
Bearing 122.1, -32.9 (Local)
2025-08-23T22:21:04.823Z,1755987664.823 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4
2025-08-23T22:21:04.830Z,1755987664.830 [DAT](INFO): DAT read: 22:21:04.0845 LVL= 26352, 15985, 18530, 21875, AGC= 54, IDX= 510, 0.08, 0.068, 2.641, 1.586, 1.756, PHS=-1.586, 0.930,-0.214, RAW= 297.0, 8.0, CAL= 294.6, 8.3, ROT= 215.4, -8.3
2025-08-23T22:21:04.832Z,1755987664.832 [DAT](INFO): got valid direction response:
22:21:04.0845 LVL= 26352, 15985, 18530, 21875, AGC= 54, IDX= 510, 0.08, 0.068, 2.641, 1.586, 1.756, PHS=-1.586, 0.930,-0.214, RAW= 297.0, 8.0, CAL= 294.6, 8.3, ROT= 215.4, -8.3
2025-08-23T22:21:04.833Z,1755987664.833 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-23T22:21:04.834Z,1755987664.834 [DAT](INFO): direction in FSK: [-0.806590,-0.573213,0.144356]
2025-08-23T22:21:04.835Z,1755987664.835 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:04.841Z,1755987664.841 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.724350
2025-08-23T22:21:04.944Z,1755987664.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.506688 s,
deltaX: 0.200000 m,
approachRate: 0.394720 m/s,
rangeRepo size: 4
2025-08-23T22:21:04.950Z,1755987664.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.161071 m,
bearing: 2.742535 deg,
lat: 36.779416 deg,
lon: -121.859571 deg,
deltaT: 1.514090 s,
deltaX: 0.596220 m,
approachRate: 0.393781 m/s,
posRepo size: 4
2025-08-23T22:21:05.066Z,1755987665.066 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.948929
2025-08-23T22:21:05.318Z,1755987665.318 [DAT](INFO): DAT read: Rx Time:22:21:04.5847
2025-08-23T22:21:05.319Z,1755987665.319 [DAT](INFO): Rx dataTimestamp_ set to:1755987665.318312
2025-08-23T22:21:05.321Z,1755987665.321 [DAT](INFO): DAT read: Bearing 94.8, -26.5 (Local)
2025-08-23T22:21:05.322Z,1755987665.322 [DAT](INFO): Local bearing/azimuth received:
Bearing 94.8, -26.5 (Local)
2025-08-23T22:21:05.325Z,1755987665.325 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4
2025-08-23T22:21:05.347Z,1755987665.347 [DAT](INFO): DAT read: 22:21:04.5847 LVL= 25664, 14785, 18162, 20787, AGC= 53, IDX= 513,-0.03, 2.266,-2.678,-3.103,-2.710, PHS=-1.206, 0.077,-0.437, RAW= 293.5, 26.3, CAL= 294.6, 32.7, ROT= 215.4, -32.7
2025-08-23T22:21:05.348Z,1755987665.348 [DAT](INFO): got valid direction response:
22:21:04.5847 LVL= 25664, 14785, 18162, 20787, AGC= 53, IDX= 513,-0.03, 2.266,-2.678,-3.103,-2.710, PHS=-1.206, 0.077,-0.437, RAW= 293.5, 26.3, CAL= 294.6, 32.7, ROT= 215.4, -32.7
2025-08-23T22:21:05.348Z,1755987665.348 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-23T22:21:05.350Z,1755987665.350 [DAT](INFO): direction in FSK: [-0.685939,-0.487471,0.540240]
2025-08-23T22:21:05.350Z,1755987665.350 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:05.361Z,1755987665.361 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.236822
2025-08-23T22:21:05.567Z,1755987665.567 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.450474
2025-08-23T22:21:05.721Z,1755987665.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.300000 m,
deltaT: 0.504876 s,
deltaX: 0.100000 m,
approachRate: 0.198069 m/s,
rangeRepo size: 4
2025-08-23T22:21:05.727Z,1755987665.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.260444 m,
bearing: 4.347942 deg,
lat: 36.779416 deg,
lon: -121.859567 deg,
deltaT: 0.504876 s,
deltaX: 0.099372 m,
approachRate: 0.196825 m/s,
posRepo size: 4
2025-08-23T22:21:05.820Z,1755987665.820 [DAT](INFO): DAT read: Rx Time:22:21:05.0848
2025-08-23T22:21:05.821Z,1755987665.821 [DAT](INFO): Rx dataTimestamp_ set to:1755987665.820539
2025-08-23T22:21:05.823Z,1755987665.823 [DAT](INFO): DAT read: Bearing 124.7, -25.1 (Local)
2025-08-23T22:21:05.824Z,1755987665.824 [DAT](INFO): Local bearing/azimuth received:
Bearing 124.7, -25.1 (Local)
2025-08-23T22:21:05.827Z,1755987665.827 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed -0.4
2025-08-23T22:21:05.835Z,1755987665.835 [DAT](INFO): DAT read: 22:21:05.0848 LVL= 22160, 13809, 16578, 21411, AGC= 56, IDX= 2,-0.24, 1.894,-1.807, 3.112,-2.827, PHS=-1.460, 1.065,-0.388, RAW= 305.0, 7.2, CAL= 302.6, 6.9, ROT= 207.4, -6.9
2025-08-23T22:21:05.837Z,1755987665.837 [DAT](INFO): got valid direction response:
22:21:05.0848 LVL= 22160, 13809, 16578, 21411, AGC= 56, IDX= 2,-0.24, 1.894,-1.807, 3.112,-2.827, PHS=-1.460, 1.065,-0.388, RAW= 305.0, 7.2, CAL= 302.6, 6.9, ROT= 207.4, -6.9
2025-08-23T22:21:05.837Z,1755987665.837 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-23T22:21:05.841Z,1755987665.841 [DAT](INFO): direction in FSK: [-0.881385,-0.456867,0.120137]
2025-08-23T22:21:05.841Z,1755987665.841 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:05.844Z,1755987665.844 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.727964
2025-08-23T22:21:06.074Z,1755987666.074 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.956432
2025-08-23T22:21:06.250Z,1755987666.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.500000 m,
deltaT: 0.502227 s,
deltaX: 0.200000 m,
approachRate: 0.398226 m/s,
rangeRepo size: 4
2025-08-23T22:21:06.252Z,1755987666.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.459204 m,
bearing: 354.713311 deg,
lat: 36.779416 deg,
lon: -121.859566 deg,
deltaT: 0.502227 s,
deltaX: 0.198760 m,
approachRate: 0.395757 m/s,
posRepo size: 4
2025-08-23T22:21:06.325Z,1755987666.325 [DAT](INFO): DAT read: Rx Time:22:21:05.5851
2025-08-23T22:21:06.326Z,1755987666.326 [DAT](INFO): Rx dataTimestamp_ set to:1755987666.325747
2025-08-23T22:21:06.328Z,1755987666.328 [DAT](INFO): DAT read: Bearing 120.0, -25.9 (Local)
2025-08-23T22:21:06.329Z,1755987666.329 [DAT](INFO): Local bearing/azimuth received:
Bearing 120.0, -25.9 (Local)
2025-08-23T22:21:06.332Z,1755987666.332 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed -0.4
2025-08-23T22:21:06.340Z,1755987666.340 [DAT](INFO): DAT read: 22:21:05.5851 LVL= 26672, 16369, 18866, 22115, AGC= 54, IDX= 500, 0.35,-1.242, 1.330, 0.021, 0.407, PHS=-1.546, 0.969,-0.430, RAW= 303.7, 9.3, CAL= 301.3, 11.0, ROT= 208.7, -11.0
2025-08-23T22:21:06.358Z,1755987666.358 [DAT](INFO): got valid direction response:
22:21:05.5851 LVL= 26672, 16369, 18866, 22115, AGC= 54, IDX= 500, 0.35,-1.242, 1.330, 0.021, 0.407, PHS=-1.546, 0.969,-0.430, RAW= 303.7, 9.3, CAL= 301.3, 11.0, ROT= 208.7, -11.0
2025-08-23T22:21:06.359Z,1755987666.359 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-23T22:21:06.360Z,1755987666.360 [DAT](INFO): direction in FSK: [-0.861031,-0.471400,0.190809]
2025-08-23T22:21:06.361Z,1755987666.361 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:06.375Z,1755987666.375 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.258554
2025-08-23T22:21:06.575Z,1755987666.575 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.458139
2025-08-23T22:21:06.663Z,1755987666.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.900000 m,
deltaT: 0.505208 s,
deltaX: 0.400000 m,
approachRate: 0.791753 m/s,
rangeRepo size: 4
2025-08-23T22:21:06.669Z,1755987666.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.856693 m,
bearing: 356.245344 deg,
lat: 36.779415 deg,
lon: -121.859563 deg,
deltaT: 0.505208 s,
deltaX: 0.397490 m,
approachRate: 0.786784 m/s,
posRepo size: 4
2025-08-23T22:21:06.829Z,1755987666.829 [DAT](INFO): DAT read: Rx Time:22:21:06.0851
2025-08-23T22:21:06.830Z,1755987666.830 [DAT](INFO): Rx dataTimestamp_ set to:1755987666.828848
2025-08-23T22:21:06.832Z,1755987666.832 [DAT](INFO): DAT read: Bearing 116.2, -25.3 (Local)
2025-08-23T22:21:06.832Z,1755987666.832 [DAT](INFO): Local bearing/azimuth received:
Bearing 116.2, -25.3 (Local)
2025-08-23T22:21:06.839Z,1755987666.839 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed -0.4
2025-08-23T22:21:06.844Z,1755987666.844 [DAT](INFO): DAT read: 22:21:06.0851 LVL= 29376, 19377, 24754, 30675, AGC= 56, IDX= 501,-0.04,-2.551,-0.013,-1.308,-0.862, PHS=-1.587, 0.894,-0.490, RAW= 303.8, 11.0, CAL= 301.4, 14.4, ROT= 208.6, -14.4
2025-08-23T22:21:06.845Z,1755987666.845 [DAT](INFO): got valid direction response:
22:21:06.0851 LVL= 29376, 19377, 24754, 30675, AGC= 56, IDX= 501,-0.04,-2.551,-0.013,-1.308,-0.862, PHS=-1.587, 0.894,-0.490, RAW= 303.8, 11.0, CAL= 301.4, 14.4, ROT= 208.6, -14.4
2025-08-23T22:21:06.846Z,1755987666.846 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-23T22:21:06.847Z,1755987666.847 [DAT](INFO): direction in FSK: [-0.850400,-0.463653,0.248690]
2025-08-23T22:21:06.847Z,1755987666.847 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:06.872Z,1755987666.872 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.755518
2025-08-23T22:21:07.081Z,1755987667.081 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.964266
2025-08-23T22:21:07.136Z,1755987667.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.900000 m,
deltaT: 0.503101 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:07.153Z,1755987667.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.856703 m,
bearing: 356.355601 deg,
lat: 36.779414 deg,
lon: -121.859561 deg,
deltaT: 0.503101 s,
deltaX: 0.000010 m,
approachRate: 0.000020 m/s,
posRepo size: 4
2025-08-23T22:21:07.335Z,1755987667.335 [DAT](INFO): DAT read: Rx Time:22:21:06.5853
2025-08-23T22:21:07.336Z,1755987667.336 [DAT](INFO): Rx dataTimestamp_ set to:1755987667.335016
2025-08-23T22:21:07.338Z,1755987667.338 [DAT](INFO): DAT read: Bearing 117.5, -24.3 (Local)
2025-08-23T22:21:07.338Z,1755987667.338 [DAT](INFO): Local bearing/azimuth received:
Bearing 117.5, -24.3 (Local)
2025-08-23T22:21:07.340Z,1755987667.340 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed -0.4
2025-08-23T22:21:07.344Z,1755987667.344 [DAT](INFO): DAT read: 22:21:06.5853 LVL= 28944, 21569, 28066, 31699, AGC= 57, IDX= 503,-0.39,-1.920, 0.613,-0.719,-0.264, PHS=-1.554, 0.922,-0.500, RAW= 304.9, 10.5, CAL= 302.6, 13.4, ROT= 207.4, -13.4
2025-08-23T22:21:07.345Z,1755987667.345 [DAT](INFO): got valid direction response:
22:21:06.5853 LVL= 28944, 21569, 28066, 31699, AGC= 57, IDX= 503,-0.39,-1.920, 0.613,-0.719,-0.264, PHS=-1.554, 0.922,-0.500, RAW= 304.9, 10.5, CAL= 302.6, 13.4, ROT= 207.4, -13.4
2025-08-23T22:21:07.346Z,1755987667.346 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-23T22:21:07.347Z,1755987667.347 [DAT](INFO): direction in FSK: [-0.863645,-0.447671,0.231748]
2025-08-23T22:21:07.347Z,1755987667.347 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:07.351Z,1755987667.351 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.234564
2025-08-23T22:21:07.549Z,1755987667.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.506168 s,
deltaX: 0.300000 m,
approachRate: 0.592688 m/s,
rangeRepo size: 4
2025-08-23T22:21:07.566Z,1755987667.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.154820 m,
bearing: 355.107764 deg,
lat: 36.779414 deg,
lon: -121.859562 deg,
deltaT: 0.506168 s,
deltaX: 0.298117 m,
approachRate: 0.588969 m/s,
posRepo size: 4
2025-08-23T22:21:07.583Z,1755987667.583 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.467043
2025-08-23T22:21:07.836Z,1755987667.836 [DAT](INFO): DAT read: Rx Time:22:21:07.0854
2025-08-23T22:21:07.837Z,1755987667.837 [DAT](INFO): Rx dataTimestamp_ set to:1755987667.836568
2025-08-23T22:21:07.839Z,1755987667.839 [DAT](INFO): DAT read: Bearing 114.3, -22.9 (Local)
2025-08-23T22:21:07.839Z,1755987667.839 [DAT](INFO): Local bearing/azimuth received:
Bearing 114.3, -22.9 (Local)
2025-08-23T22:21:07.842Z,1755987667.842 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4
2025-08-23T22:21:07.851Z,1755987667.851 [DAT](INFO): DAT read: 22:21:07.0854 LVL= 32176, 22001, 31138, 32467, AGC= 57, IDX= 503, 0.01, 0.418, 2.833, 1.536, 2.049, PHS=-1.529, 0.829,-0.557, RAW= 305.8, 12.2, CAL= 303.6, 16.5, ROT= 206.4, -16.5
2025-08-23T22:21:07.852Z,1755987667.852 [DAT](INFO): got valid direction response:
22:21:07.0854 LVL= 32176, 22001, 31138, 32467, AGC= 57, IDX= 503, 0.01, 0.418, 2.833, 1.536, 2.049, PHS=-1.529, 0.829,-0.557, RAW= 305.8, 12.2, CAL= 303.6, 16.5, ROT= 206.4, -16.5
2025-08-23T22:21:07.852Z,1755987667.852 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-23T22:21:07.853Z,1755987667.853 [DAT](INFO): direction in FSK: [-0.858826,-0.426325,0.284015]
2025-08-23T22:21:07.864Z,1755987667.864 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:07.867Z,1755987667.867 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.751045
2025-08-23T22:21:07.974Z,1755987667.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.501552 s,
deltaX: 0.200000 m,
approachRate: 0.398763 m/s,
rangeRepo size: 4
2025-08-23T22:21:07.976Z,1755987667.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.353568 m,
bearing: 354.302426 deg,
lat: 36.779414 deg,
lon: -121.859562 deg,
deltaT: 0.501552 s,
deltaX: 0.198748 m,
approachRate: 0.396265 m/s,
posRepo size: 4
2025-08-23T22:21:08.091Z,1755987668.091 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.973930
2025-08-23T22:21:08.339Z,1755987668.339 [DAT](INFO): DAT read: Rx Time:22:21:07.5856
2025-08-23T22:21:08.339Z,1755987668.339 [DAT](INFO): Rx dataTimestamp_ set to:1755987668.339173
2025-08-23T22:21:08.341Z,1755987668.341 [DAT](INFO): DAT read: Bearing 117.1, -21.1 (Local)
2025-08-23T22:21:08.341Z,1755987668.341 [DAT](INFO): Local bearing/azimuth received:
Bearing 117.1, -21.1 (Local)
2025-08-23T22:21:08.343Z,1755987668.343 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4
2025-08-23T22:21:08.347Z,1755987668.347 [DAT](INFO): DAT read: 22:21:07.5856 LVL= 32752, 18929, 31346, 32755, AGC= 56, IDX= 506,-0.32, 1.587,-2.342, 2.606, 3.117, PHS=-1.428, 0.869,-0.555, RAW= 307.9, 11.1, CAL= 305.9, 14.1, ROT= 204.1, -14.1
2025-08-23T22:21:08.348Z,1755987668.348 [DAT](INFO): got valid direction response:
22:21:07.5856 LVL= 32752, 18929, 31346, 32755, AGC= 56, IDX= 506,-0.32, 1.587,-2.342, 2.606, 3.117, PHS=-1.428, 0.869,-0.555, RAW= 307.9, 11.1, CAL= 305.9, 14.1, ROT= 204.1, -14.1
2025-08-23T22:21:08.349Z,1755987668.349 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-23T22:21:08.350Z,1755987668.350 [DAT](INFO): direction in FSK: [-0.885332,-0.396028,0.243615]
2025-08-23T22:21:08.350Z,1755987668.350 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:08.354Z,1755987668.354 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.237297
2025-08-23T22:21:08.420Z,1755987668.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.700000 m,
deltaT: 0.502605 s,
deltaX: 0.300000 m,
approachRate: 0.596890 m/s,
rangeRepo size: 4
2025-08-23T22:21:08.430Z,1755987668.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.651686 m,
bearing: 351.879396 deg,
lat: 36.779414 deg,
lon: -121.859562 deg,
deltaT: 0.502605 s,
deltaX: 0.298118 m,
approachRate: 0.593145 m/s,
posRepo size: 4
2025-08-23T22:21:08.591Z,1755987668.591 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.474220
2025-08-23T22:21:08.752Z,1755987668.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:21:08.844Z,1755987668.844 [DAT](INFO): DAT read: Rx Time:22:21:08.0857
2025-08-23T22:21:08.845Z,1755987668.845 [DAT](INFO): Rx dataTimestamp_ set to:1755987668.844291
2025-08-23T22:21:08.846Z,1755987668.846 [DAT](INFO): DAT read: Bearing 118.5, -19.1 (Local)
2025-08-23T22:21:08.846Z,1755987668.846 [DAT](INFO): Local bearing/azimuth received:
Bearing 118.5, -19.1 (Local)
2025-08-23T22:21:08.848Z,1755987668.848 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.4
2025-08-23T22:21:08.853Z,1755987668.853 [DAT](INFO): DAT read: 22:21:08.0857 LVL= 32752, 22257, 32754, 32755, AGC= 57, IDX= 506, 0.22, 2.493,-1.501,-2.868,-2.340, PHS=-1.349, 0.884,-0.572, RAW= 310.0, 10.6, CAL= 308.1, 13.0, ROT= 201.9, -13.0
2025-08-23T22:21:08.854Z,1755987668.854 [DAT](INFO): got valid direction response:
22:21:08.0857 LVL= 32752, 22257, 32754, 32755, AGC= 57, IDX= 506, 0.22, 2.493,-1.501,-2.868,-2.340, PHS=-1.349, 0.884,-0.572, RAW= 310.0, 10.6, CAL= 308.1, 13.0, ROT= 201.9, -13.0
2025-08-23T22:21:08.854Z,1755987668.854 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-23T22:21:08.855Z,1755987668.855 [DAT](INFO): direction in FSK: [-0.904056,-0.363428,0.224951]
2025-08-23T22:21:08.855Z,1755987668.855 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:08.863Z,1755987668.863 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.746592
2025-08-23T22:21:09.097Z,1755987669.097 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.980225
2025-08-23T22:21:09.246Z,1755987669.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.505118 s,
deltaX: 0.100000 m,
approachRate: 0.197974 m/s,
rangeRepo size: 4
2025-08-23T22:21:09.248Z,1755987669.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.751025 m,
bearing: 349.668979 deg,
lat: 36.779413 deg,
lon: -121.859562 deg,
deltaT: 0.505118 s,
deltaX: 0.099339 m,
approachRate: 0.196665 m/s,
posRepo size: 4
2025-08-23T22:21:09.347Z,1755987669.347 [DAT](INFO): DAT read: Rx Time:22:21:08.5859
2025-08-23T22:21:09.348Z,1755987669.348 [DAT](INFO): Rx dataTimestamp_ set to:1755987669.347246
2025-08-23T22:21:09.349Z,1755987669.349 [DAT](INFO): DAT read: Bearing 121.0, -17.5 (Local)
2025-08-23T22:21:09.349Z,1755987669.349 [DAT](INFO): Local bearing/azimuth received:
Bearing 121.0, -17.5 (Local)
2025-08-23T22:21:09.351Z,1755987669.351 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.4
2025-08-23T22:21:09.356Z,1755987669.356 [DAT](INFO): DAT read: 22:21:08.5859 LVL= 32752, 21873, 31666, 32755, AGC= 57, IDX= 509,-0.05, 2.286,-1.716, 3.141,-2.611, PHS=-1.285, 0.940,-0.575, RAW= 311.8, 9.4, CAL= 310.0, 10.9, ROT= 200.0, -10.9
2025-08-23T22:21:09.357Z,1755987669.357 [DAT](INFO): got valid direction response:
22:21:08.5859 LVL= 32752, 21873, 31666, 32755, AGC= 57, IDX= 509,-0.05, 2.286,-1.716, 3.141,-2.611, PHS=-1.285, 0.940,-0.575, RAW= 311.8, 9.4, CAL= 310.0, 10.9, ROT= 200.0, -10.9
2025-08-23T22:21:09.357Z,1755987669.357 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-23T22:21:09.358Z,1755987669.358 [DAT](INFO): direction in FSK: [-0.922739,-0.335850,0.189095]
2025-08-23T22:21:09.358Z,1755987669.358 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:09.362Z,1755987669.362 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.245314
2025-08-23T22:21:09.560Z,1755987669.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 0.502955 s,
deltaX: 0.300000 m,
approachRate: 0.596475 m/s,
rangeRepo size: 4
2025-08-23T22:21:09.562Z,1755987669.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.049141 m,
bearing: 347.729857 deg,
lat: 36.779414 deg,
lon: -121.859565 deg,
deltaT: 0.502955 s,
deltaX: 0.298116 m,
approachRate: 0.592729 m/s,
posRepo size: 4
2025-08-23T22:21:09.599Z,1755987669.599 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.481981
2025-08-23T22:21:09.851Z,1755987669.851 [DAT](INFO): DAT read: Rx Time:22:21:09.0860
2025-08-23T22:21:09.852Z,1755987669.852 [DAT](INFO): Rx dataTimestamp_ set to:1755987669.851262
2025-08-23T22:21:09.853Z,1755987669.853 [DAT](INFO): DAT read: Bearing 122.0, -16.1 (Local)
2025-08-23T22:21:09.853Z,1755987669.853 [DAT](INFO): Local bearing/azimuth received:
Bearing 122.0, -16.1 (Local)
2025-08-23T22:21:09.855Z,1755987669.855 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.4
2025-08-23T22:21:09.860Z,1755987669.860 [DAT](INFO): DAT read: 22:21:09.0860 LVL= 32752, 18001, 30162, 32627, AGC= 57, IDX= 510,-0.34, 1.191,-2.845, 1.984, 2.527, PHS=-1.234, 0.956,-0.587, RAW= 313.3, 8.9, CAL= 311.5, 10.0, ROT= 198.5, -10.0
2025-08-23T22:21:09.861Z,1755987669.861 [DAT](INFO): got valid direction response:
22:21:09.0860 LVL= 32752, 18001, 30162, 32627, AGC= 57, IDX= 510,-0.34, 1.191,-2.845, 1.984, 2.527, PHS=-1.234, 0.956,-0.587, RAW= 313.3, 8.9, CAL= 311.5, 10.0, ROT= 198.5, -10.0
2025-08-23T22:21:09.866Z,1755987669.866 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-23T22:21:09.867Z,1755987669.867 [DAT](INFO): direction in FSK: [-0.933917,-0.312484,0.173648]
2025-08-23T22:21:09.867Z,1755987669.867 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:09.871Z,1755987669.871 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.754513
2025-08-23T22:21:09.993Z,1755987669.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.504016 s,
deltaX: 0.200000 m,
approachRate: 0.396812 m/s,
rangeRepo size: 4
2025-08-23T22:21:09.000Z,1755987670.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.247855 m,
bearing: 346.205599 deg,
lat: 36.779414 deg,
lon: -121.859566 deg,
deltaT: 0.504016 s,
deltaX: 0.198714 m,
approachRate: 0.394262 m/s,
posRepo size: 4
2025-08-23T22:21:10.110Z,1755987670.110 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.988680
2025-08-23T22:21:10.355Z,1755987670.355 [DAT](INFO): DAT read: Rx Time:22:21:09.5862
2025-08-23T22:21:10.356Z,1755987670.356 [DAT](INFO): Rx dataTimestamp_ set to:1755987670.355320
2025-08-23T22:21:10.357Z,1755987670.357 [DAT](INFO): DAT read: Bearing 102.4, -14.2 (Local)
2025-08-23T22:21:10.357Z,1755987670.357 [DAT](INFO): Local bearing/azimuth received:
Bearing 102.4, -14.2 (Local)
2025-08-23T22:21:10.359Z,1755987670.359 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.4
2025-08-23T22:21:10.364Z,1755987670.364 [DAT](INFO): DAT read: 22:21:09.5862 LVL= 32752, 17569, 30802, 32755, AGC= 56, IDX= 512, 0.23, 1.408,-2.511, 2.319,-2.901, PHS=-1.872, 0.436,-1.107, RAW= 311.0, 23.8, CAL= 310.8, 29.1, ROT= 199.2, -29.1
2025-08-23T22:21:10.365Z,1755987670.365 [DAT](INFO): got valid direction response:
22:21:09.5862 LVL= 32752, 17569, 30802, 32755, AGC= 56, IDX= 512, 0.23, 1.408,-2.511, 2.319,-2.901, PHS=-1.872, 0.436,-1.107, RAW= 311.0, 23.8, CAL= 310.8, 29.1, ROT= 199.2, -29.1
2025-08-23T22:21:10.365Z,1755987670.365 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-23T22:21:10.366Z,1755987670.366 [DAT](INFO): direction in FSK: [-0.825170,-0.287354,0.486335]
2025-08-23T22:21:10.366Z,1755987670.366 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:10.375Z,1755987670.375 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.258335
2025-08-23T22:21:10.455Z,1755987670.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.600000 m,
deltaT: 0.504058 s,
deltaX: 0.300000 m,
approachRate: 0.595170 m/s,
rangeRepo size: 4
2025-08-23T22:21:10.462Z,1755987670.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.545970 m,
bearing: 348.056684 deg,
lat: 36.779414 deg,
lon: -121.859566 deg,
deltaT: 0.504058 s,
deltaX: 0.298115 m,
approachRate: 0.591430 m/s,
posRepo size: 4
2025-08-23T22:21:10.611Z,1755987670.611 [DAT](INFO): DAT read: Rx Time:22:21:10.0863
2025-08-23T22:21:10.613Z,1755987670.613 [DAT](INFO): Rx dataTimestamp_ set to:1755987670.611496
2025-08-23T22:21:10.615Z,1755987670.615 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.497997
2025-08-23T22:21:10.788Z,1755987670.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:21:10.859Z,1755987670.859 [DAT](INFO): DAT read: Bearing 126.1, -14.1 (Local)
2025-08-23T22:21:10.860Z,1755987670.860 [DAT](INFO): Local bearing/azimuth received:
Bearing 126.1, -14.1 (Local)
2025-08-23T22:21:10.862Z,1755987670.862 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.4
2025-08-23T22:21:10.872Z,1755987670.872 [DAT](INFO): DAT read: 22:21:10.0863 LVL= 32752, 22433, 32754, 32755, AGC= 57, IDX= 513,-0.02,-1.211, 0.983,-0.515, 0.000, PHS=-1.109, 1.028,-0.559, RAW= 315.6, 6.7, CAL= 313.8, 6.2, ROT= 196.2, -6.2
2025-08-23T22:21:10.873Z,1755987670.873 [DAT](INFO): got valid direction response:
22:21:10.0863 LVL= 32752, 22433, 32754, 32755, AGC= 57, IDX= 513,-0.02,-1.211, 0.983,-0.515, 0.000, PHS=-1.109, 1.028,-0.559, RAW= 315.6, 6.7, CAL= 313.8, 6.2, ROT= 196.2, -6.2
2025-08-23T22:21:10.873Z,1755987670.873 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-23T22:21:10.875Z,1755987670.875 [DAT](INFO): direction in FSK: [-0.954677,-0.277359,0.107999]
2025-08-23T22:21:10.875Z,1755987670.875 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:10.881Z,1755987670.881 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.763861
2025-08-23T22:21:11.115Z,1755987671.115 [DAT](INFO): DAT read: Rx Time:22:21:10.5864
2025-08-23T22:21:11.117Z,1755987671.117 [DAT](INFO): Rx dataTimestamp_ set to:1755987671.115733
2025-08-23T22:21:11.120Z,1755987671.120 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.002668
2025-08-23T22:21:11.276Z,1755987671.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.502771 s,
deltaX: 0.099999 m,
approachRate: 0.198897 m/s,
rangeRepo size: 4
2025-08-23T22:21:11.282Z,1755987671.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.645373 m,
bearing: 343.833616 deg,
lat: 36.779412 deg,
lon: -121.859568 deg,
deltaT: 0.502771 s,
deltaX: 0.099403 m,
approachRate: 0.197711 m/s,
posRepo size: 4
2025-08-23T22:21:11.364Z,1755987671.364 [DAT](INFO): DAT read: Bearing 124.9, -13.5 (Local)
2025-08-23T22:21:11.365Z,1755987671.365 [DAT](INFO): Local bearing/azimuth received:
Bearing 124.9, -13.5 (Local)
2025-08-23T22:21:11.368Z,1755987671.368 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4
2025-08-23T22:21:11.375Z,1755987671.375 [DAT](INFO): DAT read: 22:21:10.5864 LVL= 20976, 11809, 20786, 24115, AGC= 61, IDX= 3,-0.27, 1.467,-2.593, 2.153, 2.712, PHS=-1.143, 1.023,-0.603, RAW= 316.1, 7.5, CAL= 314.4, 7.5, ROT= 195.6, -7.5
2025-08-23T22:21:11.376Z,1755987671.376 [DAT](INFO): got valid direction response:
22:21:10.5864 LVL= 20976, 11809, 20786, 24115, AGC= 61, IDX= 3,-0.27, 1.467,-2.593, 2.153, 2.712, PHS=-1.143, 1.023,-0.603, RAW= 316.1, 7.5, CAL= 314.4, 7.5, ROT= 195.6, -7.5
2025-08-23T22:21:11.377Z,1755987671.377 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-23T22:21:11.381Z,1755987671.381 [DAT](INFO): direction in FSK: [-0.954923,-0.266619,0.130526]
2025-08-23T22:21:11.386Z,1755987671.386 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:11.402Z,1755987671.402 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.280552
2025-08-23T22:21:11.617Z,1755987671.617 [DAT](INFO): DAT read: Rx Time:22:21:11.0865
2025-08-23T22:21:11.619Z,1755987671.619 [DAT](INFO): Rx dataTimestamp_ set to:1755987671.617713
2025-08-23T22:21:11.621Z,1755987671.621 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.503975
2025-08-23T22:21:11.720Z,1755987671.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.900000 m,
deltaT: 0.504325 s,
deltaX: 0.200000 m,
approachRate: 0.396569 m/s,
rangeRepo size: 4
2025-08-23T22:21:11.722Z,1755987671.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.844117 m,
bearing: 343.312433 deg,
lat: 36.779412 deg,
lon: -121.859570 deg,
deltaT: 0.504325 s,
deltaX: 0.198744 m,
approachRate: 0.394079 m/s,
posRepo size: 4
2025-08-23T22:21:11.867Z,1755987671.867 [DAT](INFO): DAT read: Bearing 125.3, -12.8 (Local)
2025-08-23T22:21:11.868Z,1755987671.868 [DAT](INFO): Local bearing/azimuth received:
Bearing 125.3, -12.8 (Local)
2025-08-23T22:21:11.870Z,1755987671.870 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4
2025-08-23T22:21:11.874Z,1755987671.874 [DAT](INFO): DAT read: 22:21:11.0865 LVL= 32752, 17969, 30610, 32755, AGC= 57, IDX= 499, 0.38, 1.209,-2.867, 1.869, 2.431, PHS=-1.120, 1.030,-0.607, RAW= 316.8, 7.2, CAL= 315.0, 7.0, ROT= 195.0, -7.0
2025-08-23T22:21:11.875Z,1755987671.875 [DAT](INFO): got valid direction response:
22:21:11.0865 LVL= 32752, 17969, 30610, 32755, AGC= 57, IDX= 499, 0.38, 1.209,-2.867, 1.869, 2.431, PHS=-1.120, 1.030,-0.607, RAW= 316.8, 7.2, CAL= 315.0, 7.0, ROT= 195.0, -7.0
2025-08-23T22:21:11.875Z,1755987671.875 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-23T22:21:11.876Z,1755987671.876 [DAT](INFO): direction in FSK: [-0.958726,-0.256890,0.121869]
2025-08-23T22:21:11.877Z,1755987671.877 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:11.881Z,1755987671.881 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.764103
2025-08-23T22:21:12.094Z,1755987672.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.000000 m,
deltaT: 0.503522 s,
deltaX: 0.100000 m,
approachRate: 0.198602 m/s,
rangeRepo size: 4
2025-08-23T22:21:12.096Z,1755987672.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.943499 m,
bearing: 342.701966 deg,
lat: 36.779412 deg,
lon: -121.859571 deg,
deltaT: 0.503522 s,
deltaX: 0.099381 m,
approachRate: 0.197373 m/s,
posRepo size: 4
2025-08-23T22:21:12.122Z,1755987672.122 [DAT](INFO): DAT read: Rx Time:22:21:11.5868
2025-08-23T22:21:12.124Z,1755987672.124 [DAT](INFO): Rx dataTimestamp_ set to:1755987672.122420
2025-08-23T22:21:12.126Z,1755987672.126 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.008930
2025-08-23T22:21:12.371Z,1755987672.371 [DAT](INFO): DAT read: Bearing 126.2, -12.9 (Local)
2025-08-23T22:21:12.372Z,1755987672.372 [DAT](INFO): Local bearing/azimuth received:
Bearing 126.2, -12.9 (Local)
2025-08-23T22:21:12.374Z,1755987672.374 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed -0.5
2025-08-23T22:21:12.379Z,1755987672.379 [DAT](INFO): DAT read: 22:21:11.5868 LVL= 32752, 18657, 29874, 32755, AGC= 57, IDX= 502, 0.13, 2.019,-2.043, 2.679,-3.054, PHS=-1.109, 1.055,-0.595, RAW= 316.9, 6.7, CAL= 315.0, 6.1, ROT= 195.0, -6.1
2025-08-23T22:21:12.380Z,1755987672.380 [DAT](INFO): got valid direction response:
22:21:11.5868 LVL= 32752, 18657, 29874, 32755, AGC= 57, IDX= 502, 0.13, 2.019,-2.043, 2.679,-3.054, PHS=-1.109, 1.055,-0.595, RAW= 316.9, 6.7, CAL= 315.0, 6.1, ROT= 195.0, -6.1
2025-08-23T22:21:12.380Z,1755987672.380 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-23T22:21:12.385Z,1755987672.385 [DAT](INFO): direction in FSK: [-0.960457,-0.257354,0.106264]
2025-08-23T22:21:12.386Z,1755987672.386 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:12.409Z,1755987672.409 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.292715
2025-08-23T22:21:12.533Z,1755987672.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.500000 m,
deltaT: 0.504018 s,
deltaX: 0.500000 m,
approachRate: 0.992028 m/s,
rangeRepo size: 4
2025-08-23T22:21:12.535Z,1755987672.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.440360 m,
bearing: 342.697961 deg,
lat: 36.779412 deg,
lon: -121.859571 deg,
deltaT: 0.504018 s,
deltaX: 0.496861 m,
approachRate: 0.985801 m/s,
posRepo size: 4
2025-08-23T22:21:12.627Z,1755987672.627 [DAT](INFO): DAT read: Rx Time:22:21:12.0869
2025-08-23T22:21:12.629Z,1755987672.629 [DAT](INFO): Rx dataTimestamp_ set to:1755987672.628082
2025-08-23T22:21:12.632Z,1755987672.632 [DAT](INFO): DAT read: Bearing 126.6, -12.8 (Local)
2025-08-23T22:21:12.634Z,1755987672.634 [DAT](INFO): Local bearing/azimuth received:
Bearing 126.6, -12.8 (Local)
2025-08-23T22:21:12.638Z,1755987672.638 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.5
2025-08-23T22:21:12.641Z,1755987672.641 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-08-23T22:21:12.644Z,1755987672.644 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.527119
2025-08-23T22:21:12.878Z,1755987672.878 [DAT](INFO): DAT read: 22:21:12.0869 LVL= 32752, 21793, 28530, 31139, AGC= 58, IDX= 503,-0.06,-0.952, 1.298,-0.292, 0.262, PHS=-1.113, 1.081,-0.598, RAW= 317.0, 6.4, CAL= 315.2, 5.7, ROT= 194.8, -5.7
2025-08-23T22:21:12.879Z,1755987672.879 [DAT](INFO): got valid direction response:
22:21:12.0869 LVL= 32752, 21793, 28530, 31139, AGC= 58, IDX= 503,-0.06,-0.952, 1.298,-0.292, 0.262, PHS=-1.113, 1.081,-0.598, RAW= 317.0, 6.4, CAL= 315.2, 5.7, ROT= 194.8, -5.7
2025-08-23T22:21:12.880Z,1755987672.880 [DAT](INFO): #Rx 63: Read direction message, but no range.
2025-08-23T22:21:12.881Z,1755987672.881 [DAT](INFO): direction in FSK: [-0.962043,-0.254183,0.099320]
2025-08-23T22:21:12.884Z,1755987672.884 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.767651
2025-08-23T22:21:12.956Z,1755987672.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 0.258126 s,
deltaX: 0.100000 m,
approachRate: 0.387409 m/s,
rangeRepo size: 4
2025-08-23T22:21:12.963Z,1755987672.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.539732 m,
bearing: 342.493405 deg,
lat: 36.779412 deg,
lon: -121.859572 deg,
deltaT: 0.258126 s,
deltaX: 0.099372 m,
approachRate: 0.384974 m/s,
posRepo size: 4
2025-08-23T22:21:13.131Z,1755987673.131 [DAT](INFO): DAT read: Rx Time:22:21:12.5871
2025-08-23T22:21:13.132Z,1755987673.132 [DAT](INFO): Rx dataTimestamp_ set to:1755987673.131214
2025-08-23T22:21:13.135Z,1755987673.135 [DAT](INFO): DAT read: Bearing 127.5, -12.8 (Local)
2025-08-23T22:21:13.136Z,1755987673.136 [DAT](INFO): Local bearing/azimuth received:
Bearing 127.5, -12.8 (Local)
2025-08-23T22:21:13.153Z,1755987673.153 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.4
2025-08-23T22:21:13.161Z,1755987673.161 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-08-23T22:21:13.205Z,1755987673.205 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.060936
2025-08-23T22:21:13.337Z,1755987673.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:21:13.344Z,1755987673.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.900000 m,
deltaT: 0.503132 s,
deltaX: 0.299999 m,
approachRate: 0.596263 m/s,
rangeRepo size: 4
2025-08-23T22:21:13.386Z,1755987673.386 [DAT](INFO): DAT read: 22:21:12.5871 LVL= 32752, 19809, 29858, 32483, AGC= 58, IDX= 506,-0.26,-0.110, 2.146, 0.548, 1.090, PHS=-1.098, 1.101,-0.586, RAW= 317.1, 5.9, CAL= 315.3, 4.9, ROT= 194.7, -4.9
2025-08-23T22:21:13.387Z,1755987673.387 [DAT](INFO): got valid direction response:
22:21:12.5871 LVL= 32752, 19809, 29858, 32483, AGC= 58, IDX= 506,-0.26,-0.110, 2.146, 0.548, 1.090, PHS=-1.098, 1.101,-0.586, RAW= 317.1, 5.9, CAL= 315.3, 4.9, ROT= 194.7, -4.9
2025-08-23T22:21:13.387Z,1755987673.387 [DAT](INFO): #Rx 65: Read direction message, but no range.
2025-08-23T22:21:13.388Z,1755987673.388 [DAT](INFO): direction in FSK: [-0.963733,-0.252830,0.085417]
2025-08-23T22:21:13.393Z,1755987673.393 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.276215
2025-08-23T22:21:13.638Z,1755987673.638 [DAT](INFO): DAT read: Rx Time:22:21:13.0872
2025-08-23T22:21:13.639Z,1755987673.639 [DAT](INFO): Rx dataTimestamp_ set to:1755987673.638394
2025-08-23T22:21:13.642Z,1755987673.642 [DAT](INFO): DAT read: Bearing 126.9, -13.3 (Local)
2025-08-23T22:21:13.643Z,1755987673.643 [DAT](INFO): Local bearing/azimuth received:
Bearing 126.9, -13.3 (Local)
2025-08-23T22:21:13.647Z,1755987673.647 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.4
2025-08-23T22:21:13.650Z,1755987673.650 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-08-23T22:21:13.654Z,1755987673.654 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.536304
2025-08-23T22:21:13.763Z,1755987673.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.100000 m,
deltaT: 0.507180 s,
deltaX: 0.200001 m,
approachRate: 0.394339 m/s,
rangeRepo size: 4
2025-08-23T22:21:13.765Z,1755987673.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.036555 m,
bearing: 342.368540 deg,
lat: 36.779413 deg,
lon: -121.859572 deg,
deltaT: 1.010312 s,
deltaX: 0.496823 m,
approachRate: 0.491752 m/s,
posRepo size: 4
2025-08-23T22:21:13.770Z,1755987673.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 10.10 m. Rolling out.
2025-08-23T22:21:13.770Z,1755987673.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-08-23T22:21:13.837Z,1755987673.837 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-23T22:21:13.837Z,1755987673.837 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-23T22:21:13.859Z,1755987673.859 [DockingStepper](INFO): Changing to mode: 1
2025-08-23T22:21:13.892Z,1755987673.892 [DAT](INFO): DAT read: 22:21:13.0872 LVL= 32752, 20049, 30834, 31603, AGC= 62, IDX= 506, 0.42,-0.252, 2.012, 0.428, 0.968, PHS=-1.117, 1.089,-0.584, RAW= 316.6, 6.2, CAL= 314.7, 5.4, ROT= 195.3, -5.4
2025-08-23T22:21:13.895Z,1755987673.895 [DAT](INFO): got valid direction response:
22:21:13.0872 LVL= 32752, 20049, 30834, 31603, AGC= 62, IDX= 506, 0.42,-0.252, 2.012, 0.428, 0.968, PHS=-1.117, 1.089,-0.584, RAW= 316.6, 6.2, CAL= 314.7, 5.4, ROT= 195.3, -5.4
2025-08-23T22:21:13.896Z,1755987673.896 [DAT](INFO): #Rx 67: Read direction message, but no range.
2025-08-23T22:21:13.897Z,1755987673.897 [DAT](INFO): direction in FSK: [-0.960277,-0.262702,0.094108]
2025-08-23T22:21:13.904Z,1755987673.904 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.787193
2025-08-23T22:21:14.142Z,1755987674.142 [DAT](INFO): DAT read: Rx Time:22:21:13.5875
2025-08-23T22:21:14.144Z,1755987674.144 [DAT](INFO): Rx dataTimestamp_ set to:1755987674.142621
2025-08-23T22:21:14.146Z,1755987674.146 [DAT](INFO): DAT read: Bearing 127.7, -13.6 (Local)
2025-08-23T22:21:14.148Z,1755987674.148 [DAT](INFO): Local bearing/azimuth received:
Bearing 127.7, -13.6 (Local)
2025-08-23T22:21:14.152Z,1755987674.152 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.5
2025-08-23T22:21:14.159Z,1755987674.159 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-08-23T22:21:14.161Z,1755987674.161 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.044910
2025-08-23T22:21:14.351Z,1755987674.351 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-08-23T22:21:14.351Z,1755987674.351 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-23T22:21:14.351Z,1755987674.351 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-08-23T22:21:14.353Z,1755987674.353 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 10.100000 m (mode 5.000000 count ).
2025-08-23T22:21:14.353Z,1755987674.353 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-08-23T22:21:14.353Z,1755987674.353 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-08-23T22:21:14.358Z,1755987674.358 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-08-23T22:21:14.358Z,1755987674.358 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-23T22:21:14.358Z,1755987674.358 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-08-23T22:21:14.359Z,1755987674.359 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 10.100000 m (mode 5.000000 count ).
2025-08-23T22:21:14.359Z,1755987674.359 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-08-23T22:21:14.359Z,1755987674.359 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-08-23T22:21:14.374Z,1755987674.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.500000 m,
deltaT: 0.504227 s,
deltaX: 0.400000 m,
approachRate: 0.793293 m/s,
rangeRepo size: 4
2025-08-23T22:21:14.376Z,1755987674.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.434044 m,
bearing: 342.970984 deg,
lat: 36.779414 deg,
lon: -121.859572 deg,
deltaT: 0.504227 s,
deltaX: 0.397489 m,
approachRate: 0.788313 m/s,
posRepo size: 4
2025-08-23T22:21:14.377Z,1755987674.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-23T22:21:14.384Z,1755987674.384 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-23T22:21:14.385Z,1755987674.385 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-23T22:21:14.395Z,1755987674.395 [DAT](INFO): DAT read: 22:21:13.5875 LVL= 32752, 20209, 31778, 32755, AGC= 62, IDX= 509, 0.16, 0.709, 2.970, 1.394, 1.912, PHS=-1.101, 1.103,-0.562, RAW= 316.4, 5.7, CAL= 314.5, 4.5, ROT= 195.5, -4.5
2025-08-23T22:21:14.396Z,1755987674.396 [DAT](INFO): got valid direction response:
22:21:13.5875 LVL= 32752, 20209, 31778, 32755, AGC= 62, IDX= 509, 0.16, 0.709, 2.970, 1.394, 1.912, PHS=-1.101, 1.103,-0.562, RAW= 316.4, 5.7, CAL= 314.5, 4.5, ROT= 195.5, -4.5
2025-08-23T22:21:14.396Z,1755987674.396 [DAT](INFO): #Rx 69: Read direction message, but no range.
2025-08-23T22:21:14.397Z,1755987674.397 [DAT](INFO): direction in FSK: [-0.960660,-0.266415,0.078459]
2025-08-23T22:21:14.400Z,1755987674.400 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.284046
2025-08-23T22:21:14.402Z,1755987674.402 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-23T22:21:14.402Z,1755987674.402 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-23T22:21:14.646Z,1755987674.646 [DAT](INFO): DAT read: Rx Time:22:21:14.0875
2025-08-23T22:21:14.648Z,1755987674.648 [DAT](INFO): Rx dataTimestamp_ set to:1755987674.647077
2025-08-23T22:21:14.652Z,1755987674.652 [DAT](INFO): DAT read: Bearing 130.1, -13.2 (Local)
2025-08-23T22:21:14.653Z,1755987674.653 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -13.2 (Local)
2025-08-23T22:21:14.663Z,1755987674.663 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.4
2025-08-23T22:21:14.672Z,1755987674.672 [DAT](INFO): DAT read: 22:21:14.0875 LVL= 32672, 19729, 28370, 31475, AGC= 58, IDX= 510,-0.02,-2.198, 0.073,-1.533,-1.042, PHS=-1.054, 1.161,-0.534, RAW= 317.0, 4.3, CAL= 315.0, 2.3, ROT= 195.0, -2.3
2025-08-23T22:21:14.673Z,1755987674.673 [DAT](INFO): got valid direction response:
22:21:14.0875 LVL= 32672, 19729, 28370, 31475, AGC= 58, IDX= 510,-0.02,-2.198, 0.073,-1.533,-1.042, PHS=-1.054, 1.161,-0.534, RAW= 317.0, 4.3, CAL= 315.0, 2.3, ROT= 195.0, -2.3
2025-08-23T22:21:14.682Z,1755987674.682 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-23T22:21:14.683Z,1755987674.683 [DAT](INFO): direction in FSK: [-0.965148,-0.258611,0.040132]
2025-08-23T22:21:14.683Z,1755987674.683 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:14.691Z,1755987674.691 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.574322
2025-08-23T22:21:14.811Z,1755987674.811 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-08-23T22:21:14.811Z,1755987674.811 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-08-23T22:21:14.812Z,1755987674.812 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-08-23T22:21:14.812Z,1755987674.812 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-08-23T22:21:14.827Z,1755987674.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.504456 s,
deltaX: 0.200000 m,
approachRate: 0.396466 m/s,
rangeRepo size: 4
2025-08-23T22:21:14.829Z,1755987674.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.632787 m,
bearing: 342.453780 deg,
lat: 36.779415 deg,
lon: -121.859572 deg,
deltaT: 0.504456 s,
deltaX: 0.198743 m,
approachRate: 0.393975 m/s,
posRepo size: 4
2025-08-23T22:21:14.829Z,1755987674.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-23T22:21:14.896Z,1755987674.896 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.778934
2025-08-23T22:21:15.147Z,1755987675.147 [DAT](INFO): DAT read: Rx Time:22:21:14.5877
2025-08-23T22:21:15.147Z,1755987675.147 [DAT](INFO): Rx dataTimestamp_ set to:1755987675.146905
2025-08-23T22:21:15.148Z,1755987675.148 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4
2025-08-23T22:21:15.149Z,1755987675.149 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-08-23T22:21:15.150Z,1755987675.150 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.033524
2025-08-23T22:21:15.268Z,1755987675.268 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-08-23T22:21:15.268Z,1755987675.268 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-08-23T22:21:15.268Z,1755987675.268 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-08-23T22:21:15.268Z,1755987675.268 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-08-23T22:21:15.276Z,1755987675.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 0.499828 s,
deltaX: 0.300000 m,
approachRate: 0.600207 m/s,
rangeRepo size: 4
2025-08-23T22:21:15.276Z,1755987675.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-23T22:21:15.399Z,1755987675.399 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.282143
2025-08-23T22:21:15.651Z,1755987675.651 [DAT](INFO): DAT read: Rx Time:22:21:15.0878
2025-08-23T22:21:15.651Z,1755987675.651 [DAT](INFO): Rx dataTimestamp_ set to:1755987675.650904
2025-08-23T22:21:15.652Z,1755987675.652 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.4
2025-08-23T22:21:15.653Z,1755987675.653 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-08-23T22:21:15.654Z,1755987675.654 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.537540
2025-08-23T22:21:15.751Z,1755987675.751 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-08-23T22:21:15.751Z,1755987675.751 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-23T22:21:15.751Z,1755987675.751 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-08-23T22:21:15.751Z,1755987675.751 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-23T22:21:15.752Z,1755987675.752 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-08-23T22:21:15.752Z,1755987675.752 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-23T22:21:15.752Z,1755987675.752 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-08-23T22:21:15.752Z,1755987675.752 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-23T22:21:15.756Z,1755987675.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.100000 m,
deltaT: 0.503999 s,
deltaX: 0.100000 m,
approachRate: 0.198414 m/s,
rangeRepo size: 4
2025-08-23T22:21:15.756Z,1755987675.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-23T22:21:15.902Z,1755987675.902 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.786034
2025-08-23T22:21:16.159Z,1755987676.159 [DAT](INFO): DAT read: Rx Time:22:21:15.5881
2025-08-23T22:21:16.160Z,1755987676.160 [DAT](INFO): Rx dataTimestamp_ set to:1755987676.159369
2025-08-23T22:21:16.163Z,1755987676.163 [DAT](INFO): DAT read: Bearing 130.4, -14.0 (Local)
2025-08-23T22:21:16.163Z,1755987676.163 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.4, -14.0 (Local)
2025-08-23T22:21:16.165Z,1755987676.165 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.4
2025-08-23T22:21:16.166Z,1755987676.166 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-08-23T22:21:16.167Z,1755987676.167 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.050144
2025-08-23T22:21:16.363Z,1755987676.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.508465 s,
deltaX: 0.500000 m,
approachRate: 0.983352 m/s,
rangeRepo size: 4
2025-08-23T22:21:16.364Z,1755987676.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-23T22:21:16.410Z,1755987676.410 [DAT](INFO): DAT read: 22:21:15.5881 LVL= 19792, 15185, 16738, 20515, AGC= 61, IDX= 4, 0.04,-0.292, 1.986, 0.402, 0.862, PHS=-1.053, 1.169,-0.504, RAW= 316.3, 3.9, CAL= 314.2, 1.6, ROT= 195.8, -1.6
2025-08-23T22:21:16.411Z,1755987676.411 [DAT](INFO): got valid direction response:
22:21:15.5881 LVL= 19792, 15185, 16738, 20515, AGC= 61, IDX= 4, 0.04,-0.292, 1.986, 0.402, 0.862, PHS=-1.053, 1.169,-0.504, RAW= 316.3, 3.9, CAL= 314.2, 1.6, ROT= 195.8, -1.6
2025-08-23T22:21:16.412Z,1755987676.412 [DAT](INFO): #Rx 74: Read direction message, but no range.
2025-08-23T22:21:16.413Z,1755987676.413 [DAT](INFO): direction in FSK: [-0.961843,-0.272174,0.027922]
2025-08-23T22:21:16.416Z,1755987676.416 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.299667
2025-08-23T22:21:16.662Z,1755987676.662 [DAT](INFO): DAT read: Rx Time:22:21:16.0881
2025-08-23T22:21:16.662Z,1755987676.662 [DAT](INFO): Rx dataTimestamp_ set to:1755987676.662177
2025-08-23T22:21:16.664Z,1755987676.664 [DAT](INFO): DAT read: Bearing 132.0, -13.6 (Local)
2025-08-23T22:21:16.664Z,1755987676.664 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.0, -13.6 (Local)
2025-08-23T22:21:16.666Z,1755987676.666 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.4
2025-08-23T22:21:16.671Z,1755987676.671 [DAT](INFO): DAT read: 22:21:16.0881 LVL= 32752, 21233, 28514, 32755, AGC= 58, IDX= 501,-0.27,-3.003,-0.699,-2.320,-1.879, PHS=-1.023, 1.225,-0.485, RAW= 316.8, 2.8, CAL= 314.6, -0.1, ROT= 195.4, 0.1
2025-08-23T22:21:16.672Z,1755987676.672 [DAT](INFO): got valid direction response:
22:21:16.0881 LVL= 32752, 21233, 28514, 32755, AGC= 58, IDX= 501,-0.27,-3.003,-0.699,-2.320,-1.879, PHS=-1.023, 1.225,-0.485, RAW= 316.8, 2.8, CAL= 314.6, -0.1, ROT= 195.4, 0.1
2025-08-23T22:21:16.672Z,1755987676.672 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-23T22:21:16.673Z,1755987676.673 [DAT](INFO): direction in FSK: [-0.964094,-0.265556,-0.001745]
2025-08-23T22:21:16.674Z,1755987676.674 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:16.677Z,1755987676.677 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.560642
2025-08-23T22:21:16.829Z,1755987676.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.502808 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:16.835Z,1755987676.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.527130 m,
bearing: 342.685316 deg,
lat: 36.779416 deg,
lon: -121.859571 deg,
deltaT: 2.015100 s,
deltaX: 0.894343 m,
approachRate: 0.443821 m/s,
posRepo size: 4
2025-08-23T22:21:16.836Z,1755987676.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:21:16.911Z,1755987676.911 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.794369
2025-08-23T22:21:17.163Z,1755987677.163 [DAT](INFO): DAT read: Rx Time:22:21:16.5883
2025-08-23T22:21:17.164Z,1755987677.164 [DAT](INFO): Rx dataTimestamp_ set to:1755987677.163585
2025-08-23T22:21:17.165Z,1755987677.165 [DAT](INFO): DAT read: Bearing 132.1, -14.0 (Local)
2025-08-23T22:21:17.166Z,1755987677.166 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.1, -14.0 (Local)
2025-08-23T22:21:17.168Z,1755987677.168 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.4
2025-08-23T22:21:17.168Z,1755987677.168 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-08-23T22:21:17.169Z,1755987677.169 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.052628
2025-08-23T22:21:17.359Z,1755987677.359 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -20.24455.61, .76, 8.56, 0.00
2025-08-23T22:21:17.392Z,1755987677.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.501408 s,
deltaX: 0.299999 m,
approachRate: 0.598314 m/s,
rangeRepo size: 4
2025-08-23T22:21:17.392Z,1755987677.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:21:17.418Z,1755987677.418 [DAT](INFO): DAT read: 22:21:16.5883 LVL= 32752, 20465, 29810, 32755, AGC= 58, IDX= 502, 0.21,-1.497, 0.809,-0.797,-0.376, PHS=-1.019, 1.230,-0.465, RAW= 316.3, 2.5, CAL= 314.2, -0.4, ROT= 195.8, 0.4
2025-08-23T22:21:17.419Z,1755987677.419 [DAT](INFO): got valid direction response:
22:21:16.5883 LVL= 32752, 20465, 29810, 32755, AGC= 58, IDX= 502, 0.21,-1.497, 0.809,-0.797,-0.376, PHS=-1.019, 1.230,-0.465, RAW= 316.3, 2.5, CAL= 314.2, -0.4, ROT= 195.8, 0.4
2025-08-23T22:21:17.420Z,1755987677.420 [DAT](INFO): #Rx 77: Read direction message, but no range.
2025-08-23T22:21:17.421Z,1755987677.421 [DAT](INFO): direction in FSK: [-0.962195,-0.272274,-0.006981]
2025-08-23T22:21:17.424Z,1755987677.424 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.307594
2025-08-23T22:21:17.667Z,1755987677.667 [DAT](INFO): DAT read: Rx Time:22:21:17.0883
2025-08-23T22:21:17.668Z,1755987677.668 [DAT](INFO): Rx dataTimestamp_ set to:1755987677.667429
2025-08-23T22:21:17.669Z,1755987677.669 [DAT](INFO): DAT read: Bearing 132.5, -13.4 (Local)
2025-08-23T22:21:17.669Z,1755987677.669 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.5, -13.4 (Local)
2025-08-23T22:21:17.671Z,1755987677.671 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.4
2025-08-23T22:21:17.684Z,1755987677.684 [DAT](INFO): DAT read: 22:21:17.0883 LVL= 32752, 20449, 32754, 32755, AGC= 62, IDX= 503,-0.17, 2.024,-1.906, 2.715,-3.136, PHS=-1.021, 1.275,-0.476, RAW= 316.9, 2.2, CAL= 314.8, -0.8, ROT= 195.2, 0.8
2025-08-23T22:21:17.685Z,1755987677.685 [DAT](INFO): got valid direction response:
22:21:17.0883 LVL= 32752, 20449, 32754, 32755, AGC= 62, IDX= 503,-0.17, 2.024,-1.906, 2.715,-3.136, PHS=-1.021, 1.275,-0.476, RAW= 316.9, 2.2, CAL= 314.8, -0.8, ROT= 195.2, 0.8
2025-08-23T22:21:17.685Z,1755987677.685 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-23T22:21:17.686Z,1755987677.686 [DAT](INFO): direction in FSK: [-0.964922,-0.262164,-0.013962]
2025-08-23T22:21:17.687Z,1755987677.687 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:17.710Z,1755987677.710 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=36.594036
2025-08-23T22:21:17.766Z,1755987677.766 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:21:17.796Z,1755987677.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.503844 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:17.804Z,1755987677.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.825233 m,
bearing: 342.301480 deg,
lat: 36.779416 deg,
lon: -121.859570 deg,
deltaT: 1.005252 s,
deltaX: 0.298103 m,
approachRate: 0.296546 m/s,
posRepo size: 4
2025-08-23T22:21:17.810Z,1755987677.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:21:17.919Z,1755987677.919 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=36.802193
2025-08-23T22:21:18.085Z,1755987678.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-23T22:21:18.171Z,1755987678.171 [DAT](INFO): DAT read: Rx Time:22:21:17.5886
2025-08-23T22:21:18.172Z,1755987678.172 [DAT](INFO): Rx dataTimestamp_ set to:1755987678.171357
2025-08-23T22:21:18.173Z,1755987678.173 [DAT](INFO): DAT read: Bearing 132.3, -14.6 (Local)
2025-08-23T22:21:18.173Z,1755987678.173 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.3, -14.6 (Local)
2025-08-23T22:21:18.176Z,1755987678.176 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.4
2025-08-23T22:21:18.183Z,1755987678.183 [DAT](INFO): DAT read: 22:21:17.5886 LVL= 32464, 21617, 29938, 32755, AGC= 63, IDX= 505, 0.24,-0.814, 1.530,-0.082, 0.320, PHS=-1.032, 1.254,-0.447, RAW= 315.7, 2.2, CAL= 313.6, -0.8, ROT= 196.4, 0.8
2025-08-23T22:21:18.184Z,1755987678.184 [DAT](INFO): got valid direction response:
22:21:17.5886 LVL= 32464, 21617, 29938, 32755, AGC= 63, IDX= 505, 0.24,-0.814, 1.530,-0.082, 0.320, PHS=-1.032, 1.254,-0.447, RAW= 315.7, 2.2, CAL= 313.6, -0.8, ROT= 196.4, 0.8
2025-08-23T22:21:18.184Z,1755987678.184 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-23T22:21:18.186Z,1755987678.186 [DAT](INFO): direction in FSK: [-0.959220,-0.282314,-0.013962]
2025-08-23T22:21:18.186Z,1755987678.186 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:18.210Z,1755987678.210 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.093323
2025-08-23T22:21:18.423Z,1755987678.423 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.306126
2025-08-23T22:21:18.521Z,1755987678.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.503928 s,
deltaX: 0.400001 m,
approachRate: 0.793765 m/s,
rangeRepo size: 4
2025-08-23T22:21:18.523Z,1755987678.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.222683 m,
bearing: 343.346432 deg,
lat: 36.779416 deg,
lon: -121.859568 deg,
deltaT: 0.503928 s,
deltaX: 0.397449 m,
approachRate: 0.788703 m/s,
posRepo size: 4
2025-08-23T22:21:18.524Z,1755987678.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:21:18.675Z,1755987678.675 [DAT](INFO): DAT read: Rx Time:22:21:18.0886
2025-08-23T22:21:18.676Z,1755987678.676 [DAT](INFO): Rx dataTimestamp_ set to:1755987678.675383
2025-08-23T22:21:18.677Z,1755987678.677 [DAT](INFO): DAT read: Bearing 133.3, -13.8 (Local)
2025-08-23T22:21:18.677Z,1755987678.677 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.3, -13.8 (Local)
2025-08-23T22:21:18.679Z,1755987678.679 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.4
2025-08-23T22:21:18.684Z,1755987678.684 [DAT](INFO): DAT read: 22:21:18.0886 LVL= 32752, 29393, 32754, 32755, AGC= 58, IDX= 506,-0.21, 2.720,-1.257,-2.865,-2.485, PHS=-0.976, 1.273,-0.424, RAW= 316.4, 1.3, CAL= 314.4, -1.8, ROT= 195.6, 1.8
2025-08-23T22:21:18.685Z,1755987678.685 [DAT](INFO): got valid direction response:
22:21:18.0886 LVL= 32752, 29393, 32754, 32755, AGC= 58, IDX= 506,-0.21, 2.720,-1.257,-2.865,-2.485, PHS=-0.976, 1.273,-0.424, RAW= 316.4, 1.3, CAL= 314.4, -1.8, ROT= 195.6, 1.8
2025-08-23T22:21:18.686Z,1755987678.686 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-23T22:21:18.687Z,1755987678.687 [DAT](INFO): direction in FSK: [-0.962687,-0.268787,-0.031411]
2025-08-23T22:21:18.687Z,1755987678.687 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:18.699Z,1755987678.699 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=37.582222
2025-08-23T22:21:18.770Z,1755987678.770 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:21:18.899Z,1755987678.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.504026 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:18.901Z,1755987678.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.222683 m,
bearing: 342.402511 deg,
lat: 36.779416 deg,
lon: -121.859567 deg,
deltaT: 0.504026 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:21:18.918Z,1755987678.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:21:18.927Z,1755987678.927 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=37.810181
2025-08-23T22:21:19.180Z,1755987679.180 [DAT](INFO): DAT read: Rx Time:22:21:18.5889
2025-08-23T22:21:19.181Z,1755987679.181 [DAT](INFO): Rx dataTimestamp_ set to:1755987679.180147
2025-08-23T22:21:19.182Z,1755987679.182 [DAT](INFO): DAT read: Bearing 131.9, -15.3 (Local)
2025-08-23T22:21:19.183Z,1755987679.183 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.9, -15.3 (Local)
2025-08-23T22:21:19.186Z,1755987679.186 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.4
2025-08-23T22:21:19.196Z,1755987679.196 [DAT](INFO): DAT read: 22:21:18.5889 LVL= 28400, 19793, 29138, 30003, AGC= 61, IDX= 508, 0.16,-0.926, 1.377,-0.178, 0.201, PHS=-1.025, 1.221,-0.423, RAW= 315.0, 2.3, CAL= 312.8, -0.7, ROT= 197.2, 0.7
2025-08-23T22:21:19.198Z,1755987679.198 [DAT](INFO): got valid direction response:
22:21:18.5889 LVL= 28400, 19793, 29138, 30003, AGC= 61, IDX= 508, 0.16,-0.926, 1.377,-0.178, 0.201, PHS=-1.025, 1.221,-0.423, RAW= 315.0, 2.3, CAL= 312.8, -0.7, ROT= 197.2, 0.7
2025-08-23T22:21:19.199Z,1755987679.199 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-23T22:21:19.200Z,1755987679.200 [DAT](INFO): direction in FSK: [-0.955207,-0.295686,-0.012217]
2025-08-23T22:21:19.200Z,1755987679.200 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:19.206Z,1755987679.206 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.088966
2025-08-23T22:21:19.425Z,1755987679.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.600000 m,
deltaT: 0.504764 s,
deltaX: 0.300000 m,
approachRate: 0.594338 m/s,
rangeRepo size: 4
2025-08-23T22:21:19.431Z,1755987679.431 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.314163
2025-08-23T22:21:19.432Z,1755987679.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.520732 m,
bearing: 344.007474 deg,
lat: 36.779417 deg,
lon: -121.859566 deg,
deltaT: 0.504764 s,
deltaX: 0.298049 m,
approachRate: 0.590472 m/s,
posRepo size: 4
2025-08-23T22:21:19.433Z,1755987679.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-08-23T22:21:19.683Z,1755987679.683 [DAT](INFO): DAT read: Rx Time:22:21:19.0889
2025-08-23T22:21:19.684Z,1755987679.684 [DAT](INFO): Rx dataTimestamp_ set to:1755987679.683368
2025-08-23T22:21:19.685Z,1755987679.685 [DAT](INFO): DAT read: Bearing 132.7, -15.2 (Local)
2025-08-23T22:21:19.685Z,1755987679.685 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.7, -15.2 (Local)
2025-08-23T22:21:19.687Z,1755987679.687 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.4
2025-08-23T22:21:19.692Z,1755987679.692 [DAT](INFO): DAT read: 22:21:19.0889 LVL= 32752, 23537, 32754, 32755, AGC= 61, IDX= 509,-0.38,-3.090,-0.768,-2.337,-1.978, PHS=-1.010, 1.255,-0.403, RAW= 315.0, 1.6, CAL= 313.0, -1.4, ROT= 197.0, 1.4
2025-08-23T22:21:19.693Z,1755987679.693 [DAT](INFO): got valid direction response:
22:21:19.0889 LVL= 32752, 23537, 32754, 32755, AGC= 61, IDX= 509,-0.38,-3.090,-0.768,-2.337,-1.978, PHS=-1.010, 1.255,-0.403, RAW= 315.0, 1.6, CAL= 313.0, -1.4, ROT= 197.0, 1.4
2025-08-23T22:21:19.701Z,1755987679.701 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-23T22:21:19.702Z,1755987679.702 [DAT](INFO): direction in FSK: [-0.956019,-0.292285,-0.024432]
2025-08-23T22:21:19.703Z,1755987679.703 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:19.707Z,1755987679.707 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.590305
2025-08-23T22:21:19.790Z,1755987679.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.600000 m,
deltaT: 0.503221 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:19.798Z,1755987679.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.520732 m,
bearing: 343.743298 deg,
lat: 36.779416 deg,
lon: -121.859565 deg,
deltaT: 0.503221 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:21:19.798Z,1755987679.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-08-23T22:21:19.935Z,1755987679.935 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.818378
2025-08-23T22:21:20.166Z,1755987680.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-08-23T22:21:20.188Z,1755987680.188 [DAT](INFO): DAT read: Rx Time:22:21:19.5892
2025-08-23T22:21:20.189Z,1755987680.189 [DAT](INFO): Rx dataTimestamp_ set to:1755987680.188232
2025-08-23T22:21:20.190Z,1755987680.190 [DAT](INFO): DAT read: Bearing 133.1, -15.2 (Local)
2025-08-23T22:21:20.191Z,1755987680.191 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.1, -15.2 (Local)
2025-08-23T22:21:20.194Z,1755987680.194 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.4
2025-08-23T22:21:20.200Z,1755987680.200 [DAT](INFO): DAT read: 22:21:19.5892 LVL= 32752, 20209, 31138, 32755, AGC= 61, IDX= 511,-0.03,-1.967, 0.377,-1.207,-0.861, PHS=-1.004, 1.283,-0.390, RAW= 315.0, 1.1, CAL= 313.0, -2.0, ROT= 197.0, 2.0
2025-08-23T22:21:20.201Z,1755987680.201 [DAT](INFO): got valid direction response:
22:21:19.5892 LVL= 32752, 20209, 31138, 32755, AGC= 61, IDX= 511,-0.03,-1.967, 0.377,-1.207,-0.861, PHS=-1.004, 1.283,-0.390, RAW= 315.0, 1.1, CAL= 313.0, -2.0, ROT= 197.0, 2.0
2025-08-23T22:21:20.206Z,1755987680.206 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-23T22:21:20.207Z,1755987680.207 [DAT](INFO): direction in FSK: [-0.955722,-0.292194,-0.034899]
2025-08-23T22:21:20.208Z,1755987680.208 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:20.220Z,1755987680.220 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.103497
2025-08-23T22:21:20.439Z,1755987680.439 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.322392
2025-08-23T22:21:20.551Z,1755987680.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.100000 m,
deltaT: 0.504864 s,
deltaX: 0.500000 m,
approachRate: 0.990366 m/s,
rangeRepo size: 4
2025-08-23T22:21:20.553Z,1755987680.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.017601 m,
bearing: 343.660572 deg,
lat: 36.779417 deg,
lon: -121.859562 deg,
deltaT: 0.504864 s,
deltaX: 0.496869 m,
approachRate: 0.984164 m/s,
posRepo size: 4
2025-08-23T22:21:20.554Z,1755987680.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-23T22:21:20.691Z,1755987680.691 [DAT](INFO): DAT read: Rx Time:22:21:20.0892
2025-08-23T22:21:20.692Z,1755987680.692 [DAT](INFO): Rx dataTimestamp_ set to:1755987680.691554
2025-08-23T22:21:20.693Z,1755987680.693 [DAT](INFO): DAT read: Bearing 131.9, -15.6 (Local)
2025-08-23T22:21:20.693Z,1755987680.693 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.9, -15.6 (Local)
2025-08-23T22:21:20.695Z,1755987680.695 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.4
2025-08-23T22:21:20.700Z,1755987680.700 [DAT](INFO): DAT read: 22:21:20.0892 LVL= 32752, 20145, 32754, 32755, AGC= 66, IDX= 511, 0.19,-1.619, 0.698,-0.855,-0.492, PHS=-1.025, 1.234,-0.408, RAW= 314.7, 2.0, CAL= 312.5, -1.0, ROT= 197.5, 1.0
2025-08-23T22:21:20.701Z,1755987680.701 [DAT](INFO): got valid direction response:
22:21:20.0892 LVL= 32752, 20145, 32754, 32755, AGC= 66, IDX= 511, 0.19,-1.619, 0.698,-0.855,-0.492, PHS=-1.025, 1.234,-0.408, RAW= 314.7, 2.0, CAL= 312.5, -1.0, ROT= 197.5, 1.0
2025-08-23T22:21:20.702Z,1755987680.702 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-23T22:21:20.703Z,1755987680.703 [DAT](INFO): direction in FSK: [-0.953572,-0.300660,-0.017452]
2025-08-23T22:21:20.703Z,1755987680.703 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:20.707Z,1755987680.707 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.590206
2025-08-23T22:21:20.943Z,1755987680.943 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.826191
2025-08-23T22:21:20.946Z,1755987680.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.100000 m,
deltaT: 0.503322 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:20.948Z,1755987680.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.017601 m,
bearing: 344.241402 deg,
lat: 36.779418 deg,
lon: -121.859562 deg,
deltaT: 0.503322 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:21:20.948Z,1755987680.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-23T22:21:21.197Z,1755987681.197 [DAT](INFO): DAT read: Rx Time:22:21:20.5893
2025-08-23T22:21:21.198Z,1755987681.198 [DAT](INFO): Rx dataTimestamp_ set to:1755987681.197422
2025-08-23T22:21:21.199Z,1755987681.199 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.4
2025-08-23T22:21:21.200Z,1755987681.200 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-08-23T22:21:21.202Z,1755987681.202 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.084827
2025-08-23T22:21:21.374Z,1755987681.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.200000 m,
deltaT: 0.505868 s,
deltaX: 0.099999 m,
approachRate: 0.197679 m/s,
rangeRepo size: 4
2025-08-23T22:21:21.374Z,1755987681.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-23T22:21:21.447Z,1755987681.447 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.330395
2025-08-23T22:21:21.699Z,1755987681.699 [DAT](INFO): DAT read: Rx Time:22:21:21.0894
2025-08-23T22:21:21.699Z,1755987681.699 [DAT](INFO): Rx dataTimestamp_ set to:1755987681.698918
2025-08-23T22:21:21.700Z,1755987681.700 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.4
2025-08-23T22:21:21.701Z,1755987681.701 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-08-23T22:21:21.702Z,1755987681.702 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.585552
2025-08-23T22:21:21.726Z,1755987681.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.400000 m,
deltaT: 0.501496 s,
deltaX: 0.200000 m,
approachRate: 0.398806 m/s,
rangeRepo size: 4
2025-08-23T22:21:21.727Z,1755987681.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-23T22:21:21.951Z,1755987681.951 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.834103
2025-08-23T22:21:22.199Z,1755987682.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-23T22:21:22.204Z,1755987682.204 [DAT](INFO): DAT read: Rx Time:22:21:21.5896
2025-08-23T22:21:22.205Z,1755987682.205 [DAT](INFO): Rx dataTimestamp_ set to:1755987682.204294
2025-08-23T22:21:22.207Z,1755987682.207 [DAT](INFO): DAT read: Bearing 132.2, -16.3 (Local)
2025-08-23T22:21:22.207Z,1755987682.207 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.2, -16.3 (Local)
2025-08-23T22:21:22.210Z,1755987682.210 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.4
2025-08-23T22:21:22.215Z,1755987682.215 [DAT](INFO): DAT read: 22:21:21.5896 LVL= 27696, 21617, 19634, 22835, AGC= 67, IDX= 3, 0.03,-1.680, 0.670,-0.883,-0.551, PHS=-1.027, 1.266,-0.376, RAW= 314.0, 1.4, CAL= 312.0, -1.7, ROT= 198.0, 1.7
2025-08-23T22:21:22.216Z,1755987682.216 [DAT](INFO): got valid direction response:
22:21:21.5896 LVL= 27696, 21617, 19634, 22835, AGC= 67, IDX= 3, 0.03,-1.680, 0.670,-0.883,-0.551, PHS=-1.027, 1.266,-0.376, RAW= 314.0, 1.4, CAL= 312.0, -1.7, ROT= 198.0, 1.7
2025-08-23T22:21:22.217Z,1755987682.217 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-23T22:21:22.222Z,1755987682.222 [DAT](INFO): direction in FSK: [-0.950638,-0.308881,-0.029666]
2025-08-23T22:21:22.222Z,1755987682.222 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:22.234Z,1755987682.234 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.117481
2025-08-23T22:21:22.455Z,1755987682.455 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.338219
2025-08-23T22:21:22.611Z,1755987682.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.700000 m,
deltaT: 0.505376 s,
deltaX: 0.300000 m,
approachRate: 0.593618 m/s,
rangeRepo size: 4
2025-08-23T22:21:22.627Z,1755987682.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.613792 m,
bearing: 344.478149 deg,
lat: 36.779418 deg,
lon: -121.859562 deg,
deltaT: 1.512740 s,
deltaX: 0.596191 m,
approachRate: 0.394114 m/s,
posRepo size: 4
2025-08-23T22:21:22.628Z,1755987682.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m.
2025-08-23T22:21:22.707Z,1755987682.707 [DAT](INFO): DAT read: Rx Time:22:21:22.0896
2025-08-23T22:21:22.708Z,1755987682.708 [DAT](INFO): Rx dataTimestamp_ set to:1755987682.707426
2025-08-23T22:21:22.709Z,1755987682.709 [DAT](INFO): DAT read: Bearing 131.8, -16.7 (Local)
2025-08-23T22:21:22.710Z,1755987682.710 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.8, -16.7 (Local)
2025-08-23T22:21:22.712Z,1755987682.712 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.3
2025-08-23T22:21:22.717Z,1755987682.717 [DAT](INFO): DAT read: 22:21:22.0896 LVL= 32752, 20065, 30066, 32755, AGC= 66, IDX= 499, 0.17,-1.983, 0.365,-1.174,-0.844, PHS=-1.037, 1.254,-0.374, RAW= 313.7, 1.6, CAL= 311.5, -1.5, ROT= 198.5, 1.5
2025-08-23T22:21:22.719Z,1755987682.719 [DAT](INFO): got valid direction response:
22:21:22.0896 LVL= 32752, 20065, 30066, 32755, AGC= 66, IDX= 499, 0.17,-1.983, 0.365,-1.174,-0.844, PHS=-1.037, 1.254,-0.374, RAW= 313.7, 1.6, CAL= 311.5, -1.5, ROT= 198.5, 1.5
2025-08-23T22:21:22.719Z,1755987682.719 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-23T22:21:22.721Z,1755987682.721 [DAT](INFO): direction in FSK: [-0.947999,-0.317196,-0.026177]
2025-08-23T22:21:22.737Z,1755987682.737 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:22.747Z,1755987682.747 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.630104
2025-08-23T22:21:22.959Z,1755987682.959 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.842255
2025-08-23T22:21:22.969Z,1755987682.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.700000 m,
deltaT: 0.503132 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:22.972Z,1755987682.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.613792 m,
bearing: 344.918305 deg,
lat: 36.779418 deg,
lon: -121.859560 deg,
deltaT: 0.503132 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:21:22.972Z,1755987682.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m.
2025-08-23T22:21:23.212Z,1755987683.212 [DAT](INFO): DAT read: Rx Time:22:21:22.5898
2025-08-23T22:21:23.212Z,1755987683.212 [DAT](INFO): Rx dataTimestamp_ set to:1755987683.212130
2025-08-23T22:21:23.222Z,1755987683.222 [DAT](INFO): DAT read: Bearing 132.2, -16.4 (Local)
2025-08-23T22:21:23.223Z,1755987683.223 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.2, -16.4 (Local)
2025-08-23T22:21:23.225Z,1755987683.225 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.3
2025-08-23T22:21:23.229Z,1755987683.229 [DAT](INFO): DAT read: 22:21:22.5898 LVL= 32752, 18161, 31378, 32755, AGC= 63, IDX= 501, 0.36,-0.917, 1.434,-0.119, 0.204, PHS=-1.019, 1.275,-0.367, RAW= 314.0, 1.1, CAL= 312.0, -2.0, ROT= 198.0, 2.0
2025-08-23T22:21:23.230Z,1755987683.230 [DAT](INFO): got valid direction response:
22:21:22.5898 LVL= 32752, 18161, 31378, 32755, AGC= 63, IDX= 501, 0.36,-0.917, 1.434,-0.119, 0.204, PHS=-1.019, 1.275,-0.367, RAW= 314.0, 1.1, CAL= 312.0, -2.0, ROT= 198.0, 2.0
2025-08-23T22:21:23.231Z,1755987683.231 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-23T22:21:23.232Z,1755987683.232 [DAT](INFO): direction in FSK: [-0.950477,-0.308829,-0.034899]
2025-08-23T22:21:23.232Z,1755987683.232 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:23.235Z,1755987683.235 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.118961
2025-08-23T22:21:23.453Z,1755987683.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.000000 m,
deltaT: 0.504704 s,
deltaX: 0.300000 m,
approachRate: 0.594408 m/s,
rangeRepo size: 4
2025-08-23T22:21:23.459Z,1755987683.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.911934 m,
bearing: 344.282526 deg,
lat: 36.779418 deg,
lon: -121.859558 deg,
deltaT: 0.504704 s,
deltaX: 0.298141 m,
approachRate: 0.590725 m/s,
posRepo size: 4
2025-08-23T22:21:23.460Z,1755987683.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:21:23.463Z,1755987683.463 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.346230
2025-08-23T22:21:23.715Z,1755987683.715 [DAT](INFO): DAT read: Rx Time:22:21:23.0898
2025-08-23T22:21:23.716Z,1755987683.716 [DAT](INFO): Rx dataTimestamp_ set to:1755987683.715390
2025-08-23T22:21:23.717Z,1755987683.717 [DAT](INFO): DAT read: Bearing 131.4, -17.1 (Local)
2025-08-23T22:21:23.717Z,1755987683.717 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.4, -17.1 (Local)
2025-08-23T22:21:23.719Z,1755987683.719 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.3
2025-08-23T22:21:23.724Z,1755987683.724 [DAT](INFO): DAT read: 22:21:23.0898 LVL= 32752, 19441, 32674, 32755, AGC= 67, IDX= 502,-0.46, 3.059,-0.857,-2.404,-2.069, PHS=-1.054, 1.257,-0.379, RAW= 313.5, 1.7, CAL= 311.3, -1.3, ROT= 198.7, 1.3
2025-08-23T22:21:23.730Z,1755987683.730 [DAT](INFO): got valid direction response:
22:21:23.0898 LVL= 32752, 19441, 32674, 32755, AGC= 67, IDX= 502,-0.46, 3.059,-0.857,-2.404,-2.069, PHS=-1.054, 1.257,-0.379, RAW= 313.5, 1.7, CAL= 311.3, -1.3, ROT= 198.7, 1.3
2025-08-23T22:21:23.730Z,1755987683.730 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-23T22:21:23.731Z,1755987683.731 [DAT](INFO): direction in FSK: [-0.946966,-0.320530,-0.022687]
2025-08-23T22:21:23.731Z,1755987683.731 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:23.735Z,1755987683.735 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.618378
2025-08-23T22:21:23.867Z,1755987683.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.000000 m,
deltaT: 0.503260 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:23.869Z,1755987683.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.911934 m,
bearing: 344.957244 deg,
lat: 36.779419 deg,
lon: -121.859557 deg,
deltaT: 0.503260 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:21:23.871Z,1755987683.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:21:23.967Z,1755987683.967 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.850983
2025-08-23T22:21:24.219Z,1755987684.219 [DAT](INFO): DAT read: Rx Time:22:21:23.5900
2025-08-23T22:21:24.220Z,1755987684.220 [DAT](INFO): Rx dataTimestamp_ set to:1755987684.219367
2025-08-23T22:21:24.221Z,1755987684.221 [DAT](INFO): DAT read: Bearing 131.7, -16.4 (Local)
2025-08-23T22:21:24.221Z,1755987684.221 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.7, -16.4 (Local)
2025-08-23T22:21:24.224Z,1755987684.224 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.3
2025-08-23T22:21:24.229Z,1755987684.229 [DAT](INFO): DAT read: 22:21:23.5900 LVL= 32752, 21745, 30370, 32755, AGC= 63, IDX= 504,-0.29,-2.803,-0.455,-2.009,-1.677, PHS=-1.024, 1.267,-0.376, RAW= 314.1, 1.3, CAL= 312.0, -1.7, ROT= 198.0, 1.7
2025-08-23T22:21:24.230Z,1755987684.230 [DAT](INFO): got valid direction response:
22:21:23.5900 LVL= 32752, 21745, 30370, 32755, AGC= 63, IDX= 504,-0.29,-2.803,-0.455,-2.009,-1.677, PHS=-1.024, 1.267,-0.376, RAW= 314.1, 1.3, CAL= 312.0, -1.7, ROT= 198.0, 1.7
2025-08-23T22:21:24.230Z,1755987684.230 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-23T22:21:24.231Z,1755987684.231 [DAT](INFO): direction in FSK: [-0.950638,-0.308881,-0.029666]
2025-08-23T22:21:24.231Z,1755987684.231 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:24.235Z,1755987684.235 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.118679
2025-08-23T22:21:24.248Z,1755987684.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.300000 m,
deltaT: 0.503977 s,
deltaX: 0.300000 m,
approachRate: 0.595266 m/s,
rangeRepo size: 4
2025-08-23T22:21:24.275Z,1755987684.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.210032 m,
bearing: 344.223151 deg,
lat: 36.779419 deg,
lon: -121.859557 deg,
deltaT: 0.503977 s,
deltaX: 0.298099 m,
approachRate: 0.591492 m/s,
posRepo size: 4
2025-08-23T22:21:24.276Z,1755987684.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-08-23T22:21:24.471Z,1755987684.471 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.354607
2025-08-23T22:21:24.693Z,1755987684.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-08-23T22:21:24.723Z,1755987684.723 [DAT](INFO): DAT read: Rx Time:22:21:24.0900
2025-08-23T22:21:24.724Z,1755987684.724 [DAT](INFO): Rx dataTimestamp_ set to:1755987684.723331
2025-08-23T22:21:24.725Z,1755987684.725 [DAT](INFO): DAT read: Bearing 131.7, -16.7 (Local)
2025-08-23T22:21:24.725Z,1755987684.725 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.7, -16.7 (Local)
2025-08-23T22:21:24.727Z,1755987684.727 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.2
2025-08-23T22:21:24.732Z,1755987684.732 [DAT](INFO): DAT read: 22:21:24.0900 LVL= 32752, 19089, 27090, 30867, AGC= 64, IDX= 504,-0.21, 2.694,-1.220,-2.779,-2.454, PHS=-1.033, 1.278,-0.369, RAW= 313.8, 1.2, CAL= 311.8, -1.8, ROT= 198.2, 1.8
2025-08-23T22:21:24.733Z,1755987684.733 [DAT](INFO): got valid direction response:
22:21:24.0900 LVL= 32752, 19089, 27090, 30867, AGC= 64, IDX= 504,-0.21, 2.694,-1.220,-2.779,-2.454, PHS=-1.033, 1.278,-0.369, RAW= 313.8, 1.2, CAL= 311.8, -1.8, ROT= 198.2, 1.8
2025-08-23T22:21:24.733Z,1755987684.733 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-23T22:21:24.734Z,1755987684.734 [DAT](INFO): direction in FSK: [-0.949503,-0.312181,-0.031411]
2025-08-23T22:21:24.735Z,1755987684.735 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:24.740Z,1755987684.740 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.623562
2025-08-23T22:21:24.975Z,1755987684.975 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.858089
2025-08-23T22:21:25.050Z,1755987685.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.300000 m,
deltaT: 0.503964 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:25.052Z,1755987685.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.210043 m,
bearing: 344.260386 deg,
lat: 36.779419 deg,
lon: -121.859556 deg,
deltaT: 0.503964 s,
deltaX: 0.000010 m,
approachRate: 0.000021 m/s,
posRepo size: 4
2025-08-23T22:21:25.052Z,1755987685.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-08-23T22:21:25.227Z,1755987685.227 [DAT](INFO): DAT read: Rx Time:22:21:24.5902
2025-08-23T22:21:25.228Z,1755987685.228 [DAT](INFO): Rx dataTimestamp_ set to:1755987685.227456
2025-08-23T22:21:25.229Z,1755987685.229 [DAT](INFO): DAT read: Bearing 131.7, -16.6 (Local)
2025-08-23T22:21:25.230Z,1755987685.230 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.7, -16.6 (Local)
2025-08-23T22:21:25.232Z,1755987685.232 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.3
2025-08-23T22:21:25.236Z,1755987685.236 [DAT](INFO): DAT read: 22:21:24.5902 LVL= 32752, 19377, 30002, 32755, AGC= 63, IDX= 505,-0.14, 2.890,-1.035,-2.593,-2.268, PHS=-1.023, 1.278,-0.369, RAW= 314.0, 1.1, CAL= 312.0, -1.9, ROT= 198.0, 1.9
2025-08-23T22:21:25.240Z,1755987685.240 [DAT](INFO): got valid direction response:
22:21:24.5902 LVL= 32752, 19377, 30002, 32755, AGC= 63, IDX= 505,-0.14, 2.890,-1.035,-2.593,-2.268, PHS=-1.023, 1.278,-0.369, RAW= 314.0, 1.1, CAL= 312.0, -1.9, ROT= 198.0, 1.9
2025-08-23T22:21:25.242Z,1755987685.242 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-23T22:21:25.250Z,1755987685.250 [DAT](INFO): direction in FSK: [-0.950534,-0.308847,-0.033155]
2025-08-23T22:21:25.250Z,1755987685.250 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:25.258Z,1755987685.258 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.141636
2025-08-23T22:21:25.479Z,1755987685.479 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.362122
2025-08-23T22:21:25.501Z,1755987685.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.600000 m,
deltaT: 0.504125 s,
deltaX: 0.300000 m,
approachRate: 0.595091 m/s,
rangeRepo size: 4
2025-08-23T22:21:25.507Z,1755987685.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.508157 m,
bearing: 343.978411 deg,
lat: 36.779419 deg,
lon: -121.859556 deg,
deltaT: 0.504125 s,
deltaX: 0.298114 m,
approachRate: 0.591349 m/s,
posRepo size: 4
2025-08-23T22:21:25.508Z,1755987685.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-08-23T22:21:25.736Z,1755987685.736 [DAT](INFO): DAT read: Rx Time:22:21:25.0902
2025-08-23T22:21:25.736Z,1755987685.736 [DAT](INFO): Rx dataTimestamp_ set to:1755987685.735778
2025-08-23T22:21:25.737Z,1755987685.737 [DAT](INFO): DAT read: Bearing 131.7, -16.9 (Local)
2025-08-23T22:21:25.738Z,1755987685.738 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.7, -16.9 (Local)
2025-08-23T22:21:25.740Z,1755987685.740 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.3
2025-08-23T22:21:25.745Z,1755987685.745 [DAT](INFO): DAT read: 22:21:25.0902 LVL= 31904, 17233, 28258, 32307, AGC= 63, IDX= 505,-0.10, 1.616,-2.311, 2.425, 2.739, PHS=-1.021, 1.279,-0.357, RAW= 313.7, 1.0, CAL= 311.7, -2.1, ROT= 198.3, 2.1
2025-08-23T22:21:25.748Z,1755987685.748 [DAT](INFO): got valid direction response:
22:21:25.0902 LVL= 31904, 17233, 28258, 32307, AGC= 63, IDX= 505,-0.10, 1.616,-2.311, 2.425, 2.739, PHS=-1.021, 1.279,-0.357, RAW= 313.7, 1.0, CAL= 311.7, -2.1, ROT= 198.3, 2.1
2025-08-23T22:21:25.748Z,1755987685.748 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-23T22:21:25.749Z,1755987685.749 [DAT](INFO): direction in FSK: [-0.948788,-0.313782,-0.036644]
2025-08-23T22:21:25.749Z,1755987685.749 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:25.753Z,1755987685.753 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.636284
2025-08-23T22:21:25.873Z,1755987685.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.600000 m,
deltaT: 0.508322 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:25.887Z,1755987685.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.508157 m,
bearing: 344.219316 deg,
lat: 36.779419 deg,
lon: -121.859555 deg,
deltaT: 0.508322 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:21:25.888Z,1755987685.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-08-23T22:21:25.987Z,1755987685.987 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.870281
2025-08-23T22:21:26.239Z,1755987686.239 [DAT](INFO): DAT read: Rx Time:22:21:25.5904
2025-08-23T22:21:26.240Z,1755987686.240 [DAT](INFO): Rx dataTimestamp_ set to:1755987686.239318
2025-08-23T22:21:26.241Z,1755987686.241 [DAT](INFO): DAT read: Bearing 131.1, -17.1 (Local)
2025-08-23T22:21:26.241Z,1755987686.241 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.1, -17.1 (Local)
2025-08-23T22:21:26.243Z,1755987686.243 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.2
2025-08-23T22:21:26.252Z,1755987686.252 [DAT](INFO): DAT read: 22:21:25.5904 LVL= 31328, 17009, 27090, 30803, AGC= 64, IDX= 507,-0.09, 3.138,-0.792,-2.331,-2.011, PHS=-1.032, 1.264,-0.364, RAW= 313.6, 1.3, CAL= 311.5, -1.7, ROT= 198.5, 1.7
2025-08-23T22:21:26.253Z,1755987686.253 [DAT](INFO): got valid direction response:
22:21:25.5904 LVL= 31328, 17009, 27090, 30803, AGC= 64, IDX= 507,-0.09, 3.138,-0.792,-2.331,-2.011, PHS=-1.032, 1.264,-0.364, RAW= 313.6, 1.3, CAL= 311.5, -1.7, ROT= 198.5, 1.7
2025-08-23T22:21:26.254Z,1755987686.254 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-23T22:21:26.255Z,1755987686.255 [DAT](INFO): direction in FSK: [-0.947906,-0.317165,-0.029666]
2025-08-23T22:21:26.255Z,1755987686.255 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:26.280Z,1755987686.280 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.163372
2025-08-23T22:21:26.296Z,1755987686.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 0.503540 s,
deltaX: 0.299999 m,
approachRate: 0.595780 m/s,
rangeRepo size: 4
2025-08-23T22:21:26.302Z,1755987686.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.806275 m,
bearing: 344.395613 deg,
lat: 36.779420 deg,
lon: -121.859555 deg,
deltaT: 0.503540 s,
deltaX: 0.298119 m,
approachRate: 0.592045 m/s,
posRepo size: 4
2025-08-23T22:21:26.303Z,1755987686.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:21:26.491Z,1755987686.491 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.374226
2025-08-23T22:21:26.702Z,1755987686.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:21:26.744Z,1755987686.744 [DAT](INFO): DAT read: Rx Time:22:21:26.0904
2025-08-23T22:21:26.745Z,1755987686.745 [DAT](INFO): Rx dataTimestamp_ set to:1755987686.744247
2025-08-23T22:21:26.747Z,1755987686.747 [DAT](INFO): DAT read: Bearing 131.4, -16.9 (Local)
2025-08-23T22:21:26.747Z,1755987686.747 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.4, -16.9 (Local)
2025-08-23T22:21:26.750Z,1755987686.750 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.2
2025-08-23T22:21:26.757Z,1755987686.757 [DAT](INFO): DAT read: 22:21:26.0904 LVL= 32752, 19185, 30706, 32755, AGC= 63, IDX= 507,-0.08, 2.047,-1.851, 2.865,-3.101, PHS=-1.033, 1.295,-0.362, RAW= 313.7, 1.0, CAL= 311.7, -2.1, ROT= 198.3, 2.1
2025-08-23T22:21:26.758Z,1755987686.758 [DAT](INFO): got valid direction response:
22:21:26.0904 LVL= 32752, 19185, 30706, 32755, AGC= 63, IDX= 507,-0.08, 2.047,-1.851, 2.865,-3.101, PHS=-1.033, 1.295,-0.362, RAW= 313.7, 1.0, CAL= 311.7, -2.1, ROT= 198.3, 2.1
2025-08-23T22:21:26.759Z,1755987686.759 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-23T22:21:26.761Z,1755987686.761 [DAT](INFO): direction in FSK: [-0.948788,-0.313782,-0.036644]
2025-08-23T22:21:26.782Z,1755987686.782 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:26.792Z,1755987686.792 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.675621
2025-08-23T22:21:26.995Z,1755987686.995 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.878075
2025-08-23T22:21:27.052Z,1755987687.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 0.504929 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:27.054Z,1755987687.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.806269 m,
bearing: 344.020277 deg,
lat: 36.779419 deg,
lon: -121.859555 deg,
deltaT: 0.504929 s,
deltaX: -0.000007 m,
approachRate: -0.000013 m/s,
posRepo size: 4
2025-08-23T22:21:27.055Z,1755987687.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:21:27.247Z,1755987687.247 [DAT](INFO): DAT read: Rx Time:22:21:26.5906
2025-08-23T22:21:27.247Z,1755987687.247 [DAT](INFO): Rx dataTimestamp_ set to:1755987687.247212
2025-08-23T22:21:27.249Z,1755987687.249 [DAT](INFO): DAT read: Bearing 131.0, -17.1 (Local)
2025-08-23T22:21:27.249Z,1755987687.249 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.0, -17.1 (Local)
2025-08-23T22:21:27.251Z,1755987687.251 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.3
2025-08-23T22:21:27.256Z,1755987687.256 [DAT](INFO): DAT read: 22:21:26.5906 LVL= 32752, 19953, 29394, 32755, AGC= 64, IDX= 509,-0.10, 3.132,-0.766,-2.332,-2.010, PHS=-1.040, 1.289,-0.366, RAW= 313.7, 1.1, CAL= 311.6, -1.9, ROT= 198.4, 1.9
2025-08-23T22:21:27.257Z,1755987687.257 [DAT](INFO): got valid direction response:
22:21:26.5906 LVL= 32752, 19953, 29394, 32755, AGC= 64, IDX= 509,-0.10, 3.132,-0.766,-2.332,-2.010, PHS=-1.040, 1.289,-0.366, RAW= 313.7, 1.1, CAL= 311.6, -1.9, ROT= 198.4, 1.9
2025-08-23T22:21:27.257Z,1755987687.257 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-23T22:21:27.292Z,1755987687.292 [DAT](INFO): direction in FSK: [-0.948354,-0.315475,-0.033155]
2025-08-23T22:21:27.292Z,1755987687.292 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:27.304Z,1755987687.304 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.187450
2025-08-23T22:21:27.499Z,1755987687.499 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.382221
2025-08-23T22:21:27.537Z,1755987687.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.200000 m,
deltaT: 0.502965 s,
deltaX: 0.300000 m,
approachRate: 0.596463 m/s,
rangeRepo size: 4
2025-08-23T22:21:27.539Z,1755987687.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.104382 m,
bearing: 344.092599 deg,
lat: 36.779420 deg,
lon: -121.859555 deg,
deltaT: 0.502965 s,
deltaX: 0.298113 m,
approachRate: 0.592711 m/s,
posRepo size: 4
2025-08-23T22:21:27.540Z,1755987687.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-23T22:21:27.751Z,1755987687.751 [DAT](INFO): DAT read: Rx Time:22:21:27.0906
2025-08-23T22:21:27.752Z,1755987687.752 [DAT](INFO): Rx dataTimestamp_ set to:1755987687.751299
2025-08-23T22:21:27.753Z,1755987687.753 [DAT](INFO): DAT read: Bearing 130.8, -17.4 (Local)
2025-08-23T22:21:27.754Z,1755987687.754 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.8, -17.4 (Local)
2025-08-23T22:21:27.756Z,1755987687.756 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.3
2025-08-23T22:21:27.766Z,1755987687.766 [DAT](INFO): DAT read: 22:21:27.0906 LVL= 32752, 19297, 28018, 32755, AGC= 64, IDX= 509,-0.11, 1.702,-2.219, 2.521, 2.836, PHS=-1.032, 1.273,-0.359, RAW= 313.5, 1.2, CAL= 311.5, -1.9, ROT= 198.5, 1.9
2025-08-23T22:21:27.767Z,1755987687.767 [DAT](INFO): got valid direction response:
22:21:27.0906 LVL= 32752, 19297, 28018, 32755, AGC= 64, IDX= 509,-0.11, 1.702,-2.219, 2.521, 2.836, PHS=-1.032, 1.273,-0.359, RAW= 313.5, 1.2, CAL= 311.5, -1.9, ROT= 198.5, 1.9
2025-08-23T22:21:27.768Z,1755987687.768 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-23T22:21:27.769Z,1755987687.769 [DAT](INFO): direction in FSK: [-0.947802,-0.317130,-0.033155]
2025-08-23T22:21:27.770Z,1755987687.770 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:27.788Z,1755987687.788 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.671555
2025-08-23T22:21:27.896Z,1755987687.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.200000 m,
deltaT: 0.504087 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:27.903Z,1755987687.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.104382 m,
bearing: 344.192146 deg,
lat: 36.779420 deg,
lon: -121.859554 deg,
deltaT: 0.504087 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:21:27.903Z,1755987687.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-23T22:21:28.003Z,1755987688.003 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.887009
2025-08-23T22:21:28.256Z,1755987688.256 [DAT](INFO): DAT read: Rx Time:22:21:27.5907
2025-08-23T22:21:28.257Z,1755987688.257 [DAT](INFO): Rx dataTimestamp_ set to:1755987688.256188
2025-08-23T22:21:28.259Z,1755987688.259 [DAT](INFO): DAT read: Bearing 130.7, -17.0 (Local)
2025-08-23T22:21:28.260Z,1755987688.260 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.7, -17.0 (Local)
2025-08-23T22:21:28.264Z,1755987688.264 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.3
2025-08-23T22:21:28.275Z,1755987688.275 [DAT](INFO): DAT read: 22:21:27.5907 LVL= 32752, 18625, 25042, 32019, AGC= 62, IDX= 510,-0.12, 1.344,-2.574, 2.150, 2.473, PHS=-1.027, 1.281,-0.367, RAW= 313.9, 1.1, CAL= 311.9, -1.9, ROT= 198.1, 1.9
2025-08-23T22:21:28.276Z,1755987688.276 [DAT](INFO): got valid direction response:
22:21:27.5907 LVL= 32752, 18625, 25042, 32019, AGC= 62, IDX= 510,-0.12, 1.344,-2.574, 2.150, 2.473, PHS=-1.027, 1.281,-0.367, RAW= 313.9, 1.1, CAL= 311.9, -1.9, ROT= 198.1, 1.9
2025-08-23T22:21:28.301Z,1755987688.301 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-23T22:21:28.301Z,1755987688.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-23T22:21:28.315Z,1755987688.315 [DAT](INFO): direction in FSK: [-0.949993,-0.310506,-0.033155]
2025-08-23T22:21:28.315Z,1755987688.315 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:28.339Z,1755987688.339 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.222122
2025-08-23T22:21:28.507Z,1755987688.507 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.390297
2025-08-23T22:21:28.714Z,1755987688.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 0.504889 s,
deltaX: 0.100000 m,
approachRate: 0.198064 m/s,
rangeRepo size: 4
2025-08-23T22:21:28.716Z,1755987688.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.203751 m,
bearing: 343.561087 deg,
lat: 36.779420 deg,
lon: -121.859554 deg,
deltaT: 0.504889 s,
deltaX: 0.099369 m,
approachRate: 0.196814 m/s,
posRepo size: 4
2025-08-23T22:21:28.716Z,1755987688.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:21:28.761Z,1755987688.761 [DAT](INFO): DAT read: Rx Time:22:21:28.0906
2025-08-23T22:21:28.762Z,1755987688.762 [DAT](INFO): Rx dataTimestamp_ set to:1755987688.761187
2025-08-23T22:21:28.764Z,1755987688.764 [DAT](INFO): DAT read: Bearing 130.9, -16.9 (Local)
2025-08-23T22:21:28.764Z,1755987688.764 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.9, -16.9 (Local)
2025-08-23T22:21:28.767Z,1755987688.767 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.3
2025-08-23T22:21:28.780Z,1755987688.780 [DAT](INFO): DAT read: 22:21:28.0906 LVL= 32752, 19537, 31458, 32755, AGC= 63, IDX= 510,-0.19, 0.230, 2.611, 1.036, 1.354, PHS=-1.023, 1.301,-0.363, RAW= 314.0, 0.8, CAL= 312.0, -2.2, ROT= 198.0, 2.2
2025-08-23T22:21:28.781Z,1755987688.781 [DAT](INFO): got valid direction response:
22:21:28.0906 LVL= 32752, 19537, 31458, 32755, AGC= 63, IDX= 510,-0.19, 0.230, 2.611, 1.036, 1.354, PHS=-1.023, 1.301,-0.363, RAW= 314.0, 0.8, CAL= 312.0, -2.2, ROT= 198.0, 2.2
2025-08-23T22:21:28.786Z,1755987688.786 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-23T22:21:28.788Z,1755987688.788 [DAT](INFO): direction in FSK: [-0.950356,-0.308789,-0.038388]
2025-08-23T22:21:28.788Z,1755987688.788 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:28.804Z,1755987688.804 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.686855
2025-08-23T22:21:29.011Z,1755987689.011 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.894142
2025-08-23T22:21:29.101Z,1755987689.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.200000 m,
deltaT: 0.504999 s,
deltaX: -0.100000 m,
approachRate: -0.198021 m/s,
rangeRepo size: 4
2025-08-23T22:21:29.116Z,1755987689.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.104386 m,
bearing: 343.337654 deg,
lat: 36.779419 deg,
lon: -121.859554 deg,
deltaT: 0.504999 s,
deltaX: -0.099364 m,
approachRate: -0.196761 m/s,
posRepo size: 4
2025-08-23T22:21:29.122Z,1755987689.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-08-23T22:21:29.264Z,1755987689.264 [DAT](INFO): DAT read: Rx Time:22:21:28.5908
2025-08-23T22:21:29.265Z,1755987689.265 [DAT](INFO): Rx dataTimestamp_ set to:1755987689.264443
2025-08-23T22:21:29.267Z,1755987689.267 [DAT](INFO): DAT read: Bearing 148.1, -4.2 (Local)
2025-08-23T22:21:29.268Z,1755987689.268 [DAT](INFO): Local bearing/azimuth received:
Bearing 148.1, -4.2 (Local)
2025-08-23T22:21:29.276Z,1755987689.276 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0
2025-08-23T22:21:29.295Z,1755987689.295 [DAT](INFO): DAT read: 22:21:28.5908 LVL= 32752, 18577, 30626, 32755, AGC= 64, IDX= 512,-0.27,-0.369, 1.610,-0.071,-0.040, PHS=-0.228, 1.694,-0.075, RAW= 325.9, -14.9, CAL= 326.2, -18.4, ROT= 183.8, 18.4
2025-08-23T22:21:29.296Z,1755987689.296 [DAT](INFO): got valid direction response:
22:21:28.5908 LVL= 32752, 18577, 30626, 32755, AGC= 64, IDX= 512,-0.27,-0.369, 1.610,-0.071,-0.040, PHS=-0.228, 1.694,-0.075, RAW= 325.9, -14.9, CAL= 326.2, -18.4, ROT= 183.8, 18.4
2025-08-23T22:21:29.297Z,1755987689.297 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-23T22:21:29.302Z,1755987689.302 [DAT](INFO): direction in FSK: [-0.946790,-0.062886,-0.315649]
2025-08-23T22:21:29.302Z,1755987689.302 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:29.310Z,1755987689.310 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.194054
2025-08-23T22:21:29.515Z,1755987689.515 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.398495
2025-08-23T22:21:29.521Z,1755987689.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.500000 m,
deltaT: 0.503256 s,
deltaX: 0.300000 m,
approachRate: 0.596118 m/s,
rangeRepo size: 4
2025-08-23T22:21:29.523Z,1755987689.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.402499 m,
bearing: 327.516643 deg,
lat: 36.779419 deg,
lon: -121.859554 deg,
deltaT: 0.503256 s,
deltaX: 0.298113 m,
approachRate: 0.592368 m/s,
posRepo size: 4
2025-08-23T22:21:29.524Z,1755987689.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:21:29.768Z,1755987689.768 [DAT](INFO): DAT read: Rx Time:22:21:29.0907
2025-08-23T22:21:29.769Z,1755987689.769 [DAT](INFO): Rx dataTimestamp_ set to:1755987689.768447
2025-08-23T22:21:29.780Z,1755987689.780 [DAT](INFO): DAT read: Bearing 127.3, -29.7 (Local)
2025-08-23T22:21:29.780Z,1755987689.780 [DAT](INFO): Local bearing/azimuth received:
Bearing 127.3, -29.7 (Local)
2025-08-23T22:21:29.785Z,1755987689.785 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.2
2025-08-23T22:21:29.789Z,1755987689.789 [DAT](INFO): DAT read: 22:21:29.0907 LVL= 32752, 17873, 27938, 31939, AGC= 63, IDX= 512,-0.42,-0.720, 0.749, 0.103, 0.149, PHS=-0.767, 0.645,-0.090, RAW= 301.4, 3.5, CAL= 299.1, -0.4, ROT= 210.9, 0.4
2025-08-23T22:21:29.791Z,1755987689.791 [DAT](INFO): got valid direction response:
22:21:29.0907 LVL= 32752, 17873, 27938, 31939, AGC= 63, IDX= 512,-0.42,-0.720, 0.749, 0.103, 0.149, PHS=-0.767, 0.645,-0.090, RAW= 301.4, 3.5, CAL= 299.1, -0.4, ROT= 210.9, 0.4
2025-08-23T22:21:29.792Z,1755987689.792 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-23T22:21:29.793Z,1755987689.793 [DAT](INFO): direction in FSK: [-0.858044,-0.513529,-0.006981]
2025-08-23T22:21:29.793Z,1755987689.793 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:29.797Z,1755987689.797 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.680073
2025-08-23T22:21:29.916Z,1755987689.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 0.504004 s,
deltaX: -0.200000 m,
approachRate: -0.396822 m/s,
rangeRepo size: 4
2025-08-23T22:21:29.919Z,1755987689.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.203757 m,
bearing: 356.281567 deg,
lat: 36.779419 deg,
lon: -121.859554 deg,
deltaT: 0.504004 s,
deltaX: -0.198742 m,
approachRate: -0.394326 m/s,
posRepo size: 4
2025-08-23T22:21:29.920Z,1755987689.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:21:30.019Z,1755987690.019 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.902660
2025-08-23T22:21:30.271Z,1755987690.271 [DAT](INFO): DAT read: Rx Time:22:21:29.5909
2025-08-23T22:21:30.272Z,1755987690.272 [DAT](INFO): Rx dataTimestamp_ set to:1755987690.271582
2025-08-23T22:21:30.274Z,1755987690.274 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.3
2025-08-23T22:21:30.275Z,1755987690.275 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-23T22:21:30.277Z,1755987690.277 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.160160
2025-08-23T22:21:30.343Z,1755987690.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.600000 m,
deltaT: 0.503135 s,
deltaX: 0.300000 m,
approachRate: 0.596262 m/s,
rangeRepo size: 4
2025-08-23T22:21:30.344Z,1755987690.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:21:30.523Z,1755987690.523 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.406097
2025-08-23T22:21:30.707Z,1755987690.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:21:30.778Z,1755987690.778 [DAT](INFO): DAT read: Rx Time:22:21:30.0909
2025-08-23T22:21:30.779Z,1755987690.779 [DAT](INFO): Rx dataTimestamp_ set to:1755987690.778162
2025-08-23T22:21:30.780Z,1755987690.780 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.2
2025-08-23T22:21:30.782Z,1755987690.782 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-08-23T22:21:30.783Z,1755987690.783 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.666653
2025-08-23T22:21:31.027Z,1755987691.027 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.910252
2025-08-23T22:21:31.092Z,1755987691.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.600000 m,
deltaT: 0.506580 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:31.092Z,1755987691.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:21:31.281Z,1755987691.281 [DAT](INFO): DAT read: Rx Time:22:21:30.5911
2025-08-23T22:21:31.282Z,1755987691.282 [DAT](INFO): Rx dataTimestamp_ set to:1755987691.281195
2025-08-23T22:21:31.283Z,1755987691.283 [DAT](INFO): DAT read: Bearing 130.0, -17.6 (Local)
2025-08-23T22:21:31.283Z,1755987691.283 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.0, -17.6 (Local)
2025-08-23T22:21:31.286Z,1755987691.286 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.2
2025-08-23T22:21:31.294Z,1755987691.294 [DAT](INFO): DAT read: 22:21:30.5911 LVL= 27232, 20129, 21378, 24707, AGC= 67, IDX= 3, 0.06,-2.059, 0.292,-1.245,-0.935, PHS=-1.022, 1.272,-0.354, RAW= 313.6, 1.0, CAL= 311.5, -2.0, ROT= 198.5, 2.0
2025-08-23T22:21:31.295Z,1755987691.295 [DAT](INFO): got valid direction response:
22:21:30.5911 LVL= 27232, 20129, 21378, 24707, AGC= 67, IDX= 3, 0.06,-2.059, 0.292,-1.245,-0.935, PHS=-1.022, 1.272,-0.354, RAW= 313.6, 1.0, CAL= 311.5, -2.0, ROT= 198.5, 2.0
2025-08-23T22:21:31.295Z,1755987691.295 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-23T22:21:31.296Z,1755987691.296 [DAT](INFO): direction in FSK: [-0.947746,-0.317111,-0.034899]
2025-08-23T22:21:31.296Z,1755987691.296 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:31.300Z,1755987691.300 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.183456
2025-08-23T22:21:31.531Z,1755987691.531 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.414192
2025-08-23T22:21:31.535Z,1755987691.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 0.503033 s,
deltaX: 0.299999 m,
approachRate: 0.596381 m/s,
rangeRepo size: 4
2025-08-23T22:21:31.537Z,1755987691.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.799979 m,
bearing: 343.417108 deg,
lat: 36.779419 deg,
lon: -121.859554 deg,
deltaT: 1.512748 s,
deltaX: 0.596222 m,
approachRate: 0.394132 m/s,
posRepo size: 4
2025-08-23T22:21:31.554Z,1755987691.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-23T22:21:31.783Z,1755987691.783 [DAT](INFO): DAT read: Rx Time:22:21:31.0911
2025-08-23T22:21:31.784Z,1755987691.784 [DAT](INFO): Rx dataTimestamp_ set to:1755987691.783634
2025-08-23T22:21:31.785Z,1755987691.785 [DAT](INFO): DAT read: Bearing 130.4, -17.4 (Local)
2025-08-23T22:21:31.786Z,1755987691.786 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.4, -17.4 (Local)
2025-08-23T22:21:31.788Z,1755987691.788 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.2
2025-08-23T22:21:31.792Z,1755987691.792 [DAT](INFO): DAT read: 22:21:31.0911 LVL= 32752, 19649, 29586, 32755, AGC= 64, IDX= 499,-0.07, 1.773,-2.159, 2.581, 2.880, PHS=-1.005, 1.289,-0.343, RAW= 313.7, 0.6, CAL= 311.8, -2.5, ROT= 198.2, 2.5
2025-08-23T22:21:31.793Z,1755987691.793 [DAT](INFO): got valid direction response:
22:21:31.0911 LVL= 32752, 19649, 29586, 32755, AGC= 64, IDX= 499,-0.07, 1.773,-2.159, 2.581, 2.880, PHS=-1.005, 1.289,-0.343, RAW= 313.7, 0.6, CAL= 311.8, -2.5, ROT= 198.2, 2.5
2025-08-23T22:21:31.796Z,1755987691.796 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-23T22:21:31.797Z,1755987691.797 [DAT](INFO): direction in FSK: [-0.949068,-0.312038,-0.043619]
2025-08-23T22:21:31.797Z,1755987691.797 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:31.800Z,1755987691.800 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.683968
2025-08-23T22:21:31.924Z,1755987691.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 0.502439 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:31.930Z,1755987691.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.799979 m,
bearing: 343.002869 deg,
lat: 36.779418 deg,
lon: -121.859553 deg,
deltaT: 0.502439 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:21:31.931Z,1755987691.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-23T22:21:32.036Z,1755987692.036 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.919128
2025-08-23T22:21:32.287Z,1755987692.287 [DAT](INFO): DAT read: Rx Time:22:21:31.5912
2025-08-23T22:21:32.288Z,1755987692.288 [DAT](INFO): Rx dataTimestamp_ set to:1755987692.287320
2025-08-23T22:21:32.289Z,1755987692.289 [DAT](INFO): DAT read: Bearing 130.7, -17.0 (Local)
2025-08-23T22:21:32.289Z,1755987692.289 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.7, -17.0 (Local)
2025-08-23T22:21:32.291Z,1755987692.291 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.2
2025-08-23T22:21:32.296Z,1755987692.296 [DAT](INFO): DAT read: 22:21:31.5912 LVL= 32752, 19633, 30194, 32755, AGC= 63, IDX= 500,-0.26, 1.610,-2.301, 2.410, 2.712, PHS=-1.000, 1.315,-0.346, RAW= 314.1, 0.3, CAL= 312.2, -2.8, ROT= 197.8, 2.8
2025-08-23T22:21:32.297Z,1755987692.297 [DAT](INFO): got valid direction response:
22:21:31.5912 LVL= 32752, 19633, 30194, 32755, AGC= 63, IDX= 500,-0.26, 1.610,-2.301, 2.410, 2.712, PHS=-1.000, 1.315,-0.346, RAW= 314.1, 0.3, CAL= 312.2, -2.8, ROT= 197.8, 2.8
2025-08-23T22:21:32.298Z,1755987692.298 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-23T22:21:32.299Z,1755987692.299 [DAT](INFO): direction in FSK: [-0.950993,-0.305330,-0.048850]
2025-08-23T22:21:32.299Z,1755987692.299 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:32.303Z,1755987692.303 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.186092
2025-08-23T22:21:32.432Z,1755987692.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.100000 m,
deltaT: 0.503686 s,
deltaX: 0.200001 m,
approachRate: 0.397074 m/s,
rangeRepo size: 4
2025-08-23T22:21:32.440Z,1755987692.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.998706 m,
bearing: 342.574409 deg,
lat: 36.779419 deg,
lon: -121.859553 deg,
deltaT: 0.503686 s,
deltaX: 0.198727 m,
approachRate: 0.394545 m/s,
posRepo size: 4
2025-08-23T22:21:32.446Z,1755987692.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-23T22:21:32.540Z,1755987692.540 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.423409
2025-08-23T22:21:32.761Z,1755987692.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-23T22:21:32.791Z,1755987692.791 [DAT](INFO): DAT read: Rx Time:22:21:32.0911
2025-08-23T22:21:32.792Z,1755987692.792 [DAT](INFO): Rx dataTimestamp_ set to:1755987692.791293
2025-08-23T22:21:32.793Z,1755987692.793 [DAT](INFO): DAT read: Bearing 130.1, -17.5 (Local)
2025-08-23T22:21:32.793Z,1755987692.793 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -17.5 (Local)
2025-08-23T22:21:32.795Z,1755987692.795 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.2
2025-08-23T22:21:32.800Z,1755987692.800 [DAT](INFO): DAT read: 22:21:32.0911 LVL= 32752, 18001, 28594, 32755, AGC= 64, IDX= 499, 0.41, 2.279,-1.665, 3.087,-2.898, PHS=-1.004, 1.278,-0.342, RAW= 313.6, 0.7, CAL= 311.7, -2.4, ROT= 198.3, 2.4
2025-08-23T22:21:32.801Z,1755987692.801 [DAT](INFO): got valid direction response:
22:21:32.0911 LVL= 32752, 18001, 28594, 32755, AGC= 64, IDX= 499, 0.41, 2.279,-1.665, 3.087,-2.898, PHS=-1.004, 1.278,-0.342, RAW= 313.6, 0.7, CAL= 311.7, -2.4, ROT= 198.3, 2.4
2025-08-23T22:21:32.801Z,1755987692.801 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-23T22:21:32.808Z,1755987692.808 [DAT](INFO): direction in FSK: [-0.948593,-0.313717,-0.041876]
2025-08-23T22:21:32.808Z,1755987692.808 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:32.813Z,1755987692.813 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.696213
2025-08-23T22:21:33.043Z,1755987693.043 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.926212
2025-08-23T22:21:33.220Z,1755987693.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 0.503973 s,
deltaX: -0.200001 m,
approachRate: -0.396848 m/s,
rangeRepo size: 4
2025-08-23T22:21:33.231Z,1755987693.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.799937 m,
bearing: 342.897069 deg,
lat: 36.779419 deg,
lon: -121.859553 deg,
deltaT: 0.503973 s,
deltaX: -0.198769 m,
approachRate: -0.394403 m/s,
posRepo size: 4
2025-08-23T22:21:33.231Z,1755987693.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-23T22:21:33.295Z,1755987693.295 [DAT](INFO): DAT read: Rx Time:22:21:32.5913
2025-08-23T22:21:33.296Z,1755987693.296 [DAT](INFO): Rx dataTimestamp_ set to:1755987693.295371
2025-08-23T22:21:33.297Z,1755987693.297 [DAT](INFO): DAT read: Bearing 130.1, -17.2 (Local)
2025-08-23T22:21:33.297Z,1755987693.297 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -17.2 (Local)
2025-08-23T22:21:33.299Z,1755987693.299 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2
2025-08-23T22:21:33.304Z,1755987693.304 [DAT](INFO): DAT read: 22:21:32.5913 LVL= 32752, 16977, 31634, 32755, AGC= 64, IDX= 501, 0.17,-2.507,-0.186,-1.716,-1.412, PHS=-0.992, 1.271,-0.348, RAW= 314.0, 0.7, CAL= 312.0, -2.4, ROT= 198.0, 2.4
2025-08-23T22:21:33.305Z,1755987693.305 [DAT](INFO): got valid direction response:
22:21:32.5913 LVL= 32752, 16977, 31634, 32755, AGC= 64, IDX= 501, 0.17,-2.507,-0.186,-1.716,-1.412, PHS=-0.992, 1.271,-0.348, RAW= 314.0, 0.7, CAL= 312.0, -2.4, ROT= 198.0, 2.4
2025-08-23T22:21:33.305Z,1755987693.305 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-23T22:21:33.306Z,1755987693.306 [DAT](INFO): direction in FSK: [-0.950222,-0.308746,-0.041876]
2025-08-23T22:21:33.307Z,1755987693.307 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:33.311Z,1755987693.311 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.194393
2025-08-23T22:21:33.547Z,1755987693.547 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.430328
2025-08-23T22:21:33.684Z,1755987693.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.200001 m,
deltaT: 0.504078 s,
deltaX: 0.300001 m,
approachRate: 0.595148 m/s,
rangeRepo size: 4
2025-08-23T22:21:33.686Z,1755987693.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.098051 m,
bearing: 342.527733 deg,
lat: 36.779418 deg,
lon: -121.859553 deg,
deltaT: 0.504078 s,
deltaX: 0.298114 m,
approachRate: 0.591404 m/s,
posRepo size: 4
2025-08-23T22:21:33.687Z,1755987693.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:21:33.799Z,1755987693.799 [DAT](INFO): DAT read: Rx Time:22:21:33.0913
2025-08-23T22:21:33.800Z,1755987693.800 [DAT](INFO): Rx dataTimestamp_ set to:1755987693.799258
2025-08-23T22:21:33.801Z,1755987693.801 [DAT](INFO): DAT read: Bearing 130.4, -17.1 (Local)
2025-08-23T22:21:33.801Z,1755987693.801 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.4, -17.1 (Local)
2025-08-23T22:21:33.803Z,1755987693.803 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.2
2025-08-23T22:21:33.805Z,1755987693.805 [DAT](INFO): DAT read: 22:21:33.0913 LVL= 31056, 15921, 26994, 30099, AGC= 64, IDX= 501,-0.00, 1.439,-2.498, 2..8, ROT= 197.8, 2.8
2025-08-23T22:21:33.806Z,1755987693.806 [DAT](INFO): unknown deviceResponse_: 22:21:33.0913 LVL= 31056, 15921, 26994, 30099, AGC= 64, IDX= 501,-0.00, 1.439,-2.498, 2..8, ROT= 197.8, 2.8
2025-08-23T22:21:33.807Z,1755987693.807 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-08-23T22:21:33.808Z,1755987693.808 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.691067
2025-08-23T22:21:33.940Z,1755987693.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.200001 m,
deltaT: 0.503887 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:33.941Z,1755987693.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:21:34.051Z,1755987694.051 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.934155
2025-08-23T22:21:34.303Z,1755987694.303 [DAT](INFO): DAT read: Rx Time:22:21:33.5915
2025-08-23T22:21:34.304Z,1755987694.304 [DAT](INFO): Rx dataTimestamp_ set to:1755987694.303303
2025-08-23T22:21:34.305Z,1755987694.305 [DAT](INFO): DAT read: Bearing 130.4, -16.5 (Local)
2025-08-23T22:21:34.305Z,1755987694.305 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.4, -16.5 (Local)
2025-08-23T22:21:34.307Z,1755987694.307 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2
2025-08-23T22:21:34.320Z,1755987694.320 [DAT](INFO): DAT read: 22:21:33.5915 LVL= 32752, 18673, 32178, 32755, AGC= 61, IDX= 503,-0.23, 1.967,-1.977, 2.737, 3.048, PHS=-0.979, 1.303,-0.355, RAW= 314.7, 0.3, CAL= 312.8, -2.8, ROT= 197.2, 2.8
2025-08-23T22:21:34.321Z,1755987694.321 [DAT](INFO): got valid direction response:
22:21:33.5915 LVL= 32752, 18673, 32178, 32755, AGC= 61, IDX= 503,-0.23, 1.967,-1.977, 2.737, 3.048, PHS=-0.979, 1.303,-0.355, RAW= 314.7, 0.3, CAL= 312.8, -2.8, ROT= 197.2, 2.8
2025-08-23T22:21:34.321Z,1755987694.321 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-23T22:21:34.326Z,1755987694.326 [DAT](INFO): direction in FSK: [-0.954138,-0.295355,-0.048850]
2025-08-23T22:21:34.327Z,1755987694.327 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:34.330Z,1755987694.330 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.213749
2025-08-23T22:21:34.428Z,1755987694.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.500000 m,
deltaT: 0.504045 s,
deltaX: 0.299999 m,
approachRate: 0.595183 m/s,
rangeRepo size: 4
2025-08-23T22:21:34.435Z,1755987694.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.396156 m,
bearing: 341.585649 deg,
lat: 36.779418 deg,
lon: -121.859554 deg,
deltaT: 1.007932 s,
deltaX: 0.298105 m,
approachRate: 0.295759 m/s,
posRepo size: 4
2025-08-23T22:21:34.435Z,1755987694.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:21:34.555Z,1755987694.555 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.438210
2025-08-23T22:21:34.810Z,1755987694.810 [DAT](INFO): DAT read: Rx Time:22:21:34.0914
2025-08-23T22:21:34.811Z,1755987694.811 [DAT](INFO): Rx dataTimestamp_ set to:1755987694.810297
2025-08-23T22:21:34.812Z,1755987694.812 [DAT](INFO): DAT read: Bearing 130.1, -17.4 (Local)
2025-08-23T22:21:34.812Z,1755987694.812 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -17.4 (Local)
2025-08-23T22:21:34.814Z,1755987694.814 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.0
2025-08-23T22:21:34.819Z,1755987694.819 [DAT](INFO): DAT read: 22:21:34.0914 LVL= 32752, 17825, 27954, 32755, AGC= 64, IDX= 502, 0.42, 2.761,-1.216,-2.732,-2.441, PHS=-0.979, 1.270,-0.335, RAW= 313.9, 0.4, CAL= 312.0, -2.7, ROT= 198.0, 2.7
2025-08-23T22:21:34.820Z,1755987694.820 [DAT](INFO): got valid direction response:
22:21:34.0914 LVL= 32752, 17825, 27954, 32755, AGC= 64, IDX= 502, 0.42, 2.761,-1.216,-2.732,-2.441, PHS=-0.979, 1.270,-0.335, RAW= 313.9, 0.4, CAL= 312.0, -2.7, ROT= 198.0, 2.7
2025-08-23T22:21:34.820Z,1755987694.820 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-23T22:21:34.821Z,1755987694.821 [DAT](INFO): direction in FSK: [-0.950001,-0.308674,-0.047106]
2025-08-23T22:21:34.822Z,1755987694.822 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:34.825Z,1755987694.825 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.708557
2025-08-23T22:21:34.831Z,1755987694.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.400000 m,
deltaT: 0.506994 s,
deltaX: -0.100000 m,
approachRate: -0.197242 m/s,
rangeRepo size: 4
2025-08-23T22:21:34.832Z,1755987694.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:21:35.059Z,1755987695.059 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.942631
2025-08-23T22:21:35.203Z,1755987695.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:21:35.312Z,1755987695.312 [DAT](INFO): DAT read: Rx Time:22:21:34.5916
2025-08-23T22:21:35.313Z,1755987695.313 [DAT](INFO): Rx dataTimestamp_ set to:1755987695.312239
2025-08-23T22:21:35.314Z,1755987695.314 [DAT](INFO): DAT read: Bearing 130.3, -17.2 (Local)
2025-08-23T22:21:35.315Z,1755987695.315 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.3, -17.2 (Local)
2025-08-23T22:21:35.318Z,1755987695.318 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.2
2025-08-23T22:21:35.323Z,1755987695.323 [DAT](INFO): DAT read: 22:21:34.5916 LVL= 32752, 17841, 30674, 32755, AGC= 64, IDX= 504, 0.16,-2.558,-0.230,-1.769,-1.477, PHS=-0.980, 1.292,-0.336, RAW= 314.1, 0.2, CAL= 312.2, -2.9, ROT= 197.8, 2.9
2025-08-23T22:21:35.324Z,1755987695.324 [DAT](INFO): got valid direction response:
22:21:34.5916 LVL= 32752, 17841, 30674, 32755, AGC= 64, IDX= 504, 0.16,-2.558,-0.230,-1.769,-1.477, PHS=-0.980, 1.292,-0.336, RAW= 314.1, 0.2, CAL= 312.2, -2.9, ROT= 197.8, 2.9
2025-08-23T22:21:35.324Z,1755987695.324 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-23T22:21:35.325Z,1755987695.325 [DAT](INFO): direction in FSK: [-0.950910,-0.305304,-0.050593]
2025-08-23T22:21:35.325Z,1755987695.325 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:35.334Z,1755987695.334 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.217709
2025-08-23T22:21:35.563Z,1755987695.563 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.446171
2025-08-23T22:21:35.669Z,1755987695.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.501942 s,
deltaX: 0.300001 m,
approachRate: 0.597681 m/s,
rangeRepo size: 4
2025-08-23T22:21:35.675Z,1755987695.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.594828 m,
bearing: 342.107543 deg,
lat: 36.779418 deg,
lon: -121.859554 deg,
deltaT: 1.008936 s,
deltaX: 0.198671 m,
approachRate: 0.196912 m/s,
posRepo size: 4
2025-08-23T22:21:35.675Z,1755987695.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-23T22:21:35.815Z,1755987695.815 [DAT](INFO): DAT read: Rx Time:22:21:35.0916
2025-08-23T22:21:35.816Z,1755987695.816 [DAT](INFO): Rx dataTimestamp_ set to:1755987695.815390
2025-08-23T22:21:35.817Z,1755987695.817 [DAT](INFO): DAT read: Bearing 130.1, -17.0 (Local)
2025-08-23T22:21:35.817Z,1755987695.817 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -17.0 (Local)
2025-08-23T22:21:35.819Z,1755987695.819 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.2
2025-08-23T22:21:35.824Z,1755987695.824 [DAT](INFO): DAT read: 22:21:35.0916 LVL= 32752, 17233, 30338, 32755, AGC= 64, IDX= 504,-0.07, 1.426,-2.509, 2.215, 2.522, PHS=-0.994, 1.297,-0.350, RAW= 314.2, 0.5, CAL= 312.3, -2.6, ROT= 197.7, 2.6
2025-08-23T22:21:35.825Z,1755987695.825 [DAT](INFO): got valid direction response:
22:21:35.0916 LVL= 32752, 17233, 30338, 32755, AGC= 64, IDX= 504,-0.07, 1.426,-2.509, 2.215, 2.522, PHS=-0.994, 1.297,-0.350, RAW= 314.2, 0.5, CAL= 312.3, -2.6, ROT= 197.7, 2.6
2025-08-23T22:21:35.825Z,1755987695.825 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-23T22:21:35.826Z,1755987695.826 [DAT](INFO): direction in FSK: [-0.951681,-0.303720,-0.045363]
2025-08-23T22:21:35.827Z,1755987695.827 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:35.830Z,1755987695.830 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.713943
2025-08-23T22:21:35.987Z,1755987695.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.503151 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:35.989Z,1755987695.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.594828 m,
bearing: 342.014336 deg,
lat: 36.779418 deg,
lon: -121.859555 deg,
deltaT: 0.503151 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:21:35.994Z,1755987695.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-23T22:21:36.002Z,1755987696.002 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-23T22:11:35.8Z
2025-08-23T22:21:36.002Z,1755987696.002 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-23T22:21:36.002Z,1755987696.002 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-23T22:21:36.002Z,1755987696.002 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-23T22:21:36.002Z,1755987696.002 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-23T22:21:36.003Z,1755987696.003 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-23T22:21:36.067Z,1755987696.067 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.950878
2025-08-23T22:21:36.319Z,1755987696.319 [DAT](INFO): DAT read: Rx Time:22:21:35.5916
2025-08-23T22:21:36.320Z,1755987696.320 [DAT](INFO): Rx dataTimestamp_ set to:1755987696.319268
2025-08-23T22:21:36.321Z,1755987696.321 [DAT](INFO): DAT read: Bearing 129.8, -17.3 (Local)
2025-08-23T22:21:36.321Z,1755987696.321 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -17.3 (Local)
2025-08-23T22:21:36.323Z,1755987696.323 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.1
2025-08-23T22:21:36.328Z,1755987696.328 [DAT](INFO): DAT read: 22:21:35.5916 LVL= 32752, 16865, 27986, 32755, AGC= 64, IDX= 505,-0.34, 0.987,-2.941, 1.788, 2.097, PHS=-1.008, 1.291,-0.353, RAW= 313.9, 0.7, CAL= 312.0, -2.4, ROT= 198.0, 2.4
2025-08-23T22:21:36.329Z,1755987696.329 [DAT](INFO): got valid direction response:
22:21:35.5916 LVL= 32752, 16865, 27986, 32755, AGC= 64, IDX= 505,-0.34, 0.987,-2.941, 1.788, 2.097, PHS=-1.008, 1.291,-0.353, RAW= 313.9, 0.7, CAL= 312.0, -2.4, ROT= 198.0, 2.4
2025-08-23T22:21:36.329Z,1755987696.329 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-23T22:21:36.331Z,1755987696.331 [DAT](INFO): direction in FSK: [-0.950222,-0.308746,-0.041876]
2025-08-23T22:21:36.331Z,1755987696.331 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:36.347Z,1755987696.347 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.230370
2025-08-23T22:21:36.459Z,1755987696.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.503878 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:36.470Z,1755987696.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.594807 m,
bearing: 342.331658 deg,
lat: 36.779418 deg,
lon: -121.859555 deg,
deltaT: 0.503878 s,
deltaX: -0.000021 m,
approachRate: -0.000042 m/s,
posRepo size: 4
2025-08-23T22:21:36.470Z,1755987696.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-23T22:21:36.478Z,1755987696.478 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-23T22:21:36.478Z,1755987696.478 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-23T22:21:36.478Z,1755987696.478 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-23T22:21:36.478Z,1755987696.478 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-23T22:21:36.478Z,1755987696.478 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-23T22:21:36.571Z,1755987696.571 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.454411
2025-08-23T22:21:36.823Z,1755987696.823 [DAT](INFO): DAT read: Rx Time:22:21:36.0916
2025-08-23T22:21:36.824Z,1755987696.824 [DAT](INFO): Rx dataTimestamp_ set to:1755987696.823585
2025-08-23T22:21:36.825Z,1755987696.825 [DAT](INFO): DAT read: Bearing 129.4, -17.8 (Local)
2025-08-23T22:21:36.826Z,1755987696.826 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.4, -17.8 (Local)
2025-08-23T22:21:36.828Z,1755987696.828 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.2
2025-08-23T22:21:36.832Z,1755987696.832 [DAT](INFO): DAT read: 22:21:36.0916 LVL= 32752, 17297, 28594, 32755, AGC= 65, IDX= 504, 0.23, 1.955,-2.004, 2.764, 3.063, PHS=-1.006, 1.261,-0.343, RAW= 313.5, 0.9, CAL= 311.5, -2.2, ROT= 198.5, 2.2
2025-08-23T22:21:36.833Z,1755987696.833 [DAT](INFO): got valid direction response:
22:21:36.0916 LVL= 32752, 17297, 28594, 32755, AGC= 65, IDX= 504, 0.23, 1.955,-2.004, 2.764, 3.063, PHS=-1.006, 1.261,-0.343, RAW= 313.5, 0.9, CAL= 311.5, -2.2, ROT= 198.5, 2.2
2025-08-23T22:21:36.834Z,1755987696.834 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-23T22:21:36.835Z,1755987696.835 [DAT](INFO): direction in FSK: [-0.947625,-0.317071,-0.038388]
2025-08-23T22:21:36.835Z,1755987696.835 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:36.843Z,1755987696.843 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.726704
2025-08-23T22:21:37.075Z,1755987697.075 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.958164
2025-08-23T22:21:37.121Z,1755987697.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.504317 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:37.141Z,1755987697.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.594841 m,
bearing: 342.802612 deg,
lat: 36.779418 deg,
lon: -121.859554 deg,
deltaT: 0.504317 s,
deltaX: 0.000034 m,
approachRate: 0.000068 m/s,
posRepo size: 4
2025-08-23T22:21:37.144Z,1755987697.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-23T22:21:37.327Z,1755987697.327 [DAT](INFO): DAT read: Rx Time:22:21:36.5917
2025-08-23T22:21:37.328Z,1755987697.328 [DAT](INFO): Rx dataTimestamp_ set to:1755987697.327617
2025-08-23T22:21:37.329Z,1755987697.329 [DAT](INFO): DAT read: Bearing 129.9, -17.4 (Local)
2025-08-23T22:21:37.330Z,1755987697.330 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.9, -17.4 (Local)
2025-08-23T22:21:37.332Z,1755987697.332 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0
2025-08-23T22:21:37.336Z,1755987697.336 [DAT](INFO): DAT read: 22:21:36.5917 LVL= 32752, 19585, 28402, 32755, AGC= 64, IDX= 506, 0.00, 1.782,-2.141, 2.588, 2.887, PHS=-1.003, 1.301,-0.343, RAW= 313.8, 0.4, CAL= 311.9, -2.7, ROT= 198.1, 2.7
2025-08-23T22:21:37.337Z,1755987697.337 [DAT](INFO): got valid direction response:
22:21:36.5917 LVL= 32752, 19585, 28402, 32755, AGC= 64, IDX= 506, 0.00, 1.782,-2.141, 2.588, 2.887, PHS=-1.003, 1.301,-0.343, RAW= 313.8, 0.4, CAL= 311.9, -2.7, ROT= 198.1, 2.7
2025-08-23T22:21:37.338Z,1755987697.338 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-23T22:21:37.339Z,1755987697.339 [DAT](INFO): direction in FSK: [-0.949461,-0.310332,-0.047106]
2025-08-23T22:21:37.339Z,1755987697.339 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:37.343Z,1755987697.343 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.226376
2025-08-23T22:21:37.579Z,1755987697.579 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.462086
2025-08-23T22:21:37.604Z,1755987697.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.000000 m,
deltaT: 0.504032 s,
deltaX: 0.299999 m,
approachRate: 0.595199 m/s,
rangeRepo size: 4
2025-08-23T22:21:37.620Z,1755987697.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.892950 m,
bearing: 342.340612 deg,
lat: 36.779418 deg,
lon: -121.859553 deg,
deltaT: 0.504032 s,
deltaX: 0.298109 m,
approachRate: 0.591449 m/s,
posRepo size: 4
2025-08-23T22:21:37.626Z,1755987697.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:21:37.831Z,1755987697.831 [DAT](INFO): DAT read: Rx Time:22:21:37.0916
2025-08-23T22:21:37.832Z,1755987697.832 [DAT](INFO): Rx dataTimestamp_ set to:1755987697.831257
2025-08-23T22:21:37.833Z,1755987697.833 [DAT](INFO): DAT read: Bearing 129.8, -17.4 (Local)
2025-08-23T22:21:37.833Z,1755987697.833 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -17.4 (Local)
2025-08-23T22:21:37.835Z,1755987697.835 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.2
2025-08-23T22:21:37.840Z,1755987697.840 [DAT](INFO): DAT read: 22:21:37.0916 LVL= 32752, 18017, 28082, 32755, AGC= 64, IDX= 506,-0.26,-0.243, 2.120, 0.562, 0.864, PHS=-1.005, 1.301,-0.346, RAW= 313.9, 0.5, CAL= 312.0, -2.6, ROT= 198.0, 2.6
2025-08-23T22:21:37.841Z,1755987697.841 [DAT](INFO): got valid direction response:
22:21:37.0916 LVL= 32752, 18017, 28082, 32755, AGC= 64, IDX= 506,-0.26,-0.243, 2.120, 0.562, 0.864, PHS=-1.005, 1.301,-0.346, RAW= 313.9, 0.5, CAL= 312.0, -2.6, ROT= 198.0, 2.6
2025-08-23T22:21:37.841Z,1755987697.841 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-23T22:21:37.842Z,1755987697.842 [DAT](INFO): direction in FSK: [-0.950077,-0.308699,-0.045363]
2025-08-23T22:21:37.843Z,1755987697.843 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:37.847Z,1755987697.847 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.730648
2025-08-23T22:21:38.018Z,1755987698.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.799999 m,
deltaT: 0.503640 s,
deltaX: -0.200001 m,
approachRate: -0.397111 m/s,
rangeRepo size: 4
2025-08-23T22:21:38.020Z,1755987698.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.694208 m,
bearing: 342.240842 deg,
lat: 36.779418 deg,
lon: -121.859553 deg,
deltaT: 0.503640 s,
deltaX: -0.198742 m,
approachRate: -0.394611 m/s,
posRepo size: 4
2025-08-23T22:21:38.021Z,1755987698.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:21:38.083Z,1755987698.083 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.966900
2025-08-23T22:21:38.335Z,1755987698.335 [DAT](INFO): DAT read: Rx Time:22:21:37.5918
2025-08-23T22:21:38.336Z,1755987698.336 [DAT](INFO): Rx dataTimestamp_ set to:1755987698.335338
2025-08-23T22:21:38.337Z,1755987698.337 [DAT](INFO): DAT read: Bearing 129.7, -17.5 (Local)
2025-08-23T22:21:38.337Z,1755987698.337 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.7, -17.5 (Local)
2025-08-23T22:21:38.339Z,1755987698.339 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1
2025-08-23T22:21:38.344Z,1755987698.344 [DAT](INFO): DAT read: 22:21:37.5918 LVL= 32752, 18225, 27442, 32755, AGC= 64, IDX= 507, 0.29, 2.764,-1.180,-2.719,-2.420, PHS=-0.997, 1.285,-0.342, RAW= 313.8, 0.5, CAL= 311.9, -2.6, ROT= 198.1, 2.6
2025-08-23T22:21:38.345Z,1755987698.345 [DAT](INFO): got valid direction response:
22:21:37.5918 LVL= 32752, 18225, 27442, 32755, AGC= 64, IDX= 507, 0.29, 2.764,-1.180,-2.719,-2.420, PHS=-0.997, 1.285,-0.342, RAW= 313.8, 0.5, CAL= 311.9, -2.6, ROT= 198.1, 2.6
2025-08-23T22:21:38.345Z,1755987698.345 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-23T22:21:38.346Z,1755987698.346 [DAT](INFO): direction in FSK: [-0.949537,-0.310357,-0.045363]
2025-08-23T22:21:38.347Z,1755987698.347 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:38.354Z,1755987698.354 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.237923
2025-08-23T22:21:38.368Z,1755987698.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.100000 m,
deltaT: 0.504081 s,
deltaX: 0.300001 m,
approachRate: 0.595145 m/s,
rangeRepo size: 4
2025-08-23T22:21:38.383Z,1755987698.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.992186 m,
bearing: 342.358685 deg,
lat: 36.779418 deg,
lon: -121.859553 deg,
deltaT: 0.504081 s,
deltaX: 0.297977 m,
approachRate: 0.591130 m/s,
posRepo size: 4
2025-08-23T22:21:38.383Z,1755987698.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:21:38.590Z,1755987698.590 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.472858
2025-08-23T22:21:38.778Z,1755987698.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:21:38.839Z,1755987698.839 [DAT](INFO): DAT read: Rx Time:22:21:38.0918
2025-08-23T22:21:38.840Z,1755987698.840 [DAT](INFO): Rx dataTimestamp_ set to:1755987698.839418
2025-08-23T22:21:38.841Z,1755987698.841 [DAT](INFO): DAT read: Bearing 129.6, -17.5 (Local)
2025-08-23T22:21:38.841Z,1755987698.841 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.6, -17.5 (Local)
2025-08-23T22:21:38.844Z,1755987698.844 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.2
2025-08-23T22:21:38.848Z,1755987698.848 [DAT](INFO): DAT read: 22:21:38.0918 LVL= 32752, 19569, 30594, 32755, AGC= 64, IDX= 507,-0.02, 0.450, 2.807, 1.251, 1.558, PHS=-1.006, 1.294,-0.351, RAW= 313.9, 0.6, CAL= 312.0, -2.5, ROT= 198.0, 2.5
2025-08-23T22:21:38.849Z,1755987698.849 [DAT](INFO): got valid direction response:
22:21:38.0918 LVL= 32752, 19569, 30594, 32755, AGC= 64, IDX= 507,-0.02, 0.450, 2.807, 1.251, 1.558, PHS=-1.006, 1.294,-0.351, RAW= 313.9, 0.6, CAL= 312.0, -2.5, ROT= 198.0, 2.5
2025-08-23T22:21:38.850Z,1755987698.850 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-23T22:21:38.851Z,1755987698.851 [DAT](INFO): direction in FSK: [-0.950151,-0.308723,-0.043619]
2025-08-23T22:21:38.851Z,1755987698.851 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:38.855Z,1755987698.855 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:21:38.855Z,1755987698.855 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:21:38.855Z,1755987698.855 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:39.090Z,1755987699.090 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:39.090Z,1755987699.090 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:39.091Z,1755987699.091 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:39.219Z,1755987699.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.100000 m,
deltaT: 0.504080 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:39.221Z,1755987699.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.992010 m,
bearing: 342.243969 deg,
lat: 36.779418 deg,
lon: -121.859552 deg,
deltaT: 0.504080 s,
deltaX: -0.000175 m,
approachRate: -0.000348 m/s,
posRepo size: 4
2025-08-23T22:21:39.226Z,1755987699.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:21:39.343Z,1755987699.343 [DAT](INFO): DAT read: Rx Time:22:21:38.5919
2025-08-23T22:21:39.344Z,1755987699.344 [DAT](INFO): Rx dataTimestamp_ set to:1755987699.343328
2025-08-23T22:21:39.345Z,1755987699.345 [DAT](INFO): DAT read: Bearing 129.8, -17.4 (Local)
2025-08-23T22:21:39.345Z,1755987699.345 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -17.4 (Local)
2025-08-23T22:21:39.347Z,1755987699.347 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.1
2025-08-23T22:21:39.353Z,1755987699.353 [DAT](INFO): DAT read: 22:21:38.5919 LVL= 32752, 18097, 32482, 32755, AGC= 63, IDX= 509,-0.33, 1.042,-2.857, 1.848, 2.154, PHS=-1.010, 1.318,-0.349, RAW= 314.0, 0.4, CAL= 312.1, -2.7, ROT= 197.9, 2.7
2025-08-23T22:21:39.354Z,1755987699.354 [DAT](INFO): got valid direction response:
22:21:38.5919 LVL= 32752, 18097, 32482, 32755, AGC= 63, IDX= 509,-0.33, 1.042,-2.857, 1.848, 2.154, PHS=-1.010, 1.318,-0.349, RAW= 314.0, 0.4, CAL= 312.1, -2.7, ROT= 197.9, 2.7
2025-08-23T22:21:39.354Z,1755987699.354 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:39.355Z,1755987699.355 [DAT](INFO): direction in FSK: [-0.950538,-0.307015,-0.047106]
2025-08-23T22:21:39.355Z,1755987699.355 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:39.363Z,1755987699.363 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:39.363Z,1755987699.363 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:39.595Z,1755987699.595 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:39.595Z,1755987699.595 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:39.596Z,1755987699.596 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:39.659Z,1755987699.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 0.503910 s,
deltaX: 0.199999 m,
approachRate: 0.396894 m/s,
rangeRepo size: 4
2025-08-23T22:21:39.668Z,1755987699.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.190744 m,
bearing: 342.122377 deg,
lat: 36.779419 deg,
lon: -121.859553 deg,
deltaT: 0.503910 s,
deltaX: 0.198734 m,
approachRate: 0.394384 m/s,
posRepo size: 4
2025-08-23T22:21:39.668Z,1755987699.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-23T22:21:39.847Z,1755987699.847 [DAT](INFO): DAT read: Rx Time:22:21:39.0919
2025-08-23T22:21:39.847Z,1755987699.847 [DAT](INFO): Rx dataTimestamp_ set to:1755987699.847157
2025-08-23T22:21:39.849Z,1755987699.849 [DAT](INFO): DAT read: Bearing 129.1, -17.9 (Local)
2025-08-23T22:21:39.849Z,1755987699.849 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.1, -17.9 (Local)
2025-08-23T22:21:39.851Z,1755987699.851 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.2
2025-08-23T22:21:39.856Z,1755987699.856 [DAT](INFO): DAT read: 22:21:39.0919 LVL= 32752, 18065, 27058, 32755, AGC= 65, IDX= 508, 0.16, 1.863,-2.077, 2.675, 2.980, PHS=-1.015, 1.272,-0.349, RAW= 313.6, 0.9, CAL= 311.6, -2.2, ROT= 198.4, 2.2
2025-08-23T22:21:39.857Z,1755987699.857 [DAT](INFO): got valid direction response:
22:21:39.0919 LVL= 32752, 18065, 27058, 32755, AGC= 65, IDX= 508, 0.16, 1.863,-2.077, 2.675, 2.980, PHS=-1.015, 1.272,-0.349, RAW= 313.6, 0.9, CAL= 311.6, -2.2, ROT= 198.4, 2.2
2025-08-23T22:21:39.858Z,1755987699.858 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:39.859Z,1755987699.859 [DAT](INFO): direction in FSK: [-0.948177,-0.315416,-0.038388]
2025-08-23T22:21:39.859Z,1755987699.859 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:39.862Z,1755987699.862 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:39.863Z,1755987699.863 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:40.034Z,1755987700.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 0.503829 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:40.036Z,1755987700.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.190744 m,
bearing: 342.635632 deg,
lat: 36.779419 deg,
lon: -121.859552 deg,
deltaT: 0.503829 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:21:40.037Z,1755987700.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-23T22:21:40.099Z,1755987700.099 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:40.099Z,1755987700.099 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:40.100Z,1755987700.100 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:40.341Z,1755987700.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-23T22:21:40.351Z,1755987700.351 [DAT](INFO): DAT read: Rx Time:22:21:39.5920
2025-08-23T22:21:40.351Z,1755987700.351 [DAT](INFO): Rx dataTimestamp_ set to:1755987700.351202
2025-08-23T22:21:40.353Z,1755987700.353 [DAT](INFO): DAT read: Bearing 129.3, -17.8 (Local)
2025-08-23T22:21:40.353Z,1755987700.353 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.3, -17.8 (Local)
2025-08-23T22:21:40.355Z,1755987700.355 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0
2025-08-23T22:21:40.360Z,1755987700.360 [DAT](INFO): DAT read: 22:21:39.5920 LVL= 32752, 19377, 28402, 32755, AGC= 64, IDX= 509,-0.13, 0.225, 2.614, 1.043, 1.353, PHS=-1.026, 1.306,-0.355, RAW= 313.8, 0.7, CAL= 311.8, -2.3, ROT= 198.2, 2.3
2025-08-23T22:21:40.361Z,1755987700.361 [DAT](INFO): got valid direction response:
22:21:39.5920 LVL= 32752, 19377, 28402, 32755, AGC= 64, IDX= 509,-0.13, 0.225, 2.614, 1.043, 1.353, PHS=-1.026, 1.306,-0.355, RAW= 313.8, 0.7, CAL= 311.8, -2.3, ROT= 198.2, 2.3
2025-08-23T22:21:40.361Z,1755987700.361 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:40.362Z,1755987700.362 [DAT](INFO): direction in FSK: [-0.949207,-0.312083,-0.040132]
2025-08-23T22:21:40.362Z,1755987700.362 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:40.365Z,1755987700.365 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:40.366Z,1755987700.366 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:40.604Z,1755987700.604 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:40.604Z,1755987700.604 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:40.606Z,1755987700.606 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:40.813Z,1755987700.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.400000 m,
deltaT: 0.504045 s,
deltaX: 0.100000 m,
approachRate: 0.198396 m/s,
rangeRepo size: 4
2025-08-23T22:21:40.819Z,1755987700.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.290049 m,
bearing: 342.402271 deg,
lat: 36.779419 deg,
lon: -121.859552 deg,
deltaT: 0.504045 s,
deltaX: 0.099304 m,
approachRate: 0.197015 m/s,
posRepo size: 4
2025-08-23T22:21:40.820Z,1755987700.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-23T22:21:40.855Z,1755987700.855 [DAT](INFO): DAT read: Rx Time2:2:4.01
2025-08-23T22:21:40.855Z,1755987700.855 [DAT](INFO): unknown deviceResponse_: Rx Time2:2:4.01
2025-08-23T22:21:40.857Z,1755987700.857 [DAT](INFO): DAT read: Bearing 129.2, -17.5 (Local)
2025-08-23T22:21:40.857Z,1755987700.857 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.2, -17.5 (Local)
2025-08-23T22:21:40.860Z,1755987700.860 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.2
2025-08-23T22:21:40.865Z,1755987700.865 [DAT](INFO): DAT read: 22:21:40.0919 LVL= 32752, 18417, 25330, 32611, AGC= 64, IDX= 508, 0.35, 0.716, 3.062, 1.511, 1.821, PHS=-1.003, 1.286,-0.354, RAW= 314.0, 0.7, CAL= 312.1, -2.4, ROT= 197.9, 2.4
2025-08-23T22:21:40.866Z,1755987700.866 [DAT](INFO): got valid direction response:
22:21:40.0919 LVL= 32752, 18417, 25330, 32611, AGC= 64, IDX= 508, 0.35, 0.716, 3.062, 1.511, 1.821, PHS=-1.003, 1.286,-0.354, RAW= 314.0, 0.7, CAL= 312.1, -2.4, ROT= 197.9, 2.4
2025-08-23T22:21:40.866Z,1755987700.866 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:40.867Z,1755987700.867 [DAT](INFO): direction in FSK: [-0.950760,-0.307087,-0.041876]
2025-08-23T22:21:40.867Z,1755987700.867 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:40.871Z,1755987700.871 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:40.871Z,1755987700.871 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:41.108Z,1755987701.108 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:41.109Z,1755987701.109 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:41.110Z,1755987701.110 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:41.247Z,1755987701.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 0.503010 s,
deltaX: -0.100000 m,
approachRate: -0.198804 m/s,
rangeRepo size: 4
2025-08-23T22:21:41.255Z,1755987701.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.190651 m,
bearing: 342.085025 deg,
lat: 36.779419 deg,
lon: -121.859552 deg,
deltaT: 0.503010 s,
deltaX: -0.099398 m,
approachRate: -0.197606 m/s,
posRepo size: 4
2025-08-23T22:21:41.256Z,1755987701.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-23T22:21:41.360Z,1755987701.360 [DAT](INFO): DAT read: Rx Time:22:21:40.5921
2025-08-23T22:21:41.360Z,1755987701.360 [DAT](INFO): Rx dataTimestamp_ set to:1755987701.360056
2025-08-23T22:21:41.362Z,1755987701.362 [DAT](INFO): DAT read: Beaing 192 17.7 (Local)
2025-08-23T22:21:41.362Z,1755987701.362 [DAT](INFO): Local bearing/azimuth received:
Beaing 192 17.7 (Local)
2025-08-23T22:21:41.364Z,1755987701.364 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0
2025-08-23T22:21:41.369Z,1755987701.369 [DAT](INFO): DAT read: 22:21:40.5921 LVL= 32752, 17809, 28018, 31795, AGC= 63, IDX= 510,-0.03, 0.574, 2.961, 1.386, 1.696, PHS=-1.020, 1.311,-0.354, RAW= 313.9, 0.6, CAL= 312.0, -2.5, ROT= 198.0, 2.5
2025-08-23T22:21:41.370Z,1755987701.370 [DAT](INFO): got valid direction response:
22:21:40.5921 LVL= 32752, 17809, 28018, 31795, AGC= 63, IDX= 510,-0.03, 0.574, 2.961, 1.386, 1.696, PHS=-1.020, 1.311,-0.354, RAW= 313.9, 0.6, CAL= 312.0, -2.5, ROT= 198.0, 2.5
2025-08-23T22:21:41.370Z,1755987701.370 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:41.371Z,1755987701.371 [DAT](INFO): direction in FSK: [-0.950151,-0.308723,-0.043619]
2025-08-23T22:21:41.372Z,1755987701.372 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:41.379Z,1755987701.379 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:41.380Z,1755987701.380 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:41.615Z,1755987701.615 [DAT](INFO): DAT read: Rx Time:22:21:41.0920
2025-08-23T22:21:41.617Z,1755987701.617 [DAT](INFO): Rx dataTimestamp_ set to:1755987701.615684
2025-08-23T22:21:41.620Z,1755987701.620 [DAT](INFO): DAT read: Bearing 129.2, -17.9 (Local)
2025-08-23T22:21:41.622Z,1755987701.622 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.2, -17.9 (Local)
2025-08-23T22:21:41.623Z,1755987701.623 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:41.624Z,1755987701.624 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:41.626Z,1755987701.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.600000 m,
deltaT: 0.505844 s,
deltaX: 0.300001 m,
approachRate: 0.593071 m/s,
rangeRepo size: 4
2025-08-23T22:21:41.625Z,1755987701.625 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:41.644Z,1755987701.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.488756 m,
bearing: 342.147771 deg,
lat: 36.779419 deg,
lon: -121.859552 deg,
deltaT: 0.505844 s,
deltaX: 0.298105 m,
approachRate: 0.589323 m/s,
posRepo size: 4
2025-08-23T22:21:41.650Z,1755987701.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:21:41.864Z,1755987701.864 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0
2025-08-23T22:21:41.870Z,1755987701.870 [DAT](INFO): DAT read: 22:21:41.0920 VL=375,17105, 26546, 32755, AGC= 65, IDX= 510,-0.48,-0.689, 1.702, 0.127, 0.434, PHS=-1.021, 1.313,-0.351, RAW= 313.8, 0.6, CAL= 311.9, -2.5, ROT= 198.1, 2.5
2025-08-23T22:21:41.871Z,1755987701.871 [DAT](INFO): unknown deviceResponse_: 22:21:41.0920 VL=375,17105, 26546, 32755, AGC= 65, IDX= 510,-0.48,-0.689, 1.702, 0.127, 0.434, PHS=-1.021, 1.313,-0.351, RAW= 313.8, 0.6, CAL= 311.9, -2.5, ROT= 198.1, 2.5
2025-08-23T22:21:41.871Z,1755987701.871 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:21:41.872Z,1755987701.872 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:41.872Z,1755987701.872 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:41.986Z,1755987701.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.400000 m,
deltaT: 0.501897 s,
deltaX: -0.200001 m,
approachRate: -0.398490 m/s,
rangeRepo size: 4
2025-08-23T22:21:41.986Z,1755987701.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:21:42.116Z,1755987702.116 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:42.116Z,1755987702.116 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:42.118Z,1755987702.118 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:42.367Z,1755987702.367 [DAT](INFO): DAT read: Rx Time:22:21:41.5922
2025-08-23T22:21:42.368Z,1755987702.368 [DAT](INFO): Rx dataTimestamp_ set to:1755987702.367250
2025-08-23T22:21:42.369Z,1755987702.369 [DAT](INFO): DAT read: Bearing 128.8, -18.1 (Local)
2025-08-23T22:21:42.369Z,1755987702.369 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.8, -18.1 (Local)
2025-08-23T22:21:42.371Z,1755987702.371 [DAT](INFO): DAT read: Range 11 to 50 : 17 m(trptime 11.8 ms) speed 0.0
2025-08-23T22:21:42.376Z,1755987702.376 [DAT](INFO): DAT read: 22:21:41.5922 LVL= 32752, 19953, 26338, 32755, AGC= 64, IDX= 511, 0.05, 1.634,-2.301, 2.441, 2.748, PHS=-1.012, 1.279,-0.351, RAW= 313.7, 0.8, CAL= 311.8, -2.3, ROT= 198.2, 2.3
2025-08-23T22:21:42.377Z,1755987702.377 [DAT](INFO): got valid direction response:
22:21:41.5922 LVL= 32752, 19953, 26338, 32755, AGC= 64, IDX= 511, 0.05, 1.634,-2.301, 2.441, 2.748, PHS=-1.012, 1.279,-0.351, RAW= 313.7, 0.8, CAL= 311.8, -2.3, ROT= 198.2, 2.3
2025-08-23T22:21:42.377Z,1755987702.377 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:42.379Z,1755987702.379 [DAT](INFO): direction in FSK: [-0.949207,-0.312083,-0.040132]
2025-08-23T22:21:42.379Z,1755987702.379 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:42.382Z,1755987702.382 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:42.383Z,1755987702.383 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:42.402Z,1755987702.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:21:42.623Z,1755987702.623 [DAT](INFO): DAT read: Rx Time:22:21:42.0921
2025-08-23T22:21:42.625Z,1755987702.625 [DAT](INFO): Rx dataTimestamp_ set to:1755987702.623704
2025-08-23T22:21:42.628Z,1755987702.628 [DAT](INFO): DAT read: Bearing 128.8, -18.2 (Local)
2025-08-23T22:21:42.630Z,1755987702.630 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.8, -18.2 (Local)
2025-08-23T22:21:42.631Z,1755987702.631 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:42.632Z,1755987702.632 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:42.638Z,1755987702.638 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:42.823Z,1755987702.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.000000 m,
deltaT: 0.505297 s,
deltaX: -0.400000 m,
approachRate: -0.791613 m/s,
rangeRepo size: 4
2025-08-23T22:21:42.830Z,1755987702.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.892601 m,
bearing: 342.207777 deg,
lat: 36.779419 deg,
lon: -121.859551 deg,
deltaT: 1.007194 s,
deltaX: -0.596155 m,
approachRate: -0.591897 m/s,
posRepo size: 4
2025-08-23T22:21:42.830Z,1755987702.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:21:42.873Z,1755987702.873 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0
2025-08-23T22:21:42.880Z,1755987702.880 [DAT](INFO): DAT read: 22:21:42.0921 LVL= 32752, 17745, 28018, 32467, AGC= 65, IDX= 511,-0.4,0.3, .41, 0.084, 0.389, PHS=-1.021, 1.297,-0.348, RAW= 313.6, 0.7, CAL= 311.7, -2.4, ROT= 198.3, 2.4
2025-08-23T22:21:42.882Z,1755987702.882 [DAT](INFO): got valid direction response:
22:21:42.0921 LVL= 32752, 17745, 28018, 32467, AGC= 65, IDX= 511,-0.4,0.3, .41, 0.084, 0.389, PHS=-1.021, 1.297,-0.348, RAW= 313.6, 0.7, CAL= 311.7, -2.4, ROT= 198.3, 2.4
2025-08-23T22:21:42.883Z,1755987702.883 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:42.884Z,1755987702.884 [DAT](INFO): direction in FSK: [-0.948593,-0.313717,-0.041876]
2025-08-23T22:21:42.884Z,1755987702.884 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:42.890Z,1755987702.890 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:42.891Z,1755987702.891 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:43.122Z,1755987703.122 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:43.122Z,1755987703.122 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:43.123Z,1755987703.123 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:43.200Z,1755987703.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.600000 m,
deltaT: 0.502936 s,
deltaX: 0.600000 m,
approachRate: 1.192996 m/s,
rangeRepo size: 4
2025-08-23T22:21:43.208Z,1755987703.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.488869 m,
bearing: 342.238397 deg,
lat: 36.779418 deg,
lon: -121.859551 deg,
deltaT: 0.502936 s,
deltaX: 0.596268 m,
approachRate: 1.185574 m/s,
posRepo size: 4
2025-08-23T22:21:43.208Z,1755987703.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:21:43.375Z,1755987703.375 [DAT](INFO): DAT read: Rx Time:22:21:42.5923
2025-08-23T22:21:43.375Z,1755987703.375 [DAT](INFO): Rx dataTimestamp_ set to:1755987703.374877
2025-08-23T22:21:43.376Z,1755987703.376 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.1
2025-08-23T22:21:43.377Z,1755987703.377 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:21:43.378Z,1755987703.378 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:43.379Z,1755987703.379 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:43.588Z,1755987703.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.504691 s,
deltaX: 0.299999 m,
approachRate: 0.594422 m/s,
rangeRepo size: 4
2025-08-23T22:21:43.594Z,1755987703.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:21:43.629Z,1755987703.629 [DAT](INFO): DAT read: user:1722>
2025-08-23T22:21:43.633Z,1755987703.633 [DAT](INFO): DAT read: user:1722>
2025-08-23T22:21:43.636Z,1755987703.636 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:43.637Z,1755987703.637 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:43.638Z,1755987703.638 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:43.878Z,1755987703.878 [DAT](INFO): DAT read: Txtie:2:2:43.4972
2025-08-23T22:21:43.879Z,1755987703.879 [DAT](INFO): unknown deviceResponse_: Txtie:2:2:43.4972
2025-08-23T22:21:43.879Z,1755987703.879 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:43.879Z,1755987703.879 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:43.880Z,1755987703.880 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:43.994Z,1755987703.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:21:44.130Z,1755987704.130 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:44.130Z,1755987704.130 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:44.131Z,1755987704.131 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:44.382Z,1755987704.382 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:44.382Z,1755987704.382 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:44.383Z,1755987704.383 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:44.403Z,1755987704.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:21:44.636Z,1755987704.636 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:44.637Z,1755987704.637 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:44.638Z,1755987704.638 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:44.818Z,1755987704.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:21:44.886Z,1755987704.886 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:44.887Z,1755987704.887 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:44.887Z,1755987704.887 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:45.138Z,1755987705.138 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:45.138Z,1755987705.138 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:45.139Z,1755987705.139 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:45.230Z,1755987705.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:21:45.390Z,1755987705.390 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:45.390Z,1755987705.390 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:45.391Z,1755987705.391 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:45.591Z,1755987705.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:21:45.645Z,1755987705.645 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:45.646Z,1755987705.646 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:45.647Z,1755987705.647 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:45.894Z,1755987705.894 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:45.894Z,1755987705.894 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:45.895Z,1755987705.895 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:46.023Z,1755987706.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:21:46.146Z,1755987706.146 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:46.147Z,1755987706.147 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:46.147Z,1755987706.147 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:46.399Z,1755987706.399 [DAT](INFO): DAT read: Rx Time:22:21:45.6500
2025-08-23T22:21:46.400Z,1755987706.400 [DAT](INFO): Rx dataTimestamp_ set to:1755987706.399493
2025-08-23T22:21:46.401Z,1755987706.401 [DAT](INFO): DAT read: Bearing 128.5, -17.6 (Local)
2025-08-23T22:21:46.401Z,1755987706.401 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.5, -17.6 (Local)
2025-08-23T22:21:46.403Z,1755987706.403 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.1
2025-08-23T22:21:46.408Z,1755987706.408 [DAT](INFO): DAT read: 22:21:45.6500 LVL= 32752, 19425, 26866, 32755, AGC= 65, IDX= 303,-0.05, 2.402,-1.542,-3.103,-2.789, PHS=-0.990, 1.293,-0.358, RAW= 314.4, 0.5, CAL= 312.6, -2.5, ROT= 197.4, 2.5
2025-08-23T22:21:46.409Z,1755987706.409 [DAT](INFO): got valid direction response:
22:21:45.6500 LVL= 32752, 19425, 26866, 32755, AGC= 65, IDX= 303,-0.05, 2.402,-1.542,-3.103,-2.789, PHS=-0.990, 1.293,-0.358, RAW= 314.4, 0.5, CAL= 312.6, -2.5, ROT= 197.4, 2.5
2025-08-23T22:21:46.422Z,1755987706.422 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:46.423Z,1755987706.423 [DAT](INFO): direction in FSK: [-0.953332,-0.298756,-0.043619]
2025-08-23T22:21:46.423Z,1755987706.423 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:46.430Z,1755987706.430 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:46.431Z,1755987706.431 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:46.483Z,1755987706.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 3.024616 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:46.485Z,1755987706.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.786980 m,
bearing: 340.989324 deg,
lat: 36.779417 deg,
lon: -121.859552 deg,
deltaT: 3.529307 s,
deltaX: 0.298111 m,
approachRate: 0.084467 m/s,
posRepo size: 4
2025-08-23T22:21:46.485Z,1755987706.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:46.652Z,1755987706.652 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:46.653Z,1755987706.653 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:46.655Z,1755987706.655 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:46.835Z,1755987706.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:46.904Z,1755987706.904 [DAT](INFO): DAT read: R Tme22:21:46.1500
2025-08-23T22:21:46.904Z,1755987706.904 [DAT](INFO): unknown deviceResponse_: R Tme22:21:46.1500
2025-08-23T22:21:46.906Z,1755987706.906 [DAT](INFO): DAT read: Bearing 128.1, -18.2 (Local)
2025-08-23T22:21:46.907Z,1755987706.907 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.1, -18.2 (Local)
2025-08-23T22:21:46.910Z,1755987706.910 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0
2025-08-23T22:21:46.916Z,1755987706.916 [DAT](INFO): DAT read: 22:21:46.1500 LVL= 32752, 18625, 27362, 32755, AGC= 65, IDX= 510, 0.28,-2.876,-0.551,-2.086,-1.777, PHS=-0.997, 1.271,-0.353, RAW= 314.0, 0.8, CAL= 312.1, -2.3, ROT= 197.9, 2.3
2025-08-23T22:21:46.917Z,1755987706.917 [DAT](INFO): got valid direction response:
22:21:46.1500 LVL= 32752, 18625, 27362, 32755, AGC= 65, IDX= 510, 0.28,-2.876,-0.551,-2.086,-1.777, PHS=-0.997, 1.271,-0.353, RAW= 314.0, 0.8, CAL= 312.1, -2.3, ROT= 197.9, 2.3
2025-08-23T22:21:46.917Z,1755987706.917 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:46.923Z,1755987706.923 [DAT](INFO): direction in FSK: [-0.950828,-0.307109,-0.040132]
2025-08-23T22:21:46.930Z,1755987706.930 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:46.933Z,1755987706.933 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:46.933Z,1755987706.933 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:47.154Z,1755987707.154 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:47.154Z,1755987707.154 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:47.155Z,1755987707.155 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:47.269Z,1755987707.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.700001 m,
deltaT: 0.502844 s,
deltaX: -0.199999 m,
approachRate: -0.397735 m/s,
rangeRepo size: 4
2025-08-23T22:21:47.271Z,1755987707.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.588223 m,
bearing: 341.394099 deg,
lat: 36.779417 deg,
lon: -121.859551 deg,
deltaT: 0.502844 s,
deltaX: -0.198757 m,
approachRate: -0.395266 m/s,
posRepo size: 4
2025-08-23T22:21:47.272Z,1755987707.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-23T22:21:47.408Z,1755987707.408 [DAT](INFO): DAT read: Rx ie:2:21:46.6500
2025-08-23T22:21:47.408Z,1755987707.408 [DAT](INFO): unknown deviceResponse_: Rx ie:2:21:46.6500
2025-08-23T22:21:47.410Z,1755987707.410 [DAT](INFO): DAT read: Bearing 128.4, -17.9 (Local)
2025-08-23T22:21:47.410Z,1755987707.410 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.4, -17.9 (Local)
2025-08-23T22:21:47.412Z,1755987707.412 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0
2025-08-23T22:21:47.417Z,1755987707.417 [DAT](INFO): DAT read: 22:21:46.6500 LVL= 32752, 18801, 30546, 32755, AGC= 65, IDX= 511,-0.17, 1.299,-2.632, 2.084, 2.397, PHS=-0.996, 1.299,-0.357, RAW= 314.4, 0.5, CAL= 312.5, -2.5, ROT= 197.5, 2.5
2025-08-23T22:21:47.418Z,1755987707.418 [DAT](INFO): got valid direction response:
22:21:46.6500 LVL= 32752, 18801, 30546, 32755, AGC= 65, IDX= 511,-0.17, 1.299,-2.632, 2.084, 2.397, PHS=-0.996, 1.299,-0.357, RAW= 314.4, 0.5, CAL= 312.5, -2.5, ROT= 197.5, 2.5
2025-08-23T22:21:47.418Z,1755987707.418 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:47.419Z,1755987707.419 [DAT](INFO): direction in FSK: [-0.952809,-0.300420,-0.043619]
2025-08-23T22:21:47.420Z,1755987707.420 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:47.431Z,1755987707.431 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:47.432Z,1755987707.432 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:47.663Z,1755987707.663 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:47.664Z,1755987707.664 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:47.666Z,1755987707.666 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:47.679Z,1755987707.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.504071 s,
deltaX: 0.199999 m,
approachRate: 0.396767 m/s,
rangeRepo size: 4
2025-08-23T22:21:47.704Z,1755987707.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.786959 m,
bearing: 340.973884 deg,
lat: 36.779416 deg,
lon: -121.859551 deg,
deltaT: 0.504071 s,
deltaX: 0.198736 m,
approachRate: 0.394262 m/s,
posRepo size: 4
2025-08-23T22:21:47.713Z,1755987707.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:47.911Z,1755987707.911 [DAT](INFO): DAT read: Rx Time:22:21:47.1500
2025-08-23T22:21:47.911Z,1755987707.911 [DAT](INFO): Rx dataTimestamp_ set to:1755987707.911214
2025-08-23T22:21:47.915Z,1755987707.915 [DAT](INFO): DAT read: Bearing 128.5, -17.7 (Loal
Rng 1 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0
2025-08-23T22:21:47.915Z,1755987707.915 [DAT](INFO): unknown deviceResponse_: Bearing 128.5, -17.7 (Loal
Rng 1 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0
2025-08-23T22:21:47.919Z,1755987707.919 [DAT](INFO): DAT read: 22:21:47.1500 LVL= 32752, 17985, 29202, 32755, AGC= 64, IDX= 510, 0.17, 2.092,-1.869, 2.862,-3.110, PHS=-0.980, 1.286,-0.355, RAW= 314.5, 0.5, CAL= 312.6, -2.6, ROT= 197.4, 2.6
2025-08-23T22:21:47.921Z,1755987707.921 [DAT](INFO): got valid direction response:
22:21:47.1500 LVL= 32752, 17985, 29202, 32755, AGC= 64, IDX= 510, 0.17, 2.092,-1.869, 2.862,-3.110, PHS=-0.980, 1.286,-0.355, RAW= 314.5, 0.5, CAL= 312.6, -2.6, ROT= 197.4, 2.6
2025-08-23T22:21:47.921Z,1755987707.921 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:21:47.922Z,1755987707.922 [DAT](INFO): direction in FSK: [-0.953258,-0.298733,-0.045363]
2025-08-23T22:21:47.925Z,1755987707.925 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:47.925Z,1755987707.925 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:47.926Z,1755987707.926 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:48.091Z,1755987708.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:48.164Z,1755987708.164 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:48.165Z,1755987708.165 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:48.166Z,1755987708.166 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:48.415Z,1755987708.415 [DAT](INFO): DAT read: Rx Time:22:21:47.6500
2025-08-23T22:21:48.416Z,1755987708.416 [DAT](INFO): Rx dataTimestamp_ set to:1755987708.415415
2025-08-23T22:21:48.423Z,1755987708.423 [DAT](INFO): DAT read: Bearing 132.9, -9.4 (Loa)
Rng 1to50 : 17.9 m (trip time 11.9 ms) speed -0.1
2025-08-23T22:21:48.424Z,1755987708.424 [DAT](INFO): unknown deviceResponse_: Bearing 132.9, -9.4 (Loa)
Rng 1to50 : 17.9 m (trip time 11.9 ms) speed -0.1
2025-08-23T22:21:48.428Z,1755987708.428 [DAT](INFO): DAT read: 22:21:47.6500 LVL= 32752, 16609, 32162, 32755, AGC= 65, IDX= 512,-0.31,-0.377, 1.789, 0.071, 0.433, PHS=-0.708, 1.401,-0.406, RAW= 322.4, -2.9, CAL= 321.4, -6.1, ROT= 188.6, 6.1
2025-08-23T22:21:48.429Z,1755987708.429 [DAT](INFO): got valid direction response:
22:21:47.6500 LVL= 32752, 16609, 32162, 32755, AGC= 65, IDX= 512,-0.31,-0.377, 1.789, 0.071, 0.433, PHS=-0.708, 1.401,-0.406, RAW= 322.4, -2.9, CAL= 321.4, -6.1, ROT= 188.6, 6.1
2025-08-23T22:21:48.429Z,1755987708.429 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:21:48.434Z,1755987708.434 [DAT](INFO): direction in FSK: [-0.983158,-0.148689,-0.106264]
2025-08-23T22:21:48.437Z,1755987708.437 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:48.446Z,1755987708.446 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:48.446Z,1755987708.446 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:48.463Z,1755987708.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:48.670Z,1755987708.670 [DAT](INFO): DAT read: Rx Time:22:21:48.1500
2025-08-23T22:21:48.671Z,1755987708.671 [DAT](INFO): Rx dataTimestamp_ set to:1755987708.670377
2025-08-23T22:21:48.672Z,1755987708.672 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:48.673Z,1755987708.673 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:48.675Z,1755987708.675 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:48.872Z,1755987708.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:48.902Z,1755987708.902 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:21:48.920Z,1755987708.920 [DAT](INFO): DAT read: Bearing 128.2, -18.3 (Local)
2025-08-23T22:21:48.920Z,1755987708.920 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.2, -18.3 (Local)
2025-08-23T22:21:48.922Z,1755987708.922 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip tim 1.9m)speed -0.1
2025-08-23T22:21:48.927Z,1755987708.927 [DAT](INFO): DAT read: 22:21:48.1500 LVL= 32752, 18001, 25810, 32467, AGC= 65, IDX= 511, 0.05, 1.916,-2.029, 2.709, 3.015, PHS=-0.997, 1.284,-0.350, RAW= 314.0, 0.6, CAL= 312.1, -2.5, ROT= 197.9, 2.5
2025-08-23T22:21:48.929Z,1755987708.929 [DAT](INFO): got valid direction response:
22:21:48.1500 LVL= 32752, 18001, 25810, 32467, AGC= 65, IDX= 511, 0.05, 1.916,-2.029, 2.709, 3.015, PHS=-0.997, 1.284,-0.350, RAW= 314.0, 0.6, CAL= 312.1, -2.5, ROT= 197.9, 2.5
2025-08-23T22:21:48.930Z,1755987708.930 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:48.931Z,1755987708.931 [DAT](INFO): direction in FSK: [-0.950689,-0.307064,-0.043619]
2025-08-23T22:21:48.932Z,1755987708.932 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:48.936Z,1755987708.936 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:48.937Z,1755987708.937 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:49.173Z,1755987709.173 [DAT](INFO): DAT read: Rx Time:22:21:48.6501
2025-08-23T22:21:49.175Z,1755987709.175 [DAT](INFO): Rx dataTimestamp_ set to:1755987709.173857
2025-08-23T22:21:49.175Z,1755987709.175 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:49.175Z,1755987709.175 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:49.176Z,1755987709.176 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:49.289Z,1755987709.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 1.511840 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:49.295Z,1755987709.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.786955 m,
bearing: 341.226035 deg,
lat: 36.779416 deg,
lon: -121.859551 deg,
deltaT: 1.511840 s,
deltaX: -0.000004 m,
approachRate: -0.000003 m/s,
posRepo size: 4
2025-08-23T22:21:49.295Z,1755987709.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:49.423Z,1755987709.423 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.1
2025-08-23T22:21:49.424Z,1755987709.424 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:21:49.425Z,1755987709.425 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:49.425Z,1755987709.425 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:49.647Z,1755987709.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.504038 s,
deltaX: 0.100000 m,
approachRate: 0.198399 m/s,
rangeRepo size: 4
2025-08-23T22:21:49.647Z,1755987709.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:49.675Z,1755987709.675 [DAT](INFO): DAT read: Rx Time:22:21:49.1501
2025-08-23T22:21:49.676Z,1755987709.676 [DAT](INFO): Rx dataTimestamp_ set to:1755987709.675381
2025-08-23T22:21:49.676Z,1755987709.676 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:49.677Z,1755987709.677 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:49.679Z,1755987709.679 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:49.906Z,1755987709.906 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:21:49.927Z,1755987709.927 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0
2025-08-23T22:21:49.928Z,1755987709.928 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:21:49.928Z,1755987709.928 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:49.929Z,1755987709.929 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:50.066Z,1755987710.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.503688 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:50.067Z,1755987710.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:50.180Z,1755987710.180 [DAT](INFO): DAT read: Rx Time:22:21:49.6502
2025-08-23T22:21:50.180Z,1755987710.180 [DAT](INFO): Rx dataTimestamp_ set to:1755987710.179844
2025-08-23T22:21:50.182Z,1755987710.182 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1
2025-08-23T22:21:50.183Z,1755987710.183 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:21:50.184Z,1755987710.184 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:50.184Z,1755987710.184 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:50.430Z,1755987710.430 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:50.430Z,1755987710.430 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:50.431Z,1755987710.431 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:50.486Z,1755987710.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.253870 s,
deltaX: 0.200001 m,
approachRate: 0.787808 m/s,
rangeRepo size: 4
2025-08-23T22:21:50.486Z,1755987710.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:50.683Z,1755987710.683 [DAT](INFO): DAT read: Rx Time:22:21:50.1500
2025-08-23T22:21:50.683Z,1755987710.683 [DAT](INFO): Rx dataTimestamp_ set to:1755987710.682791
2025-08-23T22:21:50.684Z,1755987710.684 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0
2025-08-23T22:21:50.685Z,1755987710.685 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:21:50.686Z,1755987710.686 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:50.686Z,1755987710.686 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:50.877Z,1755987710.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.502947 s,
deltaX: -0.300001 m,
approachRate: -0.596487 m/s,
rangeRepo size: 4
2025-08-23T22:21:50.878Z,1755987710.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:50.934Z,1755987710.934 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:50.935Z,1755987710.935 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:50.935Z,1755987710.935 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:51.190Z,1755987711.190 [DAT](INFO): DAT read: Rx Time:22:21:50.6501
2025-08-23T22:21:51.192Z,1755987711.192 [DAT](INFO): Rx dataTimestamp_ set to:1755987711.190752
2025-08-23T22:21:51.195Z,1755987711.195 [DAT](INFO): DAT read: Bearing 133.7, -8.9 (Local)
2025-08-23T22:21:51.196Z,1755987711.196 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.7, -8.9 (Local)
2025-08-23T22:21:51.200Z,1755987711.200 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0
2025-08-23T22:21:51.207Z,1755987711.207 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:21:51.242Z,1755987711.242 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:51.242Z,1755987711.242 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:51.323Z,1755987711.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.507961 s,
deltaX: 0.100000 m,
approachRate: 0.196866 m/s,
rangeRepo size: 4
2025-08-23T22:21:51.323Z,1755987711.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:51.442Z,1755987711.442 [DAT](INFO): DAT read: 22:21:50.6501 LVL= 32752, 19345, 27634, 32755, AGC= 65, IDX= 513, 0.03, 0.307, 2.397, 0.721, 1.057, PHS=-0.648, 1.385,-0.380, RAW= 323.0, -3.8, CAL= 322.1, -6.9, ROT= 187.9, 6.9
2025-08-23T22:21:51.443Z,1755987711.443 [DAT](INFO): got valid direction response:
22:21:50.6501 LVL= 32752, 19345, 27634, 32755, AGC= 65, IDX= 513, 0.03, 0.307, 2.397, 0.721, 1.057, PHS=-0.648, 1.385,-0.380, RAW= 323.0, -3.8, CAL= 322.1, -6.9, ROT= 187.9, 6.9
2025-08-23T22:21:51.444Z,1755987711.444 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:21:51.445Z,1755987711.445 [DAT](INFO): direction in FSK: [-0.983336,-0.136449,-0.120137]
2025-08-23T22:21:51.448Z,1755987711.448 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:51.448Z,1755987711.448 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:51.448Z,1755987711.448 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:51.660Z,1755987711.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:51.692Z,1755987711.692 [DAT](INFO): DAT read: Rx Time:22:21:51.1500
2025-08-23T22:21:51.693Z,1755987711.693 [DAT](INFO): Rx dataTimestamp_ set to:1755987711.692105
2025-08-23T22:21:51.696Z,1755987711.696 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0
2025-08-23T22:21:51.697Z,1755987711.697 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:21:51.698Z,1755987711.698 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:51.698Z,1755987711.698 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:51.942Z,1755987711.942 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:51.942Z,1755987711.942 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:51.943Z,1755987711.943 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:52.086Z,1755987712.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.501353 s,
deltaX: -0.100000 m,
approachRate: -0.199461 m/s,
rangeRepo size: 4
2025-08-23T22:21:52.087Z,1755987712.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:21:52.209Z,1755987712.209 [DAT](INFO): DAT read: Rx Time:22:21:51.6502
2025-08-23T22:21:52.211Z,1755987712.211 [DAT](INFO): Rx dataTimestamp_ set to:1755987712.209807
2025-08-23T22:21:52.222Z,1755987712.222 [DAT](INFO): DAT read: Bearing 128.1, -18.1 (Local)
2025-08-23T22:21:52.223Z,1755987712.223 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.1, -18.1 (Local)
2025-08-23T22:21:52.230Z,1755987712.230 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0
2025-08-23T22:21:52.240Z,1755987712.240 [DAT](INFO): DAT read: 22:21:51.6502 LVL= 26352, 20065, 24498, 20787, AGC= 68, IDX= 2,-0.22, 0.262, 2.642, 1.056, 1.376, PHS=-1.012, 1.311,-0.364, RAW= 314.3, 0.6, CAL= 312.4, -2.5, ROT= 197.6, 2.5
2025-08-23T22:21:52.241Z,1755987712.241 [DAT](INFO): got valid direction response:
22:21:51.6502 LVL= 26352, 20065, 24498, 20787, AGC= 68, IDX= 2,-0.22, 0.262, 2.642, 1.056, 1.376, PHS=-1.012, 1.311,-0.364, RAW= 314.3, 0.6, CAL= 312.4, -2.5, ROT= 197.6, 2.5
2025-08-23T22:21:52.246Z,1755987712.246 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:52.247Z,1755987712.247 [DAT](INFO): direction in FSK: [-0.952283,-0.302082,-0.043619]
2025-08-23T22:21:52.247Z,1755987712.247 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:52.262Z,1755987712.262 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:52.262Z,1755987712.262 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:52.446Z,1755987712.446 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:52.446Z,1755987712.446 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:52.447Z,1755987712.447 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:52.515Z,1755987712.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.517702 s,
deltaX: 0.300001 m,
approachRate: 0.579486 m/s,
rangeRepo size: 4
2025-08-23T22:21:52.522Z,1755987712.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.084858 m,
bearing: 340.854997 deg,
lat: 36.779416 deg,
lon: -121.859552 deg,
deltaT: 3.291559 s,
deltaX: 0.297903 m,
approachRate: 0.090505 m/s,
posRepo size: 4
2025-08-23T22:21:52.522Z,1755987712.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:21:52.705Z,1755987712.705 [DAT](INFO): DAT read: Rx Time:22:21:52.1501
2025-08-23T22:21:52.707Z,1755987712.707 [DAT](INFO): Rx dataTimestamp_ set to:1755987712.706502
2025-08-23T22:21:52.712Z,1755987712.712 [DAT](INFO): DAT read: Bearing 128.5, -18.0 (Local)
2025-08-23T22:21:52.714Z,1755987712.714 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.5, -18.0 (Local)
2025-08-23T22:21:52.780Z,1755987712.780 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.1
2025-08-23T22:21:52.875Z,1755987712.875 [DAT](INFO): DAT read: 22:21:52.1501 LVL= 32752, 18817, 25074, 32755, AGC= 65, IDX= 497, 0.02, 0.538, 2.897, 1.326, 1.631, PHS=-0.991, 1.311,-0.349, RAW= 314.3, 0.3, CAL= 312.5, -2.8, ROT= 197.5, 2.8
2025-08-23T22:21:52.876Z,1755987712.876 [DAT](INFO): got valid direction response:
22:21:52.1501 LVL= 32752, 18817, 25074, 32755, AGC= 65, IDX= 497, 0.02, 0.538, 2.897, 1.326, 1.631, PHS=-0.991, 1.311,-0.349, RAW= 314.3, 0.3, CAL= 312.5, -2.8, ROT= 197.5, 2.8
2025-08-23T22:21:52.877Z,1755987712.877 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:52.886Z,1755987712.886 [DAT](INFO): direction in FSK: [-0.952578,-0.300347,-0.048850]
2025-08-23T22:21:52.886Z,1755987712.886 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:52.906Z,1755987712.906 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:52.906Z,1755987712.906 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:52.950Z,1755987712.950 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:52.951Z,1755987712.951 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:52.951Z,1755987712.951 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:53.010Z,1755987713.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.496695 s,
deltaX: -0.200001 m,
approachRate: -0.402663 m/s,
rangeRepo size: 4
2025-08-23T22:21:53.012Z,1755987713.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.886122 m,
bearing: 340.719217 deg,
lat: 36.779415 deg,
lon: -121.859552 deg,
deltaT: 0.496695 s,
deltaX: -0.198736 m,
approachRate: -0.400117 m/s,
posRepo size: 4
2025-08-23T22:21:53.013Z,1755987713.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:21:53.208Z,1755987713.208 [DAT](INFO): DAT read: Rx Time:22:21:52.6502
2025-08-23T22:21:53.210Z,1755987713.210 [DAT](INFO): Rx dataTimestamp_ set to:1755987713.208354
2025-08-23T22:21:53.214Z,1755987713.214 [DAT](INFO): DAT read: Bearing 128.1, -18.2 (Local)
2025-08-23T22:21:53.215Z,1755987713.215 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.1, -18.2 (Local)
2025-08-23T22:21:53.220Z,1755987713.220 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0
2025-08-23T22:21:53.221Z,1755987713.221 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:21:53.226Z,1755987713.226 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:53.227Z,1755987713.227 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:53.338Z,1755987713.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.501852 s,
deltaX: 0.200001 m,
approachRate: 0.398525 m/s,
rangeRepo size: 4
2025-08-23T22:21:53.338Z,1755987713.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:21:53.458Z,1755987713.458 [DAT](INFO): DAT read: 22:21:52.6502 LVL= 22288, 15553, 17810, 19507, AGC= 67, IDX= 2, 0.29, 2.491,-1.489,-3.017,-2.711, PHS=-0.980, 1.267,-0.351, RAW= 314.3, 0.6, CAL= 312.3, -2.4, ROT= 197.7, 2.4
2025-08-23T22:21:53.459Z,1755987713.459 [DAT](INFO): got valid direction response:
22:21:52.6502 LVL= 22288, 15553, 17810, 19507, AGC= 67, IDX= 2, 0.29, 2.491,-1.489,-3.017,-2.711, PHS=-0.980, 1.267,-0.351, RAW= 314.3, 0.6, CAL= 312.3, -2.4, ROT= 197.7, 2.4
2025-08-23T22:21:53.460Z,1755987713.460 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:21:53.461Z,1755987713.461 [DAT](INFO): direction in FSK: [-0.951826,-0.303766,-0.041876]
2025-08-23T22:21:53.464Z,1755987713.464 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:53.464Z,1755987713.464 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:53.464Z,1755987713.464 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:53.712Z,1755987713.712 [DAT](INFO): DAT read: Rx Time:22:21:53.1501
2025-08-23T22:21:53.714Z,1755987713.714 [DAT](INFO): Rx dataTimestamp_ set to:1755987713.712804
2025-08-23T22:21:53.719Z,1755987713.719 [DAT](INFO): DAT read: Bearing 128.7, -17.7 (Local)
2025-08-23T22:21:53.720Z,1755987713.720 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.7, -17.7 (Local)
2025-08-23T22:21:53.727Z,1755987713.727 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0
2025-08-23T22:21:53.792Z,1755987713.792 [DAT](INFO): DAT read: 22:21:53.1501 LVL= 32752, 17905, 27890, 32755, AGC= 64, IDX= 498,-0.27,-0.839, 1.551,-0.055, 0.260, PHS=-0.997, 1.336,-0.359, RAW= 314.7, 0.2, CAL= 312.9, -2.9, ROT= 197.1, 2.9
2025-08-23T22:21:53.804Z,1755987713.804 [DAT](INFO): got valid direction response:
22:21:53.1501 LVL= 32752, 17905, 27890, 32755, AGC= 64, IDX= 498,-0.27,-0.839, 1.551,-0.055, 0.260, PHS=-0.997, 1.336,-0.359, RAW= 314.7, 0.2, CAL= 312.9, -2.9, ROT= 197.1, 2.9
2025-08-23T22:21:53.804Z,1755987713.804 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:53.814Z,1755987713.814 [DAT](INFO): direction in FSK: [-0.954569,-0.293664,-0.050593]
2025-08-23T22:21:53.814Z,1755987713.814 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:53.817Z,1755987713.817 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:53.820Z,1755987713.820 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:53.864Z,1755987713.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.504450 s,
deltaX: -0.200001 m,
approachRate: -0.396473 m/s,
rangeRepo size: 4
2025-08-23T22:21:53.870Z,1755987713.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.886147 m,
bearing: 340.353702 deg,
lat: 36.779415 deg,
lon: -121.859552 deg,
deltaT: 1.006302 s,
deltaX: 0.000025 m,
approachRate: 0.000025 m/s,
posRepo size: 4
2025-08-23T22:21:53.871Z,1755987713.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:21:53.959Z,1755987713.959 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:53.960Z,1755987713.960 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:53.960Z,1755987713.960 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:54.216Z,1755987714.216 [DAT](INFO): DAT read: Rx Time:22:21:53.6503
2025-08-23T22:21:54.218Z,1755987714.218 [DAT](INFO): Rx dataTimestamp_ set to:1755987714.216110
2025-08-23T22:21:54.221Z,1755987714.221 [DAT](INFO): DAT read: Bearing 128.3, -18.3 (Local)
2025-08-23T22:21:54.221Z,1755987714.221 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.3, -18.3 (Local)
2025-08-23T22:21:54.225Z,1755987714.225 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0
2025-08-23T22:21:54.269Z,1755987714.269 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:21:54.270Z,1755987714.270 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:54.271Z,1755987714.271 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:54.295Z,1755987714.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.503306 s,
deltaX: 0.299999 m,
approachRate: 0.596057 m/s,
rangeRepo size: 4
2025-08-23T22:21:54.296Z,1755987714.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:21:54.466Z,1755987714.466 [DAT](INFO): DAT read: 22:21:53.6503 LVL= 23184, 19233, 21346, 20867, AGC= 67, IDX= 3,-0.01, 1.024,-2.903, 1.819, 2.125, PHS=-0.998, 1.301,-0.349, RAW= 314.1, 0.5, CAL= 312.2, -2.6, ROT= 197.8, 2.6
2025-08-23T22:21:54.467Z,1755987714.467 [DAT](INFO): got valid direction response:
22:21:53.6503 LVL= 23184, 19233, 21346, 20867, AGC= 67, IDX= 3,-0.01, 1.024,-2.903, 1.819, 2.125, PHS=-0.998, 1.301,-0.349, RAW= 314.1, 0.5, CAL= 312.2, -2.6, ROT= 197.8, 2.6
2025-08-23T22:21:54.467Z,1755987714.467 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:21:54.468Z,1755987714.468 [DAT](INFO): direction in FSK: [-0.951149,-0.305381,-0.045363]
2025-08-23T22:21:54.471Z,1755987714.471 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:54.472Z,1755987714.472 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:54.472Z,1755987714.472 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:54.577Z,1755987714.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:21:54.719Z,1755987714.719 [DAT](INFO): DAT read: Rx Time:22:21:54.1502
2025-08-23T22:21:54.720Z,1755987714.720 [DAT](INFO): Rx dataTimestamp_ set to:1755987714.719551
2025-08-23T22:21:54.722Z,1755987714.722 [DAT](INFO): DAT read: Bearing 128.1, -18.3 (Local)
2025-08-23T22:21:54.723Z,1755987714.723 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.1, -18.3 (Local)
2025-08-23T22:21:54.725Z,1755987714.725 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0
2025-08-23T22:21:54.727Z,1755987714.727 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:21:54.727Z,1755987714.727 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:54.728Z,1755987714.728 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:54.970Z,1755987714.970 [DAT](INFO): DAT read: 22:21:54.1502 LVL= 32752, 18673, 27602, 32755, AGC= 65, IDX= 498, 0.19, 1.047,-2.887, 1.839, 2.150, PHS=-1.001, 1.291,-0.355, RAW= 314.1, 0.7, CAL= 312.2, -2.4, ROT= 197.8, 2.4
2025-08-23T22:21:54.971Z,1755987714.971 [DAT](INFO): got valid direction response:
22:21:54.1502 LVL= 32752, 18673, 27602, 32755, AGC= 65, IDX= 498, 0.19, 1.047,-2.887, 1.839, 2.150, PHS=-1.001, 1.291,-0.355, RAW= 314.1, 0.7, CAL= 312.2, -2.4, ROT= 197.8, 2.4
2025-08-23T22:21:54.972Z,1755987714.972 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:21:54.973Z,1755987714.973 [DAT](INFO): direction in FSK: [-0.951294,-0.305427,-0.041876]
2025-08-23T22:21:54.976Z,1755987714.976 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:54.976Z,1755987714.976 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:54.976Z,1755987714.976 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:55.024Z,1755987715.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.503441 s,
deltaX: -0.099998 m,
approachRate: -0.198630 m/s,
rangeRepo size: 4
2025-08-23T22:21:55.030Z,1755987715.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.084780 m,
bearing: 341.158090 deg,
lat: 36.779415 deg,
lon: -121.859552 deg,
deltaT: 1.006747 s,
deltaX: 0.198633 m,
approachRate: 0.197302 m/s,
posRepo size: 4
2025-08-23T22:21:55.031Z,1755987715.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:21:55.222Z,1755987715.222 [DAT](INFO): DAT read: Rx Time:22:21:54.6502
2025-08-23T22:21:55.223Z,1755987715.223 [DAT](INFO): Rx dataTimestamp_ set to:1755987715.222328
2025-08-23T22:21:55.227Z,1755987715.227 [DAT](INFO): DAT read: Bearing 128.1, -18.6 (Local)
2025-08-23T22:21:55.228Z,1755987715.228 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.1, -18.6 (Local)
2025-08-23T22:21:55.237Z,1755987715.237 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0
2025-08-23T22:21:55.252Z,1755987715.252 [DAT](INFO): DAT read: 22:21:54.6502 LVL= 32752, 17185, 27298, 30835, AGC= 65, IDX= 499,-0.39,-0.545, 1.807, 0.255, 0.564, PHS=-1.007, 1.288,-0.353, RAW= 314.0, 0.7, CAL= 312.0, -2.4, ROT= 198.0, 2.4
2025-08-23T22:21:55.253Z,1755987715.253 [DAT](INFO): got valid direction response:
22:21:54.6502 LVL= 32752, 17185, 27298, 30835, AGC= 65, IDX= 499,-0.39,-0.545, 1.807, 0.255, 0.564, PHS=-1.007, 1.288,-0.353, RAW= 314.0, 0.7, CAL= 312.0, -2.4, ROT= 198.0, 2.4
2025-08-23T22:21:55.262Z,1755987715.262 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:55.263Z,1755987715.263 [DAT](INFO): direction in FSK: [-0.950222,-0.308746,-0.041876]
2025-08-23T22:21:55.263Z,1755987715.263 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:55.270Z,1755987715.270 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:55.271Z,1755987715.271 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:55.390Z,1755987715.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.502777 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:55.392Z,1755987715.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.084805 m,
bearing: 341.385439 deg,
lat: 36.779415 deg,
lon: -121.859552 deg,
deltaT: 0.502777 s,
deltaX: 0.000025 m,
approachRate: 0.000049 m/s,
posRepo size: 4
2025-08-23T22:21:55.393Z,1755987715.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:21:55.475Z,1755987715.475 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:55.475Z,1755987715.475 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:55.476Z,1755987715.476 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:55.727Z,1755987715.727 [DAT](INFO): DAT read: Rx Time:22:21:55.1502
2025-08-23T22:21:55.727Z,1755987715.727 [DAT](INFO): Rx dataTimestamp_ set to:1755987715.727205
2025-08-23T22:21:55.729Z,1755987715.729 [DAT](INFO): DAT read: Bearing 128.0, -18.6 (Local)
2025-08-23T22:21:55.729Z,1755987715.729 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.0, -18.6 (Local)
2025-08-23T22:21:55.731Z,1755987715.731 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0
2025-08-23T22:21:55.736Z,1755987715.736 [DAT](INFO): DAT read: 22:21:55.1502 LVL= 32752, 18001, 29394, 32755, AGC= 65, IDX= 498,-0.11,-1.982, 0.419,-1.167,-0.850, PHS=-1.030, 1.315,-0.361, RAW= 313.9, 0.7, CAL= 312.0, -2.3, ROT= 198.0, 2.3
2025-08-23T22:21:55.737Z,1755987715.737 [DAT](INFO): got valid direction response:
22:21:55.1502 LVL= 32752, 18001, 29394, 32755, AGC= 65, IDX= 498,-0.11,-1.982, 0.419,-1.167,-0.850, PHS=-1.030, 1.315,-0.361, RAW= 313.9, 0.7, CAL= 312.0, -2.3, ROT= 198.0, 2.3
2025-08-23T22:21:55.737Z,1755987715.737 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:55.738Z,1755987715.738 [DAT](INFO): direction in FSK: [-0.950290,-0.308768,-0.040132]
2025-08-23T22:21:55.738Z,1755987715.738 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:55.759Z,1755987715.759 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:55.760Z,1755987715.760 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:55.929Z,1755987715.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.504877 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:21:55.935Z,1755987715.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.084805 m,
bearing: 341.424439 deg,
lat: 36.779415 deg,
lon: -121.859550 deg,
deltaT: 0.504877 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:21:55.936Z,1755987715.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:21:55.978Z,1755987715.978 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:55.979Z,1755987715.979 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:55.979Z,1755987715.979 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:56.231Z,1755987716.231 [DAT](INFO): DAT read: Rx Time:22:21:55.6503
2025-08-23T22:21:56.232Z,1755987716.232 [DAT](INFO): Rx dataTimestamp_ set to:1755987716.231407
2025-08-23T22:21:56.233Z,1755987716.233 [DAT](INFO): DAT read: Bearing 127.2, -19.4 (Local)
2025-08-23T22:21:56.233Z,1755987716.233 [DAT](INFO): Local bearing/azimuth received:
Bearing 127.2, -19.4 (Local)
2025-08-23T22:21:56.235Z,1755987716.235 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.1
2025-08-23T22:21:56.240Z,1755987716.240 [DAT](INFO): DAT read: 22:21:55.6503 LVL= 30096, 21361, 26754, 29923, AGC= 65, IDX= 499, 0.10, 1.142,-2.817, 1.963, 2.271, PHS=-1.026, 1.240,-0.352, RAW= 313.2, 1.4, CAL= 311.1, -1.7, ROT= 198.9, 1.7
2025-08-23T22:21:56.241Z,1755987716.241 [DAT](INFO): got valid direction response:
22:21:55.6503 LVL= 30096, 21361, 26754, 29923, AGC= 65, IDX= 499, 0.10, 1.142,-2.817, 1.963, 2.271, PHS=-1.026, 1.240,-0.352, RAW= 313.2, 1.4, CAL= 311.1, -1.7, ROT= 198.9, 1.7
2025-08-23T22:21:56.241Z,1755987716.241 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:56.242Z,1755987716.242 [DAT](INFO): direction in FSK: [-0.945669,-0.323775,-0.029666]
2025-08-23T22:21:56.243Z,1755987716.243 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:56.254Z,1755987716.254 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:56.255Z,1755987716.255 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:56.307Z,1755987716.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.504202 s,
deltaX: 0.099998 m,
approachRate: 0.198330 m/s,
rangeRepo size: 4
2025-08-23T22:21:56.309Z,1755987716.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.184120 m,
bearing: 342.416624 deg,
lat: 36.779415 deg,
lon: -121.859549 deg,
deltaT: 0.504202 s,
deltaX: 0.099316 m,
approachRate: 0.196976 m/s,
posRepo size: 4
2025-08-23T22:21:56.314Z,1755987716.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:21:56.482Z,1755987716.482 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:56.483Z,1755987716.483 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:56.483Z,1755987716.483 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:56.647Z,1755987716.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:21:56.735Z,1755987716.735 [DAT](INFO): DAT read: Rx Time:22:21:56.1502
2025-08-23T22:21:56.736Z,1755987716.736 [DAT](INFO): Rx dataTimestamp_ set to:1755987716.735317
2025-08-23T22:21:56.738Z,1755987716.738 [DAT](INFO): DAT read: Bearing 127.9, -18.8 (Local)
2025-08-23T22:21:56.738Z,1755987716.738 [DAT](INFO): Local bearing/azimuth received:
Bearing 127.9, -18.8 (Local)
2025-08-23T22:21:56.741Z,1755987716.741 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1
2025-08-23T22:21:56.747Z,1755987716.747 [DAT](INFO): DAT read: 22:21:56.1502 LVL= 32752, 18545, 28098, 32243, AGC= 65, IDX= 498, 0.46,-0.832, 1.525,-0.019, 0.286, PHS=-1.016, 1.283,-0.350, RAW= 313.6, 0.8, CAL= 311.7, -2.3, ROT= 198.3, 2.3
2025-08-23T22:21:56.748Z,1755987716.748 [DAT](INFO): got valid direction response:
22:21:56.1502 LVL= 32752, 18545, 28098, 32243, AGC= 65, IDX= 498, 0.46,-0.832, 1.525,-0.019, 0.286, PHS=-1.016, 1.283,-0.350, RAW= 313.6, 0.8, CAL= 311.7, -2.3, ROT= 198.3, 2.3
2025-08-23T22:21:56.749Z,1755987716.749 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:56.758Z,1755987716.758 [DAT](INFO): direction in FSK: [-0.948661,-0.313740,-0.040132]
2025-08-23T22:21:56.758Z,1755987716.758 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:56.766Z,1755987716.766 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:56.766Z,1755987716.766 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:56.986Z,1755987716.986 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:56.986Z,1755987716.986 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:56.987Z,1755987716.987 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:57.094Z,1755987717.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.503910 s,
deltaX: -0.099998 m,
approachRate: -0.198445 m/s,
rangeRepo size: 4
2025-08-23T22:21:57.096Z,1755987717.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.084755 m,
bearing: 341.826531 deg,
lat: 36.779415 deg,
lon: -121.859549 deg,
deltaT: 0.503910 s,
deltaX: -0.099365 m,
approachRate: -0.197188 m/s,
posRepo size: 4
2025-08-23T22:21:57.096Z,1755987717.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:21:57.239Z,1755987717.239 [DAT](INFO): DAT read: Rx Time:22:21:56.6504
2025-08-23T22:21:57.240Z,1755987717.240 [DAT](INFO): Rx dataTimestamp_ set to:1755987717.239515
2025-08-23T22:21:57.241Z,1755987717.241 [DAT](INFO): DAT read: Bearing 127.7, -18.4 (Local)
2025-08-23T22:21:57.241Z,1755987717.241 [DAT](INFO): Local bearing/azimuth received:
Bearing 127.7, -18.4 (Local)
2025-08-23T22:21:57.243Z,1755987717.243 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:21:57.248Z,1755987717.248 [DAT](INFO): DAT read: 22:21:56.6504 LVL= 32752, 23153, 32754, 32755, AGC= 67, IDX= 500,-0.16,-1.235, 1.140,-0.432,-0.106, PHS=-1.028, 1.291,-0.370, RAW= 314.0, 1.0, CAL= 312.0, -2.0, ROT= 198.0, 2.0
2025-08-23T22:21:57.249Z,1755987717.249 [DAT](INFO): got valid direction response:
22:21:56.6504 LVL= 32752, 23153, 32754, 32755, AGC= 67, IDX= 500,-0.16,-1.235, 1.140,-0.432,-0.106, PHS=-1.028, 1.291,-0.370, RAW= 314.0, 1.0, CAL= 312.0, -2.0, ROT= 198.0, 2.0
2025-08-23T22:21:57.254Z,1755987717.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:57.255Z,1755987717.255 [DAT](INFO): direction in FSK: [-0.950477,-0.308829,-0.034899]
2025-08-23T22:21:57.255Z,1755987717.255 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:57.263Z,1755987717.263 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:57.263Z,1755987717.263 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:57.461Z,1755987717.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.504198 s,
deltaX: 0.299999 m,
approachRate: 0.595003 m/s,
rangeRepo size: 4
2025-08-23T22:21:57.463Z,1755987717.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382835 m,
bearing: 341.589122 deg,
lat: 36.779415 deg,
lon: -121.859549 deg,
deltaT: 0.504198 s,
deltaX: 0.298080 m,
approachRate: 0.591197 m/s,
posRepo size: 4
2025-08-23T22:21:57.464Z,1755987717.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:21:57.490Z,1755987717.490 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:57.490Z,1755987717.490 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:57.491Z,1755987717.491 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:57.743Z,1755987717.743 [DAT](INFO): DAT read: Rx Time:22:21:57.1503
2025-08-23T22:21:57.744Z,1755987717.744 [DAT](INFO): Rx dataTimestamp_ set to:1755987717.743300
2025-08-23T22:21:57.745Z,1755987717.745 [DAT](INFO): DAT read: Bearing 127.5, -19.3 (Local)
2025-08-23T22:21:57.745Z,1755987717.745 [DAT](INFO): Local bearing/azimuth received:
Bearing 127.5, -19.3 (Local)
2025-08-23T22:21:57.747Z,1755987717.747 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0
2025-08-23T22:21:57.753Z,1755987717.753 [DAT](INFO): DAT read: 22:21:57.1503 LVL= 32752, 18033, 27298, 31843, AGC= 65, IDX= 499, 0.05,-0.507, 1.858, 0.323, 0.631, PHS=-1.036, 1.273,-0.352, RAW= 313.2, 1.1, CAL= 311.2, -1.9, ROT= 198.8, 1.9
2025-08-23T22:21:57.765Z,1755987717.765 [DAT](INFO): got valid direction response:
22:21:57.1503 LVL= 32752, 18033, 27298, 31843, AGC= 65, IDX= 499, 0.05,-0.507, 1.858, 0.323, 0.631, PHS=-1.036, 1.273,-0.352, RAW= 313.2, 1.1, CAL= 311.2, -1.9, ROT= 198.8, 1.9
2025-08-23T22:21:57.766Z,1755987717.766 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:57.767Z,1755987717.767 [DAT](INFO): direction in FSK: [-0.946129,-0.322089,-0.033155]
2025-08-23T22:21:57.767Z,1755987717.767 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:57.770Z,1755987717.770 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:57.771Z,1755987717.771 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:57.994Z,1755987717.994 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:57.994Z,1755987717.994 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:57.995Z,1755987717.995 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:57.000Z,1755987718.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.503785 s,
deltaX: -0.200001 m,
approachRate: -0.396996 m/s,
rangeRepo size: 4
2025-08-23T22:21:58.006Z,1755987718.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.184101 m,
bearing: 342.397087 deg,
lat: 36.779416 deg,
lon: -121.859547 deg,
deltaT: 0.503785 s,
deltaX: -0.198734 m,
approachRate: -0.394482 m/s,
posRepo size: 4
2025-08-23T22:21:58.007Z,1755987718.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:21:58.247Z,1755987718.247 [DAT](INFO): DAT read: Rx Time:22:21:57.6504
2025-08-23T22:21:58.248Z,1755987718.248 [DAT](INFO): Rx dataTimestamp_ set to:1755987718.247318
2025-08-23T22:21:58.249Z,1755987718.249 [DAT](INFO): DAT read: Bearing 127.3, -19.5 (Local)
2025-08-23T22:21:58.249Z,1755987718.249 [DAT](INFO): Local bearing/azimuth received:
Bearing 127.3, -19.5 (Local)
2025-08-23T22:21:58.251Z,1755987718.251 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:21:58.256Z,1755987718.256 [DAT](INFO): DAT read: 22:21:57.6504 LVL= 32752, 20897, 32754, 32755, AGC= 68, IDX= 500, 0.28, 1.027,-2.894, 1.864, 2.173, PHS=-1.044, 1.261,-0.353, RAW= 313.0, 1.3, CAL= 310.9, -1.7, ROT= 199.1, 1.7
2025-08-23T22:21:58.257Z,1755987718.257 [DAT](INFO): got valid direction response:
22:21:57.6504 LVL= 32752, 20897, 32754, 32755, AGC= 68, IDX= 500, 0.28, 1.027,-2.894, 1.864, 2.173, PHS=-1.044, 1.261,-0.353, RAW= 313.0, 1.3, CAL= 310.9, -1.7, ROT= 199.1, 1.7
2025-08-23T22:21:58.257Z,1755987718.257 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:58.258Z,1755987718.258 [DAT](INFO): direction in FSK: [-0.944533,-0.327074,-0.029666]
2025-08-23T22:21:58.259Z,1755987718.259 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:58.262Z,1755987718.262 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:58.262Z,1755987718.262 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:58.354Z,1755987718.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.504018 s,
deltaX: 0.200001 m,
approachRate: 0.396813 m/s,
rangeRepo size: 4
2025-08-23T22:21:58.356Z,1755987718.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382809 m,
bearing: 342.755906 deg,
lat: 36.779416 deg,
lon: -121.859546 deg,
deltaT: 0.504018 s,
deltaX: 0.198708 m,
approachRate: 0.394247 m/s,
posRepo size: 4
2025-08-23T22:21:58.357Z,1755987718.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:21:58.498Z,1755987718.498 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:58.499Z,1755987718.499 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:58.499Z,1755987718.499 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:58.734Z,1755987718.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:21:58.751Z,1755987718.751 [DAT](INFO): DAT read: Rx Time:22:21:58.1503
2025-08-23T22:21:58.752Z,1755987718.752 [DAT](INFO): Rx dataTimestamp_ set to:1755987718.751460
2025-08-23T22:21:58.753Z,1755987718.753 [DAT](INFO): DAT read: Bearing 128.5, -18.8 (Local)
2025-08-23T22:21:58.754Z,1755987718.754 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.5, -18.8 (Local)
2025-08-23T22:21:58.756Z,1755987718.756 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.1
2025-08-23T22:21:58.760Z,1755987718.760 [DAT](INFO): DAT read: 22:21:58.1503 LVL= 32752, 17201, 26338, 31667, AGC= 64, IDX= 500,-0.27,-2.587,-0.196,-1.766,-1.471, PHS=-1.015, 1.319,-0.339, RAW= 313.7, 0.3, CAL= 311.8, -2.8, ROT= 198.2, 2.8
2025-08-23T22:21:58.761Z,1755987718.761 [DAT](INFO): got valid direction response:
22:21:58.1503 LVL= 32752, 17201, 26338, 31667, AGC= 64, IDX= 500,-0.27,-2.587,-0.196,-1.766,-1.471, PHS=-1.015, 1.319,-0.339, RAW= 313.7, 0.3, CAL= 311.8, -2.8, ROT= 198.2, 2.8
2025-08-23T22:21:58.762Z,1755987718.762 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:58.763Z,1755987718.763 [DAT](INFO): direction in FSK: [-0.948838,-0.311962,-0.048850]
2025-08-23T22:21:58.763Z,1755987718.763 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:58.766Z,1755987718.766 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:58.767Z,1755987718.767 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:59.002Z,1755987719.002 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:59.002Z,1755987719.002 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:59.003Z,1755987719.003 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:59.123Z,1755987719.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.504142 s,
deltaX: -0.200001 m,
approachRate: -0.396715 m/s,
rangeRepo size: 4
2025-08-23T22:21:59.125Z,1755987719.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.184076 m,
bearing: 341.785275 deg,
lat: 36.779416 deg,
lon: -121.859547 deg,
deltaT: 0.504142 s,
deltaX: -0.198732 m,
approachRate: -0.394199 m/s,
posRepo size: 4
2025-08-23T22:21:59.125Z,1755987719.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:21:59.255Z,1755987719.255 [DAT](INFO): DAT read: Rx Time:22:21:58.6504
2025-08-23T22:21:59.256Z,1755987719.256 [DAT](INFO): Rx dataTimestamp_ set to:1755987719.255372
2025-08-23T22:21:59.257Z,1755987719.257 [DAT](INFO): DAT read: Bearing 127.5, -19.5 (Local)
2025-08-23T22:21:59.257Z,1755987719.257 [DAT](INFO): Local bearing/azimuth received:
Bearing 127.5, -19.5 (Local)
2025-08-23T22:21:59.259Z,1755987719.259 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:21:59.264Z,1755987719.264 [DAT](INFO): DAT read: 22:21:58.6504 LVL= 32752, 21201, 32674, 32755, AGC= 67, IDX= 500,-0.08,-1.763, 0.601,-0.927,-0.621, PHS=-1.040, 1.267,-0.350, RAW= 313.1, 1.2, CAL= 311.0, -1.9, ROT= 199.0, 1.9
2025-08-23T22:21:59.265Z,1755987719.265 [DAT](INFO): got valid direction response:
22:21:58.6504 LVL= 32752, 21201, 32674, 32755, AGC= 67, IDX= 500,-0.08,-1.763, 0.601,-0.927,-0.621, PHS=-1.040, 1.267,-0.350, RAW= 313.1, 1.2, CAL= 311.0, -1.9, ROT= 199.0, 1.9
2025-08-23T22:21:59.266Z,1755987719.266 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:59.267Z,1755987719.267 [DAT](INFO): direction in FSK: [-0.944999,-0.325389,-0.033155]
2025-08-23T22:21:59.267Z,1755987719.267 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:59.287Z,1755987719.287 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:59.288Z,1755987719.288 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:59.506Z,1755987719.506 [DAT](INFO): Reached modem response timeout
2025-08-23T22:21:59.506Z,1755987719.506 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:59.507Z,1755987719.507 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:21:59.528Z,1755987719.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.503912 s,
deltaX: 0.200001 m,
approachRate: 0.396896 m/s,
rangeRepo size: 4
2025-08-23T22:21:59.535Z,1755987719.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382814 m,
bearing: 342.699602 deg,
lat: 36.779417 deg,
lon: -121.859545 deg,
deltaT: 0.503912 s,
deltaX: 0.198738 m,
approachRate: 0.394390 m/s,
posRepo size: 4
2025-08-23T22:21:59.536Z,1755987719.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:21:59.762Z,1755987719.762 [DAT](INFO): DAT read: Rx Time:22:21:59.1503
2025-08-23T22:21:59.763Z,1755987719.763 [DAT](INFO): Rx dataTimestamp_ set to:1755987719.762594
2025-08-23T22:21:59.764Z,1755987719.764 [DAT](INFO): DAT read: Bearing 127.6, -19.5 (Local)
2025-08-23T22:21:59.764Z,1755987719.764 [DAT](INFO): Local bearing/azimuth received:
Bearing 127.6, -19.5 (Local)
2025-08-23T22:21:59.767Z,1755987719.767 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0
2025-08-23T22:21:59.771Z,1755987719.771 [DAT](INFO): DAT read: 22:21:59.1503 LVL= 32112, 17121, 30450, 32755, AGC= 65, IDX= 499, 0.08,-1.532, 0.817,-0.700,-0.399, PHS=-1.031, 1.261,-0.345, RAW= 313.0, 1.1, CAL= 311.0, -1.9, ROT= 199.0, 1.9
2025-08-23T22:21:59.772Z,1755987719.772 [DAT](INFO): got valid direction response:
22:21:59.1503 LVL= 32112, 17121, 30450, 32755, AGC= 65, IDX= 499, 0.08,-1.532, 0.817,-0.700,-0.399, PHS=-1.031, 1.261,-0.345, RAW= 313.0, 1.1, CAL= 311.0, -1.9, ROT= 199.0, 1.9
2025-08-23T22:21:59.772Z,1755987719.772 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:21:59.773Z,1755987719.773 [DAT](INFO): direction in FSK: [-0.944999,-0.325389,-0.033155]
2025-08-23T22:21:59.774Z,1755987719.774 [DAT](INFO): publishing direction and range info
2025-08-23T22:21:59.777Z,1755987719.777 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:21:59.777Z,1755987719.777 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:00.014Z,1755987720.014 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:00.015Z,1755987720.015 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:00.015Z,1755987720.015 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:00.025Z,1755987720.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.507222 s,
deltaX: -0.200001 m,
approachRate: -0.394306 m/s,
rangeRepo size: 4
2025-08-23T22:22:00.038Z,1755987720.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.184082 m,
bearing: 342.702132 deg,
lat: 36.779416 deg,
lon: -121.859544 deg,
deltaT: 0.507222 s,
deltaX: -0.198732 m,
approachRate: -0.391805 m/s,
posRepo size: 4
2025-08-23T22:22:00.039Z,1755987720.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:22:00.267Z,1755987720.267 [DAT](INFO): DAT read: Rx Time:22:21:59.6504
2025-08-23T22:22:00.268Z,1755987720.268 [DAT](INFO): Rx dataTimestamp_ set to:1755987720.267314
2025-08-23T22:22:00.269Z,1755987720.269 [DAT](INFO): DAT read: Bearing 127.7, -19.5 (Local)
2025-08-23T22:22:00.269Z,1755987720.269 [DAT](INFO): Local bearing/azimuth received:
Bearing 127.7, -19.5 (Local)
2025-08-23T22:22:00.271Z,1755987720.271 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:00.276Z,1755987720.276 [DAT](INFO): DAT read: 22:21:59.6504 LVL= 32752, 20241, 32754, 32755, AGC= 68, IDX= 500, 0.28, 0.032, 2.403, 0.871, 1.173, PHS=-1.039, 1.275,-0.347, RAW= 313.1, 1.1, CAL= 311.0, -2.0, ROT= 199.0, 2.0
2025-08-23T22:22:00.277Z,1755987720.277 [DAT](INFO): got valid direction response:
22:21:59.6504 LVL= 32752, 20241, 32754, 32755, AGC= 68, IDX= 500, 0.28, 0.032, 2.403, 0.871, 1.173, PHS=-1.039, 1.275,-0.347, RAW= 313.1, 1.1, CAL= 311.0, -2.0, ROT= 199.0, 2.0
2025-08-23T22:22:00.277Z,1755987720.277 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:00.278Z,1755987720.278 [DAT](INFO): direction in FSK: [-0.944943,-0.325370,-0.034899]
2025-08-23T22:22:00.278Z,1755987720.278 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:00.288Z,1755987720.288 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:00.288Z,1755987720.288 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:00.372Z,1755987720.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.504720 s,
deltaX: 0.200001 m,
approachRate: 0.396261 m/s,
rangeRepo size: 4
2025-08-23T22:22:00.379Z,1755987720.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382790 m,
bearing: 342.688195 deg,
lat: 36.779417 deg,
lon: -121.859544 deg,
deltaT: 0.504720 s,
deltaX: 0.198708 m,
approachRate: 0.393699 m/s,
posRepo size: 4
2025-08-23T22:22:00.379Z,1755987720.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:00.518Z,1755987720.518 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:00.518Z,1755987720.518 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:00.519Z,1755987720.519 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:00.740Z,1755987720.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:00.771Z,1755987720.771 [DAT](INFO): DAT read: Rx Time:22:22:00.1503
2025-08-23T22:22:00.772Z,1755987720.772 [DAT](INFO): Rx dataTimestamp_ set to:1755987720.771356
2025-08-23T22:22:00.773Z,1755987720.773 [DAT](INFO): DAT read: Bearing 128.1, -19.4 (Local)
2025-08-23T22:22:00.773Z,1755987720.773 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.1, -19.4 (Local)
2025-08-23T22:22:00.775Z,1755987720.775 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0
2025-08-23T22:22:00.780Z,1755987720.780 [DAT](INFO): DAT read: 22:22:00.1503 LVL= 32752, 19185, 28018, 32659, AGC= 66, IDX= 500,-0.45,-2.325, 0.041,-1.489,-1.199, PHS=-1.024, 1.286,-0.333, RAW= 313.1, 0.7, CAL= 311.1, -2.4, ROT= 198.9, 2.4
2025-08-23T22:22:00.781Z,1755987720.781 [DAT](INFO): got valid direction response:
22:22:00.1503 LVL= 32752, 19185, 28018, 32659, AGC= 66, IDX= 500,-0.45,-2.325, 0.041,-1.489,-1.199, PHS=-1.024, 1.286,-0.333, RAW= 313.1, 0.7, CAL= 311.1, -2.4, ROT= 198.9, 2.4
2025-08-23T22:22:00.782Z,1755987720.782 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:00.783Z,1755987720.783 [DAT](INFO): direction in FSK: [-0.945255,-0.323633,-0.041876]
2025-08-23T22:22:00.784Z,1755987720.784 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:00.787Z,1755987720.787 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:00.788Z,1755987720.788 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:01.022Z,1755987721.022 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:01.022Z,1755987721.022 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:01.023Z,1755987721.023 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:01.129Z,1755987721.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.504042 s,
deltaX: -0.200001 m,
approachRate: -0.396794 m/s,
rangeRepo size: 4
2025-08-23T22:22:01.131Z,1755987721.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.184055 m,
bearing: 342.522192 deg,
lat: 36.779415 deg,
lon: -121.859544 deg,
deltaT: 0.504042 s,
deltaX: -0.198734 m,
approachRate: -0.394281 m/s,
posRepo size: 4
2025-08-23T22:22:01.132Z,1755987721.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:22:01.275Z,1755987721.275 [DAT](INFO): DAT read: Rx Time:22:22:00.6504
2025-08-23T22:22:01.276Z,1755987721.276 [DAT](INFO): Rx dataTimestamp_ set to:1755987721.275484
2025-08-23T22:22:01.277Z,1755987721.277 [DAT](INFO): DAT read: Bearing 128.2, -19.3 (Local)
2025-08-23T22:22:01.277Z,1755987721.277 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.2, -19.3 (Local)
2025-08-23T22:22:01.279Z,1755987721.279 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:01.284Z,1755987721.284 [DAT](INFO): DAT read: 22:22:00.6504 LVL= 32048, 17809, 28146, 32755, AGC= 66, IDX= 501,-0.24,-1.824, 0.542,-0.993,-0.701, PHS=-1.022, 1.288,-0.337, RAW= 313.2, 0.7, CAL= 311.2, -2.4, ROT= 198.8, 2.4
2025-08-23T22:22:01.285Z,1755987721.285 [DAT](INFO): got valid direction response:
22:22:00.6504 LVL= 32048, 17809, 28146, 32755, AGC= 66, IDX= 501,-0.24,-1.824, 0.542,-0.993,-0.701, PHS=-1.022, 1.288,-0.337, RAW= 313.2, 0.7, CAL= 311.2, -2.4, ROT= 198.8, 2.4
2025-08-23T22:22:01.286Z,1755987721.286 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:01.287Z,1755987721.287 [DAT](INFO): direction in FSK: [-0.945819,-0.321983,-0.041876]
2025-08-23T22:22:01.287Z,1755987721.287 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:01.290Z,1755987721.290 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:01.291Z,1755987721.291 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:01.530Z,1755987721.530 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:01.530Z,1755987721.530 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:01.531Z,1755987721.531 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:01.539Z,1755987721.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.504128 s,
deltaX: 0.200001 m,
approachRate: 0.396726 m/s,
rangeRepo size: 4
2025-08-23T22:22:01.541Z,1755987721.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382769 m,
bearing: 342.421092 deg,
lat: 36.779416 deg,
lon: -121.859544 deg,
deltaT: 0.504128 s,
deltaX: 0.198713 m,
approachRate: 0.394172 m/s,
posRepo size: 4
2025-08-23T22:22:01.541Z,1755987721.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:01.783Z,1755987721.783 [DAT](INFO): DAT read: Rx Time:22:22:01.1504
2025-08-23T22:22:01.784Z,1755987721.784 [DAT](INFO): Rx dataTimestamp_ set to:1755987721.783254
2025-08-23T22:22:01.785Z,1755987721.785 [DAT](INFO): DAT read: Bearing 128.7, -19.0 (Local)
2025-08-23T22:22:01.785Z,1755987721.785 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.7, -19.0 (Local)
2025-08-23T22:22:01.787Z,1755987721.787 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:01.792Z,1755987721.792 [DAT](INFO): DAT read: 22:22:01.1504 LVL= 32752, 22337, 32562, 32755, AGC= 65, IDX= 500,-0.07,-2.322, 0.032,-1.503,-1.217, PHS=-1.003, 1.294,-0.330, RAW= 313.4, 0.4, CAL= 311.5, -2.7, ROT= 198.5, 2.7
2025-08-23T22:22:01.793Z,1755987721.793 [DAT](INFO): got valid direction response:
22:22:01.1504 LVL= 32752, 22337, 32562, 32755, AGC= 65, IDX= 500,-0.07,-2.322, 0.032,-1.503,-1.217, PHS=-1.003, 1.294,-0.330, RAW= 313.4, 0.4, CAL= 311.5, -2.7, ROT= 198.5, 2.7
2025-08-23T22:22:01.793Z,1755987721.793 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:01.794Z,1755987721.794 [DAT](INFO): direction in FSK: [-0.947271,-0.316952,-0.047106]
2025-08-23T22:22:01.794Z,1755987721.794 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:01.798Z,1755987721.798 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:01.798Z,1755987721.798 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:02.032Z,1755987722.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.507770 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:02.036Z,1755987722.036 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:02.036Z,1755987722.036 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:02.037Z,1755987722.037 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:02.042Z,1755987722.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382769 m,
bearing: 342.092510 deg,
lat: 36.779416 deg,
lon: -121.859544 deg,
deltaT: 0.507770 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:22:02.043Z,1755987722.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:02.287Z,1755987722.287 [DAT](INFO): DAT read: Rx Time:22:22:01.6505
2025-08-23T22:22:02.288Z,1755987722.288 [DAT](INFO): Rx dataTimestamp_ set to:1755987722.287399
2025-08-23T22:22:02.289Z,1755987722.289 [DAT](INFO): DAT read: Bearing 128.3, -19.5 (Local)
2025-08-23T22:22:02.290Z,1755987722.290 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.3, -19.5 (Local)
2025-08-23T22:22:02.305Z,1755987722.305 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:02.346Z,1755987722.346 [DAT](INFO): DAT read: 22:22:01.6505 LVL= 32752, 20177, 27890, 32755, AGC= 65, IDX= 501, 0.05, 0.200, 2.554, 1.037, 1.320, PHS=-1.017, 1.279,-0.327, RAW= 313.0, 0.6, CAL= 311.0, -2.4, ROT= 199.0, 2.4
2025-08-23T22:22:02.347Z,1755987722.347 [DAT](INFO): got valid direction response:
22:22:01.6505 LVL= 32752, 20177, 27890, 32755, AGC= 65, IDX= 501, 0.05, 0.200, 2.554, 1.037, 1.320, PHS=-1.017, 1.279,-0.327, RAW= 313.0, 0.6, CAL= 311.0, -2.4, ROT= 199.0, 2.4
2025-08-23T22:22:02.348Z,1755987722.348 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:02.349Z,1755987722.349 [DAT](INFO): direction in FSK: [-0.944689,-0.325283,-0.041876]
2025-08-23T22:22:02.349Z,1755987722.349 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:02.397Z,1755987722.397 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:02.397Z,1755987722.397 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:02.449Z,1755987722.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.504145 s,
deltaX: 0.100000 m,
approachRate: 0.198356 m/s,
rangeRepo size: 4
2025-08-23T22:22:02.459Z,1755987722.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.482159 m,
bearing: 342.620704 deg,
lat: 36.779416 deg,
lon: -121.859545 deg,
deltaT: 0.504145 s,
deltaX: 0.099390 m,
approachRate: 0.197146 m/s,
posRepo size: 4
2025-08-23T22:22:02.460Z,1755987722.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:02.539Z,1755987722.539 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:02.539Z,1755987722.539 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:02.540Z,1755987722.540 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:02.791Z,1755987722.791 [DAT](INFO): DAT read: Rx Time:22:22:02.1504
2025-08-23T22:22:02.792Z,1755987722.792 [DAT](INFO): Rx dataTimestamp_ set to:1755987722.791287
2025-08-23T22:22:02.793Z,1755987722.793 [DAT](INFO): DAT read: Bearing 128.8, -18.7 (Local)
2025-08-23T22:22:02.793Z,1755987722.793 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.8, -18.7 (Local)
2025-08-23T22:22:02.795Z,1755987722.795 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.1
2025-08-23T22:22:02.800Z,1755987722.800 [DAT](INFO): DAT read: 22:22:02.1504 LVL= 32752, 17265, 31410, 32755, AGC= 63, IDX= 500, 0.21,-1.042, 1.324,-0.230, 0.065, PHS=-1.005, 1.304,-0.340, RAW= 313.7, 0.4, CAL= 311.9, -2.7, ROT= 198.1, 2.7
2025-08-23T22:22:02.801Z,1755987722.801 [DAT](INFO): got valid direction response:
22:22:02.1504 LVL= 32752, 17265, 31410, 32755, AGC= 63, IDX= 500, 0.21,-1.042, 1.324,-0.230, 0.065, PHS=-1.005, 1.304,-0.340, RAW= 313.7, 0.4, CAL= 311.9, -2.7, ROT= 198.1, 2.7
2025-08-23T22:22:02.802Z,1755987722.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:02.803Z,1755987722.803 [DAT](INFO): direction in FSK: [-0.949461,-0.310332,-0.047106]
2025-08-23T22:22:02.803Z,1755987722.803 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:02.806Z,1755987722.806 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:02.807Z,1755987722.807 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:03.000Z,1755987723.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.503888 s,
deltaX: -0.100000 m,
approachRate: -0.198458 m/s,
rangeRepo size: 4
2025-08-23T22:22:03.007Z,1755987723.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382792 m,
bearing: 341.690379 deg,
lat: 36.779416 deg,
lon: -121.859545 deg,
deltaT: 0.503888 s,
deltaX: -0.099367 m,
approachRate: -0.197201 m/s,
posRepo size: 4
2025-08-23T22:22:03.007Z,1755987723.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:03.042Z,1755987723.042 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:03.043Z,1755987723.043 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:03.043Z,1755987723.043 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:03.295Z,1755987723.295 [DAT](INFO): DAT read: Rx Time:22:22:02.6504
2025-08-23T22:22:03.296Z,1755987723.296 [DAT](INFO): Rx dataTimestamp_ set to:1755987723.295330
2025-08-23T22:22:03.297Z,1755987723.297 [DAT](INFO): DAT read: Bearing 130.0, -18.3 (Local)
2025-08-23T22:22:03.297Z,1755987723.297 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.0, -18.3 (Local)
2025-08-23T22:22:03.299Z,1755987723.299 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:03.304Z,1755987723.304 [DAT](INFO): DAT read: 22:22:02.6504 LVL= 32752, 19697, 31714, 32755, AGC= 65, IDX= 500, 0.47,-1.766, 0.604,-0.963,-0.695, PHS=-0.969, 1.344,-0.312, RAW= 314.0, -0.6, CAL= 312.3, -3.8, ROT= 197.7, 3.8
2025-08-23T22:22:03.305Z,1755987723.305 [DAT](INFO): got valid direction response:
22:22:02.6504 LVL= 32752, 19697, 31714, 32755, AGC= 65, IDX= 500, 0.47,-1.766, 0.604,-0.963,-0.695, PHS=-0.969, 1.344,-0.312, RAW= 314.0, -0.6, CAL= 312.3, -3.8, ROT= 197.7, 3.8
2025-08-23T22:22:03.305Z,1755987723.305 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:03.306Z,1755987723.306 [DAT](INFO): direction in FSK: [-0.950567,-0.303365,-0.066274]
2025-08-23T22:22:03.307Z,1755987723.307 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:03.314Z,1755987723.314 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:03.314Z,1755987723.314 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:03.372Z,1755987723.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.504043 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:03.375Z,1755987723.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382822 m,
bearing: 341.167931 deg,
lat: 36.779416 deg,
lon: -121.859546 deg,
deltaT: 0.504043 s,
deltaX: 0.000031 m,
approachRate: 0.000061 m/s,
posRepo size: 4
2025-08-23T22:22:03.375Z,1755987723.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:03.546Z,1755987723.546 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:03.546Z,1755987723.546 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:03.547Z,1755987723.547 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:03.740Z,1755987723.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:03.800Z,1755987723.800 [DAT](INFO): DAT read: Rx Time:22:22:03.1503
2025-08-23T22:22:03.800Z,1755987723.800 [DAT](INFO): Rx dataTimestamp_ set to:1755987723.800164
2025-08-23T22:22:03.802Z,1755987723.802 [DAT](INFO): DAT read: Bearing 129.3, -18.5 (Local)
2025-08-23T22:22:03.803Z,1755987723.803 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.3, -18.5 (Local)
2025-08-23T22:22:03.806Z,1755987723.806 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0
2025-08-23T22:22:03.815Z,1755987723.815 [DAT](INFO): DAT read: 22:22:03.1503 LVL= 32752, 19761, 32754, 32755, AGC= 65, IDX= 500,-0.28, 1.990,-1.922, 2.797, 3.083, PHS=-0.991, 1.323,-0.331, RAW= 313.9, -0.0, CAL= 312.1, -3.1, ROT= 197.9, 3.1
2025-08-23T22:22:03.816Z,1755987723.816 [DAT](INFO): got valid direction response:
22:22:03.1503 LVL= 32752, 19761, 32754, 32755, AGC= 65, IDX= 500,-0.28, 1.990,-1.922, 2.797, 3.083, PHS=-0.991, 1.323,-0.331, RAW= 313.9, -0.0, CAL= 312.1, -3.1, ROT= 197.9, 3.1
2025-08-23T22:22:03.817Z,1755987723.817 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:03.818Z,1755987723.818 [DAT](INFO): direction in FSK: [-0.950202,-0.306907,-0.054079]
2025-08-23T22:22:03.818Z,1755987723.818 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:03.828Z,1755987723.828 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:03.828Z,1755987723.828 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:04.050Z,1755987724.050 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:04.050Z,1755987724.050 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:04.051Z,1755987724.051 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:04.147Z,1755987724.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.504834 s,
deltaX: -0.200001 m,
approachRate: -0.396171 m/s,
rangeRepo size: 4
2025-08-23T22:22:04.149Z,1755987724.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.184090 m,
bearing: 341.450528 deg,
lat: 36.779415 deg,
lon: -121.859548 deg,
deltaT: 0.504834 s,
deltaX: -0.198732 m,
approachRate: -0.393659 m/s,
posRepo size: 4
2025-08-23T22:22:04.163Z,1755987724.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:22:04.304Z,1755987724.304 [DAT](INFO): DAT read: Rx Time:22:22:03.6505
2025-08-23T22:22:04.305Z,1755987724.305 [DAT](INFO): Rx dataTimestamp_ set to:1755987724.304130
2025-08-23T22:22:04.306Z,1755987724.306 [DAT](INFO): DAT read: Bearing 129.2, -18.7 (Local)
2025-08-23T22:22:04.307Z,1755987724.307 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.2, -18.7 (Local)
2025-08-23T22:22:04.310Z,1755987724.310 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:04.316Z,1755987724.316 [DAT](INFO): DAT read: 22:22:03.6505 LVL= 32208, 16465, 26834, 32755, AGC= 64, IDX= 501,-0.10,-2.974,-0.619,-2.163,-1.880, PHS=-0.992, 1.306,-0.327, RAW= 313.7, 0.1, CAL= 311.8, -3.0, ROT= 198.2, 3.0
2025-08-23T22:22:04.317Z,1755987724.317 [DAT](INFO): got valid direction response:
22:22:03.6505 LVL= 32208, 16465, 26834, 32755, AGC= 64, IDX= 501,-0.10,-2.974,-0.619,-2.163,-1.880, PHS=-0.992, 1.306,-0.327, RAW= 313.7, 0.1, CAL= 311.8, -3.0, ROT= 198.2, 3.0
2025-08-23T22:22:04.318Z,1755987724.318 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:04.319Z,1755987724.319 [DAT](INFO): direction in FSK: [-0.948670,-0.311907,-0.052336]
2025-08-23T22:22:04.319Z,1755987724.319 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:04.354Z,1755987724.354 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:04.354Z,1755987724.354 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:04.523Z,1755987724.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.503966 s,
deltaX: 0.300001 m,
approachRate: 0.595281 m/s,
rangeRepo size: 4
2025-08-23T22:22:04.525Z,1755987724.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.482208 m,
bearing: 341.760804 deg,
lat: 36.779415 deg,
lon: -121.859548 deg,
deltaT: 0.503966 s,
deltaX: 0.298119 m,
approachRate: 0.591545 m/s,
posRepo size: 4
2025-08-23T22:22:04.525Z,1755987724.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:04.554Z,1755987724.554 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:04.555Z,1755987724.555 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:04.555Z,1755987724.555 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:04.807Z,1755987724.807 [DAT](INFO): DAT read: Rx Time:22:22:04.1504
2025-08-23T22:22:04.808Z,1755987724.808 [DAT](INFO): Rx dataTimestamp_ set to:1755987724.807275
2025-08-23T22:22:04.809Z,1755987724.809 [DAT](INFO): DAT read: Bearing 128.7, -19.0 (Local)
2025-08-23T22:22:04.809Z,1755987724.809 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.7, -19.0 (Local)
2025-08-23T22:22:04.811Z,1755987724.811 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:04.816Z,1755987724.816 [DAT](INFO): DAT read: 22:22:04.1504 LVL= 32544, 18033, 28146, 32755, AGC= 64, IDX= 500, 0.04,-2.577,-0.212,-1.756,-1.466, PHS=-1.009, 1.299,-0.334, RAW= 313.5, 0.4, CAL= 311.6, -2.7, ROT= 198.4, 2.7
2025-08-23T22:22:04.817Z,1755987724.817 [DAT](INFO): got valid direction response:
22:22:04.1504 LVL= 32544, 18033, 28146, 32755, AGC= 64, IDX= 500, 0.04,-2.577,-0.212,-1.756,-1.466, PHS=-1.009, 1.299,-0.334, RAW= 313.5, 0.4, CAL= 311.6, -2.7, ROT= 198.4, 2.7
2025-08-23T22:22:04.817Z,1755987724.817 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:04.818Z,1755987724.818 [DAT](INFO): direction in FSK: [-0.947823,-0.315298,-0.047106]
2025-08-23T22:22:04.818Z,1755987724.818 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:04.822Z,1755987724.822 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:04.822Z,1755987724.822 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:05.026Z,1755987725.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.503145 s,
deltaX: -0.100000 m,
approachRate: -0.198751 m/s,
rangeRepo size: 4
2025-08-23T22:22:05.028Z,1755987725.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382841 m,
bearing: 341.994034 deg,
lat: 36.779415 deg,
lon: -121.859548 deg,
deltaT: 0.503145 s,
deltaX: -0.099367 m,
approachRate: -0.197492 m/s,
posRepo size: 4
2025-08-23T22:22:05.028Z,1755987725.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:05.058Z,1755987725.058 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:05.058Z,1755987725.058 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:05.059Z,1755987725.059 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:05.311Z,1755987725.311 [DAT](INFO): DAT read: Rx Time:22:22:04.6505
2025-08-23T22:22:05.311Z,1755987725.311 [DAT](INFO): Rx dataTimestamp_ set to:1755987725.311145
2025-08-23T22:22:05.313Z,1755987725.313 [DAT](INFO): DAT read: Bearing 128.6, -19.5 (Local)
2025-08-23T22:22:05.313Z,1755987725.313 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.6, -19.5 (Local)
2025-08-23T22:22:05.315Z,1755987725.315 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:05.319Z,1755987725.319 [DAT](INFO): DAT read: 22:22:04.6505 LVL= 32752, 20945, 29314, 32755, AGC= 66, IDX= 501, 0.21,-1.135, 1.214,-0.300,-0.022, PHS=-1.010, 1.281,-0.321, RAW= 313.0, 0.5, CAL= 311.0, -2.6, ROT= 199.0, 2.6
2025-08-23T22:22:05.320Z,1755987725.320 [DAT](INFO): got valid direction response:
22:22:04.6505 LVL= 32752, 20945, 29314, 32755, AGC= 66, IDX= 501, 0.21,-1.135, 1.214,-0.300,-0.022, PHS=-1.010, 1.281,-0.321, RAW= 313.0, 0.5, CAL= 311.0, -2.6, ROT= 199.0, 2.6
2025-08-23T22:22:05.321Z,1755987725.321 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:05.322Z,1755987725.322 [DAT](INFO): direction in FSK: [-0.944545,-0.325233,-0.045363]
2025-08-23T22:22:05.322Z,1755987725.322 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:05.334Z,1755987725.334 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:05.335Z,1755987725.335 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:05.445Z,1755987725.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.503870 s,
deltaX: 0.100000 m,
approachRate: 0.198465 m/s,
rangeRepo size: 4
2025-08-23T22:22:05.456Z,1755987725.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.482183 m,
bearing: 342.603120 deg,
lat: 36.779415 deg,
lon: -121.859548 deg,
deltaT: 0.503870 s,
deltaX: 0.099342 m,
approachRate: 0.197159 m/s,
posRepo size: 4
2025-08-23T22:22:05.456Z,1755987725.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:05.562Z,1755987725.562 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:05.563Z,1755987725.563 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:05.563Z,1755987725.563 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:05.762Z,1755987725.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:05.816Z,1755987725.816 [DAT](INFO): DAT read: Rx Time:22:22:05.1504
2025-08-23T22:22:05.817Z,1755987725.817 [DAT](INFO): Rx dataTimestamp_ set to:1755987725.816523
2025-08-23T22:22:05.819Z,1755987725.819 [DAT](INFO): DAT read: Bearing 129.1, -18.8 (Local)
2025-08-23T22:22:05.819Z,1755987725.819 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.1, -18.8 (Local)
2025-08-23T22:22:05.822Z,1755987725.822 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:05.826Z,1755987725.826 [DAT](INFO): DAT read: 22:22:05.1504 LVL= 32528, 18929, 26098, 31187, AGC= 65, IDX= 500, 0.48,-2.697,-0.331,-1.879,-1.597, PHS=-0.999, 1.311,-0.326, RAW= 313.5, 0.1, CAL= 311.7, -3.0, ROT= 198.3, 3.0
2025-08-23T22:22:05.827Z,1755987725.827 [DAT](INFO): got valid direction response:
22:22:05.1504 LVL= 32528, 18929, 26098, 31187, AGC= 65, IDX= 500, 0.48,-2.697,-0.331,-1.879,-1.597, PHS=-0.999, 1.311,-0.326, RAW= 313.5, 0.1, CAL= 311.7, -3.0, ROT= 198.3, 3.0
2025-08-23T22:22:05.828Z,1755987725.828 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:05.829Z,1755987725.829 [DAT](INFO): direction in FSK: [-0.948124,-0.313562,-0.052336]
2025-08-23T22:22:05.829Z,1755987725.829 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:05.839Z,1755987725.839 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:05.840Z,1755987725.840 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:06.066Z,1755987726.066 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:06.066Z,1755987726.066 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:06.067Z,1755987726.067 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:06.224Z,1755987726.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.505378 s,
deltaX: -0.100000 m,
approachRate: -0.197872 m/s,
rangeRepo size: 4
2025-08-23T22:22:06.230Z,1755987726.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382816 m,
bearing: 342.043614 deg,
lat: 36.779415 deg,
lon: -121.859547 deg,
deltaT: 0.505378 s,
deltaX: -0.099367 m,
approachRate: -0.196619 m/s,
posRepo size: 4
2025-08-23T22:22:06.231Z,1755987726.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:06.319Z,1755987726.319 [DAT](INFO): DAT read: Rx Time:22:22:05.6505
2025-08-23T22:22:06.320Z,1755987726.320 [DAT](INFO): Rx dataTimestamp_ set to:1755987726.319392
2025-08-23T22:22:06.321Z,1755987726.321 [DAT](INFO): DAT read: Bearing 129.0, -18.9 (Local)
2025-08-23T22:22:06.321Z,1755987726.321 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.0, -18.9 (Local)
2025-08-23T22:22:06.323Z,1755987726.323 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:06.330Z,1755987726.330 [DAT](INFO): DAT read: 22:22:05.6505 LVL= 32752, 21777, 30802, 32755, AGC= 64, IDX= 501,-0.24, 1.720,-2.170, 2.549, 2.837, PHS=-1.015, 1.322,-0.332, RAW= 313.5, 0.2, CAL= 311.6, -2.9, ROT= 198.4, 2.9
2025-08-23T22:22:06.331Z,1755987726.331 [DAT](INFO): got valid direction response:
22:22:05.6505 LVL= 32752, 21777, 30802, 32755, AGC= 64, IDX= 501,-0.24, 1.720,-2.170, 2.549, 2.837, PHS=-1.015, 1.322,-0.332, RAW= 313.5, 0.2, CAL= 311.6, -2.9, ROT= 198.4, 2.9
2025-08-23T22:22:06.332Z,1755987726.332 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:06.334Z,1755987726.334 [DAT](INFO): direction in FSK: [-0.947661,-0.315245,-0.050593]
2025-08-23T22:22:06.334Z,1755987726.334 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:06.338Z,1755987726.338 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:06.338Z,1755987726.338 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:06.543Z,1755987726.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.502869 s,
deltaX: 0.100000 m,
approachRate: 0.198860 m/s,
rangeRepo size: 4
2025-08-23T22:22:06.545Z,1755987726.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.482203 m,
bearing: 342.169535 deg,
lat: 36.779416 deg,
lon: -121.859546 deg,
deltaT: 0.502869 s,
deltaX: 0.099386 m,
approachRate: 0.197638 m/s,
posRepo size: 4
2025-08-23T22:22:06.546Z,1755987726.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:06.570Z,1755987726.570 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:06.570Z,1755987726.570 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:06.571Z,1755987726.571 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:06.823Z,1755987726.823 [DAT](INFO): DAT read: Rx Time:22:22:06.1504
2025-08-23T22:22:06.824Z,1755987726.824 [DAT](INFO): Rx dataTimestamp_ set to:1755987726.823299
2025-08-23T22:22:06.825Z,1755987726.825 [DAT](INFO): DAT read: Bearing 128.3, -19.6 (Local)
2025-08-23T22:22:06.825Z,1755987726.825 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.3, -19.6 (Local)
2025-08-23T22:22:06.827Z,1755987726.827 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:06.832Z,1755987726.832 [DAT](INFO): DAT read: 22:22:06.1504 LVL= 29392, 17329, 25234, 28403, AGC= 65, IDX= 500,-0.08, 1.427,-2.475, 2.277, 2.563, PHS=-1.034, 1.290,-0.331, RAW= 312.8, 0.7, CAL= 310.8, -2.4, ROT= 199.2, 2.4
2025-08-23T22:22:06.833Z,1755987726.833 [DAT](INFO): got valid direction response:
22:22:06.1504 LVL= 29392, 17329, 25234, 28403, AGC= 65, IDX= 500,-0.08, 1.427,-2.475, 2.277, 2.563, PHS=-1.034, 1.290,-0.331, RAW= 312.8, 0.7, CAL= 310.8, -2.4, ROT= 199.2, 2.4
2025-08-23T22:22:06.833Z,1755987726.833 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:06.836Z,1755987726.836 [DAT](INFO): direction in FSK: [-0.943548,-0.328578,-0.041876]
2025-08-23T22:22:06.837Z,1755987726.837 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:06.843Z,1755987726.843 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:06.844Z,1755987726.844 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:07.035Z,1755987727.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.503907 s,
deltaX: -0.100000 m,
approachRate: -0.198450 m/s,
rangeRepo size: 4
2025-08-23T22:22:07.037Z,1755987727.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382835 m,
bearing: 343.033790 deg,
lat: 36.779416 deg,
lon: -121.859546 deg,
deltaT: 0.503907 s,
deltaX: -0.099367 m,
approachRate: -0.197193 m/s,
posRepo size: 4
2025-08-23T22:22:07.037Z,1755987727.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:07.074Z,1755987727.074 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:07.074Z,1755987727.074 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:07.075Z,1755987727.075 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:07.327Z,1755987727.327 [DAT](INFO): DAT read: Rx Time:22:22:06.6505
2025-08-23T22:22:07.327Z,1755987727.327 [DAT](INFO): Rx dataTimestamp_ set to:1755987727.327201
2025-08-23T22:22:07.329Z,1755987727.329 [DAT](INFO): DAT read: Bearing 128.7, -19.1 (Local)
2025-08-23T22:22:07.329Z,1755987727.329 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.7, -19.1 (Local)
2025-08-23T22:22:07.331Z,1755987727.331 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:07.336Z,1755987727.336 [DAT](INFO): DAT read: 22:22:06.6505 LVL= 32752, 18369, 26898, 32755, AGC= 64, IDX= 501, 0.07,-2.911,-0.549,-2.085,-1.796, PHS=-1.013, 1.292,-0.333, RAW= 313.3, 0.5, CAL= 311.4, -2.6, ROT= 198.6, 2.6
2025-08-23T22:22:07.337Z,1755987727.337 [DAT](INFO): got valid direction response:
22:22:06.6505 LVL= 32752, 18369, 26898, 32755, AGC= 64, IDX= 501, 0.07,-2.911,-0.549,-2.085,-1.796, PHS=-1.013, 1.292,-0.333, RAW= 313.3, 0.5, CAL= 311.4, -2.6, ROT= 198.6, 2.6
2025-08-23T22:22:07.337Z,1755987727.337 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:07.338Z,1755987727.338 [DAT](INFO): direction in FSK: [-0.946793,-0.318631,-0.045363]
2025-08-23T22:22:07.339Z,1755987727.339 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:07.342Z,1755987727.342 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:07.342Z,1755987727.342 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:07.462Z,1755987727.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.503902 s,
deltaX: 0.100000 m,
approachRate: 0.198452 m/s,
rangeRepo size: 4
2025-08-23T22:22:07.464Z,1755987727.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.482233 m,
bearing: 342.441470 deg,
lat: 36.779416 deg,
lon: -121.859545 deg,
deltaT: 0.503902 s,
deltaX: 0.099398 m,
approachRate: 0.197256 m/s,
posRepo size: 4
2025-08-23T22:22:07.465Z,1755987727.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:07.578Z,1755987727.578 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:07.579Z,1755987727.579 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:07.579Z,1755987727.579 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:07.762Z,1755987727.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:07.832Z,1755987727.832 [DAT](INFO): DAT read: Rx Time:22:22:07.1504
2025-08-23T22:22:07.833Z,1755987727.833 [DAT](INFO): Rx dataTimestamp_ set to:1755987727.832107
2025-08-23T22:22:07.835Z,1755987727.835 [DAT](INFO): DAT read: Bearing 128.3, -19.9 (Local)
2025-08-23T22:22:07.835Z,1755987727.835 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.3, -19.9 (Local)
2025-08-23T22:22:07.838Z,1755987727.838 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:07.845Z,1755987727.845 [DAT](INFO): DAT read: 22:22:07.1504 LVL= 32576, 18513, 28706, 32339, AGC= 65, IDX= 500, 0.20, 2.806,-1.127,-2.625,-2.349, PHS=-1.026, 1.267,-0.320, RAW= 312.5, 0.8, CAL= 310.5, -2.3, ROT= 199.5, 2.3
2025-08-23T22:22:07.846Z,1755987727.846 [DAT](INFO): got valid direction response:
22:22:07.1504 LVL= 32576, 18513, 28706, 32339, AGC= 65, IDX= 500, 0.20, 2.806,-1.127,-2.625,-2.349, PHS=-1.026, 1.267,-0.320, RAW= 312.5, 0.8, CAL= 310.5, -2.3, ROT= 199.5, 2.3
2025-08-23T22:22:07.846Z,1755987727.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:07.847Z,1755987727.847 [DAT](INFO): direction in FSK: [-0.941882,-0.333538,-0.040132]
2025-08-23T22:22:07.848Z,1755987727.848 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:07.851Z,1755987727.851 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:07.851Z,1755987727.851 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:08.088Z,1755987728.088 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:08.088Z,1755987728.088 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:08.088Z,1755987728.088 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:08.263Z,1755987728.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.504906 s,
deltaX: -0.100000 m,
approachRate: -0.198057 m/s,
rangeRepo size: 4
2025-08-23T22:22:08.265Z,1755987728.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382843 m,
bearing: 343.383736 deg,
lat: 36.779416 deg,
lon: -121.859545 deg,
deltaT: 0.504906 s,
deltaX: -0.099390 m,
approachRate: -0.196849 m/s,
posRepo size: 4
2025-08-23T22:22:08.265Z,1755987728.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:08.340Z,1755987728.340 [DAT](INFO): DAT read: Rx Time:22:22:07.6505
2025-08-23T22:22:08.341Z,1755987728.341 [DAT](INFO): Rx dataTimestamp_ set to:1755987728.340689
2025-08-23T22:22:08.343Z,1755987728.343 [DAT](INFO): DAT read: Bearing 128.3, -19.9 (Local)
2025-08-23T22:22:08.343Z,1755987728.343 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.3, -19.9 (Local)
2025-08-23T22:22:08.346Z,1755987728.346 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:08.353Z,1755987728.353 [DAT](INFO): DAT read: 22:22:07.6505 LVL= 32752, 21057, 29426, 32755, AGC= 65, IDX= 501, 0.38,-2.591,-0.204,-1.727,-1.449, PHS=-1.040, 1.290,-0.322, RAW= 312.5, 0.7, CAL= 310.5, -2.4, ROT= 199.5, 2.4
2025-08-23T22:22:08.354Z,1755987728.354 [DAT](INFO): got valid direction response:
22:22:07.6505 LVL= 32752, 21057, 29426, 32755, AGC= 65, IDX= 501, 0.38,-2.591,-0.204,-1.727,-1.449, PHS=-1.040, 1.290,-0.322, RAW= 312.5, 0.7, CAL= 310.5, -2.4, ROT= 199.5, 2.4
2025-08-23T22:22:08.355Z,1755987728.355 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:08.356Z,1755987728.356 [DAT](INFO): direction in FSK: [-0.941815,-0.333514,-0.041876]
2025-08-23T22:22:08.357Z,1755987728.357 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:08.362Z,1755987728.362 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:08.362Z,1755987728.362 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:08.560Z,1755987728.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.508582 s,
deltaX: 0.100000 m,
approachRate: 0.196626 m/s,
rangeRepo size: 4
2025-08-23T22:22:08.563Z,1755987728.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.482210 m,
bearing: 343.404807 deg,
lat: 36.779416 deg,
lon: -121.859543 deg,
deltaT: 0.508582 s,
deltaX: 0.099367 m,
approachRate: 0.195381 m/s,
posRepo size: 4
2025-08-23T22:22:08.564Z,1755987728.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:08.590Z,1755987728.590 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:08.590Z,1755987728.590 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:08.591Z,1755987728.591 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:08.844Z,1755987728.844 [DAT](INFO): DAT read: Rx Time:22:22:08.1504
2025-08-23T22:22:08.845Z,1755987728.845 [DAT](INFO): Rx dataTimestamp_ set to:1755987728.844432
2025-08-23T22:22:08.846Z,1755987728.846 [DAT](INFO): DAT read: Bearing 128.1, -20.0 (Local)
2025-08-23T22:22:08.846Z,1755987728.846 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.1, -20.0 (Local)
2025-08-23T22:22:08.848Z,1755987728.848 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:08.853Z,1755987728.853 [DAT](INFO): DAT read: 22:22:08.1504 LVL= 32752, 18721, 25394, 32755, AGC= 66, IDX= 501,-0.43, 1.296,-2.590, 2.164, 2.449, PHS=-1.051, 1.289,-0.329, RAW= 312.5, 0.9, CAL= 310.4, -2.2, ROT= 199.6, 2.2
2025-08-23T22:22:08.854Z,1755987728.854 [DAT](INFO): got valid direction response:
22:22:08.1504 LVL= 32752, 18721, 25394, 32755, AGC= 66, IDX= 501,-0.43, 1.296,-2.590, 2.164, 2.449, PHS=-1.051, 1.289,-0.329, RAW= 312.5, 0.9, CAL= 310.4, -2.2, ROT= 199.6, 2.2
2025-08-23T22:22:08.855Z,1755987728.855 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:08.856Z,1755987728.856 [DAT](INFO): direction in FSK: [-0.941363,-0.335205,-0.038388]
2025-08-23T22:22:08.856Z,1755987728.856 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:08.859Z,1755987728.859 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:08.860Z,1755987728.860 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:09.049Z,1755987729.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.503743 s,
deltaX: -0.100000 m,
approachRate: -0.198515 m/s,
rangeRepo size: 4
2025-08-23T22:22:09.051Z,1755987729.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382843 m,
bearing: 343.525367 deg,
lat: 36.779416 deg,
lon: -121.859542 deg,
deltaT: 0.503743 s,
deltaX: -0.099367 m,
approachRate: -0.197258 m/s,
posRepo size: 4
2025-08-23T22:22:09.051Z,1755987729.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:09.094Z,1755987729.094 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:09.095Z,1755987729.095 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:09.095Z,1755987729.095 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:09.347Z,1755987729.347 [DAT](INFO): DAT read: Rx Time:22:22:08.6506
2025-08-23T22:22:09.347Z,1755987729.347 [DAT](INFO): Rx dataTimestamp_ set to:1755987729.347117
2025-08-23T22:22:09.349Z,1755987729.349 [DAT](INFO): DAT read: Bearing 128.8, -19.6 (Local)
2025-08-23T22:22:09.349Z,1755987729.349 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.8, -19.6 (Local)
2025-08-23T22:22:09.351Z,1755987729.351 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0
2025-08-23T22:22:09.355Z,1755987729.355 [DAT](INFO): DAT read: 22:22:08.6506 LVL= 32672, 20609, 29154, 32755, AGC= 65, IDX= 502,-0.24, 1.847,-2.048, 2.699, 2.975, PHS=-1.025, 1.306,-0.319, RAW= 312.8, 0.4, CAL= 310.9, -2.7, ROT= 199.1, 2.7
2025-08-23T22:22:09.356Z,1755987729.356 [DAT](INFO): got valid direction response:
22:22:08.6506 LVL= 32672, 20609, 29154, 32755, AGC= 65, IDX= 502,-0.24, 1.847,-2.048, 2.699, 2.975, PHS=-1.025, 1.306,-0.319, RAW= 312.8, 0.4, CAL= 310.9, -2.7, ROT= 199.1, 2.7
2025-08-23T22:22:09.357Z,1755987729.357 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:09.358Z,1755987729.358 [DAT](INFO): direction in FSK: [-0.943900,-0.326855,-0.047106]
2025-08-23T22:22:09.358Z,1755987729.358 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:09.361Z,1755987729.361 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:09.362Z,1755987729.362 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:09.478Z,1755987729.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 0.502685 s,
deltaX: 0.299999 m,
approachRate: 0.596794 m/s,
rangeRepo size: 4
2025-08-23T22:22:09.480Z,1755987729.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.680950 m,
bearing: 342.958198 deg,
lat: 36.779416 deg,
lon: -121.859542 deg,
deltaT: 0.502685 s,
deltaX: 0.298107 m,
approachRate: 0.593030 m/s,
posRepo size: 4
2025-08-23T22:22:09.481Z,1755987729.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m.
2025-08-23T22:22:09.598Z,1755987729.598 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:09.599Z,1755987729.599 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:09.599Z,1755987729.599 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:09.762Z,1755987729.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m.
2025-08-23T22:22:09.852Z,1755987729.852 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:22:22:09.1505
2025-08-23T22:22:09.852Z,1755987729.852 [DAT](INFO): Rx dataTimestamp_ set to:1755987729.851877
2025-08-23T22:22:09.854Z,1755987729.854 [DAT](INFO): DAT read: Bearing 128.5, -19.9 (Local)
2025-08-23T22:22:09.855Z,1755987729.855 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.5, -19.9 (Local)
2025-08-23T22:22:09.857Z,1755987729.857 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:09.861Z,1755987729.861 [DAT](INFO): DAT read: 22:22:09.1505 LVL= 32752, 20977, 30962, 32755, AGC= 66, IDX= 501,-0.16, 1.188,-2.685, 2.057, 2.340, PHS=-1.050, 1.303,-0.326, RAW= 312.5, 0.7, CAL= 310.5, -2.4, ROT= 199.5, 2.4
2025-08-23T22:22:09.867Z,1755987729.867 [DAT](INFO): got valid direction response:
22:22:09.1505 LVL= 32752, 20977, 30962, 32755, AGC= 66, IDX= 501,-0.16, 1.188,-2.685, 2.057, 2.340, PHS=-1.050, 1.303,-0.326, RAW= 312.5, 0.7, CAL= 310.5, -2.4, ROT= 199.5, 2.4
2025-08-23T22:22:09.867Z,1755987729.867 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:09.868Z,1755987729.868 [DAT](INFO): direction in FSK: [-0.941815,-0.333514,-0.041876]
2025-08-23T22:22:09.869Z,1755987729.869 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:09.904Z,1755987729.904 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:09.905Z,1755987729.905 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:10.102Z,1755987730.102 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:10.102Z,1755987730.102 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:10.103Z,1755987730.103 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:10.263Z,1755987730.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.504760 s,
deltaX: -0.199999 m,
approachRate: -0.396226 m/s,
rangeRepo size: 4
2025-08-23T22:22:10.265Z,1755987730.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.482166 m,
bearing: 343.394345 deg,
lat: 36.779417 deg,
lon: -121.859542 deg,
deltaT: 0.504760 s,
deltaX: -0.198784 m,
approachRate: -0.393819 m/s,
posRepo size: 4
2025-08-23T22:22:10.266Z,1755987730.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:10.357Z,1755987730.357 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:09.6505
2025-08-23T22:22:10.358Z,1755987730.358 [DAT](INFO): Rx dataTimestamp_ set to:1755987730.357109
2025-08-23T22:22:10.359Z,1755987730.359 [DAT](INFO): DAT read: Bearing 128.0, -20.4 (Local)
2025-08-23T22:22:10.359Z,1755987730.359 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.0, -20.4 (Local)
2025-08-23T22:22:10.361Z,1755987730.361 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1
2025-08-23T22:22:10.366Z,1755987730.366 [DAT](INFO): DAT read: 22:22:09.6505 LVL= 32736, 19761, 24882, 31795, AGC= 66, IDX= 501,-0.10, 1.570,-2.321, 2.449, 2.730, PHS=-1.058, 1.278,-0.325, RAW= 312.1, 1.0, CAL= 310.1, -2.1, ROT= 199.9, 2.1
2025-08-23T22:22:10.367Z,1755987730.367 [DAT](INFO): got valid direction response:
22:22:09.6505 LVL= 32736, 19761, 24882, 31795, AGC= 66, IDX= 501,-0.10, 1.570,-2.321, 2.449, 2.730, PHS=-1.058, 1.278,-0.325, RAW= 312.1, 1.0, CAL= 310.1, -2.1, ROT= 199.9, 2.1
2025-08-23T22:22:10.368Z,1755987730.368 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:10.368Z,1755987730.368 [DAT](INFO): direction in FSK: [-0.939657,-0.340151,-0.036644]
2025-08-23T22:22:10.369Z,1755987730.369 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:10.390Z,1755987730.390 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:10.390Z,1755987730.390 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:10.600Z,1755987730.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.505232 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:10.603Z,1755987730.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.482166 m,
bearing: 343.826628 deg,
lat: 36.779417 deg,
lon: -121.859542 deg,
deltaT: 0.505232 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:22:10.603Z,1755987730.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:10.606Z,1755987730.606 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:10.607Z,1755987730.607 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:10.607Z,1755987730.607 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:10.860Z,1755987730.860 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:10.1504
2025-08-23T22:22:10.861Z,1755987730.861 [DAT](INFO): Rx dataTimestamp_ set to:1755987730.860411
2025-08-23T22:22:10.862Z,1755987730.862 [DAT](INFO): DAT read: Bearing 128.6, -19.8 (Local)
2025-08-23T22:22:10.862Z,1755987730.862 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.6, -19.8 (Local)
2025-08-23T22:22:10.864Z,1755987730.864 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:10.869Z,1755987730.869 [DAT](INFO): DAT read: 22:22:10.1504 LVL= 32752, 20769, 28738, 32755, AGC= 65, IDX= 500,-0.03, 0.597, 3.018, 1.466, 1.747, PHS=-1.048, 1.316,-0.325, RAW= 312.6, 0.5, CAL= 310.7, -2.6, ROT= 199.3, 2.6
2025-08-23T22:22:10.870Z,1755987730.870 [DAT](INFO): got valid direction response:
22:22:10.1504 LVL= 32752, 20769, 28738, 32755, AGC= 65, IDX= 500,-0.03, 0.597, 3.018, 1.466, 1.747, PHS=-1.048, 1.316,-0.325, RAW= 312.6, 0.5, CAL= 310.7, -2.6, ROT= 199.3, 2.6
2025-08-23T22:22:10.870Z,1755987730.870 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:10.871Z,1755987730.871 [DAT](INFO): direction in FSK: [-0.942829,-0.330174,-0.045363]
2025-08-23T22:22:10.872Z,1755987730.872 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:10.875Z,1755987730.875 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:10.875Z,1755987730.875 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:11.016Z,1755987731.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.503302 s,
deltaX: -0.100000 m,
approachRate: -0.198689 m/s,
rangeRepo size: 4
2025-08-23T22:22:11.032Z,1755987731.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382799 m,
bearing: 343.187494 deg,
lat: 36.779417 deg,
lon: -121.859542 deg,
deltaT: 0.503302 s,
deltaX: -0.099367 m,
approachRate: -0.197430 m/s,
posRepo size: 4
2025-08-23T22:22:11.033Z,1755987731.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:11.110Z,1755987731.110 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:11.111Z,1755987731.111 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:11.111Z,1755987731.111 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:11.364Z,1755987731.364 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:10.6505
2025-08-23T22:22:11.365Z,1755987731.365 [DAT](INFO): Rx dataTimestamp_ set to:1755987731.364605
2025-08-23T22:22:11.366Z,1755987731.366 [DAT](INFO): DAT read: Bearing 128.4, -19.8 (Local)
2025-08-23T22:22:11.367Z,1755987731.367 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.4, -19.8 (Local)
2025-08-23T22:22:11.369Z,1755987731.369 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:11.373Z,1755987731.373 [DAT](INFO): DAT read: 22:22:10.6505 LVL= 32752, 23201, 32754, 32755, AGC= 66, IDX= 501, 0.03, 2.725,-1.203,-2.708,-2.430, PHS=-1.027, 1.271,-0.322, RAW= 312.6, 0.8, CAL= 310.6, -2.3, ROT= 199.4, 2.3
2025-08-23T22:22:11.374Z,1755987731.374 [DAT](INFO): got valid direction response:
22:22:10.6505 LVL= 32752, 23201, 32754, 32755, AGC= 66, IDX= 501, 0.03, 2.725,-1.203,-2.708,-2.430, PHS=-1.027, 1.271,-0.322, RAW= 312.6, 0.8, CAL= 310.6, -2.3, ROT= 199.4, 2.3
2025-08-23T22:22:11.375Z,1755987731.375 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:11.376Z,1755987731.376 [DAT](INFO): direction in FSK: [-0.942463,-0.331893,-0.040132]
2025-08-23T22:22:11.376Z,1755987731.376 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:11.383Z,1755987731.383 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:11.384Z,1755987731.384 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:11.496Z,1755987731.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.504194 s,
deltaX: 0.100000 m,
approachRate: 0.198337 m/s,
rangeRepo size: 4
2025-08-23T22:22:11.503Z,1755987731.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.482147 m,
bearing: 343.307794 deg,
lat: 36.779417 deg,
lon: -121.859542 deg,
deltaT: 0.504194 s,
deltaX: 0.099348 m,
approachRate: 0.197043 m/s,
posRepo size: 4
2025-08-23T22:22:11.503Z,1755987731.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:11.614Z,1755987731.614 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:11.615Z,1755987731.615 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:11.615Z,1755987731.615 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:11.782Z,1755987731.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:11.869Z,1755987731.869 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:11.1504
2025-08-23T22:22:11.870Z,1755987731.870 [DAT](INFO): Rx dataTimestamp_ set to:1755987731.869417
2025-08-23T22:22:11.871Z,1755987731.871 [DAT](INFO): DAT read: Bearing 128.8, -19.8 (Local)
2025-08-23T22:22:11.871Z,1755987731.871 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.8, -19.8 (Local)
2025-08-23T22:22:11.873Z,1755987731.873 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.1
2025-08-23T22:22:11.882Z,1755987731.882 [DAT](INFO): DAT read: 22:22:11.1504 LVL= 32752, 23025, 30450, 32755, AGC= 65, IDX= 500, 0.11, 1.834,-2.060, 2.693, 2.965, PHS=-1.029, 1.303,-0.316, RAW= 312.6, 0.4, CAL= 310.7, -2.7, ROT= 199.3, 2.7
2025-08-23T22:22:11.884Z,1755987731.884 [DAT](INFO): got valid direction response:
22:22:11.1504 LVL= 32752, 23025, 30450, 32755, AGC= 65, IDX= 500, 0.11, 1.834,-2.060, 2.693, 2.965, PHS=-1.029, 1.303,-0.316, RAW= 312.6, 0.4, CAL= 310.7, -2.7, ROT= 199.3, 2.7
2025-08-23T22:22:11.884Z,1755987731.884 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:11.885Z,1755987731.885 [DAT](INFO): direction in FSK: [-0.942753,-0.330148,-0.047106]
2025-08-23T22:22:11.886Z,1755987731.886 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:11.889Z,1755987731.889 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:11.889Z,1755987731.889 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:12.118Z,1755987732.118 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:12.118Z,1755987732.118 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:12.119Z,1755987732.119 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:12.286Z,1755987732.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.504812 s,
deltaX: -0.100000 m,
approachRate: -0.198094 m/s,
rangeRepo size: 4
2025-08-23T22:22:12.288Z,1755987732.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382778 m,
bearing: 343.229484 deg,
lat: 36.779417 deg,
lon: -121.859542 deg,
deltaT: 0.504812 s,
deltaX: -0.099369 m,
approachRate: -0.196844 m/s,
posRepo size: 4
2025-08-23T22:22:12.288Z,1755987732.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:12.374Z,1755987732.374 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:11.6505
2025-08-23T22:22:12.375Z,1755987732.375 [DAT](INFO): Rx dataTimestamp_ set to:1755987732.374288
2025-08-23T22:22:12.376Z,1755987732.376 [DAT](INFO): DAT read: Bearing 128.7, -20.1 (Local)
2025-08-23T22:22:12.377Z,1755987732.377 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.7, -20.1 (Local)
2025-08-23T22:22:12.380Z,1755987732.380 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:12.385Z,1755987732.385 [DAT](INFO): DAT read: 22:22:11.6505 LVL= 32752, 17873, 29426, 32755, AGC= 66, IDX= 501, 0.19, 2.682,-1.227,-2.734,-2.468, PHS=-1.031, 1.286,-0.310, RAW= 312.3, 0.5, CAL= 310.3, -2.6, ROT= 199.7, 2.6
2025-08-23T22:22:12.398Z,1755987732.398 [DAT](INFO): got valid direction response:
22:22:11.6505 LVL= 32752, 17873, 29426, 32755, AGC= 66, IDX= 501, 0.19, 2.682,-1.227,-2.734,-2.468, PHS=-1.031, 1.286,-0.310, RAW= 312.3, 0.5, CAL= 310.3, -2.6, ROT= 199.7, 2.6
2025-08-23T22:22:12.399Z,1755987732.399 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:12.400Z,1755987732.399 [DAT](INFO): direction in FSK: [-0.940501,-0.336748,-0.045363]
2025-08-23T22:22:12.400Z,1755987732.400 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:12.428Z,1755987732.428 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:12.429Z,1755987732.429 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:12.622Z,1755987732.622 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:12.622Z,1755987732.622 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:12.623Z,1755987732.623 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:12.631Z,1755987732.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.504871 s,
deltaX: 0.100000 m,
approachRate: 0.198071 m/s,
rangeRepo size: 4
2025-08-23T22:22:12.638Z,1755987732.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.482145 m,
bearing: 343.683701 deg,
lat: 36.779417 deg,
lon: -121.859542 deg,
deltaT: 0.504871 s,
deltaX: 0.099367 m,
approachRate: 0.196817 m/s,
posRepo size: 4
2025-08-23T22:22:12.638Z,1755987732.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:12.876Z,1755987732.876 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:12.1504
2025-08-23T22:22:12.877Z,1755987732.877 [DAT](INFO): Rx dataTimestamp_ set to:1755987732.876444
2025-08-23T22:22:12.878Z,1755987732.878 [DAT](INFO): DAT read: Bearing 128.6, -19.8 (Local)
2025-08-23T22:22:12.878Z,1755987732.878 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.6, -19.8 (Local)
2025-08-23T22:22:12.880Z,1755987732.880 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:12.885Z,1755987732.885 [DAT](INFO): DAT read: 22:22:12.1504 LVL= 32752, 22961, 31810, 32755, AGC= 66, IDX= 500, 0.27, 1.891,-2.018, 2.748, 3.018, PHS=-1.025, 1.292,-0.314, RAW= 312.6, 0.5, CAL= 310.6, -2.6, ROT= 199.4, 2.6
2025-08-23T22:22:12.886Z,1755987732.886 [DAT](INFO): got valid direction response:
22:22:12.1504 LVL= 32752, 22961, 31810, 32755, AGC= 66, IDX= 500, 0.27, 1.891,-2.018, 2.748, 3.018, PHS=-1.025, 1.292,-0.314, RAW= 312.6, 0.5, CAL= 310.6, -2.6, ROT= 199.4, 2.6
2025-08-23T22:22:12.886Z,1755987732.886 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:12.887Z,1755987732.887 [DAT](INFO): direction in FSK: [-0.942252,-0.331819,-0.045363]
2025-08-23T22:22:12.887Z,1755987732.887 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:12.891Z,1755987732.891 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:12.891Z,1755987732.891 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:13.041Z,1755987733.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.502156 s,
deltaX: -0.100000 m,
approachRate: -0.199142 m/s,
rangeRepo size: 4
2025-08-23T22:22:13.057Z,1755987733.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382778 m,
bearing: 343.411459 deg,
lat: 36.779416 deg,
lon: -121.859542 deg,
deltaT: 0.502156 s,
deltaX: -0.099367 m,
approachRate: -0.197881 m/s,
posRepo size: 4
2025-08-23T22:22:13.063Z,1755987733.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:13.126Z,1755987733.126 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:13.126Z,1755987733.126 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:13.127Z,1755987733.127 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:13.381Z,1755987733.381 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:12.6505
2025-08-23T22:22:13.381Z,1755987733.381 [DAT](INFO): Rx dataTimestamp_ set to:1755987733.380774
2025-08-23T22:22:13.382Z,1755987733.382 [DAT](INFO): DAT read: Bearing 128.3, -20.2 (Local)
2025-08-23T22:22:13.383Z,1755987733.383 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.3, -20.2 (Local)
2025-08-23T22:22:13.385Z,1755987733.385 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:13.389Z,1755987733.389 [DAT](INFO): DAT read: 22:22:12.6505 LVL= 32752, 20465, 29938, 32755, AGC= 66, IDX= 501, 0.39, 2.873,-1.036,-2.541,-2.268, PHS=-1.040, 1.277,-0.317, RAW= 312.2, 0.8, CAL= 310.2, -2.3, ROT= 199.8, 2.3
2025-08-23T22:22:13.390Z,1755987733.390 [DAT](INFO): got valid direction response:
22:22:12.6505 LVL= 32752, 20465, 29938, 32755, AGC= 66, IDX= 501, 0.39, 2.873,-1.036,-2.541,-2.268, PHS=-1.040, 1.277,-0.317, RAW= 312.2, 0.8, CAL= 310.2, -2.3, ROT= 199.8, 2.3
2025-08-23T22:22:13.391Z,1755987733.391 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:13.392Z,1755987733.392 [DAT](INFO): direction in FSK: [-0.940123,-0.338465,-0.040132]
2025-08-23T22:22:13.392Z,1755987733.392 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:13.396Z,1755987733.396 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:13.396Z,1755987733.396 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:13.534Z,1755987733.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.504330 s,
deltaX: 0.100000 m,
approachRate: 0.198284 m/s,
rangeRepo size: 4
2025-08-23T22:22:13.536Z,1755987733.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.482159 m,
bearing: 343.867800 deg,
lat: 36.779417 deg,
lon: -121.859542 deg,
deltaT: 0.504330 s,
deltaX: 0.099380 m,
approachRate: 0.197054 m/s,
posRepo size: 4
2025-08-23T22:22:13.536Z,1755987733.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:13.630Z,1755987733.630 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:13.631Z,1755987733.631 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:13.631Z,1755987733.631 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:22:13.805Z,1755987733.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:22:13.823Z,1755987733.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:13.885Z,1755987733.885 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:13.1504
2025-08-23T22:22:13.886Z,1755987733.886 [DAT](INFO): Rx dataTimestamp_ set to:1755987733.885768
2025-08-23T22:22:13.888Z,1755987733.888 [DAT](INFO): DAT read: Bearing 128.7, -19.8 (Local)
2025-08-23T22:22:13.888Z,1755987733.888 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.7, -19.8 (Local)
2025-08-23T22:22:13.891Z,1755987733.891 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:13.897Z,1755987733.897 [DAT](INFO): DAT read: 22:22:13.1504 LVL= 32752, 21425, 30834, 32755, AGC= 66, IDX= 501,-0.40, 0.230, 2.629, 1.096, 1.370, PHS=-1.037, 1.304,-0.318, RAW= 312.5, 0.5, CAL= 310.6, -2.6, ROT= 199.4, 2.6
2025-08-23T22:22:13.898Z,1755987733.898 [DAT](INFO): got valid direction response:
22:22:13.1504 LVL= 32752, 21425, 30834, 32755, AGC= 66, IDX= 501,-0.40, 0.230, 2.629, 1.096, 1.370, PHS=-1.037, 1.304,-0.318, RAW= 312.5, 0.5, CAL= 310.6, -2.6, ROT= 199.4, 2.6
2025-08-23T22:22:13.899Z,1755987733.899 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:13.900Z,1755987733.900 [DAT](INFO): direction in FSK: [-0.942252,-0.331819,-0.045363]
2025-08-23T22:22:13.900Z,1755987733.900 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:13.904Z,1755987733.904 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:13.904Z,1755987733.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:14.134Z,1755987734.134 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:14.134Z,1755987734.134 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:14.135Z,1755987734.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:14.296Z,1755987734.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.504994 s,
deltaX: -0.100000 m,
approachRate: -0.198023 m/s,
rangeRepo size: 4
2025-08-23T22:22:14.299Z,1755987734.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382807 m,
bearing: 343.523137 deg,
lat: 36.779416 deg,
lon: -121.859541 deg,
deltaT: 0.504994 s,
deltaX: -0.099352 m,
approachRate: -0.196739 m/s,
posRepo size: 4
2025-08-23T22:22:14.299Z,1755987734.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:14.388Z,1755987734.388 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:13.6505
2025-08-23T22:22:14.389Z,1755987734.389 [DAT](INFO): Rx dataTimestamp_ set to:1755987734.388692
2025-08-23T22:22:14.390Z,1755987734.390 [DAT](INFO): DAT read: Bearing 128.8, -19.9 (Local)
2025-08-23T22:22:14.391Z,1755987734.391 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.8, -19.9 (Local)
2025-08-23T22:22:14.393Z,1755987734.393 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.2
2025-08-23T22:22:14.397Z,1755987734.397 [DAT](INFO): DAT read: 22:22:13.6505 LVL= 32752, 19601, 28658, 32755, AGC= 65, IDX= 501,-0.24,-0.608, 1.790, 0.261, 0.526, PHS=-1.032, 1.309,-0.309, RAW= 312.4, 0.3, CAL= 310.5, -2.8, ROT= 199.5, 2.8
2025-08-23T22:22:14.398Z,1755987734.398 [DAT](INFO): got valid direction response:
22:22:13.6505 LVL= 32752, 19601, 28658, 32755, AGC= 65, IDX= 501,-0.24,-0.608, 1.790, 0.261, 0.526, PHS=-1.032, 1.309,-0.309, RAW= 312.4, 0.3, CAL= 310.5, -2.8, ROT= 199.5, 2.8
2025-08-23T22:22:14.398Z,1755987734.398 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:14.399Z,1755987734.399 [DAT](INFO): direction in FSK: [-0.941516,-0.333408,-0.048850]
2025-08-23T22:22:14.400Z,1755987734.400 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:14.403Z,1755987734.403 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:14.403Z,1755987734.403 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:14.638Z,1755987734.638 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:14.639Z,1755987734.639 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:14.639Z,1755987734.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:14.644Z,1755987734.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.502924 s,
deltaX: 0.100000 m,
approachRate: 0.198838 m/s,
rangeRepo size: 4
2025-08-23T22:22:14.652Z,1755987734.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.482174 m,
bearing: 343.637082 deg,
lat: 36.779417 deg,
lon: -121.859541 deg,
deltaT: 0.502924 s,
deltaX: 0.099367 m,
approachRate: 0.197579 m/s,
posRepo size: 4
2025-08-23T22:22:14.653Z,1755987734.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:14.892Z,1755987734.892 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:14.1504
2025-08-23T22:22:14.893Z,1755987734.893 [DAT](INFO): Rx dataTimestamp_ set to:1755987734.892460
2025-08-23T22:22:14.894Z,1755987734.894 [DAT](INFO): DAT read: Bearing 128.9, -19.7 (Local)
2025-08-23T22:22:14.894Z,1755987734.894 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.9, -19.7 (Local)
2025-08-23T22:22:14.896Z,1755987734.896 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:14.901Z,1755987734.901 [DAT](INFO): DAT read: 22:22:14.1504 LVL= 32752, 21233, 29666, 32755, AGC= 65, IDX= 500,-0.16,-1.184, 1.204,-0.323,-0.056, PHS=-1.026, 1.305,-0.311, RAW= 312.6, 0.3, CAL= 310.7, -2.8, ROT= 199.3, 2.8
2025-08-23T22:22:14.902Z,1755987734.902 [DAT](INFO): got valid direction response:
22:22:14.1504 LVL= 32752, 21233, 29666, 32755, AGC= 65, IDX= 500,-0.16,-1.184, 1.204,-0.323,-0.056, PHS=-1.026, 1.305,-0.311, RAW= 312.6, 0.3, CAL= 310.7, -2.8, ROT= 199.3, 2.8
2025-08-23T22:22:14.902Z,1755987734.902 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:14.903Z,1755987734.903 [DAT](INFO): direction in FSK: [-0.942674,-0.330120,-0.048850]
2025-08-23T22:22:14.904Z,1755987734.904 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:14.932Z,1755987734.932 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:14.933Z,1755987734.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:15.063Z,1755987735.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.503768 s,
deltaX: -0.100000 m,
approachRate: -0.198505 m/s,
rangeRepo size: 4
2025-08-23T22:22:15.070Z,1755987735.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382807 m,
bearing: 343.464950 deg,
lat: 36.779416 deg,
lon: -121.859541 deg,
deltaT: 0.503768 s,
deltaX: -0.099367 m,
approachRate: -0.197248 m/s,
posRepo size: 4
2025-08-23T22:22:15.072Z,1755987735.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:15.142Z,1755987735.142 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:15.143Z,1755987735.143 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:15.143Z,1755987735.143 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:15.396Z,1755987735.396 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:22:22:14.6505
2025-08-23T22:22:15.396Z,1755987735.396 [DAT](INFO): Rx dataTimestamp_ set to:1755987735.395916
2025-08-23T22:22:15.398Z,1755987735.398 [DAT](INFO): DAT read: Bearing 129.1, -20.1 (Local)
2025-08-23T22:22:15.398Z,1755987735.398 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.1, -20.1 (Local)
2025-08-23T22:22:15.400Z,1755987735.400 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:15.405Z,1755987735.405 [DAT](INFO): DAT read: 22:22:14.6505 LVL= 32752, 17009, 26802, 32755, AGC= 65, IDX= 501,-0.07, 0.421, 2.815, 1.299, 1.554, PHS=-1.031, 1.306,-0.299, RAW= 312.2, 0RX .2, CAL= 310.3, -2.9, ROT= 199.7, 2.9
2025-08-23T22:22:15.406Z,1755987735.406 [DAT](INFO): unknown deviceResponse_: 22:22:14.6505 LVL= 32752, 17009, 26802, 32755, AGC= 65, IDX= 501,-0.07, 0.421, 2.815, 1.299, 1.554, PHS=-1.031, 1.306,-0.299, RAW= 312.2, 0RX .2, CAL= 310.3, -2.9, ROT= 199.7, 2.9
2025-08-23T22:22:15.406Z,1755987735.406 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:15.407Z,1755987735.407 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:15.407Z,1755987735.407 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:15.521Z,1755987735.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.503456 s,
deltaX: 0.100000 m,
approachRate: 0.198628 m/s,
rangeRepo size: 4
2025-08-23T22:22:15.521Z,1755987735.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:15.649Z,1755987735.649 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:15.650Z,1755987735.650 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:15.650Z,1755987735.650 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:15.823Z,1755987735.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:15.900Z,1755987735.900 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:22:22:15.1504
2025-08-23T22:22:15.901Z,1755987735.901 [DAT](INFO): Rx dataTimestamp_ set to:1755987735.900294
2025-08-23T22:22:15.903Z,1755987735.903 [DAT](INFO): DAT read: Bearing 128.8, -20.4 (Local)
2025-08-23T22:22:15.903Z,1755987735.903 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.8, -20.4 (Local)
2025-08-23T22:22:15.907Z,1755987735.907 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:15.914Z,1755987735.914 [DAT](INFO): DAT read: 22:22:15.1504 LVL= 32752, 19585, 28722, 32755, AGC= 66, IDX= 500,-0.01,-0.409, 2.008, 0.490, 0.748, PHS=-1.056, 1.304,-0.302, RAW= 311.8, 0RX .5, CAL= 309.8, -2.6, ROT= 200.2, RX DATA OVERRUN2.6
2025-08-23T22:22:15.915Z,1755987735.915 [DAT](INFO): unknown deviceResponse_: 22:22:15.1504 LVL= 32752, 19585, 28722, 32755, AGC= 66, IDX= 500,-0.01,-0.409, 2.008, 0.490, 0.748, PHS=-1.056, 1.304,-0.302, RAW= 311.8, 0RX .5, CAL= 309.8, -2.6, ROT= 200.2, RX DATA OVERRUN2.6
2025-08-23T22:22:15.915Z,1755987735.915 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:15.916Z,1755987735.916 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:15.916Z,1755987735.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:16.151Z,1755987736.151 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:16.152Z,1755987736.152 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:16.152Z,1755987736.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:16.280Z,1755987736.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.504378 s,
deltaX: -0.100000 m,
approachRate: -0.198265 m/s,
rangeRepo size: 4
2025-08-23T22:22:16.281Z,1755987736.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:16.404Z,1755987736.404 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:22:22:15.6505
2025-08-23T22:22:16.404Z,1755987736.404 [DAT](INFO): Rx dataTimestamp_ set to:1755987736.403866
2025-08-23T22:22:16.406Z,1755987736.406 [DAT](INFO): DAT read: Bearing 129.1, -20.5 (Local)
2025-08-23T22:22:16.406Z,1755987736.406 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.1, -20.5 (Local)
2025-08-23T22:22:16.408Z,1755987736.408 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:16.413Z,1755987736.413 [DAT](INFO): DAT read: 22:22:15.6505 LVL= 32752, 19521, 30962, 32755, AGC= 66, IDX= 501, 0.05, 1.653,-2.254, 2.543, 2.784, PHS=-1.029, 1.290,-0.285, RAW= 311.7, 0.2, CAL= 309.8, -2.9, ROT= 200.2, 2.9RX DATA OVERRUN
2025-08-23T22:22:16.415Z,1755987736.415 [DAT](INFO): got valid direction response:
22:22:15.6505 LVL= 32752, 19521, 30962, 32755, AGC= 66, IDX= 501, 0.05, 1.653,-2.254, 2.543, 2.784, PHS=-1.029, 1.290,-0.285, RAW= 311.7, 0.2, CAL= 309.8, -2.9, ROT= 200.2, 2.9RX DATA OVERRUN
2025-08-23T22:22:16.415Z,1755987736.415 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:16.416Z,1755987736.416 [DAT](INFO): direction in FSK: [-0.937291,-0.344856,-0.050593]
2025-08-23T22:22:16.416Z,1755987736.416 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:16.420Z,1755987736.420 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:16.420Z,1755987736.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:16.646Z,1755987736.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.503572 s,
deltaX: 0.100000 m,
approachRate: 0.198582 m/s,
rangeRepo size: 4
2025-08-23T22:22:16.650Z,1755987736.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.481823 m,
bearing: 344.447618 deg,
lat: 36.779417 deg,
lon: -121.859541 deg,
deltaT: 1.511406 s,
deltaX: 0.099016 m,
approachRate: 0.065513 m/s,
posRepo size: 4
2025-08-23T22:22:16.651Z,1755987736.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:16.655Z,1755987736.655 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:16.655Z,1755987736.655 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:16.656Z,1755987736.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:16.909Z,1755987736.909 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:22:22:16.1504
2025-08-23T22:22:16.909Z,1755987736.909 [DAT](INFO): Rx dataTimestamp_ set to:1755987736.909041
2025-08-23T22:22:16.911Z,1755987736.911 [DAT](INFO): DAT read: Bearing 129.3, -19.4 (Local)
2025-08-23T22:22:16.912Z,1755987736.912 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.3, -19.4 (Local)
2025-08-23T22:22:16.918Z,1755987736.918 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:16.923Z,1755987736.923 [DAT](INFO): DAT read: 22:22:16.1504 LVL= 32752, 22897, 32754, 32755, AGC= 65, IDX= 500, 0.11, 0.573, 2.948, 1.422, 1.688, PHS=-1.014, 1.305,-0.311, RAW= 312.8, 0.2, CAL= 310.9, -2.9, ROT= 199.1, 2.9RX DATA OVERRUN
2025-08-23T22:22:16.924Z,1755987736.924 [DAT](INFO): got valid direction response:
22:22:16.1504 LVL= 32752, 22897, 32754, 32755, AGC= 65, IDX= 500, 0.11, 0.573, 2.948, 1.422, 1.688, PHS=-1.014, 1.305,-0.311, RAW= 312.8, 0.2, CAL= 310.9, -2.9, ROT= 199.1, 2.9RX DATA OVERRUN
2025-08-23T22:22:16.925Z,1755987736.925 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:16.934Z,1755987736.934 [DAT](INFO): direction in FSK: [-0.943739,-0.326799,-0.050593]
2025-08-23T22:22:16.934Z,1755987736.934 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:16.970Z,1755987736.970 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:16.970Z,1755987736.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:17.068Z,1755987737.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.505175 s,
deltaX: -0.100000 m,
approachRate: -0.197952 m/s,
rangeRepo size: 4
2025-08-23T22:22:17.074Z,1755987737.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382458 m,
bearing: 343.366026 deg,
lat: 36.779416 deg,
lon: -121.859541 deg,
deltaT: 0.505175 s,
deltaX: -0.099365 m,
approachRate: -0.196695 m/s,
posRepo size: 4
2025-08-23T22:22:17.074Z,1755987737.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:17.161Z,1755987737.161 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:17.162Z,1755987737.162 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:17.163Z,1755987737.163 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:17.412Z,1755987737.412 [DAT](INFO): DAT read: RX DATA OVERRUNR Tme:22:22:16.6505
2025-08-23T22:22:17.412Z,1755987737.412 [DAT](INFO): unknown deviceResponse_: RX DATA OVERRUNR Tme:22:22:16.6505
2025-08-23T22:22:17.414Z,1755987737.414 [DAT](INFO): DAT read: Bearing 129.5, -19.9 (Local)
2025-08-23T22:22:17.414Z,1755987737.414 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.5, -19.9 (Local)
2025-08-23T22:22:17.416Z,1755987737.416 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:17.421Z,1755987737.421 [DAT](INFO): DAT read: 22:22:16.6505 LVL= 32752, 21489, 29154, 32755, AGC= 66, IDX= 501, 0.16, 1.793,-2.089, 2.668, 2.919, PHS=-1.024, 1.320,-0.296, RAW= 312.3, -0.0, CAL= 310.5, -3.2, ROT= 199.5, 3.2
2025-08-23T22:22:17.422Z,1755987737.422 [DAT](INFO): got valid direction response:
22:22:16.6505 LVL= 32752, 21489, 29154, 32755, AGC= 66, IDX= 501, 0.16, 1.793,-2.089, 2.668, 2.919, PHS=-1.024, 1.320,-0.296, RAW= 312.3, -0.0, CAL= 310.5, -3.2, ROT= 199.5, 3.2
2025-08-23T22:22:17.422Z,1755987737.422 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:17.423Z,1755987737.423 [DAT](INFO): direction in FSK: [-0.941172,-0.333286,-0.055822]
2025-08-23T22:22:17.423Z,1755987737.423 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:17.427Z,1755987737.427 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:17.427Z,1755987737.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:17.559Z,1755987737.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.500990 s,
deltaX: 0.100000 m,
approachRate: 0.199606 m/s,
rangeRepo size: 4
2025-08-23T22:22:17.566Z,1755987737.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.481949 m,
bearing: 343.746263 deg,
lat: 36.779417 deg,
lon: -121.859542 deg,
deltaT: 0.500990 s,
deltaX: 0.099491 m,
approachRate: 0.198589 m/s,
posRepo size: 4
2025-08-23T22:22:17.566Z,1755987737.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:17.663Z,1755987737.663 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:17.663Z,1755987737.663 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:17.664Z,1755987737.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:17.862Z,1755987737.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:17.918Z,1755987737.918 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Tm:2:2:17.1504
2025-08-23T22:22:17.918Z,1755987737.918 [DAT](INFO): unknown deviceResponse_: RX DATA OVERRUNRX DATA OVERRUNRx Tm:2:2:17.1504
2025-08-23T22:22:17.920Z,1755987737.920 [DAT](INFO): DAT read: Bearing 129.3, -20.2 (Local)
2025-08-23T22:22:17.921Z,1755987737.921 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.3, -20.2 (Local)
2025-08-23T22:22:17.924Z,1755987737.924 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.1
2025-08-23T22:22:17.935Z,1755987737.935 [DAT](INFO): DAT read: 22:22:17.1504 LVL= 32752, 20097, 29794, 32755, AGC= 66, IDX= 500, 0.21, 0.414, 2.806, 1.296, 1.546, PHS=-1.030, 1.305,-0.294, RAW= 312.0, 0.2, CAL= 310.2, -3.0, ROT= 199.8, 3.0
2025-08-23T22:22:17.937Z,1755987737.937 [DAT](INFO): got valid direction response:
22:22:17.1504 LVL= 32752, 20097, 29794, 32755, AGC= 66, IDX= 500, 0.21, 0.414, 2.806, 1.296, 1.546, PHS=-1.030, 1.305,-0.294, RAW= 312.0, 0.2, CAL= 310.2, -3.0, ROT= 199.8, 3.0
2025-08-23T22:22:17.937Z,1755987737.937 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:17.967Z,1755987737.967 [DAT](INFO): direction in FSK: [-0.939591,-0.338274,-0.052336]
2025-08-23T22:22:17.967Z,1755987737.967 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:17.980Z,1755987737.980 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:17.980Z,1755987737.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:18.169Z,1755987738.169 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:18.169Z,1755987738.169 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:18.170Z,1755987738.170 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:18.309Z,1755987738.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.504578 s,
deltaX: -0.100000 m,
approachRate: -0.198186 m/s,
rangeRepo size: 4
2025-08-23T22:22:18.311Z,1755987738.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382498 m,
bearing: 344.086684 deg,
lat: 36.779417 deg,
lon: -121.859542 deg,
deltaT: 0.504578 s,
deltaX: -0.099451 m,
approachRate: -0.197098 m/s,
posRepo size: 4
2025-08-23T22:22:18.312Z,1755987738.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:18.421Z,1755987738.421 [DAT](INFO): DAT read: RX DATA OVERRUNR DATA OVERRUNRx Time:22:22:17.6505
2025-08-23T22:22:18.422Z,1755987738.422 [DAT](INFO): Rx dataTimestamp_ set to:1755987738.421113
2025-08-23T22:22:18.423Z,1755987738.423 [DAT](INFO): DAT read: Bearing 196 19.6 (Local)
2025-08-23T22:22:18.424Z,1755987738.424 [DAT](INFO): Local bearing/azimuth received:
Bearing 196 19.6 (Local)
2025-08-23T22:22:18.427Z,1755987738.427 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1
2025-08-23T22:22:18.434Z,1755987738.434 [DAT](INFO): DAT read: 22:22:17.6505 LVL= 32752, 18769, 30658, 32755, AGC= 66, IDX= 501, 0.24, 1.977,-1.947, 2.829, 3.083, PHS=-1.004, 1.299,-0.298, RAW= 312.6, 0.0, CAL= 310.7, -3.1, ROT= 199.3, 3.1
2025-08-23T22:22:18.435Z,1755987738.435 [DAT](INFO): got valid direction response:
22:22:17.6505 LVL= 32752, 18769, 30658, 32755, AGC= 66, IDX= 501, 0.24, 1.977,-1.947, 2.829, 3.083, PHS=-1.004, 1.299,-0.298, RAW= 312.6, 0.0, CAL= 310.7, -3.1, ROT= 199.3, 3.1
2025-08-23T22:22:18.435Z,1755987738.435 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:18.436Z,1755987738.436 [DAT](INFO): direction in FSK: [-0.942420,-0.330031,-0.054079]
2025-08-23T22:22:18.436Z,1755987738.436 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:18.444Z,1755987738.444 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:18.444Z,1755987738.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:18.675Z,1755987738.675 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:18.1504
2025-08-23T22:22:18.677Z,1755987738.677 [DAT](INFO): Rx dataTimestamp_ set to:1755987738.676051
2025-08-23T22:22:18.679Z,1755987738.679 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:18.679Z,1755987738.679 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:18.680Z,1755987738.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:18.748Z,1755987738.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.506504 s,
deltaX: 0.100000 m,
approachRate: 0.197433 m/s,
rangeRepo size: 4
2025-08-23T22:22:18.754Z,1755987738.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.481863 m,
bearing: 343.597111 deg,
lat: 36.779417 deg,
lon: -121.859542 deg,
deltaT: 0.506504 s,
deltaX: 0.099365 m,
approachRate: 0.196179 m/s,
posRepo size: 4
2025-08-23T22:22:18.755Z,1755987738.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:18.923Z,1755987738.923 [DAT](INFO): DAT read: Bearing 129.5, -19.7 (Local)
2025-08-23T22:22:18.924Z,1755987738.924 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.5, -19.7 (Local)
2025-08-23T22:22:18.926Z,1755987738.926 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m ti im 12.3 ms) speed -0.1
2025-08-23T22:22:18.930Z,1755987738.930 [DAT](INFO): DAT read: 22:22:18.1504 LVL= 32752, 19041, 26738, 31827, AGC= 66, IDX= 500, 0.24, 0.983,-2.958, 1.834, 2.086, PHS=-1.001, 1.284,-0.296, RAW= 312.5, 0.1, CAL= 310.6, -3.0, ROT= 199.4, 3.0
2025-08-23T22:22:18.931Z,1755987738.931 [DAT](INFO): got valid direction response:
22:22:18.1504 LVL= 32752, 19041, 26738, 31827, AGC= 66, IDX= 500, 0.24, 0.983,-2.958, 1.834, 2.086, PHS=-1.001, 1.284,-0.296, RAW= 312.5, 0.1, CAL= 310.6, -3.0, ROT= 199.4, 3.0
2025-08-23T22:22:18.932Z,1755987738.932 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:18.933Z,1755987738.933 [DAT](INFO): direction in FSK: [-0.941930,-0.331706,-0.052336]
2025-08-23T22:22:18.933Z,1755987738.933 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:18.947Z,1755987738.947 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:18.948Z,1755987738.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:19.079Z,1755987739.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.500854 s,
deltaX: -0.100000 m,
approachRate: -0.199660 m/s,
rangeRepo size: 4
2025-08-23T22:22:19.081Z,1755987739.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382498 m,
bearing: 343.708141 deg,
lat: 36.779417 deg,
lon: -121.859542 deg,
deltaT: 0.500854 s,
deltaX: -0.099365 m,
approachRate: -0.198392 m/s,
posRepo size: 4
2025-08-23T22:22:19.082Z,1755987739.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:19.199Z,1755987739.199 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:19.200Z,1755987739.200 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:19.201Z,1755987739.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:19.449Z,1755987739.449 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:18.6505
2025-08-23T22:22:19.450Z,1755987739.450 [DAT](INFO): Rx dataTimestamp_ set to:1755987739.449333
2025-08-23T22:22:19.451Z,1755987739.451 [DAT](INFO): DAT read: Bearing 129.8, -19.3 (Local)
2025-08-23T22:22:19.451Z,1755987739.451 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -19.3 (Local)
2025-08-23T22:22:19.453Z,1755987739.453 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:19.458Z,1755987739.458 [DAT](INFO): DAT read: 22:22:18.6505 LVL= 32752, 20641, 28082, 32755, AGC= 65, IDX= 501, 0.6,1.22,-2.183, 2.571, 2.829, PHS=-1.006, 1.316,-0.302, RAW= 312.8, -0.1, CAL= 311.0, -3.2, ROT= 199.0, 3.2
2025-08-23T22:22:19.459Z,1755987739.459 [DAT](INFO): got valid direction response:
22:22:18.6505 LVL= 32752, 20641, 28082, 32755, AGC= 65, IDX= 501, 0.6,1.22,-2.183, 2.571, 2.829, PHS=-1.006, 1.316,-0.302, RAW= 312.8, -0.1, CAL= 311.0, -3.2, ROT= 199.0, 3.2
2025-08-23T22:22:19.459Z,1755987739.459 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:19.460Z,1755987739.460 [DAT](INFO): direction in FSK: [-0.944044,-0.325061,-0.055822]
2025-08-23T22:22:19.461Z,1755987739.461 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:19.464Z,1755987739.464 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:19.464Z,1755987739.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:19.579Z,1755987739.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.527366 s,
deltaX: 0.100000 m,
approachRate: 0.189622 m/s,
rangeRepo size: 4
2025-08-23T22:22:19.581Z,1755987739.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.481722 m,
bearing: 343.310325 deg,
lat: 36.779417 deg,
lon: -121.859542 deg,
deltaT: 0.527366 s,
deltaX: 0.099224 m,
approachRate: 0.188150 m/s,
posRepo size: 4
2025-08-23T22:22:19.586Z,1755987739.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:19.703Z,1755987739.703 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:19.1504
2025-08-23T22:22:19.704Z,1755987739.704 [DAT](INFO): Rx dataTimestamp_ set to:1755987739.703391
2025-08-23T22:22:19.711Z,1755987739.711 [DAT](INFO): DAT read: Bearing 129.4, -19.9 (Local)
2025-08-23T22:22:19.712Z,1755987739.712 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.4, -19.9 (Local)
2025-08-23T22:22:19.712Z,1755987739.712 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:19.713Z,1755987739.713 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:19.718Z,1755987739.718 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:19.875Z,1755987739.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:19.952Z,1755987739.952 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.1
2025-08-23T22:22:19.957Z,1755987739.957 [DAT](INFO): DAT read: 22:22:19.1504 LVL= 32752, 19313, 28402, 32371, AGC= 65, IDX= 500, 0.25, 1.382,-2.571, 2.236, 2.486, PHS=-1.002, 1.271,-0.294, RAW= 312.3, 0.2, CAL= 1.4, -2.9, ROT= 199.6, 2.9
2025-08-23T22:22:19.958Z,1755987739.958 [DAT](INFO): got valid direction response:
22:22:19.1504 LVL= 32752, 19313, 28402, 32371, AGC= 65, IDX= 500, 0.25, 1.382,-2.571, 2.236, 2.486, PHS=-1.002, 1.271,-0.294, RAW= 312.3, 0.2, CAL= 1.4, -2.9, ROT= 199.6, 2.9
2025-08-23T22:22:19.958Z,1755987739.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:19.959Z,1755987739.959 [DAT](INFO): direction in FSK: [-0.940851,-0.335022,-0.050593]
2025-08-23T22:22:19.959Z,1755987739.959 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:19.963Z,1755987739.963 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:19.963Z,1755987739.963 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:20.026Z,1755987740.026 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:22:20.209Z,1755987740.209 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:19.6505
2025-08-23T22:22:20.211Z,1755987740.211 [DAT](INFO): Rx dataTimestamp_ set to:1755987740.209720
2025-08-23T22:22:20.214Z,1755987740.214 [DAT](INFO): DAT read: Bearing 129.9, -19.1 (Local)
2025-08-23T22:22:20.215Z,1755987740.215 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.9, -19.1 (Local)
2025-08-23T22:22:20.251Z,1755987740.251 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:20.263Z,1755987740.263 [DAT](INFO): DAT read: 22:22:19.6505 LVL= 32752, 21777, 30098, 32755, AGC= 65, IDX= 501, 0.29, 2.078,-1.861, 2.911,-3.113, PHS=-0.990, 1.298,-0.303, RAW= 313.0, -0.1, CAL= 311.2, -3.2, ROT= 198.8, 3.2
2025-08-23T22:22:20.264Z,1755987740.264 [DAT](INFO): got valid direction response:
22:22:19.6505 LVL= 32752, 21777, 30098, 32755, AGC= 65, IDX= 501, 0.29, 2.078,-1.861, 2.911,-3.113, PHS=-0.990, 1.298,-0.303, RAW= 313.0, -0.1, CAL= 311.2, -3.2, ROT= 198.8, 3.2
2025-08-23T22:22:20.265Z,1755987740.265 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:20.282Z,1755987740.282 [DAT](INFO): direction in FSK: [-0.945173,-0.321763,-0.055822]
2025-08-23T22:22:20.282Z,1755987740.282 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:20.285Z,1755987740.285 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:20.286Z,1755987740.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:20.411Z,1755987740.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.760387 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:20.414Z,1755987740.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.481731 m,
bearing: 343.109523 deg,
lat: 36.779417 deg,
lon: -121.859543 deg,
deltaT: 0.760387 s,
deltaX: 0.000010 m,
approachRate: 0.000013 m/s,
posRepo size: 4
2025-08-23T22:22:20.415Z,1755987740.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:20.455Z,1755987740.455 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:20.455Z,1755987740.455 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:20.456Z,1755987740.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:20.713Z,1755987740.713 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:20.1504
2025-08-23T22:22:20.715Z,1755987740.715 [DAT](INFO): Rx dataTimestamp_ set to:1755987740.714131
2025-08-23T22:22:20.718Z,1755987740.718 [DAT](INFO): DAT read: Bearing 129.8, -19.3 (Local)
2025-08-23T22:22:20.719Z,1755987740.719 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -19.3 (Local)
2025-08-23T22:22:20.727Z,1755987740.727 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:20.728Z,1755987740.728 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:20.728Z,1755987740.728 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:20.729Z,1755987740.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:20.791Z,1755987740.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.504411 s,
deltaX: -0.100000 m,
approachRate: -0.198252 m/s,
rangeRepo size: 4
2025-08-23T22:22:20.792Z,1755987740.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:20.962Z,1755987740.962 [DAT](INFO): DAT read: 22:22:20.1504 LVL= 32752, 19121, 32754, 32755, AGC= 65, IDX= 500, 0.31, 1.097,-2.818, 1.943, 2.203, PHS=-1.004, 1.307,-0.304, RAW= 312.8, 0.0, CAL= 311.0, -3.1, ROT= 199.0, 3.1
2025-08-23T22:22:20.963Z,1755987740.963 [DAT](INFO): got valid direction response:
22:22:20.1504 LVL= 32752, 19121, 32754, 32755, AGC= 65, IDX= 500, 0.31, 1.097,-2.818, 1.943, 2.203, PHS=-1.004, 1.307,-0.304, RAW= 312.8, 0.0, CAL= 311.0, -3.1, ROT= 199.0, 3.1
2025-08-23T22:22:20.964Z,1755987740.964 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:22:20.965Z,1755987740.965 [DAT](INFO): direction in FSK: [-0.944135,-0.325092,-0.054079]
2025-08-23T22:22:20.968Z,1755987740.968 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:20.968Z,1755987740.968 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:20.968Z,1755987740.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:21.030Z,1755987741.030 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:22:21.090Z,1755987741.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:21.221Z,1755987741.221 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:20.6505
2025-08-23T22:22:21.226Z,1755987741.226 [DAT](INFO): Rx dataTimestamp_ set to:1755987741.224493
2025-08-23T22:22:21.227Z,1755987741.227 [DAT](INFO): DAT read: Bearing 129.8, -19.3 (Local)
2025-08-23T22:22:21.227Z,1755987741.227 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -19.3 (Local)
2025-08-23T22:22:21.234Z,1755987741.234 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0
2025-08-23T22:22:21.242Z,1755987741.242 [DAT](INFO): DAT read: 22:22:20.6505 LVL= 32752, 19185, 29602, 32755, AGC= 63, IDX= 501, 0.32, 1.840,-2.097, 2.680, 2.938, PHS=-0.996, 1.293,-0.302, RAW= 312.8, 0.1, CAL= 310.9, -3.1, ROT= 199.1, 3.1
2025-08-23T22:22:21.243Z,1755987741.243 [DAT](INFO): got valid direction response:
22:22:20.6505 LVL= 32752, 19185, 29602, 32755, AGC= 63, IDX= 501, 0.32, 1.840,-2.097, 2.680, 2.938, PHS=-0.996, 1.293,-0.302, RAW= 312.8, 0.1, CAL= 310.9, -3.1, ROT= 199.1, 3.1
2025-08-23T22:22:21.244Z,1755987741.244 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:21.245Z,1755987741.245 [DAT](INFO): direction in FSK: [-0.943566,-0.326739,-0.054079]
2025-08-23T22:22:21.245Z,1755987741.245 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:21.278Z,1755987741.278 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:21.278Z,1755987741.278 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:21.462Z,1755987741.462 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:21.462Z,1755987741.462 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:21.463Z,1755987741.463 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:21.540Z,1755987741.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.510362 s,
deltaX: 0.100000 m,
approachRate: 0.195940 m/s,
rangeRepo size: 4
2025-08-23T22:22:21.543Z,1755987741.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.481876 m,
bearing: 343.509740 deg,
lat: 36.779417 deg,
lon: -121.859544 deg,
deltaT: 1.014773 s,
deltaX: 0.000145 m,
approachRate: 0.000143 m/s,
posRepo size: 4
2025-08-23T22:22:21.543Z,1755987741.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:21.720Z,1755987741.720 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:21.1504
2025-08-23T22:22:21.722Z,1755987741.722 [DAT](INFO): Rx dataTimestamp_ set to:1755987741.720953
2025-08-23T22:22:21.725Z,1755987741.725 [DAT](INFO): DAT read: Bearing 130.0, -19.9 (Local)
2025-08-23T22:22:21.726Z,1755987741.726 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.0, -19.9 (Local)
2025-08-23T22:22:21.727Z,1755987741.727 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:21.728Z,1755987741.728 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:21.728Z,1755987741.728 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:21.729Z,1755987741.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:21.919Z,1755987741.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.496460 s,
deltaX: -0.100000 m,
approachRate: -0.201427 m/s,
rangeRepo size: 4
2025-08-23T22:22:21.919Z,1755987741.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:22:21.973Z,1755987741.973 [DAT](INFO): DAT read: 22:22:21.1504 LVL= 32752, 18513, 28786, 32755, AGC= 64, IDX= 500, 0.39, 0.288, 2.682, 1.164, 1.406, PHS=-1.017, 1.320,-0.286, RAW= 312.2, -0.2, CAL= 310.4, -3.3, ROT= 199.6, 3.3
2025-08-23T22:22:21.975Z,1755987741.975 [DAT](INFO): got valid direction response:
22:22:21.1504 LVL= 32752, 18513, 28786, 32755, AGC= 64, IDX= 500, 0.39, 0.288, 2.682, 1.164, 1.406, PHS=-1.017, 1.320,-0.286, RAW= 312.2, -0.2, CAL= 310.4, -3.3, ROT= 199.6, 3.3
2025-08-23T22:22:21.975Z,1755987741.975 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:22:21.977Z,1755987741.977 [DAT](INFO): direction in FSK: [-0.940495,-0.334896,-0.057564]
2025-08-23T22:22:21.980Z,1755987741.980 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:21.980Z,1755987741.980 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:21.981Z,1755987741.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:22.231Z,1755987742.231 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:21.6504
2025-08-23T22:22:22.232Z,1755987742.232 [DAT](INFO): Rx dataTimestamp_ set to:1755987742.231755
2025-08-23T22:22:22.233Z,1755987742.233 [DAT](INFO): DAT read: Bearing 128.9, -20.3 (Local)
2025-08-23T22:22:22.234Z,1755987742.234 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.9, -20.3 (Local)
2025-08-23T22:22:22.236Z,1755987742.236 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0
2025-08-23T22:22:22.240Z,1755987742.240 [DAT](INFO): DAT read: 22:22:21.6504 LVL= 31728, 17217, 25458, 31891, AGC= 65, IDX= 500, 0.36, 1.278,-2.652, 2.156, 2.415, PHS=-1.035, 1.261,-0.303, RAW= 311.8, 0.8, CAL= 309.8, -2.4, ROT= 200.2, 2.4
2025-08-23T22:22:22.241Z,1755987742.241 [DAT](INFO): got valid direction response:
22:22:21.6504 LVL= 31728, 17217, 25458, 31891, AGC= 65, IDX= 500, 0.36, 1.278,-2.652, 2.156, 2.415, PHS=-1.035, 1.261,-0.303, RAW= 311.8, 0.8, CAL= 309.8, -2.4, ROT= 200.2, 2.4
2025-08-23T22:22:22.254Z,1755987742.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:22.255Z,1755987742.255 [DAT](INFO): direction in FSK: [-0.937670,-0.344995,-0.041876]
2025-08-23T22:22:22.255Z,1755987742.255 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:22.266Z,1755987742.266 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:22.267Z,1755987742.267 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:22.414Z,1755987742.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.510802 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:22.416Z,1755987742.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.382555 m,
bearing: 344.757614 deg,
lat: 36.779417 deg,
lon: -121.859544 deg,
deltaT: 1.007262 s,
deltaX: -0.099321 m,
approachRate: -0.098605 m/s,
posRepo size: 4
2025-08-23T22:22:22.417Z,1755987742.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-08-23T22:22:22.471Z,1755987742.471 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:22.472Z,1755987742.472 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:22.472Z,1755987742.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:22.727Z,1755987742.727 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:22.1502
2025-08-23T22:22:22.728Z,1755987742.728 [DAT](INFO): Rx dataTimestamp_ set to:1755987742.727512
2025-08-23T22:22:22.729Z,1755987742.729 [DAT](INFO): DAT read: Bearing 129.4, -20.0 (Local)
2025-08-23T22:22:22.730Z,1755987742.730 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.4, -20.0 (Local)
2025-08-23T22:22:22.732Z,1755987742.732 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0
2025-08-23T22:22:22.736Z,1755987742.736 [DAT](INFO): DAT read: 22:22:22.1502 LVL= 32752, 17393, 30514, 32755, AGC= 65, IDX= 499, 0.44,-0.917, 1.497,-0.029, 0.230, PHS=-1.045, 1.312,-0.303, RAW= 312.1, 0.3, CAL= 310.2, -2.8, ROT= 199.8, 2.8
2025-08-23T22:22:22.737Z,1755987742.737 [DAT](INFO): got valid direction response:
22:22:22.1502 LVL= 32752, 17393, 30514, 32755, AGC= 65, IDX= 499, 0.44,-0.917, 1.497,-0.029, 0.230, PHS=-1.045, 1.312,-0.303, RAW= 312.1, 0.3, CAL= 310.2, -2.8, ROT= 199.8, 2.8
2025-08-23T22:22:22.737Z,1755987742.737 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:22.738Z,1755987742.738 [DAT](INFO): direction in FSK: [-0.939757,-0.338334,-0.048850]
2025-08-23T22:22:22.739Z,1755987742.739 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:22.742Z,1755987742.742 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:22.742Z,1755987742.742 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:22.835Z,1755987742.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.495757 s,
deltaX: -0.299999 m,
approachRate: -0.605134 m/s,
rangeRepo size: 4
2025-08-23T22:22:22.837Z,1755987742.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.084459 m,
bearing: 344.329996 deg,
lat: 36.779417 deg,
lon: -121.859544 deg,
deltaT: 0.495757 s,
deltaX: -0.298096 m,
approachRate: -0.601294 m/s,
posRepo size: 4
2025-08-23T22:22:22.837Z,1755987742.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:22:22.974Z,1755987742.974 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:22.975Z,1755987742.975 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:22.975Z,1755987742.975 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:23.115Z,1755987743.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:22:23.234Z,1755987743.234 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:22.6503
2025-08-23T22:22:23.235Z,1755987743.235 [DAT](INFO): Rx dataTimestamp_ set to:1755987743.234457
2025-08-23T22:22:23.239Z,1755987743.239 [DAT](INFO): DAT read: Bearing 129.5, -19.6 (Local)
2025-08-23T22:22:23.239Z,1755987743.239 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.5, -19.6 (Local)
2025-08-23T22:22:23.244Z,1755987743.244 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0
2025-08-23T22:22:23.246Z,1755987743.246 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:23.248Z,1755987743.248 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:23.249Z,1755987743.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:23.483Z,1755987743.483 [DAT](INFO): DAT read: 22:22:22.6503 LVL= 32752, 19009, 30194, 32755, AGC= 64, IDX= 500, 0.46, 0.565, 2.963, 1.434, 1.698, PHS=-1.031, 1.310,-0.308, RAW= 312.5, 0.3, CAL= 310.5, -2.8, ROT= 199.5, 2.8
2025-08-23T22:22:23.484Z,1755987743.484 [DAT](INFO): got valid direction response:
22:22:22.6503 LVL= 32752, 19009, 30194, 32755, AGC= 64, IDX= 500, 0.46, 0.565, 2.963, 1.434, 1.698, PHS=-1.031, 1.310,-0.308, RAW= 312.5, 0.3, CAL= 310.5, -2.8, ROT= 199.5, 2.8
2025-08-23T22:22:23.484Z,1755987743.484 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:22:23.485Z,1755987743.485 [DAT](INFO): direction in FSK: [-0.941516,-0.333408,-0.048850]
2025-08-23T22:22:23.488Z,1755987743.488 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:23.488Z,1755987743.488 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:23.489Z,1755987743.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:23.583Z,1755987743.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.506945 s,
deltaX: 0.099998 m,
approachRate: 0.197257 m/s,
rangeRepo size: 4
2025-08-23T22:22:23.590Z,1755987743.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.183737 m,
bearing: 344.061398 deg,
lat: 36.779417 deg,
lon: -121.859541 deg,
deltaT: 0.506945 s,
deltaX: 0.099277 m,
approachRate: 0.195835 m/s,
posRepo size: 4
2025-08-23T22:22:23.590Z,1755987743.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:22:23.732Z,1755987743.732 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:23.1502
2025-08-23T22:22:23.733Z,1755987743.733 [DAT](INFO): Rx dataTimestamp_ set to:1755987743.732427
2025-08-23T22:22:23.734Z,1755987743.734 [DAT](INFO): DAT read: Bearing 128.8, -20.7 (Local)
2025-08-23T22:22:23.734Z,1755987743.734 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.8, -20.7 (Local)
2025-08-23T22:22:23.736Z,1755987743.736 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0
2025-08-23T22:22:23.741Z,1755987743.741 [DAT](INFO): DAT read: 22:22:23.1502 LVL= 32672, 17729, 25218, 31731, AGC= 66, IDX= 499, 0.50,-0.316, 2.064, 0.584, 0.840, PHS=-1.054, 1.269,-0.300, RAW= 311.4, 0.8, CAL= 309.4, -2.3, ROT= 200.6, 2.3
2025-08-23T22:22:23.742Z,1755987743.742 [DAT](INFO): got valid direction response:
22:22:23.1502 LVL= 32672, 17729, 25218, 31731, AGC= 66, IDX= 499, 0.50,-0.316, 2.064, 0.584, 0.840, PHS=-1.054, 1.269,-0.300, RAW= 311.4, 0.8, CAL= 309.4, -2.3, ROT= 200.6, 2.3
2025-08-23T22:22:23.742Z,1755987743.742 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:23.743Z,1755987743.743 [DAT](INFO): direction in FSK: [-0.935305,-0.351558,-0.040132]
2025-08-23T22:22:23.743Z,1755987743.743 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:23.748Z,1755987743.748 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:23.749Z,1755987743.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:23.959Z,1755987743.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.497970 s,
deltaX: -0.099998 m,
approachRate: -0.200812 m/s,
rangeRepo size: 4
2025-08-23T22:22:23.961Z,1755987743.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.084373 m,
bearing: 345.224582 deg,
lat: 36.779416 deg,
lon: -121.859540 deg,
deltaT: 0.497970 s,
deltaX: -0.099363 m,
approachRate: -0.199537 m/s,
posRepo size: 4
2025-08-23T22:22:23.966Z,1755987743.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:22:23.982Z,1755987743.982 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:23.982Z,1755987743.982 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:23.983Z,1755987743.983 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:24.242Z,1755987744.242 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:23.6503
2025-08-23T22:22:24.244Z,1755987744.244 [DAT](INFO): Rx dataTimestamp_ set to:1755987744.242924
2025-08-23T22:22:24.247Z,1755987744.247 [DAT](INFO): DAT read: Bearing 129.2, -20.4 (Local)
2025-08-23T22:22:24.248Z,1755987744.248 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.2, -20.4 (Local)
2025-08-23T22:22:24.255Z,1755987744.255 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0
2025-08-23T22:22:24.264Z,1755987744.264 [DAT](INFO): DAT read: 22:22:23.6503 LVL= 32752, 19617, 28578, 32755, AGC= 66, IDX= 501,-0.44,-0.337, 2.043, 0.554, 0.807, PHS=-1.042, 1.281,-0.297, RAW= 311.7, 0.6, CAL= 309.7, -2.6, ROT= 200.3, 2.6
2025-08-23T22:22:24.265Z,1755987744.265 [DAT](INFO): got valid direction response:
22:22:23.6503 LVL= 32752, 19617, 28578, 32755, AGC= 66, IDX= 501,-0.44,-0.337, 2.043, 0.554, 0.807, PHS=-1.042, 1.281,-0.297, RAW= 311.7, 0.6, CAL= 309.7, -2.6, ROT= 200.3, 2.6
2025-08-23T22:22:24.278Z,1755987744.278 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:24.279Z,1755987744.279 [DAT](INFO): direction in FSK: [-0.936923,-0.346578,-0.045363]
2025-08-23T22:22:24.279Z,1755987744.279 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:24.291Z,1755987744.291 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:24.291Z,1755987744.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:24.406Z,1755987744.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.510497 s,
deltaX: 0.099998 m,
approachRate: 0.195885 m/s,
rangeRepo size: 4
2025-08-23T22:22:24.408Z,1755987744.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.183739 m,
bearing: 344.899979 deg,
lat: 36.779416 deg,
lon: -121.859539 deg,
deltaT: 0.510497 s,
deltaX: 0.099365 m,
approachRate: 0.194644 m/s,
posRepo size: 4
2025-08-23T22:22:24.408Z,1755987744.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:22:24.487Z,1755987744.487 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:24.488Z,1755987744.488 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:24.488Z,1755987744.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:24.740Z,1755987744.740 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:24.1502
2025-08-23T22:22:24.741Z,1755987744.741 [DAT](INFO): Rx dataTimestamp_ set to:1755987744.740475
2025-08-23T22:22:24.742Z,1755987744.742 [DAT](INFO): DAT read: Bearing 129.7, -20.3 (Local)
2025-08-23T22:22:24.742Z,1755987744.742 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.7, -20.3 (Local)
2025-08-23T22:22:24.744Z,1755987744.744 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0
2025-08-23T22:22:24.749Z,1755987744.749 [DAT](INFO): DAT read: 22:22:24.1502 LVL= 32752, 20081, 30770, 32755, AGC= 65, IDX= 500,-0.43,-2.073, 0.342,-1.177,-0.931, PHS=-1.040, 1.318,-0.289, RAW= 311.9, 0.1, CAL= 310.0, -3.1, ROT= 200.0, 3.1
2025-08-23T22:22:24.750Z,1755987744.750 [DAT](INFO): got valid direction response:
22:22:24.1502 LVL= 32752, 20081, 30770, 32755, AGC= 65, IDX= 500,-0.43,-2.073, 0.342,-1.177,-0.931, PHS=-1.040, 1.318,-0.289, RAW= 311.9, 0.1, CAL= 310.0, -3.1, ROT= 200.0, 3.1
2025-08-23T22:22:24.750Z,1755987744.750 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:24.751Z,1755987744.751 [DAT](INFO): direction in FSK: [-0.938318,-0.341520,-0.054079]
2025-08-23T22:22:24.752Z,1755987744.752 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:24.755Z,1755987744.755 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:24.755Z,1755987744.755 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:24.813Z,1755987744.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.497551 s,
deltaX: -0.099998 m,
approachRate: -0.200981 m/s,
rangeRepo size: 4
2025-08-23T22:22:24.823Z,1755987744.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.084375 m,
bearing: 344.561603 deg,
lat: 36.779416 deg,
lon: -121.859540 deg,
deltaT: 0.497551 s,
deltaX: -0.099363 m,
approachRate: -0.199705 m/s,
posRepo size: 4
2025-08-23T22:22:24.824Z,1755987744.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:22:24.990Z,1755987744.990 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:24.991Z,1755987744.991 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:24.991Z,1755987744.991 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:25.169Z,1755987745.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:22:25.251Z,1755987745.251 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:24.6502
2025-08-23T22:22:25.256Z,1755987745.256 [DAT](INFO): Rx dataTimestamp_ set to:1755987745.254588
2025-08-23T22:22:25.260Z,1755987745.260 [DAT](INFO): DAT read: Bearing 129.8, -20.4 (Local)
2025-08-23T22:22:25.270Z,1755987745.270 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -20.4 (Local)
2025-08-23T22:22:25.290Z,1755987745.290 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0
2025-08-23T22:22:25.307Z,1755987745.307 [DAT](INFO): DAT read: 22:22:24.6502 LVL= 32752, 19425, 30002, 32755, AGC= 65, IDX= 500,-0.39,-1.878, 0.514,-0.984,-0.746, PHS=-1.031, 1.304,-0.282, RAW= 311.7, 0.1, CAL= 309.8, -3.1, ROT= 200.2, 3.1
2025-08-23T22:22:25.308Z,1755987745.308 [DAT](INFO): got valid direction response:
22:22:24.6502 LVL= 32752, 19425, 30002, 32755, AGC= 65, IDX= 500,-0.39,-1.878, 0.514,-0.984,-0.746, PHS=-1.031, 1.304,-0.282, RAW= 311.7, 0.1, CAL= 309.8, -3.1, ROT= 200.2, 3.1
2025-08-23T22:22:25.309Z,1755987745.309 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:25.314Z,1755987745.314 [DAT](INFO): direction in FSK: [-0.937120,-0.344793,-0.054079]
2025-08-23T22:22:25.315Z,1755987745.315 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:25.324Z,1755987745.324 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:25.324Z,1755987745.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:25.494Z,1755987745.494 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:25.494Z,1755987745.494 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:25.495Z,1755987745.495 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:25.583Z,1755987745.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.514113 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:25.586Z,1755987745.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.084385 m,
bearing: 344.795272 deg,
lat: 36.779416 deg,
lon: -121.859539 deg,
deltaT: 0.514113 s,
deltaX: 0.000010 m,
approachRate: 0.000019 m/s,
posRepo size: 4
2025-08-23T22:22:25.587Z,1755987745.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:22:25.748Z,1755987745.748 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:25.1501
2025-08-23T22:22:25.749Z,1755987745.749 [DAT](INFO): Rx dataTimestamp_ set to:1755987745.748651
2025-08-23T22:22:25.750Z,1755987745.750 [DAT](INFO): DAT read: Bearing 129.5, -20.5 (Local)
2025-08-23T22:22:25.751Z,1755987745.751 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.5, -20.5 (Local)
2025-08-23T22:22:25.753Z,1755987745.753 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0
2025-08-23T22:22:25.757Z,1755987745.757 [DAT](INFO): DAT read: 22:22:25.1501 LVL= 32752, 18801, 30322, 32755, AGC= 65, IDX= 499,-0.41,-3.061,-0.676,-2.171,-1.923, PHS=-1.036, 1.292,-0.292, RAW= 311.8, 0.4, CAL= 309.8, -2.8, ROT= 200.2, 2.8
2025-08-23T22:22:25.758Z,1755987745.758 [DAT](INFO): got valid direction response:
22:22:25.1501 LVL= 32752, 18801, 30322, 32755, AGC= 65, IDX= 499,-0.41,-3.061,-0.676,-2.171,-1.923, PHS=-1.036, 1.292,-0.292, RAW= 311.8, 0.4, CAL= 309.8, -2.8, ROT= 200.2, 2.8
2025-08-23T22:22:25.759Z,1755987745.759 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:25.760Z,1755987745.760 [DAT](INFO): direction in FSK: [-0.937373,-0.344886,-0.048850]
2025-08-23T22:22:25.760Z,1755987745.760 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:25.763Z,1755987745.763 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:25.764Z,1755987745.764 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:25.958Z,1755987745.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.494063 s,
deltaX: -0.200001 m,
approachRate: -0.404808 m/s,
rangeRepo size: 4
2025-08-23T22:22:25.960Z,1755987745.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.885654 m,
bearing: 344.830757 deg,
lat: 36.779416 deg,
lon: -121.859539 deg,
deltaT: 0.494063 s,
deltaX: -0.198730 m,
approachRate: -0.402237 m/s,
posRepo size: 4
2025-08-23T22:22:25.961Z,1755987745.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:22:25.998Z,1755987745.998 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:25.999Z,1755987745.999 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:25.999Z,1755987745.999 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:26.266Z,1755987746.266 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:25.6502
2025-08-23T22:22:26.268Z,1755987746.268 [DAT](INFO): Rx dataTimestamp_ set to:1755987746.266898
2025-08-23T22:22:26.271Z,1755987746.271 [DAT](INFO): DAT read: Bearing 130.1, -19.8 (Local)
2025-08-23T22:22:26.272Z,1755987746.272 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -19.8 (Local)
2025-08-23T22:22:26.286Z,1755987746.286 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0
2025-08-23T22:22:26.295Z,1755987746.295 [DAT](INFO): DAT read: 22:22:25.6502 LVL= 32752, 20449, 32098, 32755, AGC= 65, IDX= 500,-0.43,-1.939, 0.484,-1.059,-0.811, PHS=-1.026, 1.340,-0.292, RAW= 312.4, -0.2, CAL= 310.5, -3.4, ROT= 199.5, 3.4
2025-08-23T22:22:26.296Z,1755987746.296 [DAT](INFO): got valid direction response:
22:22:25.6502 LVL= 32752, 20449, 32098, 32755, AGC= 65, IDX= 500,-0.43,-1.939, 0.484,-1.059,-0.811, PHS=-1.026, 1.340,-0.292, RAW= 312.4, -0.2, CAL= 310.5, -3.4, ROT= 199.5, 3.4
2025-08-23T22:22:26.296Z,1755987746.296 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:26.297Z,1755987746.297 [DAT](INFO): direction in FSK: [-0.940982,-0.333219,-0.059306]
2025-08-23T22:22:26.331Z,1755987746.331 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:26.339Z,1755987746.339 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:26.339Z,1755987746.339 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:26.477Z,1755987746.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.518247 s,
deltaX: 0.200001 m,
approachRate: 0.385918 m/s,
rangeRepo size: 4
2025-08-23T22:22:26.480Z,1755987746.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.084318 m,
bearing: 344.064667 deg,
lat: 36.779416 deg,
lon: -121.859539 deg,
deltaT: 0.518247 s,
deltaX: 0.198664 m,
approachRate: 0.383338 m/s,
posRepo size: 4
2025-08-23T22:22:26.480Z,1755987746.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:22:26.502Z,1755987746.502 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:26.503Z,1755987746.503 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:26.503Z,1755987746.503 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:26.764Z,1755987746.764 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:26.1501
2025-08-23T22:22:26.765Z,1755987746.765 [DAT](INFO): Rx dataTimestamp_ set to:1755987746.764467
2025-08-23T22:22:26.766Z,1755987746.766 [DAT](INFO): DAT read: Bearing 129.7, -20.4 (Local)
2025-08-23T22:22:26.766Z,1755987746.766 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.7, -20.4 (Local)
2025-08-23T22:22:26.768Z,1755987746.768 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0
2025-08-23T22:22:26.773Z,1755987746.773 [DAT](INFO): DAT read: 22:22:26.1501 LVL= 32752, 17553, 31218, 32755, AGC= 66, IDX= 499,-0.46,-2.551,-0.147,-1.657,-1.411, PHS=-1.038, 1.309,-0.290, RAW= 311.8, 0.2, CAL= 309.9, -3.0, ROT= 200.1, 3.0
2025-08-23T22:22:26.774Z,1755987746.774 [DAT](INFO): got valid direction response:
22:22:26.1501 LVL= 32752, 17553, 31218, 32755, AGC= 66, IDX= 499,-0.46,-2.551,-0.147,-1.657,-1.411, PHS=-1.038, 1.309,-0.290, RAW= 311.8, 0.2, CAL= 309.9, -3.0, ROT= 200.1, 3.0
2025-08-23T22:22:26.774Z,1755987746.774 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:26.775Z,1755987746.775 [DAT](INFO): direction in FSK: [-0.937807,-0.343189,-0.052336]
2025-08-23T22:22:26.776Z,1755987746.776 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:26.783Z,1755987746.783 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:26.783Z,1755987746.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:26.804Z,1755987746.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.497569 s,
deltaX: -0.200001 m,
approachRate: -0.401956 m/s,
rangeRepo size: 4
2025-08-23T22:22:26.807Z,1755987746.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.885588 m,
bearing: 344.719501 deg,
lat: 36.779416 deg,
lon: -121.859539 deg,
deltaT: 0.497569 s,
deltaX: -0.198730 m,
approachRate: -0.399403 m/s,
posRepo size: 4
2025-08-23T22:22:26.808Z,1755987746.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:22:27.017Z,1755987747.017 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:27.017Z,1755987747.017 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:27.018Z,1755987747.018 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:27.242Z,1755987747.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:22:27.274Z,1755987747.274 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:26.6502
2025-08-23T22:22:27.276Z,1755987747.276 [DAT](INFO): Rx dataTimestamp_ set to:1755987747.274773
2025-08-23T22:22:27.280Z,1755987747.280 [DAT](INFO): DAT read: Bearing 130.2, -20.0 (Local)
2025-08-23T22:22:27.281Z,1755987747.281 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.2, -20.0 (Local)
2025-08-23T22:22:27.324Z,1755987747.324 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0
2025-08-23T22:22:27.355Z,1755987747.355 [DAT](INFO): DAT read: 22:22:26.6502 LVL= 32752, 18225, 29234, 32755, AGC= 65, IDX= 500,-0.45,-1.448, 0.981,-0.560,-0.318, PHS=-1.028, 1.343,-0.287, RAW= 312.2, -0.3, CAL= 310.4, -3.4, ROT= 199.6, 3.4
2025-08-23T22:22:27.362Z,1755987747.362 [DAT](INFO): got valid direction response:
22:22:26.6502 LVL= 32752, 18225, 29234, 32755, AGC= 65, IDX= 500,-0.45,-1.448, 0.981,-0.560,-0.318, PHS=-1.028, 1.343,-0.287, RAW= 312.2, -0.3, CAL= 310.4, -3.4, ROT= 199.6, 3.4
2025-08-23T22:22:27.362Z,1755987747.362 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:27.363Z,1755987747.363 [DAT](INFO): direction in FSK: [-0.940399,-0.334861,-0.059306]
2025-08-23T22:22:27.364Z,1755987747.364 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:27.372Z,1755987747.372 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:27.372Z,1755987747.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:27.518Z,1755987747.518 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:27.518Z,1755987747.518 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:27.519Z,1755987747.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:27.609Z,1755987747.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.510306 s,
deltaX: 0.200001 m,
approachRate: 0.391923 m/s,
rangeRepo size: 4
2025-08-23T22:22:27.611Z,1755987747.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.084299 m,
bearing: 344.175963 deg,
lat: 36.779416 deg,
lon: -121.859539 deg,
deltaT: 0.510306 s,
deltaX: 0.198711 m,
approachRate: 0.389397 m/s,
posRepo size: 4
2025-08-23T22:22:27.612Z,1755987747.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:22:27.772Z,1755987747.772 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:27.1501
2025-08-23T22:22:27.773Z,1755987747.773 [DAT](INFO): Rx dataTimestamp_ set to:1755987747.772670
2025-08-23T22:22:27.774Z,1755987747.774 [DAT](INFO): DAT read: Bearing 129.8, -19.8 (Local)
2025-08-23T22:22:27.775Z,1755987747.775 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -19.8 (Local)
2025-08-23T22:22:27.777Z,1755987747.777 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0
2025-08-23T22:22:27.781Z,1755987747.781 [DAT](INFO): DAT read: 22:22:27.1501 LVL= 32752, 18673, 28658, 32755, AGC= 65, IDX= 499,-0.48,-2.733,-0.344,-1.867,-1.611, PHS=-1.020, 1.312,-0.299, RAW= 312.4, 0.1, CAL= 310.6, -3.1, ROT= 199.4, 3.1
2025-08-23T22:22:27.784Z,1755987747.784 [DAT](INFO): got valid direction response:
22:22:27.1501 LVL= 32752, 18673, 28658, 32755, AGC= 65, IDX= 499,-0.48,-2.733,-0.344,-1.867,-1.611, PHS=-1.020, 1.312,-0.299, RAW= 312.4, 0.1, CAL= 310.6, -3.1, ROT= 199.4, 3.1
2025-08-23T22:22:27.785Z,1755987747.785 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:27.786Z,1755987747.786 [DAT](INFO): direction in FSK: [-0.941842,-0.331675,-0.054079]
2025-08-23T22:22:27.786Z,1755987747.786 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:27.794Z,1755987747.794 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:27.794Z,1755987747.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:27.992Z,1755987747.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.497897 s,
deltaX: -0.200001 m,
approachRate: -0.401691 m/s,
rangeRepo size: 4
2025-08-23T22:22:27.994Z,1755987747.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.885569 m,
bearing: 344.004867 deg,
lat: 36.779415 deg,
lon: -121.859542 deg,
deltaT: 0.497897 s,
deltaX: -0.198730 m,
approachRate: -0.399140 m/s,
posRepo size: 4
2025-08-23T22:22:27.995Z,1755987747.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:22:28.022Z,1755987748.022 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:28.022Z,1755987748.022 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:28.023Z,1755987748.023 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:28.282Z,1755987748.282 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:27.6502
2025-08-23T22:22:28.283Z,1755987748.283 [DAT](INFO): Rx dataTimestamp_ set to:1755987748.282403
2025-08-23T22:22:28.311Z,1755987748.311 [DAT](INFO): DAT read: Bearing 129.9, -20.0 (Local)
2025-08-23T22:22:28.312Z,1755987748.312 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.9, -20.0 (Local)
2025-08-23T22:22:28.316Z,1755987748.316 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0
2025-08-23T22:22:28.325Z,1755987748.325 [DAT](INFO): DAT read: 22:22:27.6502 LVL= 32752, 23665, 32018, 32755, AGC= 66, IDX= 499, 0.48,-0.393, 1.969, 0.470, 0.721, PHS=-1.012, 1.293,-0.295, RAW= 312.3, 0.1, CAL= 310.4, -3.0, ROT= 199.6, 3.0
2025-08-23T22:22:28.330Z,1755987748.330 [DAT](INFO): got valid direction response:
22:22:27.6502 LVL= 32752, 23665, 32018, 32755, AGC= 66, IDX= 499, 0.48,-0.393, 1.969, 0.470, 0.721, PHS=-1.012, 1.293,-0.295, RAW= 312.3, 0.1, CAL= 310.4, -3.0, ROT= 199.6, 3.0
2025-08-23T22:22:28.330Z,1755987748.330 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:28.331Z,1755987748.331 [DAT](INFO): direction in FSK: [-0.940766,-0.334992,-0.052336]
2025-08-23T22:22:28.332Z,1755987748.332 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:28.339Z,1755987748.339 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:28.339Z,1755987748.339 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:28.471Z,1755987748.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.509733 s,
deltaX: 0.200001 m,
approachRate: 0.392364 m/s,
rangeRepo size: 4
2025-08-23T22:22:28.478Z,1755987748.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.084320 m,
bearing: 344.211814 deg,
lat: 36.779416 deg,
lon: -121.859542 deg,
deltaT: 0.509733 s,
deltaX: 0.198751 m,
approachRate: 0.389913 m/s,
posRepo size: 4
2025-08-23T22:22:28.478Z,1755987748.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m.
2025-08-23T22:22:28.527Z,1755987748.527 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:28.527Z,1755987748.527 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:28.527Z,1755987748.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:28.780Z,1755987748.780 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:28.1501
2025-08-23T22:22:28.781Z,1755987748.781 [DAT](INFO): Rx dataTimestamp_ set to:1755987748.780339
2025-08-23T22:22:28.782Z,1755987748.782 [DAT](INFO): DAT read: Bearing 130.1, -19.7 (Local)
2025-08-23T22:22:28.782Z,1755987748.782 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -19.7 (Local)
2025-08-23T22:22:28.784Z,1755987748.784 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0
2025-08-23T22:22:28.789Z,1755987748.789 [DAT](INFO): DAT read: 22:22:28.1501 LVL= 32752, 18865, 28258, 32755, AGC= 65, IDX= 498, 0.46,-1.839, 0.536,-0.983,-0.731, PHS=-1.006, 1.312,-0.296, RAW= 312.6, -0.1, CAL= 310.8, -3.2, ROT= 199.2, 3.2
2025-08-23T22:22:28.790Z,1755987748.790 [DAT](INFO): got valid direction response:
22:22:28.1501 LVL= 32752, 18865, 28258, 32755, AGC= 65, IDX= 498, 0.46,-1.839, 0.536,-0.983,-0.731, PHS=-1.006, 1.312,-0.296, RAW= 312.6, -0.1, CAL= 310.8, -3.2, ROT= 199.2, 3.2
2025-08-23T22:22:28.791Z,1755987748.791 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:28.792Z,1755987748.792 [DAT](INFO): direction in FSK: [-0.942904,-0.328354,-0.055822]
2025-08-23T22:22:28.792Z,1755987748.792 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:28.795Z,1755987748.795 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:28.795Z,1755987748.795 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:28.892Z,1755987748.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.497936 s,
deltaX: -0.200001 m,
approachRate: -0.401660 m/s,
rangeRepo size: 4
2025-08-23T22:22:28.899Z,1755987748.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.885590 m,
bearing: 343.774147 deg,
lat: 36.779415 deg,
lon: -121.859542 deg,
deltaT: 0.497936 s,
deltaX: -0.198730 m,
approachRate: -0.399108 m/s,
posRepo size: 4
2025-08-23T22:22:28.899Z,1755987748.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:22:29.031Z,1755987749.031 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:29.031Z,1755987749.031 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:29.031Z,1755987749.031 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:29.266Z,1755987749.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:22:29.311Z,1755987749.311 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:28.6501
2025-08-23T22:22:29.312Z,1755987749.312 [DAT](INFO): Rx dataTimestamp_ set to:1755987749.311611
2025-08-23T22:22:29.316Z,1755987749.316 [DAT](INFO): DAT read: Bearing 129.6, -20.1 (Local)
2025-08-23T22:22:29.327Z,1755987749.327 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.6, -20.1 (Local)
2025-08-23T22:22:29.344Z,1755987749.344 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0
2025-08-23T22:22:29.353Z,1755987749.353 [DAT](INFO): DAT read: 22:22:28.6501 LVL= 32752, 19825, 27634, 32755, AGC= 65, IDX= 498, 0.38,-1.403, 0.971,-0.536,-0.276, PHS=-1.025, 1.292,-0.304, RAW= 312.3, 0.4, CAL= 310.4, -2.8, ROT= 199.6, 2.8
2025-08-23T22:22:29.360Z,1755987749.360 [DAT](INFO): got valid direction response:
22:22:28.6501 LVL= 32752, 19825, 27634, 32755, AGC= 65, IDX= 498, 0.38,-1.403, 0.971,-0.536,-0.276, PHS=-1.025, 1.292,-0.304, RAW= 312.3, 0.4, CAL= 310.4, -2.8, ROT= 199.6, 2.8
2025-08-23T22:22:29.360Z,1755987749.360 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:29.366Z,1755987749.366 [DAT](INFO): direction in FSK: [-0.940933,-0.335051,-0.048850]
2025-08-23T22:22:29.366Z,1755987749.366 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:29.375Z,1755987749.375 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:29.376Z,1755987749.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:29.534Z,1755987749.534 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:29.534Z,1755987749.534 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:29.535Z,1755987749.535 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:29.708Z,1755987749.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.531272 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:29.722Z,1755987749.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.885622 m,
bearing: 344.211403 deg,
lat: 36.779415 deg,
lon: -121.859542 deg,
deltaT: 0.531272 s,
deltaX: 0.000032 m,
approachRate: 0.000061 m/s,
posRepo size: 4
2025-08-23T22:22:29.723Z,1755987749.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:22:29.790Z,1755987749.790 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:29.1500
2025-08-23T22:22:29.791Z,1755987749.791 [DAT](INFO): Rx dataTimestamp_ set to:1755987749.790231
2025-08-23T22:22:29.792Z,1755987749.792 [DAT](INFO): DAT read: Bearing 130.5, -19.3 (Local)
2025-08-23T22:22:29.793Z,1755987749.793 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.5, -19.3 (Local)
2025-08-23T22:22:29.796Z,1755987749.796 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0
2025-08-23T22:22:29.811Z,1755987749.811 [DAT](INFO): DAT read: 22:22:29.1500 LVL= 32752, 23409, 31394, 32755, AGC= 65, IDX= 497, 0.36,-2.173, 0.184,-1.339,-1.085, PHS=-0.987, 1.314,-0.298, RAW= 313.1, -0.3, CAL= 311.3, -3.4, ROT= 198.7, 3.4
2025-08-23T22:22:29.812Z,1755987749.812 [DAT](INFO): got valid direction response:
22:22:29.1500 LVL= 32752, 23409, 31394, 32755, AGC= 65, IDX= 497, 0.36,-2.173, 0.184,-1.339,-1.085, PHS=-0.987, 1.314,-0.298, RAW= 313.1, -0.3, CAL= 311.3, -3.4, ROT= 198.7, 3.4
2025-08-23T22:22:29.813Z,1755987749.813 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:29.824Z,1755987749.824 [DAT](INFO): direction in FSK: [-0.945543,-0.320049,-0.059306]
2025-08-23T22:22:29.824Z,1755987749.824 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:29.832Z,1755987749.832 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:29.832Z,1755987749.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:30.010Z,1755987750.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.478620 s,
deltaX: -0.100000 m,
approachRate: -0.208935 m/s,
rangeRepo size: 4
2025-08-23T22:22:30.012Z,1755987750.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.786257 m,
bearing: 343.230633 deg,
lat: 36.779414 deg,
lon: -121.859542 deg,
deltaT: 0.478620 s,
deltaX: -0.099365 m,
approachRate: -0.207608 m/s,
posRepo size: 4
2025-08-23T22:22:30.013Z,1755987750.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:22:30.038Z,1755987750.038 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:30.038Z,1755987750.038 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:30.039Z,1755987750.039 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:30.310Z,1755987750.310 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:29.6501
2025-08-23T22:22:30.312Z,1755987750.312 [DAT](INFO): Rx dataTimestamp_ set to:1755987750.311022
2025-08-23T22:22:30.324Z,1755987750.324 [DAT](INFO): DAT read: Bearing 130.5, -19.6 (Local)
2025-08-23T22:22:30.325Z,1755987750.325 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.5, -19.6 (Local)
2025-08-23T22:22:30.339Z,1755987750.339 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0
2025-08-23T22:22:30.353Z,1755987750.353 [DAT](INFO): DAT read: 22:22:29.6501 LVL= 31088, 28769, 31538, 16755, AGC= 67, IDX= 2, 0.33,-1.396, 0.972,-0.550,-0.301, PHS=-0.993, 1.318,-0.293, RAW= 312.8, -0.3, CAL= 311.0, -3.5, ROT= 199.0, 3.5
2025-08-23T22:22:30.358Z,1755987750.358 [DAT](INFO): got valid direction response:
22:22:29.6501 LVL= 31088, 28769, 31538, 16755, AGC= 67, IDX= 2, 0.33,-1.396, 0.972,-0.550,-0.301, PHS=-0.993, 1.318,-0.293, RAW= 312.8, -0.3, CAL= 311.0, -3.5, ROT= 199.0, 3.5
2025-08-23T22:22:30.359Z,1755987750.359 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:30.360Z,1755987750.360 [DAT](INFO): direction in FSK: [-0.943755,-0.324961,-0.061049]
2025-08-23T22:22:30.360Z,1755987750.360 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:30.372Z,1755987750.372 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:30.372Z,1755987750.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:30.512Z,1755987750.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.520791 s,
deltaX: 0.100000 m,
approachRate: 0.192016 m/s,
rangeRepo size: 4
2025-08-23T22:22:30.515Z,1755987750.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.885700 m,
bearing: 343.522715 deg,
lat: 36.779415 deg,
lon: -121.859543 deg,
deltaT: 0.520791 s,
deltaX: 0.099443 m,
approachRate: 0.190947 m/s,
posRepo size: 4
2025-08-23T22:22:30.516Z,1755987750.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:22:30.542Z,1755987750.542 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:30.542Z,1755987750.542 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:30.543Z,1755987750.543 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:30.796Z,1755987750.796 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:30.1500
2025-08-23T22:22:30.797Z,1755987750.797 [DAT](INFO): Rx dataTimestamp_ set to:1755987750.796553
2025-08-23T22:22:30.798Z,1755987750.798 [DAT](INFO): DAT read: Bearing 130.1, -19.4 (Local)
2025-08-23T22:22:30.799Z,1755987750.799 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -19.4 (Local)
2025-08-23T22:22:30.801Z,1755987750.801 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0
2025-08-23T22:22:30.805Z,1755987750.805 [DAT](INFO): DAT read: 22:22:30.1500 LVL= 32752, 22833, 30242, 32755, AGC= 65, IDX= 497, 0.25,-2.282, 0.040,-1.457,-1.200, PHS=-0.980, 1.285,-0.301, RAW= 313.0, -0.0, CAL= 311.2, -3.2, ROT= 198.8, 3.2
2025-08-23T22:22:30.806Z,1755987750.806 [DAT](INFO): got valid direction response:
22:22:30.1500 LVL= 32752, 22833, 30242, 32755, AGC= 65, IDX= 497, 0.25,-2.282, 0.040,-1.457,-1.200, PHS=-0.980, 1.285,-0.301, RAW= 313.0, -0.0, CAL= 311.2, -3.2, ROT= 198.8, 3.2
2025-08-23T22:22:30.807Z,1755987750.807 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:30.808Z,1755987750.808 [DAT](INFO): direction in FSK: [-0.945173,-0.321763,-0.055822]
2025-08-23T22:22:30.808Z,1755987750.808 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:30.811Z,1755987750.811 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:30.812Z,1755987750.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:30.892Z,1755987750.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.485531 s,
deltaX: -0.100000 m,
approachRate: -0.205961 m/s,
rangeRepo size: 4
2025-08-23T22:22:30.898Z,1755987750.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.786335 m,
bearing: 343.352002 deg,
lat: 36.779414 deg,
lon: -121.859545 deg,
deltaT: 0.485531 s,
deltaX: -0.099365 m,
approachRate: -0.204653 m/s,
posRepo size: 4
2025-08-23T22:22:30.899Z,1755987750.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:22:31.046Z,1755987751.046 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:31.047Z,1755987751.047 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:31.047Z,1755987751.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:31.243Z,1755987751.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:22:31.300Z,1755987751.300 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:30.6501
2025-08-23T22:22:31.301Z,1755987751.301 [DAT](INFO): Rx dataTimestamp_ set to:1755987751.300512
2025-08-23T22:22:31.302Z,1755987751.302 [DAT](INFO): DAT read: Bearing 130.0, -19.6 (Local)
2025-08-23T22:22:31.302Z,1755987751.302 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.0, -19.6 (Local)
2025-08-23T22:22:31.304Z,1755987751.304 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0
2025-08-23T22:22:31.318Z,1755987751.318 [DAT](INFO): DAT read: 22:22:30.6501 LVL= 26032, 16449, 18130, 22947, AGC= 69, IDX= 2, 0.21,-0.967, 1.399,-0.121, 0.138, PHS=-1.003, 1.306,-0.304, RAW= 312.8, 0.0, CAL= 311.0, -3.1, ROT= 199.0, 3.1
2025-08-23T22:22:31.335Z,1755987751.335 [DAT](INFO): got valid direction response:
22:22:30.6501 LVL= 26032, 16449, 18130, 22947, AGC= 69, IDX= 2, 0.21,-0.967, 1.399,-0.121, 0.138, PHS=-1.003, 1.306,-0.304, RAW= 312.8, 0.0, CAL= 311.0, -3.1, ROT= 199.0, 3.1
2025-08-23T22:22:31.336Z,1755987751.336 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:31.339Z,1755987751.339 [DAT](INFO): direction in FSK: [-0.944135,-0.325092,-0.054079]
2025-08-23T22:22:31.339Z,1755987751.339 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:31.375Z,1755987751.375 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:31.375Z,1755987751.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:31.550Z,1755987751.550 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:31.551Z,1755987751.551 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:31.551Z,1755987751.551 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:31.720Z,1755987751.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.503959 s,
deltaX: 0.100000 m,
approachRate: 0.198430 m/s,
rangeRepo size: 4
2025-08-23T22:22:31.726Z,1755987751.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.885809 m,
bearing: 343.541357 deg,
lat: 36.779415 deg,
lon: -121.859545 deg,
deltaT: 0.503959 s,
deltaX: 0.099474 m,
approachRate: 0.197385 m/s,
posRepo size: 4
2025-08-23T22:22:31.727Z,1755987751.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:22:31.804Z,1755987751.804 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:31.1500
2025-08-23T22:22:31.805Z,1755987751.805 [DAT](INFO): Rx dataTimestamp_ set to:1755987751.804621
2025-08-23T22:22:31.806Z,1755987751.806 [DAT](INFO): DAT read: Bearing 129.6, -18.0 (Local)
2025-08-23T22:22:31.807Z,1755987751.807 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.6, -18.0 (Local)
2025-08-23T22:22:31.809Z,1755987751.809 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0
2025-08-23T22:22:31.813Z,1755987751.813 [DAT](INFO): DAT read: 22:22:31.1500 LVL= 32752, 31313, 32754, 32755, AGC= 67, IDX= 497, 0.14,-1.958, 0.368,-1.183,-0.873, PHS=-0.983, 1.285,-0.354, RAW= 314.4, 0.5, CAL= 312.5, -2.6, ROT= 197.5, 2.6
2025-08-23T22:22:31.814Z,1755987751.814 [DAT](INFO): got valid direction response:
22:22:31.1500 LVL= 32752, 31313, 32754, 32755, AGC= 67, IDX= 497, 0.14,-1.958, 0.368,-1.183,-0.873, PHS=-0.983, 1.285,-0.354, RAW= 314.4, 0.5, CAL= 312.5, -2.6, ROT= 197.5, 2.6
2025-08-23T22:22:31.815Z,1755987751.815 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:31.816Z,1755987751.816 [DAT](INFO): direction in FSK: [-0.952735,-0.300396,-0.045363]
2025-08-23T22:22:31.816Z,1755987751.816 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:31.819Z,1755987751.819 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:31.820Z,1755987751.820 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:32.030Z,1755987752.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.504109 s,
deltaX: -0.100000 m,
approachRate: -0.198371 m/s,
rangeRepo size: 4
2025-08-23T22:22:32.032Z,1755987752.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.786442 m,
bearing: 342.080878 deg,
lat: 36.779414 deg,
lon: -121.859545 deg,
deltaT: 0.504109 s,
deltaX: -0.099367 m,
approachRate: -0.197114 m/s,
posRepo size: 4
2025-08-23T22:22:32.032Z,1755987752.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:22:32.054Z,1755987752.054 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:32.054Z,1755987752.054 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:32.055Z,1755987752.055 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:32.314Z,1755987752.314 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:31.6501
2025-08-23T22:22:32.372Z,1755987752.372 [DAT](INFO): Rx dataTimestamp_ set to:1755987752.321893
2025-08-23T22:22:32.379Z,1755987752.379 [DAT](INFO): DAT read: Bearing 130.3, -18.9 (Local)
2025-08-23T22:22:32.380Z,1755987752.380 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.3, -18.9 (Local)
2025-08-23T22:22:32.386Z,1755987752.386 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0
2025-08-23T22:22:32.411Z,1755987752.411 [DAT](INFO): DAT read: 22:22:31.6501 LVL= 31216, 24225, 27090, 19411, AGC= 68, IDX= 2, 0.13,-1.507, 0.867,-0.684,-0.413, PHS=-0.992, 1.325,-0.315, RAW= 313.5, -0.2, CAL= 311.7, -3.3, ROT= 198.3, 3.3
2025-08-23T22:22:32.412Z,1755987752.412 [DAT](INFO): got valid direction response:
22:22:31.6501 LVL= 31216, 24225, 27090, 19411, AGC= 68, IDX= 2, 0.13,-1.507, 0.867,-0.684,-0.413, PHS=-0.992, 1.325,-0.315, RAW= 313.5, -0.2, CAL= 311.7, -3.3, ROT= 198.3, 3.3
2025-08-23T22:22:32.412Z,1755987752.412 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:32.413Z,1755987752.413 [DAT](INFO): direction in FSK: [-0.947851,-0.313472,-0.057564]
2025-08-23T22:22:32.422Z,1755987752.422 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:32.425Z,1755987752.425 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:32.425Z,1755987752.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:32.439Z,1755987752.439 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 77.41, :WI,-32768,-32768,-32768,-32768,V
2025-08-23T22:22:32.487Z,1755987752.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.000000 m,
deltaT: 0.517272 s,
deltaX: 0.100000 m,
approachRate: 0.193323 m/s,
rangeRepo size: 4
2025-08-23T22:22:32.489Z,1755987752.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.885788 m,
bearing: 342.802761 deg,
lat: 36.779415 deg,
lon: -121.859545 deg,
deltaT: 0.517272 s,
deltaX: 0.099346 m,
approachRate: 0.192058 m/s,
posRepo size: 4
2025-08-23T22:22:32.493Z,1755987752.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-23T22:22:32.559Z,1755987752.559 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:32.559Z,1755987752.559 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:32.560Z,1755987752.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:32.813Z,1755987752.813 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:32.1500
2025-08-23T22:22:32.813Z,1755987752.813 [DAT](INFO): Rx dataTimestamp_ set to:1755987752.812950
2025-08-23T22:22:32.815Z,1755987752.815 [DAT](INFO): DAT read: Bearing 129.7, -18.6 (Local)
2025-08-23T22:22:32.815Z,1755987752.815 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.7, -18.6 (Local)
2025-08-23T22:22:32.817Z,1755987752.817 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0
2025-08-23T22:22:32.821Z,1755987752.821 [DAT](INFO): DAT read: 22:22:32.1500 LVL= 32752, 26513, 32754, 32755, AGC= 68, IDX= 497, 0.05,-2.030, 0.296,-1.233,-0.943, PHS=-0.985, 1.284,-0.334, RAW= 313.8, 0.4, CAL= 312.0, -2.8, ROT= 198.0, 2.8
2025-08-23T22:22:32.822Z,1755987752.822 [DAT](INFO): got valid direction response:
22:22:32.1500 LVL= 32752, 26513, 32754, 32755, AGC= 68, IDX= 497, 0.05,-2.030, 0.296,-1.233,-0.943, PHS=-0.985, 1.284,-0.334, RAW= 313.8, 0.4, CAL= 312.0, -2.8, ROT= 198.0, 2.8
2025-08-23T22:22:32.823Z,1755987752.823 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:32.824Z,1755987752.824 [DAT](INFO): direction in FSK: [-0.949921,-0.308648,-0.048850]
2025-08-23T22:22:32.824Z,1755987752.824 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:32.827Z,1755987752.827 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:32.827Z,1755987752.827 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:32.924Z,1755987752.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.491057 s,
deltaX: -0.100000 m,
approachRate: -0.203643 m/s,
rangeRepo size: 4
2025-08-23T22:22:32.930Z,1755987752.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.786421 m,
bearing: 342.562666 deg,
lat: 36.779414 deg,
lon: -121.859548 deg,
deltaT: 0.491057 s,
deltaX: -0.099367 m,
approachRate: -0.202354 m/s,
posRepo size: 4
2025-08-23T22:22:32.930Z,1755987752.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:22:33.063Z,1755987753.063 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:33.063Z,1755987753.063 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:33.063Z,1755987753.063 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:33.279Z,1755987753.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:22:33.317Z,1755987753.317 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:32.6500
2025-08-23T22:22:33.318Z,1755987753.318 [DAT](INFO): Rx dataTimestamp_ set to:1755987753.317588
2025-08-23T22:22:33.320Z,1755987753.320 [DAT](INFO): DAT read: Bearing 122.2, -13.4 (Local)
2025-08-23T22:22:33.320Z,1755987753.320 [DAT](INFO): Local bearing/azimuth received:
Bearing 122.2, -13.4 (Local)
2025-08-23T22:22:33.326Z,1755987753.326 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0
2025-08-23T22:22:33.344Z,1755987753.344 [DAT](INFO): DAT read: 22:22:32.6500 LVL= 32752, 17841, 27314, 32755, AGC= 64, IDX= 513, 0.02, 2.648,-1.910,-3.129,-2.707, PHS=-0.827, 0.841,-0.467, RAW= 318.2, 6.0, CAL= 316.4, 5.0, ROT= 193.6, -5.0
2025-08-23T22:22:33.356Z,1755987753.356 [DAT](INFO): got valid direction response:
22:22:32.6500 LVL= 32752, 17841, 27314, 32755, AGC= 64, IDX= 513, 0.02, 2.648,-1.910,-3.129,-2.707, PHS=-0.827, 0.841,-0.467, RAW= 318.2, 6.0, CAL= 316.4, 5.0, ROT= 193.6, -5.0
2025-08-23T22:22:33.357Z,1755987753.357 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:33.370Z,1755987753.370 [DAT](INFO): direction in FSK: [-0.968262,-0.234247,0.087156]
2025-08-23T22:22:33.371Z,1755987753.371 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:33.404Z,1755987753.404 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:33.404Z,1755987753.404 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:33.566Z,1755987753.566 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:33.566Z,1755987753.566 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:33.567Z,1755987753.567 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:33.720Z,1755987753.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.504638 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:33.726Z,1755987753.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.786385 m,
bearing: 339.070531 deg,
lat: 36.779414 deg,
lon: -121.859549 deg,
deltaT: 0.504638 s,
deltaX: -0.000036 m,
approachRate: -0.000072 m/s,
posRepo size: 4
2025-08-23T22:22:33.727Z,1755987753.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:22:33.820Z,1755987753.820 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:33.1500
2025-08-23T22:22:33.821Z,1755987753.821 [DAT](INFO): Rx dataTimestamp_ set to:1755987753.820521
2025-08-23T22:22:33.823Z,1755987753.823 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0
2025-08-23T22:22:33.823Z,1755987753.823 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:33.824Z,1755987753.824 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:33.824Z,1755987753.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:34.050Z,1755987754.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.700001 m,
deltaT: 0.502933 s,
deltaX: -0.199999 m,
approachRate: -0.397665 m/s,
rangeRepo size: 4
2025-08-23T22:22:34.051Z,1755987754.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:22:34.070Z,1755987754.070 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:34.071Z,1755987754.071 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:34.071Z,1755987754.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:34.326Z,1755987754.326 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:33.6500
2025-08-23T22:22:34.327Z,1755987754.327 [DAT](INFO): Rx dataTimestamp_ set to:1755987754.326262
2025-08-23T22:22:34.328Z,1755987754.328 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0
2025-08-23T22:22:34.328Z,1755987754.328 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:34.329Z,1755987754.329 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:34.329Z,1755987754.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:34.487Z,1755987754.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.505741 s,
deltaX: 0.199999 m,
approachRate: 0.395457 m/s,
rangeRepo size: 4
2025-08-23T22:22:34.487Z,1755987754.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:22:34.574Z,1755987754.574 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:34.574Z,1755987754.574 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:34.575Z,1755987754.575 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:34.827Z,1755987754.827 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:34.1500
2025-08-23T22:22:34.828Z,1755987754.828 [DAT](INFO): Rx dataTimestamp_ set to:1755987754.827619
2025-08-23T22:22:34.829Z,1755987754.829 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0
2025-08-23T22:22:34.830Z,1755987754.830 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:34.831Z,1755987754.831 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:34.831Z,1755987754.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:34.908Z,1755987754.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.700001 m,
deltaT: 0.501357 s,
deltaX: -0.199999 m,
approachRate: -0.398915 m/s,
rangeRepo size: 4
2025-08-23T22:22:34.908Z,1755987754.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:22:35.078Z,1755987755.078 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:35.078Z,1755987755.078 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:35.079Z,1755987755.079 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:35.263Z,1755987755.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:22:35.332Z,1755987755.332 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:34.6500
2025-08-23T22:22:35.333Z,1755987755.333 [DAT](INFO): Rx dataTimestamp_ set to:1755987755.332587
2025-08-23T22:22:35.335Z,1755987755.335 [DAT](INFO): DAT read: Bearing 123.9, -8.9 (Local)
2025-08-23T22:22:35.335Z,1755987755.335 [DAT](INFO): Local bearing/azimuth received:
Bearing 123.9, -8.9 (Local)
2025-08-23T22:22:35.337Z,1755987755.337 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0
2025-08-23T22:22:35.346Z,1755987755.346 [DAT](INFO): DAT read: 22:22:34.6500 LVL= 32752, 21601, 27474, 32755, AGC= 66, IDX= 513,-0.21, 2.049,-2.283, 2.457, 3.027, PHS=-0.876, 1.018,-0.613, RAW= 322.6, 5.4, CAL= 321.1, 3.9, ROT= 188.9, -3.9
2025-08-23T22:22:35.347Z,1755987755.347 [DAT](INFO): got valid direction response:
22:22:34.6500 LVL= 32752, 21601, 27474, 32755, AGC= 66, IDX= 513,-0.21, 2.049,-2.283, 2.457, 3.027, PHS=-0.876, 1.018,-0.613, RAW= 322.6, 5.4, CAL= 321.1, 3.9, ROT= 188.9, -3.9
2025-08-23T22:22:35.347Z,1755987755.347 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:35.348Z,1755987755.348 [DAT](INFO): direction in FSK: [-0.985672,-0.154352,0.068015]
2025-08-23T22:22:35.348Z,1755987755.348 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:35.367Z,1755987755.367 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:35.368Z,1755987755.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:35.582Z,1755987755.582 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:35.582Z,1755987755.582 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:35.583Z,1755987755.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:35.655Z,1755987755.655 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022902095637,35.0, 5.55, 81.82, 80.46
2025-08-23T22:22:35.733Z,1755987755.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.504968 s,
deltaX: 0.199999 m,
approachRate: 0.396062 m/s,
rangeRepo size: 4
2025-08-23T22:22:35.739Z,1755987755.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.786440 m,
bearing: 334.210976 deg,
lat: 36.779413 deg,
lon: -121.859550 deg,
deltaT: 2.014999 s,
deltaX: 0.000055 m,
approachRate: 0.000027 m/s,
posRepo size: 4
2025-08-23T22:22:35.739Z,1755987755.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-23T22:22:35.837Z,1755987755.837 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:35.1500
2025-08-23T22:22:35.838Z,1755987755.838 [DAT](INFO): Rx dataTimestamp_ set to:1755987755.837665
2025-08-23T22:22:35.839Z,1755987755.839 [DAT](INFO): DAT read: Bearing 128.5, -18.9 (Local)
2025-08-23T22:22:35.840Z,1755987755.840 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.5, -18.9 (Local)
2025-08-23T22:22:35.842Z,1755987755.842 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0
2025-08-23T22:22:35.846Z,1755987755.846 [DAT](INFO): DAT read: 22:22:35.1500 LVL= 32752, 21345, 32754, 32755, AGC= 63, IDX= 512,-0.27, 0.320, 1.906, 0.906, 1.107, PHS=-0.685, 0.844,-0.245, RAW= 313.8, 1.3, CAL= 311.7, -1.8, ROT= 198.3, 1.8
2025-08-23T22:22:35.847Z,1755987755.847 [DAT](INFO): got valid direction response:
22:22:35.1500 LVL= 32752, 21345, 32754, 32755, AGC= 63, IDX= 512,-0.27, 0.320, 1.906, 0.906, 1.107, PHS=-0.685, 0.844,-0.245, RAW= 313.8, 1.3, CAL= 311.7, -1.8, ROT= 198.3, 1.8
2025-08-23T22:22:35.848Z,1755987755.848 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:35.849Z,1755987755.849 [DAT](INFO): direction in FSK: [-0.948957,-0.313838,-0.031411]
2025-08-23T22:22:35.849Z,1755987755.849 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:35.852Z,1755987755.852 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:35.853Z,1755987755.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:36.080Z,1755987756.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.700001 m,
deltaT: 0.505078 s,
deltaX: -0.199999 m,
approachRate: -0.395976 m/s,
rangeRepo size: 4
2025-08-23T22:22:36.083Z,1755987756.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.587711 m,
bearing: 342.869999 deg,
lat: 36.779414 deg,
lon: -121.859549 deg,
deltaT: 0.505078 s,
deltaX: -0.198729 m,
approachRate: -0.393461 m/s,
posRepo size: 4
2025-08-23T22:22:36.083Z,1755987756.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-23T22:22:36.086Z,1755987756.086 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:36.087Z,1755987756.087 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:36.087Z,1755987756.087 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:36.357Z,1755987756.357 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:35.6500
2025-08-23T22:22:36.357Z,1755987756.357 [DAT](INFO): Rx dataTimestamp_ set to:1755987756.356948
2025-08-23T22:22:36.359Z,1755987756.359 [DAT](INFO): DAT read: Bearing 130.4, -23.3 (Local)
2025-08-23T22:22:36.359Z,1755987756.359 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.4, -23.3 (Local)
2025-08-23T22:22:36.361Z,1755987756.361 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0
2025-08-23T22:22:36.371Z,1755987756.371 [DAT](INFO): DAT read: 22:22:35.6500 LVL= 32752, 17905, 27922, 31507, AGC= 65, IDX= 513,-0.38, 2.162,-2.074, 3.026,-3.133, PHS=-0.886, 1.103,-0.168, RAW= 309.1, -0.6, CAL= 307.4, -4.0, ROT= 202.6, 4.0
2025-08-23T22:22:36.380Z,1755987756.380 [DAT](INFO): got valid direction response:
22:22:35.6500 LVL= 32752, 17905, 27922, 31507, AGC= 65, IDX= 513,-0.38, 2.162,-2.074, 3.026,-3.133, PHS=-0.886, 1.103,-0.168, RAW= 309.1, -0.6, CAL= 307.4, -4.0, ROT= 202.6, 4.0
2025-08-23T22:22:36.381Z,1755987756.381 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:36.389Z,1755987756.389 [DAT](INFO): direction in FSK: [-0.920961,-0.383359,-0.069756]
2025-08-23T22:22:36.395Z,1755987756.395 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:36.458Z,1755987756.458 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:36.458Z,1755987756.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:36.571Z,1755987756.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.700001 m,
deltaT: 0.519283 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:36.578Z,1755987756.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.587662 m,
bearing: 346.898521 deg,
lat: 36.779414 deg,
lon: -121.859549 deg,
deltaT: 0.519283 s,
deltaX: -0.000050 m,
approachRate: -0.000095 m/s,
posRepo size: 4
2025-08-23T22:22:36.578Z,1755987756.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-23T22:22:36.604Z,1755987756.604 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:36.604Z,1755987756.604 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:36.605Z,1755987756.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:36.855Z,1755987756.855 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:36.1499
2025-08-23T22:22:36.856Z,1755987756.856 [DAT](INFO): Rx dataTimestamp_ set to:1755987756.855533
2025-08-23T22:22:36.857Z,1755987756.857 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0
2025-08-23T22:22:36.858Z,1755987756.858 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:36.858Z,1755987756.858 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:36.859Z,1755987756.859 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:36.997Z,1755987756.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.600000 m,
deltaT: 0.498585 s,
deltaX: -0.100000 m,
approachRate: -0.200568 m/s,
rangeRepo size: 4
2025-08-23T22:22:36.997Z,1755987756.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-23T22:22:37.107Z,1755987757.107 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:37.107Z,1755987757.107 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:37.107Z,1755987757.107 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:37.361Z,1755987757.361 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:36.6499
2025-08-23T22:22:37.362Z,1755987757.362 [DAT](INFO): Rx dataTimestamp_ set to:1755987757.361517
2025-08-23T22:22:37.363Z,1755987757.363 [DAT](INFO): DAT read: Bearing 129.8, -19.3 (Local)
2025-08-23T22:22:37.363Z,1755987757.363 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -19.3 (Local)
2025-08-23T22:22:37.366Z,1755987757.366 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0
2025-08-23T22:22:37.370Z,1755987757.370 [DAT](INFO): DAT read: 22:22:36.6499 LVL= 32752, 17009, 28626, 32755, AGC= 64, IDX= 511, 0.37,-2.735,-0.391,-1.910,-1.644, PHS=-0.990, 1.298,-0.311, RAW= 313.2, 0.0, CAL= 311.4, -3.1, ROT= 198.6, 3.1
2025-08-23T22:22:37.371Z,1755987757.371 [DAT](INFO): got valid direction response:
22:22:36.6499 LVL= 32752, 17009, 28626, 32755, AGC= 64, IDX= 511, 0.37,-2.735,-0.391,-1.910,-1.644, PHS=-0.990, 1.298,-0.311, RAW= 313.2, 0.0, CAL= 311.4, -3.1, ROT= 198.6, 3.1
2025-08-23T22:22:37.371Z,1755987757.371 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:37.372Z,1755987757.372 [DAT](INFO): direction in FSK: [-0.946381,-0.318493,-0.054079]
2025-08-23T22:22:37.373Z,1755987757.373 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:37.394Z,1755987757.394 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:37.394Z,1755987757.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:37.591Z,1755987757.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.600000 m,
deltaT: 0.505984 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:37.597Z,1755987757.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.488310 m,
bearing: 343.023711 deg,
lat: 36.779414 deg,
lon: -121.859548 deg,
deltaT: 1.004569 s,
deltaX: -0.099352 m,
approachRate: -0.098900 m/s,
posRepo size: 4
2025-08-23T22:22:37.599Z,1755987757.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:22:37.611Z,1755987757.611 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:37.612Z,1755987757.612 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:37.612Z,1755987757.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:37.865Z,1755987757.865 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:37.1498
2025-08-23T22:22:37.866Z,1755987757.866 [DAT](INFO): Rx dataTimestamp_ set to:1755987757.865398
2025-08-23T22:22:37.867Z,1755987757.867 [DAT](INFO): DAT read: Bearing 130.2, -18.8 (Local)
2025-08-23T22:22:37.867Z,1755987757.867 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.2, -18.8 (Local)
2025-08-23T22:22:37.869Z,1755987757.869 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0
2025-08-23T22:22:37.874Z,1755987757.874 [DAT](INFO): DAT read: 22:22:37.1498 LVL= 32752, 20529, 30642, 32755, AGC= 63, IDX= 510, 0.29, 2.136,-1.806, 2.942,-3.073, PHS=-0.973, 1.312,-0.313, RAW= 313.7, -0.3, CAL= 311.9, -3.4, ROT= 198.1, 3.4
2025-08-23T22:22:37.875Z,1755987757.875 [DAT](INFO): got valid direction response:
22:22:37.1498 LVL= 32752, 20529, 30642, 32755, AGC= 63, IDX= 510, 0.29, 2.136,-1.806, 2.942,-3.073, PHS=-0.973, 1.312,-0.313, RAW= 313.7, -0.3, CAL= 311.9, -3.4, ROT= 198.1, 3.4
2025-08-23T22:22:37.876Z,1755987757.876 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:37.877Z,1755987757.877 [DAT](INFO): direction in FSK: [-0.948843,-0.310130,-0.059306]
2025-08-23T22:22:37.877Z,1755987757.877 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:37.880Z,1755987757.880 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:37.881Z,1755987757.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:38.012Z,1755987758.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.400000 m,
deltaT: 0.503881 s,
deltaX: -0.200001 m,
approachRate: -0.396921 m/s,
rangeRepo size: 4
2025-08-23T22:22:38.026Z,1755987758.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.289579 m,
bearing: 342.480816 deg,
lat: 36.779414 deg,
lon: -121.859548 deg,
deltaT: 0.503881 s,
deltaX: -0.198730 m,
approachRate: -0.394400 m/s,
posRepo size: 4
2025-08-23T22:22:38.027Z,1755987758.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-23T22:22:38.115Z,1755987758.115 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:38.116Z,1755987758.116 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:38.116Z,1755987758.116 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:38.369Z,1755987758.369 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:37.6499
2025-08-23T22:22:38.370Z,1755987758.370 [DAT](INFO): Rx dataTimestamp_ set to:1755987758.369442
2025-08-23T22:22:38.371Z,1755987758.371 [DAT](INFO): DAT read: Bearing 130.2, -19.0 (Local)
2025-08-23T22:22:38.371Z,1755987758.371 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.2, -19.0 (Local)
2025-08-23T22:22:38.374Z,1755987758.374 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0
2025-08-23T22:22:38.386Z,1755987758.386 [DAT](INFO): DAT read: 22:22:37.6499 LVL= 32752, 19505, 29250, 32755, AGC= 63, IDX= 511, 0.20, 3.031,-0.916,-2.443,-2.179, PHS=-0.972, 1.308,-0.309, RAW= 313.6, -0.3, CAL= 311.8, -3.4, ROT= 198.2, 3.4
2025-08-23T22:22:38.387Z,1755987758.387 [DAT](INFO): got valid direction response:
22:22:37.6499 LVL= 32752, 19505, 29250, 32755, AGC= 63, IDX= 511, 0.20, 3.031,-0.916,-2.443,-2.179, PHS=-0.972, 1.308,-0.309, RAW= 313.6, -0.3, CAL= 311.8, -3.4, ROT= 198.2, 3.4
2025-08-23T22:22:38.388Z,1755987758.388 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:38.389Z,1755987758.389 [DAT](INFO): direction in FSK: [-0.948300,-0.311785,-0.059306]
2025-08-23T22:22:38.389Z,1755987758.389 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:38.437Z,1755987758.437 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:38.450Z,1755987758.450 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:38.619Z,1755987758.619 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:38.619Z,1755987758.619 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:38.620Z,1755987758.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:38.628Z,1755987758.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.600000 m,
deltaT: 0.504044 s,
deltaX: 0.200001 m,
approachRate: 0.396792 m/s,
rangeRepo size: 4
2025-08-23T22:22:38.635Z,1755987758.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.488327 m,
bearing: 342.565189 deg,
lat: 36.779414 deg,
lon: -121.859548 deg,
deltaT: 0.504044 s,
deltaX: 0.198748 m,
approachRate: 0.394306 m/s,
posRepo size: 4
2025-08-23T22:22:38.635Z,1755987758.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:22:38.874Z,1755987758.874 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:38.1498
2025-08-23T22:22:38.875Z,1755987758.875 [DAT](INFO): Rx dataTimestamp_ set to:1755987758.874707
2025-08-23T22:22:38.876Z,1755987758.876 [DAT](INFO): DAT read: Bearing 129.9, -19.0 (Local)
2025-08-23T22:22:38.877Z,1755987758.877 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.9, -19.0 (Local)
2025-08-23T22:22:38.879Z,1755987758.879 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0
2025-08-23T22:22:38.883Z,1755987758.883 [DAT](INFO): DAT read: 22:22:38.1498 LVL= 32752, 19057, 30658, 32755, AGC= 63, IDX= 510, 0.12, 2.227,-1.710, 3.039,-2.971, PHS=-0.983, 1.306,-0.317, RAW= 313.6, -0.1, CAL= 311.8, -3.2, ROT= 198.2, 3.2
2025-08-23T22:22:38.884Z,1755987758.884 [DAT](INFO): got valid direction response:
22:22:38.1498 LVL= 32752, 19057, 30658, 32755, AGC= 63, IDX= 510, 0.12, 2.227,-1.710, 3.039,-2.971, PHS=-0.983, 1.306,-0.317, RAW= 313.6, -0.1, CAL= 311.8, -3.2, ROT= 198.2, 3.2
2025-08-23T22:22:38.884Z,1755987758.884 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:38.886Z,1755987758.886 [DAT](INFO): direction in FSK: [-0.948491,-0.311848,-0.055822]
2025-08-23T22:22:38.886Z,1755987758.886 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:38.889Z,1755987758.889 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:38.889Z,1755987758.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:39.101Z,1755987759.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.400000 m,
deltaT: 0.505265 s,
deltaX: -0.200001 m,
approachRate: -0.395833 m/s,
rangeRepo size: 4
2025-08-23T22:22:39.105Z,1755987759.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.289597 m,
bearing: 342.567292 deg,
lat: 36.779414 deg,
lon: -121.859549 deg,
deltaT: 0.505265 s,
deltaX: -0.198730 m,
approachRate: -0.393319 m/s,
posRepo size: 4
2025-08-23T22:22:39.106Z,1755987759.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-23T22:22:39.123Z,1755987759.123 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:39.123Z,1755987759.123 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:39.124Z,1755987759.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:39.376Z,1755987759.376 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:38.6499
2025-08-23T22:22:39.377Z,1755987759.377 [DAT](INFO): Rx dataTimestamp_ set to:1755987759.376488
2025-08-23T22:22:39.379Z,1755987759.379 [DAT](INFO): DAT read: Bearing 130.3, -18.8 (Local)
2025-08-23T22:22:39.379Z,1755987759.379 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.3, -18.8 (Local)
2025-08-23T22:22:39.381Z,1755987759.381 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0
2025-08-23T22:22:39.394Z,1755987759.394 [DAT](INFO): DAT read: 22:22:38.6499 LVL= 32752, 20017, 28242, 32755, AGC= 62, IDX= 511, 0.05, 3.076,-0.879,-2.403,-2.141, PHS=-0.964, 1.308,-0.306, RAW= 313.7, -0.4, CAL= 311.9, -3.5, ROT= 198.1, 3.5
2025-08-23T22:22:39.395Z,1755987759.395 [DAT](INFO): got valid direction response:
22:22:38.6499 LVL= 32752, 20017, 28242, 32755, AGC= 62, IDX= 511, 0.05, 3.076,-0.879,-2.403,-2.141, PHS=-0.964, 1.308,-0.306, RAW= 313.7, -0.4, CAL= 311.9, -3.5, ROT= 198.1, 3.5
2025-08-23T22:22:39.395Z,1755987759.395 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:39.396Z,1755987759.396 [DAT](INFO): direction in FSK: [-0.948743,-0.310097,-0.061049]
2025-08-23T22:22:39.396Z,1755987759.396 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:39.400Z,1755987759.400 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:39.400Z,1755987759.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:39.626Z,1755987759.626 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:39.627Z,1755987759.627 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:39.627Z,1755987759.627 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:39.638Z,1755987759.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.600000 m,
deltaT: 0.501781 s,
deltaX: 0.200001 m,
approachRate: 0.398582 m/s,
rangeRepo size: 4
2025-08-23T22:22:39.640Z,1755987759.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.488380 m,
bearing: 342.434890 deg,
lat: 36.779414 deg,
lon: -121.859550 deg,
deltaT: 0.501781 s,
deltaX: 0.198784 m,
approachRate: 0.396157 m/s,
posRepo size: 4
2025-08-23T22:22:39.641Z,1755987759.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:22:39.880Z,1755987759.880 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:39.1498
2025-08-23T22:22:39.881Z,1755987759.881 [DAT](INFO): Rx dataTimestamp_ set to:1755987759.880393
2025-08-23T22:22:39.882Z,1755987759.882 [DAT](INFO): DAT read: Bearing 129.8, -19.0 (Local)
2025-08-23T22:22:39.882Z,1755987759.882 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -19.0 (Local)
2025-08-23T22:22:39.884Z,1755987759.884 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0
2025-08-23T22:22:39.889Z,1755987759.889 [DAT](INFO): DAT read: 22:22:39.1498 LVL= 32752, 19777, 29842, 32755, AGC= 63, IDX= 510,-0.02, 0.858,-3.045, 1.682, 1.961, PHS=-1.002, 1.322,-0.323, RAW= 313.5, 0.0, CAL= 311.7, -3.1, ROT= 198.3, 3.1
2025-08-23T22:22:39.890Z,1755987759.890 [DAT](INFO): got valid direction response:
22:22:39.1498 LVL= 32752, 19777, 29842, 32755, AGC= 63, IDX= 510,-0.02, 0.858,-3.045, 1.682, 1.961, PHS=-1.002, 1.322,-0.323, RAW= 313.5, 0.0, CAL= 311.7, -3.1, ROT= 198.3, 3.1
2025-08-23T22:22:39.890Z,1755987759.890 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:39.891Z,1755987759.891 [DAT](INFO): direction in FSK: [-0.948036,-0.313533,-0.054079]
2025-08-23T22:22:39.891Z,1755987759.891 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:39.895Z,1755987759.895 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:39.895Z,1755987759.895 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:40.031Z,1755987760.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.400000 m,
deltaT: 0.503905 s,
deltaX: -0.200001 m,
approachRate: -0.396902 m/s,
rangeRepo size: 4
2025-08-23T22:22:40.033Z,1755987760.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.289648 m,
bearing: 342.661379 deg,
lat: 36.779413 deg,
lon: -121.859550 deg,
deltaT: 0.503905 s,
deltaX: -0.198732 m,
approachRate: -0.394385 m/s,
posRepo size: 4
2025-08-23T22:22:40.033Z,1755987760.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-23T22:22:40.131Z,1755987760.131 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:40.131Z,1755987760.131 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:40.132Z,1755987760.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:40.374Z,1755987760.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-23T22:22:40.384Z,1755987760.384 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:39.6499
2025-08-23T22:22:40.385Z,1755987760.385 [DAT](INFO): Rx dataTimestamp_ set to:1755987760.384457
2025-08-23T22:22:40.386Z,1755987760.386 [DAT](INFO): DAT read: Bearing 130.0, -19.1 (Local)
2025-08-23T22:22:40.386Z,1755987760.386 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.0, -19.1 (Local)
2025-08-23T22:22:40.388Z,1755987760.388 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0
2025-08-23T22:22:40.393Z,1755987760.393 [DAT](INFO): DAT read: 22:22:39.6499 LVL= 32752, 18033, 27634, 32755, AGC= 64, IDX= 511,-0.10, 1.684,-2.228, 2.514, 2.781, PHS=-0.995, 1.319,-0.312, RAW= 313.3, -0.1, CAL= 311.5, -3.3, ROT= 198.5, 3.3
2025-08-23T22:22:40.394Z,1755987760.394 [DAT](INFO): got valid direction response:
22:22:39.6499 LVL= 32752, 18033, 27634, 32755, AGC= 64, IDX= 511,-0.10, 1.684,-2.228, 2.514, 2.781, PHS=-0.995, 1.319,-0.312, RAW= 313.3, -0.1, CAL= 311.5, -3.3, ROT= 198.5, 3.3
2025-08-23T22:22:40.394Z,1755987760.394 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:40.395Z,1755987760.395 [DAT](INFO): direction in FSK: [-0.946751,-0.316778,-0.057564]
2025-08-23T22:22:40.396Z,1755987760.396 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:40.399Z,1755987760.399 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:40.399Z,1755987760.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:40.635Z,1755987760.635 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:40.635Z,1755987760.635 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:40.635Z,1755987760.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:40.863Z,1755987760.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.600000 m,
deltaT: 0.504064 s,
deltaX: 0.200001 m,
approachRate: 0.396777 m/s,
rangeRepo size: 4
2025-08-23T22:22:40.865Z,1755987760.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.488409 m,
bearing: 342.825211 deg,
lat: 36.779414 deg,
lon: -121.859550 deg,
deltaT: 0.504064 s,
deltaX: 0.198761 m,
approachRate: 0.394317 m/s,
posRepo size: 4
2025-08-23T22:22:40.882Z,1755987760.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-23T22:22:40.888Z,1755987760.888 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:40.1498
2025-08-23T22:22:40.889Z,1755987760.889 [DAT](INFO): Rx dataTimestamp_ set to:1755987760.888624
2025-08-23T22:22:40.890Z,1755987760.890 [DAT](INFO): DAT read: Bearing 130.1, -18.9 (Local)
2025-08-23T22:22:40.891Z,1755987760.891 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -18.9 (Local)
2025-08-23T22:22:40.893Z,1755987760.893 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0
2025-08-23T22:22:40.897Z,1755987760.897 [DAT](INFO): DAT read: 22:22:40.1498 LVL= 32752, 17585, 25538, 32659, AGC= 64, IDX= 510,-0.16, 0.084, 2.465, 0.907, 1.177, PHS=-0.991, 1.333,-0.314, RAW= 313.5, -0.3, CAL= 311.8, -3.4, ROT= 198.2, 3.4
2025-08-23T22:22:40.899Z,1755987760.899 [DAT](INFO): got valid direction response:
22:22:40.1498 LVL= 32752, 17585, 25538, 32659, AGC= 64, IDX= 510,-0.16, 0.084, 2.465, 0.907, 1.177, PHS=-0.991, 1.333,-0.314, RAW= 313.5, -0.3, CAL= 311.8, -3.4, ROT= 198.2, 3.4
2025-08-23T22:22:40.899Z,1755987760.899 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:40.900Z,1755987760.900 [DAT](INFO): direction in FSK: [-0.948300,-0.311785,-0.059306]
2025-08-23T22:22:40.901Z,1755987760.901 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:40.904Z,1755987760.904 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:40.904Z,1755987760.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:41.139Z,1755987761.139 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:41.139Z,1755987761.139 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:41.139Z,1755987761.139 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:41.294Z,1755987761.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.400000 m,
deltaT: 0.504167 s,
deltaX: -0.200001 m,
approachRate: -0.396695 m/s,
rangeRepo size: 4
2025-08-23T22:22:41.296Z,1755987761.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.289677 m,
bearing: 342.480022 deg,
lat: 36.779413 deg,
lon: -121.859550 deg,
deltaT: 0.504167 s,
deltaX: -0.198732 m,
approachRate: -0.394180 m/s,
posRepo size: 4
2025-08-23T22:22:41.297Z,1755987761.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-23T22:22:41.392Z,1755987761.392 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:22:22:40.6498
2025-08-23T22:22:41.392Z,1755987761.392 [DAT](INFO): Rx dataTimestamp_ set to:1755987761.392040
2025-08-23T22:22:41.394Z,1755987761.394 [DAT](INFO): DAT read: Bearing 129.7, -19.2 (Local)
2025-08-23T22:22:41.394Z,1755987761.394 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.7, -19.2 (Local)
2025-08-23T22:22:41.396Z,1755987761.396 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0
2025-08-23T22:22:41.403Z,1755987761.403 [DAT](INFO): DAT read: 22:22:40.6498 LVL= 31664, 18513, 27282, 31219, AGC= 63, IDX= 510,-0.29, 0.460, 2.838, 1.293, 1.569, PHS=-1.007, 1.315,-0.320, RAW= 313.2, 0RX .1, CAL= 311.4, -3.0, ROT= 198.6, 3.0
2025-08-23T22:22:41.404Z,1755987761.404 [DAT](INFO): unknown deviceResponse_: 22:22:40.6498 LVL= 31664, 18513, 27282, 31219, AGC= 63, IDX= 510,-0.29, 0.460, 2.838, 1.293, 1.569, PHS=-1.007, 1.315,-0.320, RAW= 313.2, 0RX .1, CAL= 311.4, -3.0, ROT= 198.6, 3.0
2025-08-23T22:22:41.405Z,1755987761.405 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:41.407Z,1755987761.407 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:41.407Z,1755987761.407 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:41.642Z,1755987761.642 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:41.642Z,1755987761.642 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:41.643Z,1755987761.643 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:41.764Z,1755987761.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.400000 m,
deltaT: 0.503416 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:41.764Z,1755987761.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-23T22:22:41.896Z,1755987761.896 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:22:22:41.1496
2025-08-23T22:22:41.896Z,1755987761.896 [DAT](INFO): Rx dataTimestamp_ set to:1755987761.895826
2025-08-23T22:22:41.897Z,1755987761.897 [DAT](INFO): DAT read: Bearing 130.4, -18.6 (Local)
2025-08-23T22:22:41.898Z,1755987761.898 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.4, -18.6 (Local)
2025-08-23T22:22:41.900Z,1755987761.900 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1
2025-08-23T22:22:41.904Z,1755987761.904 [DAT](INFO): DAT read: 22:22:41.1496 LVL= 32752, 17457, 25746, 32755, AGC= 63, IDX= 509,-0.37,-1.094, 1.279,-0.283,-0.013, PHS=-0.978, 1.338,-0.314, RAW= 313.8, -RX 0.4, CAL= 312.1, -3.6, ROT= 197.9, 3.6
2025-08-23T22:22:41.906Z,1755987761.906 [DAT](INFO): unknown deviceResponse_: 22:22:41.1496 LVL= 32752, 17457, 25746, 32755, AGC= 63, IDX= 509,-0.37,-1.094, 1.279,-0.283,-0.013, PHS=-0.978, 1.338,-0.314, RAW= 313.8, -RX 0.4, CAL= 312.1, -3.6, ROT= 197.9, 3.6
2025-08-23T22:22:41.906Z,1755987761.906 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:41.907Z,1755987761.907 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:41.907Z,1755987761.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:42.126Z,1755987762.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.100000 m,
deltaT: 0.503786 s,
deltaX: -0.299999 m,
approachRate: -0.595489 m/s,
rangeRepo size: 4
2025-08-23T22:22:42.127Z,1755987762.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-23T22:22:42.146Z,1755987762.146 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:42.146Z,1755987762.146 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:42.147Z,1755987762.147 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:42.400Z,1755987762.400 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:22:22:41.6497
2025-08-23T22:22:42.400Z,1755987762.400 [DAT](INFO): Rx dataTimestamp_ set to:1755987762.399960
2025-08-23T22:22:42.402Z,1755987762.402 [DAT](INFO): DAT read: Bearing 130.1, -18.9 (Local)
2025-08-23T22:22:42.402Z,1755987762.402 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -18.9 (Local)
2025-08-23T22:22:42.404Z,1755987762.404 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0
2025-08-23T22:22:42.409Z,1755987762.409 [DAT](INFO): DAT read: 22:22:41.6497 LVL= 31120, 16465, 26258, 31651, AGC= 62, IDX= 509, 0.48, 1.773,-2.195, 2.575, 2.840, PHS=-0.966, 1.292,-0.309, RAW= 313.6, -0RX .2, CAL= 311.8, -3.3, ROT= 198.2, 3.3
2025-08-23T22:22:42.410Z,1755987762.410 [DAT](INFO): unknown deviceResponse_: 22:22:41.6497 LVL= 31120, 16465, 26258, 31651, AGC= 62, IDX= 509, 0.48, 1.773,-2.195, 2.575, 2.840, PHS=-0.966, 1.292,-0.309, RAW= 313.6, -0RX .2, CAL= 311.8, -3.3, ROT= 198.2, 3.3
2025-08-23T22:22:42.410Z,1755987762.410 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:42.411Z,1755987762.411 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:42.411Z,1755987762.411 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:42.603Z,1755987762.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 0.504134 s,
deltaX: 0.199999 m,
approachRate: 0.396718 m/s,
rangeRepo size: 4
2025-08-23T22:22:42.603Z,1755987762.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-23T22:22:42.650Z,1755987762.650 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:42.650Z,1755987762.650 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:42.651Z,1755987762.651 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:42.904Z,1755987762.904 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:22:22:42.1496
2025-08-23T22:22:42.904Z,1755987762.904 [DAT](INFO): Rx dataTimestamp_ set to:1755987762.903918
2025-08-23T22:22:42.906Z,1755987762.906 [DAT](INFO): DAT read: Bearing 129.8, -18.7 (Local)
2025-08-23T22:22:42.906Z,1755987762.906 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -18.7 (Local)
2025-08-23T22:22:42.908Z,1755987762.908 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0
2025-08-23T22:22:42.913Z,1755987762.913 [DAT](INFO): DAT read: 22:22:42.1496 LVL= 32320, 17265, 27186, 31187, AGC= 62, IDX= 508, 0.32, 0.932,-3.033, 1.729, 2.007, PHS=-0.973, 1.288,-0.322, RAW= 313.8, 0.1, CAL= 312.0, -3.1, ROT= 198.0, 3.1RX
2025-08-23T22:22:42.914Z,1755987762.914 [DAT](INFO): got valid direction response:
22:22:42.1496 LVL= 32320, 17265, 27186, 31187, AGC= 62, IDX= 508, 0.32, 0.932,-3.033, 1.729, 2.007, PHS=-0.973, 1.288,-0.322, RAW= 313.8, 0.1, CAL= 312.0, -3.1, ROT= 198.0, 3.1RX
2025-08-23T22:22:42.914Z,1755987762.914 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:42.915Z,1755987762.915 [DAT](INFO): direction in FSK: [-0.949665,-0.308565,-0.054079]
2025-08-23T22:22:42.915Z,1755987762.915 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:42.919Z,1755987762.919 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:42.919Z,1755987762.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:42.955Z,1755987762.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.100000 m,
deltaT: 0.503958 s,
deltaX: -0.199999 m,
approachRate: -0.396856 m/s,
rangeRepo size: 4
2025-08-23T22:22:42.978Z,1755987762.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.991613 m,
bearing: 342.298017 deg,
lat: 36.779413 deg,
lon: -121.859551 deg,
deltaT: 2.015294 s,
deltaX: -0.298063 m,
approachRate: -0.147901 m/s,
posRepo size: 4
2025-08-23T22:22:42.979Z,1755987762.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:22:43.154Z,1755987763.154 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:43.155Z,1755987763.155 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:43.155Z,1755987763.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:43.304Z,1755987763.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:22:43.408Z,1755987763.408 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:22:22:42.6497
2025-08-23T22:22:43.409Z,1755987763.409 [DAT](INFO): Rx dataTimestamp_ set to:1755987763.408277
2025-08-23T22:22:43.410Z,1755987763.410 [DAT](INFO): DAT read: Bearing 129.7, -19.1 (Local)
2025-08-23T22:22:43.410Z,1755987763.410 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.7, -19.1 (Local)
2025-08-23T22:22:43.412Z,1755987763.412 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0
2025-08-23T22:22:43.418Z,1755987763.418 [DAT](INFO): DAT read: 22:22:42.6497 LVL= 32752, 20465, 28546, 32755, AGC= 63, IDX= 509, 0.22, 2.461,-1.496,-3.007,-2.737, PHS=-0.983, 1.286,-0.314, RAW= 313.3, 0.1, CAL= 311.5, -3.0, ROT= 198.5, 3.0RX
2025-08-23T22:22:43.419Z,1755987763.419 [DAT](INFO): got valid direction response:
22:22:42.6497 LVL= 32752, 20465, 28546, 32755, AGC= 63, IDX= 509, 0.22, 2.461,-1.496,-3.007,-2.737, PHS=-0.983, 1.286,-0.314, RAW= 313.3, 0.1, CAL= 311.5, -3.0, ROT= 198.5, 3.0RX
2025-08-23T22:22:43.419Z,1755987763.419 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:43.420Z,1755987763.420 [DAT](INFO): direction in FSK: [-0.947024,-0.316870,-0.052336]
2025-08-23T22:22:43.420Z,1755987763.420 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:43.424Z,1755987763.424 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:43.424Z,1755987763.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:43.658Z,1755987763.658 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:43.658Z,1755987763.658 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:43.659Z,1755987763.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:43.782Z,1755987763.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 0.504359 s,
deltaX: 0.199999 m,
approachRate: 0.396541 m/s,
rangeRepo size: 4
2025-08-23T22:22:43.784Z,1755987763.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.190372 m,
bearing: 342.811881 deg,
lat: 36.779413 deg,
lon: -121.859551 deg,
deltaT: 0.504359 s,
deltaX: 0.198759 m,
approachRate: 0.394083 m/s,
posRepo size: 4
2025-08-23T22:22:43.784Z,1755987763.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-23T22:22:43.912Z,1755987763.912 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:22:22:43.1496
2025-08-23T22:22:43.912Z,1755987763.912 [DAT](INFO): Rx dataTimestamp_ set to:1755987763.911991
2025-08-23T22:22:43.914Z,1755987763.914 [DAT](INFO): DAT read: Bearing 129.8, -19.2 (Local)
2025-08-23T22:22:43.914Z,1755987763.914 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -19.2 (Local)
2025-08-23T22:22:43.916Z,1755987763.916 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0
2025-08-23T22:22:43.921Z,1755987763.921 [DAT](INFO): DAT read: 22:22:43.1496 LVL= 28656, 17137, 23922, 27491, AGC= 63, IDX= 508, 0.15, 0.882,-3.066, 1.705, 1.970, PHS=-0.986, 1.292,-0.309, RAW= 313.2, 0.0, CAL= 311.3, -3.1, ROT= 198.7, 3.1
2025-08-23T22:22:43.922Z,1755987763.922 [DAT](INFO): got valid direction response:
22:22:43.1496 LVL= 28656, 17137, 23922, 27491, AGC= 63, IDX= 508, 0.15, 0.882,-3.066, 1.705, 1.970, PHS=-0.986, 1.292,-0.309, RAW= 313.2, 0.0, CAL= 311.3, -3.1, ROT= 198.7, 3.1
2025-08-23T22:22:43.922Z,1755987763.922 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:43.923Z,1755987763.923 [DAT](INFO): direction in FSK: [-0.945824,-0.320144,-0.054079]
2025-08-23T22:22:43.924Z,1755987763.924 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:43.931Z,1755987763.931 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:43.931Z,1755987763.931 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:44.138Z,1755987764.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.100000 m,
deltaT: 0.503714 s,
deltaX: -0.199999 m,
approachRate: -0.397048 m/s,
rangeRepo size: 4
2025-08-23T22:22:44.140Z,1755987764.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.991640 m,
bearing: 343.008251 deg,
lat: 36.779413 deg,
lon: -121.859551 deg,
deltaT: 0.503714 s,
deltaX: -0.198732 m,
approachRate: -0.394534 m/s,
posRepo size: 4
2025-08-23T22:22:44.140Z,1755987764.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:22:44.164Z,1755987764.164 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:44.165Z,1755987764.165 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:44.174Z,1755987764.174 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:44.416Z,1755987764.416 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:43.6496
2025-08-23T22:22:44.417Z,1755987764.417 [DAT](INFO): Rx dataTimestamp_ set to:1755987764.416473
2025-08-23T22:22:44.418Z,1755987764.418 [DAT](INFO): DAT read: Bearing 129.6, -18.9 (Local)
2025-08-23T22:22:44.418Z,1755987764.418 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.6, -18.9 (Local)
2025-08-23T22:22:44.420Z,1755987764.420 [DAT](INFO): DAT read: Range 11 to 5 17.1 m (trip time 11.4 ms) speed 0.0
2025-08-23T22:22:44.421Z,1755987764.421 [DAT](INFO): unknown deviceResponse_: Range 11 to 5 17.1 m (trip time 11.4 ms) speed 0.0
2025-08-23T22:22:44.425Z,1755987764.425 [DAT](INFO): DAT read: 22:22:43.6496 LVL= 32048, 17553, 26290, 32755, AGC= 63, IDX= 508, 0.06, 1.195,-2.762, 2.003, 2.281, PHS=-0.984, 1.285,-0.322, RAW= 313.5, 0.2, CAL= 311.7, -2.9, ROT= 198.3, 2.9
2025-08-23T22:22:44.426Z,1755987764.426 [DAT](INFO): got valid direction response:
22:22:43.6496 LVL= 32048, 17553, 26290, 32755, AGC= 63, IDX= 508, 0.06, 1.195,-2.762, 2.003, 2.281, PHS=-0.984, 1.285,-0.322, RAW= 313.5, 0.2, CAL= 311.7, -2.9, ROT= 198.3, 2.9
2025-08-23T22:22:44.427Z,1755987764.427 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:22:44.428Z,1755987764.428 [DAT](INFO): direction in FSK: [-0.948210,-0.313590,-0.050593]
2025-08-23T22:22:44.431Z,1755987764.431 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:44.431Z,1755987764.431 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:44.431Z,1755987764.431 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:44.649Z,1755987764.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:22:44.668Z,1755987764.668 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:44.669Z,1755987764.669 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:44.670Z,1755987764.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:44.920Z,1755987764.920 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:44.1495
2025-08-23T22:22:44.921Z,1755987764.921 [DAT](INFO): Rx dataTimestamp_ set to:1755987764.920577
2025-08-23T22:22:44.923Z,1755987764.923 [DAT](INFO): DAT read: Bearing 130.0, -19. Local)
2025-08-23T22:22:44.923Z,1755987764.923 [DAT](INFO): unknown deviceResponse_: Bearing 130.0, -19. Local)
2025-08-23T22:22:44.925Z,1755987764.925 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0
2025-08-23T22:22:44.930Z,1755987764.930 [DAT](INFO): DAT read: 22:22:44.1495 LVL= 29264, 17025, 23970, 28355, AGC= 63, IDX= 507,-0.01,-1.187, 1.173,-0.362,-0.098, PHS=-0.987, 1.316,-0.308, RAW= 313.3, -0.2, CAL= 311.5, -3.3, ROT= 198.5, 3.3
2025-08-23T22:22:44.931Z,1755987764.931 [DAT](INFO): got valid direction response:
22:22:44.1495 LVL= 29264, 17025, 23970, 28355, AGC= 63, IDX= 507,-0.01,-1.187, 1.173,-0.362,-0.098, PHS=-0.987, 1.316,-0.308, RAW= 313.3, -0.2, CAL= 311.5, -3.3, ROT= 198.5, 3.3
2025-08-23T22:22:44.931Z,1755987764.931 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:44.932Z,1755987764.932 [DAT](INFO): direction in FSK: [-0.946751,-0.316778,-0.057564]
2025-08-23T22:22:44.933Z,1755987764.933 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:44.936Z,1755987764.936 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:44.936Z,1755987764.936 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:45.056Z,1755987765.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.000000 m,
deltaT: 1.008586 s,
deltaX: -0.100000 m,
approachRate: -0.099149 m/s,
rangeRepo size: 4
2025-08-23T22:22:45.063Z,1755987765.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.892294 m,
bearing: 342.766332 deg,
lat: 36.779412 deg,
lon: -121.859551 deg,
deltaT: 1.008586 s,
deltaX: -0.099346 m,
approachRate: -0.098500 m/s,
posRepo size: 4
2025-08-23T22:22:45.063Z,1755987765.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:22:45.173Z,1755987765.173 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:45.174Z,1755987765.174 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:45.175Z,1755987765.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:45.425Z,1755987765.425 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:44.6496
2025-08-23T22:22:45.426Z,1755987765.426 [DAT](INFO): Rx dataTimestamp_ set to:1755987765.425566
2025-08-23T22:22:45.427Z,1755987765.427 [DAT](INFO): DAT read: Bearing 130.1, -18.8 (Local)
2025-08-23T22:22:45.427Z,1755987765.427 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -18.8 (Local)
2025-08-23T22:22:45.430Z,1755987765.430 [DAT](INFO): DAT read: Range 11 to 5 17.1 m (trip time 11.4 ms) speed 0.0
2025-08-23T22:22:45.430Z,1755987765.430 [DAT](INFO): unknown deviceResponse_: Range 11 to 5 17.1 m (trip time 11.4 ms) speed 0.0
2025-08-23T22:22:45.434Z,1755987765.434 [DAT](INFO): DAT read: 22:22:44.6496 LVL= 29664, 16033, 25074, 29843, AGC= 63, IDX= 508,-0.09,-0.510, 1.864, 0.308, 0.579, PHS=-0.986, 1.330,-0.315, RAW= 313.6, -0.3, CAL= 311.9, -3.4, ROT= 198.1, 3.4
2025-08-23T22:22:45.435Z,1755987765.435 [DAT](INFO): got valid direction response:
22:22:44.6496 LVL= 29664, 16033, 25074, 29843, AGC= 63, IDX= 508,-0.09,-0.510, 1.864, 0.308, 0.579, PHS=-0.986, 1.330,-0.315, RAW= 313.6, -0.3, CAL= 311.9, -3.4, ROT= 198.1, 3.4
2025-08-23T22:22:45.436Z,1755987765.436 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:22:45.437Z,1755987765.437 [DAT](INFO): direction in FSK: [-0.948843,-0.310130,-0.059306]
2025-08-23T22:22:45.464Z,1755987765.464 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:45.464Z,1755987765.464 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:45.465Z,1755987765.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:45.612Z,1755987765.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:22:45.681Z,1755987765.681 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:22:45.1495
2025-08-23T22:22:45.683Z,1755987765.683 [DAT](INFO): Rx dataTimestamp_ set to:1755987765.681991
2025-08-23T22:22:45.686Z,1755987765.686 [DAT](INFO): DAT read: Bearing 129.9, -18.9 (Local)
2025-08-23T22:22:45.687Z,1755987765.687 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.9, -18.9 (Local)
2025-08-23T22:22:45.688Z,1755987765.688 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:45.688Z,1755987765.688 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:45.694Z,1755987765.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:45.907Z,1755987765.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:22:45.928Z,1755987765.928 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.1
2025-08-23T22:22:45.933Z,1755987765.933 [DAT](INFO): DAT read: 22:22:45.1495 LVL= 31664, 17505, 26802, 31715, A= 3, IDX= 507,-0.19,-1.504, 0.874,-0.680,-0.407, PHS=-0.995, 1.326,-0.317, RAW= 313.5, -0.1, CAL= 311.7, -3.3, ROT= 198.3, 3.3
2025-08-23T22:22:45.933Z,1755987765.933 [DAT](INFO): unknown deviceResponse_: 22:22:45.1495 LVL= 31664, 17505, 26802, 31715, A= 3, IDX= 507,-0.19,-1.504, 0.874,-0.680,-0.407, PHS=-0.995, 1.326,-0.317, RAW= 313.5, -0.1, CAL= 311.7, -3.3, ROT= 198.3, 3.3
2025-08-23T22:22:45.934Z,1755987765.934 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:22:45.934Z,1755987765.934 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:45.935Z,1755987765.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:46.183Z,1755987766.183 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNuser:1723>
2025-08-23T22:22:46.184Z,1755987766.184 [DAT](INFO): Reached modem response timeout
2025-08-23T22:22:46.184Z,1755987766.184 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:22:46.184Z,1755987766.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:22:46.296Z,1755987766.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.000000 m,
deltaT: 1.005276 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:46.297Z,1755987766.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:22:46.435Z,1755987766.435 [DAT](INFO): DAT read: Command 'sbl' not found
2025-08-23T22:22:46.435Z,1755987766.435 [DAT](INFO): unknown deviceResponse_: Command 'sbl' not found
2025-08-23T22:22:46.435Z,1755987766.435 [DAT](INFO): DAT read: Error
2025-08-23T22:22:46.436Z,1755987766.436 [DAT](INFO): unknown deviceResponse_: Error
2025-08-23T22:22:46.436Z,1755987766.436 [DAT](INFO): DAT read: user:1724>
2025-08-23T22:22:46.437Z,1755987766.437 [DAT](INFO): DAT read: Tx time:22:22:46.1470
2025-08-23T22:22:46.437Z,1755987766.437 [DAT](INFO): Ping request sent.
2025-08-23T22:22:46.437Z,1755987766.437 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:22:46.437Z,1755987766.437 [DAT](INFO): publishing transmit ping time
2025-08-23T22:22:46.438Z,1755987766.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000874
2025-08-23T22:22:46.687Z,1755987766.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249383
2025-08-23T22:22:46.717Z,1755987766.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:22:46.939Z,1755987766.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502015
2025-08-23T22:22:47.115Z,1755987767.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:22:47.191Z,1755987767.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753518
2025-08-23T22:22:47.442Z,1755987767.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005295
2025-08-23T22:22:47.503Z,1755987767.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:22:47.695Z,1755987767.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257446
2025-08-23T22:22:47.940Z,1755987767.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:22:47.947Z,1755987767.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509403
2025-08-23T22:22:48.199Z,1755987768.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761682
2025-08-23T22:22:48.314Z,1755987768.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:22:48.451Z,1755987768.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013448
2025-08-23T22:22:48.702Z,1755987768.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265300
2025-08-23T22:22:48.740Z,1755987768.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:22:48.955Z,1755987768.955 [DAT](INFO): DAT read: Rx Time:22:22:48.2988
2025-08-23T22:22:48.956Z,1755987768.956 [DAT](INFO): Rx dataTimestamp_ set to:1755987768.955400
2025-08-23T22:22:48.957Z,1755987768.957 [DAT](INFO): DAT read: Bearing 130.3, -18.5 (Local)
2025-08-23T22:22:48.958Z,1755987768.958 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.3, -18.5 (Local)
2025-08-23T22:22:48.961Z,1755987768.961 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0
2025-08-23T22:22:48.966Z,1755987768.966 [DAT](INFO): DAT read: 22:22:48.2988 LVL= 31216, 13873, 26274, 32051, AGC= 64, IDX= 212,-0.07,-1.696, 0.661,-0.896,-0.629, PHS=-0.965, 1.335,-0.311, RAW= 314.0, -0.6, CAL= 312.3, -3.7, ROT= 197.7, 3.7
2025-08-23T22:22:48.967Z,1755987768.967 [DAT](INFO): got valid direction response:
22:22:48.2988 LVL= 31216, 13873, 26274, 32051, AGC= 64, IDX= 212,-0.07,-1.696, 0.661,-0.896,-0.629, PHS=-0.965, 1.335,-0.311, RAW= 314.0, -0.6, CAL= 312.3, -3.7, ROT= 197.7, 3.7
2025-08-23T22:22:48.967Z,1755987768.967 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:22:48.968Z,1755987768.968 [DAT](INFO): direction in FSK: [-0.950676,-0.303399,-0.064532]
2025-08-23T22:22:48.969Z,1755987768.969 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:49.147Z,1755987769.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.000000 m,
deltaT: 3.029547 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:49.150Z,1755987769.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.892370 m,
bearing: 341.810235 deg,
lat: 36.779412 deg,
lon: -121.859551 deg,
deltaT: 4.034823 s,
deltaX: 0.000076 m,
approachRate: 0.000019 m/s,
posRepo size: 4
2025-08-23T22:22:49.150Z,1755987769.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:22:49.459Z,1755987769.459 [DAT](INFO): DAT read: Rx Time:22:22:48.7987
2025-08-23T22:22:49.460Z,1755987769.460 [DAT](INFO): Rx dataTimestamp_ set to:1755987769.459257
2025-08-23T22:22:49.461Z,1755987769.461 [DAT](INFO): DAT read: Bearing 129.8, -19.2 (Local)
2025-08-23T22:22:49.461Z,1755987769.461 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -19.2 (Local)
2025-08-23T22:22:49.463Z,1755987769.463 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0
2025-08-23T22:22:49.468Z,1755987769.468 [DAT](INFO): DAT read: 22:22:48.7987 LVL= 32752, 17377, 28978, 31779, AGC= 64, IDX= 499,-0.21, 3.089,-0.859,-2.380,-2.117, PHS=-0.975, 1.304,-0.307, RAW= 313.4, -0.2, CAL= 311.7, -3.4, ROT= 198.3, 3.4
2025-08-23T22:22:49.469Z,1755987769.469 [DAT](INFO): got valid direction response:
22:22:48.7987 LVL= 32752, 17377, 28978, 31779, AGC= 64, IDX= 499,-0.21, 3.089,-0.859,-2.380,-2.117, PHS=-0.975, 1.304,-0.307, RAW= 313.4, -0.2, CAL= 311.7, -3.4, ROT= 198.3, 3.4
2025-08-23T22:22:49.469Z,1755987769.469 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-23T22:22:49.471Z,1755987769.471 [DAT](INFO): direction in FSK: [-0.947754,-0.313440,-0.059306]
2025-08-23T22:22:49.471Z,1755987769.471 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:49.632Z,1755987769.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.799999 m,
deltaT: 0.503857 s,
deltaX: -0.200001 m,
approachRate: -0.396940 m/s,
rangeRepo size: 4
2025-08-23T22:22:49.646Z,1755987769.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.693586 m,
bearing: 342.446749 deg,
lat: 36.779412 deg,
lon: -121.859551 deg,
deltaT: 0.503857 s,
deltaX: -0.198784 m,
approachRate: -0.394524 m/s,
posRepo size: 4
2025-08-23T22:22:49.647Z,1755987769.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:22:49.951Z,1755987769.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:22:49.963Z,1755987769.963 [DAT](INFO): DAT read: Rx Time:22:22:49.2987
2025-08-23T22:22:49.964Z,1755987769.964 [DAT](INFO): Rx dataTimestamp_ set to:1755987769.963444
2025-08-23T22:22:49.965Z,1755987769.965 [DAT](INFO): DAT read: Bearing 130.0, -19.0 (Local)
2025-08-23T22:22:49.965Z,1755987769.965 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.0, -19.0 (Local)
2025-08-23T22:22:49.967Z,1755987769.967 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0
2025-08-23T22:22:49.972Z,1755987769.972 [DAT](INFO): DAT read: 22:22:49.2987 LVL= 32176, 17249, 26434, 31827, AGC= 63, IDX= 500,-0.36,-2.231, 0.136,-1.413,-1.146, PHS=-0.984, 1.327,-0.311, RAW= 313.6, -0.3, CAL= 311.8, -3.5, ROT= 198.2, 3.5
2025-08-23T22:22:49.973Z,1755987769.973 [DAT](INFO): got valid direction response:
22:22:49.2987 LVL= 32176, 17249, 26434, 31827, AGC= 63, IDX= 500,-0.36,-2.231, 0.136,-1.413,-1.146, PHS=-0.984, 1.327,-0.311, RAW= 313.6, -0.3, CAL= 311.8, -3.5, ROT= 198.2, 3.5
2025-08-23T22:22:49.973Z,1755987769.973 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-23T22:22:49.974Z,1755987769.974 [DAT](INFO): direction in FSK: [-0.948200,-0.311752,-0.061049]
2025-08-23T22:22:49.975Z,1755987769.975 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:50.398Z,1755987770.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.799999 m,
deltaT: 0.504187 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:50.400Z,1755987770.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.693586 m,
bearing: 342.345543 deg,
lat: 36.779412 deg,
lon: -121.859554 deg,
deltaT: 0.504187 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:22:50.401Z,1755987770.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:22:50.468Z,1755987770.468 [DAT](INFO): DAT read: Rx Time:22:22:49.7986
2025-08-23T22:22:50.468Z,1755987770.468 [DAT](INFO): Rx dataTimestamp_ set to:1755987770.467956
2025-08-23T22:22:50.470Z,1755987770.470 [DAT](INFO): DAT read: Bearing 129.8, -19.6 (Local)
2025-08-23T22:22:50.471Z,1755987770.471 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -19.6 (Local)
2025-08-23T22:22:50.474Z,1755987770.474 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.0
2025-08-23T22:22:50.485Z,1755987770.485 [DAT](INFO): DAT read: 22:22:49.7986 LVL= 32128, 17697, 28402, 32755, AGC= 63, IDX= 498, 0.42,-1.430, 0.879,-0.610,-0.361, PHS=-0.967, 1.285,-0.293, RAW= 313.0, -0.2, CAL= 311.3, -3.4, ROT= 198.7, 3.4
2025-08-23T22:22:50.486Z,1755987770.486 [DAT](INFO): got valid direction response:
22:22:49.7986 LVL= 32128, 17697, 28402, 32755, AGC= 63, IDX= 498, 0.42,-1.430, 0.879,-0.610,-0.361, PHS=-0.967, 1.285,-0.293, RAW= 313.0, -0.2, CAL= 311.3, -3.4, ROT= 198.7, 3.4
2025-08-23T22:22:50.486Z,1755987770.486 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-23T22:22:50.487Z,1755987770.487 [DAT](INFO): direction in FSK: [-0.945543,-0.320049,-0.059306]
2025-08-23T22:22:50.487Z,1755987770.487 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:50.971Z,1755987770.971 [DAT](INFO): DAT read: Rx Time:22:22:50.2987
2025-08-23T22:22:50.972Z,1755987770.972 [DAT](INFO): Rx dataTimestamp_ set to:1755987770.971380
2025-08-23T22:22:50.973Z,1755987770.973 [DAT](INFO): DAT read: Bearing 129.5, -19.6 (Local)
2025-08-23T22:22:50.974Z,1755987770.974 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.5, -19.6 (Local)
2025-08-23T22:22:50.976Z,1755987770.976 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0
2025-08-23T22:22:50.980Z,1755987770.980 [DAT](INFO): DAT read: 22:22:50.2987 LVL= 32592, 17217, 26930, 32755, AGC= 63, IDX= 499, 0.25,-0.294, 2.037, 0.530, 0.793, PHS=-0.984, 1.289,-0.306, RAW= 313.1, 0.0, CAL= 311.3, -3.1, ROT= 198.7, 3.1
2025-08-23T22:22:50.981Z,1755987770.981 [DAT](INFO): got valid direction response:
22:22:50.2987 LVL= 32592, 17217, 26930, 32755, AGC= 63, IDX= 499, 0.25,-0.294, 2.037, 0.530, 0.793, PHS=-0.984, 1.289,-0.306, RAW= 313.1, 0.0, CAL= 311.3, -3.1, ROT= 198.7, 3.1
2025-08-23T22:22:50.982Z,1755987770.982 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-23T22:22:50.983Z,1755987770.983 [DAT](INFO): direction in FSK: [-0.945824,-0.320144,-0.054079]
2025-08-23T22:22:50.983Z,1755987770.983 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:50.991Z,1755987770.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.799999 m,
deltaT: 1.007936 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:50.993Z,1755987770.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.594183 m,
bearing: 342.853103 deg,
lat: 36.779412 deg,
lon: -121.859554 deg,
deltaT: 0.504512 s,
deltaX: -0.099403 m,
approachRate: -0.197029 m/s,
posRepo size: 4
2025-08-23T22:22:51.006Z,1755987771.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-23T22:22:51.150Z,1755987771.150 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:22:51.308Z,1755987771.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-23T22:22:51.475Z,1755987771.475 [DAT](INFO): DAT read: Rx Time:22:22:50.7986
2025-08-23T22:22:51.476Z,1755987771.476 [DAT](INFO): Rx dataTimestamp_ set to:1755987771.475361
2025-08-23T22:22:51.477Z,1755987771.477 [DAT](INFO): DAT read: Bearing 129.7, -19.4 (Local)
2025-08-23T22:22:51.477Z,1755987771.477 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.7, -19.4 (Local)
2025-08-23T22:22:51.479Z,1755987771.479 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.0
2025-08-23T22:22:51.484Z,1755987771.484 [DAT](INFO): DAT read: 22:22:50.7986 LVL= 32752, 19329, 28290, 32755, AGC= 63, IDX= 498, 0.14,-1.564, 0.765,-0.747,-0.485, PHS=-0.977, 1.295,-0.305, RAW= 313.3, -0.1, CAL= 311.5, -3.3, ROT= 198.5, 3.3
2025-08-23T22:22:51.485Z,1755987771.485 [DAT](INFO): got valid direction response:
22:22:50.7986 LVL= 32752, 19329, 28290, 32755, AGC= 63, IDX= 498, 0.14,-1.564, 0.765,-0.747,-0.485, PHS=-0.977, 1.295,-0.305, RAW= 313.3, -0.1, CAL= 311.5, -3.3, ROT= 198.5, 3.3
2025-08-23T22:22:51.485Z,1755987771.485 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-23T22:22:51.486Z,1755987771.486 [DAT](INFO): direction in FSK: [-0.946751,-0.316778,-0.057564]
2025-08-23T22:22:51.487Z,1755987771.487 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:51.749Z,1755987771.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.503981 s,
deltaX: -0.099998 m,
approachRate: -0.198417 m/s,
rangeRepo size: 4
2025-08-23T22:22:51.755Z,1755987771.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.594156 m,
bearing: 342.687281 deg,
lat: 36.779412 deg,
lon: -121.859554 deg,
deltaT: 1.007405 s,
deltaX: -0.000027 m,
approachRate: -0.000027 m/s,
posRepo size: 4
2025-08-23T22:22:51.755Z,1755987771.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-23T22:22:51.979Z,1755987771.979 [DAT](INFO): DAT read: Rx Time:22:22:51.2986
2025-08-23T22:22:51.980Z,1755987771.980 [DAT](INFO): Rx dataTimestamp_ set to:1755987771.979219
2025-08-23T22:22:51.981Z,1755987771.981 [DAT](INFO): DAT read: Bearing 129.7, -19.9 (Local)
2025-08-23T22:22:51.981Z,1755987771.981 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.7, -19.9 (Local)
2025-08-23T22:22:51.983Z,1755987771.983 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.0
2025-08-23T22:22:51.988Z,1755987771.988 [DAT](INFO): DAT read: 22:22:51.2986 LVL= 30112, 16769, 26866, 30419, AGC= 63, IDX= 498, 0.04,-1.581, 0.746,-0.748,-0.501, PHS=-0.978, 1.292,-0.291, RAW= 312.8, -0.2, CAL= 311.0, -3.4, ROT= 199.0, 3.4
2025-08-23T22:22:51.989Z,1755987771.989 [DAT](INFO): got valid direction response:
22:22:51.2986 LVL= 30112, 16769, 26866, 30419, AGC= 63, IDX= 498, 0.04,-1.581, 0.746,-0.748,-0.501, PHS=-0.978, 1.292,-0.291, RAW= 312.8, -0.2, CAL= 311.0, -3.4, ROT= 199.0, 3.4
2025-08-23T22:22:51.989Z,1755987771.989 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-23T22:22:51.990Z,1755987771.990 [DAT](INFO): direction in FSK: [-0.943854,-0.324995,-0.059306]
2025-08-23T22:22:51.990Z,1755987771.990 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:52.138Z,1755987772.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.503858 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:52.140Z,1755987772.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.594156 m,
bearing: 343.174821 deg,
lat: 36.779412 deg,
lon: -121.859553 deg,
deltaT: 0.503858 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:22:52.140Z,1755987772.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-23T22:22:52.154Z,1755987772.154 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:22:52.486Z,1755987772.486 [DAT](INFO): DAT read: Rx Time:22:22:51.7985
2025-08-23T22:22:52.487Z,1755987772.487 [DAT](INFO): Rx dataTimestamp_ set to:1755987772.486458
2025-08-23T22:22:52.488Z,1755987772.488 [DAT](INFO): DAT read: Bearing 129.8, -19.5 (Local)
2025-08-23T22:22:52.488Z,1755987772.488 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -19.5 (Local)
2025-08-23T22:22:52.491Z,1755987772.491 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0
2025-08-23T22:22:52.495Z,1755987772.495 [DAT](INFO): DAT read: 22:22:51.7985 LVL= 30752, 16945, 26802, 31427, AGC= 63, IDX= 497,-0.04, 2.100,-1.841, 2.926,-3.104, PHS=-0.978, 1.308,-0.298, RAW= 313.2, -0.3, CAL= 311.4, -3.5, ROT= 198.6, 3.5
2025-08-23T22:22:52.496Z,1755987772.496 [DAT](INFO): got valid direction response:
22:22:51.7985 LVL= 30752, 16945, 26802, 31427, AGC= 63, IDX= 497,-0.04, 2.100,-1.841, 2.926,-3.104, PHS=-0.978, 1.308,-0.298, RAW= 313.2, -0.3, CAL= 311.4, -3.5, ROT= 198.6, 3.5
2025-08-23T22:22:52.496Z,1755987772.496 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-23T22:22:52.497Z,1755987772.497 [DAT](INFO): direction in FSK: [-0.946001,-0.318364,-0.061049]
2025-08-23T22:22:52.498Z,1755987772.498 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:52.570Z,1755987772.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.500000 m,
deltaT: 0.507239 s,
deltaX: -0.200001 m,
approachRate: -0.394293 m/s,
rangeRepo size: 4
2025-08-23T22:22:52.573Z,1755987772.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.395420 m,
bearing: 342.777449 deg,
lat: 36.779412 deg,
lon: -121.859553 deg,
deltaT: 0.507239 s,
deltaX: -0.198736 m,
approachRate: -0.391800 m/s,
posRepo size: 4
2025-08-23T22:22:52.578Z,1755987772.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:22:52.947Z,1755987772.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:22:52.988Z,1755987772.988 [DAT](INFO): DAT read: Rx Time:22:22:52.2986
2025-08-23T22:22:52.989Z,1755987772.989 [DAT](INFO): Rx dataTimestamp_ set to:1755987772.988271
2025-08-23T22:22:52.991Z,1755987772.991 [DAT](INFO): DAT read: Bearing 129.8, -19.5 (Local)
2025-08-23T22:22:52.991Z,1755987772.991 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -19.5 (Local)
2025-08-23T22:22:52.995Z,1755987772.995 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.0
2025-08-23T22:22:53.001Z,1755987773.001 [DAT](INFO): DAT read: 22:22:52.2986 LVL= 27936, 22353, 26898, 21427, AGC= 66, IDX= 2,-0.16, 3.099,-0.839,-2.355,-2.102, PHS=-0.981, 1.308,-0.297, RAW= 313.1, -0.3, CAL= 311.3, -3.5, ROT= 198.7, 3.5
2025-08-23T22:22:53.007Z,1755987773.007 [DAT](INFO): got valid direction response:
22:22:52.2986 LVL= 27936, 22353, 26898, 21427, AGC= 66, IDX= 2,-0.16, 3.099,-0.839,-2.355,-2.102, PHS=-0.981, 1.308,-0.297, RAW= 313.1, -0.3, CAL= 311.3, -3.5, ROT= 198.7, 3.5
2025-08-23T22:22:53.007Z,1755987773.007 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-23T22:22:53.009Z,1755987773.009 [DAT](INFO): direction in FSK: [-0.945444,-0.320015,-0.061049]
2025-08-23T22:22:53.009Z,1755987773.009 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:53.390Z,1755987773.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.501813 s,
deltaX: 0.200001 m,
approachRate: 0.398556 m/s,
rangeRepo size: 4
2025-08-23T22:22:53.392Z,1755987773.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.594152 m,
bearing: 342.901438 deg,
lat: 36.779413 deg,
lon: -121.859553 deg,
deltaT: 0.501813 s,
deltaX: 0.198732 m,
approachRate: 0.396029 m/s,
posRepo size: 4
2025-08-23T22:22:53.393Z,1755987773.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-23T22:22:53.492Z,1755987773.492 [DAT](INFO): DAT read: Rx Time:22:22:52.7985
2025-08-23T22:22:53.493Z,1755987773.493 [DAT](INFO): Rx dataTimestamp_ set to:1755987773.492310
2025-08-23T22:22:53.495Z,1755987773.495 [DAT](INFO): DAT read: Bearing 129.3, -20.0 (Local)
2025-08-23T22:22:53.495Z,1755987773.495 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.3, -20.0 (Local)
2025-08-23T22:22:53.498Z,1755987773.498 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0
2025-08-23T22:22:53.503Z,1755987773.503 [DAT](INFO): DAT read: 22:22:52.7985 LVL= 28016, 15233, 26578, 28627, AGC= 63, IDX= 497,-0.33, 2.262,-1.678, 3.106,-2.920, PHS=-0.999, 1.288,-0.301, RAW= 312.7, 0.1, CAL= 310.8, -3.0, ROT= 199.2, 3.0
2025-08-23T22:22:53.504Z,1755987773.504 [DAT](INFO): got valid direction response:
22:22:52.7985 LVL= 28016, 15233, 26578, 28627, AGC= 63, IDX= 497,-0.33, 2.262,-1.678, 3.106,-2.920, PHS=-0.999, 1.288,-0.301, RAW= 312.7, 0.1, CAL= 310.8, -3.0, ROT= 199.2, 3.0
2025-08-23T22:22:53.504Z,1755987773.504 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-23T22:22:53.505Z,1755987773.505 [DAT](INFO): direction in FSK: [-0.943082,-0.328416,-0.052336]
2025-08-23T22:22:53.506Z,1755987773.506 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:53.775Z,1755987773.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.500000 m,
deltaT: 0.504039 s,
deltaX: -0.200001 m,
approachRate: -0.396796 m/s,
rangeRepo size: 4
2025-08-23T22:22:53.777Z,1755987773.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.395428 m,
bearing: 343.463508 deg,
lat: 36.779412 deg,
lon: -121.859553 deg,
deltaT: 0.504039 s,
deltaX: -0.198725 m,
approachRate: -0.394265 m/s,
posRepo size: 4
2025-08-23T22:22:53.777Z,1755987773.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:22:53.995Z,1755987773.995 [DAT](INFO): DAT read: Rx Time:22:22:53.2985
2025-08-23T22:22:53.995Z,1755987773.995 [DAT](INFO): Rx dataTimestamp_ set to:1755987773.994923
2025-08-23T22:22:53.996Z,1755987773.996 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.1
2025-08-23T22:22:53.997Z,1755987773.997 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-08-23T22:22:54.140Z,1755987774.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.500000 m,
deltaT: 0.502613 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:22:54.140Z,1755987774.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:22:54.499Z,1755987774.499 [DAT](INFO): DAT read: Rx Time:22:22:53.7984
2025-08-23T22:22:54.499Z,1755987774.499 [DAT](INFO): Rx dataTimestamp_ set to:1755987774.498965
2025-08-23T22:22:54.500Z,1755987774.500 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.0
2025-08-23T22:22:54.501Z,1755987774.501 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-08-23T22:22:54.557Z,1755987774.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.400000 m,
deltaT: 0.504042 s,
deltaX: -0.100000 m,
approachRate: -0.198397 m/s,
rangeRepo size: 4
2025-08-23T22:22:54.566Z,1755987774.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:22:54.958Z,1755987774.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:22:55.003Z,1755987775.003 [DAT](INFO): DAT read: Rx Time:22:22:54.2985
2025-08-23T22:22:55.004Z,1755987775.004 [DAT](INFO): Rx dataTimestamp_ set to:1755987775.003444
2025-08-23T22:22:55.005Z,1755987775.005 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.1
2025-08-23T22:22:55.006Z,1755987775.006 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-08-23T22:22:55.402Z,1755987775.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.500000 m,
deltaT: 0.504479 s,
deltaX: 0.100000 m,
approachRate: 0.198225 m/s,
rangeRepo size: 4
2025-08-23T22:22:55.403Z,1755987775.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:22:55.508Z,1755987775.508 [DAT](INFO): DAT read: Rx Time:22:22:54.7984
2025-08-23T22:22:55.509Z,1755987775.509 [DAT](INFO): Rx dataTimestamp_ set to:1755987775.508169
2025-08-23T22:22:55.511Z,1755987775.511 [DAT](INFO): DAT read: Bearing 336.1, -10.5 (Local)
2025-08-23T22:22:55.511Z,1755987775.511 [DAT](INFO): Local bearing/azimuth received:
Bearing 336.1, -10.5 (Local)
2025-08-23T22:22:55.514Z,1755987775.514 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.0
2025-08-23T22:22:55.524Z,1755987775.524 [DAT](INFO): DAT read: 22:22:54.7984 LVL= 32528, 19105, 26946, 32755, AGC= 62, IDX= 512,-0.06, 1.711, 0.100, 2.428, 2.107, PHS=-0.295,-1.963, 0.277, RAW= 164.2, 19.2, CAL= 165.5, 25.6, ROT= 344.5, -25.6
2025-08-23T22:22:55.526Z,1755987775.526 [DAT](INFO): got valid direction response:
22:22:54.7984 LVL= 32528, 19105, 26946, 32755, AGC= 62, IDX= 512,-0.06, 1.711, 0.100, 2.428, 2.107, PHS=-0.295,-1.963, 0.277, RAW= 164.2, 19.2, CAL= 165.5, 25.6, ROT= 344.5, -25.6
2025-08-23T22:22:55.526Z,1755987775.526 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-23T22:22:55.527Z,1755987775.527 [DAT](INFO): direction in FSK: [0.869033,-0.241004,0.432086]
2025-08-23T22:22:55.527Z,1755987775.527 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:55.835Z,1755987775.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.400000 m,
deltaT: 0.504725 s,
deltaX: -0.100000 m,
approachRate: -0.198128 m/s,
rangeRepo size: 4
2025-08-23T22:22:55.838Z,1755987775.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.296072 m,
bearing: 126.045987 deg,
lat: 36.779412 deg,
lon: -121.859552 deg,
deltaT: 2.015859 s,
deltaX: -0.099356 m,
approachRate: -0.049287 m/s,
posRepo size: 4
2025-08-23T22:22:55.838Z,1755987775.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-23T22:22:56.011Z,1755987776.011 [DAT](INFO): DAT read: Rx Time:22:22:55.2983
2025-08-23T22:22:56.011Z,1755987776.011 [DAT](INFO): Rx dataTimestamp_ set to:1755987776.010866
2025-08-23T22:22:56.012Z,1755987776.012 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.0
2025-08-23T22:22:56.013Z,1755987776.013 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-08-23T22:22:56.217Z,1755987776.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.200001 m,
deltaT: 0.502697 s,
deltaX: -0.199999 m,
approachRate: -0.397852 m/s,
rangeRepo size: 4
2025-08-23T22:22:56.217Z,1755987776.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-23T22:22:56.515Z,1755987776.515 [DAT](INFO): DAT read: Rx Time:22:22:55.7981
2025-08-23T22:22:56.515Z,1755987776.515 [DAT](INFO): Rx dataTimestamp_ set to:1755987776.515206
2025-08-23T22:22:56.517Z,1755987776.517 [DAT](INFO): DAT read: Bearing 129.8, -19.6 (Local)
2025-08-23T22:22:56.517Z,1755987776.517 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -19.6 (Local)
2025-08-23T22:22:56.519Z,1755987776.519 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0
2025-08-23T22:22:56.524Z,1755987776.524 [DAT](INFO): DAT read: 22:22:55.7981 LVL= 29792, 17761, 26098, 29523, AGC= 63, IDX= 511,-0.46, 1.736,-2.223, 2.563, 2.812, PHS=-0.974, 1.293,-0.293, RAW= 313.0, -0.3, CAL= 311.2, -3.4, ROT= 198.8, 3.4
2025-08-23T22:22:56.525Z,1755987776.525 [DAT](INFO): got valid direction response:
22:22:55.7981 LVL= 29792, 17761, 26098, 29523, AGC= 63, IDX= 511,-0.46, 1.736,-2.223, 2.563, 2.812, PHS=-0.974, 1.293,-0.293, RAW= 313.0, -0.3, CAL= 311.2, -3.4, ROT= 198.8, 3.4
2025-08-23T22:22:56.525Z,1755987776.525 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-23T22:22:56.526Z,1755987776.526 [DAT](INFO): direction in FSK: [-0.944983,-0.321699,-0.059306]
2025-08-23T22:22:56.526Z,1755987776.526 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:56.736Z,1755987776.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 0.504340 s,
deltaX: -0.300001 m,
approachRate: -0.594839 m/s,
rangeRepo size: 4
2025-08-23T22:22:56.742Z,1755987776.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.799257 m,
bearing: 342.960427 deg,
lat: 36.779411 deg,
lon: -121.859553 deg,
deltaT: 1.007037 s,
deltaX: -0.496815 m,
approachRate: -0.493343 m/s,
posRepo size: 4
2025-08-23T22:22:56.743Z,1755987776.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-23T22:22:57.019Z,1755987777.019 [DAT](INFO): DAT read: Rx Time:22:22:56.2982
2025-08-23T22:22:57.020Z,1755987777.020 [DAT](INFO): Rx dataTimestamp_ set to:1755987777.019234
2025-08-23T22:22:57.021Z,1755987777.021 [DAT](INFO): DAT read: Bearing 129.6, -19.3 (Local)
2025-08-23T22:22:57.021Z,1755987777.021 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.6, -19.3 (Local)
2025-08-23T22:22:57.023Z,1755987777.023 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.1
2025-08-23T22:22:57.028Z,1755987777.028 [DAT](INFO): DAT read: 22:22:56.2982 LVL= 28048, 18097, 24482, 28643, AGC= 62, IDX= 511, 0.29,-2.016, 0.258,-1.216,-0.957, PHS=-0.956, 1.260,-0.303, RAW= 313.3, -0.0, CAL= 311.5, -3.1, ROT= 198.5, 3.1
2025-08-23T22:22:57.029Z,1755987777.029 [DAT](INFO): got valid direction response:
22:22:56.2982 LVL= 28048, 18097, 24482, 28643, AGC= 62, IDX= 511, 0.29,-2.016, 0.258,-1.216,-0.957, PHS=-0.956, 1.260,-0.303, RAW= 313.3, -0.0, CAL= 311.5, -3.1, ROT= 198.5, 3.1
2025-08-23T22:22:57.029Z,1755987777.029 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-23T22:22:57.030Z,1755987777.030 [DAT](INFO): direction in FSK: [-0.946936,-0.316840,-0.054079]
2025-08-23T22:22:57.030Z,1755987777.030 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:57.231Z,1755987777.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.100000 m,
deltaT: 0.504028 s,
deltaX: 0.200001 m,
approachRate: 0.396805 m/s,
rangeRepo size: 4
2025-08-23T22:22:57.233Z,1755987777.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.997991 m,
bearing: 342.685143 deg,
lat: 36.779411 deg,
lon: -121.859554 deg,
deltaT: 0.504028 s,
deltaX: 0.198733 m,
approachRate: 0.394290 m/s,
posRepo size: 4
2025-08-23T22:22:57.238Z,1755987777.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-23T22:22:57.523Z,1755987777.523 [DAT](INFO): DAT read: Rx Time:22:22:56.7981
2025-08-23T22:22:57.524Z,1755987777.524 [DAT](INFO): Rx dataTimestamp_ set to:1755987777.523263
2025-08-23T22:22:57.525Z,1755987777.525 [DAT](INFO): DAT read: Bearing 130.1, -19.2 (Local)
2025-08-23T22:22:57.525Z,1755987777.525 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -19.2 (Local)
2025-08-23T22:22:57.527Z,1755987777.527 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0
2025-08-23T22:22:57.532Z,1755987777.532 [DAT](INFO): DAT read: 22:22:56.7981 LVL= 32624, 18273, 25426, 32099, AGC= 62, IDX= 510, 0.13, 2.428,-1.556,-3.051,-2.800, PHS=-0.954, 1.289,-0.295, RAW= 313.4, -0.4, CAL= 311.6, -3.6, ROT= 198.4, 3.6
2025-08-23T22:22:57.533Z,1755987777.533 [DAT](INFO): got valid direction response:
22:22:56.7981 LVL= 32624, 18273, 25426, 32099, AGC= 62, IDX= 510, 0.13, 2.428,-1.556,-3.051,-2.800, PHS=-0.954, 1.289,-0.295, RAW= 313.4, -0.4, CAL= 311.6, -3.6, ROT= 198.4, 3.6
2025-08-23T22:22:57.533Z,1755987777.533 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-23T22:22:57.534Z,1755987777.534 [DAT](INFO): direction in FSK: [-0.947004,-0.315026,-0.062791]
2025-08-23T22:22:57.534Z,1755987777.534 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:57.675Z,1755987777.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 0.504029 s,
deltaX: -0.200001 m,
approachRate: -0.396804 m/s,
rangeRepo size: 4
2025-08-23T22:22:57.677Z,1755987777.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.799261 m,
bearing: 342.532080 deg,
lat: 36.779409 deg,
lon: -121.859554 deg,
deltaT: 0.504029 s,
deltaX: -0.198730 m,
approachRate: -0.394282 m/s,
posRepo size: 4
2025-08-23T22:22:57.677Z,1755987777.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-23T22:22:58.027Z,1755987778.027 [DAT](INFO): DAT read: Rx Time:22:22:57.2982
2025-08-23T22:22:58.028Z,1755987778.028 [DAT](INFO): Rx dataTimestamp_ set to:1755987778.027255
2025-08-23T22:22:58.029Z,1755987778.029 [DAT](INFO): DAT read: Bearing 130.4, -19.4 (Local)
2025-08-23T22:22:58.029Z,1755987778.029 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.4, -19.4 (Local)
2025-08-23T22:22:58.031Z,1755987778.031 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0
2025-08-23T22:22:58.036Z,1755987778.036 [DAT](INFO): DAT read: 22:22:57.2982 LVL= 31280, 19121, 26354, 30067, AGC= 63, IDX= 511,-0.00, 3.008,-0.960,-2.458,-2.221, PHS=-0.953, 1.306,-0.281, RAW= 313.2, -0.7, CAL= 311.5, -3.9, ROT= 198.5, 3.9
2025-08-23T22:22:58.037Z,1755987778.037 [DAT](INFO): got valid direction response:
22:22:57.2982 LVL= 31280, 19121, 26354, 30067, AGC= 63, IDX= 511,-0.00, 3.008,-0.960,-2.458,-2.221, PHS=-0.953, 1.306,-0.281, RAW= 313.2, -0.7, CAL= 311.5, -3.9, ROT= 198.5, 3.9
2025-08-23T22:22:58.037Z,1755987778.037 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-23T22:22:58.039Z,1755987778.039 [DAT](INFO): direction in FSK: [-0.946128,-0.316570,-0.068015]
2025-08-23T22:22:58.039Z,1755987778.039 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:58.236Z,1755987778.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.100000 m,
deltaT: 0.503992 s,
deltaX: 0.200001 m,
approachRate: 0.396833 m/s,
rangeRepo size: 4
2025-08-23T22:22:58.242Z,1755987778.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.997994 m,
bearing: 342.598087 deg,
lat: 36.779409 deg,
lon: -121.859555 deg,
deltaT: 0.503992 s,
deltaX: 0.198733 m,
approachRate: 0.394318 m/s,
posRepo size: 4
2025-08-23T22:22:58.242Z,1755987778.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-23T22:22:58.531Z,1755987778.531 [DAT](INFO): DAT read: Rx Time:22:22:57.7981
2025-08-23T22:22:58.531Z,1755987778.531 [DAT](INFO): Rx dataTimestamp_ set to:1755987778.531144
2025-08-23T22:22:58.533Z,1755987778.533 [DAT](INFO): DAT read: Bearing 130.1, -19.4 (Local)
2025-08-23T22:22:58.533Z,1755987778.533 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -19.4 (Local)
2025-08-23T22:22:58.535Z,1755987778.535 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0
2025-08-23T22:22:58.539Z,1755987778.539 [DAT](INFO): DAT read: 22:22:57.7981 LVL= 31904, 17521, 25586, 32483, AGC= 63, IDX= 510,-0.15, 1.199,-2.748, 2.024, 2.270, PHS=-0.969, 1.310,-0.290, RAW= 313.1, -0.5, CAL= 311.4, -3.7, ROT= 198.6, 3.7
2025-08-23T22:22:58.540Z,1755987778.540 [DAT](INFO): got valid direction response:
22:22:57.7981 LVL= 31904, 17521, 25586, 32483, AGC= 63, IDX= 510,-0.15, 1.199,-2.748, 2.024, 2.270, PHS=-0.969, 1.310,-0.290, RAW= 313.1, -0.5, CAL= 311.4, -3.7, ROT= 198.6, 3.7
2025-08-23T22:22:58.541Z,1755987778.541 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-23T22:22:58.542Z,1755987778.542 [DAT](INFO): direction in FSK: [-0.945793,-0.318295,-0.064532]
2025-08-23T22:22:58.542Z,1755987778.542 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:58.615Z,1755987778.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 0.503889 s,
deltaX: -0.200001 m,
approachRate: -0.396914 m/s,
rangeRepo size: 4
2025-08-23T22:22:58.617Z,1755987778.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.799266 m,
bearing: 342.727088 deg,
lat: 36.779410 deg,
lon: -121.859556 deg,
deltaT: 0.503889 s,
deltaX: -0.198729 m,
approachRate: -0.394390 m/s,
posRepo size: 4
2025-08-23T22:22:58.626Z,1755987778.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-23T22:22:58.958Z,1755987778.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-23T22:22:59.037Z,1755987779.037 [DAT](INFO): DAT read: Rx Time:22:22:58.2982
2025-08-23T22:22:59.037Z,1755987779.037 [DAT](INFO): Rx dataTimestamp_ set to:1755987779.036869
2025-08-23T22:22:59.039Z,1755987779.039 [DAT](INFO): DAT read: Bearing 130.1, -19.5 (Local)
2025-08-23T22:22:59.040Z,1755987779.040 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -19.5 (Local)
2025-08-23T22:22:59.043Z,1755987779.043 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0
2025-08-23T22:22:59.056Z,1755987779.056 [DAT](INFO): DAT read: 22:22:58.2982 LVL= 30192, 16497, 24306, 29059, AGC= 62, IDX= 511,-0.31, 1.911,-2.069, 2.727, 2.970, PHS=-0.956, 1.290,-0.286, RAW= 313.1, -0.5, CAL= 311.4, -3.6, ROT= 198.6, 3.6
2025-08-23T22:22:59.062Z,1755987779.062 [DAT](INFO): got valid direction response:
22:22:58.2982 LVL= 30192, 16497, 24306, 29059, AGC= 62, IDX= 511,-0.31, 1.911,-2.069, 2.727, 2.970, PHS=-0.956, 1.290,-0.286, RAW= 313.1, -0.5, CAL= 311.4, -3.6, ROT= 198.6, 3.6
2025-08-23T22:22:59.063Z,1755987779.063 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-23T22:22:59.065Z,1755987779.065 [DAT](INFO): direction in FSK: [-0.945898,-0.318330,-0.062791]
2025-08-23T22:22:59.065Z,1755987779.065 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:59.388Z,1755987779.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.100000 m,
deltaT: 0.505725 s,
deltaX: 0.200001 m,
approachRate: 0.395473 m/s,
rangeRepo size: 4
2025-08-23T22:22:59.391Z,1755987779.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.997999 m,
bearing: 342.746568 deg,
lat: 36.779411 deg,
lon: -121.859556 deg,
deltaT: 0.505725 s,
deltaX: 0.198733 m,
approachRate: 0.392967 m/s,
posRepo size: 4
2025-08-23T22:22:59.391Z,1755987779.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-23T22:22:59.539Z,1755987779.539 [DAT](INFO): DAT read: Rx Time:22:22:58.7980
2025-08-23T22:22:59.540Z,1755987779.540 [DAT](INFO): Rx dataTimestamp_ set to:1755987779.539320
2025-08-23T22:22:59.541Z,1755987779.541 [DAT](INFO): DAT read: Bearing 130.5, -19.1 (Local)
2025-08-23T22:22:59.541Z,1755987779.541 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.5, -19.1 (Local)
2025-08-23T22:22:59.544Z,1755987779.544 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0
2025-08-23T22:22:59.552Z,1755987779.552 [DAT](INFO): DAT read: 22:22:58.7980 LVL= 31472, 17985, 26034, 30867, AGC= 61, IDX= 509, 0.45, 2.227,-1.760, 3.030,-3.018, PHS=-0.936, 1.303,-0.279, RAW= 313.4, -0.9, CAL= 311.8, -4.1, ROT= 198.2, 4.1
2025-08-23T22:22:59.562Z,1755987779.562 [DAT](INFO): got valid direction response:
22:22:58.7980 LVL= 31472, 17985, 26034, 30867, AGC= 61, IDX= 509, 0.45, 2.227,-1.760, 3.030,-3.018, PHS=-0.936, 1.303,-0.279, RAW= 313.4, -0.9, CAL= 311.8, -4.1, ROT= 198.2, 4.1
2025-08-23T22:22:59.563Z,1755987779.563 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-23T22:22:59.565Z,1755987779.565 [DAT](INFO): direction in FSK: [-0.947541,-0.311536,-0.071497]
2025-08-23T22:22:59.565Z,1755987779.565 [DAT](INFO): publishing direction and range info
2025-08-23T22:22:59.868Z,1755987779.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.502451 s,
deltaX: -0.300000 m,
approachRate: -0.597074 m/s,
rangeRepo size: 4
2025-08-23T22:22:59.874Z,1755987779.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.699917 m,
bearing: 342.299719 deg,
lat: 36.779410 deg,
lon: -121.859556 deg,
deltaT: 0.502451 s,
deltaX: -0.298082 m,
approachRate: -0.593257 m/s,
posRepo size: 4
2025-08-23T22:22:59.875Z,1755987779.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:23:00.044Z,1755987780.044 [DAT](INFO): DAT read: Rx Time:22:22:59.2980
2025-08-23T22:23:00.045Z,1755987780.045 [DAT](INFO): Rx dataTimestamp_ set to:1755987780.044515
2025-08-23T22:23:00.047Z,1755987780.047 [DAT](INFO): DAT read: Bearing 130.2, -19.8 (Local)
2025-08-23T22:23:00.048Z,1755987780.048 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.2, -19.8 (Local)
2025-08-23T22:23:00.052Z,1755987780.052 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0
2025-08-23T22:23:00.065Z,1755987780.065 [DAT](INFO): DAT read: 22:22:59.2980 LVL= 28400, 15393, 24482, 27795, AGC= 62, IDX= 509, 0.25, 2.382,-1.618,-3.080,-2.851, PHS=-0.948, 1.278,-0.272, RAW= 312.8, -0.6, CAL= 311.1, -3.8, ROT= 198.9, 3.8
2025-08-23T22:23:00.087Z,1755987780.087 [DAT](INFO): got valid direction response:
22:22:59.2980 LVL= 28400, 15393, 24482, 27795, AGC= 62, IDX= 509, 0.25, 2.382,-1.618,-3.080,-2.851, PHS=-0.948, 1.278,-0.272, RAW= 312.8, -0.6, CAL= 311.1, -3.8, ROT= 198.9, 3.8
2025-08-23T22:23:00.089Z,1755987780.089 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-23T22:23:00.095Z,1755987780.095 [DAT](INFO): direction in FSK: [-0.944005,-0.323205,-0.066274]
2025-08-23T22:23:00.095Z,1755987780.095 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:00.297Z,1755987780.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.505195 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:00.322Z,1755987780.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.699917 m,
bearing: 343.026766 deg,
lat: 36.779410 deg,
lon: -121.859556 deg,
deltaT: 0.505195 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:00.323Z,1755987780.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:23:00.549Z,1755987780.549 [DAT](INFO): DAT read: Rx Time:22:22:59.7979
2025-08-23T22:23:00.550Z,1755987780.550 [DAT](INFO): Rx dataTimestamp_ set to:1755987780.549460
2025-08-23T22:23:00.552Z,1755987780.552 [DAT](INFO): DAT read: Bearing 129.7, -19.9 (Local)
2025-08-23T22:23:00.552Z,1755987780.552 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.7, -19.9 (Local)
2025-08-23T22:23:00.556Z,1755987780.556 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0
2025-08-23T22:23:00.563Z,1755987780.563 [DAT](INFO): DAT read: 22:22:59.7979 LVL= 32752, 18225, 26818, 32755, AGC= 62, IDX= 508, 0.09, 1.323,-2.675, 2.147, 2.387, PHS=-0.962, 1.266,-0.284, RAW= 312.7, -0.2, CAL= 310.9, -3.4, ROT= 199.1, 3.4
2025-08-23T22:23:00.565Z,1755987780.565 [DAT](INFO): got valid direction response:
22:22:59.7979 LVL= 32752, 18225, 26818, 32755, AGC= 62, IDX= 508, 0.09, 1.323,-2.675, 2.147, 2.387, PHS=-0.962, 1.266,-0.284, RAW= 312.7, -0.2, CAL= 310.9, -3.4, ROT= 199.1, 3.4
2025-08-23T22:23:00.584Z,1755987780.584 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-23T22:23:00.585Z,1755987780.585 [DAT](INFO): direction in FSK: [-0.943286,-0.326642,-0.059306]
2025-08-23T22:23:00.590Z,1755987780.590 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:00.727Z,1755987780.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.600000 m,
deltaT: 0.504945 s,
deltaX: -0.200000 m,
approachRate: -0.396082 m/s,
rangeRepo size: 4
2025-08-23T22:23:00.744Z,1755987780.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.501204 m,
bearing: 343.268869 deg,
lat: 36.779410 deg,
lon: -121.859556 deg,
deltaT: 0.504945 s,
deltaX: -0.198712 m,
approachRate: -0.393533 m/s,
posRepo size: 4
2025-08-23T22:23:00.750Z,1755987780.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-23T22:23:01.052Z,1755987781.052 [DAT](INFO): DAT read: Rx Time:22:23:00.2980
2025-08-23T22:23:01.053Z,1755987781.053 [DAT](INFO): Rx dataTimestamp_ set to:1755987781.052234
2025-08-23T22:23:01.055Z,1755987781.055 [DAT](INFO): DAT read: Bearing 129.8, -20.0 (Local)
2025-08-23T22:23:01.055Z,1755987781.055 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -20.0 (Local)
2025-08-23T22:23:01.067Z,1755987781.067 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0
2025-08-23T22:23:01.098Z,1755987781.098 [DAT](INFO): DAT read: 22:23:00.2980 LVL= 28032, 15889, 24482, 28547, AGC= 62, IDX= 509,-0.09, 1.866,-2.128, 2.692, 2.930, PHS=-0.963, 1.270,-0.282, RAW= 312.7, -0.3, CAL= 310.9, -3.4, ROT= 199.1, 3.4
2025-08-23T22:23:01.099Z,1755987781.099 [DAT](INFO): got valid direction response:
22:23:00.2980 LVL= 28032, 15889, 24482, 28547, AGC= 62, IDX= 509,-0.09, 1.866,-2.128, 2.692, 2.930, PHS=-0.963, 1.270,-0.282, RAW= 312.7, -0.3, CAL= 310.9, -3.4, ROT= 199.1, 3.4
2025-08-23T22:23:01.099Z,1755987781.099 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-23T22:23:01.100Z,1755987781.100 [DAT](INFO): direction in FSK: [-0.943286,-0.326642,-0.059306]
2025-08-23T22:23:01.100Z,1755987781.100 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:01.227Z,1755987781.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.502774 s,
deltaX: 0.200000 m,
approachRate: 0.397793 m/s,
rangeRepo size: 4
2025-08-23T22:23:01.229Z,1755987781.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.699938 m,
bearing: 343.270936 deg,
lat: 36.779410 deg,
lon: -121.859556 deg,
deltaT: 0.502774 s,
deltaX: 0.198733 m,
approachRate: 0.395274 m/s,
posRepo size: 4
2025-08-23T22:23:01.234Z,1755987781.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:23:01.502Z,1755987781.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:23:01.557Z,1755987781.557 [DAT](INFO): DAT read: Rx Time:22:23:00.7979
2025-08-23T22:23:01.558Z,1755987781.558 [DAT](INFO): Rx dataTimestamp_ set to:1755987781.556975
2025-08-23T22:23:01.560Z,1755987781.560 [DAT](INFO): DAT read: Bearing 130.4, -20.1 (Local)
2025-08-23T22:23:01.560Z,1755987781.560 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.4, -20.1 (Local)
2025-08-23T22:23:01.565Z,1755987781.565 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0
2025-08-23T22:23:01.583Z,1755987781.583 [DAT](INFO): DAT read: 22:23:00.7979 LVL= 28016, 15281, 25074, 29043, AGC= 62, IDX= 508,-0.24,-0.080, 2.250, 0.765, 0.985, PHS=-0.963, 1.311,-0.264, RAW= 312.5, -0.8, CAL= 310.9, -4.0, ROT= 199.1, 4.0
2025-08-23T22:23:01.584Z,1755987781.584 [DAT](INFO): got valid direction response:
22:23:00.7979 LVL= 28016, 15281, 25074, 29043, AGC= 62, IDX= 508,-0.24,-0.080, 2.250, 0.765, 0.985, PHS=-0.963, 1.311,-0.264, RAW= 312.5, -0.8, CAL= 310.9, -4.0, ROT= 199.1, 4.0
2025-08-23T22:23:01.584Z,1755987781.584 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-23T22:23:01.594Z,1755987781.594 [DAT](INFO): direction in FSK: [-0.942647,-0.326421,-0.069756]
2025-08-23T22:23:01.594Z,1755987781.594 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:01.938Z,1755987781.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.600000 m,
deltaT: 0.504741 s,
deltaX: -0.200000 m,
approachRate: -0.396242 m/s,
rangeRepo size: 4
2025-08-23T22:23:01.940Z,1755987781.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.501198 m,
bearing: 343.190871 deg,
lat: 36.779410 deg,
lon: -121.859556 deg,
deltaT: 0.504741 s,
deltaX: -0.198740 m,
approachRate: -0.393746 m/s,
posRepo size: 4
2025-08-23T22:23:01.941Z,1755987781.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-23T22:23:02.061Z,1755987782.061 [DAT](INFO): DAT read: Rx Time:22:23:01.2979
2025-08-23T22:23:02.061Z,1755987782.061 [DAT](INFO): Rx dataTimestamp_ set to:1755987782.060724
2025-08-23T22:23:02.063Z,1755987782.063 [DAT](INFO): DAT read: Bearing 129.9, -20.6 (Local)
2025-08-23T22:23:02.064Z,1755987782.064 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.9, -20.6 (Local)
2025-08-23T22:23:02.068Z,1755987782.068 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0
2025-08-23T22:23:02.074Z,1755987782.074 [DAT](INFO): DAT read: 22:23:01.2979 LVL= 29104, 17393, 26194, 28867, AGC= 63, IDX= 508, 0.47, 3.003,-0.984,-2.429,-2.209, PHS=-0.969, 1.269,-0.265, RAW= 312.1, -0.4, CAL= 310.3, -3.5, ROT= 199.7, 3.5
2025-08-23T22:23:02.076Z,1755987782.076 [DAT](INFO): got valid direction response:
22:23:01.2979 LVL= 29104, 17393, 26194, 28867, AGC= 63, IDX= 508, 0.47, 3.003,-0.984,-2.429,-2.209, PHS=-0.969, 1.269,-0.265, RAW= 312.1, -0.4, CAL= 310.3, -3.5, ROT= 199.7, 3.5
2025-08-23T22:23:02.076Z,1755987782.076 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-23T22:23:02.077Z,1755987782.077 [DAT](INFO): direction in FSK: [-0.939715,-0.336466,-0.061049]
2025-08-23T22:23:02.078Z,1755987782.078 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:02.383Z,1755987782.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.600000 m,
deltaT: 0.503749 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:02.385Z,1755987782.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.501198 m,
bearing: 343.845650 deg,
lat: 36.779410 deg,
lon: -121.859556 deg,
deltaT: 0.503749 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:02.390Z,1755987782.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-23T22:23:02.564Z,1755987782.564 [DAT](INFO): DAT read: Rx Time:22:23:01.7978
2025-08-23T22:23:02.565Z,1755987782.565 [DAT](INFO): Rx dataTimestamp_ set to:1755987782.564477
2025-08-23T22:23:02.567Z,1755987782.567 [DAT](INFO): DAT read: Bearing 129.8, -20.7 (Local)
2025-08-23T22:23:02.568Z,1755987782.568 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -20.7 (Local)
2025-08-23T22:23:02.570Z,1755987782.570 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0
2025-08-23T22:23:02.575Z,1755987782.575 [DAT](INFO): DAT read: 22:23:01.7978 LVL= 31264, 16561, 28194, 31779, AGC= 62, IDX= 507, 0.22, 2.316,-1.701,-3.127,-2.909, PHS=-0.956, 1.253,-0.263, RAW= 312.1, -0.3, CAL= 310.3, -3.5, ROT= 199.7, 3.5
2025-08-23T22:23:02.576Z,1755987782.576 [DAT](INFO): got valid direction response:
22:23:01.7978 LVL= 31264, 16561, 28194, 31779, AGC= 62, IDX= 507, 0.22, 2.316,-1.701,-3.127,-2.909, PHS=-0.956, 1.253,-0.263, RAW= 312.1, -0.3, CAL= 310.3, -3.5, ROT= 199.7, 3.5
2025-08-23T22:23:02.576Z,1755987782.576 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-23T22:23:02.577Z,1755987782.577 [DAT](INFO): direction in FSK: [-0.939715,-0.336466,-0.061049]
2025-08-23T22:23:02.577Z,1755987782.577 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:02.720Z,1755987782.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.500000 m,
deltaT: 0.503753 s,
deltaX: -0.100000 m,
approachRate: -0.198511 m/s,
rangeRepo size: 4
2025-08-23T22:23:02.726Z,1755987782.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.401850 m,
bearing: 343.857662 deg,
lat: 36.779410 deg,
lon: -121.859555 deg,
deltaT: 0.503753 s,
deltaX: -0.099348 m,
approachRate: -0.197216 m/s,
posRepo size: 4
2025-08-23T22:23:02.726Z,1755987782.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:23:03.067Z,1755987783.067 [DAT](INFO): DAT read: 3.5
2025-08-23T22:23:03.068Z,1755987783.068 [DAT](INFO): unknown deviceResponse_: 3.5
2025-08-23T22:23:03.142Z,1755987783.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:23:03.323Z,1755987783.323 [DAT](INFO): DAT read: Rx Time:22:23:02.7977
2025-08-23T22:23:03.325Z,1755987783.325 [DAT](INFO): Rx dataTimestamp_ set to:1755987783.323839
2025-08-23T22:23:03.327Z,1755987783.327 [DAT](INFO): DAT read: Bearing 130.1, -20.7 (Local)
2025-08-23T22:23:03.328Z,1755987783.328 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -20.7 (Local)
2025-08-23T22:23:03.522Z,1755987783.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:23:03.572Z,1755987783.572 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0
2025-08-23T22:23:03.577Z,1755987783.577 [DAT](INFO): DAT read: 22:23:02.7977 LVL= 28864, 15713, 25362, 28899, AGC= 60, IDX= 506,-0.17,-0.310, 2.015, 0.549, 0.768, PHS=-0.975, 1.293,-0.262, RAW= 312.1, -0.6, CAL= 310.4, -3.8, ROT= 199.6, 3.8
2025-08-23T22:23:03.583Z,1755987783.583 [DAT](INFO): got valid direction response:
22:23:02.7977 LVL= 28864, 15713, 25362, 28899, AGC= 60, IDX= 506,-0.17,-0.310, 2.015, 0.549, 0.768, PHS=-0.975, 1.293,-0.262, RAW= 312.1, -0.6, CAL= 310.4, -3.8, ROT= 199.6, 3.8
2025-08-23T22:23:03.584Z,1755987783.584 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-23T22:23:03.585Z,1755987783.585 [DAT](INFO): direction in FSK: [-0.939986,-0.334714,-0.066274]
2025-08-23T22:23:03.585Z,1755987783.585 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:03.827Z,1755987783.827 [DAT](INFO): DAT read: Rx Time:22:23:03.2977
2025-08-23T22:23:03.829Z,1755987783.829 [DAT](INFO): Rx dataTimestamp_ set to:1755987783.827875
2025-08-23T22:23:03.833Z,1755987783.833 [DAT](INFO): DAT read: Bearing 129.8, -21.2 (Local)
2025-08-23T22:23:03.835Z,1755987783.835 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -21.2 (Local)
2025-08-23T22:23:03.930Z,1755987783.930 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 7
2025-08-23T22:23:03.975Z,1755987783.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 1.005694 s,
deltaX: -0.200000 m,
approachRate: -0.198867 m/s,
rangeRepo size: 4
2025-08-23T22:23:03.977Z,1755987783.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.203119 m,
bearing: 343.765554 deg,
lat: 36.779410 deg,
lon: -121.859555 deg,
deltaT: 1.005694 s,
deltaX: -0.198730 m,
approachRate: -0.197605 m/s,
posRepo size: 4
2025-08-23T22:23:03.977Z,1755987783.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:23:04.078Z,1755987784.078 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0
2025-08-23T22:23:04.085Z,1755987784.085 [DAT](INFO): DAT read: 22:23:03.2977 LVL= 27840, 15713, 25538, 27747, AGC= 61, IDX= 507,-0.45, 1.704,-2.258, 2.575, 2.792, PHS=-0.986, 1.278,-0.260, RAW= 311.7, -0.3, CAL= 309.9, -3.5, ROT= 200.1, 3.5
2025-08-23T22:23:04.087Z,1755987784.087 [DAT](INFO): got valid direction response:
22:23:03.2977 LVL= 27840, 15713, 25538, 27747, AGC= 61, IDX= 507,-0.45, 1.704,-2.258, 2.575, 2.792, PHS=-0.986, 1.278,-0.260, RAW= 311.7, -0.3, CAL= 309.9, -3.5, ROT= 200.1, 3.5
2025-08-23T22:23:04.088Z,1755987784.088 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-23T22:23:04.089Z,1755987784.089 [DAT](INFO): direction in FSK: [-0.937343,-0.343019,-0.061049]
2025-08-23T22:23:04.089Z,1755987784.089 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:04.334Z,1755987784.334 [DAT](INFO): DAT read: Rx Time:22:23:03.7976
2025-08-23T22:23:04.335Z,1755987784.335 [DAT](INFO): Rx dataTimestamp_ set to:1755987784.334496
2025-08-23T22:23:04.350Z,1755987784.350 [DAT](INFO): DAT read: Bearing 129.5, -21.1 (Local)
2025-08-23T22:23:04.352Z,1755987784.352 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.5, -21.1 (Local)
2025-08-23T22:23:04.356Z,1755987784.356 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0
2025-08-23T22:23:04.378Z,1755987784.378 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-08-23T22:23:04.381Z,1755987784.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.200000 m,
deltaT: 0.764325 s,
deltaX: -0.100000 m,
approachRate: -0.130835 m/s,
rangeRepo size: 4
2025-08-23T22:23:04.387Z,1755987784.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.203119 m,
bearing: 344.323495 deg,
lat: 36.779410 deg,
lon: -121.859554 deg,
deltaT: 0.505778 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:04.387Z,1755987784.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:23:04.586Z,1755987784.586 [DAT](INFO): DAT read: 22:23:03.7976 LVL= 27808, 15697, 25906, 27539, AGC= 62, IDX= 505, 0.25, 2.127,-1.902, 2.975,-3.090, PHS=-0.964, 1.232,-0.263, RAW= 311.8, -0.1, CAL= 310.0, -3.2, ROT= 200.0, 3.2
2025-08-23T22:23:04.587Z,1755987784.587 [DAT](INFO): got valid direction response:
22:23:03.7976 LVL= 27808, 15697, 25906, 27539, AGC= 62, IDX= 505, 0.25, 2.127,-1.902, 2.975,-3.090, PHS=-0.964, 1.232,-0.263, RAW= 311.8, -0.1, CAL= 310.0, -3.2, ROT= 200.0, 3.2
2025-08-23T22:23:04.588Z,1755987784.588 [DAT](INFO): #Rx 32: Read direction message, but no range.
2025-08-23T22:23:04.589Z,1755987784.589 [DAT](INFO): direction in FSK: [-0.938227,-0.341487,-0.055822]
2025-08-23T22:23:04.739Z,1755987784.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:23:04.842Z,1755987784.842 [DAT](INFO): DAT read: Rx Time:22:23:04.2977
2025-08-23T22:23:04.844Z,1755987784.844 [DAT](INFO): Rx dataTimestamp_ set to:1755987784.843296
2025-08-23T22:23:04.855Z,1755987784.855 [DAT](INFO): DAT read: Bearing 129.7, -21.4 (Local)
2025-08-23T22:23:04.856Z,1755987784.856 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.7, -21.4 (Local)
2025-08-23T22:23:04.861Z,1755987784.861 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0
2025-08-23T22:23:04.878Z,1755987784.878 [DAT](INFO): DAT read: 22:23:04.2977 LVL= 28832, 15825, 26178, 29331, AGC= 61, IDX= 506, 0.05, 2.796,-1.199,-2.618,-2.407, PHS=-0.978, 1.253,-0.254, RAW= 311.5, -0.2, CAL= 309.7, -3.4, ROT= 200.3, 3.4
2025-08-23T22:23:04.879Z,1755987784.879 [DAT](INFO): got valid direction response:
22:23:04.2977 LVL= 28832, 15825, 26178, 29331, AGC= 61, IDX= 506, 0.05, 2.796,-1.199,-2.618,-2.407, PHS=-0.978, 1.253,-0.254, RAW= 311.5, -0.2, CAL= 309.7, -3.4, ROT= 200.3, 3.4
2025-08-23T22:23:04.880Z,1755987784.880 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-23T22:23:04.881Z,1755987784.881 [DAT](INFO): direction in FSK: [-0.936238,-0.346325,-0.059306]
2025-08-23T22:23:04.881Z,1755987784.881 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:05.157Z,1755987785.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 0.508800 s,
deltaX: 0.100000 m,
approachRate: 0.196542 m/s,
rangeRepo size: 4
2025-08-23T22:23:05.175Z,1755987785.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.203137 m,
bearing: 344.549182 deg,
lat: 36.779410 deg,
lon: -121.859554 deg,
deltaT: 0.767347 s,
deltaX: 0.000018 m,
approachRate: 0.000024 m/s,
posRepo size: 4
2025-08-23T22:23:05.176Z,1755987785.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:23:05.342Z,1755987785.342 [DAT](INFO): DAT read: Rx Time:22:23:04.7976
2025-08-23T22:23:05.344Z,1755987785.344 [DAT](INFO): Rx dataTimestamp_ set to:1755987785.342984
2025-08-23T22:23:05.347Z,1755987785.347 [DAT](INFO): DAT read: Bearing 129.9, -21.4 (Local)
2025-08-23T22:23:05.348Z,1755987785.348 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.9, -21.4 (Local)
2025-08-23T22:23:05.352Z,1755987785.352 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0
2025-08-23T22:23:05.355Z,1755987785.355 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-08-23T22:23:05.563Z,1755987785.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.200000 m,
deltaT: 0.499688 s,
deltaX: -0.100000 m,
approachRate: -0.200126 m/s,
rangeRepo size: 4
2025-08-23T22:23:05.563Z,1755987785.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:23:05.594Z,1755987785.594 [DAT](INFO): DAT read: 22:23:04.7976 LVL= 30448, 16881, 26546, 29075, AGC= 62, IDX= 505,-0.12,-0.300, 2.046, 0.586, 0.799, PHS=-0.996, 1.292,-0.257, RAW= 311.5, -0.4, CAL= 309.8, -3.6, ROT= 200.2, 3.6
2025-08-23T22:23:05.595Z,1755987785.595 [DAT](INFO): got valid direction response:
22:23:04.7976 LVL= 30448, 16881, 26546, 29075, AGC= 62, IDX= 505,-0.12,-0.300, 2.046, 0.586, 0.799, PHS=-0.996, 1.292,-0.257, RAW= 311.5, -0.4, CAL= 309.8, -3.6, ROT= 200.2, 3.6
2025-08-23T22:23:05.596Z,1755987785.596 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-08-23T22:23:05.597Z,1755987785.597 [DAT](INFO): direction in FSK: [-0.936641,-0.344617,-0.062791]
2025-08-23T22:23:05.848Z,1755987785.848 [DAT](INFO): DAT read: Rx Time:22:23:05.2977
2025-08-23T22:23:05.850Z,1755987785.850 [DAT](INFO): Rx dataTimestamp_ set to:1755987785.848417
2025-08-23T22:23:05.854Z,1755987785.854 [DAT](INFO): DAT read: Bearing 130.3, -21.5 (Local)
2025-08-23T22:23:05.856Z,1755987785.856 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.3, -21.5 (Local)
2025-08-23T22:23:05.863Z,1755987785.863 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0
2025-08-23T22:23:05.867Z,1755987785.867 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-08-23T22:23:06.008Z,1755987786.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 0.505433 s,
deltaX: 0.100000 m,
approachRate: 0.197851 m/s,
rangeRepo size: 4
2025-08-23T22:23:06.014Z,1755987786.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.203136 m,
bearing: 344.437851 deg,
lat: 36.779410 deg,
lon: -121.859554 deg,
deltaT: 1.005121 s,
deltaX: -0.000001 m,
approachRate: -0.000001 m/s,
posRepo size: 4
2025-08-23T22:23:06.015Z,1755987786.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:23:06.104Z,1755987786.104 [DAT](INFO): DAT read: 22:23:05.2977 LVL= 28144, 15649, 25906, 27571, AGC= 61, IDX= 506,-0.33, 1.121,-2.837, 2.003, 2.201, PHS=-0.978, 1.290,-0.242, RAW= 311.5, -0.7, CAL= 309.8, -4.0, ROT= 200.2, 4.0
2025-08-23T22:23:06.106Z,1755987786.106 [DAT](INFO): got valid direction response:
22:23:05.2977 LVL= 28144, 15649, 25906, 27571, AGC= 61, IDX= 506,-0.33, 1.121,-2.837, 2.003, 2.201, PHS=-0.978, 1.290,-0.242, RAW= 311.5, -0.7, CAL= 309.8, -4.0, ROT= 200.2, 4.0
2025-08-23T22:23:06.106Z,1755987786.106 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-08-23T22:23:06.108Z,1755987786.108 [DAT](INFO): direction in FSK: [-0.936207,-0.344457,-0.069756]
2025-08-23T22:23:06.352Z,1755987786.352 [DAT](INFO): DAT read: Rx Time:22:23:05.7975
2025-08-23T22:23:06.353Z,1755987786.353 [DAT](INFO): Rx dataTimestamp_ set to:1755987786.352547
2025-08-23T22:23:06.356Z,1755987786.356 [DAT](INFO): DAT read: Bearing 129.8, -21.4 (Local)
2025-08-23T22:23:06.358Z,1755987786.358 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -21.4 (Local)
2025-08-23T22:23:06.363Z,1755987786.363 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0
2025-08-23T22:23:06.365Z,1755987786.365 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-08-23T22:23:06.435Z,1755987786.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.000000 m,
deltaT: 0.504130 s,
deltaX: -0.300000 m,
approachRate: -0.595085 m/s,
rangeRepo size: 4
2025-08-23T22:23:06.437Z,1755987786.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.905035 m,
bearing: 344.407756 deg,
lat: 36.779410 deg,
lon: -121.859554 deg,
deltaT: 0.504130 s,
deltaX: -0.298101 m,
approachRate: -0.591319 m/s,
posRepo size: 4
2025-08-23T22:23:06.437Z,1755987786.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-08-23T22:23:06.603Z,1755987786.603 [DAT](INFO): DAT read: 22:23:05.7975 LVL= 28576, 14449, 25042, 27411, AGC= 60, IDX= 504, 0.35, 1.679,-2.309, 2.548, 2.759, PHS=-0.978, 1.260,-0.255, RAW= 311.6, -0.3, CAL= 309.8, -3.5, ROT= 200.2, 3.5
2025-08-23T22:23:06.604Z,1755987786.604 [DAT](INFO): got valid direction response:
22:23:05.7975 LVL= 28576, 14449, 25042, 27411, AGC= 60, IDX= 504, 0.35, 1.679,-2.309, 2.548, 2.759, PHS=-0.978, 1.260,-0.255, RAW= 311.6, -0.3, CAL= 309.8, -3.5, ROT= 200.2, 3.5
2025-08-23T22:23:06.605Z,1755987786.605 [DAT](INFO): #Rx 39: Read direction message, but no range.
2025-08-23T22:23:06.607Z,1755987786.607 [DAT](INFO): direction in FSK: [-0.936743,-0.344654,-0.061049]
2025-08-23T22:23:06.856Z,1755987786.856 [DAT](INFO): DAT read: Rx Time:22:23:06.2975
2025-08-23T22:23:06.859Z,1755987786.859 [DAT](INFO): Rx dataTimestamp_ set to:1755987786.856894
2025-08-23T22:23:06.863Z,1755987786.863 [DAT](INFO): DAT read: Bearing 129.8, -21.8 (Local)
2025-08-23T22:23:06.865Z,1755987786.865 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -21.8 (Local)
2025-08-23T22:23:06.883Z,1755987786.883 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0
2025-08-23T22:23:06.930Z,1755987786.930 [DAT](INFO): DAT read: 22:23:06.2975 LVL= 27760, 14577, 25426, 28115, AGC= 61, IDX= 504, 0.13, 1.374,-2.593, 2.262, 2.467, PHS=-0.991, 1.268,-0.248, RAW= 311.2, -0.3, CAL= 309.4, -3.5, ROT= 200.6, 3.5
2025-08-23T22:23:06.931Z,1755987786.931 [DAT](INFO): got valid direction response:
22:23:06.2975 LVL= 27760, 14577, 25426, 28115, AGC= 61, IDX= 504, 0.13, 1.374,-2.593, 2.262, 2.467, PHS=-0.991, 1.268,-0.248, RAW= 311.2, -0.3, CAL= 309.4, -3.5, ROT= 200.6, 3.5
2025-08-23T22:23:06.931Z,1755987786.931 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-23T22:23:06.932Z,1755987786.932 [DAT](INFO): direction in FSK: [-0.934314,-0.351185,-0.061049]
2025-08-23T22:23:06.933Z,1755987786.933 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:07.051Z,1755987787.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.000000 m,
deltaT: 0.504347 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:07.059Z,1755987787.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.905044 m,
bearing: 344.899955 deg,
lat: 36.779409 deg,
lon: -121.859554 deg,
deltaT: 0.504347 s,
deltaX: 0.000009 m,
approachRate: 0.000017 m/s,
posRepo size: 4
2025-08-23T22:23:07.060Z,1755987787.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-08-23T22:23:07.358Z,1755987787.358 [DAT](INFO): DAT read: Rx Time:22:23:06.7974
2025-08-23T22:23:07.359Z,1755987787.359 [DAT](INFO): Rx dataTimestamp_ set to:1755987787.358042
2025-08-23T22:23:07.362Z,1755987787.362 [DAT](INFO): DAT read: Bearing 130.0, -21.7 (Local)
2025-08-23T22:23:07.363Z,1755987787.363 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.0, -21.7 (Local)
2025-08-23T22:23:07.367Z,1755987787.367 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0
2025-08-23T22:23:07.369Z,1755987787.369 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-08-23T22:23:07.443Z,1755987787.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 0.501148 s,
deltaX: -0.100000 m,
approachRate: -0.199543 m/s,
rangeRepo size: 4
2025-08-23T22:23:07.444Z,1755987787.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-08-23T22:23:07.610Z,1755987787.610 [DAT](INFO): DAT read: 22:23:06.7974 LVL= 28592, 16673, 25218, 30163, AGC= 61, IDX= 503,-0.04,-0.754, 1.571, 0.134, 0.337, PHS=-0.988, 1.279,-0.247, RAW= 311.3, -0.4, CAL= 309.6, -3.7, ROT= 200.4, 3.7
2025-08-23T22:23:07.611Z,1755987787.611 [DAT](INFO): got valid direction response:
22:23:06.7974 LVL= 28592, 16673, 25218, 30163, AGC= 61, IDX= 503,-0.04,-0.754, 1.571, 0.134, 0.337, PHS=-0.988, 1.279,-0.247, RAW= 311.3, -0.4, CAL= 309.6, -3.7, ROT= 200.4, 3.7
2025-08-23T22:23:07.611Z,1755987787.611 [DAT](INFO): #Rx 42: Read direction message, but no range.
2025-08-23T22:23:07.612Z,1755987787.612 [DAT](INFO): direction in FSK: [-0.935328,-0.347845,-0.064532]
2025-08-23T22:23:07.726Z,1755987787.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-08-23T22:23:07.864Z,1755987787.864 [DAT](INFO): DAT read: Rx Time:22:23:07.2975
2025-08-23T22:23:07.867Z,1755987787.867 [DAT](INFO): Rx dataTimestamp_ set to:1755987787.865138
2025-08-23T22:23:07.871Z,1755987787.871 [DAT](INFO): DAT read: Bearing 130.4, -21.6 (Local)
2025-08-23T22:23:07.872Z,1755987787.872 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.4, -21.6 (Local)
2025-08-23T22:23:07.878Z,1755987787.878 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.1
2025-08-23T22:23:07.918Z,1755987787.918 [DAT](INFO): DAT read: 22:23:07.2975 LVL= 31104, 18017, 28658, 31923, AGC= 60, IDX= 504,-0.19, 0.220, 2.572, 1.111, 1.310, PHS=-0.989, 1.306,-0.244, RAW= 311.4, -0.7, CAL= 309.7, -4.0, ROT= 200.3, 4.0
2025-08-23T22:23:07.919Z,1755987787.919 [DAT](INFO): got valid direction response:
22:23:07.2975 LVL= 31104, 18017, 28658, 31923, AGC= 60, IDX= 504,-0.19, 0.220, 2.572, 1.111, 1.310, PHS=-0.989, 1.306,-0.244, RAW= 311.4, -0.7, CAL= 309.7, -4.0, ROT= 200.3, 4.0
2025-08-23T22:23:07.920Z,1755987787.920 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-23T22:23:07.921Z,1755987787.921 [DAT](INFO): direction in FSK: [-0.935604,-0.346090,-0.069756]
2025-08-23T22:23:07.921Z,1755987787.921 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:08.189Z,1755987788.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.000000 m,
deltaT: 0.507096 s,
deltaX: 0.100000 m,
approachRate: 0.197202 m/s,
rangeRepo size: 4
2025-08-23T22:23:08.196Z,1755987788.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.905050 m,
bearing: 344.579271 deg,
lat: 36.779410 deg,
lon: -121.859554 deg,
deltaT: 1.008244 s,
deltaX: 0.000007 m,
approachRate: 0.000007 m/s,
posRepo size: 4
2025-08-23T22:23:08.197Z,1755987788.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-08-23T22:23:08.367Z,1755987788.367 [DAT](INFO): DAT read: Rx Time:22:23:07.7973
2025-08-23T22:23:08.368Z,1755987788.368 [DAT](INFO): Rx dataTimestamp_ set to:1755987788.367219
2025-08-23T22:23:08.373Z,1755987788.373 [DAT](INFO): DAT read: Bearing 130.5, -21.7 (Local)
2025-08-23T22:23:08.373Z,1755987788.373 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.5, -21.7 (Local)
2025-08-23T22:23:08.391Z,1755987788.391 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0
2025-08-23T22:23:08.397Z,1755987788.397 [DAT](INFO): DAT read: 22:23:07.7973 LVL= 31280, 15425, 27778, 30451, AGC= 60, IDX= 503,-0.39,-1.083, 1.251,-0.194,-0.004, PHS=-0.977, 1.300,-0.234, RAW= 311.3, -0.9, CAL= 309.7, -4.2, ROT= 200.3, 4.2
2025-08-23T22:23:08.398Z,1755987788.398 [DAT](INFO): got valid direction response:
22:23:07.7973 LVL= 31280, 15425, 27778, 30451, AGC= 60, IDX= 503,-0.39,-1.083, 1.251,-0.194,-0.004, PHS=-0.977, 1.300,-0.234, RAW= 311.3, -0.9, CAL= 309.7, -4.2, ROT= 200.3, 4.2
2025-08-23T22:23:08.398Z,1755987788.398 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-23T22:23:08.399Z,1755987788.399 [DAT](INFO): direction in FSK: [-0.935370,-0.346004,-0.073238]
2025-08-23T22:23:08.400Z,1755987788.400 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:08.576Z,1755987788.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.700000 m,
deltaT: 0.502081 s,
deltaX: -0.300000 m,
approachRate: -0.597514 m/s,
rangeRepo size: 4
2025-08-23T22:23:08.590Z,1755987788.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.606945 m,
bearing: 344.564375 deg,
lat: 36.779409 deg,
lon: -121.859554 deg,
deltaT: 0.502081 s,
deltaX: -0.298105 m,
approachRate: -0.593739 m/s,
posRepo size: 4
2025-08-23T22:23:08.590Z,1755987788.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:23:08.872Z,1755987788.872 [DAT](INFO): DAT read: Rx Time:22:23:08.2974
2025-08-23T22:23:08.873Z,1755987788.873 [DAT](INFO): Rx dataTimestamp_ set to:1755987788.872254
2025-08-23T22:23:08.877Z,1755987788.877 [DAT](INFO): DAT read: Bearing 129.8, -22.1 (Local)
2025-08-23T22:23:08.878Z,1755987788.878 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -22.1 (Local)
2025-08-23T22:23:08.884Z,1755987788.884 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0
2025-08-23T22:23:08.897Z,1755987788.897 [DAT](INFO): DAT read: 22:23:08.2974 LVL= 29488, 16337, 28498, 31571, AGC= 61, IDX= 503, 0.29, 2.108,-1.896, 2.990,-3.096, PHS=-0.977, 1.245,-0.242, RAW= 311.0, -0.3, CAL= 309.3, -3.5, ROT= 200.7, 3.5
2025-08-23T22:23:08.927Z,1755987788.927 [DAT](INFO): got valid direction response:
22:23:08.2974 LVL= 29488, 16337, 28498, 31571, AGC= 61, IDX= 503, 0.29, 2.108,-1.896, 2.990,-3.096, PHS=-0.977, 1.245,-0.242, RAW= 311.0, -0.3, CAL= 309.3, -3.5, ROT= 200.7, 3.5
2025-08-23T22:23:08.927Z,1755987788.927 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-23T22:23:08.928Z,1755987788.928 [DAT](INFO): direction in FSK: [-0.933699,-0.352816,-0.061049]
2025-08-23T22:23:08.928Z,1755987788.928 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:09.083Z,1755987789.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 0.505035 s,
deltaX: 0.200000 m,
approachRate: 0.396012 m/s,
rangeRepo size: 4
2025-08-23T22:23:09.090Z,1755987789.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.805679 m,
bearing: 345.045719 deg,
lat: 36.779409 deg,
lon: -121.859554 deg,
deltaT: 0.505035 s,
deltaX: 0.198734 m,
approachRate: 0.393506 m/s,
posRepo size: 4
2025-08-23T22:23:09.090Z,1755987789.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:23:09.371Z,1755987789.371 [DAT](INFO): DAT read: Rx Time:22:23:08.7973
2025-08-23T22:23:09.372Z,1755987789.372 [DAT](INFO): Rx dataTimestamp_ set to:1755987789.371434
2025-08-23T22:23:09.373Z,1755987789.373 [DAT](INFO): DAT read: Bearing 129.8, -22.1 (Local)
2025-08-23T22:23:09.374Z,1755987789.374 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.8, -22.1 (Local)
2025-08-23T22:23:09.376Z,1755987789.376 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0
2025-08-23T22:23:09.385Z,1755987789.385 [DAT](INFO): DAT read: 22:23:08.7973 LVL= 29600, 17633, 28130, 30803, AGC= 61, IDX= 502, 0.12, 0.964,-3.036, 1.848, 2.045, PHS=-0.979, 1.247,-0.242, RAW= 311.0, -0.3, CAL= 309.2, -3.5, ROT= 200.8, 3.5
2025-08-23T22:23:09.394Z,1755987789.394 [DAT](INFO): got valid direction response:
22:23:08.7973 LVL= 29600, 17633, 28130, 30803, AGC= 61, IDX= 502, 0.12, 0.964,-3.036, 1.848, 2.045, PHS=-0.979, 1.247,-0.242, RAW= 311.0, -0.3, CAL= 309.2, -3.5, ROT= 200.8, 3.5
2025-08-23T22:23:09.395Z,1755987789.395 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-23T22:23:09.396Z,1755987789.396 [DAT](INFO): direction in FSK: [-0.933082,-0.354445,-0.061049]
2025-08-23T22:23:09.396Z,1755987789.396 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:09.467Z,1755987789.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.700000 m,
deltaT: 0.499180 s,
deltaX: -0.200000 m,
approachRate: -0.400657 m/s,
rangeRepo size: 4
2025-08-23T22:23:09.469Z,1755987789.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.606945 m,
bearing: 345.143756 deg,
lat: 36.779409 deg,
lon: -121.859554 deg,
deltaT: 0.499180 s,
deltaX: -0.198734 m,
approachRate: -0.398121 m/s,
posRepo size: 4
2025-08-23T22:23:09.474Z,1755987789.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:23:09.779Z,1755987789.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:23:09.876Z,1755987789.876 [DAT](INFO): DAT read: Rx Time:22:23:09.2974
2025-08-23T22:23:09.878Z,1755987789.878 [DAT](INFO): Rx dataTimestamp_ set to:1755987789.877087
2025-08-23T22:23:09.882Z,1755987789.882 [DAT](INFO): DAT read: Bearing 130.3, -22.2 (Local)
2025-08-23T22:23:09.883Z,1755987789.883 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.3, -22.2 (Local)
2025-08-23T22:23:09.889Z,1755987789.889 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0
2025-08-23T22:23:09.907Z,1755987789.907 [DAT](INFO): DAT read: 22:23:09.2974 LVL= 26240, 16673, 24770, 26995, AGC= 60, IDX= 503,-0.03, 0.719, 3.027, 1.614, 1.799, PHS=-0.978, 1.273,-0.229, RAW= 310.9, -0.7, CAL= 309.2, -4.0, ROT= 200.8, 4.0
2025-08-23T22:23:09.915Z,1755987789.915 [DAT](INFO): got valid direction response:
22:23:09.2974 LVL= 26240, 16673, 24770, 26995, AGC= 60, IDX= 503,-0.03, 0.719, 3.027, 1.614, 1.799, PHS=-0.978, 1.273,-0.229, RAW= 310.9, -0.7, CAL= 309.2, -4.0, ROT= 200.8, 4.0
2025-08-23T22:23:09.916Z,1755987789.916 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-23T22:23:09.924Z,1755987789.924 [DAT](INFO): direction in FSK: [-0.932548,-0.354242,-0.069756]
2025-08-23T22:23:09.925Z,1755987789.925 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:10.219Z,1755987790.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 0.505653 s,
deltaX: 0.200000 m,
approachRate: 0.395528 m/s,
rangeRepo size: 4
2025-08-23T22:23:10.221Z,1755987790.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.805697 m,
bearing: 345.086769 deg,
lat: 36.779410 deg,
lon: -121.859554 deg,
deltaT: 0.505653 s,
deltaX: 0.198752 m,
approachRate: 0.393061 m/s,
posRepo size: 4
2025-08-23T22:23:10.228Z,1755987790.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:23:10.380Z,1755987790.380 [DAT](INFO): DAT read: Rx Time:22:23:09.7973
2025-08-23T22:23:10.380Z,1755987790.380 [DAT](INFO): Rx dataTimestamp_ set to:1755987790.379895
2025-08-23T22:23:10.382Z,1755987790.382 [DAT](INFO): DAT read: Bearing 130.6, -21.9 (Local)
2025-08-23T22:23:10.382Z,1755987790.382 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.6, -21.9 (Local)
2025-08-23T22:23:10.384Z,1755987790.384 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0
2025-08-23T22:23:10.388Z,1755987790.388 [DAT](INFO): DAT read: 22:23:09.7973 LVL= 28336, 15953, 25906, 27843, AGC= 61, IDX= 502,-0.18,-1.173, 1.175,-0.275,-0.090, PHS=-0.981, 1.310,-0.229, RAW= 311.2, -1.0, CAL= 309.6, -4.3, ROT= 200.4, 4.3
2025-08-23T22:23:10.389Z,1755987790.389 [DAT](INFO): got valid direction response:
22:23:09.7973 LVL= 28336, 15953, 25906, 27843, AGC= 61, IDX= 502,-0.18,-1.173, 1.175,-0.275,-0.090, PHS=-0.981, 1.310,-0.229, RAW= 311.2, -1.0, CAL= 309.6, -4.3, ROT= 200.4, 4.3
2025-08-23T22:23:10.390Z,1755987790.390 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-23T22:23:10.391Z,1755987790.391 [DAT](INFO): direction in FSK: [-0.934644,-0.347591,-0.074979]
2025-08-23T22:23:10.391Z,1755987790.391 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:10.574Z,1755987790.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.700000 m,
deltaT: 0.502808 s,
deltaX: -0.200000 m,
approachRate: -0.397766 m/s,
rangeRepo size: 4
2025-08-23T22:23:10.576Z,1755987790.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.606950 m,
bearing: 344.637621 deg,
lat: 36.779409 deg,
lon: -121.859554 deg,
deltaT: 0.502808 s,
deltaX: -0.198748 m,
approachRate: -0.395275 m/s,
posRepo size: 4
2025-08-23T22:23:10.577Z,1755987790.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:23:10.886Z,1755987790.886 [DAT](INFO): DAT read: Rx Time:22:23:10.2972
2025-08-23T22:23:10.888Z,1755987790.888 [DAT](INFO): Rx dataTimestamp_ set to:1755987790.886965
2025-08-23T22:23:10.892Z,1755987790.892 [DAT](INFO): DAT read: Bearing 130.4, -22.2 (Local)
2025-08-23T22:23:10.893Z,1755987790.893 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.4, -22.2 (Local)
2025-08-23T22:23:10.903Z,1755987790.903 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0
2025-08-23T22:23:10.951Z,1755987790.951 [DAT](INFO): DAT read: 22:23:10.2972 LVL= 29984, 15409, 27186, 28051, AGC= 62, IDX= 502,-0.37,-1.126, 1.217,-0.221,-0.037, PHS=-0.987, 1.299,-0.228, RAW= 311.0, -0.8, CAL= 309.3, -4.1, ROT= 200.7, 4.1
2025-08-23T22:23:10.952Z,1755987790.952 [DAT](INFO): got valid direction response:
22:23:10.2972 LVL= 29984, 15409, 27186, 28051, AGC= 62, IDX= 502,-0.37,-1.126, 1.217,-0.221,-0.037, PHS=-0.987, 1.299,-0.228, RAW= 311.0, -0.8, CAL= 309.3, -4.1, ROT= 200.7, 4.1
2025-08-23T22:23:10.953Z,1755987790.953 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-23T22:23:10.958Z,1755987790.958 [DAT](INFO): direction in FSK: [-0.933050,-0.352570,-0.071497]
2025-08-23T22:23:10.958Z,1755987790.958 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:11.095Z,1755987791.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.600000 m,
deltaT: 0.507070 s,
deltaX: -0.099999 m,
approachRate: -0.197210 m/s,
rangeRepo size: 4
2025-08-23T22:23:11.105Z,1755987791.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.507584 m,
bearing: 344.953892 deg,
lat: 36.779409 deg,
lon: -121.859554 deg,
deltaT: 0.507070 s,
deltaX: -0.099366 m,
approachRate: -0.195961 m/s,
posRepo size: 4
2025-08-23T22:23:11.105Z,1755987791.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-08-23T22:23:11.387Z,1755987791.387 [DAT](INFO): DAT read: Rx Time:22:23:10.7971
2025-08-23T22:23:11.388Z,1755987791.388 [DAT](INFO): Rx dataTimestamp_ set to:1755987791.387455
2025-08-23T22:23:11.389Z,1755987791.389 [DAT](INFO): DAT read: Bearing 130.9, -22.1 (Local)
2025-08-23T22:23:11.389Z,1755987791.389 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.9, -22.1 (Local)
2025-08-23T22:23:11.391Z,1755987791.391 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0
2025-08-23T22:23:11.396Z,1755987791.396 [DAT](INFO): DAT read: 22:23:10.7971 LVL= 29936, 17713, 27122, 30387, AGC= 62, IDX= 500, 0.47,-1.512, 0.798,-0.622,-0.453, PHS=-0.958, 1.295,-0.213, RAW= 311.1, -1.3, CAL= 309.5, -4.6, ROT= 200.5, 4.6
2025-08-23T22:23:11.397Z,1755987791.397 [DAT](INFO): got valid direction response:
22:23:10.7971 LVL= 29936, 17713, 27122, 30387, AGC= 62, IDX= 500, 0.47,-1.512, 0.798,-0.622,-0.453, PHS=-0.958, 1.295,-0.213, RAW= 311.1, -1.3, CAL= 309.5, -4.6, ROT= 200.5, 4.6
2025-08-23T22:23:11.397Z,1755987791.397 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-23T22:23:11.398Z,1755987791.398 [DAT](INFO): direction in FSK: [-0.933655,-0.349079,-0.080199]
2025-08-23T22:23:11.399Z,1755987791.399 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:11.576Z,1755987791.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 0.500490 s,
deltaX: -0.200001 m,
approachRate: -0.399610 m/s,
rangeRepo size: 4
2025-08-23T22:23:11.583Z,1755987791.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.308866 m,
bearing: 344.676040 deg,
lat: 36.779408 deg,
lon: -121.859555 deg,
deltaT: 0.500490 s,
deltaX: -0.198718 m,
approachRate: -0.397047 m/s,
posRepo size: 4
2025-08-23T22:23:11.583Z,1755987791.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-08-23T22:23:11.895Z,1755987791.895 [DAT](INFO): DAT read: Rx Time:22:23:11.2972
2025-08-23T22:23:11.895Z,1755987791.895 [DAT](INFO): Rx dataTimestamp_ set to:1755987791.895024
2025-08-23T22:23:11.897Z,1755987791.897 [DAT](INFO): DAT read: Bearing 130.2, -22.7 (Local)
2025-08-23T22:23:11.897Z,1755987791.897 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.2, -22.7 (Local)
2025-08-23T22:23:11.899Z,1755987791.899 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0
2025-08-23T22:23:11.904Z,1755987791.904 [DAT](INFO): DAT read: 22:23:11.2972 LVL= 28048, 15089, 24866, 26035, AGC= 61, IDX= 501, 0.21, 0.310, 2.622, 1.219, 1.395, PHS=-0.983, 1.271,-0.221, RAW= 310.6, -0.7, CAL= 308.9, -4.0, ROT= 201.1, 4.0
2025-08-23T22:23:11.906Z,1755987791.906 [DAT](INFO): got valid direction response:
22:23:11.2972 LVL= 28048, 15089, 24866, 26035, AGC= 61, IDX= 501, 0.21, 0.310, 2.622, 1.219, 1.395, PHS=-0.983, 1.271,-0.221, RAW= 310.6, -0.7, CAL= 308.9, -4.0, ROT= 201.1, 4.0
2025-08-23T22:23:11.908Z,1755987791.908 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-23T22:23:11.927Z,1755987791.927 [DAT](INFO): direction in FSK: [-0.930681,-0.359120,-0.069756]
2025-08-23T22:23:11.928Z,1755987791.928 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:12.085Z,1755987792.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.600000 m,
deltaT: 0.507569 s,
deltaX: 0.200001 m,
approachRate: 0.394037 m/s,
rangeRepo size: 4
2025-08-23T22:23:12.091Z,1755987792.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.507600 m,
bearing: 345.335423 deg,
lat: 36.779409 deg,
lon: -121.859555 deg,
deltaT: 0.507569 s,
deltaX: 0.198734 m,
approachRate: 0.391541 m/s,
posRepo size: 4
2025-08-23T22:23:12.092Z,1755987792.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-08-23T22:23:12.395Z,1755987792.395 [DAT](INFO): DAT read: Rx Time:22:23:11.7971
2025-08-23T22:23:12.396Z,1755987792.396 [DAT](INFO): Rx dataTimestamp_ set to:1755987792.395320
2025-08-23T22:23:12.397Z,1755987792.397 [DAT](INFO): DAT read: Bearing 130.7, -22.9 (Local)
2025-08-23T22:23:12.397Z,1755987792.397 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.7, -22.9 (Local)
2025-08-23T22:23:12.399Z,1755987792.399 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.1
2025-08-23T22:23:12.404Z,1755987792.404 [DAT](INFO): DAT read: 22:23:11.7971 LVL= 31200, 18145, 26994, 31379, AGC= 61, IDX= 500, 0.07,-1.599, 0.696,-0.689,-0.532, PHS=-0.966, 1.273,-0.202, RAW= 310.4, -1.1, CAL= 308.8, -4.4, ROT= 201.2, 4.4
2025-08-23T22:23:12.405Z,1755987792.405 [DAT](INFO): got valid direction response:
22:23:11.7971 LVL= 31200, 18145, 26994, 31379, AGC= 61, IDX= 500, 0.07,-1.599, 0.696,-0.689,-0.532, PHS=-0.966, 1.273,-0.202, RAW= 310.4, -1.1, CAL= 308.8, -4.4, ROT= 201.2, 4.4
2025-08-23T22:23:12.405Z,1755987792.405 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-23T22:23:12.406Z,1755987792.406 [DAT](INFO): direction in FSK: [-0.929576,-0.360559,-0.076719]
2025-08-23T22:23:12.406Z,1755987792.406 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:12.489Z,1755987792.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 0.500296 s,
deltaX: -0.200001 m,
approachRate: -0.399765 m/s,
rangeRepo size: 4
2025-08-23T22:23:12.511Z,1755987792.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.308866 m,
bearing: 345.392585 deg,
lat: 36.779408 deg,
lon: -121.859555 deg,
deltaT: 0.500296 s,
deltaX: -0.198734 m,
approachRate: -0.397233 m/s,
posRepo size: 4
2025-08-23T22:23:12.511Z,1755987792.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-08-23T22:23:12.784Z,1755987792.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-08-23T22:23:12.899Z,1755987792.899 [DAT](INFO): DAT read: Rx Time:22:23:12.2972
2025-08-23T22:23:12.900Z,1755987792.900 [DAT](INFO): Rx dataTimestamp_ set to:1755987792.899378
2025-08-23T22:23:12.904Z,1755987792.904 [DAT](INFO): DAT read: Bearing 130.9, -22.7 (Local)
2025-08-23T22:23:12.913Z,1755987792.913 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.9, -22.7 (Local)
2025-08-23T22:23:12.921Z,1755987792.921 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0
2025-08-23T22:23:12.937Z,1755987792.937 [DAT](INFO): DAT read: 22:23:12.2972 LVL= 29024, 14641, 25666, 26851, AGC= 62, IDX= 501,-0.08,-1.267, 1.061,-0.351,-0.193, PHS=-0.972, 1.299,-0.203, RAW= 310.5, -1.3, CAL= 309.0, -4.6, ROT= 201.0, 4.6
2025-08-23T22:23:12.942Z,1755987792.942 [DAT](INFO): got valid direction response:
22:23:12.2972 LVL= 29024, 14641, 25666, 26851, AGC= 62, IDX= 501,-0.08,-1.267, 1.061,-0.351,-0.193, PHS=-0.972, 1.299,-0.203, RAW= 310.5, -1.3, CAL= 309.0, -4.6, ROT= 201.0, 4.6
2025-08-23T22:23:12.943Z,1755987792.943 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-23T22:23:12.981Z,1755987792.981 [DAT](INFO): direction in FSK: [-0.930573,-0.357214,-0.080199]
2025-08-23T22:23:12.982Z,1755987792.982 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:13.251Z,1755987793.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.600000 m,
deltaT: 0.504058 s,
deltaX: 0.200001 m,
approachRate: 0.396781 m/s,
rangeRepo size: 4
2025-08-23T22:23:13.257Z,1755987793.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.507600 m,
bearing: 345.177278 deg,
lat: 36.779408 deg,
lon: -121.859555 deg,
deltaT: 0.504058 s,
deltaX: 0.198734 m,
approachRate: 0.394269 m/s,
posRepo size: 4
2025-08-23T22:23:13.258Z,1755987793.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-08-23T22:23:13.403Z,1755987793.403 [DAT](INFO): DAT read: Rx Time:22:23:12.7971
2025-08-23T22:23:13.404Z,1755987793.404 [DAT](INFO): Rx dataTimestamp_ set to:1755987793.403247
2025-08-23T22:23:13.405Z,1755987793.405 [DAT](INFO): DAT read: Bearing 131.1, -23.3 (Local)
2025-08-23T22:23:13.405Z,1755987793.405 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.1, -23.3 (Local)
2025-08-23T22:23:13.407Z,1755987793.407 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0
2025-08-23T22:23:13.427Z,1755987793.427 [DAT](INFO): DAT read: 22:23:12.7971 LVL= 26016, 15345, 26050, 32435, AGC= 60, IDX= 500,-0.27,-2.732,-0.430,-1.802,-1.666, PHS=-0.964, 1.281,-0.180, RAW= 309.9, -1.4, CAL= 308.4, -4.8, ROT= 201.6, 4.8
2025-08-23T22:23:13.428Z,1755987793.428 [DAT](INFO): got valid direction response:
22:23:12.7971 LVL= 26016, 15345, 26050, 32435, AGC= 60, IDX= 500,-0.27,-2.732,-0.430,-1.802,-1.666, PHS=-0.964, 1.281,-0.180, RAW= 309.9, -1.4, CAL= 308.4, -4.8, ROT= 201.6, 4.8
2025-08-23T22:23:13.429Z,1755987793.429 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-23T22:23:13.434Z,1755987793.434 [DAT](INFO): direction in FSK: [-0.926516,-0.366833,-0.083678]
2025-08-23T22:23:13.434Z,1755987793.434 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:13.602Z,1755987793.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 0.503869 s,
deltaX: -0.200001 m,
approachRate: -0.396930 m/s,
rangeRepo size: 4
2025-08-23T22:23:13.604Z,1755987793.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.308873 m,
bearing: 345.748525 deg,
lat: 36.779409 deg,
lon: -121.859554 deg,
deltaT: 0.503869 s,
deltaX: -0.198727 m,
approachRate: -0.394401 m/s,
posRepo size: 4
2025-08-23T22:23:13.605Z,1755987793.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-08-23T22:23:13.907Z,1755987793.907 [DAT](INFO): DAT read: Rx Time:22:23:13.2971
2025-08-23T22:23:13.908Z,1755987793.908 [DAT](INFO): Rx dataTimestamp_ set to:1755987793.907229
2025-08-23T22:23:13.909Z,1755987793.909 [DAT](INFO): DAT read: Bearing 131.0, -23.3 (Local)
2025-08-23T22:23:13.909Z,1755987793.909 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.0, -23.3 (Local)
2025-08-23T22:23:13.911Z,1755987793.911 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0
2025-08-23T22:23:13.916Z,1755987793.916 [DAT](INFO): DAT read: 22:23:13.2971 LVL= 26384, 15073, 25266, 26019, AGC= 60, IDX= 500, 0.39, 0.123, 2.440, 1.057, 1.200, PHS=-0.976, 1.285,-0.188, RAW= 309.9, -1.2, CAL= 308.4, -4.6, ROT= 201.6, 4.6
2025-08-23T22:23:13.917Z,1755987793.917 [DAT](INFO): got valid direction response:
22:23:13.2971 LVL= 26384, 15073, 25266, 26019, AGC= 60, IDX= 500, 0.39, 0.123, 2.440, 1.057, 1.200, PHS=-0.976, 1.285,-0.188, RAW= 309.9, -1.2, CAL= 308.4, -4.6, ROT= 201.6, 4.6
2025-08-23T22:23:13.918Z,1755987793.918 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-23T22:23:13.919Z,1755987793.919 [DAT](INFO): direction in FSK: [-0.926782,-0.366939,-0.080199]
2025-08-23T22:23:13.919Z,1755987793.919 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:14.164Z,1755987794.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 0.503982 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:14.170Z,1755987794.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.308873 m,
bearing: 345.765670 deg,
lat: 36.779409 deg,
lon: -121.859554 deg,
deltaT: 0.503982 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:14.171Z,1755987794.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-08-23T22:23:14.411Z,1755987794.411 [DAT](INFO): DAT read: Rx Time:22:23:13.7970
2025-08-23T22:23:14.411Z,1755987794.411 [DAT](INFO): Rx dataTimestamp_ set to:1755987794.411180
2025-08-23T22:23:14.413Z,1755987794.413 [DAT](INFO): DAT read: Bearing 131.5, -23.0 (Local)
2025-08-23T22:23:14.413Z,1755987794.413 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.5, -23.0 (Local)
2025-08-23T22:23:14.415Z,1755987794.415 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.1
2025-08-23T22:23:14.419Z,1755987794.419 [DAT](INFO): DAT read: 22:23:13.7970 LVL= 32752, 23953, 32754, 32755, AGC= 59, IDX= 499, 0.17,-0.896, 1.424, 0.030, 0.165, PHS=-0.959, 1.304,-0.179, RAW= 310.2, -1.7, CAL= 308.7, -5.1, ROT= 201.3, 5.1
2025-08-23T22:23:14.420Z,1755987794.420 [DAT](INFO): got valid direction response:
22:23:13.7970 LVL= 32752, 23953, 32754, 32755, AGC= 59, IDX= 499, 0.17,-0.896, 1.424, 0.030, 0.165, PHS=-0.959, 1.304,-0.179, RAW= 310.2, -1.7, CAL= 308.7, -5.1, ROT= 201.3, 5.1
2025-08-23T22:23:14.421Z,1755987794.421 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-23T22:23:14.422Z,1755987794.422 [DAT](INFO): direction in FSK: [-0.928003,-0.361813,-0.088894]
2025-08-23T22:23:14.422Z,1755987794.422 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:14.511Z,1755987794.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.300000 m,
deltaT: 0.503951 s,
deltaX: -0.099999 m,
approachRate: -0.198431 m/s,
rangeRepo size: 4
2025-08-23T22:23:14.547Z,1755987794.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.209507 m,
bearing: 345.414225 deg,
lat: 36.779409 deg,
lon: -121.859554 deg,
deltaT: 0.503951 s,
deltaX: -0.099366 m,
approachRate: -0.197174 m/s,
posRepo size: 4
2025-08-23T22:23:14.547Z,1755987794.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-08-23T22:23:14.892Z,1755987794.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:23:14.898Z,1755987794.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-08-23T22:23:14.915Z,1755987794.915 [DAT](INFO): DAT read: Rx Time:22:23:14.2970
2025-08-23T22:23:14.916Z,1755987794.916 [DAT](INFO): Rx dataTimestamp_ set to:1755987794.915402
2025-08-23T22:23:14.917Z,1755987794.917 [DAT](INFO): DAT read: Bearing 131.2, -23.9 (Local)
2025-08-23T22:23:14.917Z,1755987794.917 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.2, -23.9 (Local)
2025-08-23T22:23:14.919Z,1755987794.919 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.0
2025-08-23T22:23:14.928Z,1755987794.928 [DAT](INFO): DAT read: 22:23:14.2970 LVL= 29168, 15985, 25666, 28803, AGC= 59, IDX= 499,-0.06,-1.502, 0.817,-0.547,-0.425, PHS=-0.975, 1.287,-0.166, RAW= 309.3, -1.5, CAL= 307.8, -4.9, ROT= 202.2, 4.9
2025-08-23T22:23:14.929Z,1755987794.929 [DAT](INFO): got valid direction response:
22:23:14.2970 LVL= 29168, 15985, 25666, 28803, AGC= 59, IDX= 499,-0.06,-1.502, 0.817,-0.547,-0.425, PHS=-0.975, 1.287,-0.166, RAW= 309.3, -1.5, CAL= 307.8, -4.9, ROT= 202.2, 4.9
2025-08-23T22:23:14.929Z,1755987794.929 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-23T22:23:14.930Z,1755987794.930 [DAT](INFO): direction in FSK: [-0.922487,-0.376460,-0.085417]
2025-08-23T22:23:14.931Z,1755987794.931 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:14.934Z,1755987794.934 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:14.934Z,1755987794.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:15.166Z,1755987795.166 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:15.166Z,1755987795.166 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:15.167Z,1755987795.167 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:15.270Z,1755987795.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.300000 m,
deltaT: 0.504222 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:15.272Z,1755987795.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.209513 m,
bearing: 346.351576 deg,
lat: 36.779409 deg,
lon: -121.859554 deg,
deltaT: 0.504222 s,
deltaX: 0.000006 m,
approachRate: 0.000011 m/s,
posRepo size: 4
2025-08-23T22:23:15.272Z,1755987795.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-08-23T22:23:15.419Z,1755987795.419 [DAT](INFO): DAT read: Rx Time:22:23:14.7969
2025-08-23T22:23:15.420Z,1755987795.420 [DAT](INFO): Rx dataTimestamp_ set to:1755987795.419414
2025-08-23T22:23:15.421Z,1755987795.421 [DAT](INFO): DAT read: Bearing 131.9, -24.1 (Local)
2025-08-23T22:23:15.421Z,1755987795.421 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.9, -24.1 (Local)
2025-08-23T22:23:15.423Z,1755987795.423 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.0
2025-08-23T22:23:15.428Z,1755987795.428 [DAT](INFO): DAT read: 22:23:14.7969 LVL= 32752, 21153, 32530, 32755, AGC= 60, IDX= 498,-0.27, 2.816,-1.136,-2.499,-2.403, PHS=-0.962, 1.312,-0.140, RAW= 309.1, -2.1, CAL= 307.7, -5.6, ROT= 202.3, 5.6
2025-08-23T22:23:15.429Z,1755987795.429 [DAT](INFO): got valid direction response:
22:23:14.7969 LVL= 32752, 21153, 32530, 32755, AGC= 60, IDX= 498,-0.27, 2.816,-1.136,-2.499,-2.403, PHS=-0.962, 1.312,-0.140, RAW= 309.1, -2.1, CAL= 307.7, -5.6, ROT= 202.3, 5.6
2025-08-23T22:23:15.429Z,1755987795.429 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:15.430Z,1755987795.430 [DAT](INFO): direction in FSK: [-0.920794,-0.377645,-0.097583]
2025-08-23T22:23:15.431Z,1755987795.431 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:15.450Z,1755987795.450 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:15.450Z,1755987795.450 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:15.671Z,1755987795.671 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:15.671Z,1755987795.671 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:15.671Z,1755987795.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:15.684Z,1755987795.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.100000 m,
deltaT: 0.504012 s,
deltaX: -0.200000 m,
approachRate: -0.396816 m/s,
rangeRepo size: 4
2025-08-23T22:23:15.686Z,1755987795.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.010777 m,
bearing: 346.377730 deg,
lat: 36.779409 deg,
lon: -121.859554 deg,
deltaT: 0.504012 s,
deltaX: -0.198735 m,
approachRate: -0.394307 m/s,
posRepo size: 4
2025-08-23T22:23:15.687Z,1755987795.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-08-23T22:23:15.924Z,1755987795.924 [DAT](INFO): DAT read: Rx Time:22:23:15.2969
2025-08-23T22:23:15.924Z,1755987795.924 [DAT](INFO): Rx dataTimestamp_ set to:1755987795.924093
2025-08-23T22:23:15.926Z,1755987795.926 [DAT](INFO): DAT read: Bearing 131.3, -24.1 (Local)
2025-08-23T22:23:15.927Z,1755987795.927 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.3, -24.1 (Local)
2025-08-23T22:23:15.930Z,1755987795.930 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.1
2025-08-23T22:23:15.934Z,1755987795.934 [DAT](INFO): DAT read: 22:23:15.2969 LVL= 28144, 15729, 26738, 28147, AGC= 59, IDX= 498, 0.31,-0.352, 1.965, 0.611, 0.723, PHS=-0.973, 1.287,-0.156, RAW= 309.1, -1.6, CAL= 307.6, -5.1, ROT= 202.4, 5.1
2025-08-23T22:23:15.935Z,1755987795.935 [DAT](INFO): got valid direction response:
22:23:15.2969 LVL= 28144, 15729, 26738, 28147, AGC= 59, IDX= 498, 0.31,-0.352, 1.965, 0.611, 0.723, PHS=-0.973, 1.287,-0.156, RAW= 309.1, -1.6, CAL= 307.6, -5.1, ROT= 202.4, 5.1
2025-08-23T22:23:15.936Z,1755987795.936 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:15.937Z,1755987795.937 [DAT](INFO): direction in FSK: [-0.920886,-0.379562,-0.088894]
2025-08-23T22:23:15.937Z,1755987795.937 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:15.940Z,1755987795.940 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:15.941Z,1755987795.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:16.174Z,1755987796.174 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:16.174Z,1755987796.174 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:16.175Z,1755987796.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:16.195Z,1755987796.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.100000 m,
deltaT: 0.504679 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:16.204Z,1755987796.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.010777 m,
bearing: 346.520030 deg,
lat: 36.779408 deg,
lon: -121.859553 deg,
deltaT: 0.504679 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:16.205Z,1755987796.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-08-23T22:23:16.427Z,1755987796.427 [DAT](INFO): DAT read: Rx Time:22:23:15.7968
2025-08-23T22:23:16.428Z,1755987796.428 [DAT](INFO): Rx dataTimestamp_ set to:1755987796.427638
2025-08-23T22:23:16.430Z,1755987796.430 [DAT](INFO): DAT read: Bearing 130.4, -24.7 (Local)
2025-08-23T22:23:16.430Z,1755987796.430 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.4, -24.7 (Local)
2025-08-23T22:23:16.433Z,1755987796.433 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.0
2025-08-23T22:23:16.439Z,1755987796.439 [DAT](INFO): DAT read: 22:23:15.7968 LVL= 32752, 20273, 32754, 32755, AGC= 65, IDX= 497, 0.03,-1.149, 1.164,-0.169,-0.044, PHS=-1.003, 1.253,-0.169, RAW= 308.6, -0.8, CAL= 306.9, -4.3, ROT= 203.1, 4.3
2025-08-23T22:23:16.440Z,1755987796.440 [DAT](INFO): got valid direction response:
22:23:15.7968 LVL= 32752, 20273, 32754, 32755, AGC= 65, IDX= 497, 0.03,-1.149, 1.164,-0.169,-0.044, PHS=-1.003, 1.253,-0.169, RAW= 308.6, -0.8, CAL= 306.9, -4.3, ROT= 203.1, 4.3
2025-08-23T22:23:16.440Z,1755987796.440 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:16.441Z,1755987796.441 [DAT](INFO): direction in FSK: [-0.917232,-0.391233,-0.074979]
2025-08-23T22:23:16.442Z,1755987796.442 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:16.445Z,1755987796.445 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:16.446Z,1755987796.446 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:16.630Z,1755987796.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.000000 m,
deltaT: 0.503545 s,
deltaX: -0.100000 m,
approachRate: -0.198593 m/s,
rangeRepo size: 4
2025-08-23T22:23:16.632Z,1755987796.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.911416 m,
bearing: 347.292885 deg,
lat: 36.779408 deg,
lon: -121.859553 deg,
deltaT: 0.503545 s,
deltaX: -0.099361 m,
approachRate: -0.197324 m/s,
posRepo size: 4
2025-08-23T22:23:16.633Z,1755987796.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:23:16.679Z,1755987796.679 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:16.679Z,1755987796.679 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:16.680Z,1755987796.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:16.931Z,1755987796.931 [DAT](INFO): DAT read: Rx Time:22:23:16.2969
2025-08-23T22:23:16.931Z,1755987796.931 [DAT](INFO): Rx dataTimestamp_ set to:1755987796.931112
2025-08-23T22:23:16.933Z,1755987796.933 [DAT](INFO): DAT read: Bearing 130.6, -25.2 (Local)
2025-08-23T22:23:16.933Z,1755987796.933 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.6, -25.2 (Local)
2025-08-23T22:23:16.935Z,1755987796.935 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.0
2025-08-23T22:23:16.939Z,1755987796.939 [DAT](INFO): DAT read: 22:23:16.2969 LVL= 24688, 19505, 21090, 23667, AGC= 66, IDX= 2,-0.22,-1.090, 1.243,-0.083, 0.024, PHS=-1.012, 1.264,-0.152, RAW= 308.0, -1.0, CAL= 306.4, -4.5, ROT= 203.6, 4.5
2025-08-23T22:23:16.940Z,1755987796.940 [DAT](INFO): got valid direction response:
22:23:16.2969 LVL= 24688, 19505, 21090, 23667, AGC= 66, IDX= 2,-0.22,-1.090, 1.243,-0.083, 0.024, PHS=-1.012, 1.264,-0.152, RAW= 308.0, -1.0, CAL= 306.4, -4.5, ROT= 203.6, 4.5
2025-08-23T22:23:16.941Z,1755987796.941 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:16.942Z,1755987796.942 [DAT](INFO): direction in FSK: [-0.913538,-0.399115,-0.078459]
2025-08-23T22:23:16.942Z,1755987796.942 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:16.946Z,1755987796.946 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:16.946Z,1755987796.946 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:17.176Z,1755987797.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.100000 m,
deltaT: 0.503474 s,
deltaX: 0.100000 m,
approachRate: 0.198621 m/s,
rangeRepo size: 4
2025-08-23T22:23:17.183Z,1755987797.183 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:17.183Z,1755987797.183 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:17.183Z,1755987797.183 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:17.191Z,1755987797.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.010784 m,
bearing: 347.793325 deg,
lat: 36.779409 deg,
lon: -121.859553 deg,
deltaT: 0.503474 s,
deltaX: 0.099368 m,
approachRate: 0.197365 m/s,
posRepo size: 4
2025-08-23T22:23:17.191Z,1755987797.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-08-23T22:23:17.435Z,1755987797.435 [DAT](INFO): DAT read: Rx Time:22:23:16.7967
2025-08-23T22:23:17.436Z,1755987797.436 [DAT](INFO): Rx dataTimestamp_ set to:1755987797.435413
2025-08-23T22:23:17.437Z,1755987797.437 [DAT](INFO): DAT read: Bearing 130.1, -25.1 (Local)
2025-08-23T22:23:17.437Z,1755987797.437 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -25.1 (Local)
2025-08-23T22:23:17.439Z,1755987797.439 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.0
2025-08-23T22:23:17.444Z,1755987797.444 [DAT](INFO): DAT read: 22:23:16.7967 LVL= 32752, 18321, 32754, 32755, AGC= 64, IDX= 496, 0.41,-0.379, 1.917, 0.608, 0.732, PHS=-1.009, 1.230,-0.168, RAW= 308.2, -0.5, CAL= 306.5, -4.0, ROT= 203.5, 4.0
2025-08-23T22:23:17.445Z,1755987797.445 [DAT](INFO): got valid direction response:
22:23:16.7967 LVL= 32752, 18321, 32754, 32755, AGC= 64, IDX= 496, 0.41,-0.379, 1.917, 0.608, 0.732, PHS=-1.009, 1.230,-0.168, RAW= 308.2, -0.5, CAL= 306.5, -4.0, ROT= 203.5, 4.0
2025-08-23T22:23:17.445Z,1755987797.445 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:17.446Z,1755987797.446 [DAT](INFO): direction in FSK: [-0.914826,-0.397778,-0.069756]
2025-08-23T22:23:17.446Z,1755987797.446 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:17.450Z,1755987797.450 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:17.451Z,1755987797.451 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:17.586Z,1755987797.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 0.504301 s,
deltaX: -0.300000 m,
approachRate: -0.594883 m/s,
rangeRepo size: 4
2025-08-23T22:23:17.588Z,1755987797.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.712697 m,
bearing: 347.748696 deg,
lat: 36.779408 deg,
lon: -121.859551 deg,
deltaT: 0.504301 s,
deltaX: -0.298087 m,
approachRate: -0.591090 m/s,
posRepo size: 4
2025-08-23T22:23:17.589Z,1755987797.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:23:17.688Z,1755987797.688 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:17.688Z,1755987797.688 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:17.688Z,1755987797.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:17.897Z,1755987797.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:23:17.939Z,1755987797.939 [DAT](INFO): DAT read: Rx Time:22:23:17.2968
2025-08-23T22:23:17.940Z,1755987797.940 [DAT](INFO): Rx dataTimestamp_ set to:1755987797.939344
2025-08-23T22:23:17.941Z,1755987797.941 [DAT](INFO): DAT read: Bearing 143.3, -30.0 (Local)
2025-08-23T22:23:17.941Z,1755987797.941 [DAT](INFO): Local bearing/azimuth received:
Bearing 143.3, -30.0 (Local)
2025-08-23T22:23:17.943Z,1755987797.943 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.0
2025-08-23T22:23:17.948Z,1755987797.948 [DAT](INFO): DAT read: 22:23:17.2968 LVL= 28656, 17089, 23538, 28211, AGC= 60, IDX= 513, 0.14, 0.093, 2.664, 1.450, 1.021, PHS=-0.826, 1.688, 0.385, RAW= 301.2, -11.4, CAL= 302.0, -15.9, ROT= 208.0, 15.9
2025-08-23T22:23:17.949Z,1755987797.949 [DAT](INFO): got valid direction response:
22:23:17.2968 LVL= 28656, 17089, 23538, 28211, AGC= 60, IDX= 513, 0.14, 0.093, 2.664, 1.450, 1.021, PHS=-0.826, 1.688, 0.385, RAW= 301.2, -11.4, CAL= 302.0, -15.9, ROT= 208.0, 15.9
2025-08-23T22:23:17.949Z,1755987797.949 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:17.950Z,1755987797.950 [DAT](INFO): direction in FSK: [-0.849167,-0.451510,-0.273959]
2025-08-23T22:23:17.951Z,1755987797.951 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:17.954Z,1755987797.954 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:17.954Z,1755987797.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:18.191Z,1755987798.191 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:18.191Z,1755987798.191 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:18.191Z,1755987798.191 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:18.379Z,1755987798.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.000000 m,
deltaT: 0.503931 s,
deltaX: 0.200000 m,
approachRate: 0.396879 m/s,
rangeRepo size: 4
2025-08-23T22:23:18.381Z,1755987798.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.911431 m,
bearing: 351.043856 deg,
lat: 36.779408 deg,
lon: -121.859551 deg,
deltaT: 0.503931 s,
deltaX: 0.198734 m,
approachRate: 0.394368 m/s,
posRepo size: 4
2025-08-23T22:23:18.398Z,1755987798.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:23:18.444Z,1755987798.444 [DAT](INFO): DAT read: Rx Time:22:23:17.7967
2025-08-23T22:23:18.445Z,1755987798.445 [DAT](INFO): Rx dataTimestamp_ set to:1755987798.444459
2025-08-23T22:23:18.447Z,1755987798.447 [DAT](INFO): DAT read: Bearing 112.5, -24.3 (Local)
2025-08-23T22:23:18.447Z,1755987798.447 [DAT](INFO): Local bearing/azimuth received:
Bearing 112.5, -24.3 (Local)
2025-08-23T22:23:18.449Z,1755987798.449 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.1
2025-08-23T22:23:18.454Z,1755987798.454 [DAT](INFO): DAT read: 22:23:17.7967 LVL= 29168, 14353, 26466, 29555, AGC= 59, IDX= 512,-0.08,-2.026, 0.351,-0.966,-0.515, PHS=-1.409, 0.911,-0.496, RAW= 307.0, 9.8, CAL= 304.8, 11.9, ROT= 205.2, -11.9
2025-08-23T22:23:18.455Z,1755987798.455 [DAT](INFO): got valid direction response:
22:23:17.7967 LVL= 29168, 14353, 26466, 29555, AGC= 59, IDX= 512,-0.08,-2.026, 0.351,-0.966,-0.515, PHS=-1.409, 0.911,-0.496, RAW= 307.0, 9.8, CAL= 304.8, 11.9, ROT= 205.2, -11.9
2025-08-23T22:23:18.455Z,1755987798.455 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:18.456Z,1755987798.456 [DAT](INFO): direction in FSK: [-0.885381,-0.416629,0.206204]
2025-08-23T22:23:18.456Z,1755987798.456 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:18.460Z,1755987798.460 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:18.460Z,1755987798.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:18.694Z,1755987798.694 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:18.694Z,1755987798.694 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:18.695Z,1755987798.695 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:18.826Z,1755987798.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 0.505115 s,
deltaX: -0.200000 m,
approachRate: -0.395949 m/s,
rangeRepo size: 4
2025-08-23T22:23:18.828Z,1755987798.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.712696 m,
bearing: 351.092948 deg,
lat: 36.779409 deg,
lon: -121.859550 deg,
deltaT: 0.505115 s,
deltaX: -0.198735 m,
approachRate: -0.393446 m/s,
posRepo size: 4
2025-08-23T22:23:18.828Z,1755987798.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:23:18.947Z,1755987798.947 [DAT](INFO): DAT read: Rx Time:22:23:18.2966
2025-08-23T22:23:18.947Z,1755987798.947 [DAT](INFO): Rx dataTimestamp_ set to:1755987798.946821
2025-08-23T22:23:18.948Z,1755987798.948 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.0
2025-08-23T22:23:18.949Z,1755987798.949 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:23:18.950Z,1755987798.950 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:18.950Z,1755987798.950 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:19.199Z,1755987799.199 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:19.199Z,1755987799.199 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:19.199Z,1755987799.199 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:19.283Z,1755987799.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.700000 m,
deltaT: 0.502362 s,
deltaX: -0.100000 m,
approachRate: -0.199060 m/s,
rangeRepo size: 4
2025-08-23T22:23:19.284Z,1755987799.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:23:19.451Z,1755987799.451 [DAT](INFO): DAT read: Rx Time:22:23:18.7965
2025-08-23T22:23:19.452Z,1755987799.452 [DAT](INFO): Rx dataTimestamp_ set to:1755987799.451319
2025-08-23T22:23:19.453Z,1755987799.453 [DAT](INFO): DAT read: Bearing 129.6, -26.0 (Local)
2025-08-23T22:23:19.453Z,1755987799.453 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.6, -26.0 (Local)
2025-08-23T22:23:19.455Z,1755987799.455 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.0
2025-08-23T22:23:19.460Z,1755987799.460 [DAT](INFO): DAT read: 22:23:18.7965 LVL= 30320, 17905, 28002, 29011, AGC= 63, IDX= 510, 0.27,-1.331, 0.948,-0.322,-0.204, PHS=-1.025, 1.197,-0.162, RAW= 307.3, -0.1, CAL= 305.6, -3.6, ROT= 204.4, 3.6
2025-08-23T22:23:19.461Z,1755987799.461 [DAT](INFO): got valid direction response:
22:23:18.7965 LVL= 30320, 17905, 28002, 29011, AGC= 63, IDX= 510, 0.27,-1.331, 0.948,-0.322,-0.204, PHS=-1.025, 1.197,-0.162, RAW= 307.3, -0.1, CAL= 305.6, -3.6, ROT= 204.4, 3.6
2025-08-23T22:23:19.461Z,1755987799.461 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:19.462Z,1755987799.462 [DAT](INFO): direction in FSK: [-0.908887,-0.412289,-0.062791]
2025-08-23T22:23:19.462Z,1755987799.462 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:19.470Z,1755987799.470 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:19.471Z,1755987799.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:19.702Z,1755987799.702 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:19.703Z,1755987799.703 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:19.703Z,1755987799.703 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:19.718Z,1755987799.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.500000 m,
deltaT: 0.504498 s,
deltaX: -0.200000 m,
approachRate: -0.396433 m/s,
rangeRepo size: 4
2025-08-23T22:23:19.720Z,1755987799.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.414618 m,
bearing: 348.756841 deg,
lat: 36.779408 deg,
lon: -121.859549 deg,
deltaT: 1.006860 s,
deltaX: -0.298078 m,
approachRate: -0.296047 m/s,
posRepo size: 4
2025-08-23T22:23:19.721Z,1755987799.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-23T22:23:19.955Z,1755987799.955 [DAT](INFO): DAT read: Rx Time:22:23:19.2966
2025-08-23T22:23:19.955Z,1755987799.955 [DAT](INFO): Rx dataTimestamp_ set to:1755987799.955200
2025-08-23T22:23:19.957Z,1755987799.957 [DAT](INFO): DAT read: Bearing 130.0, -25.9 (Local)
2025-08-23T22:23:19.957Z,1755987799.957 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.0, -25.9 (Local)
2025-08-23T22:23:19.959Z,1755987799.959 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.0
2025-08-23T22:23:19.965Z,1755987799.965 [DAT](INFO): DAT read: 22:23:19.2966 LVL= 28096, 14161, 23442, 27123, AGC= 60, IDX= 511, 0.06,-0.239, 2.031, 0.764, 0.874, PHS=-1.010, 1.202,-0.153, RAW= 307.4, -0.4, CAL= 305.7, -3.9, ROT= 204.3, 3.9
2025-08-23T22:23:19.967Z,1755987799.967 [DAT](INFO): got valid direction response:
22:23:19.2966 LVL= 28096, 14161, 23442, 27123, AGC= 60, IDX= 511, 0.06,-0.239, 2.031, 0.764, 0.874, PHS=-1.010, 1.202,-0.153, RAW= 307.4, -0.4, CAL= 305.7, -3.9, ROT= 204.3, 3.9
2025-08-23T22:23:19.968Z,1755987799.968 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:19.969Z,1755987799.969 [DAT](INFO): direction in FSK: [-0.909293,-0.410561,-0.068015]
2025-08-23T22:23:19.969Z,1755987799.969 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:19.972Z,1755987799.972 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:19.973Z,1755987799.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:20.207Z,1755987800.207 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:20.207Z,1755987800.207 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:20.207Z,1755987800.207 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:20.223Z,1755987800.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.700000 m,
deltaT: 0.503881 s,
deltaX: 0.200000 m,
approachRate: 0.396919 m/s,
rangeRepo size: 4
2025-08-23T22:23:20.225Z,1755987800.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.613354 m,
bearing: 348.625801 deg,
lat: 36.779408 deg,
lon: -121.859549 deg,
deltaT: 0.503881 s,
deltaX: 0.198735 m,
approachRate: 0.394409 m/s,
posRepo size: 4
2025-08-23T22:23:20.225Z,1755987800.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m.
2025-08-23T22:23:20.459Z,1755987800.459 [DAT](INFO): DAT read: Rx Time:22:23:19.7965
2025-08-23T22:23:20.460Z,1755987800.460 [DAT](INFO): Rx dataTimestamp_ set to:1755987800.459319
2025-08-23T22:23:20.461Z,1755987800.461 [DAT](INFO): DAT read: Bearing 131.0, -25.9 (Local)
2025-08-23T22:23:20.461Z,1755987800.461 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.0, -25.9 (Local)
2025-08-23T22:23:20.463Z,1755987800.463 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.0
2025-08-23T22:23:20.468Z,1755987800.468 [DAT](INFO): DAT read: 22:23:19.7965 LVL= 27552, 16369, 22946, 27315, AGC= 58, IDX= 510,-0.10, 2.874,-1.099,-2.384,-2.303, PHS=-1.004, 1.250,-0.124, RAW= 307.2, -1.2, CAL= 305.7, -4.8, ROT= 204.3, 4.8
2025-08-23T22:23:20.469Z,1755987800.469 [DAT](INFO): got valid direction response:
22:23:19.7965 LVL= 27552, 16369, 22946, 27315, AGC= 58, IDX= 510,-0.10, 2.874,-1.099,-2.384,-2.303, PHS=-1.004, 1.250,-0.124, RAW= 307.2, -1.2, CAL= 305.7, -4.8, ROT= 204.3, 4.8
2025-08-23T22:23:20.482Z,1755987800.482 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:20.483Z,1755987800.483 [DAT](INFO): direction in FSK: [-0.908207,-0.410071,-0.083678]
2025-08-23T22:23:20.483Z,1755987800.483 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:20.490Z,1755987800.490 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:20.491Z,1755987800.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:20.652Z,1755987800.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.500000 m,
deltaT: 0.504119 s,
deltaX: -0.200000 m,
approachRate: -0.396731 m/s,
rangeRepo size: 4
2025-08-23T22:23:20.654Z,1755987800.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.414603 m,
bearing: 348.594056 deg,
lat: 36.779408 deg,
lon: -121.859549 deg,
deltaT: 0.504119 s,
deltaX: -0.198750 m,
approachRate: -0.394253 m/s,
posRepo size: 4
2025-08-23T22:23:20.655Z,1755987800.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-23T22:23:20.710Z,1755987800.710 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:20.711Z,1755987800.711 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:20.711Z,1755987800.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:20.963Z,1755987800.963 [DAT](INFO): DAT read: Rx Time:22:23:20.2965
2025-08-23T22:23:20.964Z,1755987800.964 [DAT](INFO): Rx dataTimestamp_ set to:1755987800.963258
2025-08-23T22:23:20.965Z,1755987800.965 [DAT](INFO): DAT read: Bearing 131.0, -25.5 (Local)
2025-08-23T22:23:20.965Z,1755987800.965 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.0, -25.5 (Local)
2025-08-23T22:23:20.967Z,1755987800.967 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.0
2025-08-23T22:23:20.972Z,1755987800.972 [DAT](INFO): DAT read: 22:23:20.2965 LVL= 27200, 15329, 28658, 28371, AGC= 58, IDX= 511,-0.33,-2.128, 0.211,-1.106,-1.014, PHS=-1.012, 1.270,-0.136, RAW= 307.6, -1.2, CAL= 306.1, -4.8, ROT= 203.9, 4.8
2025-08-23T22:23:20.973Z,1755987800.973 [DAT](INFO): got valid direction response:
22:23:20.2965 LVL= 27200, 15329, 28658, 28371, AGC= 58, IDX= 511,-0.33,-2.128, 0.211,-1.106,-1.014, PHS=-1.012, 1.270,-0.136, RAW= 307.6, -1.2, CAL= 306.1, -4.8, ROT= 203.9, 4.8
2025-08-23T22:23:20.973Z,1755987800.973 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:20.980Z,1755987800.980 [DAT](INFO): direction in FSK: [-0.911048,-0.403721,-0.083678]
2025-08-23T22:23:20.981Z,1755987800.981 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:20.984Z,1755987800.984 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:20.984Z,1755987800.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:21.120Z,1755987801.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.500000 m,
deltaT: 0.503939 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:21.130Z,1755987801.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.414603 m,
bearing: 348.225997 deg,
lat: 36.779408 deg,
lon: -121.859549 deg,
deltaT: 0.503939 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:21.131Z,1755987801.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-23T22:23:21.214Z,1755987801.214 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:21.215Z,1755987801.215 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:21.215Z,1755987801.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:21.454Z,1755987801.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-23T22:23:21.467Z,1755987801.467 [DAT](INFO): DAT read: Rx Time:22:23:20.7964
2025-08-23T22:23:21.468Z,1755987801.468 [DAT](INFO): Rx dataTimestamp_ set to:1755987801.467334
2025-08-23T22:23:21.469Z,1755987801.469 [DAT](INFO): DAT read: Bearing 130.3, -25.7 (Local)
2025-08-23T22:23:21.469Z,1755987801.469 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.3, -25.7 (Local)
2025-08-23T22:23:21.471Z,1755987801.471 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.0
2025-08-23T22:23:21.476Z,1755987801.476 [DAT](INFO): DAT read: 22:23:20.7964 LVL= 28128, 15425, 26866, 27491, AGC= 59, IDX= 509, 0.31,-1.085, 1.201,-0.079, 0.025, PHS=-1.009, 1.220,-0.148, RAW= 307.5, -0.7, CAL= 305.9, -4.2, ROT= 204.1, 4.2
2025-08-23T22:23:21.477Z,1755987801.477 [DAT](INFO): got valid direction response:
22:23:20.7964 LVL= 28128, 15425, 26866, 27491, AGC= 59, IDX= 509, 0.31,-1.085, 1.201,-0.079, 0.025, PHS=-1.009, 1.220,-0.148, RAW= 307.5, -0.7, CAL= 305.9, -4.2, ROT= 204.1, 4.2
2025-08-23T22:23:21.477Z,1755987801.477 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:21.478Z,1755987801.478 [DAT](INFO): direction in FSK: [-0.910383,-0.407234,-0.073238]
2025-08-23T22:23:21.478Z,1755987801.478 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:21.508Z,1755987801.508 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:21.509Z,1755987801.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:21.718Z,1755987801.718 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:21.719Z,1755987801.719 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:21.719Z,1755987801.719 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:21.884Z,1755987801.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.400000 m,
deltaT: 0.504076 s,
deltaX: -0.100000 m,
approachRate: -0.198384 m/s,
rangeRepo size: 4
2025-08-23T22:23:21.898Z,1755987801.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.315227 m,
bearing: 348.518206 deg,
lat: 36.779408 deg,
lon: -121.859550 deg,
deltaT: 0.504076 s,
deltaX: -0.099377 m,
approachRate: -0.197146 m/s,
posRepo size: 4
2025-08-23T22:23:21.899Z,1755987801.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m.
2025-08-23T22:23:21.973Z,1755987801.973 [DAT](INFO): DAT read: Rx Time:22:23:21.2965
2025-08-23T22:23:21.973Z,1755987801.973 [DAT](INFO): Rx dataTimestamp_ set to:1755987801.972794
2025-08-23T22:23:21.975Z,1755987801.975 [DAT](INFO): DAT read: Bearing 131.1, -25.6 (Local)
2025-08-23T22:23:21.976Z,1755987801.976 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.1, -25.6 (Local)
2025-08-23T22:23:21.978Z,1755987801.978 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.0
2025-08-23T22:23:21.984Z,1755987801.984 [DAT](INFO): DAT read: 22:23:21.2965 LVL= 29584, 16705, 27618, 28595, AGC= 58, IDX= 510, 0.13,-1.091, 1.229,-0.075, 0.013, PHS=-1.002, 1.260,-0.132, RAW= 307.6, -1.3, CAL= 306.1, -4.9, ROT= 203.9, 4.9
2025-08-23T22:23:21.995Z,1755987801.995 [DAT](INFO): got valid direction response:
22:23:21.2965 LVL= 29584, 16705, 27618, 28595, AGC= 58, IDX= 510, 0.13,-1.091, 1.229,-0.075, 0.013, PHS=-1.002, 1.260,-0.132, RAW= 307.6, -1.3, CAL= 306.1, -4.9, ROT= 203.9, 4.9
2025-08-23T22:23:21.995Z,1755987801.995 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:21.997Z,1755987801.997 [DAT](INFO): direction in FSK: [-0.910913,-0.403661,-0.085417]
2025-08-23T22:23:22.002Z,1755987802.002 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:22.012Z,1755987802.012 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:22.013Z,1755987802.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:22.222Z,1755987802.222 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:22.222Z,1755987802.222 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:22.223Z,1755987802.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:22.274Z,1755987802.274 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:23:22.334Z,1755987802.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.500000 m,
deltaT: 0.505460 s,
deltaX: 0.100000 m,
approachRate: 0.197840 m/s,
rangeRepo size: 4
2025-08-23T22:23:22.371Z,1755987802.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.414595 m,
bearing: 348.271248 deg,
lat: 36.779408 deg,
lon: -121.859550 deg,
deltaT: 0.505460 s,
deltaX: 0.099368 m,
approachRate: 0.196589 m/s,
posRepo size: 4
2025-08-23T22:23:22.390Z,1755987802.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-23T22:23:22.476Z,1755987802.476 [DAT](INFO): DAT read: Rx Time:22:23:21.7964
2025-08-23T22:23:22.477Z,1755987802.477 [DAT](INFO): Rx dataTimestamp_ set to:1755987802.476624
2025-08-23T22:23:22.478Z,1755987802.478 [DAT](INFO): DAT read: Bearing 131.2, -26.0 (Local)
2025-08-23T22:23:22.479Z,1755987802.479 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.2, -26.0 (Local)
2025-08-23T22:23:22.481Z,1755987802.481 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.1
2025-08-23T22:23:22.486Z,1755987802.486 [DAT](INFO): DAT read: 22:23:21.7964 LVL= 26944, 14129, 26098, 26179, AGC= 58, IDX= 509,-0.06, 2.849,-1.119,-2.406,-2.333, PHS=-0.999, 1.259,-0.117, RAW= 307.2, -1.5, CAL= 305.7, -5.1, ROT= 204.3, 5.1
2025-08-23T22:23:22.488Z,1755987802.488 [DAT](INFO): got valid direction response:
22:23:21.7964 LVL= 26944, 14129, 26098, 26179, AGC= 58, IDX= 509,-0.06, 2.849,-1.119,-2.406,-2.333, PHS=-0.999, 1.259,-0.117, RAW= 307.2, -1.5, CAL= 305.7, -5.1, ROT= 204.3, 5.1
2025-08-23T22:23:22.488Z,1755987802.488 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:22.490Z,1755987802.490 [DAT](INFO): direction in FSK: [-0.907795,-0.409885,-0.088894]
2025-08-23T22:23:22.491Z,1755987802.491 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:22.508Z,1755987802.508 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:22.508Z,1755987802.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:22.691Z,1755987802.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.400000 m,
deltaT: 0.503830 s,
deltaX: -0.100000 m,
approachRate: -0.198480 m/s,
rangeRepo size: 4
2025-08-23T22:23:22.693Z,1755987802.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.315220 m,
bearing: 348.654325 deg,
lat: 36.779408 deg,
lon: -121.859550 deg,
deltaT: 0.503830 s,
deltaX: -0.099375 m,
approachRate: -0.197239 m/s,
posRepo size: 4
2025-08-23T22:23:22.693Z,1755987802.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m.
2025-08-23T22:23:22.726Z,1755987802.726 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:22.727Z,1755987802.727 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:22.727Z,1755987802.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:22.979Z,1755987802.979 [DAT](INFO): DAT read: Rx Time:22:23:22.2965
2025-08-23T22:23:22.980Z,1755987802.980 [DAT](INFO): Rx dataTimestamp_ set to:1755987802.979235
2025-08-23T22:23:22.981Z,1755987802.981 [DAT](INFO): DAT read: Bearing 132.0, -25.8 (Local)
2025-08-23T22:23:22.981Z,1755987802.981 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.0, -25.8 (Local)
2025-08-23T22:23:22.983Z,1755987802.983 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.0
2025-08-23T22:23:22.988Z,1755987802.988 [DAT](INFO): DAT read: 22:23:22.2965 LVL= 28720, 16449, 27090, 27795, AGC= 56, IDX= 510,-0.21,-2.690,-0.337,-1.651,-1.595, PHS=-0.994, 1.303,-0.100, RAW= 307.3, -2.1, CAL= 306.0, -5.7, ROT= 204.0, 5.7
2025-08-23T22:23:22.989Z,1755987802.989 [DAT](INFO): got valid direction response:
22:23:22.2965 LVL= 28720, 16449, 27090, 27795, AGC= 56, IDX= 510,-0.21,-2.690,-0.337,-1.651,-1.595, PHS=-0.994, 1.303,-0.100, RAW= 307.3, -2.1, CAL= 306.0, -5.7, ROT= 204.0, 5.7
2025-08-23T22:23:22.990Z,1755987802.990 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:22.992Z,1755987802.992 [DAT](INFO): direction in FSK: [-0.909028,-0.404726,-0.099320]
2025-08-23T22:23:22.992Z,1755987802.992 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:23.000Z,1755987803.000 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:23.001Z,1755987803.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:23.225Z,1755987803.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.500000 m,
deltaT: 0.502611 s,
deltaX: 0.100000 m,
approachRate: 0.198962 m/s,
rangeRepo size: 4
2025-08-23T22:23:23.230Z,1755987803.230 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:23.230Z,1755987803.230 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:23.231Z,1755987803.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:23.238Z,1755987803.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.414588 m,
bearing: 348.315798 deg,
lat: 36.779408 deg,
lon: -121.859551 deg,
deltaT: 0.502611 s,
deltaX: 0.099368 m,
approachRate: 0.197704 m/s,
posRepo size: 4
2025-08-23T22:23:23.239Z,1755987803.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-23T22:23:23.278Z,1755987803.278 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:23:23.486Z,1755987803.486 [DAT](INFO): DAT read: Rx Time:22:23:22.7963
2025-08-23T22:23:23.486Z,1755987803.486 [DAT](INFO): Rx dataTimestamp_ set to:1755987803.486208
2025-08-23T22:23:23.488Z,1755987803.488 [DAT](INFO): DAT read: Bearing 131.2, -26.0 (Local)
2025-08-23T22:23:23.489Z,1755987803.489 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.2, -26.0 (Local)
2025-08-23T22:23:23.493Z,1755987803.493 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.0
2025-08-23T22:23:23.500Z,1755987803.500 [DAT](INFO): DAT read: 22:23:22.7963 LVL= 30016, 16353, 27762, 28915, AGC= 58, IDX= 508, 0.45,-2.338,-0.013,-1.303,-1.232, PHS=-1.004, 1.264,-0.115, RAW= 307.1, -1.5, CAL= 305.7, -5.1, ROT= 204.3, 5.1
2025-08-23T22:23:23.510Z,1755987803.510 [DAT](INFO): got valid direction response:
22:23:22.7963 LVL= 30016, 16353, 27762, 28915, AGC= 58, IDX= 508, 0.45,-2.338,-0.013,-1.303,-1.232, PHS=-1.004, 1.264,-0.115, RAW= 307.1, -1.5, CAL= 305.7, -5.1, ROT= 204.3, 5.1
2025-08-23T22:23:23.510Z,1755987803.510 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:23.511Z,1755987803.511 [DAT](INFO): direction in FSK: [-0.907795,-0.409885,-0.088894]
2025-08-23T22:23:23.512Z,1755987803.512 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:23.520Z,1755987803.520 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:23.520Z,1755987803.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:23.609Z,1755987803.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.200000 m,
deltaT: 0.506973 s,
deltaX: -0.300000 m,
approachRate: -0.591748 m/s,
rangeRepo size: 4
2025-08-23T22:23:23.615Z,1755987803.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.116517 m,
bearing: 348.679160 deg,
lat: 36.779408 deg,
lon: -121.859551 deg,
deltaT: 0.506973 s,
deltaX: -0.298071 m,
approachRate: -0.587942 m/s,
posRepo size: 4
2025-08-23T22:23:23.615Z,1755987803.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-08-23T22:23:23.738Z,1755987803.738 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:23.739Z,1755987803.739 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:23.739Z,1755987803.739 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:23.925Z,1755987803.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-08-23T22:23:23.995Z,1755987803.995 [DAT](INFO): DAT read: Rx Time:22:23:23.2963
2025-08-23T22:23:23.996Z,1755987803.996 [DAT](INFO): Rx dataTimestamp_ set to:1755987803.995069
2025-08-23T22:23:23.998Z,1755987803.998 [DAT](INFO): DAT read: Bearing 131.4, -26.2 (Local)
2025-08-23T22:23:23.999Z,1755987803.999 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.4, -26.2 (Local)
2025-08-23T22:23:24.002Z,1755987804.002 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.1
2025-08-23T22:23:24.010Z,1755987804.010 [DAT](INFO): DAT read: 22:23:23.2963 LVL= 29536, 16545, 30146, 28499, AGC= 59, IDX= 508, 0.19,-2.243, 0.077,-1.205,-1.144, PHS=-0.997, 1.266,-0.106, RAW= 307.0, -1.7, CAL= 305.6, -5.3, ROT= 204.4, 5.3
2025-08-23T22:23:24.012Z,1755987804.012 [DAT](INFO): got valid direction response:
22:23:23.2963 LVL= 29536, 16545, 30146, 28499, AGC= 59, IDX= 508, 0.19,-2.243, 0.077,-1.205,-1.144, PHS=-0.997, 1.266,-0.106, RAW= 307.0, -1.7, CAL= 305.6, -5.3, ROT= 204.4, 5.3
2025-08-23T22:23:24.012Z,1755987804.012 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:24.015Z,1755987804.015 [DAT](INFO): direction in FSK: [-0.906790,-0.411338,-0.092371]
2025-08-23T22:23:24.015Z,1755987804.015 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:24.020Z,1755987804.020 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:24.020Z,1755987804.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:24.242Z,1755987804.242 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:24.242Z,1755987804.242 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:24.243Z,1755987804.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:24.389Z,1755987804.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.200000 m,
deltaT: 0.508861 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:24.391Z,1755987804.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.116517 m,
bearing: 348.786794 deg,
lat: 36.779408 deg,
lon: -121.859551 deg,
deltaT: 0.508861 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:24.392Z,1755987804.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-08-23T22:23:24.497Z,1755987804.497 [DAT](INFO): DAT read: Rx Time:22:23:23.7962
2025-08-23T22:23:24.498Z,1755987804.498 [DAT](INFO): Rx dataTimestamp_ set to:1755987804.497042
2025-08-23T22:23:24.499Z,1755987804.499 [DAT](INFO): DAT read: Bearing 131.6, -26.7 (Local)
2025-08-23T22:23:24.500Z,1755987804.500 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.6, -26.7 (Local)
2025-08-23T22:23:24.504Z,1755987804.504 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.0
2025-08-23T22:23:24.513Z,1755987804.513 [DAT](INFO): DAT read: 22:23:23.7962 LVL= 29616, 17505, 28498, 29939, AGC= 59, IDX= 507, 0.02, 2.227,-1.725,-2.992,-2.948, PHS=-1.006, 1.268,-0.089, RAW= 306.4, -1.8, CAL= 305.0, -5.5, ROT= 205.0, 5.5
2025-08-23T22:23:24.523Z,1755987804.523 [DAT](INFO): got valid direction response:
22:23:23.7962 LVL= 29616, 17505, 28498, 29939, AGC= 59, IDX= 507, 0.02, 2.227,-1.725,-2.992,-2.948, PHS=-1.006, 1.268,-0.089, RAW= 306.4, -1.8, CAL= 305.0, -5.5, ROT= 205.0, 5.5
2025-08-23T22:23:24.524Z,1755987804.524 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:24.525Z,1755987804.525 [DAT](INFO): direction in FSK: [-0.902135,-0.420673,-0.095846]
2025-08-23T22:23:24.525Z,1755987804.525 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:24.536Z,1755987804.536 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:24.536Z,1755987804.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:24.746Z,1755987804.746 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:24.746Z,1755987804.746 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:24.747Z,1755987804.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:24.754Z,1755987804.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.100000 m,
deltaT: 0.501973 s,
deltaX: -0.099999 m,
approachRate: -0.199213 m/s,
rangeRepo size: 4
2025-08-23T22:23:24.756Z,1755987804.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.017138 m,
bearing: 349.366741 deg,
lat: 36.779408 deg,
lon: -121.859551 deg,
deltaT: 0.501973 s,
deltaX: -0.099380 m,
approachRate: -0.197978 m/s,
posRepo size: 4
2025-08-23T22:23:24.757Z,1755987804.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-23T22:23:25.000Z,1755987805.000 [DAT](INFO): DAT read: Rx Time:22:23:24.2963
2025-08-23T22:23:25.001Z,1755987805.001 [DAT](INFO): Rx dataTimestamp_ set to:1755987805.000680
2025-08-23T22:23:25.003Z,1755987805.003 [DAT](INFO): DAT read: Bearing 132.4, -27.0 (Local)
2025-08-23T22:23:25.004Z,1755987805.004 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.4, -27.0 (Local)
2025-08-23T22:23:25.007Z,1755987805.007 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.0
2025-08-23T22:23:25.014Z,1755987805.014 [DAT](INFO): DAT read: 22:23:24.2963 LVL= 31120, 16369, 27474, 31859, AGC= 59, IDX= 508,-0.15, 1.989,-1.931, 3.077, 3.091, PHS=-1.001, 1.305,-0.058, RAW= 306.0, -2.5, CAL= 304.8, -6.2, ROT= 205.2, 6.2
2025-08-23T22:23:25.016Z,1755987805.016 [DAT](INFO): got valid direction response:
22:23:24.2963 LVL= 31120, 16369, 27474, 31859, AGC= 59, IDX= 508,-0.15, 1.989,-1.931, 3.077, 3.091, PHS=-1.001, 1.305,-0.058, RAW= 306.0, -2.5, CAL= 304.8, -6.2, ROT= 205.2, 6.2
2025-08-23T22:23:25.017Z,1755987805.017 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:25.018Z,1755987805.018 [DAT](INFO): direction in FSK: [-0.899535,-0.423289,-0.107999]
2025-08-23T22:23:25.018Z,1755987805.018 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:25.022Z,1755987805.022 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:25.022Z,1755987805.022 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:25.234Z,1755987805.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.200000 m,
deltaT: 0.503638 s,
deltaX: 0.099999 m,
approachRate: 0.198554 m/s,
rangeRepo size: 4
2025-08-23T22:23:25.236Z,1755987805.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.116504 m,
bearing: 349.508622 deg,
lat: 36.779408 deg,
lon: -121.859551 deg,
deltaT: 0.503638 s,
deltaX: 0.099366 m,
approachRate: 0.197297 m/s,
posRepo size: 4
2025-08-23T22:23:25.236Z,1755987805.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-08-23T22:23:25.250Z,1755987805.250 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:25.250Z,1755987805.250 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:25.251Z,1755987805.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:25.505Z,1755987805.505 [DAT](INFO): DAT read: Rx Time:22:23:24.7961
2025-08-23T22:23:25.506Z,1755987805.506 [DAT](INFO): Rx dataTimestamp_ set to:1755987805.504749
2025-08-23T22:23:25.507Z,1755987805.507 [DAT](INFO): DAT read: Bearing 132.4, -27.4 (Local)
2025-08-23T22:23:25.508Z,1755987805.508 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.4, -27.4 (Local)
2025-08-23T22:23:25.511Z,1755987805.511 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.1
2025-08-23T22:23:25.546Z,1755987805.546 [DAT](INFO): DAT read: 22:23:24.7961 LVL= 26176, 14689, 25746, 26067, AGC= 58, IDX= 507,-0.44, 1.382,-2.549, 2.477, 2.484, PHS=-1.000, 1.295,-0.051, RAW= 305.7, -2.5, CAL= 304.5, -6.2, ROT= 205.5, 6.2
2025-08-23T22:23:25.547Z,1755987805.547 [DAT](INFO): got valid direction response:
22:23:24.7961 LVL= 26176, 14689, 25746, 26067, AGC= 58, IDX= 507,-0.44, 1.382,-2.549, 2.477, 2.484, PHS=-1.000, 1.295,-0.051, RAW= 305.7, -2.5, CAL= 304.5, -6.2, ROT= 205.5, 6.2
2025-08-23T22:23:25.547Z,1755987805.547 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:25.548Z,1755987805.548 [DAT](INFO): direction in FSK: [-0.897306,-0.427993,-0.107999]
2025-08-23T22:23:25.548Z,1755987805.548 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:25.564Z,1755987805.564 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:25.564Z,1755987805.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:25.627Z,1755987805.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.900000 m,
deltaT: 0.504069 s,
deltaX: -0.300000 m,
approachRate: -0.595157 m/s,
rangeRepo size: 4
2025-08-23T22:23:25.629Z,1755987805.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.818431 m,
bearing: 349.813983 deg,
lat: 36.779408 deg,
lon: -121.859550 deg,
deltaT: 0.504069 s,
deltaX: -0.298073 m,
approachRate: -0.591333 m/s,
posRepo size: 4
2025-08-23T22:23:25.634Z,1755987805.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-23T22:23:25.754Z,1755987805.754 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:25.755Z,1755987805.755 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:25.755Z,1755987805.755 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:25.931Z,1755987805.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-23T22:23:26.008Z,1755987806.008 [DAT](INFO): DAT read: Rx Time:22:23:25.2962
2025-08-23T22:23:26.009Z,1755987806.009 [DAT](INFO): Rx dataTimestamp_ set to:1755987806.008388
2025-08-23T22:23:26.011Z,1755987806.011 [DAT](INFO): DAT read: Bearing 132.2, -27.6 (Local)
2025-08-23T22:23:26.012Z,1755987806.012 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.2, -27.6 (Local)
2025-08-23T22:23:26.015Z,1755987806.015 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.0
2025-08-23T22:23:26.023Z,1755987806.023 [DAT](INFO): DAT read: 22:23:25.2962 LVL= 29600, 14833, 24306, 27779, AGC= 59, IDX= 507, 0.24,-2.571,-0.252,-1.484,-1.476, PHS=-0.993, 1.269,-0.052, RAW= 305.5, -2.3, CAL= 304.3, -6.1, ROT= 205.7, 6.1
2025-08-23T22:23:26.025Z,1755987806.025 [DAT](INFO): got valid direction response:
22:23:25.2962 LVL= 29600, 14833, 24306, 27779, AGC= 59, IDX= 507, 0.24,-2.571,-0.252,-1.484,-1.476, PHS=-0.993, 1.269,-0.052, RAW= 305.5, -2.3, CAL= 304.3, -6.1, ROT= 205.7, 6.1
2025-08-23T22:23:26.025Z,1755987806.025 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:26.030Z,1755987806.030 [DAT](INFO): direction in FSK: [-0.895975,-0.431204,-0.106264]
2025-08-23T22:23:26.030Z,1755987806.030 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:26.038Z,1755987806.038 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:26.038Z,1755987806.038 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:26.258Z,1755987806.258 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:26.258Z,1755987806.258 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:26.259Z,1755987806.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:26.404Z,1755987806.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.100000 m,
deltaT: 0.503639 s,
deltaX: 0.200001 m,
approachRate: 0.397111 m/s,
rangeRepo size: 4
2025-08-23T22:23:26.406Z,1755987806.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.017167 m,
bearing: 350.032930 deg,
lat: 36.779408 deg,
lon: -121.859550 deg,
deltaT: 0.503639 s,
deltaX: 0.198736 m,
approachRate: 0.394600 m/s,
posRepo size: 4
2025-08-23T22:23:26.407Z,1755987806.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-23T22:23:26.513Z,1755987806.513 [DAT](INFO): DAT read: Rx Time:22:23:25.7961
2025-08-23T22:23:26.515Z,1755987806.515 [DAT](INFO): Rx dataTimestamp_ set to:1755987806.513941
2025-08-23T22:23:26.520Z,1755987806.520 [DAT](INFO): DAT read: Bearing 132.4, -27.9 (Local)
2025-08-23T22:23:26.520Z,1755987806.520 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.4, -27.9 (Local)
2025-08-23T22:23:26.523Z,1755987806.523 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.1
2025-08-23T22:23:26.528Z,1755987806.528 [DAT](INFO): DAT read: 22:23:25.7961 LVL= 26608, 16801, 26610, 26947, AGC= 59, IDX= 506,-0.00, 1.592,-2.328, 2.707, 2.702, PHS=-1.009, 1.298,-0.039, RAW= 305.2, -2.5, CAL= 304.1, -6.3, ROT= 205.9, 6.3
2025-08-23T22:23:26.538Z,1755987806.538 [DAT](INFO): got valid direction response:
22:23:25.7961 LVL= 26608, 16801, 26610, 26947, AGC= 59, IDX= 506,-0.00, 1.592,-2.328, 2.707, 2.702, PHS=-1.009, 1.298,-0.039, RAW= 305.2, -2.5, CAL= 304.1, -6.3, ROT= 205.9, 6.3
2025-08-23T22:23:26.539Z,1755987806.539 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:26.540Z,1755987806.540 [DAT](INFO): direction in FSK: [-0.894125,-0.434164,-0.109734]
2025-08-23T22:23:26.540Z,1755987806.540 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:26.552Z,1755987806.552 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:26.552Z,1755987806.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:26.748Z,1755987806.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.900000 m,
deltaT: 0.505553 s,
deltaX: -0.200001 m,
approachRate: -0.395608 m/s,
rangeRepo size: 4
2025-08-23T22:23:26.751Z,1755987806.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.818439 m,
bearing: 350.228426 deg,
lat: 36.779408 deg,
lon: -121.859550 deg,
deltaT: 0.505553 s,
deltaX: -0.198729 m,
approachRate: -0.393091 m/s,
posRepo size: 4
2025-08-23T22:23:26.751Z,1755987806.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-23T22:23:26.762Z,1755987806.762 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:26.762Z,1755987806.762 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:26.763Z,1755987806.763 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:27.015Z,1755987807.015 [DAT](INFO): DAT read: Rx Time:22:23:26.2960
2025-08-23T22:23:27.016Z,1755987807.016 [DAT](INFO): Rx dataTimestamp_ set to:1755987807.015313
2025-08-23T22:23:27.017Z,1755987807.017 [DAT](INFO): DAT read: Bearing 133.3, -28.2 (Local)
2025-08-23T22:23:27.017Z,1755987807.017 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.3, -28.2 (Local)
2025-08-23T22:23:27.019Z,1755987807.019 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.0
2025-08-23T22:23:27.024Z,1755987807.024 [DAT](INFO): DAT read: 22:23:26.2960 LVL= 28112, 16497, 25970, 26003, AGC= 58, IDX= 506,-0.22, 0.534, 2.938, 1.677, 1.642, PHS=-1.005, 1.341,-0.008, RAW= 305.0, -3.2, CAL= 303.9, -7.1, ROT= 206.1, 7.1
2025-08-23T22:23:27.025Z,1755987807.025 [DAT](INFO): got valid direction response:
22:23:26.2960 LVL= 28112, 16497, 25970, 26003, AGC= 58, IDX= 506,-0.22, 0.534, 2.938, 1.677, 1.642, PHS=-1.005, 1.341,-0.008, RAW= 305.0, -3.2, CAL= 303.9, -7.1, ROT= 206.1, 7.1
2025-08-23T22:23:27.025Z,1755987807.025 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:27.026Z,1755987807.026 [DAT](INFO): direction in FSK: [-0.891141,-0.436566,-0.123601]
2025-08-23T22:23:27.027Z,1755987807.027 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:27.030Z,1755987807.030 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:27.030Z,1755987807.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:27.227Z,1755987807.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.800000 m,
deltaT: 0.501372 s,
deltaX: -0.099999 m,
approachRate: -0.199452 m/s,
rangeRepo size: 4
2025-08-23T22:23:27.233Z,1755987807.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.719071 m,
bearing: 350.360303 deg,
lat: 36.779408 deg,
lon: -121.859549 deg,
deltaT: 0.501372 s,
deltaX: -0.099367 m,
approachRate: -0.198190 m/s,
posRepo size: 4
2025-08-23T22:23:27.234Z,1755987807.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m.
2025-08-23T22:23:27.268Z,1755987807.268 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:27.268Z,1755987807.268 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:27.268Z,1755987807.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:27.519Z,1755987807.519 [DAT](INFO): DAT read: Rx Time:22:23:26.7958
2025-08-23T22:23:27.520Z,1755987807.520 [DAT](INFO): Rx dataTimestamp_ set to:1755987807.519334
2025-08-23T22:23:27.521Z,1755987807.521 [DAT](INFO): DAT read: Bearing 133.1, -28.5 (Local)
2025-08-23T22:23:27.521Z,1755987807.521 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.1, -28.5 (Local)
2025-08-23T22:23:27.523Z,1755987807.523 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.2
2025-08-23T22:23:27.528Z,1755987807.528 [DAT](INFO): DAT read: 22:23:26.7958 LVL= 26208, 14545, 24962, 25363, AGC= 58, IDX= 504, 0.40, 1.106,-2.811, 2.245, 2.210, PHS=-1.002, 1.307,-0.009, RAW= 304.6, -3.0, CAL= 303.6, -6.9, ROT= 206.4, 6.9
2025-08-23T22:23:27.529Z,1755987807.529 [DAT](INFO): got valid direction response:
22:23:26.7958 LVL= 26208, 14545, 24962, 25363, AGC= 58, IDX= 504, 0.40, 1.106,-2.811, 2.245, 2.210, PHS=-1.002, 1.307,-0.009, RAW= 304.6, -3.0, CAL= 303.6, -6.9, ROT= 206.4, 6.9
2025-08-23T22:23:27.529Z,1755987807.529 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:27.530Z,1755987807.530 [DAT](INFO): direction in FSK: [-0.889224,-0.441415,-0.120137]
2025-08-23T22:23:27.531Z,1755987807.531 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:27.534Z,1755987807.534 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:27.534Z,1755987807.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:27.666Z,1755987807.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.504021 s,
deltaX: -0.300000 m,
approachRate: -0.595214 m/s,
rangeRepo size: 4
2025-08-23T22:23:27.668Z,1755987807.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.420961 m,
bearing: 350.711818 deg,
lat: 36.779407 deg,
lon: -121.859549 deg,
deltaT: 0.504021 s,
deltaX: -0.298110 m,
approachRate: -0.591463 m/s,
posRepo size: 4
2025-08-23T22:23:27.668Z,1755987807.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-23T22:23:27.771Z,1755987807.771 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:27.771Z,1755987807.771 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:27.772Z,1755987807.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:27.955Z,1755987807.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-23T22:23:28.023Z,1755987808.023 [DAT](INFO): DAT read: Rx Time:22:23:27.2959
2025-08-23T22:23:28.024Z,1755987808.024 [DAT](INFO): Rx dataTimestamp_ set to:1755987808.023481
2025-08-23T22:23:28.025Z,1755987808.025 [DAT](INFO): DAT read: Bearing 133.1, -28.6 (Local)
2025-08-23T22:23:28.025Z,1755987808.025 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.1, -28.6 (Local)
2025-08-23T22:23:28.027Z,1755987808.027 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.1
2025-08-23T22:23:28.034Z,1755987808.034 [DAT](INFO): DAT read: 22:23:27.2959 LVL= 29680, 16241, 25074, 28259, AGC= 59, IDX= 505, 0.12, 2.606,-1.310,-2.534,-2.573, PHS=-1.003, 1.308,-0.005, RAW= 304.5, -3.0, CAL= 303.5, -6.9, ROT= 206.5, 6.9
2025-08-23T22:23:28.035Z,1755987808.035 [DAT](INFO): got valid direction response:
22:23:27.2959 LVL= 29680, 16241, 25074, 28259, AGC= 59, IDX= 505, 0.12, 2.606,-1.310,-2.534,-2.573, PHS=-1.003, 1.308,-0.005, RAW= 304.5, -3.0, CAL= 303.5, -6.9, ROT= 206.5, 6.9
2025-08-23T22:23:28.036Z,1755987808.036 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:28.037Z,1755987808.037 [DAT](INFO): direction in FSK: [-0.888453,-0.442966,-0.120137]
2025-08-23T22:23:28.042Z,1755987808.042 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:28.050Z,1755987808.050 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:28.050Z,1755987808.050 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:28.274Z,1755987808.274 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:28.274Z,1755987808.274 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:28.275Z,1755987808.275 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:28.469Z,1755987808.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.600000 m,
deltaT: 0.504147 s,
deltaX: 0.100000 m,
approachRate: 0.198356 m/s,
rangeRepo size: 4
2025-08-23T22:23:28.488Z,1755987808.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.520329 m,
bearing: 350.842581 deg,
lat: 36.779407 deg,
lon: -121.859549 deg,
deltaT: 0.504147 s,
deltaX: 0.099368 m,
approachRate: 0.197101 m/s,
posRepo size: 4
2025-08-23T22:23:28.489Z,1755987808.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-08-23T22:23:28.527Z,1755987808.527 [DAT](INFO): DAT read: Rx Time:22:23:27.7958
2025-08-23T22:23:28.528Z,1755987808.528 [DAT](INFO): Rx dataTimestamp_ set to:1755987808.527341
2025-08-23T22:23:28.529Z,1755987808.529 [DAT](INFO): DAT read: Bearing 133.4, -29.1 (Local)
2025-08-23T22:23:28.529Z,1755987808.529 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.4, -29.1 (Local)
2025-08-23T22:23:28.531Z,1755987808.531 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1
2025-08-23T22:23:28.536Z,1755987808.536 [DAT](INFO): DAT read: 22:23:27.7958 LVL= 32752, 18465, 28322, 32755, AGC= 60, IDX= 504,-0.10,-0.392, 2.020, 0.788, 0.731, PHS=-1.021, 1.334, 0.013, RAW= 304.0, -3.2, CAL= 303.0, -7.2, ROT= 207.0, 7.2
2025-08-23T22:23:28.537Z,1755987808.537 [DAT](INFO): got valid direction response:
22:23:27.7958 LVL= 32752, 18465, 28322, 32755, AGC= 60, IDX= 504,-0.10,-0.392, 2.020, 0.788, 0.731, PHS=-1.021, 1.334, 0.013, RAW= 304.0, -3.2, CAL= 303.0, -7.2, ROT= 207.0, 7.2
2025-08-23T22:23:28.537Z,1755987808.537 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:28.538Z,1755987808.538 [DAT](INFO): direction in FSK: [-0.883981,-0.450411,-0.125333]
2025-08-23T22:23:28.539Z,1755987808.539 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:28.546Z,1755987808.546 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:28.546Z,1755987808.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:28.778Z,1755987808.778 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:28.778Z,1755987808.778 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:28.779Z,1755987808.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:28.869Z,1755987808.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.503860 s,
deltaX: -0.100000 m,
approachRate: -0.198469 m/s,
rangeRepo size: 4
2025-08-23T22:23:28.879Z,1755987808.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.420973 m,
bearing: 351.363436 deg,
lat: 36.779407 deg,
lon: -121.859549 deg,
deltaT: 0.503860 s,
deltaX: -0.099357 m,
approachRate: -0.197191 m/s,
posRepo size: 4
2025-08-23T22:23:28.880Z,1755987808.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-23T22:23:29.031Z,1755987809.031 [DAT](INFO): DAT read: Rx Time:22:23:28.2958
2025-08-23T22:23:29.032Z,1755987809.032 [DAT](INFO): Rx dataTimestamp_ set to:1755987809.031241
2025-08-23T22:23:29.033Z,1755987809.033 [DAT](INFO): DAT read: Bearing 133.1, -29.6 (Local)
2025-08-23T22:23:29.033Z,1755987809.033 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.1, -29.6 (Local)
2025-08-23T22:23:29.036Z,1755987809.036 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.0
2025-08-23T22:23:29.041Z,1755987809.041 [DAT](INFO): DAT read: 22:23:28.2958 LVL= 26432, 14993, 25074, 25203, AGC= 59, IDX= 505,-0.46, 1.820,-2.079, 3.001, 2.944, PHS=-1.022, 1.305, 0.013, RAW= 303.6, -3.0, CAL= 302.6, -6.9, ROT= 207.4, 6.9
2025-08-23T22:23:29.042Z,1755987809.042 [DAT](INFO): got valid direction response:
22:23:28.2958 LVL= 26432, 14993, 25074, 25203, AGC= 59, IDX= 505,-0.46, 1.820,-2.079, 3.001, 2.944, PHS=-1.022, 1.305, 0.013, RAW= 303.6, -3.0, CAL= 302.6, -6.9, ROT= 207.4, 6.9
2025-08-23T22:23:29.042Z,1755987809.042 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:29.043Z,1755987809.043 [DAT](INFO): direction in FSK: [-0.881385,-0.456867,-0.120137]
2025-08-23T22:23:29.044Z,1755987809.044 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:29.047Z,1755987809.047 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:29.047Z,1755987809.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:29.265Z,1755987809.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.503900 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:29.267Z,1755987809.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.420973 m,
bearing: 351.796373 deg,
lat: 36.779407 deg,
lon: -121.859548 deg,
deltaT: 0.503900 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:29.267Z,1755987809.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-23T22:23:29.282Z,1755987809.282 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:29.282Z,1755987809.282 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:29.283Z,1755987809.283 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:29.535Z,1755987809.535 [DAT](INFO): DAT read: Rx Time:22:23:28.7958
2025-08-23T22:23:29.536Z,1755987809.536 [DAT](INFO): Rx dataTimestamp_ set to:1755987809.535273
2025-08-23T22:23:29.537Z,1755987809.537 [DAT](INFO): DAT read: Bearing 132.8, -29.6 (Local)
2025-08-23T22:23:29.537Z,1755987809.537 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.8, -29.6 (Local)
2025-08-23T22:23:29.539Z,1755987809.539 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1
2025-08-23T22:23:29.544Z,1755987809.544 [DAT](INFO): DAT read: 22:23:28.7958 LVL= 29104, 17473, 27058, 27891, AGC= 58, IDX= 503, 0.19, 2.329,-1.579,-2.780,-2.825, PHS=-1.027, 1.291, 0.001, RAW= 303.7, -2.7, CAL= 302.6, -6.6, ROT= 207.4, 6.6
2025-08-23T22:23:29.545Z,1755987809.545 [DAT](INFO): got valid direction response:
22:23:28.7958 LVL= 29104, 17473, 27058, 27891, AGC= 58, IDX= 503, 0.19, 2.329,-1.579,-2.780,-2.825, PHS=-1.027, 1.291, 0.001, RAW= 303.7, -2.7, CAL= 302.6, -6.6, ROT= 207.4, 6.6
2025-08-23T22:23:29.545Z,1755987809.545 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:29.559Z,1755987809.559 [DAT](INFO): direction in FSK: [-0.881932,-0.457150,-0.114937]
2025-08-23T22:23:29.559Z,1755987809.559 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:29.563Z,1755987809.563 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:29.563Z,1755987809.563 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:29.681Z,1755987809.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.504032 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:29.687Z,1755987809.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.420969 m,
bearing: 351.878124 deg,
lat: 36.779407 deg,
lon: -121.859548 deg,
deltaT: 0.504032 s,
deltaX: -0.000004 m,
approachRate: -0.000008 m/s,
posRepo size: 4
2025-08-23T22:23:29.688Z,1755987809.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-23T22:23:29.787Z,1755987809.787 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:29.787Z,1755987809.787 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:29.788Z,1755987809.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:30.015Z,1755987810.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-23T22:23:30.039Z,1755987810.039 [DAT](INFO): DAT read: Rx Time:22:23:29.2958
2025-08-23T22:23:30.040Z,1755987810.040 [DAT](INFO): Rx dataTimestamp_ set to:1755987810.039387
2025-08-23T22:23:30.041Z,1755987810.041 [DAT](INFO): DAT read: Bearing 134.1, -29.4 (Local)
2025-08-23T22:23:30.041Z,1755987810.041 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.1, -29.4 (Local)
2025-08-23T22:23:30.043Z,1755987810.043 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.0
2025-08-23T22:23:30.048Z,1755987810.048 [DAT](INFO): DAT read: 22:23:29.2958 LVL= 30896, 15777, 26834, 27971, AGC= 55, IDX= 504, 0.02, 1.743,-2.122, 2.934, 2.853, PHS=-1.008, 1.353, 0.037, RAW= 303.8, -3.8, CAL= 302.9, -7.7, ROT= 207.1, 7.7
2025-08-23T22:23:30.049Z,1755987810.049 [DAT](INFO): got valid direction response:
22:23:29.2958 LVL= 30896, 15777, 26834, 27971, AGC= 55, IDX= 504, 0.02, 1.743,-2.122, 2.934, 2.853, PHS=-1.008, 1.353, 0.037, RAW= 303.8, -3.8, CAL= 302.9, -7.7, ROT= 207.1, 7.7
2025-08-23T22:23:30.049Z,1755987810.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:30.050Z,1755987810.050 [DAT](INFO): direction in FSK: [-0.882186,-0.451438,-0.133986]
2025-08-23T22:23:30.051Z,1755987810.051 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:30.058Z,1755987810.058 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:30.058Z,1755987810.058 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:30.290Z,1755987810.290 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:30.290Z,1755987810.290 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:30.291Z,1755987810.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:30.439Z,1755987810.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.504114 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:30.442Z,1755987810.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.420969 m,
bearing: 351.515060 deg,
lat: 36.779407 deg,
lon: -121.859548 deg,
deltaT: 0.504114 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:30.442Z,1755987810.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-23T22:23:30.545Z,1755987810.545 [DAT](INFO): DAT read: Rx Time:22:23:29.7958
2025-08-23T22:23:30.545Z,1755987810.545 [DAT](INFO): Rx dataTimestamp_ set to:1755987810.544969
2025-08-23T22:23:30.547Z,1755987810.547 [DAT](INFO): DAT read: Bearing 133.4, -29.8 (Local)
2025-08-23T22:23:30.547Z,1755987810.547 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.4, -29.8 (Local)
2025-08-23T22:23:30.549Z,1755987810.549 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.0
2025-08-23T22:23:30.554Z,1755987810.554 [DAT](INFO): DAT read: 22:23:29.7958 LVL= 28528, 16881, 27410, 28067, AGC= 59, IDX= 503,-0.28, 0.192, 2.616, 1.396, 1.328, PHS=-1.034, 1.332, 0.023, RAW= 303.5, -3.2, CAL= 302.5, -7.1, ROT= 207.5, 7.1
2025-08-23T22:23:30.556Z,1755987810.556 [DAT](INFO): got valid direction response:
22:23:29.7958 LVL= 28528, 16881, 27410, 28067, AGC= 59, IDX= 503,-0.28, 0.192, 2.616, 1.396, 1.328, PHS=-1.034, 1.332, 0.023, RAW= 303.5, -3.2, CAL= 302.5, -7.1, ROT= 207.5, 7.1
2025-08-23T22:23:30.556Z,1755987810.556 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:30.564Z,1755987810.564 [DAT](INFO): direction in FSK: [-0.880209,-0.458208,-0.123601]
2025-08-23T22:23:30.564Z,1755987810.564 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:30.572Z,1755987810.572 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:30.572Z,1755987810.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:30.794Z,1755987810.794 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:30.794Z,1755987810.794 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:30.795Z,1755987810.795 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:30.875Z,1755987810.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.505582 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:30.882Z,1755987810.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.420980 m,
bearing: 351.998165 deg,
lat: 36.779407 deg,
lon: -121.859548 deg,
deltaT: 0.505582 s,
deltaX: 0.000011 m,
approachRate: 0.000023 m/s,
posRepo size: 4
2025-08-23T22:23:30.882Z,1755987810.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-23T22:23:31.047Z,1755987811.047 [DAT](INFO): DAT read: Rx Time:22:23:30.2957
2025-08-23T22:23:31.048Z,1755987811.048 [DAT](INFO): Rx dataTimestamp_ set to:1755987811.047296
2025-08-23T22:23:31.049Z,1755987811.049 [DAT](INFO): DAT read: Bearing 132.5, -30.2 (Local)
2025-08-23T22:23:31.049Z,1755987811.049 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.5, -30.2 (Local)
2025-08-23T22:23:31.051Z,1755987811.051 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:23:31.060Z,1755987811.060 [DAT](INFO): DAT read: 22:23:30.2957 LVL= 27232, 15057, 25250, 24435, AGC= 59, IDX= 502, 0.34, 1.961,-1.968,-3.141, 3.094, PHS=-1.031, 1.266, 0.004, RAW= 303.3, -2.4, CAL= 302.1, -6.4, ROT= 207.9, 6.4
2025-08-23T22:23:31.062Z,1755987811.062 [DAT](INFO): got valid direction response:
22:23:30.2957 LVL= 27232, 15057, 25250, 24435, AGC= 59, IDX= 502, 0.34, 1.961,-1.968,-3.141, 3.094, PHS=-1.031, 1.266, 0.004, RAW= 303.3, -2.4, CAL= 302.1, -6.4, ROT= 207.9, 6.4
2025-08-23T22:23:31.062Z,1755987811.062 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:31.063Z,1755987811.063 [DAT](INFO): direction in FSK: [-0.878258,-0.465013,-0.111469]
2025-08-23T22:23:31.063Z,1755987811.063 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:31.067Z,1755987811.067 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:31.067Z,1755987811.067 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:31.276Z,1755987811.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.502327 s,
deltaX: -0.200000 m,
approachRate: -0.398147 m/s,
rangeRepo size: 4
2025-08-23T22:23:31.282Z,1755987811.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.222245 m,
bearing: 352.483136 deg,
lat: 36.779407 deg,
lon: -121.859547 deg,
deltaT: 0.502327 s,
deltaX: -0.198735 m,
approachRate: -0.395629 m/s,
posRepo size: 4
2025-08-23T22:23:31.283Z,1755987811.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:23:31.298Z,1755987811.298 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:31.298Z,1755987811.298 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:31.299Z,1755987811.299 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:31.551Z,1755987811.551 [DAT](INFO): DAT read: Rx Time:22:23:30.7956
2025-08-23T22:23:31.551Z,1755987811.551 [DAT](INFO): Rx dataTimestamp_ set to:1755987811.551210
2025-08-23T22:23:31.553Z,1755987811.553 [DAT](INFO): DAT read: Bearing 132.8, -30.0 (Local)
2025-08-23T22:23:31.553Z,1755987811.553 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.8, -30.0 (Local)
2025-08-23T22:23:31.555Z,1755987811.555 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.1
2025-08-23T22:23:31.560Z,1755987811.560 [DAT](INFO): DAT read: 22:23:30.7956 LVL= 29168, 17521, 27234, 29427, AGC= 60, IDX= 501, 0.07, 0.358, 2.761, 1.555, 1.504, PHS=-1.044, 1.303, 0.008, RAW= 303.4, -2.6, CAL= 302.3, -6.6, ROT= 207.7, 6.6
2025-08-23T22:23:31.561Z,1755987811.561 [DAT](INFO): got valid direction response:
22:23:30.7956 LVL= 29168, 17521, 27234, 29427, AGC= 60, IDX= 501, 0.07, 0.358, 2.761, 1.555, 1.504, PHS=-1.044, 1.303, 0.008, RAW= 303.4, -2.6, CAL= 302.3, -6.6, ROT= 207.7, 6.6
2025-08-23T22:23:31.561Z,1755987811.561 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:31.562Z,1755987811.562 [DAT](INFO): direction in FSK: [-0.879526,-0.461761,-0.114937]
2025-08-23T22:23:31.562Z,1755987811.562 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:31.570Z,1755987811.570 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:31.570Z,1755987811.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:31.706Z,1755987811.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.503914 s,
deltaX: -0.100000 m,
approachRate: -0.198447 m/s,
rangeRepo size: 4
2025-08-23T22:23:31.708Z,1755987811.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.122884 m,
bearing: 352.283680 deg,
lat: 36.779407 deg,
lon: -121.859548 deg,
deltaT: 0.503914 s,
deltaX: -0.099361 m,
approachRate: -0.197179 m/s,
posRepo size: 4
2025-08-23T22:23:31.709Z,1755987811.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:23:31.802Z,1755987811.802 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:31.803Z,1755987811.803 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:31.803Z,1755987811.803 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:32.034Z,1755987812.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:23:32.055Z,1755987812.055 [DAT](INFO): DAT read: Rx Time:22:23:31.2957
2025-08-23T22:23:32.056Z,1755987812.056 [DAT](INFO): Rx dataTimestamp_ set to:1755987812.055363
2025-08-23T22:23:32.057Z,1755987812.057 [DAT](INFO): DAT read: Bearing 133.3, -30.4 (Local)
2025-08-23T22:23:32.057Z,1755987812.057 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.3, -30.4 (Local)
2025-08-23T22:23:32.059Z,1755987812.059 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0
2025-08-23T22:23:32.064Z,1755987812.064 [DAT](INFO): DAT read: 22:23:31.2957 LVL= 28704, 15217, 26850, 26483, AGC= 59, IDX= 502,-0.15, 0.385, 2.788, 1.598, 1.524, PHS=-1.037, 1.309, 0.030, RAW= 303.0, -3.0, CAL= 302.0, -7.0, ROT= 208.0, 7.0
2025-08-23T22:23:32.065Z,1755987812.065 [DAT](INFO): got valid direction response:
22:23:31.2957 LVL= 28704, 15217, 26850, 26483, AGC= 59, IDX= 502,-0.15, 0.385, 2.788, 1.598, 1.524, PHS=-1.037, 1.309, 0.030, RAW= 303.0, -3.0, CAL= 302.0, -7.0, ROT= 208.0, 7.0
2025-08-23T22:23:32.065Z,1755987812.065 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:32.066Z,1755987812.066 [DAT](INFO): direction in FSK: [-0.876366,-0.465972,-0.121869]
2025-08-23T22:23:32.067Z,1755987812.067 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:32.070Z,1755987812.070 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:32.070Z,1755987812.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:32.309Z,1755987812.309 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:32.310Z,1755987812.310 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:32.310Z,1755987812.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:32.456Z,1755987812.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.504153 s,
deltaX: 0.100000 m,
approachRate: 0.198353 m/s,
rangeRepo size: 4
2025-08-23T22:23:32.458Z,1755987812.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.222252 m,
bearing: 352.579778 deg,
lat: 36.779407 deg,
lon: -121.859548 deg,
deltaT: 0.504153 s,
deltaX: 0.099368 m,
approachRate: 0.197099 m/s,
posRepo size: 4
2025-08-23T22:23:32.459Z,1755987812.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:23:32.560Z,1755987812.560 [DAT](INFO): DAT read: Rx Time:22:23:31.7955
2025-08-23T22:23:32.561Z,1755987812.561 [DAT](INFO): Rx dataTimestamp_ set to:1755987812.559976
2025-08-23T22:23:32.565Z,1755987812.565 [DAT](INFO): DAT read: Bearing 33.7, -30.4 (Local
Rnge 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.1
2025-08-23T22:23:32.565Z,1755987812.565 [DAT](INFO): unknown deviceResponse_: Bearing 33.7, -30.4 (Local
Rnge 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.1
2025-08-23T22:23:32.571Z,1755987812.571 [DAT](INFO): DAT read: 22:23:31.7955 LVL= 30192, 16161, 26802, 28595, AGC= 59, IDX= 501,-0.41,-1.223, 1.192,-0.007,-0.092, PHS=-1.029, 1.329, 0.042, RAW= 303.0, -3.4, CAL= 302.1, -7.4, ROT= 207.9, 7.4
2025-08-23T22:23:32.572Z,1755987812.572 [DAT](INFO): got valid direction response:
22:23:31.7955 LVL= 30192, 16161, 26802, 28595, AGC= 59, IDX= 501,-0.41,-1.223, 1.192,-0.007,-0.092, PHS=-1.029, 1.329, 0.042, RAW= 303.0, -3.4, CAL= 302.1, -7.4, ROT= 207.9, 7.4
2025-08-23T22:23:32.573Z,1755987812.573 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:23:32.575Z,1755987812.575 [DAT](INFO): direction in FSK: [-0.876405,-0.464032,-0.128796]
2025-08-23T22:23:32.578Z,1755987812.578 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:32.578Z,1755987812.578 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:32.578Z,1755987812.578 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:32.812Z,1755987812.812 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:32.813Z,1755987812.813 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:32.814Z,1755987812.814 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:32.881Z,1755987812.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:23:33.063Z,1755987813.063 [DAT](INFO): DAT read: Rx Time:22:23:32.2956
2025-08-23T22:23:33.064Z,1755987813.064 [DAT](INFO): Rx dataTimestamp_ set to:1755987813.063245
2025-08-23T22:23:33.065Z,1755987813.065 [DAT](INFO): DAT read: Bearing 133.3, -30.8 (ocl)
2025-08-23T22:23:33.065Z,1755987813.065 [DAT](INFO): unknown deviceResponse_: Bearing 133.3, -30.8 (ocl)
2025-08-23T22:23:33.067Z,1755987813.067 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:23:33.072Z,1755987813.072 [DAT](INFO): DAT read: 22:23:32.2956 LVL= 29888, 17377, 27202, 28115, AGC= 59, IDX= 501, 0.23, 1.701,-2.183, 2.922, 2.840, PHS=-1.037, 1.305, 0.038, RAW= 302.7, -3.1, CAL= 301.7, -7.1, ROT= 208.3, 7.1
2025-08-23T22:23:33.073Z,1755987813.073 [DAT](INFO): got valid direction response:
22:23:32.2956 LVL= 29888, 17377, 27202, 28115, AGC= 59, IDX= 501, 0.23, 1.701,-2.183, 2.922, 2.840, PHS=-1.037, 1.305, 0.038, RAW= 302.7, -3.1, CAL= 301.7, -7.1, ROT= 208.3, 7.1
2025-08-23T22:23:33.073Z,1755987813.073 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:33.074Z,1755987813.074 [DAT](INFO): direction in FSK: [-0.873726,-0.470453,-0.123601]
2025-08-23T22:23:33.074Z,1755987813.074 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:33.078Z,1755987813.078 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:33.078Z,1755987813.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:33.317Z,1755987813.317 [DAT](INFO): DAT read: Rx Time:22:23:32.7955
2025-08-23T22:23:33.323Z,1755987813.323 [DAT](INFO): Rx dataTimestamp_ set to:1755987813.321948
2025-08-23T22:23:33.327Z,1755987813.327 [DAT](INFO): DAT read: Bearing 133.7, -30.9 (Local)
2025-08-23T22:23:33.328Z,1755987813.328 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.7, -30.9 (Local)
2025-08-23T22:23:33.329Z,1755987813.329 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:33.329Z,1755987813.329 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:33.330Z,1755987813.330 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:33.361Z,1755987813.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 1.007882 s,
deltaX: -0.100000 m,
approachRate: -0.099218 m/s,
rangeRepo size: 4
2025-08-23T22:23:33.368Z,1755987813.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.122886 m,
bearing: 352.887687 deg,
lat: 36.779408 deg,
lon: -121.859548 deg,
deltaT: 1.007882 s,
deltaX: -0.099366 m,
approachRate: -0.098589 m/s,
posRepo size: 4
2025-08-23T22:23:33.368Z,1755987813.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:23:33.568Z,1755987813.568 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.1
2025-08-23T22:23:33.572Z,1755987813.572 [DAT](INFO): DAT read: 22:23:32.75 LL= 26608, 14561, 26178, 26739, AGC= 60, IDX= 500, 0.01,-0.481, 1.911, 0.738, 0.644, PHS=-1.023, 1.312, 0.050, RAW= 302.7, -3.4, CAL= 301.8, -7.4, ROT= 208.2, 7.4
2025-08-23T22:23:33.574Z,1755987813.574 [DAT](INFO): unknown deviceResponse_: 22:23:32.75 LL= 26608, 14561, 26178, 26739, AGC= 60, IDX= 500, 0.01,-0.481, 1.911, 0.738, 0.644, PHS=-1.023, 1.312, 0.050, RAW= 302.7, -3.4, CAL= 301.8, -7.4, ROT= 208.2, 7.4
2025-08-23T22:23:33.574Z,1755987813.574 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:23:33.575Z,1755987813.575 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:33.575Z,1755987813.575 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:33.711Z,1755987813.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.502743 s,
deltaX: -0.200000 m,
approachRate: -0.397817 m/s,
rangeRepo size: 4
2025-08-23T22:23:33.711Z,1755987813.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:23:33.822Z,1755987813.822 [DAT](INFO): DAT read: Rx Time:22:23:33.2956
2025-08-23T22:23:33.824Z,1755987813.824 [DAT](INFO): Rx dataTimestamp_ set to:1755987813.822674
2025-08-23T22:23:33.826Z,1755987813.826 [DAT](INFO): DAT read: Bearing 134.7, -30.5 (Local)
2025-08-23T22:23:33.827Z,1755987813.827 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.7, -30.5 (Local)
2025-08-23T22:23:33.828Z,1755987813.828 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:33.829Z,1755987813.829 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:33.831Z,1755987813.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:34.047Z,1755987814.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:23:34.072Z,1755987814.072 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0
2025-08-23T22:23:34.077Z,1755987814.077 [DAT](INFO): DAT read: 22:23:33.2956 V=26080, 15633, 24050, 24739, AGC= 60, IDX= 501,-0.15,-1.033, 1.393, 0.189, 0.075, PHS=-1.006, 1.363, 0.070, RAW= 303.0, -4.2, CAL= 302.3, -8.2, ROT= 207.7, 8.2
2025-08-23T22:23:34.078Z,1755987814.078 [DAT](INFO): unknown deviceResponse_: 22:23:33.2956 V=26080, 15633, 24050, 24739, AGC= 60, IDX= 501,-0.15,-1.033, 1.393, 0.189, 0.075, PHS=-1.006, 1.363, 0.070, RAW= 303.0, -4.2, CAL= 302.3, -8.2, ROT= 207.7, 8.2
2025-08-23T22:23:34.078Z,1755987814.078 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:23:34.079Z,1755987814.079 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:34.080Z,1755987814.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:34.325Z,1755987814.325 [DAT](INFO): DAT read: Rx Time:22:23:33.7954
2025-08-23T22:23:34.326Z,1755987814.326 [DAT](INFO): Rx dataTimestamp_ set to:1755987814.325593
2025-08-23T22:23:34.327Z,1755987814.327 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:34.328Z,1755987814.328 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:34.329Z,1755987814.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:34.529Z,1755987814.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.503940 s,
deltaX: 0.200000 m,
approachRate: 0.396872 m/s,
rangeRepo size: 4
2025-08-23T22:23:34.529Z,1755987814.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:23:34.575Z,1755987814.575 [DAT](INFO): DAT read: Bearing 134.8, -31.0 (Local)
2025-08-23T22:23:34.576Z,1755987814.576 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.8, -31.0 (Local)
2025-08-23T22:23:34.578Z,1755987814.578 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:23:34.583Z,1755987814.583 [DAT](INFO): DAT read: 22233.954 LVL= 27120, 16977, 24306, 24211, AGC= 59, IDX= 500,-0.42,-2.420, 0.005,-1.179,-1.307, PHS=-1.011, 1.357, 0.084, RAW= 302.5, -4.2, CAL= 301.7, -8.3, ROT= 208.3, 8.3
2025-08-23T22:23:34.584Z,1755987814.584 [DAT](INFO): unknown deviceResponse_: 22233.954 LVL= 27120, 16977, 24306, 24211, AGC= 59, IDX= 500,-0.42,-2.420, 0.005,-1.179,-1.307, PHS=-1.011, 1.357, 0.084, RAW= 302.5, -4.2, CAL= 301.7, -8.3, ROT= 208.3, 8.3
2025-08-23T22:23:34.585Z,1755987814.585 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:23:34.586Z,1755987814.586 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:34.586Z,1755987814.586 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:34.829Z,1755987814.829 [DAT](INFO): DAT read: Rx Time:22:23:34.2954
2025-08-23T22:23:34.830Z,1755987814.830 [DAT](INFO): Rx dataTimestamp_ set to:1755987814.829483
2025-08-23T22:23:34.832Z,1755987814.832 [DAT](INFO): DAT read: Bearing 134.6, -31.1 (Local)
2025-08-23T22:23:34.833Z,1755987814.833 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.6, -31.1 (Local)
2025-08-23T22:23:34.834Z,1755987814.834 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:34.835Z,1755987814.835 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:34.835Z,1755987814.835 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:34.966Z,1755987814.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.504163 s,
deltaX: -0.300000 m,
approachRate: -0.595046 m/s,
rangeRepo size: 4
2025-08-23T22:23:34.967Z,1755987814.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:23:35.081Z,1755987815.081 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:23:35.087Z,1755987815.087 [DAT](INFO): DAT read: 22:23:34.2954 LVL= 30992, 16081, 270,2751, AGC= 59, IDX= 499, 0.25,-1.232, 1.190, 0.010,-0.114, PHS=-1.017, 1.349, 0.079, RAW= 302.4, -4.1, CAL= 301.7, -8.1, ROT= 208.3, 8.1
2025-08-23T22:23:35.088Z,1755987815.088 [DAT](INFO): got valid direction response:
22:23:34.2954 LVL= 30992, 16081, 270,2751, AGC= 59, IDX= 499, 0.25,-1.232, 1.190, 0.010,-0.114, PHS=-1.017, 1.349, 0.079, RAW= 302.4, -4.1, CAL= 301.7, -8.1, ROT= 208.3, 8.1
2025-08-23T22:23:35.088Z,1755987815.088 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:35.089Z,1755987815.089 [DAT](INFO): direction in FSK: [-0.871693,-0.469359,-0.140901]
2025-08-23T22:23:35.089Z,1755987815.089 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:35.093Z,1755987815.093 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:35.093Z,1755987815.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:35.332Z,1755987815.332 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:35.332Z,1755987815.332 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:35.335Z,1755987815.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:35.397Z,1755987815.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.504117 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:35.403Z,1755987815.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.824780 m,
bearing: 352.859096 deg,
lat: 36.779407 deg,
lon: -121.859548 deg,
deltaT: 2.014963 s,
deltaX: -0.298106 m,
approachRate: -0.147946 m/s,
posRepo size: 4
2025-08-23T22:23:35.404Z,1755987815.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.82 m.
2025-08-23T22:23:35.583Z,1755987815.583 [DAT](INFO): DAT read: Rx Time:22:23:34.7953
2025-08-23T22:23:35.584Z,1755987815.584 [DAT](INFO): Rx dataTimestamp_ set to:1755987815.583232
2025-08-23T22:23:35.585Z,1755987815.585 [DAT](INFO): DAT read: Bearing 134.6, -31.1 (Local)
2025-08-23T22:23:35.585Z,1755987815.585 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.6, -31.1 (Local)
2025-08-23T22:23:35.587Z,1755987815.587 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.1
2025-08-23T22:23:35.591Z,1755987815.591 [DAT](INFO): DAT read: 22:23:34.7953 LVL= 29296, 14833, 221, 2539, AGC= 60, IDX= 498, 0.06,-2.474,-0.070,-1.242,-1.363, PHS=-1.008, 1.339, 0.077, RAW= 302.5, -4.1, CAL= 301.7, -8.1, ROT= 208.3, 8.1
2025-08-23T22:23:35.592Z,1755987815.592 [DAT](INFO): got valid direction response:
22:23:34.7953 LVL= 29296, 14833, 221, 2539, AGC= 60, IDX= 498, 0.06,-2.474,-0.070,-1.242,-1.363, PHS=-1.008, 1.339, 0.077, RAW= 302.5, -4.1, CAL= 301.7, -8.1, ROT= 208.3, 8.1
2025-08-23T22:23:35.593Z,1755987815.593 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:35.594Z,1755987815.594 [DAT](INFO): direction in FSK: [-0.871693,-0.469359,-0.140901]
2025-08-23T22:23:35.594Z,1755987815.594 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:35.602Z,1755987815.602 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:35.602Z,1755987815.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:35.772Z,1755987815.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.505024 s,
deltaX: -0.200000 m,
approachRate: -0.396020 m/s,
rangeRepo size: 4
2025-08-23T22:23:35.778Z,1755987815.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.626060 m,
bearing: 352.880698 deg,
lat: 36.779406 deg,
lon: -121.859548 deg,
deltaT: 0.505024 s,
deltaX: -0.198719 m,
approachRate: -0.393484 m/s,
posRepo size: 4
2025-08-23T22:23:35.778Z,1755987815.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:23:35.839Z,1755987815.839 [DAT](INFO): DAT read: Rx Time:22:23:35.2954
2025-08-23T22:23:35.841Z,1755987815.841 [DAT](INFO): Rx dataTimestamp_ set to:1755987815.839748
2025-08-23T22:23:35.867Z,1755987815.867 [DAT](INFO): DAT read: Bearing 135.4, -30.5 (Local)
2025-08-23T22:23:35.868Z,1755987815.868 [DAT](INFO): Local bearing/azimuth received:
Bearing 135.4, -30.5 (Local)
2025-08-23T22:23:35.874Z,1755987815.874 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0
2025-08-23T22:23:35.883Z,1755987815.883 [DAT](INFO): DAT read: 22:23:35.2954 LVL= 30240, 17393, 25554, 28035, AGC= 59, IDX= 499,-0.11, 2.859,-0.986,-2.197,-2.328, PHS=-0.995, 1.386, 0.087, RAW= 303.0, -4.7, CAL= 302.4, -8.7, ROT= 207.6, 8.7
2025-08-23T22:23:35.885Z,1755987815.885 [DAT](INFO): got valid direction response:
22:23:35.2954 LVL= 30240, 17393, 25554, 28035, AGC= 59, IDX= 499,-0.11, 2.859,-0.986,-2.197,-2.328, PHS=-0.995, 1.386, 0.087, RAW= 303.0, -4.7, CAL= 302.4, -8.7, ROT= 207.6, 8.7
2025-08-23T22:23:35.889Z,1755987815.889 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:35.891Z,1755987815.891 [DAT](INFO): direction in FSK: [-0.876007,-0.457965,-0.151261]
2025-08-23T22:23:35.891Z,1755987815.891 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:35.899Z,1755987815.899 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:35.899Z,1755987815.899 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:36.086Z,1755987816.086 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:36.086Z,1755987816.086 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:36.087Z,1755987816.087 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:36.143Z,1755987816.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.256516 s,
deltaX: 0.200000 m,
approachRate: 0.779678 m/s,
rangeRepo size: 4
2025-08-23T22:23:36.149Z,1755987816.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.824797 m,
bearing: 352.139559 deg,
lat: 36.779407 deg,
lon: -121.859549 deg,
deltaT: 0.256516 s,
deltaX: 0.198736 m,
approachRate: 0.774752 m/s,
posRepo size: 4
2025-08-23T22:23:36.150Z,1755987816.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.82 m.
2025-08-23T22:23:36.342Z,1755987816.342 [DAT](INFO): DAT read: Rx Time:22:23:35.7953
2025-08-23T22:23:36.343Z,1755987816.343 [DAT](INFO): Rx dataTimestamp_ set to:1755987816.342122
2025-08-23T22:23:36.345Z,1755987816.345 [DAT](INFO): DAT read: Bearing 135.6, -30.3 (Local)
2025-08-23T22:23:36.346Z,1755987816.346 [DAT](INFO): Local bearing/azimuth received:
Bearing 135.6, -30.3 (Local)
2025-08-23T22:23:36.364Z,1755987816.364 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.0
2025-08-23T22:23:36.367Z,1755987816.367 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:23:36.368Z,1755987816.368 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:36.368Z,1755987816.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:36.543Z,1755987816.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.502374 s,
deltaX: -0.200000 m,
approachRate: -0.398109 m/s,
rangeRepo size: 4
2025-08-23T22:23:36.543Z,1755987816.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.82 m.
2025-08-23T22:23:36.596Z,1755987816.596 [DAT](INFO): DAT read: 22:23:35.7953 LVL= 28768, 15601, 22354, 25267, AGC= 58, IDX= 498,-0.28, 1.024,-2.821, 2.243, 2.115, PHS=-0.989, 1.393, 0.084, RAW= 303.3, -4.8, CAL= 302.6, -8.8, ROT= 207.4, 8.8
2025-08-23T22:23:36.597Z,1755987816.597 [DAT](INFO): got valid direction response:
22:23:35.7953 LVL= 28768, 15601, 22354, 25267, AGC= 58, IDX= 498,-0.28, 1.024,-2.821, 2.243, 2.115, PHS=-0.989, 1.393, 0.084, RAW= 303.3, -4.8, CAL= 302.6, -8.8, ROT= 207.4, 8.8
2025-08-23T22:23:36.598Z,1755987816.598 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:23:36.599Z,1755987816.599 [DAT](INFO): direction in FSK: [-0.877364,-0.454782,-0.152986]
2025-08-23T22:23:36.603Z,1755987816.603 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:36.603Z,1755987816.603 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:36.603Z,1755987816.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:36.847Z,1755987816.847 [DAT](INFO): DAT read: Rx Time:22:23:36.2953
2025-08-23T22:23:36.848Z,1755987816.848 [DAT](INFO): Rx dataTimestamp_ set to:1755987816.847500
2025-08-23T22:23:36.851Z,1755987816.851 [DAT](INFO): DAT read: Bearing 134.9, -31.0 (Local)
2025-08-23T22:23:36.852Z,1755987816.852 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.9, -31.0 (Local)
2025-08-23T22:23:36.876Z,1755987816.876 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.0
2025-08-23T22:23:36.880Z,1755987816.880 [DAT](INFO): DAT read: 22:23:36.2953 LVL= 31072, 19745, 23010, 28723, AGC= 60, IDX= 498, 0.33,-2.003, 0.396,-0.779,-0.901, PHS=-1.000, 1.342, 0.079, RAW= 302.6, -4.2, CAL= 301.9, -8.3, ROT= 208.1, 8.3
2025-08-23T22:23:36.894Z,1755987816.894 [DAT](INFO): got valid direction response:
22:23:36.2953 LVL= 31072, 19745, 23010, 28723, AGC= 60, IDX= 498, 0.33,-2.003, 0.396,-0.779,-0.901, PHS=-1.000, 1.342, 0.079, RAW= 302.6, -4.2, CAL= 301.9, -8.3, ROT= 208.1, 8.3
2025-08-23T22:23:36.894Z,1755987816.894 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:36.895Z,1755987816.895 [DAT](INFO): direction in FSK: [-0.872887,-0.466078,-0.144356]
2025-08-23T22:23:36.895Z,1755987816.895 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:36.911Z,1755987816.911 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:36.911Z,1755987816.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:37.023Z,1755987817.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.505378 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:37.030Z,1755987817.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.626070 m,
bearing: 352.743332 deg,
lat: 36.779406 deg,
lon: -121.859549 deg,
deltaT: 1.007752 s,
deltaX: -0.198727 m,
approachRate: -0.197198 m/s,
posRepo size: 4
2025-08-23T22:23:37.030Z,1755987817.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:23:37.095Z,1755987817.095 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:37.095Z,1755987817.095 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:37.096Z,1755987817.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:37.355Z,1755987817.355 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:36.7952
2025-08-23T22:23:37.357Z,1755987817.357 [DAT](INFO): Rx dataTimestamp_ set to:1755987817.355717
2025-08-23T22:23:37.399Z,1755987817.399 [DAT](INFO): DAT read: Bearing 135.0, -31.0 (Local)
2025-08-23T22:23:37.399Z,1755987817.399 [DAT](INFO): Local bearing/azimuth received:
Bearing 135.0, -31.0 (Local)
2025-08-23T22:23:37.401Z,1755987817.401 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.0
2025-08-23T22:23:37.422Z,1755987817.422 [DAT](INFO): DAT read: 22:23:36.7952 LVL= 32752, 16561, 24258, 28915, AGC= 59, IDX= 497, 0.12,-3.112,-0.688,-1.876,-2.000, PHS=-1.010, 1.357, 0.081, RAW= 302.6, -4.2, CAL= 301.9, -8.3, ROT= 208.1, 8.3
2025-08-23T22:23:37.423Z,1755987817.423 [DAT](INFO): got valid direction response:
22:23:36.7952 LVL= 32752, 16561, 24258, 28915, AGC= 59, IDX= 497, 0.12,-3.112,-0.688,-1.876,-2.000, PHS=-1.010, 1.357, 0.081, RAW= 302.6, -4.2, CAL= 301.9, -8.3, ROT= 208.1, 8.3
2025-08-23T22:23:37.423Z,1755987817.423 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:37.424Z,1755987817.424 [DAT](INFO): direction in FSK: [-0.872887,-0.466078,-0.144356]
2025-08-23T22:23:37.425Z,1755987817.425 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:37.442Z,1755987817.442 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:37.442Z,1755987817.442 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:37.524Z,1755987817.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.508217 s,
deltaX: -0.099999 m,
approachRate: -0.196765 m/s,
rangeRepo size: 4
2025-08-23T22:23:37.543Z,1755987817.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.526703 m,
bearing: 352.743332 deg,
lat: 36.779406 deg,
lon: -121.859550 deg,
deltaT: 0.508217 s,
deltaX: -0.099367 m,
approachRate: -0.195521 m/s,
posRepo size: 4
2025-08-23T22:23:37.543Z,1755987817.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:23:37.599Z,1755987817.599 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:37.599Z,1755987817.599 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:37.599Z,1755987817.599 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:37.800Z,1755987817.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:23:37.857Z,1755987817.857 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:37.2953
2025-08-23T22:23:37.859Z,1755987817.859 [DAT](INFO): Rx dataTimestamp_ set to:1755987817.857718
2025-08-23T22:23:37.870Z,1755987817.870 [DAT](INFO): DAT read: Bearing 135.2, -29.9 (Local)
2025-08-23T22:23:37.871Z,1755987817.871 [DAT](INFO): Local bearing/azimuth received:
Bearing 135.2, -29.9 (Local)
2025-08-23T22:23:37.873Z,1755987817.873 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.0
2025-08-23T22:23:37.881Z,1755987817.881 [DAT](INFO): DAT read: 22:23:37.2953 LVL= 22096, 12369, 19298, 24659, AGC= 63, IDX= 2,-0.04, 2.293,-1.556,-2.791,-2.894, PHS=-0.995, 1.382, 0.059, RAW= 303.8, -4.4, CAL= 303.0, -8.4, ROT= 207.0, 8.4
2025-08-23T22:23:37.889Z,1755987817.889 [DAT](INFO): got valid direction response:
22:23:37.2953 LVL= 22096, 12369, 19298, 24659, AGC= 63, IDX= 2,-0.04, 2.293,-1.556,-2.791,-2.894, PHS=-0.995, 1.382, 0.059, RAW= 303.8, -4.4, CAL= 303.0, -8.4, ROT= 207.0, 8.4
2025-08-23T22:23:37.894Z,1755987817.894 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:37.895Z,1755987817.895 [DAT](INFO): direction in FSK: [-0.881448,-0.449120,-0.146083]
2025-08-23T22:23:37.895Z,1755987817.895 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:37.903Z,1755987817.903 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:37.903Z,1755987817.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:38.102Z,1755987818.102 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:38.102Z,1755987818.102 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:38.103Z,1755987818.103 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:38.227Z,1755987818.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.502001 s,
deltaX: 0.099999 m,
approachRate: 0.199202 m/s,
rangeRepo size: 4
2025-08-23T22:23:38.229Z,1755987818.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.626081 m,
bearing: 351.690552 deg,
lat: 36.779406 deg,
lon: -121.859551 deg,
deltaT: 0.502001 s,
deltaX: 0.099378 m,
approachRate: 0.197963 m/s,
posRepo size: 4
2025-08-23T22:23:38.229Z,1755987818.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-23T22:23:38.364Z,1755987818.364 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:37.7952
2025-08-23T22:23:38.370Z,1755987818.370 [DAT](INFO): Rx dataTimestamp_ set to:1755987818.365114
2025-08-23T22:23:38.371Z,1755987818.371 [DAT](INFO): DAT read: Bearing 134.9, -29.9 (Local)
2025-08-23T22:23:38.372Z,1755987818.372 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.9, -29.9 (Local)
2025-08-23T22:23:38.380Z,1755987818.380 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.0
2025-08-23T22:23:38.384Z,1755987818.384 [DAT](INFO): DAT read: 22:23:37.7952 LVL= 31152, 15265, 22258, 27843, AGC= 58, IDX= 497,-0.26, 1.093,-2.767, 2.288, 2.191, PHS=-0.996, 1.370, 0.053, RAW= 303.7, -4.2, CAL= 303.0, -8.2, ROT= 207.0, 8.2
2025-08-23T22:23:38.385Z,1755987818.385 [DAT](INFO): got valid direction response:
22:23:37.7952 LVL= 31152, 15265, 22258, 27843, AGC= 58, IDX= 497,-0.26, 1.093,-2.767, 2.288, 2.191, PHS=-0.996, 1.370, 0.053, RAW= 303.7, -4.2, CAL= 303.0, -8.2, ROT= 207.0, 8.2
2025-08-23T22:23:38.390Z,1755987818.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:38.391Z,1755987818.391 [DAT](INFO): direction in FSK: [-0.881897,-0.449349,-0.142629]
2025-08-23T22:23:38.392Z,1755987818.392 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:38.409Z,1755987818.409 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:38.414Z,1755987818.414 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:38.606Z,1755987818.606 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:38.607Z,1755987818.607 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:38.607Z,1755987818.607 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:38.669Z,1755987818.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.507396 s,
deltaX: -0.099999 m,
approachRate: -0.197084 m/s,
rangeRepo size: 4
2025-08-23T22:23:38.675Z,1755987818.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.526728 m,
bearing: 351.716053 deg,
lat: 36.779406 deg,
lon: -121.859551 deg,
deltaT: 0.507396 s,
deltaX: -0.099353 m,
approachRate: -0.195809 m/s,
posRepo size: 4
2025-08-23T22:23:38.676Z,1755987818.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:23:38.859Z,1755987818.859 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:38.2951
2025-08-23T22:23:38.860Z,1755987818.860 [DAT](INFO): Rx dataTimestamp_ set to:1755987818.859466
2025-08-23T22:23:38.861Z,1755987818.861 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.0
2025-08-23T22:23:38.862Z,1755987818.862 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:23:38.862Z,1755987818.862 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:38.862Z,1755987818.862 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:39.019Z,1755987819.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.400000 m,
deltaT: 0.494352 s,
deltaX: -0.200001 m,
approachRate: -0.404572 m/s,
rangeRepo size: 4
2025-08-23T22:23:39.020Z,1755987819.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:23:39.111Z,1755987819.111 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:39.111Z,1755987819.111 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:39.111Z,1755987819.111 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:39.368Z,1755987819.368 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:38.7950
2025-08-23T22:23:39.369Z,1755987819.369 [DAT](INFO): Rx dataTimestamp_ set to:1755987819.368464
2025-08-23T22:23:39.370Z,1755987819.370 [DAT](INFO): DAT read: Bearing 134.6, -30.0 (Local)
2025-08-23T22:23:39.370Z,1755987819.370 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.6, -30.0 (Local)
2025-08-23T22:23:39.372Z,1755987819.372 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.0
2025-08-23T22:23:39.373Z,1755987819.373 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:23:39.376Z,1755987819.376 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:39.377Z,1755987819.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:39.511Z,1755987819.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.300000 m,
deltaT: 0.508998 s,
deltaX: -0.099999 m,
approachRate: -0.196463 m/s,
rangeRepo size: 4
2025-08-23T22:23:39.512Z,1755987819.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-23T22:23:39.620Z,1755987819.620 [DAT](INFO): DAT read: 22:23:38.7950 LVL= 32752, 16161, 22162, 29331, AGC= 58, IDX= 511, 0.13, 1.204,-2.660, 2.402, 2.314, PHS=-1.007, 1.354, 0.045, RAW= 303.6, -3.9, CAL= 302.8, -7.8, ROT= 207.2, 7.8
2025-08-23T22:23:39.621Z,1755987819.621 [DAT](INFO): got valid direction response:
22:23:38.7950 LVL= 32752, 16161, 22162, 29331, AGC= 58, IDX= 511, 0.13, 1.204,-2.660, 2.402, 2.314, PHS=-1.007, 1.354, 0.045, RAW= 303.6, -3.9, CAL= 302.8, -7.8, ROT= 207.2, 7.8
2025-08-23T22:23:39.625Z,1755987819.625 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:23:39.626Z,1755987819.626 [DAT](INFO): direction in FSK: [-0.881187,-0.452869,-0.135716]
2025-08-23T22:23:39.629Z,1755987819.629 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:39.630Z,1755987819.630 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:39.630Z,1755987819.630 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:39.870Z,1755987819.870 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:39.2951
2025-08-23T22:23:39.871Z,1755987819.871 [DAT](INFO): Rx dataTimestamp_ set to:1755987819.870259
2025-08-23T22:23:39.872Z,1755987819.872 [DAT](INFO): DAT read: Bearing 127.2, -23.1 (Local)
2025-08-23T22:23:39.872Z,1755987819.872 [DAT](INFO): Local bearing/azimuth received:
Bearing 127.2, -23.1 (Local)
2025-08-23T22:23:39.874Z,1755987819.874 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.0
2025-08-23T22:23:39.880Z,1755987819.880 [DAT](INFO): DAT read: 22:23:39.2951 LVL= 32752, 15729, 26594, 30595, AGC= 58, IDX= 512,-0.05, 0.298, 2.189, 1.039, 1.275, PHS=-0.875, 0.958,-0.280, RAW= 311.5, 2.5, CAL= 309.1, -0.6, ROT= 200.9, 0.6
2025-08-23T22:23:39.882Z,1755987819.882 [DAT](INFO): got valid direction response:
22:23:39.2951 LVL= 32752, 15729, 26594, 30595, AGC= 58, IDX= 512,-0.05, 0.298, 2.189, 1.039, 1.275, PHS=-0.875, 0.958,-0.280, RAW= 311.5, 2.5, CAL= 309.1, -0.6, ROT= 200.9, 0.6
2025-08-23T22:23:39.882Z,1755987819.882 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:39.883Z,1755987819.883 [DAT](INFO): direction in FSK: [-0.934153,-0.356718,-0.010472]
2025-08-23T22:23:39.883Z,1755987819.883 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:39.889Z,1755987819.889 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:39.893Z,1755987819.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:39.908Z,1755987819.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.400000 m,
deltaT: 0.501795 s,
deltaX: 0.099999 m,
approachRate: 0.199283 m/s,
rangeRepo size: 4
2025-08-23T22:23:39.914Z,1755987819.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.327965 m,
bearing: 346.354104 deg,
lat: 36.779406 deg,
lon: -121.859554 deg,
deltaT: 1.505145 s,
deltaX: -0.198763 m,
approachRate: -0.132056 m/s,
posRepo size: 4
2025-08-23T22:23:39.914Z,1755987819.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:23:40.118Z,1755987820.118 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:40.119Z,1755987820.119 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:40.119Z,1755987820.119 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:40.234Z,1755987820.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:23:40.398Z,1755987820.398 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:39.7950
2025-08-23T22:23:40.399Z,1755987820.399 [DAT](INFO): Rx dataTimestamp_ set to:1755987820.398321
2025-08-23T22:23:40.400Z,1755987820.400 [DAT](INFO): DAT read: Bearing 134.4, -29.0 (Local)
2025-08-23T22:23:40.400Z,1755987820.400 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.4, -29.0 (Local)
2025-08-23T22:23:40.402Z,1755987820.402 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.0
2025-08-23T22:23:40.415Z,1755987820.415 [DAT](INFO): DAT read: 22:23:39.7950 LVL= 32752, 17073, 26898, 31603, AGC= 59, IDX= 511,-0.32,-0.051, 2.388, 1.116, 1.058, PHS=-1.007, 1.375, 0.014, RAW= 304.7, -3.7, CAL= 303.8, -7.6, ROT= 206.2, 7.6
2025-08-23T22:23:40.416Z,1755987820.416 [DAT](INFO): got valid direction response:
22:23:39.7950 LVL= 32752, 17073, 26898, 31603, AGC= 59, IDX= 511,-0.32,-0.051, 2.388, 1.116, 1.058, PHS=-1.007, 1.375, 0.014, RAW= 304.7, -3.7, CAL= 303.8, -7.6, ROT= 206.2, 7.6
2025-08-23T22:23:40.416Z,1755987820.416 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:40.422Z,1755987820.422 [DAT](INFO): direction in FSK: [-0.889376,-0.437627,-0.132256]
2025-08-23T22:23:40.422Z,1755987820.422 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:40.425Z,1755987820.425 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:40.434Z,1755987820.434 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:40.622Z,1755987820.622 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:40.622Z,1755987820.622 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:40.623Z,1755987820.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:40.664Z,1755987820.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.300000 m,
deltaT: 0.528062 s,
deltaX: -0.099999 m,
approachRate: -0.189371 m/s,
rangeRepo size: 4
2025-08-23T22:23:40.687Z,1755987820.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.228588 m,
bearing: 350.972013 deg,
lat: 36.779406 deg,
lon: -121.859554 deg,
deltaT: 0.528062 s,
deltaX: -0.099377 m,
approachRate: -0.188191 m/s,
posRepo size: 4
2025-08-23T22:23:40.688Z,1755987820.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-23T22:23:40.878Z,1755987820.878 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:40.2950
2025-08-23T22:23:40.878Z,1755987820.878 [DAT](INFO): Rx dataTimestamp_ set to:1755987820.877832
2025-08-23T22:23:40.879Z,1755987820.879 [DAT](INFO): DAT read: Bearing 134.1, -30.4 (Local)
2025-08-23T22:23:40.880Z,1755987820.880 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.1, -30.4 (Local)
2025-08-23T22:23:40.882Z,1755987820.882 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.0
2025-08-23T22:23:40.890Z,1755987820.890 [DAT](INFO): DAT read: 22:23:40.2950 LVL= 32464, 15281, 22082, 28979, AGC= 59, IDX= 511, 0.29, 2.772,-1.127,-2.318,-2.400, PHS=-1.008, 1.318, 0.039, RAW= 303.3, -3.5, CAL= 302.4, -7.5, ROT= 207.6, 7.5
2025-08-23T22:23:40.891Z,1755987820.891 [DAT](INFO): got valid direction response:
22:23:40.2950 LVL= 32464, 15281, 22082, 28979, AGC= 59, IDX= 511, 0.29, 2.772,-1.127,-2.318,-2.400, PHS=-1.008, 1.318, 0.039, RAW= 303.3, -3.5, CAL= 302.4, -7.5, ROT= 207.6, 7.5
2025-08-23T22:23:40.891Z,1755987820.891 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:40.892Z,1755987820.892 [DAT](INFO): direction in FSK: [-0.878622,-0.459333,-0.130526]
2025-08-23T22:23:40.893Z,1755987820.893 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:40.930Z,1755987820.930 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:40.932Z,1755987820.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:41.080Z,1755987821.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.300000 m,
deltaT: 0.479511 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:41.099Z,1755987821.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.228588 m,
bearing: 352.374785 deg,
lat: 36.779406 deg,
lon: -121.859554 deg,
deltaT: 0.479511 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:41.099Z,1755987821.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-23T22:23:41.129Z,1755987821.129 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:41.129Z,1755987821.129 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:41.129Z,1755987821.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:41.387Z,1755987821.387 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:40.7949
2025-08-23T22:23:41.389Z,1755987821.389 [DAT](INFO): Rx dataTimestamp_ set to:1755987821.387705
2025-08-23T22:23:41.396Z,1755987821.396 [DAT](INFO): DAT read: Bearing 134.3, -29.2 (Local)
2025-08-23T22:23:41.396Z,1755987821.396 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.3, -29.2 (Local)
2025-08-23T22:23:41.399Z,1755987821.399 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.0
2025-08-23T22:23:41.411Z,1755987821.411 [DAT](INFO): DAT read: 22:23:40.7949 LVL= 29664, 14385, 19698, 25203, AGC= 57, IDX= 510, 0.12, 0.412, 2.819, 1.571, 1.511, PHS=-0.997, 1.353, 0.016, RAW= 304.5, -3.7, CAL= 303.6, -7.6, ROT= 206.4, 7.6
2025-08-23T22:23:41.412Z,1755987821.412 [DAT](INFO): got valid direction response:
22:23:40.7949 LVL= 29664, 14385, 19698, 25203, AGC= 57, IDX= 510, 0.12, 0.412, 2.819, 1.571, 1.511, PHS=-0.997, 1.353, 0.016, RAW= 304.5, -3.7, CAL= 303.6, -7.6, ROT= 206.4, 7.6
2025-08-23T22:23:41.412Z,1755987821.412 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:41.421Z,1755987821.421 [DAT](INFO): direction in FSK: [-0.887843,-0.440729,-0.132256]
2025-08-23T22:23:41.421Z,1755987821.421 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:41.424Z,1755987821.424 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:41.424Z,1755987821.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:41.552Z,1755987821.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.100000 m,
deltaT: 0.509873 s,
deltaX: -0.200000 m,
approachRate: -0.392254 m/s,
rangeRepo size: 4
2025-08-23T22:23:41.558Z,1755987821.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.029852 m,
bearing: 351.152521 deg,
lat: 36.779406 deg,
lon: -121.859557 deg,
deltaT: 0.509873 s,
deltaX: -0.198736 m,
approachRate: -0.389776 m/s,
posRepo size: 4
2025-08-23T22:23:41.559Z,1755987821.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-08-23T22:23:41.631Z,1755987821.631 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:41.631Z,1755987821.631 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:41.632Z,1755987821.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:41.884Z,1755987821.884 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:41.2950
2025-08-23T22:23:41.885Z,1755987821.885 [DAT](INFO): Rx dataTimestamp_ set to:1755987821.884431
2025-08-23T22:23:41.887Z,1755987821.887 [DAT](INFO): DAT read: Bearing 134.1, -27.7 (Local)
2025-08-23T22:23:41.887Z,1755987821.887 [DAT](INFO): Local bearing/azimuth received:
Bearing 134.1, -27.7 (Local)
2025-08-23T22:23:41.889Z,1755987821.889 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.0
2025-08-23T22:23:41.897Z,1755987821.897 [DAT](INFO): DAT read: 22:23:41.2950 LVL= 26288, 16065, 19682, 30691, AGC= 58, IDX= 511,-0.10,-0.355, 2.061, 0.754, 0.736, PHS=-0.989, 1.370,-0.026, RAW= 306.1, -3.5, CAL= 305.0, -7.3, ROT= 205.0, 7.3
2025-08-23T22:23:41.898Z,1755987821.898 [DAT](INFO): got valid direction response:
22:23:41.2950 LVL= 26288, 16065, 19682, 30691, AGC= 58, IDX= 511,-0.10,-0.355, 2.061, 0.754, 0.736, PHS=-0.989, 1.370,-0.026, RAW= 306.1, -3.5, CAL= 305.0, -7.3, ROT= 205.0, 7.3
2025-08-23T22:23:41.899Z,1755987821.899 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:41.900Z,1755987821.900 [DAT](INFO): direction in FSK: [-0.898962,-0.419193,-0.127065]
2025-08-23T22:23:41.900Z,1755987821.900 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:41.904Z,1755987821.904 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:41.904Z,1755987821.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:41.962Z,1755987821.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.300000 m,
deltaT: 0.496726 s,
deltaX: 0.200000 m,
approachRate: 0.402636 m/s,
rangeRepo size: 4
2025-08-23T22:23:41.974Z,1755987821.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.228599 m,
bearing: 349.760182 deg,
lat: 36.779406 deg,
lon: -121.859557 deg,
deltaT: 0.496726 s,
deltaX: 0.198747 m,
approachRate: 0.400113 m/s,
posRepo size: 4
2025-08-23T22:23:41.975Z,1755987821.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-23T22:23:42.136Z,1755987822.136 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:42.136Z,1755987822.136 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:42.136Z,1755987822.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:42.243Z,1755987822.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-23T22:23:42.408Z,1755987822.408 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:41.7948
2025-08-23T22:23:42.410Z,1755987822.410 [DAT](INFO): Rx dataTimestamp_ set to:1755987822.409191
2025-08-23T22:23:42.414Z,1755987822.414 [DAT](INFO): DAT read: Bearing 133.9, -28.5 (Local)
2025-08-23T22:23:42.415Z,1755987822.415 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.9, -28.5 (Local)
2025-08-23T22:23:42.427Z,1755987822.427 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.0
2025-08-23T22:23:42.431Z,1755987822.431 [DAT](INFO): DAT read: 22:23:41.7948 LVL= 31792, 16337, 19042, 27731, AGC= 58, IDX= 510,-0.49,-0.736, 1.699, 0.411, 0.377, PHS=-1.010, 1.367,-0.010, RAW= 305.2, -3.4, CAL= 304.2, -7.2, ROT= 205.8, 7.2
2025-08-23T22:23:42.432Z,1755987822.432 [DAT](INFO): got valid direction response:
22:23:41.7948 LVL= 31792, 16337, 19042, 27731, AGC= 58, IDX= 510,-0.49,-0.736, 1.699, 0.411, 0.377, PHS=-1.010, 1.367,-0.010, RAW= 305.2, -3.4, CAL= 304.2, -7.2, ROT= 205.8, 7.2
2025-08-23T22:23:42.433Z,1755987822.433 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:42.453Z,1755987822.453 [DAT](INFO): direction in FSK: [-0.893219,-0.431799,-0.125333]
2025-08-23T22:23:42.458Z,1755987822.458 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:42.476Z,1755987822.476 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:42.476Z,1755987822.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:42.638Z,1755987822.638 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:42.638Z,1755987822.638 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:42.639Z,1755987822.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:42.703Z,1755987822.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 0.524760 s,
deltaX: -0.300000 m,
approachRate: -0.571690 m/s,
rangeRepo size: 4
2025-08-23T22:23:42.707Z,1755987822.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.930503 m,
bearing: 350.576267 deg,
lat: 36.779405 deg,
lon: -121.859557 deg,
deltaT: 0.524760 s,
deltaX: -0.298096 m,
approachRate: -0.568061 m/s,
posRepo size: 4
2025-08-23T22:23:42.708Z,1755987822.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-08-23T22:23:42.892Z,1755987822.892 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:42.2948
2025-08-23T22:23:42.893Z,1755987822.893 [DAT](INFO): Rx dataTimestamp_ set to:1755987822.892417
2025-08-23T22:23:42.894Z,1755987822.894 [DAT](INFO): DAT read: Bearing 133.7, -28.5 (Local)
2025-08-23T22:23:42.894Z,1755987822.894 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.7, -28.5 (Local)
2025-08-23T22:23:42.896Z,1755987822.896 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.0
2025-08-23T22:23:42.901Z,1755987822.901 [DAT](INFO): DAT read: 22:23:42.2948 LVL= 25904, 17905, 19698, 28979, AGC= 58, IDX= 509, 0.20, 0.038, 2.447, 1.172, 1.148, PHS=-1.008, 1.344,-0.020, RAW= 305.3, -3.1, CAL= 304.2, -6.9, ROT= 205.8, 6.9
2025-08-23T22:23:42.910Z,1755987822.910 [DAT](INFO): got valid direction response:
22:23:42.2948 LVL= 25904, 17905, 19698, 28979, AGC= 58, IDX= 509, 0.20, 0.038, 2.447, 1.172, 1.148, PHS=-1.008, 1.344,-0.020, RAW= 305.3, -3.1, CAL= 304.2, -6.9, ROT= 205.8, 6.9
2025-08-23T22:23:42.911Z,1755987822.911 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:42.914Z,1755987822.914 [DAT](INFO): direction in FSK: [-0.893798,-0.432079,-0.120137]
2025-08-23T22:23:42.914Z,1755987822.914 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:42.917Z,1755987822.917 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:42.951Z,1755987822.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:43.096Z,1755987823.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 0.483226 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:43.102Z,1755987823.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.930503 m,
bearing: 350.605797 deg,
lat: 36.779405 deg,
lon: -121.859559 deg,
deltaT: 0.483226 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:43.102Z,1755987823.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-08-23T22:23:43.142Z,1755987823.142 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:43.143Z,1755987823.143 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:43.143Z,1755987823.143 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:43.404Z,1755987823.404 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:42.7947
2025-08-23T22:23:43.405Z,1755987823.405 [DAT](INFO): Rx dataTimestamp_ set to:1755987823.404125
2025-08-23T22:23:43.420Z,1755987823.420 [DAT](INFO): DAT read: Bearing 133.1, -27.4 (Local)
2025-08-23T22:23:43.430Z,1755987823.430 [DAT](INFO): Local bearing/azimuth received:
Bearing 133.1, -27.4 (Local)
2025-08-23T22:23:43.432Z,1755987823.432 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.0
2025-08-23T22:23:43.464Z,1755987823.464 [DAT](INFO): DAT read: 22:23:42.7947 LVL= 30624, 14689, 20018, 27683, AGC= 58, IDX= 508, 0.00,-2.405,-0.006,-1.314,-1.298, PHS=-1.005, 1.337,-0.060, RAW= 306.3, -2.7, CAL= 305.2, -6.4, ROT= 204.8, 6.4
2025-08-23T22:23:43.474Z,1755987823.474 [DAT](INFO): got valid direction response:
22:23:42.7947 LVL= 30624, 14689, 20018, 27683, AGC= 58, IDX= 508, 0.00,-2.405,-0.006,-1.314,-1.298, PHS=-1.005, 1.337,-0.060, RAW= 306.3, -2.7, CAL= 305.2, -6.4, ROT= 204.8, 6.4
2025-08-23T22:23:43.475Z,1755987823.475 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:43.476Z,1755987823.476 [DAT](INFO): direction in FSK: [-0.902120,-0.416838,-0.111469]
2025-08-23T22:23:43.476Z,1755987823.476 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:43.487Z,1755987823.487 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:43.488Z,1755987823.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:43.626Z,1755987823.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.800000 m,
deltaT: 0.511708 s,
deltaX: -0.200000 m,
approachRate: -0.390848 m/s,
rangeRepo size: 4
2025-08-23T22:23:43.628Z,1755987823.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.731767 m,
bearing: 349.639375 deg,
lat: 36.779405 deg,
lon: -121.859560 deg,
deltaT: 0.511708 s,
deltaX: -0.198736 m,
approachRate: -0.388378 m/s,
posRepo size: 4
2025-08-23T22:23:43.628Z,1755987823.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:23:43.646Z,1755987823.646 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:43.647Z,1755987823.647 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:43.647Z,1755987823.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:43.900Z,1755987823.900 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:43.2948
2025-08-23T22:23:43.901Z,1755987823.901 [DAT](INFO): Rx dataTimestamp_ set to:1755987823.900554
2025-08-23T22:23:43.902Z,1755987823.902 [DAT](INFO): DAT read: Bearing 132.9, -26.4 (Local)
2025-08-23T22:23:43.903Z,1755987823.903 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.9, -26.4 (Local)
2025-08-23T22:23:43.904Z,1755987823.904 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.0
2025-08-23T22:23:43.909Z,1755987823.909 [DAT](INFO): DAT read: 22:23:43.2948 LVL= 27696, 15073, 17522, 29139, AGC= 57, IDX= 509,-0.27,-1.774, 0.618,-0.724,-0.677, PHS=-0.995, 1.341,-0.091, RAW= 307.4, -2.5, CAL= 306.2, -6.2, ROT= 203.8, 6.2
2025-08-23T22:23:43.912Z,1755987823.912 [DAT](INFO): got valid direction response:
22:23:43.2948 LVL= 27696, 15073, 17522, 29139, AGC= 57, IDX= 509,-0.27,-1.774, 0.618,-0.724,-0.677, PHS=-0.995, 1.341,-0.091, RAW= 307.4, -2.5, CAL= 306.2, -6.2, ROT= 203.8, 6.2
2025-08-23T22:23:43.912Z,1755987823.912 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:43.913Z,1755987823.913 [DAT](INFO): direction in FSK: [-0.909608,-0.401185,-0.107999]
2025-08-23T22:23:43.914Z,1755987823.914 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:43.923Z,1755987823.923 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:43.923Z,1755987823.923 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:44.014Z,1755987824.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 0.496429 s,
deltaX: 0.200000 m,
approachRate: 0.402877 m/s,
rangeRepo size: 4
2025-08-23T22:23:44.016Z,1755987824.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.930345 m,
bearing: 348.671116 deg,
lat: 36.779405 deg,
lon: -121.859561 deg,
deltaT: 0.496429 s,
deltaX: 0.198578 m,
approachRate: 0.400013 m/s,
posRepo size: 4
2025-08-23T22:23:44.016Z,1755987824.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-08-23T22:23:44.150Z,1755987824.150 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:44.151Z,1755987824.151 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:44.151Z,1755987824.151 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:44.411Z,1755987824.411 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:43.7946
2025-08-23T22:23:44.412Z,1755987824.412 [DAT](INFO): Rx dataTimestamp_ set to:1755987824.411197
2025-08-23T22:23:44.429Z,1755987824.429 [DAT](INFO): DAT read: Bearing 132.5, -27.7 (Local)
2025-08-23T22:23:44.430Z,1755987824.430 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.5, -27.7 (Local)
2025-08-23T22:23:44.436Z,1755987824.436 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.0
2025-08-23T22:23:44.460Z,1755987824.460 [DAT](INFO): DAT read: 22:23:43.7946 LVL= 32752, 14801, 19634, 29811, AGC= 58, IDX= 507, 0.31,-0.728, 1.673, 0.373, 0.402, PHS=-1.029, 1.316,-0.073, RAW= 306.1, -2.1, CAL= 304.8, -5.8, ROT= 205.2, 5.8
2025-08-23T22:23:44.474Z,1755987824.474 [DAT](INFO): got valid direction response:
22:23:43.7946 LVL= 32752, 14801, 19634, 29811, AGC= 58, IDX= 507, 0.31,-0.728, 1.673, 0.373, 0.402, PHS=-1.029, 1.316,-0.073, RAW= 306.1, -2.1, CAL= 304.8, -5.8, ROT= 205.2, 5.8
2025-08-23T22:23:44.474Z,1755987824.474 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:44.475Z,1755987824.475 [DAT](INFO): direction in FSK: [-0.900195,-0.423600,-0.101056]
2025-08-23T22:23:44.476Z,1755987824.476 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:44.492Z,1755987824.492 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:44.492Z,1755987824.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:44.650Z,1755987824.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.510643 s,
deltaX: -0.300000 m,
approachRate: -0.587495 m/s,
rangeRepo size: 4
2025-08-23T22:23:44.652Z,1755987824.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.632244 m,
bearing: 350.125319 deg,
lat: 36.779405 deg,
lon: -121.859562 deg,
deltaT: 0.510643 s,
deltaX: -0.298100 m,
approachRate: -0.583775 m/s,
posRepo size: 4
2025-08-23T22:23:44.653Z,1755987824.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-23T22:23:44.654Z,1755987824.654 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:44.655Z,1755987824.655 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:44.655Z,1755987824.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:44.908Z,1755987824.908 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:44.2947
2025-08-23T22:23:44.909Z,1755987824.909 [DAT](INFO): Rx dataTimestamp_ set to:1755987824.908538
2025-08-23T22:23:44.910Z,1755987824.910 [DAT](INFO): DAT read: Bearing 131.8, -27.2 (Local)
2025-08-23T22:23:44.910Z,1755987824.910 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.8, -27.2 (Local)
2025-08-23T22:23:44.912Z,1755987824.912 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.0
2025-08-23T22:23:44.917Z,1755987824.917 [DAT](INFO): DAT read: 22:23:44.2947 LVL= 24912, 16673, 17378, 26963, AGC= 57, IDX= 508, 0.06,-0.119, 2.258, 0.954, 1.012, PHS=-1.028, 1.291,-0.102, RAW= 306.6, -1.6, CAL= 305.2, -5.3, ROT= 204.8, 5.3
2025-08-23T22:23:44.922Z,1755987824.922 [DAT](INFO): got valid direction response:
22:23:44.2947 LVL= 24912, 16673, 17378, 26963, AGC= 57, IDX= 508, 0.06,-0.119, 2.258, 0.954, 1.012, PHS=-1.028, 1.291,-0.102, RAW= 306.6, -1.6, CAL= 305.2, -5.3, ROT= 204.8, 5.3
2025-08-23T22:23:44.923Z,1755987824.923 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:44.924Z,1755987824.924 [DAT](INFO): direction in FSK: [-0.903896,-0.417659,-0.092371]
2025-08-23T22:23:44.924Z,1755987824.924 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:44.928Z,1755987824.928 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:44.928Z,1755987824.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:45.035Z,1755987825.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.800000 m,
deltaT: 0.497341 s,
deltaX: 0.100000 m,
approachRate: 0.201070 m/s,
rangeRepo size: 4
2025-08-23T22:23:45.037Z,1755987825.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.731491 m,
bearing: 349.797807 deg,
lat: 36.779405 deg,
lon: -121.859562 deg,
deltaT: 0.497341 s,
deltaX: 0.099247 m,
approachRate: 0.199555 m/s,
posRepo size: 4
2025-08-23T22:23:45.037Z,1755987825.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:23:45.158Z,1755987825.158 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:45.158Z,1755987825.158 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:45.159Z,1755987825.159 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:45.418Z,1755987825.418 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:44.7946
2025-08-23T22:23:45.419Z,1755987825.419 [DAT](INFO): Rx dataTimestamp_ set to:1755987825.418682
2025-08-23T22:23:45.435Z,1755987825.435 [DAT](INFO): DAT read: Bearing 131.4, -26.5 (Local)
2025-08-23T22:23:45.437Z,1755987825.437 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.4, -26.5 (Local)
2025-08-23T22:23:45.460Z,1755987825.460 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.0
2025-08-23T22:23:45.467Z,1755987825.467 [DAT](INFO): DAT read: 22:23:44.7946 LVL= 26464, 16113, 17554, 28147, AGC= 57, IDX= 507,-0.19,-2.568,-0.200,-1.528,-1.439, PHS=-1.027, 1.284,-0.133, RAW= 307.4, -1.2, CAL= 305.9, -4.8, ROT= 204.1, 4.8
2025-08-23T22:23:45.470Z,1755987825.470 [DAT](INFO): got valid direction response:
22:23:44.7946 LVL= 26464, 16113, 17554, 28147, AGC= 57, IDX= 507,-0.19,-2.568,-0.200,-1.528,-1.439, PHS=-1.027, 1.284,-0.133, RAW= 307.4, -1.2, CAL= 305.9, -4.8, ROT= 204.1, 4.8
2025-08-23T22:23:45.470Z,1755987825.470 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:45.471Z,1755987825.471 [DAT](INFO): direction in FSK: [-0.909633,-0.406898,-0.083678]
2025-08-23T22:23:45.471Z,1755987825.471 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:45.476Z,1755987825.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.510144 s,
deltaX: -0.100000 m,
approachRate: -0.196024 m/s,
rangeRepo size: 4
2025-08-23T22:23:45.476Z,1755987825.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:23:45.487Z,1755987825.487 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:45.487Z,1755987825.487 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:45.662Z,1755987825.662 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:45.662Z,1755987825.662 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:45.663Z,1755987825.663 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:45.782Z,1755987825.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:23:45.916Z,1755987825.916 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:45.2946
2025-08-23T22:23:45.917Z,1755987825.917 [DAT](INFO): Rx dataTimestamp_ set to:1755987825.916419
2025-08-23T22:23:45.918Z,1755987825.918 [DAT](INFO): DAT read: Bearing 131.2, -26.6 (Local)
2025-08-23T22:23:45.918Z,1755987825.918 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.2, -26.6 (Local)
2025-08-23T22:23:45.920Z,1755987825.920 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.0
2025-08-23T22:23:45.925Z,1755987825.925 [DAT](INFO): DAT read: 22:23:45.2946 LVL= 26784, 13425, 17714, 29315, AGC= 57, IDX= 507, 0.37, 0.775, 3.137, 1.818, 1.909, PHS=-1.032, 1.273,-0.135, RAW= 307.3, -1.1, CAL= 305.8, -4.7, ROT= 204.2, 4.7
2025-08-23T22:23:45.930Z,1755987825.930 [DAT](INFO): got valid direction response:
22:23:45.2946 LVL= 26784, 13425, 17714, 29315, AGC= 57, IDX= 507, 0.37, 0.775, 3.137, 1.818, 1.909, PHS=-1.032, 1.273,-0.135, RAW= 307.3, -1.1, CAL= 305.8, -4.7, ROT= 204.2, 4.7
2025-08-23T22:23:45.931Z,1755987825.931 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:45.932Z,1755987825.932 [DAT](INFO): direction in FSK: [-0.909053,-0.408545,-0.081939]
2025-08-23T22:23:45.932Z,1755987825.932 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:45.936Z,1755987825.936 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:45.937Z,1755987825.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:46.160Z,1755987826.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.497737 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:46.162Z,1755987826.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.632183 m,
bearing: 349.307497 deg,
lat: 36.779406 deg,
lon: -121.859565 deg,
deltaT: 1.007881 s,
deltaX: -0.099308 m,
approachRate: -0.098531 m/s,
posRepo size: 4
2025-08-23T22:23:46.163Z,1755987826.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-23T22:23:46.166Z,1755987826.166 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:46.167Z,1755987826.167 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:46.167Z,1755987826.167 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:46.426Z,1755987826.426 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:45.7945
2025-08-23T22:23:46.427Z,1755987826.427 [DAT](INFO): Rx dataTimestamp_ set to:1755987826.426523
2025-08-23T22:23:46.445Z,1755987826.445 [DAT](INFO): DAT read: Bearing 130.7, -26.0 (Local)
2025-08-23T22:23:46.447Z,1755987826.447 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.7, -26.0 (Local)
2025-08-23T22:23:46.475Z,1755987826.475 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.0
2025-08-23T22:23:46.498Z,1755987826.498 [DAT](INFO): DAT read: 22:23:45.7945 LVL= 26496, 14545, 19954, 32147, AGC= 57, IDX= 506, 0.10,-1.001, 1.339, 0.011, 0.129, PHS=-1.028, 1.255,-0.161, RAW= 307.9, -0.7, CAL= 306.3, -4.2, ROT= 203.7, 4.2
2025-08-23T22:23:46.499Z,1755987826.499 [DAT](INFO): got valid direction response:
22:23:45.7945 LVL= 26496, 14545, 19954, 32147, AGC= 57, IDX= 506, 0.10,-1.001, 1.339, 0.011, 0.129, PHS=-1.028, 1.255,-0.161, RAW= 307.9, -0.7, CAL= 306.3, -4.2, ROT= 203.7, 4.2
2025-08-23T22:23:46.499Z,1755987826.499 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:46.500Z,1755987826.500 [DAT](INFO): direction in FSK: [-0.913204,-0.400868,-0.073238]
2025-08-23T22:23:46.501Z,1755987826.501 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:46.508Z,1755987826.508 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:46.509Z,1755987826.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:46.670Z,1755987826.670 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:46.671Z,1755987826.671 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:46.671Z,1755987826.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:46.673Z,1755987826.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.500000 m,
deltaT: 0.510104 s,
deltaX: -0.200000 m,
approachRate: -0.392077 m/s,
rangeRepo size: 4
2025-08-23T22:23:46.687Z,1755987826.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.433451 m,
bearing: 348.885320 deg,
lat: 36.779406 deg,
lon: -121.859565 deg,
deltaT: 0.510104 s,
deltaX: -0.198732 m,
approachRate: -0.389592 m/s,
posRepo size: 4
2025-08-23T22:23:46.687Z,1755987826.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-23T22:23:46.924Z,1755987826.924 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:46.2945
2025-08-23T22:23:46.925Z,1755987826.925 [DAT](INFO): Rx dataTimestamp_ set to:1755987826.924462
2025-08-23T22:23:46.932Z,1755987826.932 [DAT](INFO): DAT read: Bearing 130.7, -24.8 (Local)
2025-08-23T22:23:46.933Z,1755987826.933 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.7, -24.8 (Local)
2025-08-23T22:23:46.962Z,1755987826.962 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.0
2025-08-23T22:23:46.976Z,1755987826.976 [DAT](INFO): DAT read: 22:23:46.2945 LVL= 31648, 18465, 26354, 31603, AGC= 57, IDX= 506,-0.14,-2.381, 0.000,-1.397,-1.245, PHS=-1.033, 1.290,-0.196, RAW= 309.2, -0.6, CAL= 307.5, -4.0, ROT= 202.5, 4.0
2025-08-23T22:23:46.977Z,1755987826.977 [DAT](INFO): got valid direction response:
22:23:46.2945 LVL= 31648, 18465, 26354, 31603, AGC= 57, IDX= 506,-0.14,-2.381, 0.000,-1.397,-1.245, PHS=-1.033, 1.290,-0.196, RAW= 309.2, -0.6, CAL= 307.5, -4.0, ROT= 202.5, 4.0
2025-08-23T22:23:46.977Z,1755987826.977 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:46.994Z,1755987826.994 [DAT](INFO): direction in FSK: [-0.921629,-0.381751,-0.069756]
2025-08-23T22:23:46.995Z,1755987826.995 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:47.006Z,1755987827.006 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:47.006Z,1755987827.006 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:47.071Z,1755987827.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.500000 m,
deltaT: 0.497939 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:47.073Z,1755987827.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.433451 m,
bearing: 347.701842 deg,
lat: 36.779406 deg,
lon: -121.859565 deg,
deltaT: 0.497939 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:47.078Z,1755987827.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-23T22:23:47.174Z,1755987827.174 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:47.175Z,1755987827.175 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:47.175Z,1755987827.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:47.434Z,1755987827.434 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:46.7943
2025-08-23T22:23:47.436Z,1755987827.436 [DAT](INFO): Rx dataTimestamp_ set to:1755987827.435298
2025-08-23T22:23:47.448Z,1755987827.448 [DAT](INFO): DAT read: Bearing 130.0, -25.3 (Local)
2025-08-23T22:23:47.452Z,1755987827.452 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.0, -25.3 (Local)
2025-08-23T22:23:47.479Z,1755987827.479 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.0
2025-08-23T22:23:47.497Z,1755987827.497 [DAT](INFO): DAT read: 22:23:46.7943 LVL= 25216, 12993, 17106, 28883, AGC= 56, IDX= 504, 0.41,-1.533, 0.798,-0.549,-0.394, PHS=-1.037, 1.237,-0.198, RAW= 308.6, -0.0, CAL= 306.8, -3.5, ROT= 203.2, 3.5
2025-08-23T22:23:47.501Z,1755987827.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-23T22:23:47.506Z,1755987827.506 [DAT](INFO): got valid direction response:
22:23:46.7943 LVL= 25216, 12993, 17106, 28883, AGC= 56, IDX= 504, 0.41,-1.533, 0.798,-0.549,-0.394, PHS=-1.037, 1.237,-0.198, RAW= 308.6, -0.0, CAL= 306.8, -3.5, ROT= 203.2, 3.5
2025-08-23T22:23:47.507Z,1755987827.507 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:47.508Z,1755987827.508 [DAT](INFO): direction in FSK: [-0.917421,-0.393207,-0.061049]
2025-08-23T22:23:47.508Z,1755987827.508 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:47.521Z,1755987827.521 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:47.521Z,1755987827.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:47.678Z,1755987827.678 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:47.678Z,1755987827.678 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:47.679Z,1755987827.679 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:47.831Z,1755987827.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 0.510836 s,
deltaX: -0.300000 m,
approachRate: -0.587273 m/s,
rangeRepo size: 4
2025-08-23T22:23:47.847Z,1755987827.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.135357 m,
bearing: 348.429797 deg,
lat: 36.779405 deg,
lon: -121.859566 deg,
deltaT: 0.510836 s,
deltaX: -0.298094 m,
approachRate: -0.583541 m/s,
posRepo size: 4
2025-08-23T22:23:47.849Z,1755987827.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:23:47.936Z,1755987827.936 [DAT](INFO): DAT read: RXDAA OVERRUNRX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:47.2944
2025-08-23T22:23:47.937Z,1755987827.937 [DAT](INFO): Rx dataTimestamp_ set to:1755987827.936650
2025-08-23T22:23:47.940Z,1755987827.940 [DAT](INFO): DAT read: Bearing 129.6, -24.9 (Local)
2025-08-23T22:23:47.941Z,1755987827.941 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.6, -24.9 (Local)
2025-08-23T22:23:47.946Z,1755987827.946 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.0
2025-08-23T22:23:47.963Z,1755987827.963 [DAT](INFO): DAT read: 22:23:47.2944 LVL= 32752, 21985, 28498, 32755, AGC= 56, IDX= 505, 0.12,-0.378, 1.938, 0.585, 0.760, PHS=-1.036, 1.222,-0.219, RAW= 309.1, 0.3, CAL= 307.2, -3.0, ROT= 202.8, 3.0
2025-08-23T22:23:47.965Z,1755987827.965 [DAT](INFO): got valid direction response:
22:23:47.2944 LVL= 32752, 21985, 28498, 32755, AGC= 56, IDX= 505, 0.12,-0.378, 1.938, 0.585, 0.760, PHS=-1.036, 1.222,-0.219, RAW= 309.1, 0.3, CAL= 307.2, -3.0, ROT= 202.8, 3.0
2025-08-23T22:23:47.965Z,1755987827.965 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:47.986Z,1755987827.986 [DAT](INFO): direction in FSK: [-0.920600,-0.386985,-0.052336]
2025-08-23T22:23:47.986Z,1755987827.986 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:47.989Z,1755987827.989 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:47.998Z,1755987827.998 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:48.183Z,1755987828.183 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:48.183Z,1755987828.183 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:48.184Z,1755987828.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:48.213Z,1755987828.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.400000 m,
deltaT: 0.501352 s,
deltaX: 0.200000 m,
approachRate: 0.398921 m/s,
rangeRepo size: 4
2025-08-23T22:23:48.219Z,1755987828.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.334089 m,
bearing: 348.087675 deg,
lat: 36.779405 deg,
lon: -121.859567 deg,
deltaT: 0.501352 s,
deltaX: 0.198732 m,
approachRate: 0.396393 m/s,
posRepo size: 4
2025-08-23T22:23:48.220Z,1755987828.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.33 m.
2025-08-23T22:23:48.440Z,1755987828.440 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:23:47.7943
2025-08-23T22:23:48.441Z,1755987828.441 [DAT](INFO): Rx dataTimestamp_ set to:1755987828.440241
2025-08-23T22:23:48.444Z,1755987828.444 [DAT](INFO): DAT read: Bearing 129.5, -24.2 (Local)
2025-08-23T22:23:48.445Z,1755987828.445 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.5, -24.2 (Local)
2025-08-23T22:23:48.468Z,1755987828.468 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.0
2025-08-23T22:23:48.520Z,1755987828.520 [DAT](INFO): DAT read: 22:23:47.7943 LVL= 27680, 14705, 19762, 32499, AGC= 56, IDX= 504,-0.12, 2.619,-1.327,-2.717,-2.519, PHS=-1.043, 1.237,-0.242, RAW= 309.7, 0.5, CAL= 307.8, -2.8, ROT= 202.2, 2.8
2025-08-23T22:23:48.521Z,1755987828.521 [DAT](INFO): got valid direction response:
22:23:47.7943 LVL= 27680, 14705, 19762, 32499, AGC= 56, IDX= 504,-0.12, 2.619,-1.327,-2.717,-2.519, PHS=-1.043, 1.237,-0.242, RAW= 309.7, 0.5, CAL= 307.8, -2.8, ROT= 202.2, 2.8
2025-08-23T22:23:48.526Z,1755987828.526 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:48.527Z,1755987828.527 [DAT](INFO): direction in FSK: [-0.924765,-0.377390,-0.048850]
2025-08-23T22:23:48.527Z,1755987828.527 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:48.535Z,1755987828.535 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:48.535Z,1755987828.535 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:48.686Z,1755987828.686 [DAT](INFO): Reached modem response timeout
2025-08-23T22:23:48.686Z,1755987828.686 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:23:48.687Z,1755987828.687 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:23:48.698Z,1755987828.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 0.503591 s,
deltaX: -0.200000 m,
approachRate: -0.397147 m/s,
rangeRepo size: 4
2025-08-23T22:23:48.700Z,1755987828.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.135362 m,
bearing: 347.507373 deg,
lat: 36.779405 deg,
lon: -121.859569 deg,
deltaT: 0.503591 s,
deltaX: -0.198728 m,
approachRate: -0.394621 m/s,
posRepo size: 4
2025-08-23T22:23:48.700Z,1755987828.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:23:48.943Z,1755987828.943 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNuser:1725>
2025-08-23T22:23:48.951Z,1755987828.951 [DAT](INFO): DAT read: Command 'bl' not found
2025-08-23T22:23:48.952Z,1755987828.952 [DAT](INFO): unknown deviceResponse_: Command 'bl' not found
2025-08-23T22:23:48.952Z,1755987828.952 [DAT](INFO): DAT read: Error
2025-08-23T22:23:48.952Z,1755987828.952 [DAT](INFO): unknown deviceResponse_: Error
2025-08-23T22:23:48.953Z,1755987828.953 [DAT](INFO): DAT read: user:1726>
2025-08-23T22:23:48.959Z,1755987828.959 [DAT](INFO): DAT read: Tx time:22:23:48.7968
2025-08-23T22:23:48.959Z,1755987828.959 [DAT](INFO): Ping request sent.
2025-08-23T22:23:48.959Z,1755987828.959 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:23:48.960Z,1755987828.960 [DAT](INFO): publishing transmit ping time
2025-08-23T22:23:48.961Z,1755987828.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001630
2025-08-23T22:23:49.074Z,1755987829.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:23:49.191Z,1755987829.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.232061
2025-08-23T22:23:49.398Z,1755987829.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:23:49.444Z,1755987829.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.484549
2025-08-23T22:23:49.694Z,1755987829.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.735290
2025-08-23T22:23:49.810Z,1755987829.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:23:49.947Z,1755987829.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988069
2025-08-23T22:23:50.199Z,1755987830.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239776
2025-08-23T22:23:50.224Z,1755987830.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:23:50.452Z,1755987830.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492419
2025-08-23T22:23:50.617Z,1755987830.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:23:50.702Z,1755987830.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743278
2025-08-23T22:23:50.955Z,1755987830.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995814
2025-08-23T22:23:51.017Z,1755987831.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:23:51.207Z,1755987831.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247798
2025-08-23T22:23:51.410Z,1755987831.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:23:51.463Z,1755987831.463 [DAT](INFO): DAT read: Rx Time:22:23:50.9394
2025-08-23T22:23:51.465Z,1755987831.465 [DAT](INFO): Rx dataTimestamp_ set to:1755987831.463479
2025-08-23T22:23:51.467Z,1755987831.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507358
2025-08-23T22:23:51.711Z,1755987831.711 [DAT](INFO): DAT read: Bearing 126.9, -23.4 (Local)
2025-08-23T22:23:51.712Z,1755987831.712 [DAT](INFO): Local bearing/azimuth received:
Bearing 126.9, -23.4 (Local)
2025-08-23T22:23:51.714Z,1755987831.714 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.0
2025-08-23T22:23:51.719Z,1755987831.719 [DAT](INFO): DAT read: 22:23:50.9394 LVL= 22192, 9361, 14658, 19859, AGC= 57, IDX= 166,-0.13,-2.059, 0.231,-1.164,-0.877, PHS=-1.079, 1.153,-0.330, RAW= 310.8, 2.6, CAL= 308.4, -0.5, ROT= 201.6, 0.5
2025-08-23T22:23:51.720Z,1755987831.720 [DAT](INFO): got valid direction response:
22:23:50.9394 LVL= 22192, 9361, 14658, 19859, AGC= 57, IDX= 166,-0.13,-2.059, 0.231,-1.164,-0.877, PHS=-1.079, 1.153,-0.330, RAW= 310.8, 2.6, CAL= 308.4, -0.5, ROT= 201.6, 0.5
2025-08-23T22:23:51.720Z,1755987831.720 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:23:51.721Z,1755987831.721 [DAT](INFO): direction in FSK: [-0.929741,-0.368111,-0.008727]
2025-08-23T22:23:51.722Z,1755987831.722 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:51.888Z,1755987831.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.100000 m,
deltaT: 3.269707 s,
deltaX: -0.099999 m,
approachRate: -0.030584 m/s,
rangeRepo size: 4
2025-08-23T22:23:51.890Z,1755987831.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.036126 m,
bearing: 347.113267 deg,
lat: 36.779405 deg,
lon: -121.859569 deg,
deltaT: 3.269707 s,
deltaX: -0.099236 m,
approachRate: -0.030350 m/s,
posRepo size: 4
2025-08-23T22:23:51.891Z,1755987831.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-08-23T22:23:51.968Z,1755987831.968 [DAT](INFO): DAT read: Rx Time:22:23:51.4394
2025-08-23T22:23:51.970Z,1755987831.970 [DAT](INFO): Rx dataTimestamp_ set to:1755987831.968532
2025-08-23T22:23:51.972Z,1755987831.972 [DAT](INFO): DAT read: Bearing 126.7, -22.9 (Local)
2025-08-23T22:23:51.973Z,1755987831.973 [DAT](INFO): Local bearing/azimuth received:
Bearing 126.7, -22.9 (Local)
2025-08-23T22:23:52.216Z,1755987832.216 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.0
2025-08-23T22:23:52.221Z,1755987832.221 [DAT](INFO): DAT read: 22:23:51.4394 LVL= 28752, 13521, 24210, 32755, AGC= 54, IDX= 501, 0.47,-0.655, 1.621, 0.218, 0.521, PHS=-1.075, 1.145,-0.347, RAW= 311.2, 2.9, CAL= 308.8, -0.2, ROT= 201.2, 0.2
2025-08-23T22:23:52.222Z,1755987832.222 [DAT](INFO): got valid direction response:
22:23:51.4394 LVL= 28752, 13521, 24210, 32755, AGC= 54, IDX= 501, 0.47,-0.655, 1.621, 0.218, 0.521, PHS=-1.075, 1.145,-0.347, RAW= 311.2, 2.9, CAL= 308.8, -0.2, ROT= 201.2, 0.2
2025-08-23T22:23:52.222Z,1755987832.222 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-23T22:23:52.223Z,1755987832.223 [DAT](INFO): direction in FSK: [-0.932318,-0.361622,-0.003491]
2025-08-23T22:23:52.223Z,1755987832.223 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:52.265Z,1755987832.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.100000 m,
deltaT: 0.504180 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:52.271Z,1755987832.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.036126 m,
bearing: 346.766518 deg,
lat: 36.779405 deg,
lon: -121.859570 deg,
deltaT: 0.504180 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:23:52.272Z,1755987832.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-08-23T22:23:52.469Z,1755987832.469 [DAT](INFO): DAT read: Rx Time:22:23:51.9392
2025-08-23T22:23:52.471Z,1755987832.471 [DAT](INFO): Rx dataTimestamp_ set to:1755987832.470024
2025-08-23T22:23:52.634Z,1755987832.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-08-23T22:23:52.724Z,1755987832.724 [DAT](INFO): DAT read: Bearing 126.0, -23.4 (Local)
2025-08-23T22:23:52.724Z,1755987832.724 [DAT](INFO): Local bearing/azimuth received:
Bearing 126.0, -23.4 (Local)
2025-08-23T22:23:52.727Z,1755987832.727 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.0
2025-08-23T22:23:52.731Z,1755987832.731 [DAT](INFO): DAT read: 22:23:51.9392 LVL= 26560, 14001, 21554, 30131, AGC= 55, IDX= 500, 0.15,-1.637, 0.622,-0.752,-0.450, PHS=-1.086, 1.117,-0.346, RAW= 310.7, 3.3, CAL= 308.3, 0.3, ROT= 201.7, -0.3
2025-08-23T22:23:52.732Z,1755987832.732 [DAT](INFO): got valid direction response:
22:23:51.9392 LVL= 26560, 14001, 21554, 30131, AGC= 55, IDX= 500, 0.15,-1.637, 0.622,-0.752,-0.450, PHS=-1.086, 1.117,-0.346, RAW= 310.7, 3.3, CAL= 308.3, 0.3, ROT= 201.7, -0.3
2025-08-23T22:23:52.733Z,1755987832.733 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-23T22:23:52.735Z,1755987832.735 [DAT](INFO): direction in FSK: [-0.929120,-0.369742,0.005236]
2025-08-23T22:23:52.735Z,1755987832.735 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:52.978Z,1755987832.978 [DAT](INFO): DAT read: Rx Time:22:23:52.4393
2025-08-23T22:23:52.979Z,1755987832.979 [DAT](INFO): Rx dataTimestamp_ set to:1755987832.978154
2025-08-23T22:23:53.013Z,1755987833.013 [DAT](INFO): DAT read: Bearing 125.5, -23.5 (Local)
2025-08-23T22:23:53.014Z,1755987833.014 [DAT](INFO): Local bearing/azimuth received:
Bearing 125.5, -23.5 (Local)
2025-08-23T22:23:53.083Z,1755987833.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.800000 m,
deltaT: 0.508308 s,
deltaX: -0.300000 m,
approachRate: -0.590194 m/s,
rangeRepo size: 4
2025-08-23T22:23:53.085Z,1755987833.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.738055 m,
bearing: 347.356867 deg,
lat: 36.779405 deg,
lon: -121.859574 deg,
deltaT: 0.508308 s,
deltaX: -0.298071 m,
approachRate: -0.586398 m/s,
posRepo size: 4
2025-08-23T22:23:53.085Z,1755987833.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m.
2025-08-23T22:23:53.228Z,1755987833.228 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.0
2025-08-23T22:23:53.232Z,1755987833.232 [DAT](INFO): DAT read: 22:23:52.4393 LVL= 25904, 13377, 23442, 31987, AGC= 54, IDX= 501,-0.11,-1.711, 0.565,-0.815,-0.506, PHS=-1.104, 1.115,-0.353, RAW= 310.6, 3.5, CAL= 308.2, 0.7, ROT= 201.8, -0.7
2025-08-23T22:23:53.233Z,1755987833.233 [DAT](INFO): got valid direction response:
22:23:52.4393 LVL= 25904, 13377, 23442, 31987, AGC= 54, IDX= 501,-0.11,-1.711, 0.565,-0.815,-0.506, PHS=-1.104, 1.115,-0.353, RAW= 310.6, 3.5, CAL= 308.2, 0.7, ROT= 201.8, -0.7
2025-08-23T22:23:53.234Z,1755987833.234 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-23T22:23:53.235Z,1755987833.235 [DAT](INFO): direction in FSK: [-0.928417,-0.371340,0.012217]
2025-08-23T22:23:53.235Z,1755987833.235 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:53.439Z,1755987833.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.900000 m,
deltaT: 0.503433 s,
deltaX: 0.099999 m,
approachRate: 0.198635 m/s,
rangeRepo size: 4
2025-08-23T22:23:53.443Z,1755987833.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.837423 m,
bearing: 347.515188 deg,
lat: 36.779406 deg,
lon: -121.859574 deg,
deltaT: 0.503433 s,
deltaX: 0.099368 m,
approachRate: 0.197381 m/s,
posRepo size: 4
2025-08-23T22:23:53.444Z,1755987833.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-08-23T22:23:53.463Z,1755987833.463 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:23:53.482Z,1755987833.482 [DAT](INFO): DAT read: Rx Time:22:23:52.9392
2025-08-23T22:23:53.484Z,1755987833.484 [DAT](INFO): Rx dataTimestamp_ set to:1755987833.482679
2025-08-23T22:23:53.497Z,1755987833.497 [DAT](INFO): DAT read: Bearing 124.6, -23.4 (Local)
2025-08-23T22:23:53.498Z,1755987833.498 [DAT](INFO): Local bearing/azimuth received:
Bearing 124.6, -23.4 (Local)
2025-08-23T22:23:53.511Z,1755987833.511 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.0
2025-08-23T22:23:53.529Z,1755987833.529 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-08-23T22:23:53.736Z,1755987833.736 [DAT](INFO): DAT read: 22:23:52.9392 LVL= 26176, 13233, 21874, 30243, AGC= 54, IDX= 499, 0.49,-0.669, 1.584, 0.224, 0.542, PHS=-1.109, 1.087,-0.362, RAW= 310.5, 4.0, CAL= 308.1, 1.6, ROT= 201.9, -1.6
2025-08-23T22:23:53.737Z,1755987833.737 [DAT](INFO): got valid direction response:
22:23:52.9392 LVL= 26176, 13233, 21874, 30243, AGC= 54, IDX= 499, 0.49,-0.669, 1.584, 0.224, 0.542, PHS=-1.109, 1.087,-0.362, RAW= 310.5, 4.0, CAL= 308.1, 1.6, ROT= 201.9, -1.6
2025-08-23T22:23:53.737Z,1755987833.737 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-23T22:23:53.738Z,1755987833.738 [DAT](INFO): direction in FSK: [-0.927475,-0.372842,0.027922]
2025-08-23T22:23:53.875Z,1755987833.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.800000 m,
deltaT: 0.256810 s,
deltaX: -0.099999 m,
approachRate: -0.389391 m/s,
rangeRepo size: 4
2025-08-23T22:23:53.877Z,1755987833.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.737995 m,
bearing: 347.718866 deg,
lat: 36.779406 deg,
lon: -121.859574 deg,
deltaT: 0.256810 s,
deltaX: -0.099428 m,
approachRate: -0.387166 m/s,
posRepo size: 4
2025-08-23T22:23:53.877Z,1755987833.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m.
2025-08-23T22:23:53.988Z,1755987833.988 [DAT](INFO): DAT read: Rx Time:22:23:53.4391
2025-08-23T22:23:53.989Z,1755987833.989 [DAT](INFO): Rx dataTimestamp_ set to:1755987833.988146
2025-08-23T22:23:54.005Z,1755987834.005 [DAT](INFO): DAT read: Bearing 124.0, -24.0 (Local)
2025-08-23T22:23:54.006Z,1755987834.006 [DAT](INFO): Local bearing/azimuth received:
Bearing 124.0, -24.0 (Local)
2025-08-23T22:23:54.018Z,1755987834.018 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.0
2025-08-23T22:23:54.027Z,1755987834.027 [DAT](INFO): DAT read: 22:23:53.4391 LVL= 23472, 13345, 21058, 27635, AGC= 54, IDX= 499, 0.14,-0.607, 1.661, 0.313, 0.628, PHS=-1.133, 1.078,-0.359, RAW= 309.8, 4.3, CAL= 307.4, 2.0, ROT= 202.6, -2.0
2025-08-23T22:23:54.028Z,1755987834.028 [DAT](INFO): got valid direction response:
22:23:53.4391 LVL= 23472, 13345, 21058, 27635, AGC= 54, IDX= 499, 0.14,-0.607, 1.661, 0.313, 0.628, PHS=-1.133, 1.078,-0.359, RAW= 309.8, 4.3, CAL= 307.4, 2.0, ROT= 202.6, -2.0
2025-08-23T22:23:54.028Z,1755987834.028 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-23T22:23:54.029Z,1755987834.029 [DAT](INFO): direction in FSK: [-0.922648,-0.384061,0.034899]
2025-08-23T22:23:54.034Z,1755987834.034 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:54.255Z,1755987834.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 0.505467 s,
deltaX: -0.200000 m,
approachRate: -0.395673 m/s,
rangeRepo size: 4
2025-08-23T22:23:54.257Z,1755987834.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.539261 m,
bearing: 348.458827 deg,
lat: 36.779406 deg,
lon: -121.859574 deg,
deltaT: 0.505467 s,
deltaX: -0.198734 m,
approachRate: -0.393170 m/s,
posRepo size: 4
2025-08-23T22:23:54.258Z,1755987834.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:23:54.467Z,1755987834.467 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:23:54.490Z,1755987834.490 [DAT](INFO): DAT read: Rx Time:22:23:53.9390
2025-08-23T22:23:54.491Z,1755987834.491 [DAT](INFO): Rx dataTimestamp_ set to:1755987834.490547
2025-08-23T22:23:54.514Z,1755987834.514 [DAT](INFO): DAT read: Bearing 124.0, -24.4 (Local)
2025-08-23T22:23:54.514Z,1755987834.514 [DAT](INFO): Local bearing/azimuth received:
Bearing 124.0, -24.4 (Local)
2025-08-23T22:23:54.516Z,1755987834.516 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.0
2025-08-23T22:23:54.525Z,1755987834.525 [DAT](INFO): DAT read: 22:23:53.9390 LVL= 23744, 13569, 22930, 28835, AGC= 54, IDX= 498,-0.09,-3.046,-0.773,-2.111,-1.803, PHS=-1.140, 1.075,-0.351, RAW= 309.4, 4.3, CAL= 307.1, 2.0, ROT= 202.9, -2.0
2025-08-23T22:23:54.552Z,1755987834.552 [DAT](INFO): got valid direction response:
22:23:53.9390 LVL= 23744, 13569, 22930, 28835, AGC= 54, IDX= 498,-0.09,-3.046,-0.773,-2.111,-1.803, PHS=-1.140, 1.075,-0.351, RAW= 309.4, 4.3, CAL= 307.1, 2.0, ROT= 202.9, -2.0
2025-08-23T22:23:54.553Z,1755987834.553 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-23T22:23:54.561Z,1755987834.561 [DAT](INFO): direction in FSK: [-0.920624,-0.388887,0.034899]
2025-08-23T22:23:54.568Z,1755987834.568 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:54.726Z,1755987834.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.500000 m,
deltaT: 0.502401 s,
deltaX: -0.100000 m,
approachRate: -0.199045 m/s,
rangeRepo size: 4
2025-08-23T22:23:54.728Z,1755987834.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.439918 m,
bearing: 348.757300 deg,
lat: 36.779405 deg,
lon: -121.859574 deg,
deltaT: 0.502401 s,
deltaX: -0.099343 m,
approachRate: -0.197737 m/s,
posRepo size: 4
2025-08-23T22:23:54.728Z,1755987834.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.44 m.
2025-08-23T22:23:54.994Z,1755987834.994 [DAT](INFO): DAT read: Rx Time:22:23:54.4391
2025-08-23T22:23:54.996Z,1755987834.996 [DAT](INFO): Rx dataTimestamp_ set to:1755987834.994718
2025-08-23T22:23:55.014Z,1755987835.014 [DAT](INFO): DAT read: Bearing 123.6, -24.7 (Local)
2025-08-23T22:23:55.014Z,1755987835.014 [DAT](INFO): Local bearing/azimuth received:
Bearing 123.6, -24.7 (Local)
2025-08-23T22:23:55.016Z,1755987835.016 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.0
2025-08-23T22:23:55.016Z,1755987835.016 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-08-23T22:23:55.104Z,1755987835.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 0.504171 s,
deltaX: 0.100000 m,
approachRate: 0.198346 m/s,
rangeRepo size: 4
2025-08-23T22:23:55.104Z,1755987835.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.44 m.
2025-08-23T22:23:55.246Z,1755987835.246 [DAT](INFO): DAT read: 22:23:54.4391 LVL= 26832, 15921, 23922, 29763, AGC= 55, IDX= 499,-0.49,-1.141, 1.128,-0.194, 0.109, PHS=-1.148, 1.064,-0.347, RAW= 309.0, 4.5, CAL= 306.7, 2.2, ROT= 203.3, -2.2
2025-08-23T22:23:55.247Z,1755987835.247 [DAT](INFO): got valid direction response:
22:23:54.4391 LVL= 26832, 15921, 23922, 29763, AGC= 55, IDX= 499,-0.49,-1.141, 1.128,-0.194, 0.109, PHS=-1.148, 1.064,-0.347, RAW= 309.0, 4.5, CAL= 306.7, 2.2, ROT= 203.3, -2.2
2025-08-23T22:23:55.248Z,1755987835.248 [DAT](INFO): #Rx 10: Read direction message, but no range.
2025-08-23T22:23:55.249Z,1755987835.249 [DAT](INFO): direction in FSK: [-0.917769,-0.395254,0.038388]
2025-08-23T22:23:55.498Z,1755987835.498 [DAT](INFO): DAT read: Rx Time:22:23:54.9389
2025-08-23T22:23:55.499Z,1755987835.499 [DAT](INFO): Rx dataTimestamp_ set to:1755987835.498296
2025-08-23T22:23:55.511Z,1755987835.511 [DAT](INFO): DAT read: Bearing 122.8, -24.8 (Local)
2025-08-23T22:23:55.511Z,1755987835.511 [DAT](INFO): Local bearing/azimuth received:
Bearing 122.8, -24.8 (Local)
2025-08-23T22:23:55.513Z,1755987835.513 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.0
2025-08-23T22:23:55.514Z,1755987835.514 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-08-23T22:23:55.622Z,1755987835.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.300000 m,
deltaT: 0.503578 s,
deltaX: -0.300000 m,
approachRate: -0.595737 m/s,
rangeRepo size: 4
2025-08-23T22:23:55.624Z,1755987835.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.241182 m,
bearing: 349.175401 deg,
lat: 36.779405 deg,
lon: -121.859572 deg,
deltaT: 1.007749 s,
deltaX: -0.198735 m,
approachRate: -0.197207 m/s,
posRepo size: 4
2025-08-23T22:23:55.624Z,1755987835.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-23T22:23:55.752Z,1755987835.752 [DAT](INFO): DAT read: 22:23:54.9389 LVL= 24544, 12881, 22898, 29891, AGC= 54, IDX= 497, 0.16,-0.925, 1.331, 0.025, 0.334, PHS=-1.157, 1.043,-0.353, RAW= 308.8, 4.9, CAL= 306.5, 2.9, ROT= 203.5, -2.9
2025-08-23T22:23:55.754Z,1755987835.754 [DAT](INFO): got valid direction response:
22:23:54.9389 LVL= 24544, 12881, 22898, 29891, AGC= 54, IDX= 497, 0.16,-0.925, 1.331, 0.025, 0.334, PHS=-1.157, 1.043,-0.353, RAW= 308.8, 4.9, CAL= 306.5, 2.9, ROT= 203.5, -2.9
2025-08-23T22:23:55.755Z,1755987835.755 [DAT](INFO): #Rx 12: Read direction message, but no range.
2025-08-23T22:23:55.756Z,1755987835.756 [DAT](INFO): direction in FSK: [-0.915886,-0.398238,0.050593]
2025-08-23T22:23:55.926Z,1755987835.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-23T22:23:56.003Z,1755987836.003 [DAT](INFO): DAT read: Rx Time:22:23:55.4390
2025-08-23T22:23:56.005Z,1755987836.005 [DAT](INFO): Rx dataTimestamp_ set to:1755987836.003798
2025-08-23T22:23:56.015Z,1755987836.015 [DAT](INFO): DAT read: Bearing 123.4, -24.9 (Local)
2025-08-23T22:23:56.016Z,1755987836.016 [DAT](INFO): Local bearing/azimuth received:
Bearing 123.4, -24.9 (Local)
2025-08-23T22:23:56.018Z,1755987836.018 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.0
2025-08-23T22:23:56.030Z,1755987836.030 [DAT](INFO): DAT read: 22:23:55.4390 LVL= 15456, 11297, 11042, 17507, AGC= 57, IDX= 2,-0.04,-1.843, 0.444,-0.881,-0.578, PHS=-1.163, 1.067,-0.347, RAW= 308.8, 4.6, CAL= 306.5, 2.4, ROT= 203.5, -2.4
2025-08-23T22:23:56.031Z,1755987836.031 [DAT](INFO): got valid direction response:
22:23:55.4390 LVL= 15456, 11297, 11042, 17507, AGC= 57, IDX= 2,-0.04,-1.843, 0.444,-0.881,-0.578, PHS=-1.163, 1.067,-0.347, RAW= 308.8, 4.6, CAL= 306.5, 2.4, ROT= 203.5, -2.4
2025-08-23T22:23:56.031Z,1755987836.031 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-23T22:23:56.032Z,1755987836.032 [DAT](INFO): direction in FSK: [-0.916256,-0.398399,0.041876]
2025-08-23T22:23:56.033Z,1755987836.033 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:56.291Z,1755987836.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.500000 m,
deltaT: 0.505502 s,
deltaX: 0.200000 m,
approachRate: 0.395646 m/s,
rangeRepo size: 4
2025-08-23T22:23:56.293Z,1755987836.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.439920 m,
bearing: 349.425416 deg,
lat: 36.779405 deg,
lon: -121.859572 deg,
deltaT: 0.505502 s,
deltaX: 0.198738 m,
approachRate: 0.393150 m/s,
posRepo size: 4
2025-08-23T22:23:56.294Z,1755987836.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.44 m.
2025-08-23T22:23:56.508Z,1755987836.508 [DAT](INFO): DAT read: Rx Time:22:23:55.9389
2025-08-23T22:23:56.509Z,1755987836.509 [DAT](INFO): Rx dataTimestamp_ set to:1755987836.508243
2025-08-23T22:23:56.513Z,1755987836.513 [DAT](INFO): DAT read: Bearing 123.0, -25.5 (Local)
2025-08-23T22:23:56.513Z,1755987836.513 [DAT](INFO): Local bearing/azimuth received:
Bearing 123.0, -25.5 (Local)
2025-08-23T22:23:56.515Z,1755987836.515 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.0
2025-08-23T22:23:56.520Z,1755987836.520 [DAT](INFO): DAT read: 22:23:55.9389 LVL= 27376, 15953, 25058, 30451, AGC= 55, IDX= 497,-0.43,-2.374,-0.086,-1.390,-1.095, PHS=-1.177, 1.054,-0.339, RAW= 308.2, 4.8, CAL= 305.8, 2.7, ROT= 204.2, -2.7
2025-08-23T22:23:56.521Z,1755987836.521 [DAT](INFO): got valid direction response:
22:23:55.9389 LVL= 27376, 15953, 25058, 30451, AGC= 55, IDX= 497,-0.43,-2.374,-0.086,-1.390,-1.095, PHS=-1.177, 1.054,-0.339, RAW= 308.2, 4.8, CAL= 305.8, 2.7, ROT= 204.2, -2.7
2025-08-23T22:23:56.521Z,1755987836.521 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-23T22:23:56.566Z,1755987836.566 [DAT](INFO): direction in FSK: [-0.911108,-0.409468,0.047106]
2025-08-23T22:23:56.567Z,1755987836.567 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:56.737Z,1755987836.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.300000 m,
deltaT: 0.504445 s,
deltaX: -0.200000 m,
approachRate: -0.396475 m/s,
rangeRepo size: 4
2025-08-23T22:23:56.739Z,1755987836.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.241164 m,
bearing: 350.140731 deg,
lat: 36.779405 deg,
lon: -121.859572 deg,
deltaT: 0.504445 s,
deltaX: -0.198756 m,
approachRate: -0.394010 m/s,
posRepo size: 4
2025-08-23T22:23:56.740Z,1755987836.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-23T22:23:57.008Z,1755987837.008 [DAT](INFO): DAT read: Rx Time:22:23:56.4389
2025-08-23T22:23:57.008Z,1755987837.008 [DAT](INFO): Rx dataTimestamp_ set to:1755987837.008164
2025-08-23T22:23:57.010Z,1755987837.010 [DAT](INFO): DAT read: Bearing 105.3, -23.0 (Local)
2025-08-23T22:23:57.010Z,1755987837.010 [DAT](INFO): Local bearing/azimuth received:
Bearing 105.3, -23.0 (Local)
2025-08-23T22:23:57.012Z,1755987837.012 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.0
2025-08-23T22:23:57.013Z,1755987837.013 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-08-23T22:23:57.114Z,1755987837.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.300000 m,
deltaT: 0.499921 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:57.115Z,1755987837.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-23T22:23:57.262Z,1755987837.262 [DAT](INFO): DAT read: 22:23:56.4389 LVL= 26352, 15601, 24114, 30355, AGC= 54, IDX= 513, 0.22,-0.451, 1.539, 0.464, 0.936, PHS=-1.284, 0.648,-0.516, RAW= 306.7, 13.6, CAL= 304.7, 18.8, ROT= 205.3, -18.8
2025-08-23T22:23:57.263Z,1755987837.263 [DAT](INFO): got valid direction response:
22:23:56.4389 LVL= 26352, 15601, 24114, 30355, AGC= 54, IDX= 513, 0.22,-0.451, 1.539, 0.464, 0.936, PHS=-1.284, 0.648,-0.516, RAW= 306.7, 13.6, CAL= 304.7, 18.8, ROT= 205.3, -18.8
2025-08-23T22:23:57.263Z,1755987837.263 [DAT](INFO): #Rx 16: Read direction message, but no range.
2025-08-23T22:23:57.264Z,1755987837.264 [DAT](INFO): direction in FSK: [-0.855849,-0.404558,0.322266]
2025-08-23T22:23:57.511Z,1755987837.511 [DAT](INFO): DAT read: Rx Time:22:23:56.9388
2025-08-23T22:23:57.511Z,1755987837.511 [DAT](INFO): Rx dataTimestamp_ set to:1755987837.510955
2025-08-23T22:23:57.512Z,1755987837.512 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.1
2025-08-23T22:23:57.513Z,1755987837.513 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-08-23T22:23:57.559Z,1755987837.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.502791 s,
deltaX: -0.100000 m,
approachRate: -0.198891 m/s,
rangeRepo size: 4
2025-08-23T22:23:57.567Z,1755987837.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.141797 m,
bearing: 352.811091 deg,
lat: 36.779405 deg,
lon: -121.859572 deg,
deltaT: 1.002712 s,
deltaX: -0.099367 m,
approachRate: -0.099098 m/s,
posRepo size: 4
2025-08-23T22:23:57.568Z,1755987837.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.14 m.
2025-08-23T22:23:57.934Z,1755987837.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.14 m.
2025-08-23T22:23:58.015Z,1755987838.015 [DAT](INFO): DAT read: Rx Time:22:23:57.4388
2025-08-23T22:23:58.016Z,1755987838.016 [DAT](INFO): Rx dataTimestamp_ set to:1755987838.015597
2025-08-23T22:23:58.017Z,1755987838.017 [DAT](INFO): DAT read: Bearing 121.6, -21.6 (Local)
2025-08-23T22:23:58.018Z,1755987838.018 [DAT](INFO): Local bearing/azimuth received:
Bearing 121.6, -21.6 (Local)
2025-08-23T22:23:58.020Z,1755987838.020 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.0
2025-08-23T22:23:58.028Z,1755987838.028 [DAT](INFO): DAT read: 22:23:57.4388 LVL= 25776, 17441, 22322, 28915, AGC= 55, IDX= 512,-0.32,-2.925,-0.502,-2.019,-1.587, PHS=-1.236, 1.130,-0.476, RAW= 311.7, 5.6, CAL= 309.5, 4.4, ROT= 200.5, -4.4
2025-08-23T22:23:58.030Z,1755987838.030 [DAT](INFO): got valid direction response:
22:23:57.4388 LVL= 25776, 17441, 22322, 28915, AGC= 55, IDX= 512,-0.32,-2.925,-0.502,-2.019,-1.587, PHS=-1.236, 1.130,-0.476, RAW= 311.7, 5.6, CAL= 309.5, 4.4, ROT= 200.5, -4.4
2025-08-23T22:23:58.030Z,1755987838.030 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-23T22:23:58.031Z,1755987838.031 [DAT](INFO): direction in FSK: [-0.933912,-0.349175,0.076719]
2025-08-23T22:23:58.031Z,1755987838.031 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:58.306Z,1755987838.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.504642 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:23:58.308Z,1755987838.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.141864 m,
bearing: 346.587011 deg,
lat: 36.779405 deg,
lon: -121.859572 deg,
deltaT: 0.504642 s,
deltaX: 0.000067 m,
approachRate: 0.000132 m/s,
posRepo size: 4
2025-08-23T22:23:58.309Z,1755987838.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.14 m.
2025-08-23T22:23:58.519Z,1755987838.519 [DAT](INFO): DAT read: Rx Time:22:23:57.9386
2025-08-23T22:23:58.520Z,1755987838.520 [DAT](INFO): Rx dataTimestamp_ set to:1755987838.519237
2025-08-23T22:23:58.521Z,1755987838.521 [DAT](INFO): DAT read: Bearing 122.3, -26.6 (Local)
2025-08-23T22:23:58.521Z,1755987838.521 [DAT](INFO): Local bearing/azimuth received:
Bearing 122.3, -26.6 (Local)
2025-08-23T22:23:58.523Z,1755987838.523 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.0
2025-08-23T22:23:58.531Z,1755987838.531 [DAT](INFO): DAT read: 22:23:57.9386 LVL= 28944, 15249, 26178, 32755, AGC= 54, IDX= 510, 0.28,-2.386,-0.077,-1.356,-1.075, PHS=-1.210, 1.042,-0.325, RAW= 307.1, 5.1, CAL= 304.7, 3.1, ROT= 205.3, -3.1
2025-08-23T22:23:58.532Z,1755987838.532 [DAT](INFO): got valid direction response:
22:23:57.9386 LVL= 28944, 15249, 26178, 32755, AGC= 54, IDX= 510, 0.28,-2.386,-0.077,-1.356,-1.075, PHS=-1.210, 1.042,-0.325, RAW= 307.1, 5.1, CAL= 304.7, 3.1, ROT= 205.3, -3.1
2025-08-23T22:23:58.533Z,1755987838.533 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-23T22:23:58.551Z,1755987838.551 [DAT](INFO): direction in FSK: [-0.902760,-0.426733,0.054079]
2025-08-23T22:23:58.551Z,1755987838.551 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:58.791Z,1755987838.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.900000 m,
deltaT: 0.503640 s,
deltaX: -0.300000 m,
approachRate: -0.595664 m/s,
rangeRepo size: 4
2025-08-23T22:23:58.793Z,1755987838.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.843770 m,
bearing: 351.205773 deg,
lat: 36.779405 deg,
lon: -121.859571 deg,
deltaT: 0.503640 s,
deltaX: -0.298094 m,
approachRate: -0.591879 m/s,
posRepo size: 4
2025-08-23T22:23:58.793Z,1755987838.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.84 m.
2025-08-23T22:23:59.023Z,1755987839.023 [DAT](INFO): DAT read: Rx Time:22:23:58.4387
2025-08-23T22:23:59.024Z,1755987839.024 [DAT](INFO): Rx dataTimestamp_ set to:1755987839.023301
2025-08-23T22:23:59.025Z,1755987839.025 [DAT](INFO): DAT read: Bearing 122.7, -27.2 (Local)
2025-08-23T22:23:59.025Z,1755987839.025 [DAT](INFO): Local bearing/azimuth received:
Bearing 122.7, -27.2 (Local)
2025-08-23T22:23:59.027Z,1755987839.027 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.1
2025-08-23T22:23:59.035Z,1755987839.035 [DAT](INFO): DAT read: 22:23:58.4387 LVL= 25536, 15857, 22354, 27923, AGC= 53, IDX= 511, 0.08,-2.552,-0.208,-1.487,-1.222, PHS=-1.228, 1.059,-0.309, RAW= 306.5, 4.8, CAL= 304.1, 2.6, ROT= 205.9, -2.6
2025-08-23T22:23:59.036Z,1755987839.036 [DAT](INFO): got valid direction response:
22:23:58.4387 LVL= 25536, 15857, 22354, 27923, AGC= 53, IDX= 511, 0.08,-2.552,-0.208,-1.487,-1.222, PHS=-1.228, 1.059,-0.309, RAW= 306.5, 4.8, CAL= 304.1, 2.6, ROT= 205.9, -2.6
2025-08-23T22:23:59.037Z,1755987839.037 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-23T22:23:59.039Z,1755987839.039 [DAT](INFO): direction in FSK: [-0.898632,-0.436352,0.045363]
2025-08-23T22:23:59.039Z,1755987839.039 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:59.158Z,1755987839.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.000000 m,
deltaT: 0.504064 s,
deltaX: 0.100000 m,
approachRate: 0.198388 m/s,
rangeRepo size: 4
2025-08-23T22:23:59.160Z,1755987839.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.943138 m,
bearing: 351.726832 deg,
lat: 36.779405 deg,
lon: -121.859571 deg,
deltaT: 0.504064 s,
deltaX: 0.099368 m,
approachRate: 0.197134 m/s,
posRepo size: 4
2025-08-23T22:23:59.161Z,1755987839.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.94 m.
2025-08-23T22:23:59.527Z,1755987839.527 [DAT](INFO): DAT read: Rx Time:22:23:58.9386
2025-08-23T22:23:59.528Z,1755987839.528 [DAT](INFO): Rx dataTimestamp_ set to:1755987839.527375
2025-08-23T22:23:59.529Z,1755987839.529 [DAT](INFO): DAT read: Bearing 122.0, -28.4 (Local)
2025-08-23T22:23:59.529Z,1755987839.529 [DAT](INFO): Local bearing/azimuth received:
Bearing 122.0, -28.4 (Local)
2025-08-23T22:23:59.531Z,1755987839.531 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.0
2025-08-23T22:23:59.544Z,1755987839.544 [DAT](INFO): DAT read: 22:23:58.9386 LVL= 25280, 14929, 22994, 30195, AGC= 54, IDX= 510,-0.20, 1.919,-1.996, 3.036,-2.998, PHS=-1.265, 1.047,-0.294, RAW= 305.3, 5.1, CAL= 302.9, 3.0, ROT= 207.1, -3.0
2025-08-23T22:23:59.545Z,1755987839.545 [DAT](INFO): got valid direction response:
22:23:58.9386 LVL= 25280, 14929, 22994, 30195, AGC= 54, IDX= 510,-0.20, 1.919,-1.996, 3.036,-2.998, PHS=-1.265, 1.047,-0.294, RAW= 305.3, 5.1, CAL= 302.9, 3.0, ROT= 207.1, -3.0
2025-08-23T22:23:59.545Z,1755987839.545 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-23T22:23:59.546Z,1755987839.546 [DAT](INFO): direction in FSK: [-0.888993,-0.454921,0.052336]
2025-08-23T22:23:59.547Z,1755987839.547 [DAT](INFO): publishing direction and range info
2025-08-23T22:23:59.573Z,1755987839.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.900000 m,
deltaT: 0.504074 s,
deltaX: -0.100000 m,
approachRate: -0.198384 m/s,
rangeRepo size: 4
2025-08-23T22:23:59.589Z,1755987839.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.843770 m,
bearing: 352.957675 deg,
lat: 36.779405 deg,
lon: -121.859571 deg,
deltaT: 0.504074 s,
deltaX: -0.099368 m,
approachRate: -0.197130 m/s,
posRepo size: 4
2025-08-23T22:23:59.594Z,1755987839.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.84 m.
2025-08-23T22:24:00.021Z,1755987840.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.84 m.
2025-08-23T22:24:00.031Z,1755987840.031 [DAT](INFO): DAT read: Rx Time:22:23:59.4385
2025-08-23T22:24:00.032Z,1755987840.032 [DAT](INFO): Rx dataTimestamp_ set to:1755987840.031360
2025-08-23T22:24:00.033Z,1755987840.033 [DAT](INFO): DAT read: Bearing 120.6, -28.9 (Local)
2025-08-23T22:24:00.033Z,1755987840.033 [DAT](INFO): Local bearing/azimuth received:
Bearing 120.6, -28.9 (Local)
2025-08-23T22:24:00.035Z,1755987840.035 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0
2025-08-23T22:24:00.043Z,1755987840.043 [DAT](INFO): DAT read: 22:23:59.4385 LVL= 23216, 18641, 22434, 26755, AGC= 55, IDX= 510, 0.44,-1.637, 0.728,-0.493,-0.244, PHS=-1.291, 1.017,-0.293, RAW= 304.5, 5.7, CAL= 302.1, 4.1, ROT= 207.9, -4.1
2025-08-23T22:24:00.044Z,1755987840.044 [DAT](INFO): got valid direction response:
22:23:59.4385 LVL= 23216, 18641, 22434, 26755, AGC= 55, IDX= 510, 0.44,-1.637, 0.728,-0.493,-0.244, PHS=-1.291, 1.017,-0.293, RAW= 304.5, 5.7, CAL= 302.1, 4.1, ROT= 207.9, -4.1
2025-08-23T22:24:00.045Z,1755987840.045 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-23T22:24:00.054Z,1755987840.054 [DAT](INFO): direction in FSK: [-0.881504,-0.466732,0.071497]
2025-08-23T22:24:00.054Z,1755987840.054 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:00.343Z,1755987840.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.503985 s,
deltaX: -0.200000 m,
approachRate: -0.396837 m/s,
rangeRepo size: 4
2025-08-23T22:24:00.345Z,1755987840.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.645040 m,
bearing: 353.852638 deg,
lat: 36.779405 deg,
lon: -121.859571 deg,
deltaT: 0.503985 s,
deltaX: -0.198730 m,
approachRate: -0.394318 m/s,
posRepo size: 4
2025-08-23T22:24:00.346Z,1755987840.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-08-23T22:24:00.541Z,1755987840.541 [DAT](INFO): DAT read: Rx Time:22:23:59.9384
2025-08-23T22:24:00.545Z,1755987840.545 [DAT](INFO): Rx dataTimestamp_ set to:1755987840.544336
2025-08-23T22:24:00.546Z,1755987840.546 [DAT](INFO): DAT read: Bearing 121.5, -29.4 (Local)
2025-08-23T22:24:00.546Z,1755987840.546 [DAT](INFO): Local bearing/azimuth received:
Bearing 121.5, -29.4 (Local)
2025-08-23T22:24:00.554Z,1755987840.554 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.0
2025-08-23T22:24:00.559Z,1755987840.559 [DAT](INFO): DAT read: 22:23:59.9384 LVL= 32240, 17905, 23250, 32755, AGC= 55, IDX= 509, 0.20, 2.339,-1.540,-2.772,-2.541, PHS=-1.302, 1.045,-0.276, RAW= 304.1, 5.3, CAL= 301.7, 3.2, ROT= 208.3, -3.2
2025-08-23T22:24:00.560Z,1755987840.560 [DAT](INFO): got valid direction response:
22:23:59.9384 LVL= 32240, 17905, 23250, 32755, AGC= 55, IDX= 509, 0.20, 2.339,-1.540,-2.772,-2.541, PHS=-1.302, 1.045,-0.276, RAW= 304.1, 5.3, CAL= 301.7, 3.2, ROT= 208.3, -3.2
2025-08-23T22:24:00.560Z,1755987840.560 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-23T22:24:00.570Z,1755987840.570 [DAT](INFO): direction in FSK: [-0.879104,-0.473349,0.055822]
2025-08-23T22:24:00.570Z,1755987840.570 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:00.786Z,1755987840.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.600000 m,
deltaT: 0.512976 s,
deltaX: -0.099999 m,
approachRate: -0.194940 m/s,
rangeRepo size: 4
2025-08-23T22:24:00.788Z,1755987840.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.545610 m,
bearing: 354.174200 deg,
lat: 36.779405 deg,
lon: -121.859569 deg,
deltaT: 0.512976 s,
deltaX: -0.099429 m,
approachRate: -0.193828 m/s,
posRepo size: 4
2025-08-23T22:24:00.788Z,1755987840.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m.
2025-08-23T22:24:01.047Z,1755987841.047 [DAT](INFO): DAT read: Rx Time:22:24:00.4385
2025-08-23T22:24:01.048Z,1755987841.048 [DAT](INFO): Rx dataTimestamp_ set to:1755987841.047236
2025-08-23T22:24:01.049Z,1755987841.049 [DAT](INFO): DAT read: Bearing 121.2, -29.9 (Local)
2025-08-23T22:24:01.049Z,1755987841.049 [DAT](INFO): Local bearing/azimuth received:
Bearing 121.2, -29.9 (Local)
2025-08-23T22:24:01.051Z,1755987841.051 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0
2025-08-23T22:24:01.056Z,1755987841.056 [DAT](INFO): DAT read: 22:24:00.4385 LVL= 26976, 17377, 21602, 30115, AGC= 55, IDX= 510, 0.01, 2.406,-1.438,-2.669,-2.442, PHS=-1.333, 1.049,-0.271, RAW= 303.6, 5.4, CAL= 301.2, 3.4, ROT= 208.8, -3.4
2025-08-23T22:24:01.057Z,1755987841.057 [DAT](INFO): got valid direction response:
22:24:00.4385 LVL= 26976, 17377, 21602, 30115, AGC= 55, IDX= 510, 0.01, 2.406,-1.438,-2.669,-2.442, PHS=-1.333, 1.049,-0.271, RAW= 303.6, 5.4, CAL= 301.2, 3.4, ROT= 208.8, -3.4
2025-08-23T22:24:01.057Z,1755987841.057 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-23T22:24:01.058Z,1755987841.058 [DAT](INFO): direction in FSK: [-0.874764,-0.480906,0.059306]
2025-08-23T22:24:01.058Z,1755987841.058 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:01.230Z,1755987841.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.502900 s,
deltaX: 0.099999 m,
approachRate: 0.198846 m/s,
rangeRepo size: 4
2025-08-23T22:24:01.232Z,1755987841.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.644977 m,
bearing: 354.689375 deg,
lat: 36.779406 deg,
lon: -121.859568 deg,
deltaT: 0.502900 s,
deltaX: 0.099366 m,
approachRate: 0.197586 m/s,
posRepo size: 4
2025-08-23T22:24:01.233Z,1755987841.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.64 m.
2025-08-23T22:24:01.539Z,1755987841.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.64 m.
2025-08-23T22:24:01.551Z,1755987841.551 [DAT](INFO): DAT read: Rx Time:22:24:00.9384
2025-08-23T22:24:01.552Z,1755987841.552 [DAT](INFO): Rx dataTimestamp_ set to:1755987841.551373
2025-08-23T22:24:01.553Z,1755987841.553 [DAT](INFO): DAT read: Bearing 122.1, -29.3 (Local)
2025-08-23T22:24:01.553Z,1755987841.553 [DAT](INFO): Local bearing/azimuth received:
Bearing 122.1, -29.3 (Local)
2025-08-23T22:24:01.555Z,1755987841.555 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.0
2025-08-23T22:24:01.560Z,1755987841.560 [DAT](INFO): DAT read: 22:24:00.9384 LVL= 32416, 15857, 22082, 32115, AGC= 54, IDX= 509,-0.11,-1.091, 1.407, 0.115, 0.355, PHS=-1.344, 1.098,-0.284, RAW= 304.3, 5.0, CAL= 301.9, 2.7, ROT= 208.1, -2.7
2025-08-23T22:24:01.561Z,1755987841.561 [DAT](INFO): got valid direction response:
22:24:00.9384 LVL= 32416, 15857, 22082, 32115, AGC= 54, IDX= 509,-0.11,-1.091, 1.407, 0.115, 0.355, PHS=-1.344, 1.098,-0.284, RAW= 304.3, 5.0, CAL= 301.9, 2.7, ROT= 208.1, -2.7
2025-08-23T22:24:01.561Z,1755987841.561 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-23T22:24:01.562Z,1755987841.562 [DAT](INFO): direction in FSK: [-0.881148,-0.470489,0.047106]
2025-08-23T22:24:01.563Z,1755987841.563 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:02.055Z,1755987842.055 [DAT](INFO): DAT read: Rx Time:22:24:01.4384
2025-08-23T22:24:02.056Z,1755987842.056 [DAT](INFO): Rx dataTimestamp_ set to:1755987842.055290
2025-08-23T22:24:02.057Z,1755987842.057 [DAT](INFO): DAT read: Bearing 121.6, -29.5 (Local)
2025-08-23T22:24:02.057Z,1755987842.057 [DAT](INFO): Local bearing/azimuth received:
Bearing 121.6, -29.5 (Local)
2025-08-23T22:24:02.059Z,1755987842.059 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.0
2025-08-23T22:24:02.064Z,1755987842.064 [DAT](INFO): DAT read: 22:24:01.4384 LVL= 28912, 14097, 21666, 29219, AGC= 54, IDX= 509,-0.31,-1.318, 1.209,-0.090, 0.154, PHS=-1.370, 1.100,-0.288, RAW= 304.1, 5.3, CAL= 301.7, 3.1, ROT= 208.3, -3.1
2025-08-23T22:24:02.065Z,1755987842.065 [DAT](INFO): got valid direction response:
22:24:01.4384 LVL= 28912, 14097, 21666, 29219, AGC= 54, IDX= 509,-0.31,-1.318, 1.209,-0.090, 0.154, PHS=-1.370, 1.100,-0.288, RAW= 304.1, 5.3, CAL= 301.7, 3.1, ROT= 208.3, -3.1
2025-08-23T22:24:02.065Z,1755987842.065 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-23T22:24:02.066Z,1755987842.066 [DAT](INFO): direction in FSK: [-0.879189,-0.473395,0.054079]
2025-08-23T22:24:02.066Z,1755987842.066 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:02.093Z,1755987842.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.600000 m,
deltaT: 1.008054 s,
deltaX: -0.099999 m,
approachRate: -0.099200 m/s,
rangeRepo size: 4
2025-08-23T22:24:02.103Z,1755987842.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.545657 m,
bearing: 354.200105 deg,
lat: 36.779405 deg,
lon: -121.859568 deg,
deltaT: 1.008054 s,
deltaX: -0.099319 m,
approachRate: -0.098526 m/s,
posRepo size: 4
2025-08-23T22:24:02.104Z,1755987842.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m.
2025-08-23T22:24:02.362Z,1755987842.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m.
2025-08-23T22:24:02.559Z,1755987842.559 [DAT](INFO): DAT read: Rx Time:22:24:01.9382
2025-08-23T22:24:02.560Z,1755987842.560 [DAT](INFO): Rx dataTimestamp_ set to:1755987842.559323
2025-08-23T22:24:02.561Z,1755987842.561 [DAT](INFO): DAT read: Bearing 121.3, -30.4 (Local)
2025-08-23T22:24:02.561Z,1755987842.561 [DAT](INFO): Local bearing/azimuth received:
Bearing 121.3, -30.4 (Local)
2025-08-23T22:24:02.563Z,1755987842.563 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.0
2025-08-23T22:24:02.568Z,1755987842.568 [DAT](INFO): DAT read: 22:24:01.9382 LVL= 31200, 15857, 20786, 32707, AGC= 55, IDX= 507, 0.33,-1.250, 1.295, 0.023, 0.249, PHS=-1.397, 1.091,-0.270, RAW= 303.1, 5.4, CAL= 300.7, 3.3, ROT= 209.3, -3.3
2025-08-23T22:24:02.569Z,1755987842.569 [DAT](INFO): got valid direction response:
22:24:01.9382 LVL= 31200, 15857, 20786, 32707, AGC= 55, IDX= 507, 0.33,-1.250, 1.295, 0.023, 0.249, PHS=-1.397, 1.091,-0.270, RAW= 303.1, 5.4, CAL= 300.7, 3.3, ROT= 209.3, -3.3
2025-08-23T22:24:02.569Z,1755987842.569 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-23T22:24:02.570Z,1755987842.570 [DAT](INFO): direction in FSK: [-0.870623,-0.488571,0.057564]
2025-08-23T22:24:02.570Z,1755987842.570 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:02.806Z,1755987842.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.504033 s,
deltaX: -0.300000 m,
approachRate: -0.595200 m/s,
rangeRepo size: 4
2025-08-23T22:24:02.808Z,1755987842.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.247522 m,
bearing: 355.236199 deg,
lat: 36.779405 deg,
lon: -121.859568 deg,
deltaT: 0.504033 s,
deltaX: -0.298135 m,
approachRate: -0.591499 m/s,
posRepo size: 4
2025-08-23T22:24:02.809Z,1755987842.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m.
2025-08-23T22:24:03.063Z,1755987843.063 [DAT](INFO): DAT read: Rx Time:22:24:02.4383
2025-08-23T22:24:03.064Z,1755987843.064 [DAT](INFO): Rx dataTimestamp_ set to:1755987843.063228
2025-08-23T22:24:03.065Z,1755987843.065 [DAT](INFO): DAT read: Bearing 121.8, -29.4 (Local)
2025-08-23T22:24:03.065Z,1755987843.065 [DAT](INFO): Local bearing/azimuth received:
Bearing 121.8, -29.4 (Local)
2025-08-23T22:24:03.067Z,1755987843.067 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.1
2025-08-23T22:24:03.072Z,1755987843.072 [DAT](INFO): DAT read: 22:24:02.4383 LVL= 32752, 18593, 21682, 32755, AGC= 54, IDX= 508, 0.13,-0.989, 1.569, 0.251, 0.496, PHS=-1.382, 1.118,-0.289, RAW= 304.1, 5.2, CAL= 301.7, 2.9, ROT= 208.3, -2.9
2025-08-23T22:24:03.073Z,1755987843.073 [DAT](INFO): got valid direction response:
22:24:02.4383 LVL= 32752, 18593, 21682, 32755, AGC= 54, IDX= 508, 0.13,-0.989, 1.569, 0.251, 0.496, PHS=-1.382, 1.118,-0.289, RAW= 304.1, 5.2, CAL= 301.7, 2.9, ROT= 208.3, -2.9
2025-08-23T22:24:03.073Z,1755987843.073 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-23T22:24:03.075Z,1755987843.075 [DAT](INFO): direction in FSK: [-0.879350,-0.473481,0.050593]
2025-08-23T22:24:03.075Z,1755987843.075 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:03.213Z,1755987843.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.400000 m,
deltaT: 0.503905 s,
deltaX: 0.099999 m,
approachRate: 0.198449 m/s,
rangeRepo size: 4
2025-08-23T22:24:03.239Z,1755987843.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.346889 m,
bearing: 354.218677 deg,
lat: 36.779405 deg,
lon: -121.859568 deg,
deltaT: 0.503905 s,
deltaX: 0.099367 m,
approachRate: 0.197194 m/s,
posRepo size: 4
2025-08-23T22:24:03.240Z,1755987843.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-23T22:24:03.567Z,1755987843.567 [DAT](INFO): DAT read: Rx Time:22:24:02.9382
2025-08-23T22:24:03.568Z,1755987843.568 [DAT](INFO): Rx dataTimestamp_ set to:1755987843.567260
2025-08-23T22:24:03.569Z,1755987843.569 [DAT](INFO): DAT read: Bearing 121.3, -28.1 (Local)
2025-08-23T22:24:03.569Z,1755987843.569 [DAT](INFO): Local bearing/azimuth received:
Bearing 121.3, -28.1 (Local)
2025-08-23T22:24:03.571Z,1755987843.571 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.0
2025-08-23T22:24:03.576Z,1755987843.576 [DAT](INFO): DAT read: 22:24:02.9382 LVL= 30960, 18625, 23154, 32451, AGC= 53, IDX= 507,-0.06, 2.475,-1.242,-2.611,-2.324, PHS=-1.382, 1.127,-0.331, RAW= 305.4, 5.4, CAL= 303.0, 3.6, ROT= 207.0, -3.6
2025-08-23T22:24:03.577Z,1755987843.577 [DAT](INFO): got valid direction response:
22:24:02.9382 LVL= 30960, 18625, 23154, 32451, AGC= 53, IDX= 507,-0.06, 2.475,-1.242,-2.611,-2.324, PHS=-1.382, 1.127,-0.331, RAW= 305.4, 5.4, CAL= 303.0, 3.6, ROT= 207.0, -3.6
2025-08-23T22:24:03.577Z,1755987843.577 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-23T22:24:03.578Z,1755987843.578 [DAT](INFO): direction in FSK: [-0.889248,-0.453095,0.062791]
2025-08-23T22:24:03.578Z,1755987843.578 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:03.604Z,1755987843.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.504032 s,
deltaX: -0.099999 m,
approachRate: -0.198399 m/s,
rangeRepo size: 4
2025-08-23T22:24:03.651Z,1755987843.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.247522 m,
bearing: 352.995408 deg,
lat: 36.779405 deg,
lon: -121.859569 deg,
deltaT: 0.504032 s,
deltaX: -0.099367 m,
approachRate: -0.197145 m/s,
posRepo size: 4
2025-08-23T22:24:03.651Z,1755987843.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m.
2025-08-23T22:24:04.052Z,1755987844.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m.
2025-08-23T22:24:04.072Z,1755987844.072 [DAT](INFO): DAT read: Rx Time:22:24:03.4383
2025-08-23T22:24:04.073Z,1755987844.073 [DAT](INFO): Rx dataTimestamp_ set to:1755987844.072402
2025-08-23T22:24:04.074Z,1755987844.074 [DAT](INFO): DAT read: Bearing 120.8, -28.7 (Local)
2025-08-23T22:24:04.074Z,1755987844.074 [DAT](INFO): Local bearing/azimuth received:
Bearing 120.8, -28.7 (Local)
2025-08-23T22:24:04.076Z,1755987844.076 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.0
2025-08-23T22:24:04.081Z,1755987844.081 [DAT](INFO): DAT read: 22:24:03.4383 LVL= 32048, 21441, 22674, 30451, AGC= 53, IDX= 508,-0.43,-1.673, 0.897,-0.448,-0.171, PHS=-1.400, 1.113,-0.321, RAW= 304.7, 5.6, CAL= 302.3, 3.9, ROT= 207.7, -3.9
2025-08-23T22:24:04.082Z,1755987844.082 [DAT](INFO): got valid direction response:
22:24:03.4383 LVL= 32048, 21441, 22674, 30451, AGC= 53, IDX= 508,-0.43,-1.673, 0.897,-0.448,-0.171, PHS=-1.400, 1.113,-0.321, RAW= 304.7, 5.6, CAL= 302.3, 3.9, ROT= 207.7, -3.9
2025-08-23T22:24:04.083Z,1755987844.083 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-23T22:24:04.084Z,1755987844.084 [DAT](INFO): direction in FSK: [-0.883343,-0.463766,0.068015]
2025-08-23T22:24:04.085Z,1755987844.085 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:04.401Z,1755987844.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.400000 m,
deltaT: 0.505142 s,
deltaX: 0.099999 m,
approachRate: 0.197963 m/s,
rangeRepo size: 4
2025-08-23T22:24:04.405Z,1755987844.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.346898 m,
bearing: 353.714888 deg,
lat: 36.779405 deg,
lon: -121.859570 deg,
deltaT: 0.505142 s,
deltaX: 0.099376 m,
approachRate: 0.196728 m/s,
posRepo size: 4
2025-08-23T22:24:04.406Z,1755987844.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-23T22:24:04.575Z,1755987844.575 [DAT](INFO): DAT read: Rx Time:22:24:03.9381
2025-08-23T22:24:04.576Z,1755987844.576 [DAT](INFO): Rx dataTimestamp_ set to:1755987844.575324
2025-08-23T22:24:04.577Z,1755987844.577 [DAT](INFO): DAT read: Bearing 120.8, -29.6 (Local)
2025-08-23T22:24:04.577Z,1755987844.577 [DAT](INFO): Local bearing/azimuth received:
Bearing 120.8, -29.6 (Local)
2025-08-23T22:24:04.579Z,1755987844.579 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.0
2025-08-23T22:24:04.584Z,1755987844.584 [DAT](INFO): DAT read: 22:24:03.9381 LVL= 32752, 21537, 23026, 30035, AGC= 53, IDX= 506, 0.17,-0.662, 1.894, 0.592, 0.843, PHS=-1.403, 1.096,-0.295, RAW= 303.7, 5.6, CAL= 301.3, 3.8, ROT= 208.7, -3.8
2025-08-23T22:24:04.585Z,1755987844.585 [DAT](INFO): got valid direction response:
22:24:03.9381 LVL= 32752, 21537, 23026, 30035, AGC= 53, IDX= 506, 0.17,-0.662, 1.894, 0.592, 0.843, PHS=-1.403, 1.096,-0.295, RAW= 303.7, 5.6, CAL= 301.3, 3.8, ROT= 208.7, -3.8
2025-08-23T22:24:04.585Z,1755987844.585 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-23T22:24:04.586Z,1755987844.586 [DAT](INFO): direction in FSK: [-0.875218,-0.479168,0.066274]
2025-08-23T22:24:04.587Z,1755987844.587 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:04.851Z,1755987844.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 0.502922 s,
deltaX: -0.299999 m,
approachRate: -0.596512 m/s,
rangeRepo size: 4
2025-08-23T22:24:04.853Z,1755987844.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.048821 m,
bearing: 354.703605 deg,
lat: 36.779404 deg,
lon: -121.859570 deg,
deltaT: 0.502922 s,
deltaX: -0.298077 m,
approachRate: -0.592690 m/s,
posRepo size: 4
2025-08-23T22:24:04.858Z,1755987844.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m.
2025-08-23T22:24:05.080Z,1755987845.080 [DAT](INFO): DAT read: Rx Time:22:24:04.4381
2025-08-23T22:24:05.080Z,1755987845.080 [DAT](INFO): Rx dataTimestamp_ set to:1755987845.079996
2025-08-23T22:24:05.082Z,1755987845.082 [DAT](INFO): DAT read: Bearing 120.0, -29.6 (Local)
2025-08-23T22:24:05.082Z,1755987845.082 [DAT](INFO): Local bearing/azimuth received:
Bearing 120.0, -29.6 (Local)
2025-08-23T22:24:05.084Z,1755987845.084 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.0
2025-08-23T22:24:05.088Z,1755987845.088 [DAT](INFO): DAT read: 22:24:04.4381 LVL= 32752, 22769, 22818, 31187, AGC= 55, IDX= 506,-0.11,-1.998, 0.581,-0.730,-0.467, PHS=-1.428, 1.094,-0.306, RAW= 303.6, 5.9, CAL= 301.2, 4.4, ROT= 208.8, -4.4
2025-08-23T22:24:05.090Z,1755987845.090 [DAT](INFO): got valid direction response:
22:24:04.4381 LVL= 32752, 22769, 22818, 31187, AGC= 55, IDX= 506,-0.11,-1.998, 0.581,-0.730,-0.467, PHS=-1.428, 1.094,-0.306, RAW= 303.6, 5.9, CAL= 301.2, 4.4, ROT= 208.8, -4.4
2025-08-23T22:24:05.090Z,1755987845.090 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-23T22:24:05.091Z,1755987845.091 [DAT](INFO): direction in FSK: [-0.873724,-0.480334,0.076719]
2025-08-23T22:24:05.091Z,1755987845.091 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:05.259Z,1755987845.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 0.504672 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:05.261Z,1755987845.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.048821 m,
bearing: 354.865801 deg,
lat: 36.779404 deg,
lon: -121.859570 deg,
deltaT: 0.504672 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:24:05.261Z,1755987845.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m.
2025-08-23T22:24:05.583Z,1755987845.583 [DAT](INFO): DAT read: Rx Time:22:24:04.9380
2025-08-23T22:24:05.584Z,1755987845.584 [DAT](INFO): Rx dataTimestamp_ set to:1755987845.583362
2025-08-23T22:24:05.585Z,1755987845.585 [DAT](INFO): DAT read: Bearing 119.9, -29.2 (Local)
2025-08-23T22:24:05.585Z,1755987845.585 [DAT](INFO): Local bearing/azimuth received:
Bearing 119.9, -29.2 (Local)
2025-08-23T22:24:05.588Z,1755987845.588 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.0
2025-08-23T22:24:05.592Z,1755987845.592 [DAT](INFO): DAT read: 22:24:04.9380 LVL= 32752, 19649, 25506, 32755, AGC= 53, IDX= 504, 0.45,-1.210, 1.312, 0.016, 0.286, PHS=-1.394, 1.071,-0.314, RAW= 304.1, 6.0, CAL= 301.7, 4.6, ROT= 208.3, -4.6
2025-08-23T22:24:05.609Z,1755987845.609 [DAT](INFO): got valid direction response:
22:24:04.9380 LVL= 32752, 19649, 25506, 32755, AGC= 53, IDX= 504, 0.45,-1.210, 1.312, 0.016, 0.286, PHS=-1.394, 1.071,-0.314, RAW= 304.1, 6.0, CAL= 301.7, 4.6, ROT= 208.3, -4.6
2025-08-23T22:24:05.610Z,1755987845.610 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-23T22:24:05.611Z,1755987845.611 [DAT](INFO): direction in FSK: [-0.877641,-0.472561,0.080199]
2025-08-23T22:24:05.611Z,1755987845.611 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:05.658Z,1755987845.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.000000 m,
deltaT: 0.503366 s,
deltaX: -0.100000 m,
approachRate: -0.198663 m/s,
rangeRepo size: 4
2025-08-23T22:24:05.660Z,1755987845.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.949452 m,
bearing: 354.394311 deg,
lat: 36.779404 deg,
lon: -121.859571 deg,
deltaT: 0.503366 s,
deltaX: -0.099369 m,
approachRate: -0.197409 m/s,
posRepo size: 4
2025-08-23T22:24:05.661Z,1755987845.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m.
2025-08-23T22:24:06.062Z,1755987846.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m.
2025-08-23T22:24:06.087Z,1755987846.087 [DAT](INFO): DAT read: Rx Time:22:24:05.4380
2025-08-23T22:24:06.087Z,1755987846.087 [DAT](INFO): Rx dataTimestamp_ set to:1755987846.087188
2025-08-23T22:24:06.089Z,1755987846.089 [DAT](INFO): DAT read: Bearing 119.0, -29.5 (Local)
2025-08-23T22:24:06.089Z,1755987846.089 [DAT](INFO): Local bearing/azimuth received:
Bearing 119.0, -29.5 (Local)
2025-08-23T22:24:06.091Z,1755987846.091 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.1
2025-08-23T22:24:06.097Z,1755987846.097 [DAT](INFO): DAT read: 22:24:05.4380 LVL= 32240, 18977, 24466, 31891, AGC= 53, IDX= 505, 0.11, 0.569, 3.081, 1.807, 2.079, PHS=-1.408, 1.047,-0.316, RAW= 303.7, 6.4, CAL= 301.2, 5.3, ROT= 208.8, -5.3
2025-08-23T22:24:06.099Z,1755987846.099 [DAT](INFO): got valid direction response:
22:24:05.4380 LVL= 32240, 18977, 24466, 31891, AGC= 53, IDX= 505, 0.11, 0.569, 3.081, 1.807, 2.079, PHS=-1.408, 1.047,-0.316, RAW= 303.7, 6.4, CAL= 301.2, 5.3, ROT= 208.8, -5.3
2025-08-23T22:24:06.099Z,1755987846.099 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-23T22:24:06.101Z,1755987846.101 [DAT](INFO): direction in FSK: [-0.872560,-0.479694,0.092371]
2025-08-23T22:24:06.101Z,1755987846.101 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:06.425Z,1755987846.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.000000 m,
deltaT: 0.503826 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:06.428Z,1755987846.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.949461 m,
bearing: 354.944003 deg,
lat: 36.779404 deg,
lon: -121.859571 deg,
deltaT: 0.503826 s,
deltaX: 0.000008 m,
approachRate: 0.000016 m/s,
posRepo size: 4
2025-08-23T22:24:06.428Z,1755987846.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m.
2025-08-23T22:24:06.591Z,1755987846.591 [DAT](INFO): DAT read: Rx Time:22:24:05.9379
2025-08-23T22:24:06.592Z,1755987846.592 [DAT](INFO): Rx dataTimestamp_ set to:1755987846.591397
2025-08-23T22:24:06.593Z,1755987846.593 [DAT](INFO): DAT read: Bearing 118.5, -29.5 (Local)
2025-08-23T22:24:06.593Z,1755987846.593 [DAT](INFO): Local bearing/azimuth received:
Bearing 118.5, -29.5 (Local)
2025-08-23T22:24:06.595Z,1755987846.595 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.0
2025-08-23T22:24:06.600Z,1755987846.600 [DAT](INFO): DAT read: 22:24:05.9379 LVL= 32752, 23457, 22162, 29619, AGC= 54, IDX= 504,-0.16,-2.184, 0.340,-0.938,-0.658, PHS=-1.424, 1.043,-0.323, RAW= 303.6, 6.6, CAL= 301.2, 5.8, ROT= 208.8, -5.8
2025-08-23T22:24:06.601Z,1755987846.601 [DAT](INFO): got valid direction response:
22:24:05.9379 LVL= 32752, 23457, 22162, 29619, AGC= 54, IDX= 504,-0.16,-2.184, 0.340,-0.938,-0.658, PHS=-1.424, 1.043,-0.323, RAW= 303.6, 6.6, CAL= 301.2, 5.8, ROT= 208.8, -5.8
2025-08-23T22:24:06.601Z,1755987846.601 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-23T22:24:06.602Z,1755987846.602 [DAT](INFO): direction in FSK: [-0.871821,-0.479287,0.101056]
2025-08-23T22:24:06.603Z,1755987846.603 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:06.852Z,1755987846.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.504209 s,
deltaX: -0.200000 m,
approachRate: -0.396661 m/s,
rangeRepo size: 4
2025-08-23T22:24:06.857Z,1755987846.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.750720 m,
bearing: 354.984522 deg,
lat: 36.779404 deg,
lon: -121.859571 deg,
deltaT: 0.504209 s,
deltaX: -0.198740 m,
approachRate: -0.394163 m/s,
posRepo size: 4
2025-08-23T22:24:06.858Z,1755987846.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-08-23T22:24:07.095Z,1755987847.095 [DAT](INFO): DAT read: Rx Time:22:24:06.4379
2025-08-23T22:24:07.096Z,1755987847.096 [DAT](INFO): Rx dataTimestamp_ set to:1755987847.095241
2025-08-23T22:24:07.097Z,1755987847.097 [DAT](INFO): DAT read: Bearing 117.6, -29.9 (Local)
2025-08-23T22:24:07.097Z,1755987847.097 [DAT](INFO): Local bearing/azimuth received:
Bearing 117.6, -29.9 (Local)
2025-08-23T22:24:07.099Z,1755987847.099 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.1
2025-08-23T22:24:07.104Z,1755987847.104 [DAT](INFO): DAT read: 22:24:06.4379 LVL= 32752, 21841, 23922, 30147, AGC= 55, IDX= 504, 0.37, 1.542,-2.252, 2.793, 3.067, PHS=-1.423, 1.009,-0.318, RAW= 303.0, 7.0, CAL= 300.6, 6.5, ROT= 209.4, -6.5
2025-08-23T22:24:07.105Z,1755987847.105 [DAT](INFO): got valid direction response:
22:24:06.4379 LVL= 32752, 21841, 23922, 30147, AGC= 55, IDX= 504, 0.37, 1.542,-2.252, 2.793, 3.067, PHS=-1.423, 1.009,-0.318, RAW= 303.0, 7.0, CAL= 300.6, 6.5, ROT= 209.4, -6.5
2025-08-23T22:24:07.105Z,1755987847.105 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-23T22:24:07.106Z,1755987847.106 [DAT](INFO): direction in FSK: [-0.865614,-0.487748,0.113203]
2025-08-23T22:24:07.106Z,1755987847.106 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:07.254Z,1755987847.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.503844 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:07.256Z,1755987847.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.750720 m,
bearing: 355.620508 deg,
lat: 36.779404 deg,
lon: -121.859571 deg,
deltaT: 0.503844 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:24:07.256Z,1755987847.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-08-23T22:24:07.599Z,1755987847.599 [DAT](INFO): DAT read: Rx Time:22:24:06.9378
2025-08-23T22:24:07.600Z,1755987847.600 [DAT](INFO): Rx dataTimestamp_ set to:1755987847.599364
2025-08-23T22:24:07.601Z,1755987847.601 [DAT](INFO): DAT read: Bearing 117.5, -29.7 (Local)
2025-08-23T22:24:07.601Z,1755987847.601 [DAT](INFO): Local bearing/azimuth received:
Bearing 117.5, -29.7 (Local)
2025-08-23T22:24:07.603Z,1755987847.603 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.0
2025-08-23T22:24:07.608Z,1755987847.608 [DAT](INFO): DAT read: 22:24:06.9378 LVL= 32752, 23265, 24290, 31123, AGC= 55, IDX= 503, 0.08,-0.548, 1.952, 0.700, 0.982, PHS=-1.428, 1.014,-0.327, RAW= 303.2, 7.0, CAL= 300.8, 6.6, ROT= 209.2, -6.6
2025-08-23T22:24:07.609Z,1755987847.609 [DAT](INFO): got valid direction response:
22:24:06.9378 LVL= 32752, 23265, 24290, 31123, AGC= 55, IDX= 503, 0.08,-0.548, 1.952, 0.700, 0.982, PHS=-1.428, 1.014,-0.327, RAW= 303.2, 7.0, CAL= 300.8, 6.6, ROT= 209.2, -6.6
2025-08-23T22:24:07.610Z,1755987847.610 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-23T22:24:07.611Z,1755987847.611 [DAT](INFO): direction in FSK: [-0.867137,-0.484626,0.114937]
2025-08-23T22:24:07.611Z,1755987847.611 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:07.634Z,1755987847.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.700000 m,
deltaT: 0.504123 s,
deltaX: -0.100000 m,
approachRate: -0.198365 m/s,
rangeRepo size: 4
2025-08-23T22:24:07.636Z,1755987847.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.651351 m,
bearing: 355.424716 deg,
lat: 36.779403 deg,
lon: -121.859571 deg,
deltaT: 0.504123 s,
deltaX: -0.099369 m,
approachRate: -0.197112 m/s,
posRepo size: 4
2025-08-23T22:24:07.636Z,1755987847.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-23T22:24:08.077Z,1755987848.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-23T22:24:08.103Z,1755987848.103 [DAT](INFO): DAT read: Rx Time:22:24:07.4379
2025-08-23T22:24:08.104Z,1755987848.104 [DAT](INFO): Rx dataTimestamp_ set to:1755987848.103299
2025-08-23T22:24:08.105Z,1755987848.105 [DAT](INFO): DAT read: Bearing 117.6, -29.7 (Local)
2025-08-23T22:24:08.105Z,1755987848.105 [DAT](INFO): Local bearing/azimuth received:
Bearing 117.6, -29.7 (Local)
2025-08-23T22:24:08.126Z,1755987848.126 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.1
2025-08-23T22:24:08.148Z,1755987848.148 [DAT](INFO): DAT read: 22:24:07.4379 LVL= 32752, 25201, 23442, 29379, AGC= 54, IDX= 504,-0.20,-0.330, 2.185, 0.925, 1.207, PHS=-1.436, 1.023,-0.326, RAW= 303.2, 7.0, CAL= 300.8, 6.5, ROT= 209.2, -6.5
2025-08-23T22:24:08.160Z,1755987848.160 [DAT](INFO): got valid direction response:
22:24:07.4379 LVL= 32752, 25201, 23442, 29379, AGC= 54, IDX= 504,-0.20,-0.330, 2.185, 0.925, 1.207, PHS=-1.436, 1.023,-0.326, RAW= 303.2, 7.0, CAL= 300.8, 6.5, ROT= 209.2, -6.5
2025-08-23T22:24:08.161Z,1755987848.161 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-23T22:24:08.166Z,1755987848.166 [DAT](INFO): direction in FSK: [-0.867311,-0.484724,0.113203]
2025-08-23T22:24:08.167Z,1755987848.167 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:08.450Z,1755987848.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.503935 s,
deltaX: 0.100000 m,
approachRate: 0.198439 m/s,
rangeRepo size: 4
2025-08-23T22:24:08.457Z,1755987848.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.750725 m,
bearing: 355.415935 deg,
lat: 36.779404 deg,
lon: -121.859571 deg,
deltaT: 0.503935 s,
deltaX: 0.099374 m,
approachRate: 0.197196 m/s,
posRepo size: 4
2025-08-23T22:24:08.459Z,1755987848.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-08-23T22:24:08.607Z,1755987848.607 [DAT](INFO): DAT read: Rx Time:22:24:07.9377
2025-08-23T22:24:08.608Z,1755987848.608 [DAT](INFO): Rx dataTimestamp_ set to:1755987848.607560
2025-08-23T22:24:08.609Z,1755987848.609 [DAT](INFO): DAT read: Bearing 117.6, -30.1 (Local)
2025-08-23T22:24:08.610Z,1755987848.610 [DAT](INFO): Local bearing/azimuth received:
Bearing 117.6, -30.1 (Local)
2025-08-23T22:24:08.612Z,1755987848.612 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.1
2025-08-23T22:24:08.617Z,1755987848.617 [DAT](INFO): DAT read: 22:24:07.9377 LVL= 32752, 21361, 24306, 28627, AGC= 53, IDX= 502, 0.36, 0.351, 2.838, 1.605, 1.875, PHS=-1.422, 1.008,-0.313, RAW= 302.9, 7.0, CAL= 300.5, 6.4, ROT= 209.5, -6.4
2025-08-23T22:24:08.618Z,1755987848.618 [DAT](INFO): got valid direction response:
22:24:07.9377 LVL= 32752, 21361, 24306, 28627, AGC= 53, IDX= 502, 0.36, 0.351, 2.838, 1.605, 1.875, PHS=-1.422, 1.008,-0.313, RAW= 302.9, 7.0, CAL= 300.5, 6.4, ROT= 209.5, -6.4
2025-08-23T22:24:08.618Z,1755987848.618 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-23T22:24:08.619Z,1755987848.619 [DAT](INFO): direction in FSK: [-0.864932,-0.489355,0.111469]
2025-08-23T22:24:08.620Z,1755987848.620 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:08.892Z,1755987848.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.500000 m,
deltaT: 0.504261 s,
deltaX: -0.300000 m,
approachRate: -0.594930 m/s,
rangeRepo size: 4
2025-08-23T22:24:08.896Z,1755987848.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.452635 m,
bearing: 355.713132 deg,
lat: 36.779403 deg,
lon: -121.859571 deg,
deltaT: 0.504261 s,
deltaX: -0.298090 m,
approachRate: -0.591142 m/s,
posRepo size: 4
2025-08-23T22:24:08.896Z,1755987848.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.45 m.
2025-08-23T22:24:09.112Z,1755987849.112 [DAT](INFO): DAT read: Rx Time:22:24:08.4377
2025-08-23T22:24:09.113Z,1755987849.113 [DAT](INFO): Rx dataTimestamp_ set to:1755987849.111977
2025-08-23T22:24:09.114Z,1755987849.114 [DAT](INFO): DAT read: Bearing 118.6, -30.3 (Local)
2025-08-23T22:24:09.115Z,1755987849.115 [DAT](INFO): Local bearing/azimuth received:
Bearing 118.6, -30.3 (Local)
2025-08-23T22:24:09.117Z,1755987849.117 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.1
2025-08-23T22:24:09.130Z,1755987849.130 [DAT](INFO): DAT read: 22:24:08.4377 LVL= 32752, 22945, 24338, 31731, AGC= 55, IDX= 502, 0.07,-0.544, 1.946, 0.711, 0.965, PHS=-1.407, 1.025,-0.298, RAW= 302.9, 6.5, CAL= 300.5, 5.5, ROT= 209.5, -5.5
2025-08-23T22:24:09.132Z,1755987849.132 [DAT](INFO): got valid direction response:
22:24:08.4377 LVL= 32752, 22945, 24338, 31731, AGC= 55, IDX= 502, 0.07,-0.544, 1.946, 0.711, 0.965, PHS=-1.407, 1.025,-0.298, RAW= 302.9, 6.5, CAL= 300.5, 5.5, ROT= 209.5, -5.5
2025-08-23T22:24:09.132Z,1755987849.132 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-23T22:24:09.133Z,1755987849.133 [DAT](INFO): direction in FSK: [-0.866349,-0.490157,0.095846]
2025-08-23T22:24:09.133Z,1755987849.133 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:09.264Z,1755987849.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.500000 m,
deltaT: 0.504417 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:09.271Z,1755987849.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.452635 m,
bearing: 355.630970 deg,
lat: 36.779403 deg,
lon: -121.859572 deg,
deltaT: 0.504417 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:24:09.271Z,1755987849.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.45 m.
2025-08-23T22:24:09.615Z,1755987849.615 [DAT](INFO): DAT read: Rx Time:22:24:08.9376
2025-08-23T22:24:09.616Z,1755987849.616 [DAT](INFO): Rx dataTimestamp_ set to:1755987849.615428
2025-08-23T22:24:09.617Z,1755987849.617 [DAT](INFO): DAT read: Bearing 119.5, -30.0 (Local)
2025-08-23T22:24:09.617Z,1755987849.617 [DAT](INFO): Local bearing/azimuth received:
Bearing 119.5, -30.0 (Local)
2025-08-23T22:24:09.619Z,1755987849.619 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.0
2025-08-23T22:24:09.624Z,1755987849.624 [DAT](INFO): DAT read: 22:24:08.9376 LVL= 32752, 22097, 21746, 28563, AGC= 53, IDX= 501,-0.17, 2.931,-0.839,-2.097,-1.846, PHS=-1.405, 1.052,-0.296, RAW= 303.2, 6.1, CAL= 300.8, 4.8, ROT= 209.2, -4.8
2025-08-23T22:24:09.625Z,1755987849.625 [DAT](INFO): got valid direction response:
22:24:08.9376 LVL= 32752, 22097, 21746, 28563, AGC= 53, IDX= 501,-0.17, 2.931,-0.839,-2.097,-1.846, PHS=-1.405, 1.052,-0.296, RAW= 303.2, 6.1, CAL= 300.8, 4.8, ROT= 209.2, -4.8
2025-08-23T22:24:09.625Z,1755987849.625 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-23T22:24:09.626Z,1755987849.626 [DAT](INFO): direction in FSK: [-0.869861,-0.486149,0.083678]
2025-08-23T22:24:09.627Z,1755987849.627 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:09.678Z,1755987849.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.503451 s,
deltaX: -0.100000 m,
approachRate: -0.198629 m/s,
rangeRepo size: 4
2025-08-23T22:24:09.680Z,1755987849.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.353267 m,
bearing: 355.278528 deg,
lat: 36.779403 deg,
lon: -121.859572 deg,
deltaT: 0.503451 s,
deltaX: -0.099368 m,
approachRate: -0.197374 m/s,
posRepo size: 4
2025-08-23T22:24:09.681Z,1755987849.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m.
2025-08-23T22:24:10.061Z,1755987850.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m.
2025-08-23T22:24:10.120Z,1755987850.120 [DAT](INFO): DAT read: Rx Time:22:24:09.4376
2025-08-23T22:24:10.121Z,1755987850.121 [DAT](INFO): Rx dataTimestamp_ set to:1755987850.120423
2025-08-23T22:24:10.122Z,1755987850.122 [DAT](INFO): DAT read: Bearing 119.9, -30.8 (Local)
2025-08-23T22:24:10.122Z,1755987850.122 [DAT](INFO): Local bearing/azimuth received:
Bearing 119.9, -30.8 (Local)
2025-08-23T22:24:10.124Z,1755987850.124 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.0
2025-08-23T22:24:10.129Z,1755987850.129 [DAT](INFO): DAT read: 22:24:09.4376 LVL= 32752, 19729, 20210, 30531, AGC= 53, IDX= 501, 0.38,-0.315, 2.187, 0.962, 1.186, PHS=-1.399, 1.046,-0.268, RAW= 302.5, 5.9, CAL= 300.0, 4.3, ROT= 210.0, -4.3
2025-08-23T22:24:10.130Z,1755987850.130 [DAT](INFO): got valid direction response:
22:24:09.4376 LVL= 32752, 19729, 20210, 30531, AGC= 53, IDX= 501, 0.38,-0.315, 2.187, 0.962, 1.186, PHS=-1.399, 1.046,-0.268, RAW= 302.5, 5.9, CAL= 300.0, 4.3, ROT= 210.0, -4.3
2025-08-23T22:24:10.131Z,1755987850.131 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-23T22:24:10.132Z,1755987850.132 [DAT](INFO): direction in FSK: [-0.863588,-0.498593,0.074979]
2025-08-23T22:24:10.132Z,1755987850.132 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:10.444Z,1755987850.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.504995 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:10.447Z,1755987850.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.353264 m,
bearing: 356.023519 deg,
lat: 36.779403 deg,
lon: -121.859573 deg,
deltaT: 0.504995 s,
deltaX: -0.000003 m,
approachRate: -0.000006 m/s,
posRepo size: 4
2025-08-23T22:24:10.448Z,1755987850.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m.
2025-08-23T22:24:10.623Z,1755987850.623 [DAT](INFO): DAT read: Rx Time:22:24:09.9375
2025-08-23T22:24:10.624Z,1755987850.624 [DAT](INFO): Rx dataTimestamp_ set to:1755987850.623322
2025-08-23T22:24:10.625Z,1755987850.625 [DAT](INFO): DAT read: Bearing 120.7, -30.3 (Local)
2025-08-23T22:24:10.625Z,1755987850.625 [DAT](INFO): Local bearing/azimuth received:
Bearing 120.7, -30.3 (Local)
2025-08-23T22:24:10.627Z,1755987850.627 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.0
2025-08-23T22:24:10.632Z,1755987850.632 [DAT](INFO): DAT read: 22:24:09.9375 LVL= 32752, 19793, 20130, 30803, AGC= 52, IDX= 500, 0.11,-1.616, 0.865,-0.372,-0.145, PHS=-1.368, 1.055,-0.270, RAW= 303.1, 5.6, CAL= 300.7, 3.7, ROT= 209.3, -3.7
2025-08-23T22:24:10.633Z,1755987850.633 [DAT](INFO): got valid direction response:
22:24:09.9375 LVL= 32752, 19793, 20130, 30803, AGC= 52, IDX= 500, 0.11,-1.616, 0.865,-0.372,-0.145, PHS=-1.368, 1.055,-0.270, RAW= 303.1, 5.6, CAL= 300.7, 3.7, ROT= 209.3, -3.7
2025-08-23T22:24:10.633Z,1755987850.633 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-23T22:24:10.637Z,1755987850.637 [DAT](INFO): direction in FSK: [-0.870252,-0.488362,0.064532]
2025-08-23T22:24:10.659Z,1755987850.659 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:10.919Z,1755987850.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.502899 s,
deltaX: -0.200000 m,
approachRate: -0.397695 m/s,
rangeRepo size: 4
2025-08-23T22:24:10.921Z,1755987850.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.154532 m,
bearing: 355.290296 deg,
lat: 36.779403 deg,
lon: -121.859573 deg,
deltaT: 0.502899 s,
deltaX: -0.198732 m,
approachRate: -0.395173 m/s,
posRepo size: 4
2025-08-23T22:24:10.926Z,1755987850.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.15 m.
2025-08-23T22:24:11.130Z,1755987851.130 [DAT](INFO): DAT read: Rx Time:22:24:10.4376
2025-08-23T22:24:11.130Z,1755987851.130 [DAT](INFO): Rx dataTimestamp_ set to:1755987851.130206
2025-08-23T22:24:11.132Z,1755987851.132 [DAT](INFO): DAT read: Bearing 120.5, -29.4 (Local)
2025-08-23T22:24:11.132Z,1755987851.132 [DAT](INFO): Local bearing/azimuth received:
Bearing 120.5, -29.4 (Local)
2025-08-23T22:24:11.134Z,1755987851.134 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.0
2025-08-23T22:24:11.159Z,1755987851.159 [DAT](INFO): DAT read: 22:24:10.4376 LVL= 32752, 20337, 20978, 29139, AGC= 52, IDX= 501,-0.15,-2.011, 0.461,-0.800,-0.550, PHS=-1.359, 1.057,-0.294, RAW= 303.9, 5.7, CAL= 301.5, 4.1, ROT= 208.5, -4.1
2025-08-23T22:24:11.160Z,1755987851.160 [DAT](INFO): got valid direction response:
22:24:10.4376 LVL= 32752, 20337, 20978, 29139, AGC= 52, IDX= 501,-0.15,-2.011, 0.461,-0.800,-0.550, PHS=-1.359, 1.057,-0.294, RAW= 303.9, 5.7, CAL= 301.5, 4.1, ROT= 208.5, -4.1
2025-08-23T22:24:11.160Z,1755987851.160 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-23T22:24:11.174Z,1755987851.174 [DAT](INFO): direction in FSK: [-0.876568,-0.475938,0.071497]
2025-08-23T22:24:11.174Z,1755987851.174 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:11.289Z,1755987851.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.506884 s,
deltaX: 0.200000 m,
approachRate: 0.394568 m/s,
rangeRepo size: 4
2025-08-23T22:24:11.291Z,1755987851.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.353270 m,
bearing: 354.516124 deg,
lat: 36.779403 deg,
lon: -121.859573 deg,
deltaT: 0.506884 s,
deltaX: 0.198737 m,
approachRate: 0.392076 m/s,
posRepo size: 4
2025-08-23T22:24:11.292Z,1755987851.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m.
2025-08-23T22:24:11.631Z,1755987851.631 [DAT](INFO): DAT read: Rx Time:22:24:10.9375
2025-08-23T22:24:11.632Z,1755987851.632 [DAT](INFO): Rx dataTimestamp_ set to:1755987851.631374
2025-08-23T22:24:11.633Z,1755987851.633 [DAT](INFO): DAT read: Bearing 119.6, -29.8 (Local)
2025-08-23T22:24:11.633Z,1755987851.633 [DAT](INFO): Local bearing/azimuth received:
Bearing 119.6, -29.8 (Local)
2025-08-23T22:24:11.635Z,1755987851.635 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.0
2025-08-23T22:24:11.640Z,1755987851.640 [DAT](INFO): DAT read: 22:24:10.9375 LVL= 32752, 18481, 19682, 28195, AGC= 51, IDX= 499, 0.43,-1.195, 1.239, 0.017, 0.262, PHS=-1.355, 1.022,-0.289, RAW= 303.4, 6.1, CAL= 301.0, 4.7, ROT= 209.0, -4.7
2025-08-23T22:24:11.641Z,1755987851.641 [DAT](INFO): got valid direction response:
22:24:10.9375 LVL= 32752, 18481, 19682, 28195, AGC= 51, IDX= 499, 0.43,-1.195, 1.239, 0.017, 0.262, PHS=-1.355, 1.022,-0.289, RAW= 303.4, 6.1, CAL= 301.0, 4.7, ROT= 209.0, -4.7
2025-08-23T22:24:11.641Z,1755987851.641 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-23T22:24:11.642Z,1755987851.642 [DAT](INFO): direction in FSK: [-0.871679,-0.483179,0.081939]
2025-08-23T22:24:11.643Z,1755987851.643 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:11.711Z,1755987851.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.501168 s,
deltaX: -0.200000 m,
approachRate: -0.399068 m/s,
rangeRepo size: 4
2025-08-23T22:24:11.713Z,1755987851.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.154532 m,
bearing: 355.070999 deg,
lat: 36.779403 deg,
lon: -121.859575 deg,
deltaT: 0.501168 s,
deltaX: -0.198737 m,
approachRate: -0.396548 m/s,
posRepo size: 4
2025-08-23T22:24:11.722Z,1755987851.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.15 m.
2025-08-23T22:24:12.076Z,1755987852.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.15 m.
2025-08-23T22:24:12.135Z,1755987852.135 [DAT](INFO): DAT read: Rx Time:22:24:11.4375
2025-08-23T22:24:12.136Z,1755987852.136 [DAT](INFO): Rx dataTimestamp_ set to:1755987852.135680
2025-08-23T22:24:12.137Z,1755987852.137 [DAT](INFO): DAT read: Bearing 118.0, -29.7 (Local)
2025-08-23T22:24:12.138Z,1755987852.138 [DAT](INFO): Local bearing/azimuth received:
Bearing 118.0, -29.7 (Local)
2025-08-23T22:24:12.140Z,1755987852.140 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.0
2025-08-23T22:24:12.149Z,1755987852.149 [DAT](INFO): DAT read: 22:24:11.4375 LVL= 32752, 17889, 21122, 30035, AGC= 52, IDX= 500, 0.11,-0.088, 2.308, 1.110, 1.371, PHS=-1.357, 0.982,-0.305, RAW= 303.3, 6.8, CAL= 300.9, 6.0, ROT= 209.1, -6.0
2025-08-23T22:24:12.164Z,1755987852.164 [DAT](INFO): got valid direction response:
22:24:11.4375 LVL= 32752, 17889, 21122, 30035, AGC= 52, IDX= 500, 0.11,-0.088, 2.308, 1.110, 1.371, PHS=-1.357, 0.982,-0.305, RAW= 303.3, 6.8, CAL= 300.9, 6.0, ROT= 209.1, -6.0
2025-08-23T22:24:12.165Z,1755987852.165 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-23T22:24:12.171Z,1755987852.171 [DAT](INFO): direction in FSK: [-0.868986,-0.483671,0.104528]
2025-08-23T22:24:12.171Z,1755987852.171 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:12.554Z,1755987852.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.504306 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:12.556Z,1755987852.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.154525 m,
bearing: 355.305485 deg,
lat: 36.779404 deg,
lon: -121.859576 deg,
deltaT: 0.504306 s,
deltaX: -0.000008 m,
approachRate: -0.000015 m/s,
posRepo size: 4
2025-08-23T22:24:12.556Z,1755987852.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.15 m.
2025-08-23T22:24:12.640Z,1755987852.640 [DAT](INFO): DAT read: Rx Time:22:24:11.9375
2025-08-23T22:24:12.641Z,1755987852.641 [DAT](INFO): Rx dataTimestamp_ set to:1755987852.640450
2025-08-23T22:24:12.643Z,1755987852.643 [DAT](INFO): DAT read: Bearing 116.9, -28.6 (Local)
2025-08-23T22:24:12.643Z,1755987852.643 [DAT](INFO): Local bearing/azimuth received:
Bearing 116.9, -28.6 (Local)
2025-08-23T22:24:12.646Z,1755987852.646 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.0
2025-08-23T22:24:12.652Z,1755987852.652 [DAT](INFO): DAT read: 22:24:11.9375 LVL= 32096, 18417, 19874, 28851, AGC= 51, IDX= 499,-0.15,-2.684,-0.321,-1.529,-1.233, PHS=-1.348, 0.957,-0.340, RAW= 304.1, 7.4, CAL= 301.7, 7.2, ROT= 208.3, -7.2
2025-08-23T22:24:12.653Z,1755987852.653 [DAT](INFO): got valid direction response:
22:24:11.9375 LVL= 32096, 18417, 19874, 28851, AGC= 51, IDX= 499,-0.15,-2.684,-0.321,-1.529,-1.233, PHS=-1.348, 0.957,-0.340, RAW= 304.1, 7.4, CAL= 301.7, 7.2, ROT= 208.3, -7.2
2025-08-23T22:24:12.653Z,1755987852.653 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-23T22:24:12.658Z,1755987852.658 [DAT](INFO): direction in FSK: [-0.873534,-0.470350,0.125333]
2025-08-23T22:24:12.658Z,1755987852.658 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:13.035Z,1755987853.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.100000 m,
deltaT: 0.504770 s,
deltaX: -0.100000 m,
approachRate: -0.198110 m/s,
rangeRepo size: 4
2025-08-23T22:24:13.037Z,1755987853.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.055156 m,
bearing: 354.627745 deg,
lat: 36.779404 deg,
lon: -121.859576 deg,
deltaT: 0.504770 s,
deltaX: -0.099369 m,
approachRate: -0.196860 m/s,
posRepo size: 4
2025-08-23T22:24:13.042Z,1755987853.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.06 m.
2025-08-23T22:24:13.143Z,1755987853.143 [DAT](INFO): DAT read: Rx Time:22:24:12.4375
2025-08-23T22:24:13.144Z,1755987853.144 [DAT](INFO): Rx dataTimestamp_ set to:1755987853.143657
2025-08-23T22:24:13.145Z,1755987853.145 [DAT](INFO): DAT read: Bearing 115.3, -28.5 (Local)
2025-08-23T22:24:13.146Z,1755987853.146 [DAT](INFO): Local bearing/azimuth received:
Bearing 115.3, -28.5 (Local)
2025-08-23T22:24:13.148Z,1755987853.148 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.0
2025-08-23T22:24:13.152Z,1755987853.152 [DAT](INFO): DAT read: 22:24:12.4375 LVL= 32752, 17121, 21234, 32179, AGC= 51, IDX= 498, 0.48,-1.174, 1.145,-0.034, 0.275, PHS=-1.347, 0.914,-0.353, RAW= 304.0, 8.1, CAL= 301.6, 8.6, ROT= 208.4, -8.6
2025-08-23T22:24:13.154Z,1755987853.154 [DAT](INFO): got valid direction response:
22:24:12.4375 LVL= 32752, 17121, 21234, 32179, AGC= 51, IDX= 498, 0.48,-1.174, 1.145,-0.034, 0.275, PHS=-1.347, 0.914,-0.353, RAW= 304.0, 8.1, CAL= 301.6, 8.6, ROT= 208.4, -8.6
2025-08-23T22:24:13.154Z,1755987853.154 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-23T22:24:13.155Z,1755987853.155 [DAT](INFO): direction in FSK: [-0.869758,-0.470276,0.149535]
2025-08-23T22:24:13.156Z,1755987853.156 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:13.317Z,1755987853.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.100000 m,
deltaT: 0.503207 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:13.323Z,1755987853.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.055156 m,
bearing: 354.851850 deg,
lat: 36.779404 deg,
lon: -121.859576 deg,
deltaT: 0.503207 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:24:13.324Z,1755987853.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.06 m.
2025-08-23T22:24:13.647Z,1755987853.647 [DAT](INFO): DAT read: Rx Time:22:24:12.9373
2025-08-23T22:24:13.648Z,1755987853.648 [DAT](INFO): Rx dataTimestamp_ set to:1755987853.647234
2025-08-23T22:24:13.649Z,1755987853.649 [DAT](INFO): DAT read: Bearing 114.6, -27.0 (Local)
2025-08-23T22:24:13.649Z,1755987853.649 [DAT](INFO): Local bearing/azimuth received:
Bearing 114.6, -27.0 (Local)
2025-08-23T22:24:13.651Z,1755987853.651 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.0
2025-08-23T22:24:13.660Z,1755987853.660 [DAT](INFO): DAT read: 22:24:12.9373 LVL= 32752, 20369, 22546, 32755, AGC= 49, IDX= 497, 0.16,-2.152, 0.119,-1.076,-0.730, PHS=-1.320, 0.895,-0.390, RAW= 305.3, 8.5, CAL= 303.0, 9.5, ROT= 207.0, -9.5
2025-08-23T22:24:13.661Z,1755987853.661 [DAT](INFO): got valid direction response:
22:24:12.9373 LVL= 32752, 20369, 22546, 32755, AGC= 49, IDX= 497, 0.16,-2.152, 0.119,-1.076,-0.730, PHS=-1.320, 0.895,-0.390, RAW= 305.3, 8.5, CAL= 303.0, 9.5, ROT= 207.0, -9.5
2025-08-23T22:24:13.661Z,1755987853.661 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-23T22:24:13.665Z,1755987853.665 [DAT](INFO): direction in FSK: [-0.878787,-0.447764,0.165048]
2025-08-23T22:24:13.666Z,1755987853.666 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:13.752Z,1755987853.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.503577 s,
deltaX: -0.300000 m,
approachRate: -0.595738 m/s,
rangeRepo size: 4
2025-08-23T22:24:13.770Z,1755987853.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.757051 m,
bearing: 353.560169 deg,
lat: 36.779404 deg,
lon: -121.859578 deg,
deltaT: 0.503577 s,
deltaX: -0.298105 m,
approachRate: -0.591975 m/s,
posRepo size: 4
2025-08-23T22:24:13.770Z,1755987853.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:24:14.117Z,1755987854.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:24:14.152Z,1755987854.152 [DAT](INFO): DAT read: Rx Time:22:24:13.4374
2025-08-23T22:24:14.152Z,1755987854.152 [DAT](INFO): Rx dataTimestamp_ set to:1755987854.152130
2025-08-23T22:24:14.154Z,1755987854.154 [DAT](INFO): DAT read: Bearing 114.1, -26.0 (Local)
2025-08-23T22:24:14.155Z,1755987854.155 [DAT](INFO): Local bearing/azimuth received:
Bearing 114.1, -26.0 (Local)
2025-08-23T22:24:14.157Z,1755987854.157 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.0
2025-08-23T22:24:14.172Z,1755987854.172 [DAT](INFO): DAT read: 22:24:13.4374 LVL= 22976, 12193, 17538, 22227, AGC= 51, IDX= 2,-0.05,-2.781,-0.525,-1.739,-1.364, PHS=-1.315, 0.884,-0.419, RAW= 306.1, 8.9, CAL= 303.9, 10.2, ROT= 206.1, -10.2
2025-08-23T22:24:14.175Z,1755987854.175 [DAT](INFO): got valid direction response:
22:24:13.4374 LVL= 22976, 12193, 17538, 22227, AGC= 51, IDX= 2,-0.05,-2.781,-0.525,-1.739,-1.364, PHS=-1.315, 0.884,-0.419, RAW= 306.1, 8.9, CAL= 303.9, 10.2, ROT= 206.1, -10.2
2025-08-23T22:24:14.175Z,1755987854.175 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-23T22:24:14.177Z,1755987854.177 [DAT](INFO): direction in FSK: [-0.883835,-0.432986,0.177085]
2025-08-23T22:24:14.177Z,1755987854.177 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:14.536Z,1755987854.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.900000 m,
deltaT: 0.504896 s,
deltaX: 0.100000 m,
approachRate: 0.198060 m/s,
rangeRepo size: 4
2025-08-23T22:24:14.538Z,1755987854.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.856429 m,
bearing: 352.713054 deg,
lat: 36.779404 deg,
lon: -121.859578 deg,
deltaT: 0.504896 s,
deltaX: 0.099378 m,
approachRate: 0.196829 m/s,
posRepo size: 4
2025-08-23T22:24:14.538Z,1755987854.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m.
2025-08-23T22:24:14.655Z,1755987854.655 [DAT](INFO): DAT read: Rx Time:22:24:13.9373
2025-08-23T22:24:14.656Z,1755987854.656 [DAT](INFO): Rx dataTimestamp_ set to:1755987854.655393
2025-08-23T22:24:14.657Z,1755987854.657 [DAT](INFO): DAT read: Bearing 113.0, -25.6 (Local)
2025-08-23T22:24:14.657Z,1755987854.657 [DAT](INFO): Local bearing/azimuth received:
Bearing 113.0, -25.6 (Local)
2025-08-23T22:24:14.659Z,1755987854.659 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.0
2025-08-23T22:24:14.665Z,1755987854.665 [DAT](INFO): DAT read: 22:24:13.9373 LVL= 32752, 18337, 24034, 32755, AGC= 47, IDX= 497,-0.31, 2.007,-2.028, 3.042,-2.848, PHS=-1.327, 0.865,-0.437, RAW= 306.2, 9.4, CAL= 304.0, 11.2, ROT= 206.0, -11.2
2025-08-23T22:24:14.666Z,1755987854.666 [DAT](INFO): got valid direction response:
22:24:13.9373 LVL= 32752, 18337, 24034, 32755, AGC= 47, IDX= 497,-0.31, 2.007,-2.028, 3.042,-2.848, PHS=-1.327, 0.865,-0.437, RAW= 306.2, 9.4, CAL= 304.0, 11.2, ROT= 206.0, -11.2
2025-08-23T22:24:14.666Z,1755987854.666 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-23T22:24:14.667Z,1755987854.667 [DAT](INFO): direction in FSK: [-0.881677,-0.430022,0.194234]
2025-08-23T22:24:14.667Z,1755987854.667 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:15.017Z,1755987855.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.503263 s,
deltaX: -0.100000 m,
approachRate: -0.198703 m/s,
rangeRepo size: 4
2025-08-23T22:24:15.023Z,1755987855.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.757064 m,
bearing: 352.706162 deg,
lat: 36.779403 deg,
lon: -121.859580 deg,
deltaT: 0.503263 s,
deltaX: -0.099365 m,
approachRate: -0.197441 m/s,
posRepo size: 4
2025-08-23T22:24:15.024Z,1755987855.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:24:15.159Z,1755987855.159 [DAT](INFO): DAT read: Rx Time:22:24:14.4373
2025-08-23T22:24:15.160Z,1755987855.160 [DAT](INFO): Rx dataTimestamp_ set to:1755987855.159250
2025-08-23T22:24:15.161Z,1755987855.161 [DAT](INFO): DAT read: Bearing 117.5, -20.2 (Local)
2025-08-23T22:24:15.161Z,1755987855.161 [DAT](INFO): Local bearing/azimuth received:
Bearing 117.5, -20.2 (Local)
2025-08-23T22:24:15.163Z,1755987855.163 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.0
2025-08-23T22:24:15.168Z,1755987855.168 [DAT](INFO): DAT read: 22:24:14.4373 LVL= 32752, 19393, 24946, 32755, AGC= 46, IDX= 513, 0.33,-2.194,-0.106,-1.412,-0.968, PHS=-1.124, 0.907,-0.488, RAW= 312.2, 7.9, CAL= 310.2, 8.3, ROT= 199.8, -8.3
2025-08-23T22:24:15.169Z,1755987855.169 [DAT](INFO): got valid direction response:
22:24:14.4373 LVL= 32752, 19393, 24946, 32755, AGC= 46, IDX= 513, 0.33,-2.194,-0.106,-1.412,-0.968, PHS=-1.124, 0.907,-0.488, RAW= 312.2, 7.9, CAL= 310.2, 8.3, ROT= 199.8, -8.3
2025-08-23T22:24:15.169Z,1755987855.169 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-23T22:24:15.170Z,1755987855.170 [DAT](INFO): direction in FSK: [-0.931026,-0.335190,0.144356]
2025-08-23T22:24:15.171Z,1755987855.171 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:15.326Z,1755987855.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.503857 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:15.328Z,1755987855.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.757064 m,
bearing: 346.311467 deg,
lat: 36.779402 deg,
lon: -121.859582 deg,
deltaT: 0.503857 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:24:15.329Z,1755987855.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:24:15.663Z,1755987855.663 [DAT](INFO): DAT read: Rx Time:22:24:14.9372
2025-08-23T22:24:15.664Z,1755987855.664 [DAT](INFO): Rx dataTimestamp_ set to:1755987855.663290
2025-08-23T22:24:15.665Z,1755987855.665 [DAT](INFO): DAT read: Bearing 105.2, -24.7 (Local)
2025-08-23T22:24:15.665Z,1755987855.665 [DAT](INFO): Local bearing/azimuth received:
Bearing 105.2, -24.7 (Local)
2025-08-23T22:24:15.667Z,1755987855.667 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.0
2025-08-23T22:24:15.672Z,1755987855.672 [DAT](INFO): DAT read: 22:24:14.9372 LVL= 30560, 16513, 22498, 29363, AGC= 46, IDX= 512, 0.08, 2.861,-1.399,-2.448,-2.012, PHS=-1.309, 0.658,-0.480, RAW= 305.2, 13.2, CAL= 303.0, 18.3, ROT= 207.0, -18.3
2025-08-23T22:24:15.673Z,1755987855.673 [DAT](INFO): got valid direction response:
22:24:14.9372 LVL= 30560, 16513, 22498, 29363, AGC= 46, IDX= 512, 0.08, 2.861,-1.399,-2.448,-2.012, PHS=-1.309, 0.658,-0.480, RAW= 305.2, 13.2, CAL= 303.0, 18.3, ROT= 207.0, -18.3
2025-08-23T22:24:15.673Z,1755987855.673 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-23T22:24:15.681Z,1755987855.681 [DAT](INFO): direction in FSK: [-0.845944,-0.431030,0.313992]
2025-08-23T22:24:15.681Z,1755987855.681 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:15.833Z,1755987855.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.600000 m,
deltaT: 0.504040 s,
deltaX: -0.200000 m,
approachRate: -0.396794 m/s,
rangeRepo size: 4
2025-08-23T22:24:15.847Z,1755987855.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.558335 m,
bearing: 354.386022 deg,
lat: 36.779402 deg,
lon: -121.859582 deg,
deltaT: 0.504040 s,
deltaX: -0.198729 m,
approachRate: -0.394272 m/s,
posRepo size: 4
2025-08-23T22:24:15.849Z,1755987855.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.56 m.
2025-08-23T22:24:16.169Z,1755987856.169 [DAT](INFO): DAT read: Rx Time:22:24:15.4373
2025-08-23T22:24:16.170Z,1755987856.170 [DAT](INFO): Rx dataTimestamp_ set to:1755987856.169513
2025-08-23T22:24:16.171Z,1755987856.171 [DAT](INFO): DAT read: Bearing 112.8, -28.2 (Local)
2025-08-23T22:24:16.171Z,1755987856.171 [DAT](INFO): Local bearing/azimuth received:
Bearing 112.8, -28.2 (Local)
2025-08-23T22:24:16.173Z,1755987856.173 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.0
2025-08-23T22:24:16.179Z,1755987856.179 [DAT](INFO): DAT read: 22:24:15.4373 LVL= 32752, 16961, 24658, 32755, AGC= 45, IDX= 513,-0.11, 2.227,-1.752,-2.913,-2.576, PHS=-1.378, 0.869,-0.382, RAW= 303.7, 9.2, CAL= 301.3, 10.8, ROT= 208.7, -10.8
2025-08-23T22:24:16.180Z,1755987856.180 [DAT](INFO): got valid direction response:
22:24:15.4373 LVL= 32752, 16961, 24658, 32755, AGC= 45, IDX= 513,-0.11, 2.227,-1.752,-2.913,-2.576, PHS=-1.378, 0.869,-0.382, RAW= 303.7, 9.2, CAL= 301.3, 10.8, ROT= 208.7, -10.8
2025-08-23T22:24:16.181Z,1755987856.181 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-23T22:24:16.187Z,1755987856.187 [DAT](INFO): direction in FSK: [-0.861610,-0.471717,0.187381]
2025-08-23T22:24:16.188Z,1755987856.188 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:16.285Z,1755987856.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.506223 s,
deltaX: 0.200000 m,
approachRate: 0.395083 m/s,
rangeRepo size: 4
2025-08-23T22:24:16.291Z,1755987856.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.757073 m,
bearing: 355.312701 deg,
lat: 36.779402 deg,
lon: -121.859582 deg,
deltaT: 0.506223 s,
deltaX: 0.198738 m,
approachRate: 0.392589 m/s,
posRepo size: 4
2025-08-23T22:24:16.292Z,1755987856.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:24:16.578Z,1755987856.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:24:16.580Z,1755987856.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:24:16.672Z,1755987856.672 [DAT](INFO): DAT read: Rx Time:22:24:15.9372
2025-08-23T22:24:16.673Z,1755987856.673 [DAT](INFO): Rx dataTimestamp_ set to:1755987856.672656
2025-08-23T22:24:16.674Z,1755987856.674 [DAT](INFO): DAT read: Bearing 108.0, -31.8 (Local)
2025-08-23T22:24:16.675Z,1755987856.675 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.0, -31.8 (Local)
2025-08-23T22:24:16.677Z,1755987856.677 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.0
2025-08-23T22:24:16.682Z,1755987856.682 [DAT](INFO): DAT read: 22:24:15.9372 LVL= 32400, 16529, 24274, 32179, AGC= 45, IDX= 512,-0.33, 1.013, 3.138, 2.215, 2.472, PHS=-1.357, 0.710,-0.301, RAW= 299.3, 10.6, CAL= 296.7, 13.9, ROT= 213.3, -13.9
2025-08-23T22:24:16.684Z,1755987856.684 [DAT](INFO): got valid direction response:
22:24:15.9372 LVL= 32400, 16529, 24274, 32179, AGC= 45, IDX= 512,-0.33, 1.013, 3.138, 2.215, 2.472, PHS=-1.357, 0.710,-0.301, RAW= 299.3, 10.6, CAL= 296.7, 13.9, ROT= 213.3, -13.9
2025-08-23T22:24:16.684Z,1755987856.684 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-23T22:24:16.691Z,1755987856.691 [DAT](INFO): direction in FSK: [-0.811332,-0.532946,0.240228]
2025-08-23T22:24:16.691Z,1755987856.691 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:16.698Z,1755987856.698 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:16.699Z,1755987856.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:16.924Z,1755987856.924 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:16.925Z,1755987856.925 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:16.926Z,1755987856.926 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:17.050Z,1755987857.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.600000 m,
deltaT: 0.503143 s,
deltaX: -0.200000 m,
approachRate: -0.397502 m/s,
rangeRepo size: 4
2025-08-23T22:24:17.052Z,1755987857.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.558334 m,
bearing: 0.090444 deg,
lat: 36.779402 deg,
lon: -121.859581 deg,
deltaT: 0.503143 s,
deltaX: -0.198739 m,
approachRate: -0.394995 m/s,
posRepo size: 4
2025-08-23T22:24:17.052Z,1755987857.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.56 m.
2025-08-23T22:24:17.176Z,1755987857.176 [DAT](INFO): DAT read: Rx Time:22:24:16.4371
2025-08-23T22:24:17.176Z,1755987857.176 [DAT](INFO): Rx dataTimestamp_ set to:1755987857.175769
2025-08-23T22:24:17.178Z,1755987857.178 [DAT](INFO): DAT read: Bearing 105.6, -28.7 (Local)
2025-08-23T22:24:17.179Z,1755987857.179 [DAT](INFO): Local bearing/azimuth received:
Bearing 105.6, -28.7 (Local)
2025-08-23T22:24:17.181Z,1755987857.181 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.0
2025-08-23T22:24:17.188Z,1755987857.188 [DAT](INFO): DAT read: 22:24:16.4371 LVL= 32752, 16817, 24162, 32755, AGC= 44, IDX= 511, 0.37,-2.926,-0.746,-1.774,-1.409, PHS=-1.415, 0.708,-0.409, RAW= 301.7, 12.1, CAL= 299.2, 16.9, ROT= 210.8, -16.9
2025-08-23T22:24:17.189Z,1755987857.189 [DAT](INFO): got valid direction response:
22:24:16.4371 LVL= 32752, 16817, 24162, 32755, AGC= 44, IDX= 511, 0.37,-2.926,-0.746,-1.774,-1.409, PHS=-1.415, 0.708,-0.409, RAW= 301.7, 12.1, CAL= 299.2, 16.9, ROT= 210.8, -16.9
2025-08-23T22:24:17.195Z,1755987857.195 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:17.197Z,1755987857.197 [DAT](INFO): direction in FSK: [-0.821864,-0.489930,0.290702]
2025-08-23T22:24:17.202Z,1755987857.202 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:17.211Z,1755987857.211 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:17.211Z,1755987857.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:17.426Z,1755987857.426 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:17.426Z,1755987857.426 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:17.427Z,1755987857.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:17.493Z,1755987857.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.500000 m,
deltaT: 0.503113 s,
deltaX: -0.100000 m,
approachRate: -0.198762 m/s,
rangeRepo size: 4
2025-08-23T22:24:17.510Z,1755987857.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.458965 m,
bearing: 357.926314 deg,
lat: 36.779402 deg,
lon: -121.859581 deg,
deltaT: 0.503113 s,
deltaX: -0.099369 m,
approachRate: -0.197508 m/s,
posRepo size: 4
2025-08-23T22:24:17.511Z,1755987857.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-08-23T22:24:17.679Z,1755987857.679 [DAT](INFO): DAT read: Rx Time:22:24:16.9370
2025-08-23T22:24:17.679Z,1755987857.679 [DAT](INFO): Rx dataTimestamp_ set to:1755987857.679192
2025-08-23T22:24:17.681Z,1755987857.681 [DAT](INFO): DAT read: Bearing 103.6, -29.5 (Local)
2025-08-23T22:24:17.681Z,1755987857.681 [DAT](INFO): Local bearing/azimuth received:
Bearing 103.6, -29.5 (Local)
2025-08-23T22:24:17.684Z,1755987857.684 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.0
2025-08-23T22:24:17.688Z,1755987857.688 [DAT](INFO): DAT read: 22:24:16.9370 LVL= 28496, 16033, 23858, 31219, AGC= 44, IDX= 510, 0.15, 1.497,-2.609, 2.691, 3.045, PHS=-1.446, 0.674,-0.398, RAW= 300.4, 12.7, CAL= 297.8, 18.2, ROT= 212.2, -18.2
2025-08-23T22:24:17.689Z,1755987857.689 [DAT](INFO): got valid direction response:
22:24:16.9370 LVL= 28496, 16033, 23858, 31219, AGC= 44, IDX= 510, 0.15, 1.497,-2.609, 2.691, 3.045, PHS=-1.446, 0.674,-0.398, RAW= 300.4, 12.7, CAL= 297.8, 18.2, ROT= 212.2, -18.2
2025-08-23T22:24:17.690Z,1755987857.690 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:17.691Z,1755987857.691 [DAT](INFO): direction in FSK: [-0.803860,-0.506218,0.312335]
2025-08-23T22:24:17.691Z,1755987857.691 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:17.698Z,1755987857.698 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:17.698Z,1755987857.698 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:17.839Z,1755987857.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.300000 m,
deltaT: 0.503423 s,
deltaX: -0.200000 m,
approachRate: -0.397280 m/s,
rangeRepo size: 4
2025-08-23T22:24:17.846Z,1755987857.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.260223 m,
bearing: 359.407605 deg,
lat: 36.779402 deg,
lon: -121.859578 deg,
deltaT: 0.503423 s,
deltaX: -0.198742 m,
approachRate: -0.394781 m/s,
posRepo size: 4
2025-08-23T22:24:17.847Z,1755987857.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.26 m.
2025-08-23T22:24:17.933Z,1755987857.933 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:17.933Z,1755987857.933 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:17.933Z,1755987857.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:18.184Z,1755987858.184 [DAT](INFO): DAT read: Rx Time:22:24:17.4371
2025-08-23T22:24:18.185Z,1755987858.185 [DAT](INFO): Rx dataTimestamp_ set to:1755987858.184153
2025-08-23T22:24:18.214Z,1755987858.214 [DAT](INFO): DAT read: Bearing 101.9, -30.3 (Local)
2025-08-23T22:24:18.215Z,1755987858.215 [DAT](INFO): Local bearing/azimuth received:
Bearing 101.9, -30.3 (Local)
2025-08-23T22:24:18.217Z,1755987858.217 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.0
2025-08-23T22:24:18.221Z,1755987858.221 [DAT](INFO): DAT read: 22:24:17.4371 LVL= 31392, 17585, 25570, 32755, AGC= 45, IDX= 511,-0.08, 1.789,-2.317, 3.025,-2.918, PHS=-1.474, 0.646,-0.385, RAW= 299.1, 13.1, CAL= 296.4, 19.4, ROT= 213.6, -19.4
2025-08-23T22:24:18.222Z,1755987858.222 [DAT](INFO): got valid direction response:
22:24:17.4371 LVL= 31392, 17585, 25570, 32755, AGC= 45, IDX= 511,-0.08, 1.789,-2.317, 3.025,-2.918, PHS=-1.474, 0.646,-0.385, RAW= 299.1, 13.1, CAL= 296.4, 19.4, ROT= 213.6, -19.4
2025-08-23T22:24:18.223Z,1755987858.223 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:18.224Z,1755987858.224 [DAT](INFO): direction in FSK: [-0.785630,-0.521971,0.332161]
2025-08-23T22:24:18.224Z,1755987858.224 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:18.228Z,1755987858.228 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:18.228Z,1755987858.228 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:18.357Z,1755987858.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.500000 m,
deltaT: 0.504961 s,
deltaX: 0.200000 m,
approachRate: 0.396070 m/s,
rangeRepo size: 4
2025-08-23T22:24:18.361Z,1755987858.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.458960 m,
bearing: 0.876464 deg,
lat: 36.779402 deg,
lon: -121.859577 deg,
deltaT: 0.504961 s,
deltaX: 0.198737 m,
approachRate: 0.393568 m/s,
posRepo size: 4
2025-08-23T22:24:18.370Z,1755987858.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-08-23T22:24:18.435Z,1755987858.435 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:18.435Z,1755987858.435 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:18.436Z,1755987858.436 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:18.676Z,1755987858.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-08-23T22:24:18.687Z,1755987858.687 [DAT](INFO): DAT read: Rx Time:22:24:17.9370
2025-08-23T22:24:18.688Z,1755987858.688 [DAT](INFO): Rx dataTimestamp_ set to:1755987858.687412
2025-08-23T22:24:18.689Z,1755987858.689 [DAT](INFO): DAT read: Bearing 100.5, -30.9 (Local)
2025-08-23T22:24:18.704Z,1755987858.704 [DAT](INFO): Local bearing/azimuth received:
Bearing 100.5, -30.9 (Local)
2025-08-23T22:24:18.706Z,1755987858.706 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.0
2025-08-23T22:24:18.723Z,1755987858.723 [DAT](INFO): DAT read: 22:24:17.9370 LVL= 31328, 19041, 26850, 32531, AGC= 46, IDX= 510,-0.36, 0.378, 2.566, 1.654, 1.990, PHS=-1.510, 0.621,-0.381, RAW= 298.0, 13.7, CAL= 295.4, 20.3, ROT= 214.6, -20.3
2025-08-23T22:24:18.724Z,1755987858.724 [DAT](INFO): got valid direction response:
22:24:17.9370 LVL= 31328, 19041, 26850, 32531, AGC= 46, IDX= 510,-0.36, 0.378, 2.566, 1.654, 1.990, PHS=-1.510, 0.621,-0.381, RAW= 298.0, 13.7, CAL= 295.4, 20.3, ROT= 214.6, -20.3
2025-08-23T22:24:18.724Z,1755987858.724 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:18.730Z,1755987858.730 [DAT](INFO): direction in FSK: [-0.772010,-0.532574,0.346936]
2025-08-23T22:24:18.730Z,1755987858.730 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:18.733Z,1755987858.733 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:18.738Z,1755987858.738 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:18.940Z,1755987858.940 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:18.941Z,1755987858.941 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:18.942Z,1755987858.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:19.100Z,1755987859.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.300000 m,
deltaT: 0.503259 s,
deltaX: -0.200000 m,
approachRate: -0.397409 m/s,
rangeRepo size: 4
2025-08-23T22:24:19.102Z,1755987859.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.260230 m,
bearing: 1.959332 deg,
lat: 36.779402 deg,
lon: -121.859575 deg,
deltaT: 0.503259 s,
deltaX: -0.198730 m,
approachRate: -0.394885 m/s,
posRepo size: 4
2025-08-23T22:24:19.103Z,1755987859.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.26 m.
2025-08-23T22:24:19.192Z,1755987859.192 [DAT](INFO): DAT read: Rx Time:22:24:18.4370
2025-08-23T22:24:19.193Z,1755987859.193 [DAT](INFO): Rx dataTimestamp_ set to:1755987859.192257
2025-08-23T22:24:19.195Z,1755987859.195 [DAT](INFO): DAT read: Bearing 99.6, -31.8 (Local)
2025-08-23T22:24:19.195Z,1755987859.195 [DAT](INFO): Local bearing/azimuth received:
Bearing 99.6, -31.8 (Local)
2025-08-23T22:24:19.199Z,1755987859.199 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.0
2025-08-23T22:24:19.205Z,1755987859.205 [DAT](INFO): DAT read: 22:24:18.4370 LVL= 29088, 18977, 25506, 31027, AGC= 47, IDX= 510, 0.24,-2.284,-0.094,-0.966,-0.646, PHS=-1.537, 0.597,-0.365, RAW= 296.7, 14.0, CAL= 294.2, 20.7, ROT= 215.8, -20.7
2025-08-23T22:24:19.213Z,1755987859.213 [DAT](INFO): got valid direction response:
22:24:18.4370 LVL= 29088, 18977, 25506, 31027, AGC= 47, IDX= 510, 0.24,-2.284,-0.094,-0.966,-0.646, PHS=-1.537, 0.597,-0.365, RAW= 296.7, 14.0, CAL= 294.2, 20.7, ROT= 215.8, -20.7
2025-08-23T22:24:19.213Z,1755987859.213 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:19.214Z,1755987859.214 [DAT](INFO): direction in FSK: [-0.758705,-0.547195,0.353475]
2025-08-23T22:24:19.215Z,1755987859.215 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:19.224Z,1755987859.224 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:19.224Z,1755987859.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:19.442Z,1755987859.442 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:19.442Z,1755987859.442 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:19.443Z,1755987859.443 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:19.546Z,1755987859.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.300000 m,
deltaT: 0.504845 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:19.548Z,1755987859.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.260230 m,
bearing: 3.170242 deg,
lat: 36.779401 deg,
lon: -121.859575 deg,
deltaT: 0.504845 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:24:19.549Z,1755987859.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.26 m.
2025-08-23T22:24:19.695Z,1755987859.695 [DAT](INFO): DAT read: Rx Time:22:24:18.9369
2025-08-23T22:24:19.695Z,1755987859.695 [DAT](INFO): Rx dataTimestamp_ set to:1755987859.695173
2025-08-23T22:24:19.697Z,1755987859.697 [DAT](INFO): DAT read: Bearing 98.7, -32.4 (Local)
2025-08-23T22:24:19.697Z,1755987859.697 [DAT](INFO): Local bearing/azimuth received:
Bearing 98.7, -32.4 (Local)
2025-08-23T22:24:19.699Z,1755987859.699 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.0
2025-08-23T22:24:19.703Z,1755987859.703 [DAT](INFO): DAT read: 22:24:18.9369 LVL= 29456, 18913, 24914, 31811, AGC= 47, IDX= 509, 0.02, 1.797,-2.291,-3.133,-2.820, PHS=-1.564, 0.574,-0.357, RAW= 295.7, 14.4, CAL= 293.3, 21.2, ROT= 216.7, -21.2
2025-08-23T22:24:19.704Z,1755987859.704 [DAT](INFO): got valid direction response:
22:24:18.9369 LVL= 29456, 18913, 24914, 31811, AGC= 47, IDX= 509, 0.02, 1.797,-2.291,-3.133,-2.820, PHS=-1.564, 0.574,-0.357, RAW= 295.7, 14.4, CAL= 293.3, 21.2, ROT= 216.7, -21.2
2025-08-23T22:24:19.705Z,1755987859.705 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:19.706Z,1755987859.706 [DAT](INFO): direction in FSK: [-0.747515,-0.557180,0.361625]
2025-08-23T22:24:19.706Z,1755987859.706 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:19.713Z,1755987859.713 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:19.713Z,1755987859.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:19.948Z,1755987859.948 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:19.949Z,1755987859.949 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:19.950Z,1755987859.950 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:20.014Z,1755987860.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.502916 s,
deltaX: -0.100000 m,
approachRate: -0.198841 m/s,
rangeRepo size: 4
2025-08-23T22:24:20.016Z,1755987860.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.160860 m,
bearing: 4.100616 deg,
lat: 36.779401 deg,
lon: -121.859575 deg,
deltaT: 0.502916 s,
deltaX: -0.099370 m,
approachRate: -0.197589 m/s,
posRepo size: 4
2025-08-23T22:24:20.016Z,1755987860.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-08-23T22:24:20.200Z,1755987860.200 [DAT](INFO): DAT read: Rx Time:22419.4370
2025-08-23T22:24:20.200Z,1755987860.200 [DAT](INFO): Rx dataTimestamp_ set to:1755987860.199702
2025-08-23T22:24:20.202Z,1755987860.202 [DAT](INFO): DAT read: Bearing 97.7, -33.1 (Local)
2025-08-23T22:24:20.203Z,1755987860.203 [DAT](INFO): Local bearing/azimuth received:
Bearing 97.7, -33.1 (Local)
2025-08-23T22:24:20.205Z,1755987860.205 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.0
2025-08-23T22:24:20.221Z,1755987860.221 [DAT](INFO): DAT read: 22:24:19.4370 LVL= 30608, 18081, 25074, 31907, AGC= 47, IDX= 510,-0.20, 1.764,-2.322,-3.126,-2.825, PHS=-1.592, 0.548,-0.344, RAW= 294.5, 14.8, CAL= 292.2, 21.6, ROT= 217.8, -21.6
2025-08-23T22:24:20.222Z,1755987860.222 [DAT](INFO): got valid direction response:
22:24:19.4370 LVL= 30608, 18081, 25074, 31907, AGC= 47, IDX= 510,-0.20, 1.764,-2.322,-3.126,-2.825, PHS=-1.592, 0.548,-0.344, RAW= 294.5, 14.8, CAL= 292.2, 21.6, ROT= 217.8, -21.6
2025-08-23T22:24:20.222Z,1755987860.222 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:20.223Z,1755987860.223 [DAT](INFO): direction in FSK: [-0.734667,-0.569867,0.368125]
2025-08-23T22:24:20.223Z,1755987860.223 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:20.227Z,1755987860.227 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:20.227Z,1755987860.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:20.401Z,1755987860.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.300000 m,
deltaT: 0.504529 s,
deltaX: 0.100000 m,
approachRate: 0.198205 m/s,
rangeRepo size: 4
2025-08-23T22:24:20.407Z,1755987860.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.260229 m,
bearing: 5.200640 deg,
lat: 36.779401 deg,
lon: -121.859574 deg,
deltaT: 0.504529 s,
deltaX: 0.099370 m,
approachRate: 0.196955 m/s,
posRepo size: 4
2025-08-23T22:24:20.407Z,1755987860.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.26 m.
2025-08-23T22:24:20.452Z,1755987860.452 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:20.454Z,1755987860.454 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:20.454Z,1755987860.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:20.703Z,1755987860.703 [DAT](INFO): DAT read: Rx Time:22:24:19.9368
2025-08-23T22:24:20.704Z,1755987860.704 [DAT](INFO): Rx dataTimestamp_ set to:1755987860.703362
2025-08-23T22:24:20.705Z,1755987860.705 [DAT](INFO): DAT read: Bearn 9.5, -34.6 (Local)
2025-08-23T22:24:20.705Z,1755987860.705 [DAT](INFO): Local bearing/azimuth received:
Bearn 9.5, -34.6 (Local)
2025-08-23T22:24:20.707Z,1755987860.707 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.1
2025-08-23T22:24:20.712Z,1755987860.712 [DAT](INFO): DAT read: 22:24:19.9368 LVL= 28656, 16433, 22354, 29043, AGC= 46, IDX= 508, 0.47, 1.398,-2.677, 2.866, 3.131, PHS=-1.631, 0.520,-0.309, RAW= 292.5, 15.0, CAL= 290.2, 22.0, ROT= 219.8, -22.0
2025-08-23T22:24:20.713Z,1755987860.713 [DAT](INFO): got valid direction response:
22:24:19.9368 LVL= 28656, 16433, 22354, 29043, AGC= 46, IDX= 508, 0.47, 1.398,-2.677, 2.866, 3.131, PHS=-1.631, 0.520,-0.309, RAW= 292.5, 15.0, CAL= 290.2, 22.0, ROT= 219.8, -22.0
2025-08-23T22:24:20.713Z,1755987860.713 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:20.714Z,1755987860.714 [DAT](INFO): direction in FSK: [-0.712340,-0.593499,0.374607]
2025-08-23T22:24:20.715Z,1755987860.715 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:20.723Z,1755987860.723 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:20.723Z,1755987860.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:20.742Z,1755987860.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.503660 s,
deltaX: -0.100000 m,
approachRate: -0.198547 m/s,
rangeRepo size: 4
2025-08-23T22:24:20.744Z,1755987860.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.160860 m,
bearing: 7.176016 deg,
lat: 36.779401 deg,
lon: -121.859573 deg,
deltaT: 0.503660 s,
deltaX: -0.099370 m,
approachRate: -0.197295 m/s,
posRepo size: 4
2025-08-23T22:24:20.745Z,1755987860.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-08-23T22:24:21.047Z,1755987861.047 [DAT](INFO): DAT read: Rx Time:22:24:20.4368
2025-08-23T22:24:21.048Z,1755987861.048 [DAT](INFO): Rx dataTimestamp_ set to:1755987861.047616
2025-08-23T22:24:21.049Z,1755987861.049 [DAT](INFO): DAT read: Bearing 95.3, -36.1 (Local)
2025-08-23T22:24:21.050Z,1755987861.050 [DAT](INFO): Local bearing/azimuth received:
Bearing 95.3, -36.1 (Local)
2025-08-23T22:24:21.052Z,1755987861.052 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.0
2025-08-23T22:24:21.056Z,1755987861.056 [DAT](INFO): DAT read: 22:24:20.4368 LVL= 32352, 19153, 24434, 32067, AGC= 47, IDX= 508, 0.13, 1.435,-2.632, 2.980,-3.077, PHS=-1.669, 0.490,-0.270, RAW= 290.3, 15.1, CAL= 288.3, 22.2, ROT= 221.7, -22.2
2025-08-23T22:24:21.057Z,1755987861.057 [DAT](INFO): got valid direction response:
22:24:20.4368 LVL= 32352, 19153, 24434, 32067, AGC= 47, IDX= 508, 0.13, 1.435,-2.632, 2.980,-3.077, PHS=-1.669, 0.490,-0.270, RAW= 290.3, 15.1, CAL= 288.3, 22.2, ROT= 221.7, -22.2
2025-08-23T22:24:21.058Z,1755987861.058 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:21.059Z,1755987861.059 [DAT](INFO): direction in FSK: [-0.691290,-0.615917,0.377841]
2025-08-23T22:24:21.059Z,1755987861.059 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:21.062Z,1755987861.062 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:21.063Z,1755987861.063 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:21.215Z,1755987861.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.344254 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:21.227Z,1755987861.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.160872 m,
bearing: 9.020810 deg,
lat: 36.779401 deg,
lon: -121.859572 deg,
deltaT: 0.344254 s,
deltaX: 0.000013 m,
approachRate: 0.000037 m/s,
posRepo size: 4
2025-08-23T22:24:21.228Z,1755987861.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-08-23T22:24:21.299Z,1755987861.299 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:21.300Z,1755987861.300 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:21.300Z,1755987861.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:21.535Z,1755987861.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-08-23T22:24:21.559Z,1755987861.559 [DAT](INFO): DAT read: Rx Time:22:24:20.9367
2025-08-23T22:24:21.559Z,1755987861.559 [DAT](INFO): Rx dataTimestamp_ set to:1755987861.558698
2025-08-23T22:24:21.560Z,1755987861.560 [DAT](INFO): DAT read: Bearing 94.6, -37.2 (Local)
2025-08-23T22:24:21.561Z,1755987861.561 [DAT](INFO): Local bearing/azimuth received:
Bearing 94.6, -37.2 (Local)
2025-08-23T22:24:21.563Z,1755987861.563 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.0
2025-08-23T22:24:21.586Z,1755987861.586 [DAT](INFO): DAT read: 22:24:20.9367 LVL= 32448, 20209, 23442, 31315, AGC= 47, IDX= 507,-0.11,-1.164, 1.059, 0.435, 0.631, PHS=-1.693, 0.473,-0.239, RAW= 288.8, 15.1, CAL= 287.0, 22.2, ROT= 223.0, -22.2
2025-08-23T22:24:21.588Z,1755987861.588 [DAT](INFO): got valid direction response:
22:24:20.9367 LVL= 32448, 20209, 23442, 31315, AGC= 47, IDX= 507,-0.11,-1.164, 1.059, 0.435, 0.631, PHS=-1.693, 0.473,-0.239, RAW= 288.8, 15.1, CAL= 287.0, 22.2, ROT= 223.0, -22.2
2025-08-23T22:24:21.588Z,1755987861.588 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:21.594Z,1755987861.594 [DAT](INFO): direction in FSK: [-0.677139,-0.631442,0.377841]
2025-08-23T22:24:21.594Z,1755987861.594 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:21.604Z,1755987861.604 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:21.609Z,1755987861.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:21.802Z,1755987861.802 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:21.803Z,1755987861.803 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:21.803Z,1755987861.803 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:22.015Z,1755987862.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.000000 m,
deltaT: 0.511082 s,
deltaX: -0.200000 m,
approachRate: -0.391326 m/s,
rangeRepo size: 4
2025-08-23T22:24:22.017Z,1755987862.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.962135 m,
bearing: 10.310025 deg,
lat: 36.779401 deg,
lon: -121.859570 deg,
deltaT: 0.511082 s,
deltaX: -0.198738 m,
approachRate: -0.388857 m/s,
posRepo size: 4
2025-08-23T22:24:22.022Z,1755987862.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-08-23T22:24:22.055Z,1755987862.055 [DAT](INFO): DAT read: Rx Time:22:24:21.4367
2025-08-23T22:24:22.056Z,1755987862.056 [DAT](INFO): Rx dataTimestamp_ set to:1755987862.055489
2025-08-23T22:24:22.057Z,1755987862.057 [DAT](INFO): DAT read: Bearing 94.2, -38.0 (Local)
2025-08-23T22:24:22.057Z,1755987862.057 [DAT](INFO): Local bearing/azimuth received:
Bearing 94.2, -38.0 (Local)
2025-08-23T22:24:22.060Z,1755987862.060 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.0
2025-08-23T22:24:22.067Z,1755987862.067 [DAT](INFO): DAT read: 22:24:21.4367 LVL= 32752, 22577, 25058, 32755, AGC= 48, IDX= 507, 0.50, 2.035,-2.034,-2.620,-2.453, PHS=-1.693, 0.464,-0.210, RAW= 287.8, 14.9, CAL= 286.0, 22.0, ROT= 224.0, -22.0
2025-08-23T22:24:22.068Z,1755987862.068 [DAT](INFO): got valid direction response:
22:24:21.4367 LVL= 32752, 22577, 25058, 32755, AGC= 48, IDX= 507, 0.50, 2.035,-2.034,-2.620,-2.453, PHS=-1.693, 0.464,-0.210, RAW= 287.8, 14.9, CAL= 286.0, 22.0, ROT= 224.0, -22.0
2025-08-23T22:24:22.069Z,1755987862.069 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:22.070Z,1755987862.070 [DAT](INFO): direction in FSK: [-0.666960,-0.644076,0.374607]
2025-08-23T22:24:22.071Z,1755987862.071 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:22.081Z,1755987862.081 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:22.081Z,1755987862.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:22.306Z,1755987862.306 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:22.307Z,1755987862.307 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:22.307Z,1755987862.307 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:22.436Z,1755987862.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.000000 m,
deltaT: 0.496791 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:22.438Z,1755987862.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.962135 m,
bearing: 11.257209 deg,
lat: 36.779401 deg,
lon: -121.859569 deg,
deltaT: 0.496791 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:24:22.439Z,1755987862.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-08-23T22:24:22.561Z,1755987862.561 [DAT](INFO): DAT read: Rx Time:22:24:21.9366
2025-08-23T22:24:22.561Z,1755987862.561 [DAT](INFO): Rx dataTimestamp_ set to:1755987862.560865
2025-08-23T22:24:22.563Z,1755987862.563 [DAT](INFO): DAT read: Bearing 94.4, -37.9 (Local)
2025-08-23T22:24:22.563Z,1755987862.563 [DAT](INFO): Local bearing/azimuth received:
Bearing 94.4, -37.9 (Local)
2025-08-23T22:24:22.566Z,1755987862.566 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.0
2025-08-23T22:24:22.580Z,1755987862.580 [DAT](INFO): DAT read: 22:24:21.9366 LVL= 32752, 22833, 24050, 32755, AGC= 48, IDX= 506, 0.14, 0.837, 3.045, 2.451, 2.621, PHS=-1.683, 0.469,-0.215, RAW= 288.1, 14.9, CAL= 286.3, 22.0, ROT= 223.7, -22.0
2025-08-23T22:24:22.586Z,1755987862.586 [DAT](INFO): got valid direction response:
22:24:21.9366 LVL= 32752, 22833, 24050, 32755, AGC= 48, IDX= 506, 0.14, 0.837, 3.045, 2.451, 2.621, PHS=-1.683, 0.469,-0.215, RAW= 288.1, 14.9, CAL= 286.3, 22.0, ROT= 223.7, -22.0
2025-08-23T22:24:22.586Z,1755987862.586 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:22.587Z,1755987862.587 [DAT](INFO): direction in FSK: [-0.670324,-0.640575,0.374607]
2025-08-23T22:24:22.588Z,1755987862.588 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:22.593Z,1755987862.593 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:22.606Z,1755987862.606 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:22.772Z,1755987862.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.900000 m,
deltaT: 0.505376 s,
deltaX: -0.100000 m,
approachRate: -0.197872 m/s,
rangeRepo size: 4
2025-08-23T22:24:22.774Z,1755987862.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.862766 m,
bearing: 10.991452 deg,
lat: 36.779401 deg,
lon: -121.859569 deg,
deltaT: 0.505376 s,
deltaX: -0.099369 m,
approachRate: -0.196624 m/s,
posRepo size: 4
2025-08-23T22:24:22.775Z,1755987862.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m.
2025-08-23T22:24:22.811Z,1755987862.811 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:22.811Z,1755987862.811 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:22.811Z,1755987862.811 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:23.063Z,1755987863.063 [DAT](INFO): DAT read: Rx Time:22:24:22.4367
2025-08-23T22:24:23.064Z,1755987863.064 [DAT](INFO): Rx dataTimestamp_ set to:1755987863.063260
2025-08-23T22:24:23.065Z,1755987863.065 [DAT](INFO): DAT read: Bearing 95.2, -36.6 (Local)
2025-08-23T22:24:23.065Z,1755987863.065 [DAT](INFO): Local bearing/azimuth received:
Bearing 95.2, -36.6 (Local)
2025-08-23T22:24:23.067Z,1755987863.067 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.0
2025-08-23T22:24:23.072Z,1755987863.072 [DAT](INFO): DAT read: 22:24:22.4367 LVL= 32752, 20753, 24450, 32755, AGC= 47, IDX= 507,-0.06,-0.154, 2.044, 1.398, 1.605, PHS=-1.657, 0.483,-0.251, RAW= 289.7, 15.0, CAL= 287.8, 22.0, ROT= 222.2, -22.0
2025-08-23T22:24:23.073Z,1755987863.073 [DAT](INFO): got valid direction response:
22:24:22.4367 LVL= 32752, 20753, 24450, 32755, AGC= 47, IDX= 507,-0.06,-0.154, 2.044, 1.398, 1.605, PHS=-1.657, 0.483,-0.251, RAW= 289.7, 15.0, CAL= 287.8, 22.0, ROT= 222.2, -22.0
2025-08-23T22:24:23.073Z,1755987863.073 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:23.074Z,1755987863.074 [DAT](INFO): direction in FSK: [-0.686862,-0.622808,0.374607]
2025-08-23T22:24:23.074Z,1755987863.074 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:23.091Z,1755987863.091 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:23.091Z,1755987863.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:23.227Z,1755987863.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.000000 m,
deltaT: 0.502395 s,
deltaX: 0.100000 m,
approachRate: 0.199046 m/s,
rangeRepo size: 4
2025-08-23T22:24:23.229Z,1755987863.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.962141 m,
bearing: 9.548111 deg,
lat: 36.779401 deg,
lon: -121.859569 deg,
deltaT: 0.502395 s,
deltaX: 0.099375 m,
approachRate: 0.197803 m/s,
posRepo size: 4
2025-08-23T22:24:23.230Z,1755987863.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-08-23T22:24:23.314Z,1755987863.314 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:23.315Z,1755987863.315 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:23.315Z,1755987863.315 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:23.567Z,1755987863.567 [DAT](INFO): DAT read: Rx Time:22:24:22.9366
2025-08-23T22:24:23.568Z,1755987863.568 [DAT](INFO): Rx dataTimestamp_ set to:1755987863.567376
2025-08-23T22:24:23.569Z,1755987863.569 [DAT](INFO): DAT read: Bearing 95.8, -35.2 (Local)
2025-08-23T22:24:23.569Z,1755987863.569 [DAT](INFO): Local bearing/azimuth received:
Bearing 95.8, -35.2 (Local)
2025-08-23T22:24:23.571Z,1755987863.571 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.1
2025-08-23T22:24:23.576Z,1755987863.576 [DAT](INFO): DAT read: 22:24:22.9366 LVL= 32752, 22993, 22994, 32755, AGC= 45, IDX= 506,-0.27,-1.983, 0.164,-0.520,-0.278, PHS=-1.603, 0.487,-0.286, RAW= 291.4, 15.2, CAL= 289.4, 22.2, ROT= 220.6, -22.2
2025-08-23T22:24:23.577Z,1755987863.577 [DAT](INFO): got valid direction response:
22:24:22.9366 LVL= 32752, 22993, 22994, 32755, AGC= 45, IDX= 506,-0.27,-1.983, 0.164,-0.520,-0.278, PHS=-1.603, 0.487,-0.286, RAW= 291.4, 15.2, CAL= 289.4, 22.2, ROT= 220.6, -22.2
2025-08-23T22:24:23.577Z,1755987863.577 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:23.578Z,1755987863.578 [DAT](INFO): direction in FSK: [-0.702987,-0.602533,0.377841]
2025-08-23T22:24:23.579Z,1755987863.579 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:23.583Z,1755987863.583 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:23.583Z,1755987863.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:23.598Z,1755987863.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.900000 m,
deltaT: 0.504116 s,
deltaX: -0.100000 m,
approachRate: -0.198367 m/s,
rangeRepo size: 4
2025-08-23T22:24:23.600Z,1755987863.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.862772 m,
bearing: 8.024018 deg,
lat: 36.779401 deg,
lon: -121.859569 deg,
deltaT: 0.504116 s,
deltaX: -0.099369 m,
approachRate: -0.197115 m/s,
posRepo size: 4
2025-08-23T22:24:23.600Z,1755987863.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m.
2025-08-23T22:24:23.818Z,1755987863.818 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:23.819Z,1755987863.819 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:23.819Z,1755987863.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:24.044Z,1755987864.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m.
2025-08-23T22:24:24.071Z,1755987864.071 [DAT](INFO): DAT read: Rx Time:22:24:23.4365
2025-08-23T22:24:24.072Z,1755987864.072 [DAT](INFO): Rx dataTimestamp_ set to:1755987864.071396
2025-08-23T22:24:24.073Z,1755987864.073 [DAT](INFO): DAT read: Bearing 95.1, -34.3 (Local)
2025-08-23T22:24:24.073Z,1755987864.073 [DAT](INFO): Local bearing/azimuth received:
Bearing 95.1, -34.3 (Local)
2025-08-23T22:24:24.075Z,1755987864.075 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.0
2025-08-23T22:24:24.080Z,1755987864.080 [DAT](INFO): DAT read: 22:24:23.4365 LVL= 32752, 27009, 26994, 32755, AGC= 46, IDX= 505, 0.38,-1.228, 0.877, 0.196, 0.472, PHS=-1.598, 0.450,-0.320, RAW= 291.8, 16.2, CAL= 290.0, 23.1, ROT= 220.0, -23.1
2025-08-23T22:24:24.081Z,1755987864.081 [DAT](INFO): got valid direction response:
22:24:23.4365 LVL= 32752, 27009, 26994, 32755, AGC= 46, IDX= 505, 0.38,-1.228, 0.877, 0.196, 0.472, PHS=-1.598, 0.450,-0.320, RAW= 291.8, 16.2, CAL= 290.0, 23.1, ROT= 220.0, -23.1
2025-08-23T22:24:24.081Z,1755987864.081 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:24.082Z,1755987864.082 [DAT](INFO): direction in FSK: [-0.704624,-0.591250,0.392337]
2025-08-23T22:24:24.083Z,1755987864.083 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:24.086Z,1755987864.086 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:24.086Z,1755987864.086 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:24.322Z,1755987864.322 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:24.322Z,1755987864.322 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:24.323Z,1755987864.323 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:24.432Z,1755987864.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.700000 m,
deltaT: 0.504020 s,
deltaX: -0.200000 m,
approachRate: -0.396810 m/s,
rangeRepo size: 4
2025-08-23T22:24:24.438Z,1755987864.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.664018 m,
bearing: 7.502824 deg,
lat: 36.779401 deg,
lon: -121.859570 deg,
deltaT: 0.504020 s,
deltaX: -0.198754 m,
approachRate: -0.394337 m/s,
posRepo size: 4
2025-08-23T22:24:24.438Z,1755987864.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:24:24.580Z,1755987864.580 [DAT](INFO): DAT read: Rx Time:22:24:23.9364
2025-08-23T22:24:24.580Z,1755987864.580 [DAT](INFO): Rx dataTimestamp_ set to:1755987864.579891
2025-08-23T22:24:24.582Z,1755987864.582 [DAT](INFO): DAT read: Bearing 96.0, -34.2 (Local)
2025-08-23T22:24:24.582Z,1755987864.582 [DAT](INFO): Local bearing/azimuth received:
Bearing 96.0, -34.2 (Local)
2025-08-23T22:24:24.584Z,1755987864.584 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.0
2025-08-23T22:24:24.586Z,1755987864.586 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:24:24.589Z,1755987864.589 [DAT](INFO): DAT read: 22:24:23.9364 LVL= 32752, 21441, 23346, 32755, AGC= 44, IDX= 504, 0.08,-2.185,-0.082,-0.782,-0.515, PHS=-1.568, 0.478,-0.312, RAW= 292.5, 15.5, CAL= 290.4, 22.5, ROT= 219.6, -22.5
2025-08-23T22:24:24.590Z,1755987864.590 [DAT](INFO): got valid direction response:
22:24:23.9364 LVL= 32752, 21441, 23346, 32755, AGC= 44, IDX= 504, 0.08,-2.185,-0.082,-0.782,-0.515, PHS=-1.568, 0.478,-0.312, RAW= 292.5, 15.5, CAL= 290.4, 22.5, ROT= 219.6, -22.5
2025-08-23T22:24:24.591Z,1755987864.591 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:24.592Z,1755987864.592 [DAT](INFO): direction in FSK: [-0.711861,-0.588903,0.382683]
2025-08-23T22:24:24.592Z,1755987864.592 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:24.599Z,1755987864.599 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:24.599Z,1755987864.599 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:24.798Z,1755987864.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.600000 m,
deltaT: 0.508495 s,
deltaX: -0.100000 m,
approachRate: -0.196659 m/s,
rangeRepo size: 4
2025-08-23T22:24:24.800Z,1755987864.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.564650 m,
bearing: 7.051865 deg,
lat: 36.779401 deg,
lon: -121.859573 deg,
deltaT: 0.508495 s,
deltaX: -0.099369 m,
approachRate: -0.195417 m/s,
posRepo size: 4
2025-08-23T22:24:24.800Z,1755987864.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.56 m.
2025-08-23T22:24:24.830Z,1755987864.830 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:24.831Z,1755987864.831 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:24.831Z,1755987864.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:25.083Z,1755987865.083 [DAT](INFO): DAT read: Rx Time:22:24:24.4365
2025-08-23T22:24:25.084Z,1755987865.084 [DAT](INFO): Rx dataTimestamp_ set to:1755987865.083232
2025-08-23T22:24:25.085Z,1755987865.085 [DAT](INFO): DAT read: Bearing 97.2, -31.6 (Local)
2025-08-23T22:24:25.085Z,1755987865.085 [DAT](INFO): Local bearing/azimuth received:
Bearing 97.2, -31.6 (Local)
2025-08-23T22:24:25.087Z,1755987865.087 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.0
2025-08-23T22:24:25.092Z,1755987865.092 [DAT](INFO): DAT read: 22:24:24.4365 LVL= 32752, 22209, 21666, 32755, AGC= 43, IDX= 505,-0.10,-2.632,-0.565,-1.345,-1.011, PHS=-1.519, 0.491,-0.378, RAW= 295.5, 15.9, CAL= 293.5, 22.6, ROT= 216.5, -22.6
2025-08-23T22:24:25.093Z,1755987865.093 [DAT](INFO): got valid direction response:
22:24:24.4365 LVL= 32752, 22209, 21666, 32755, AGC= 43, IDX= 505,-0.10,-2.632,-0.565,-1.345,-1.011, PHS=-1.519, 0.491,-0.378, RAW= 295.5, 15.9, CAL= 293.5, 22.6, ROT= 216.5, -22.6
2025-08-23T22:24:25.093Z,1755987865.093 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:25.094Z,1755987865.094 [DAT](INFO): direction in FSK: [-0.742129,-0.549147,0.384295]
2025-08-23T22:24:25.094Z,1755987865.094 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:25.103Z,1755987865.103 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:25.103Z,1755987865.103 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:25.266Z,1755987865.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.700000 m,
deltaT: 0.503341 s,
deltaX: 0.100000 m,
approachRate: 0.198672 m/s,
rangeRepo size: 4
2025-08-23T22:24:25.268Z,1755987865.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.664008 m,
bearing: 4.061903 deg,
lat: 36.779402 deg,
lon: -121.859574 deg,
deltaT: 0.503341 s,
deltaX: 0.099358 m,
approachRate: 0.197397 m/s,
posRepo size: 4
2025-08-23T22:24:25.269Z,1755987865.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:24:25.335Z,1755987865.335 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:25.335Z,1755987865.335 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:25.335Z,1755987865.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:25.587Z,1755987865.587 [DAT](INFO): DAT read: Rx Time:22:24:24.9364
2025-08-23T22:24:25.588Z,1755987865.588 [DAT](INFO): Rx dataTimestamp_ set to:1755987865.587424
2025-08-23T22:24:25.589Z,1755987865.589 [DAT](INFO): DAT read: Bearing 97.6, -29.9 (Local)
2025-08-23T22:24:25.590Z,1755987865.590 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:24:25.591Z,1755987865.591 [DAT](INFO): Local bearing/azimuth received:
Bearing 97.6, -29.9 (Local)
2025-08-23T22:24:25.593Z,1755987865.593 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.0
2025-08-23T22:24:25.627Z,1755987865.627 [DAT](INFO): DAT read: 22:24:24.9364 LVL= 32752, 22193, 23346, 32755, AGC= 42, IDX= 504,-0.29, 1.777,-2.451, 3.005,-2.895, PHS=-1.510, 0.489,-0.427, RAW= 297.2, 16.5, CAL= 295.4, 23.0, ROT= 214.6, -23.0
2025-08-23T22:24:25.628Z,1755987865.628 [DAT](INFO): got valid direction response:
22:24:24.9364 LVL= 32752, 22193, 23346, 32755, AGC= 42, IDX= 504,-0.29, 1.777,-2.451, 3.005,-2.895, PHS=-1.510, 0.489,-0.427, RAW= 297.2, 16.5, CAL= 295.4, 23.0, ROT= 214.6, -23.0
2025-08-23T22:24:25.628Z,1755987865.628 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:25.629Z,1755987865.629 [DAT](INFO): direction in FSK: [-0.757701,-0.522703,0.390731]
2025-08-23T22:24:25.650Z,1755987865.650 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:25.653Z,1755987865.653 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:25.653Z,1755987865.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:25.659Z,1755987865.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.600000 m,
deltaT: 0.504192 s,
deltaX: -0.100000 m,
approachRate: -0.198337 m/s,
rangeRepo size: 4
2025-08-23T22:24:25.659Z,1755987865.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:24:25.838Z,1755987865.838 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:25.838Z,1755987865.838 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:25.839Z,1755987865.839 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:26.091Z,1755987866.091 [DAT](INFO): DAT read: Rx Time:22:24:25.4365
2025-08-23T22:24:26.092Z,1755987866.092 [DAT](INFO): Rx dataTimestamp_ set to:1755987866.091250
2025-08-23T22:24:26.093Z,1755987866.093 [DAT](INFO): DAT read: Bearing 97.1, -30.2 (Local)
2025-08-23T22:24:26.093Z,1755987866.093 [DAT](INFO): Local bearing/azimuth received:
Bearing 97.1, -30.2 (Local)
2025-08-23T22:24:26.095Z,1755987866.095 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.0
2025-08-23T22:24:26.100Z,1755987866.100 [DAT](INFO): DAT read: 22:24:25.4365 LVL= 32752, 22577, 23890, 32755, AGC= 42, IDX= 505, 0.41,-0.557, 1.483, 0.683, 1.059, PHS=-1.514, 0.469,-0.419, RAW= 296.6, 16.7, CAL= 294.8, 23.3, ROT= 215.2, -23.3
2025-08-23T22:24:26.101Z,1755987866.101 [DAT](INFO): got valid direction response:
22:24:25.4365 LVL= 32752, 22577, 23890, 32755, AGC= 42, IDX= 505, 0.41,-0.557, 1.483, 0.683, 1.059, PHS=-1.514, 0.469,-0.419, RAW= 296.6, 16.7, CAL= 294.8, 23.3, ROT= 215.2, -23.3
2025-08-23T22:24:26.101Z,1755987866.101 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:26.102Z,1755987866.102 [DAT](INFO): direction in FSK: [-0.750504,-0.529422,0.395545]
2025-08-23T22:24:26.102Z,1755987866.102 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:26.106Z,1755987866.106 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:26.106Z,1755987866.106 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:26.133Z,1755987866.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.700000 m,
deltaT: 0.503826 s,
deltaX: 0.100000 m,
approachRate: 0.198481 m/s,
rangeRepo size: 4
2025-08-23T22:24:26.144Z,1755987866.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.664006 m,
bearing: 2.864233 deg,
lat: 36.779402 deg,
lon: -121.859575 deg,
deltaT: 1.008018 s,
deltaX: -0.000001 m,
approachRate: -0.000001 m/s,
posRepo size: 4
2025-08-23T22:24:26.144Z,1755987866.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:24:26.343Z,1755987866.343 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:26.343Z,1755987866.343 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:26.344Z,1755987866.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:26.427Z,1755987866.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:24:26.595Z,1755987866.595 [DAT](INFO): DAT read: Rx Time:22:24:25.9364
2025-08-23T22:24:26.596Z,1755987866.596 [DAT](INFO): Rx dataTimestamp_ set to:1755987866.595329
2025-08-23T22:24:26.597Z,1755987866.597 [DAT](INFO): DAT read: Bearing 96.2, -30.9 (Local)
2025-08-23T22:24:26.597Z,1755987866.597 [DAT](INFO): Local bearing/azimuth received:
Bearing 96.2, -30.9 (Local)
2025-08-23T22:24:26.599Z,1755987866.599 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.0
2025-08-23T22:24:26.604Z,1755987866.604 [DAT](INFO): DAT read: 22:24:25.9364 LVL= 32752, 22673, 28786, 32755, AGC= 43, IDX= 504, 0.15,-1.318, 0.734,-0.036, 0.329, PHS=-1.545, 0.450,-0.409, RAW= 295.4, 17.1, CAL= 293.7, 23.7, ROT= 216.3, -23.7
2025-08-23T22:24:26.605Z,1755987866.605 [DAT](INFO): got valid direction response:
22:24:25.9364 LVL= 32752, 22673, 28786, 32755, AGC= 43, IDX= 504, 0.15,-1.318, 0.734,-0.036, 0.329, PHS=-1.545, 0.450,-0.409, RAW= 295.4, 17.1, CAL= 293.7, 23.7, ROT= 216.3, -23.7
2025-08-23T22:24:26.605Z,1755987866.605 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:26.606Z,1755987866.606 [DAT](INFO): direction in FSK: [-0.737958,-0.542084,0.401948]
2025-08-23T22:24:26.607Z,1755987866.607 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:26.610Z,1755987866.610 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:26.610Z,1755987866.610 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:26.847Z,1755987866.847 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:26.848Z,1755987866.848 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:26.848Z,1755987866.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:26.869Z,1755987866.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.600000 m,
deltaT: 0.504079 s,
deltaX: -0.100000 m,
approachRate: -0.198381 m/s,
rangeRepo size: 4
2025-08-23T22:24:26.886Z,1755987866.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.564644 m,
bearing: 3.926344 deg,
lat: 36.779402 deg,
lon: -121.859579 deg,
deltaT: 0.504079 s,
deltaX: -0.099362 m,
approachRate: -0.197116 m/s,
posRepo size: 4
2025-08-23T22:24:26.886Z,1755987866.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.56 m.
2025-08-23T22:24:27.105Z,1755987867.105 [DAT](INFO): DAT read: Rx Time:22:24:26.4364
2025-08-23T22:24:27.106Z,1755987867.106 [DAT](INFO): Rx dataTimestamp_ set to:1755987867.105618
2025-08-23T22:24:27.107Z,1755987867.107 [DAT](INFO): DAT read: Bearing 93.9, -31.1 (Local)
2025-08-23T22:24:27.107Z,1755987867.107 [DAT](INFO): Local bearing/azimuth received:
Bearing 93.9, -31.1 (Local)
2025-08-23T22:24:27.110Z,1755987867.110 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.0
2025-08-23T22:24:27.115Z,1755987867.115 [DAT](INFO): DAT read: 22:24:26.4364 LVL= 32752, 24561, 31730, 32755, AGC= 44, IDX= 504,-0.01,-2.203,-0.151,-0.872,-0.486, PHS=-1.615, 0.380,-0.430, RAW= 293.8, 18.7, CAL= 292.7, 25.4, ROT= 217.3, -25.4
2025-08-23T22:24:27.117Z,1755987867.117 [DAT](INFO): got valid direction response:
22:24:26.4364 LVL= 32752, 24561, 31730, 32755, AGC= 44, IDX= 504,-0.01,-2.203,-0.151,-0.872,-0.486, PHS=-1.615, 0.380,-0.430, RAW= 293.8, 18.7, CAL= 292.7, 25.4, ROT= 217.3, -25.4
2025-08-23T22:24:27.117Z,1755987867.117 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:27.119Z,1755987867.119 [DAT](INFO): direction in FSK: [-0.718579,-0.547411,0.428935]
2025-08-23T22:24:27.119Z,1755987867.119 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:27.129Z,1755987867.129 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:27.129Z,1755987867.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:27.314Z,1755987867.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.600000 m,
deltaT: 0.510289 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:27.316Z,1755987867.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.564644 m,
bearing: 5.045726 deg,
lat: 36.779403 deg,
lon: -121.859581 deg,
deltaT: 0.510289 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:24:27.316Z,1755987867.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.56 m.
2025-08-23T22:24:27.350Z,1755987867.350 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:27.351Z,1755987867.351 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:27.351Z,1755987867.351 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:27.603Z,1755987867.603 [DAT](INFO): DAT read: Rx Time:22:24:26.9363
2025-08-23T22:24:27.604Z,1755987867.604 [DAT](INFO): Rx dataTimestamp_ set to:1755987867.603221
2025-08-23T22:24:27.605Z,1755987867.605 [DAT](INFO): DAT read: Bearing 92.2, -33.4 (Local)
2025-08-23T22:24:27.605Z,1755987867.605 [DAT](INFO): Local bearing/azimuth received:
Bearing 92.2, -33.4 (Local)
2025-08-23T22:24:27.612Z,1755987867.612 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.0
2025-08-23T22:24:27.617Z,1755987867.617 [DAT](INFO): DAT read: 22:24:26.9363 LVL= 32752, 23665, 32754, 32755, AGC= 43, IDX= 503,-0.18, 2.227,-1.982,-2.612,-2.283, PHS=-1.672, 0.345,-0.373, RAW= 290.6, 18.7, CAL= 289.6, 25.7, ROT= 220.4, -25.7
2025-08-23T22:24:27.622Z,1755987867.622 [DAT](INFO): got valid direction response:
22:24:26.9363 LVL= 32752, 23665, 32754, 32755, AGC= 43, IDX= 503,-0.18, 2.227,-1.982,-2.612,-2.283, PHS=-1.672, 0.345,-0.373, RAW= 290.6, 18.7, CAL= 289.6, 25.7, ROT= 220.4, -25.7
2025-08-23T22:24:27.623Z,1755987867.623 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:27.624Z,1755987867.624 [DAT](INFO): direction in FSK: [-0.686205,-0.584006,0.433659]
2025-08-23T22:24:27.624Z,1755987867.624 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:27.631Z,1755987867.631 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:27.632Z,1755987867.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:27.730Z,1755987867.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.400000 m,
deltaT: 0.497603 s,
deltaX: -0.200000 m,
approachRate: -0.401926 m/s,
rangeRepo size: 4
2025-08-23T22:24:27.732Z,1755987867.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.365907 m,
bearing: 8.012776 deg,
lat: 36.779403 deg,
lon: -121.859581 deg,
deltaT: 0.497603 s,
deltaX: -0.198737 m,
approachRate: -0.399389 m/s,
posRepo size: 4
2025-08-23T22:24:27.732Z,1755987867.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.37 m.
2025-08-23T22:24:27.855Z,1755987867.855 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:27.855Z,1755987867.855 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:27.856Z,1755987867.856 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:28.107Z,1755987868.107 [DAT](INFO): DAT read: Rx Time:22:24:27.4363
2025-08-23T22:24:28.108Z,1755987868.108 [DAT](INFO): Rx dataTimestamp_ set to:1755987868.107308
2025-08-23T22:24:28.109Z,1755987868.109 [DAT](INFO): DAT read: Bearing 89.7, -35.8 (Local)
2025-08-23T22:24:28.109Z,1755987868.109 [DAT](INFO): Local bearing/azimuth received:
Bearing 89.7, -35.8 (Local)
2025-08-23T22:24:28.111Z,1755987868.111 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.0
2025-08-23T22:24:28.116Z,1755987868.116 [DAT](INFO): DAT read: 22:24:27.4363 LVL= 32752, 26785, 32754, 32755, AGC= 45, IDX= 504,-0.40,-2.085,-0.013,-0.518,-0.248, PHS=-1.734, 0.281,-0.313, RAW= 286.7, 19.2, CAL= 286.2, 26.3, ROT= 223.8, -26.3
2025-08-23T22:24:28.117Z,1755987868.117 [DAT](INFO): got valid direction response:
22:24:27.4363 LVL= 32752, 26785, 32754, 32755, AGC= 45, IDX= 504,-0.40,-2.085,-0.013,-0.518,-0.248, PHS=-1.734, 0.281,-0.313, RAW= 286.7, 19.2, CAL= 286.2, 26.3, ROT= 223.8, -26.3
2025-08-23T22:24:28.117Z,1755987868.117 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:28.118Z,1755987868.118 [DAT](INFO): direction in FSK: [-0.647048,-0.620497,0.443071]
2025-08-23T22:24:28.119Z,1755987868.119 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:28.122Z,1755987868.122 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:28.122Z,1755987868.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:28.224Z,1755987868.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.400000 m,
deltaT: 0.504087 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:28.235Z,1755987868.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.365910 m,
bearing: 11.301624 deg,
lat: 36.779403 deg,
lon: -121.859581 deg,
deltaT: 0.504087 s,
deltaX: 0.000003 m,
approachRate: 0.000006 m/s,
posRepo size: 4
2025-08-23T22:24:28.236Z,1755987868.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.37 m.
2025-08-23T22:24:28.360Z,1755987868.360 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:28.360Z,1755987868.360 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:28.360Z,1755987868.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:28.611Z,1755987868.611 [DAT](INFO): DAT read: Rx Time:22:24:27.9362
2025-08-23T22:24:28.612Z,1755987868.612 [DAT](INFO): Rx dataTimestamp_ set to:1755987868.611393
2025-08-23T22:24:28.613Z,1755987868.613 [DAT](INFO): DAT read: Bearing 88.1, -37.5 (Local)
2025-08-23T22:24:28.613Z,1755987868.613 [DAT](INFO): Local bearing/azimuth received:
Bearing 88.1, -37.5 (Local)
2025-08-23T22:24:28.615Z,1755987868.615 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.0
2025-08-23T22:24:28.620Z,1755987868.620 [DAT](INFO): DAT read: 22:24:27.9362 LVL= 32752, 30241, 32754, 32755, AGC= 44, IDX= 502, 0.35,-1.608, 0.455, 0.035, 0.255, PHS=-1.760, 0.246,-0.264, RAW= 284.1, 19.2, CAL= 283.8, 26.4, ROT= 226.2, -26.4
2025-08-23T22:24:28.622Z,1755987868.622 [DAT](INFO): got valid direction response:
22:24:27.9362 LVL= 32752, 30241, 32754, 32755, AGC= 44, IDX= 502, 0.35,-1.608, 0.455, 0.035, 0.255, PHS=-1.760, 0.246,-0.264, RAW= 284.1, 19.2, CAL= 283.8, 26.4, ROT= 226.2, -26.4
2025-08-23T22:24:28.622Z,1755987868.622 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:28.623Z,1755987868.623 [DAT](INFO): direction in FSK: [-0.619961,-0.646489,0.444635]
2025-08-23T22:24:28.623Z,1755987868.623 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:28.635Z,1755987868.635 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:28.635Z,1755987868.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:28.707Z,1755987868.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.300000 m,
deltaT: 0.504085 s,
deltaX: -0.100000 m,
approachRate: -0.198379 m/s,
rangeRepo size: 4
2025-08-23T22:24:28.709Z,1755987868.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.266541 m,
bearing: 13.593947 deg,
lat: 36.779401 deg,
lon: -121.859578 deg,
deltaT: 0.504085 s,
deltaX: -0.099369 m,
approachRate: -0.197127 m/s,
posRepo size: 4
2025-08-23T22:24:28.709Z,1755987868.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m.
2025-08-23T22:24:28.863Z,1755987868.863 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:28.863Z,1755987868.863 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:28.863Z,1755987868.863 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:29.039Z,1755987869.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m.
2025-08-23T22:24:29.115Z,1755987869.115 [DAT](INFO): DAT read: Rx Time:22:24:28.4363
2025-08-23T22:24:29.116Z,1755987869.116 [DAT](INFO): Rx dataTimestamp_ set to:1755987869.115268
2025-08-23T22:24:29.117Z,1755987869.117 [DAT](INFO): DAT read: Bearing 86.9, -38.1 (Local)
2025-08-23T22:24:29.117Z,1755987869.117 [DAT](INFO): Local bearing/azimuth received:
Bearing 86.9, -38.1 (Local)
2025-08-23T22:24:29.119Z,1755987869.119 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.0
2025-08-23T22:24:29.124Z,1755987869.124 [DAT](INFO): DAT read: 22:24:28.4363 LVL= 32752, 28785, 32738, 32755, AGC= 43, IDX= 503, 0.17,-0.132, 1.913, 1.542, 1.748, PHS=-1.778, 0.210,-0.250, RAW= 282.8, 19.6, CAL= 282.7, 26.9, ROT= 227.3, -26.9
2025-08-23T22:24:29.125Z,1755987869.125 [DAT](INFO): got valid direction response:
22:24:28.4363 LVL= 32752, 28785, 32738, 32755, AGC= 43, IDX= 503, 0.17,-0.132, 1.913, 1.542, 1.748, PHS=-1.778, 0.210,-0.250, RAW= 282.8, 19.6, CAL= 282.7, 26.9, ROT= 227.3, -26.9
2025-08-23T22:24:29.125Z,1755987869.125 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:29.126Z,1755987869.126 [DAT](INFO): direction in FSK: [-0.604781,-0.655395,0.452435]
2025-08-23T22:24:29.127Z,1755987869.127 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:29.130Z,1755987869.130 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:29.130Z,1755987869.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:29.367Z,1755987869.367 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:29.368Z,1755987869.368 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:29.368Z,1755987869.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:29.578Z,1755987869.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.400000 m,
deltaT: 0.503875 s,
deltaX: 0.100000 m,
approachRate: 0.198462 m/s,
rangeRepo size: 4
2025-08-23T22:24:29.580Z,1755987869.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.365902 m,
bearing: 14.664205 deg,
lat: 36.779401 deg,
lon: -121.859576 deg,
deltaT: 0.503875 s,
deltaX: 0.099361 m,
approachRate: 0.197194 m/s,
posRepo size: 4
2025-08-23T22:24:29.580Z,1755987869.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.37 m.
2025-08-23T22:24:29.619Z,1755987869.619 [DAT](INFO): DAT read: Rx Time:22:24:28.9362
2025-08-23T22:24:29.620Z,1755987869.620 [DAT](INFO): Rx dataTimestamp_ set to:1755987869.619428
2025-08-23T22:24:29.621Z,1755987869.621 [DAT](INFO): DAT read: Bearing 87.2, -38.3 (Local)
2025-08-23T22:24:29.623Z,1755987869.623 [DAT](INFO): Local bearing/azimuth received:
Bearing 87.2, -38.3 (Local)
2025-08-23T22:24:29.625Z,1755987869.625 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.0
2025-08-23T22:24:29.631Z,1755987869.631 [DAT](INFO): DAT read: 22:24:28.9362 LVL= 32752, 25761, 32754, 32755, AGC= 43, IDX= 502, 0.06,-2.478,-0.482,-0.843,-0.652, PHS=-1.723, 0.216,-0.235, RAW= 282.8, 19.3, CAL= 282.7, 26.6, ROT= 227.3, -26.6
2025-08-23T22:24:29.632Z,1755987869.632 [DAT](INFO): got valid direction response:
22:24:28.9362 LVL= 32752, 25761, 32754, 32755, AGC= 43, IDX= 502, 0.06,-2.478,-0.482,-0.843,-0.652, PHS=-1.723, 0.216,-0.235, RAW= 282.8, 19.3, CAL= 282.7, 26.6, ROT= 227.3, -26.6
2025-08-23T22:24:29.632Z,1755987869.632 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:29.633Z,1755987869.633 [DAT](INFO): direction in FSK: [-0.606379,-0.657127,0.447759]
2025-08-23T22:24:29.634Z,1755987869.634 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:29.637Z,1755987869.637 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:29.637Z,1755987869.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:29.870Z,1755987869.870 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:29.871Z,1755987869.871 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:29.871Z,1755987869.871 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:30.010Z,1755987870.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.300000 m,
deltaT: 0.504160 s,
deltaX: -0.100000 m,
approachRate: -0.198350 m/s,
rangeRepo size: 4
2025-08-23T22:24:30.012Z,1755987870.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.266534 m,
bearing: 14.643194 deg,
lat: 36.779401 deg,
lon: -121.859575 deg,
deltaT: 0.504160 s,
deltaX: -0.099368 m,
approachRate: -0.197096 m/s,
posRepo size: 4
2025-08-23T22:24:30.012Z,1755987870.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m.
2025-08-23T22:24:30.123Z,1755987870.123 [DAT](INFO): DAT read: Rx Time:22:24:29.4363
2025-08-23T22:24:30.124Z,1755987870.124 [DAT](INFO): Rx dataTimestamp_ set to:1755987870.123554
2025-08-23T22:24:30.125Z,1755987870.125 [DAT](INFO): DAT read: Bearing 87.2, -36.6 (Local)
2025-08-23T22:24:30.126Z,1755987870.126 [DAT](INFO): Local bearing/azimuth received:
Bearing 87.2, -36.6 (Local)
2025-08-23T22:24:30.128Z,1755987870.128 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.0
2025-08-23T22:24:30.132Z,1755987870.132 [DAT](INFO): DAT read: 22:24:29.4363 LVL= 32752, 26865, 31842, 32755, AGC= 42, IDX= 503,-0.01,-2.281,-0.323,-0.721,-0.478, PHS=-1.701, 0.200,-0.287, RAW= 284.3, 20.3, CAL= 284.3, 27.5, ROT= 225.7, -27.5
2025-08-23T22:24:30.133Z,1755987870.133 [DAT](INFO): got valid direction response:
22:24:29.4363 LVL= 32752, 26865, 31842, 32755, AGC= 42, IDX= 503,-0.01,-2.281,-0.323,-0.721,-0.478, PHS=-1.701, 0.200,-0.287, RAW= 284.3, 20.3, CAL= 284.3, 27.5, ROT= 225.7, -27.5
2025-08-23T22:24:30.134Z,1755987870.134 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:30.135Z,1755987870.135 [DAT](INFO): direction in FSK: [-0.619502,-0.634827,0.461749]
2025-08-23T22:24:30.135Z,1755987870.135 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:30.138Z,1755987870.138 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:30.139Z,1755987870.139 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:30.374Z,1755987870.374 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:30.374Z,1755987870.374 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:30.375Z,1755987870.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:30.419Z,1755987870.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.400000 m,
deltaT: 0.504126 s,
deltaX: 0.100000 m,
approachRate: 0.198363 m/s,
rangeRepo size: 4
2025-08-23T22:24:30.421Z,1755987870.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.365903 m,
bearing: 13.188190 deg,
lat: 36.779402 deg,
lon: -121.859575 deg,
deltaT: 0.504126 s,
deltaX: 0.099369 m,
approachRate: 0.197111 m/s,
posRepo size: 4
2025-08-23T22:24:30.422Z,1755987870.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.37 m.
2025-08-23T22:24:30.627Z,1755987870.627 [DAT](INFO): DAT read: Rx Time:22:24:29.9362
2025-08-23T22:24:30.628Z,1755987870.628 [DAT](INFO): Rx dataTimestamp_ set to:1755987870.627219
2025-08-23T22:24:30.629Z,1755987870.629 [DAT](INFO): DAT read: Bearing 89.1, -36.1 (Local)
2025-08-23T22:24:30.630Z,1755987870.630 [DAT](INFO): Local bearing/azimuth received:
Bearing 89.1, -36.1 (Local)
2025-08-23T22:24:30.632Z,1755987870.632 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.0
2025-08-23T22:24:30.638Z,1755987870.638 [DAT](INFO): DAT read: 22:24:29.9362 LVL= 32752, 24833, 31842, 32755, AGC= 42, IDX= 502,-0.08, 1.749,-2.506,-2.978,-2.722, PHS=-1.711, 0.261,-0.300, RAW= 286.0, 19.4, CAL= 285.6, 26.5, ROT= 224.4, -26.5
2025-08-23T22:24:30.639Z,1755987870.639 [DAT](INFO): got valid direction response:
22:24:29.9362 LVL= 32752, 24833, 31842, 32755, AGC= 42, IDX= 502,-0.08, 1.749,-2.506,-2.978,-2.722, PHS=-1.711, 0.261,-0.300, RAW= 286.0, 19.4, CAL= 285.6, 26.5, ROT= 224.4, -26.5
2025-08-23T22:24:30.640Z,1755987870.640 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:30.641Z,1755987870.641 [DAT](INFO): direction in FSK: [-0.639406,-0.626153,0.446198]
2025-08-23T22:24:30.641Z,1755987870.641 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:30.644Z,1755987870.644 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:30.644Z,1755987870.644 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:30.771Z,1755987870.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.300000 m,
deltaT: 0.503665 s,
deltaX: -0.100000 m,
approachRate: -0.198544 m/s,
rangeRepo size: 4
2025-08-23T22:24:30.789Z,1755987870.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.266534 m,
bearing: 11.863667 deg,
lat: 36.779402 deg,
lon: -121.859575 deg,
deltaT: 0.503665 s,
deltaX: -0.099369 m,
approachRate: -0.197291 m/s,
posRepo size: 4
2025-08-23T22:24:30.790Z,1755987870.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m.
2025-08-23T22:24:30.879Z,1755987870.879 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:30.880Z,1755987870.880 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:30.880Z,1755987870.880 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:31.135Z,1755987871.135 [DAT](INFO): DAT read: Rx Time:22:24:30.4362
2025-08-23T22:24:31.136Z,1755987871.136 [DAT](INFO): Rx dataTimestamp_ set to:1755987871.135083
2025-08-23T22:24:31.141Z,1755987871.141 [DAT](INFO): DAT read: Bearing 89.3, -33.0 (Local)
2025-08-23T22:24:31.142Z,1755987871.142 [DAT](INFO): Local bearing/azimuth received:
Bearing 89.3, -33.0 (Local)
2025-08-23T22:24:31.144Z,1755987871.144 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.0
2025-08-23T22:24:31.178Z,1755987871.178 [DAT](INFO): DAT read: 22:24:30.4362 LVL= 32752, 23649, 32754, 32755, AGC= 42, IDX= 502,-0.14, 0.762, 2.774, 2.219, 2.574, PHS=-1.711, 0.245,-0.399, RAW= 288.9, 20.9, CAL= 288.7, 27.9, ROT= 221.3, -27.9
2025-08-23T22:24:31.180Z,1755987871.180 [DAT](INFO): got valid direction response:
22:24:30.4362 LVL= 32752, 23649, 32754, 32755, AGC= 42, IDX= 502,-0.14, 0.762, 2.774, 2.219, 2.574, PHS=-1.711, 0.245,-0.399, RAW= 288.9, 20.9, CAL= 288.7, 27.9, ROT= 221.3, -27.9
2025-08-23T22:24:31.180Z,1755987871.180 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:31.190Z,1755987871.190 [DAT](INFO): direction in FSK: [-0.663941,-0.583287,0.467930]
2025-08-23T22:24:31.190Z,1755987871.190 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:31.211Z,1755987871.211 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:31.212Z,1755987871.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:31.367Z,1755987871.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.300000 m,
deltaT: 0.507864 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:31.369Z,1755987871.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.266537 m,
bearing: 9.009907 deg,
lat: 36.779403 deg,
lon: -121.859577 deg,
deltaT: 0.507864 s,
deltaX: 0.000003 m,
approachRate: 0.000006 m/s,
posRepo size: 4
2025-08-23T22:24:31.374Z,1755987871.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m.
2025-08-23T22:24:31.383Z,1755987871.383 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:31.384Z,1755987871.384 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:31.384Z,1755987871.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:31.635Z,1755987871.635 [DAT](INFO): DAT read: Rx Time:22:24:30.9361
2025-08-23T22:24:31.636Z,1755987871.636 [DAT](INFO): Rx dataTimestamp_ set to:1755987871.635368
2025-08-23T22:24:31.637Z,1755987871.637 [DAT](INFO): DAT read: Bearing 89.1, -32.4 (Local)
2025-08-23T22:24:31.637Z,1755987871.637 [DAT](INFO): Local bearing/azimuth received:
Bearing 89.1, -32.4 (Local)
2025-08-23T22:24:31.639Z,1755987871.639 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.0
2025-08-23T22:24:31.644Z,1755987871.644 [DAT](INFO): DAT read: 22:24:30.9361 LVL= 32752, 26481, 32754, 32755, AGC= 42, IDX= 501,-0.30,-0.793, 1.206, 0.644, 1.020, PHS=-1.711, 0.231,-0.420, RAW= 289.2, 21.4, CAL= 289.2, 28.4, ROT= 220.8, -28.4
2025-08-23T22:24:31.645Z,1755987871.645 [DAT](INFO): got valid direction response:
22:24:30.9361 LVL= 32752, 26481, 32754, 32755, AGC= 42, IDX= 501,-0.30,-0.793, 1.206, 0.644, 1.020, PHS=-1.711, 0.231,-0.420, RAW= 289.2, 21.4, CAL= 289.2, 28.4, ROT= 220.8, -28.4
2025-08-23T22:24:31.645Z,1755987871.645 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:31.646Z,1755987871.646 [DAT](INFO): direction in FSK: [-0.665890,-0.574781,0.475624]
2025-08-23T22:24:31.646Z,1755987871.646 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:31.654Z,1755987871.654 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:31.654Z,1755987871.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:31.712Z,1755987871.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.100000 m,
deltaT: 0.500285 s,
deltaX: -0.200000 m,
approachRate: -0.399773 m/s,
rangeRepo size: 4
2025-08-23T22:24:31.718Z,1755987871.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.067800 m,
bearing: 8.558247 deg,
lat: 36.779403 deg,
lon: -121.859579 deg,
deltaT: 0.500285 s,
deltaX: -0.198738 m,
approachRate: -0.397249 m/s,
posRepo size: 4
2025-08-23T22:24:31.719Z,1755987871.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m.
2025-08-23T22:24:31.886Z,1755987871.886 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:31.887Z,1755987871.887 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:31.887Z,1755987871.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:32.059Z,1755987872.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m.
2025-08-23T22:24:32.142Z,1755987872.142 [DAT](INFO): DAT read: Rx Time:22:24:31.4361
2025-08-23T22:24:32.143Z,1755987872.143 [DAT](INFO): Rx dataTimestamp_ set to:1755987872.142298
2025-08-23T22:24:32.144Z,1755987872.144 [DAT](INFO): DAT read: Bearing 86.7, -35.0 (Local)
2025-08-23T22:24:32.144Z,1755987872.144 [DAT](INFO): Local bearing/azimuth received:
Bearing 86.7, -35.0 (Local)
2025-08-23T22:24:32.146Z,1755987872.146 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.0
2025-08-23T22:24:32.151Z,1755987872.151 [DAT](INFO): DAT read: 22:24:31.4361 LVL= 32752, 25841, 32754, 32755, AGC= 43, IDX= 501, 0.34,-2.924,-0.905,-1.349,-1.041, PHS=-1.781, 0.181,-0.352, RAW= 285.2, 21.4, CAL= 285.5, 28.6, ROT= 224.5, -28.6
2025-08-23T22:24:32.152Z,1755987872.152 [DAT](INFO): got valid direction response:
22:24:31.4361 LVL= 32752, 25841, 32754, 32755, AGC= 43, IDX= 501, 0.34,-2.924,-0.905,-1.349,-1.041, PHS=-1.781, 0.181,-0.352, RAW= 285.2, 21.4, CAL= 285.5, 28.6, ROT= 224.5, -28.6
2025-08-23T22:24:32.152Z,1755987872.152 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:32.153Z,1755987872.153 [DAT](INFO): direction in FSK: [-0.626222,-0.615386,0.478692]
2025-08-23T22:24:32.160Z,1755987872.160 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:32.172Z,1755987872.172 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:32.172Z,1755987872.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:32.390Z,1755987872.390 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:32.390Z,1755987872.390 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:32.391Z,1755987872.391 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:32.563Z,1755987872.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.100000 m,
deltaT: 0.506930 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:32.570Z,1755987872.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.067793 m,
bearing: 12.081231 deg,
lat: 36.779403 deg,
lon: -121.859581 deg,
deltaT: 0.506930 s,
deltaX: -0.000006 m,
approachRate: -0.000012 m/s,
posRepo size: 4
2025-08-23T22:24:32.570Z,1755987872.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m.
2025-08-23T22:24:32.644Z,1755987872.644 [DAT](INFO): DAT read: Rx Time:22:24:31.9360
2025-08-23T22:24:32.645Z,1755987872.645 [DAT](INFO): Rx dataTimestamp_ set to:1755987872.644365
2025-08-23T22:24:32.647Z,1755987872.647 [DAT](INFO): DAT read: Bearing 85.2, -37.4 (Local)
2025-08-23T22:24:32.647Z,1755987872.647 [DAT](INFO): Local bearing/azimuth received:
Bearing 85.2, -37.4 (Local)
2025-08-23T22:24:32.650Z,1755987872.650 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.0
2025-08-23T22:24:32.658Z,1755987872.658 [DAT](INFO): DAT read: 22:24:31.9360 LVL= 32752, 26801, 32754, 32755, AGC= 44, IDX= 500, 0.13, 2.154,-2.081,-2.436,-2.195, PHS=-1.831, 0.159,-0.285, RAW= 282.3, 20.9, CAL= 282.6, 28.3, ROT= 227.4, -28.3
2025-08-23T22:24:32.659Z,1755987872.659 [DAT](INFO): got valid direction response:
22:24:31.9360 LVL= 32752, 26801, 32754, 32755, AGC= 44, IDX= 500, 0.13, 2.154,-2.081,-2.436,-2.195, PHS=-1.831, 0.159,-0.285, RAW= 282.3, 20.9, CAL= 282.6, 28.3, ROT= 227.4, -28.3
2025-08-23T22:24:32.660Z,1755987872.660 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:32.661Z,1755987872.661 [DAT](INFO): direction in FSK: [-0.595974,-0.648117,0.474088]
2025-08-23T22:24:32.661Z,1755987872.661 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:32.664Z,1755987872.664 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:32.665Z,1755987872.665 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:32.895Z,1755987872.895 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:32.895Z,1755987872.895 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:32.895Z,1755987872.895 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:32.917Z,1755987872.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.000000 m,
deltaT: 0.502067 s,
deltaX: -0.100000 m,
approachRate: -0.199176 m/s,
rangeRepo size: 4
2025-08-23T22:24:32.923Z,1755987872.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.968428 m,
bearing: 14.795797 deg,
lat: 36.779403 deg,
lon: -121.859581 deg,
deltaT: 0.502067 s,
deltaX: -0.099366 m,
approachRate: -0.197913 m/s,
posRepo size: 4
2025-08-23T22:24:32.924Z,1755987872.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.97 m.
2025-08-23T22:24:33.151Z,1755987873.151 [DAT](INFO): DAT read: Rx Time:22:24:32.4361
2025-08-23T22:24:33.152Z,1755987873.152 [DAT](INFO): Rx dataTimestamp_ set to:1755987873.151658
2025-08-23T22:24:33.162Z,1755987873.162 [DAT](INFO): DAT read: Bearing 85.2, -38.7 (Local)
2025-08-23T22:24:33.163Z,1755987873.163 [DAT](INFO): Local bearing/azimuth received:
Bearing 85.2, -38.7 (Local)
2025-08-23T22:24:33.172Z,1755987873.172 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.0
2025-08-23T22:24:33.209Z,1755987873.209 [DAT](INFO): DAT read: 22:24:32.4361 LVL= 32752, 25777, 30914, 32755, AGC= 43, IDX= 501,-0.05, 2.550,-1.668,-1.991,-1.794, PHS=-1.838, 0.171,-0.241, RAW= 281.2, 20.2, CAL= 281.3, 27.5, ROT= 228.7, -27.5
2025-08-23T22:24:33.211Z,1755987873.211 [DAT](INFO): got valid direction response:
22:24:32.4361 LVL= 32752, 25777, 30914, 32755, AGC= 43, IDX= 501,-0.05, 2.550,-1.668,-1.991,-1.794, PHS=-1.838, 0.171,-0.241, RAW= 281.2, 20.2, CAL= 281.3, 27.5, ROT= 228.7, -27.5
2025-08-23T22:24:33.211Z,1755987873.211 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:33.213Z,1755987873.213 [DAT](INFO): direction in FSK: [-0.585429,-0.666379,0.461749]
2025-08-23T22:24:33.213Z,1755987873.213 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:33.253Z,1755987873.253 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:33.253Z,1755987873.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:33.381Z,1755987873.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.100000 m,
deltaT: 0.507293 s,
deltaX: 0.100000 m,
approachRate: 0.197125 m/s,
rangeRepo size: 4
2025-08-23T22:24:33.387Z,1755987873.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.067796 m,
bearing: 15.942883 deg,
lat: 36.779403 deg,
lon: -121.859581 deg,
deltaT: 0.507293 s,
deltaX: 0.099369 m,
approachRate: 0.195880 m/s,
posRepo size: 4
2025-08-23T22:24:33.388Z,1755987873.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m.
2025-08-23T22:24:33.398Z,1755987873.398 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:33.398Z,1755987873.398 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:33.399Z,1755987873.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:33.651Z,1755987873.651 [DAT](INFO): DAT read: Rx Time:22:24:32.9360
2025-08-23T22:24:33.651Z,1755987873.651 [DAT](INFO): Rx dataTimestamp_ set to:1755987873.651156
2025-08-23T22:24:33.653Z,1755987873.653 [DAT](INFO): DAT read: Bearing 85.4, -39.8 (Local)
2025-08-23T22:24:33.653Z,1755987873.653 [DAT](INFO): Local bearing/azimuth received:
Bearing 85.4, -39.8 (Local)
2025-08-23T22:24:33.655Z,1755987873.655 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.0
2025-08-23T22:24:33.660Z,1755987873.660 [DAT](INFO): DAT read: 22:24:32.9360 LVL= 32752, 24561, 31058, 32755, AGC= 43, IDX= 500,-0.24, 1.150,-3.074, 2.920, 3.072, PHS=-1.820, 0.182,-0.197, RAW= 280.3, 19.4, CAL= 280.3, 26.8, ROT= 229.7, -26.8
2025-08-23T22:24:33.661Z,1755987873.661 [DAT](INFO): got valid direction response:
22:24:32.9360 LVL= 32752, 24561, 31058, 32755, AGC= 43, IDX= 500,-0.24, 1.150,-3.074, 2.920, 3.072, PHS=-1.820, 0.182,-0.197, RAW= 280.3, 19.4, CAL= 280.3, 26.8, ROT= 229.7, -26.8
2025-08-23T22:24:33.662Z,1755987873.662 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:33.663Z,1755987873.663 [DAT](INFO): direction in FSK: [-0.577315,-0.680747,0.450878]
2025-08-23T22:24:33.663Z,1755987873.663 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:33.666Z,1755987873.666 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:33.666Z,1755987873.666 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:33.747Z,1755987873.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.000000 m,
deltaT: 0.499498 s,
deltaX: -0.100000 m,
approachRate: -0.200201 m/s,
rangeRepo size: 4
2025-08-23T22:24:33.754Z,1755987873.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.968428 m,
bearing: 16.823857 deg,
lat: 36.779403 deg,
lon: -121.859579 deg,
deltaT: 0.499498 s,
deltaX: -0.099369 m,
approachRate: -0.198937 m/s,
posRepo size: 4
2025-08-23T22:24:33.754Z,1755987873.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.97 m.
2025-08-23T22:24:33.902Z,1755987873.902 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:33.903Z,1755987873.903 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:33.903Z,1755987873.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:34.078Z,1755987874.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.97 m.
2025-08-23T22:24:34.159Z,1755987874.159 [DAT](INFO): DAT read: Rx Time:22:24:33.4360
2025-08-23T22:24:34.161Z,1755987874.161 [DAT](INFO): Rx dataTimestamp_ set to:1755987874.159877
2025-08-23T22:24:34.164Z,1755987874.164 [DAT](INFO): DAT read: Bearing 84.0, -39.7 (Local)
2025-08-23T22:24:34.167Z,1755987874.167 [DAT](INFO): Local bearing/azimuth received:
Bearing 84.0, -39.7 (Local)
2025-08-23T22:24:34.173Z,1755987874.173 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.0
2025-08-23T22:24:34.179Z,1755987874.179 [DAT](INFO): DAT read: 22:24:33.4360 LVL= 32752, 30689, 32754, 32755, AGC= 44, IDX= 500, 0.47,-2.018, 0.031,-0.225,-0.064, PHS=-1.852, 0.140,-0.205, RAW= 279.3, 20.2, CAL= 279.6, 27.6, ROT= 230.4, -27.6
2025-08-23T22:24:34.184Z,1755987874.184 [DAT](INFO): got valid direction response:
22:24:33.4360 LVL= 32752, 30689, 32754, 32755, AGC= 44, IDX= 500, 0.47,-2.018, 0.031,-0.225,-0.064, PHS=-1.852, 0.140,-0.205, RAW= 279.3, 20.2, CAL= 279.6, 27.6, ROT= 230.4, -27.6
2025-08-23T22:24:34.190Z,1755987874.190 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:34.191Z,1755987874.191 [DAT](INFO): direction in FSK: [-0.564888,-0.682831,0.463296]
2025-08-23T22:24:34.191Z,1755987874.191 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:34.201Z,1755987874.201 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:34.210Z,1755987874.210 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:34.406Z,1755987874.406 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:34.406Z,1755987874.406 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:34.407Z,1755987874.407 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:34.567Z,1755987874.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.000000 m,
deltaT: 0.508721 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:34.569Z,1755987874.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.968430 m,
bearing: 17.522358 deg,
lat: 36.779403 deg,
lon: -121.859579 deg,
deltaT: 0.508721 s,
deltaX: 0.000002 m,
approachRate: 0.000005 m/s,
posRepo size: 4
2025-08-23T22:24:34.570Z,1755987874.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.97 m.
2025-08-23T22:24:34.659Z,1755987874.659 [DAT](INFO): DAT read: Rx Time:22:24:33.9359
2025-08-23T22:24:34.660Z,1755987874.660 [DAT](INFO): Rx dataTimestamp_ set to:1755987874.659452
2025-08-23T22:24:34.663Z,1755987874.663 [DAT](INFO): DAT read: Bearing 84.4, -41.6 (Local)
2025-08-23T22:24:34.664Z,1755987874.664 [DAT](INFO): Local bearing/azimuth received:
Bearing 84.4, -41.6 (Local)
2025-08-23T22:24:34.666Z,1755987874.666 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.0
2025-08-23T22:24:34.672Z,1755987874.672 [DAT](INFO): DAT read: 22:24:33.9359 LVL= 32752, 28257, 31730, 32755, AGC= 42, IDX= 499, 0.24,-2.762,-0.686,-0.902,-0.806, PHS=-1.854, 0.165,-0.140, RAW= 278.1, 18.9, CAL= 278.2, 26.3, ROT= 231.8, -26.3
2025-08-23T22:24:34.678Z,1755987874.678 [DAT](INFO): got valid direction response:
22:24:33.9359 LVL= 32752, 28257, 31730, 32755, AGC= 42, IDX= 499, 0.24,-2.762,-0.686,-0.902,-0.806, PHS=-1.854, 0.165,-0.140, RAW= 278.1, 18.9, CAL= 278.2, 26.3, ROT= 231.8, -26.3
2025-08-23T22:24:34.679Z,1755987874.679 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:34.680Z,1755987874.680 [DAT](INFO): direction in FSK: [-0.554395,-0.704510,0.443071]
2025-08-23T22:24:34.680Z,1755987874.680 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:34.684Z,1755987874.684 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:34.684Z,1755987874.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:34.910Z,1755987874.910 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:34.910Z,1755987874.910 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:34.911Z,1755987874.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:34.922Z,1755987874.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 0.499575 s,
deltaX: -0.200000 m,
approachRate: -0.400340 m/s,
rangeRepo size: 4
2025-08-23T22:24:34.924Z,1755987874.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.769699 m,
bearing: 18.752827 deg,
lat: 36.779403 deg,
lon: -121.859578 deg,
deltaT: 0.499575 s,
deltaX: -0.198731 m,
approachRate: -0.397800 m/s,
posRepo size: 4
2025-08-23T22:24:34.925Z,1755987874.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.77 m.
2025-08-23T22:24:35.167Z,1755987875.167 [DAT](INFO): DAT read: Rx Time:22:24:34.4359
2025-08-23T22:24:35.168Z,1755987875.168 [DAT](INFO): Rx dataTimestamp_ set to:1755987875.167148
2025-08-23T22:24:35.172Z,1755987875.172 [DAT](INFO): DAT read: Bearing 86.2, -41.8 (Local)
2025-08-23T22:24:35.173Z,1755987875.173 [DAT](INFO): Local bearing/azimuth received:
Bearing 86.2, -41.8 (Local)
2025-08-23T22:24:35.183Z,1755987875.183 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.0
2025-08-23T22:24:35.220Z,1755987875.220 [DAT](INFO): DAT read: 22:24:34.4359 LVL= 32752, 19089, 25458, 32755, AGC= 39, IDX= 499, 0.13, 1.887,-2.308,-2.561,-2.485, PHS=-1.809, 0.222,-0.120, RAW= 279.0, 17.8, CAL= 278.8, 25.1, ROT= 231.2, -25.1
2025-08-23T22:24:35.221Z,1755987875.221 [DAT](INFO): got valid direction response:
22:24:34.4359 LVL= 32752, 19089, 25458, 32755, AGC= 39, IDX= 499, 0.13, 1.887,-2.308,-2.561,-2.485, PHS=-1.809, 0.222,-0.120, RAW= 279.0, 17.8, CAL= 278.8, 25.1, ROT= 231.2, -25.1
2025-08-23T22:24:35.222Z,1755987875.222 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:35.223Z,1755987875.223 [DAT](INFO): direction in FSK: [-0.567433,-0.705744,0.424199]
2025-08-23T22:24:35.223Z,1755987875.223 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:35.231Z,1755987875.231 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:35.231Z,1755987875.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:35.403Z,1755987875.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 0.507696 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:35.404Z,1755987875.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.769699 m,
bearing: 18.104520 deg,
lat: 36.779404 deg,
lon: -121.859578 deg,
deltaT: 0.507696 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:24:35.405Z,1755987875.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.77 m.
2025-08-23T22:24:35.414Z,1755987875.414 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:35.415Z,1755987875.415 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:35.415Z,1755987875.415 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:35.667Z,1755987875.667 [DAT](INFO): DAT read: Rx Time:22:24:34.9358
2025-08-23T22:24:35.668Z,1755987875.668 [DAT](INFO): Rx dataTimestamp_ set to:1755987875.667342
2025-08-23T22:24:35.669Z,1755987875.669 [DAT](INFO): DAT read: Bearing 86.3, -40.9 (Local)
2025-08-23T22:24:35.669Z,1755987875.669 [DAT](INFO): Local bearing/azimuth received:
Bearing 86.3, -40.9 (Local)
2025-08-23T22:24:35.671Z,1755987875.671 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0
2025-08-23T22:24:35.680Z,1755987875.680 [DAT](INFO): DAT read: 22:24:34.9358 LVL= 32576, 21521, 22770, 32755, AGC= 39, IDX= 498, 0.01,-0.033, 2.057, 1.774, 1.882, PHS=-1.813, 0.220,-0.152, RAW= 279.9, 18.2, CAL= 279.7, 25.5, ROT= 230.3, -25.5
2025-08-23T22:24:35.681Z,1755987875.681 [DAT](INFO): got valid direction response:
22:24:34.9358 LVL= 32576, 21521, 22770, 32755, AGC= 39, IDX= 498, 0.01,-0.033, 2.057, 1.774, 1.882, PHS=-1.813, 0.220,-0.152, RAW= 279.9, 18.2, CAL= 279.7, 25.5, ROT= 230.3, -25.5
2025-08-23T22:24:35.681Z,1755987875.681 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:35.682Z,1755987875.682 [DAT](INFO): direction in FSK: [-0.576543,-0.694449,0.430511]
2025-08-23T22:24:35.682Z,1755987875.682 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:35.687Z,1755987875.687 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:35.687Z,1755987875.687 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:35.771Z,1755987875.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.700000 m,
deltaT: 0.500194 s,
deltaX: -0.100000 m,
approachRate: -0.199923 m/s,
rangeRepo size: 4
2025-08-23T22:24:35.773Z,1755987875.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.670330 m,
bearing: 17.266820 deg,
lat: 36.779403 deg,
lon: -121.859579 deg,
deltaT: 0.500194 s,
deltaX: -0.099369 m,
approachRate: -0.198661 m/s,
posRepo size: 4
2025-08-23T22:24:35.773Z,1755987875.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.67 m.
2025-08-23T22:24:35.918Z,1755987875.918 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:35.918Z,1755987875.918 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:35.919Z,1755987875.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:36.100Z,1755987876.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.67 m.
2025-08-23T22:24:36.176Z,1755987876.176 [DAT](INFO): DAT read: Rx Time:22:24:35.4359
2025-08-23T22:24:36.178Z,1755987876.178 [DAT](INFO): Rx dataTimestamp_ set to:1755987876.176478
2025-08-23T22:24:36.182Z,1755987876.182 [DAT](INFO): DAT read: Bearing 85.5, -41.3 (Local)
2025-08-23T22:24:36.184Z,1755987876.184 [DAT](INFO): Local bearing/azimuth received:
Bearing 85.5, -41.3 (Local)
2025-08-23T22:24:36.196Z,1755987876.196 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.0
2025-08-23T22:24:36.207Z,1755987876.207 [DAT](INFO): DAT read: 22:24:35.4359 LVL= 32752, 23537, 29970, 32755, AGC= 42, IDX= 499,-0.19, 1.073,-3.132, 2.905, 2.999, PHS=-1.825, 0.196,-0.138, RAW= 278.9, 18.4, CAL= 278.8, 25.8, ROT= 231.2, -25.8
2025-08-23T22:24:36.208Z,1755987876.208 [DAT](INFO): got valid direction response:
22:24:35.4359 LVL= 32752, 23537, 29970, 32755, AGC= 42, IDX= 499,-0.19, 1.073,-3.132, 2.905, 2.999, PHS=-1.825, 0.196,-0.138, RAW= 278.9, 18.4, CAL= 278.8, 25.8, ROT= 231.2, -25.8
2025-08-23T22:24:36.208Z,1755987876.208 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:36.210Z,1755987876.210 [DAT](INFO): direction in FSK: [-0.564143,-0.701653,0.435231]
2025-08-23T22:24:36.211Z,1755987876.211 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:36.219Z,1755987876.219 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:36.219Z,1755987876.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:36.422Z,1755987876.422 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:36.422Z,1755987876.422 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:36.423Z,1755987876.423 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:36.559Z,1755987876.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 0.509136 s,
deltaX: 0.100000 m,
approachRate: 0.196412 m/s,
rangeRepo size: 4
2025-08-23T22:24:36.561Z,1755987876.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.769693 m,
bearing: 18.157317 deg,
lat: 36.779404 deg,
lon: -121.859579 deg,
deltaT: 0.509136 s,
deltaX: 0.099363 m,
approachRate: 0.195160 m/s,
posRepo size: 4
2025-08-23T22:24:36.561Z,1755987876.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.77 m.
2025-08-23T22:24:36.675Z,1755987876.675 [DAT](INFO): DAT read: Rx Time:22:24:35.9357
2025-08-23T22:24:36.676Z,1755987876.676 [DAT](INFO): Rx dataTimestamp_ set to:1755987876.675404
2025-08-23T22:24:36.677Z,1755987876.677 [DAT](INFO): DAT read: Bearing 83.3, -41.6 (Local)
2025-08-23T22:24:36.677Z,1755987876.677 [DAT](INFO): Local bearing/azimuth received:
Bearing 83.3, -41.6 (Local)
2025-08-23T22:24:36.679Z,1755987876.679 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.0
2025-08-23T22:24:36.684Z,1755987876.684 [DAT](INFO): DAT read: 22:24:35.9357 LVL= 32752, 27233, 28530, 32755, AGC= 43, IDX= 498,-0.47, 0.601, 2.616, 2.444, 2.537, PHS=-1.834, 0.124,-0.136, RAW= 277.0, 19.5, CAL= 277.4, 26.9, ROT= 232.6, -26.9
2025-08-23T22:24:36.685Z,1755987876.685 [DAT](INFO): got valid direction response:
22:24:35.9357 LVL= 32752, 27233, 28530, 32755, AGC= 43, IDX= 498,-0.47, 0.601, 2.616, 2.444, 2.537, PHS=-1.834, 0.124,-0.136, RAW= 277.0, 19.5, CAL= 277.4, 26.9, ROT= 232.6, -26.9
2025-08-23T22:24:36.685Z,1755987876.685 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:36.686Z,1755987876.686 [DAT](INFO): direction in FSK: [-0.541656,-0.708457,0.452435]
2025-08-23T22:24:36.687Z,1755987876.687 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:36.695Z,1755987876.695 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:36.695Z,1755987876.695 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:36.907Z,1755987876.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 0.498926 s,
deltaX: -0.300000 m,
approachRate: -0.601292 m/s,
rangeRepo size: 4
2025-08-23T22:24:36.909Z,1755987876.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.471590 m,
bearing: 19.565781 deg,
lat: 36.779403 deg,
lon: -121.859581 deg,
deltaT: 0.498926 s,
deltaX: -0.298103 m,
approachRate: -0.597489 m/s,
posRepo size: 4
2025-08-23T22:24:36.910Z,1755987876.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.47 m.
2025-08-23T22:24:36.926Z,1755987876.926 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:36.927Z,1755987876.927 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:36.927Z,1755987876.927 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:37.183Z,1755987877.183 [DAT](INFO): DAT read: Rx Time:22:24:36.4358
2025-08-23T22:24:37.184Z,1755987877.184 [DAT](INFO): Rx dataTimestamp_ set to:1755987877.183706
2025-08-23T22:24:37.189Z,1755987877.189 [DAT](INFO): DAT read: Bearing 81.0, -40.4 (Local)
2025-08-23T22:24:37.190Z,1755987877.190 [DAT](INFO): Local bearing/azimuth received:
Bearing 81.0, -40.4 (Local)
2025-08-23T22:24:37.205Z,1755987877.205 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0
2025-08-23T22:24:37.236Z,1755987877.236 [DAT](INFO): DAT read: 22:24:36.4358 LVL= 30768, 23249, 20146, 32755, AGC= 44, IDX= 2, 0.11,-0.896, 1.057, 0.914, 1.056, PHS=-1.850, 0.045,-0.186, RAW= 276.4, 21.5, CAL= 277.2, 29.0, ROT= 232.8, -29.0
2025-08-23T22:24:37.237Z,1755987877.237 [DAT](INFO): got valid direction response:
22:24:36.4358 LVL= 30768, 23249, 20146, 32755, AGC= 44, IDX= 2, 0.11,-0.896, 1.057, 0.914, 1.056, PHS=-1.850, 0.045,-0.186, RAW= 276.4, 21.5, CAL= 277.2, 29.0, ROT= 232.8, -29.0
2025-08-23T22:24:37.237Z,1755987877.237 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:37.242Z,1755987877.242 [DAT](INFO): direction in FSK: [-0.528794,-0.696661,0.484810]
2025-08-23T22:24:37.242Z,1755987877.242 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:37.250Z,1755987877.250 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:37.250Z,1755987877.250 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:37.411Z,1755987877.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.700000 m,
deltaT: 0.508302 s,
deltaX: 0.200000 m,
approachRate: 0.393467 m/s,
rangeRepo size: 4
2025-08-23T22:24:37.413Z,1755987877.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.670327 m,
bearing: 19.890847 deg,
lat: 36.779404 deg,
lon: -121.859581 deg,
deltaT: 0.508302 s,
deltaX: 0.198737 m,
approachRate: 0.390982 m/s,
posRepo size: 4
2025-08-23T22:24:37.413Z,1755987877.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.67 m.
2025-08-23T22:24:37.430Z,1755987877.430 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:37.430Z,1755987877.430 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:37.431Z,1755987877.431 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:37.686Z,1755987877.686 [DAT](INFO): DAT read: Rx Time:22:24:36.9357
2025-08-23T22:24:37.686Z,1755987877.686 [DAT](INFO): Rx dataTimestamp_ set to:1755987877.686206
2025-08-23T22:24:37.688Z,1755987877.688 [DAT](INFO): DAT read: Bearing 80.0, -42.8 (Local)
2025-08-23T22:24:37.688Z,1755987877.688 [DAT](INFO): Local bearing/azimuth received:
Bearing 80.0, -42.8 (Local)
2025-08-23T22:24:37.690Z,1755987877.690 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.0
2025-08-23T22:24:37.697Z,1755987877.697 [DAT](INFO): DAT read: 22:24:36.9357 LVL= 32752, 29393, 27218, 32755, AGC= 41, IDX= 497, 0.00, 2.972,-1.372,-1.418,-1.359, PHS=-1.850, 0.032,-0.103, RAW= 273.7, 20.5, CAL= 274.5, 27.9, ROT= 235.5, -27.9
2025-08-23T22:24:37.698Z,1755987877.698 [DAT](INFO): got valid direction response:
22:24:36.9357 LVL= 32752, 29393, 27218, 32755, AGC= 41, IDX= 497, 0.00, 2.972,-1.372,-1.418,-1.359, PHS=-1.850, 0.032,-0.103, RAW= 273.7, 20.5, CAL= 274.5, 27.9, ROT= 235.5, -27.9
2025-08-23T22:24:37.699Z,1755987877.699 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:37.700Z,1755987877.700 [DAT](INFO): direction in FSK: [-0.500570,-0.728334,0.467930]
2025-08-23T22:24:37.700Z,1755987877.700 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:37.704Z,1755987877.704 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:37.704Z,1755987877.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:37.825Z,1755987877.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 0.502500 s,
deltaX: -0.200000 m,
approachRate: -0.398010 m/s,
rangeRepo size: 4
2025-08-23T22:24:37.833Z,1755987877.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.471590 m,
bearing: 22.378755 deg,
lat: 36.779403 deg,
lon: -121.859581 deg,
deltaT: 0.502500 s,
deltaX: -0.198737 m,
approachRate: -0.395497 m/s,
posRepo size: 4
2025-08-23T22:24:37.838Z,1755987877.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.47 m.
2025-08-23T22:24:37.936Z,1755987877.936 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:37.936Z,1755987877.936 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:37.937Z,1755987877.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:38.154Z,1755987878.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.47 m.
2025-08-23T22:24:38.196Z,1755987878.196 [DAT](INFO): DAT read: Rx Time:22:24:37.4358
2025-08-23T22:24:38.197Z,1755987878.197 [DAT](INFO): Rx dataTimestamp_ set to:1755987878.195905
2025-08-23T22:24:38.202Z,1755987878.202 [DAT](INFO): DAT read: Bearing 78.5, -44.7 (Local)
2025-08-23T22:24:38.203Z,1755987878.203 [DAT](INFO): Local bearing/azimuth received:
Bearing 78.5, -44.7 (Local)
2025-08-23T22:24:38.219Z,1755987878.219 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.0
2025-08-23T22:24:38.239Z,1755987878.239 [DAT](INFO): DAT read: 22:24:37.4358 LVL= 29328, 25713, 26546, 32755, AGC= 44, IDX= 2,-0.07, 3.098,-1.238,-1.190,-1.192, PHS=-1.891,-0.001,-0.041, RAW= 271.1, 20.1, CAL= 272.1, 27.4, ROT= 237.9, -27.4
2025-08-23T22:24:38.241Z,1755987878.241 [DAT](INFO): got valid direction response:
22:24:37.4358 LVL= 29328, 25713, 26546, 32755, AGC= 44, IDX= 2,-0.07, 3.098,-1.238,-1.190,-1.192, PHS=-1.891,-0.001,-0.041, RAW= 271.1, 20.1, CAL= 272.1, 27.4, ROT= 237.9, -27.4
2025-08-23T22:24:38.246Z,1755987878.246 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:38.247Z,1755987878.247 [DAT](INFO): direction in FSK: [-0.471784,-0.752088,0.460200]
2025-08-23T22:24:38.248Z,1755987878.248 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:38.257Z,1755987878.257 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:38.257Z,1755987878.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:38.442Z,1755987878.442 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:38.443Z,1755987878.443 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:38.443Z,1755987878.443 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:38.584Z,1755987878.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.700000 m,
deltaT: 0.509699 s,
deltaX: 0.200000 m,
approachRate: 0.392388 m/s,
rangeRepo size: 4
2025-08-23T22:24:38.591Z,1755987878.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.670336 m,
bearing: 24.635751 deg,
lat: 36.779404 deg,
lon: -121.859581 deg,
deltaT: 0.509699 s,
deltaX: 0.198746 m,
approachRate: 0.389928 m/s,
posRepo size: 4
2025-08-23T22:24:38.591Z,1755987878.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.67 m.
2025-08-23T22:24:38.695Z,1755987878.695 [DAT](INFO): DAT read: R Time:22:24:37.9357
2025-08-23T22:24:38.696Z,1755987878.696 [DAT](INFO): unknown deviceResponse_: R Time:22:24:37.9357
2025-08-23T22:24:38.697Z,1755987878.697 [DAT](INFO): DAT read: Bearing 77.8, -46.0 (Local)
2025-08-23T22:24:38.697Z,1755987878.697 [DAT](INFO): Local bearing/azimuth received:
Bearing 77.8, -46.0 (Local)
2025-08-23T22:24:38.699Z,1755987878.699 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.0
2025-08-23T22:24:38.705Z,1755987878.705 [DAT](INFO): DAT read: 22:24:37.9357 LVL= 30544, 27105, 26674, 32755, AGC= 41, IDX= 497,-0.15, 0.959, 2.935, 3.041, 2.994, PHS=-1.933,-0.014, 0.004, RAW= 269.5, 19.6, CAL= 270.6, 26.9, ROT= 239.4, -26.9
RX DATA OVERRUN
2025-08-23T22:24:38.706Z,1755987878.706 [DAT](INFO): got valid direction response:
22:24:37.9357 LVL= 30544, 27105, 26674, 32755, AGC= 41, IDX= 497,-0.15, 0.959, 2.935, 3.041, 2.994, PHS=-1.933,-0.014, 0.004, RAW= 269.5, 19.6, CAL= 270.6, 26.9, ROT= 239.4, -26.9
RX DATA OVERRUN
2025-08-23T22:24:38.707Z,1755987878.707 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:38.707Z,1755987878.707 [DAT](INFO): direction in FSK: [-0.453962,-0.767608,0.452435]
2025-08-23T22:24:38.708Z,1755987878.708 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:38.711Z,1755987878.711 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:38.711Z,1755987878.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:38.948Z,1755987878.948 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:38.949Z,1755987878.949 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:38.949Z,1755987878.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:39.024Z,1755987879.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 0.498199 s,
deltaX: -0.200000 m,
approachRate: -0.401446 m/s,
rangeRepo size: 4
2025-08-23T22:24:39.030Z,1755987879.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.471599 m,
bearing: 26.032381 deg,
lat: 36.779403 deg,
lon: -121.859580 deg,
deltaT: 0.498199 s,
deltaX: -0.198737 m,
approachRate: -0.398911 m/s,
posRepo size: 4
2025-08-23T22:24:39.031Z,1755987879.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.47 m.
2025-08-23T22:24:39.205Z,1755987879.205 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:22:24:38.4357
2025-08-23T22:24:39.207Z,1755987879.207 [DAT](INFO): Rx dataTimestamp_ set to:1755987879.205609
2025-08-23T22:24:39.211Z,1755987879.211 [DAT](INFO): DAT read: Bearing 86.7, -43.9 (Local)
2025-08-23T22:24:39.212Z,1755987879.212 [DAT](INFO): Local bearing/azimuth received:
Bearing 86.7, -43.9 (Local)
2025-08-23T22:24:39.245Z,1755987879.245 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.0
2025-08-23T22:24:39.271Z,1755987879.271 [DAT](INFO): DAT read: 22:24:38.4357 LVL= 28384, 24737, 25586, 32755, AGC= 41, IDX= 513,-0.22,-0.995, 1.133, 0.940, 0.933, PHS=-1.826, 0.245,-0.037, RAW= 277.2, 16.4, CAL= 276.9, 23.5, ROT= 233.1, -23.5
2025-08-23T22:24:39.272Z,1755987879.272 [DAT](INFO): got valid direction response:
22:24:38.4357 LVL= 28384, 24737, 25586, 32755, AGC= 41, IDX= 513,-0.22,-0.995, 1.133, 0.940, 0.933, PHS=-1.826, 0.245,-0.037, RAW= 277.2, 16.4, CAL= 276.9, 23.5, ROT= 233.1, -23.5
2025-08-23T22:24:39.273Z,1755987879.273 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:39.282Z,1755987879.282 [DAT](INFO): direction in FSK: [-0.550621,-0.733359,0.398749]
2025-08-23T22:24:39.282Z,1755987879.282 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:39.290Z,1755987879.290 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:39.290Z,1755987879.290 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:39.435Z,1755987879.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 0.511505 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:39.437Z,1755987879.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.471599 m,
bearing: 19.821908 deg,
lat: 36.779404 deg,
lon: -121.859580 deg,
deltaT: 0.511505 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:24:39.437Z,1755987879.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.47 m.
2025-08-23T22:24:39.455Z,1755987879.455 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:38.9356
2025-08-23T22:24:39.456Z,1755987879.456 [DAT](INFO): Rx dataTimestamp_ set to:1755987879.455526
2025-08-23T22:24:39.457Z,1755987879.457 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:39.459Z,1755987879.459 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:39.459Z,1755987879.459 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:39.703Z,1755987879.703 [DAT](INFO): DAT read: Bearing 89.1, -47.6 (Local)
2025-08-23T22:24:39.704Z,1755987879.704 [DAT](INFO): Local bearing/azimuth received:
Bearing 89.1, -47.6 (Local)
2025-08-23T22:24:39.707Z,1755987879.707 [DAT](INFO): DAT read: Range 11 to 50 : .4m(rip time 2.9 ms) speed 0.0
2025-08-23T22:24:39.711Z,1755987879.711 [DAT](INFO): DAT read: 22:24:38.9356 LVL= 28192, 22961, 22818, 32755, AGC= 39, IDX= 512,-0.30,-2.621,-0.566,-0.684,-0.832, PHS=-1.687, 0.311, 0.104, RAW= 275.4, 13.3, CAL= 274.8, 20.0, ROT= 235.2, -20.0
2025-08-23T22:24:39.712Z,1755987879.712 [DAT](INFO): got valid direction response:
22:24:38.9356 LVL= 28192, 22961, 22818, 32755, AGC= 39, IDX= 512,-0.30,-2.621,-0.566,-0.684,-0.832, PHS=-1.687, 0.311, 0.104, RAW= 275.4, 13.3, CAL= 274.8, 20.0, ROT= 235.2, -20.0
2025-08-23T22:24:39.713Z,1755987879.713 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:39.714Z,1755987879.714 [DAT](INFO): direction in FSK: [-0.536295,-0.771628,0.342020]
2025-08-23T22:24:39.714Z,1755987879.714 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:39.717Z,1755987879.717 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:39.718Z,1755987879.718 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:39.847Z,1755987879.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 0.400000 m,
deltaT: 0.496337 s,
deltaX: -4.100000 m,
approachRate: -8.260516 m/s,
rangeRepo size: 4
2025-08-23T22:24:39.847Z,1755987879.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.47 m.
2025-08-23T22:24:39.963Z,1755987879.963 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:39.4357
2025-08-23T22:24:39.965Z,1755987879.965 [DAT](INFO): Rx dataTimestamp_ set to:1755987879.964015
2025-08-23T22:24:39.967Z,1755987879.967 [DAT](INFO): DAT read: Bearing 83.1, -54.1 (Local)
2025-08-23T22:24:39.968Z,1755987879.968 [DAT](INFO): Local bearing/azimuth received:
Bearing 83.1, -54.1 (Local)
2025-08-23T22:24:39.969Z,1755987879.969 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:39.970Z,1755987879.970 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:39.971Z,1755987879.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:40.176Z,1755987880.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.47 m.
2025-08-23T22:24:40.215Z,1755987880.215 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.0
2025-08-23T22:24:40.244Z,1755987880.244 [DAT](INFO): DAT read: 22:24:39.4357 LL 272, 19569, 15138, 26963, AGC= 38, IDX= 513,-0.45,-0.303, 1.853, 2.107, 1.753, PHS=-1.954, 0.145, 0.310, RAW= 266.2, 13.6, CAL= 267.0, 18.8, ROT= 243.0, -18.8
2025-08-23T22:24:40.255Z,1755987880.255 [DAT](INFO): unknown deviceResponse_: 22:24:39.4357 LL 272, 19569, 15138, 26963, AGC= 38, IDX= 513,-0.45,-0.303, 1.853, 2.107, 1.753, PHS=-1.954, 0.145, 0.310, RAW= 266.2, 13.6, CAL= 267.0, 18.8, ROT= 243.0, -18.8
2025-08-23T22:24:40.256Z,1755987880.256 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:24:40.259Z,1755987880.259 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:40.260Z,1755987880.260 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:40.464Z,1755987880.464 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:39.9356
2025-08-23T22:24:40.466Z,1755987880.466 [DAT](INFO): Rx dataTimestamp_ set to:1755987880.464616
2025-08-23T22:24:40.468Z,1755987880.468 [DAT](INFO): DAT read: Bearing 71.9, -49.1 (Local)
2025-08-23T22:24:40.468Z,1755987880.468 [DAT](INFO): Local bearing/azimuth received:
Bearing 71.9, -49.1 (Local)
2025-08-23T22:24:40.470Z,1755987880.470 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:40.471Z,1755987880.471 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:40.472Z,1755987880.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:40.607Z,1755987880.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 1.002246 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:40.607Z,1755987880.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.47 m.
2025-08-23T22:24:40.713Z,1755987880.713 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.0
2025-08-23T22:24:40.719Z,1755987880.719 [DAT](INFO): DAT read: 22:24:39.9356 LVL=2624,19953, 16034, 28131, AGC= 38, IDX= 511, 0.41, 1.546,-2.919,-2.573,-2.714, PHS=-1.921,-0.160, 0.097, RAW= 263.3, 20.2, CAL= 265.1, 27.1, ROT= 244.9, -27.1
2025-08-23T22:24:40.720Z,1755987880.720 [DAT](INFO): got valid direction response:
22:24:39.9356 LVL=2624,19953, 16034, 28131, AGC= 38, IDX= 511, 0.41, 1.546,-2.919,-2.573,-2.714, PHS=-1.921,-0.160, 0.097, RAW= 263.3, 20.2, CAL= 265.1, 27.1, ROT= 244.9, -27.1
2025-08-23T22:24:40.721Z,1755987880.721 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:40.722Z,1755987880.722 [DAT](INFO): direction in FSK: [-0.377628,-0.806149,0.455545]
2025-08-23T22:24:40.723Z,1755987880.723 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:40.730Z,1755987880.730 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:40.730Z,1755987880.730 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:40.968Z,1755987880.968 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:40.4357
2025-08-23T22:24:40.970Z,1755987880.970 [DAT](INFO): Rx dataTimestamp_ set to:1755987880.968685
2025-08-23T22:24:40.972Z,1755987880.972 [DAT](INFO): DAT read: Bearing 80.9, -50.3 (Local)
2025-08-23T22:24:40.973Z,1755987880.973 [DAT](INFO): Local bearing/azimuth received:
Bearing 80.9, -50.3 (Local)
2025-08-23T22:24:40.974Z,1755987880.974 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:40.975Z,1755987880.975 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:40.975Z,1755987880.975 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:41.073Z,1755987881.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.400000 m,
deltaT: 0.502072 s,
deltaX: -0.100000 m,
approachRate: -0.199174 m/s,
rangeRepo size: 4
2025-08-23T22:24:41.075Z,1755987881.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.372225 m,
bearing: 31.160203 deg,
lat: 36.779403 deg,
lon: -121.859578 deg,
deltaT: 1.504318 s,
deltaX: -0.099373 m,
approachRate: -0.066059 m/s,
posRepo size: 4
2025-08-23T22:24:41.076Z,1755987881.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.37 m.
2025-08-23T22:24:41.217Z,1755987881.217 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.0
2025-08-23T22:24:41.221Z,1755987881.221 [DAT](INFO): DAT read: 22:24:40.4357 LVL= 23664, 20017, 1393,259,AGC= 39, IDX= 512, 0.37, 1.820,-2.438,-2.274,-2.484, PHS=-1.876, 0.091, 0.167, RAW= 268.1, 15.9, CAL= 269.0, 22.4, ROT= 241.0, -22.4
2025-08-23T22:24:41.223Z,1755987881.223 [DAT](INFO): got valid direction response:
22:24:40.4357 LVL= 23664, 20017, 1393,259,AGC= 39, IDX= 512, 0.37, 1.820,-2.438,-2.274,-2.484, PHS=-1.876, 0.091, 0.167, RAW= 268.1, 15.9, CAL= 269.0, 22.4, ROT= 241.0, -22.4
2025-08-23T22:24:41.223Z,1755987881.223 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:41.224Z,1755987881.224 [DAT](INFO): direction in FSK: [-0.448229,-0.808626,0.381070]
2025-08-23T22:24:41.225Z,1755987881.225 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:41.238Z,1755987881.238 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:41.239Z,1755987881.239 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:41.471Z,1755987881.471 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:40.9356
2025-08-23T22:24:41.473Z,1755987881.473 [DAT](INFO): Rx dataTimestamp_ set to:1755987881.472033
2025-08-23T22:24:41.476Z,1755987881.476 [DAT](INFO): DAT read: Bearing 76.4, -51.2 (Local)
2025-08-23T22:24:41.477Z,1755987881.477 [DAT](INFO): Local bearing/azimuth received:
Bearing 76.4, -51.2 (Local)
2025-08-23T22:24:41.481Z,1755987881.481 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.0
2025-08-23T22:24:41.488Z,1755987881.488 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:24:41.495Z,1755987881.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 0.504729 s,
deltaX: 0.100000 m,
approachRate: 0.198126 m/s,
rangeRepo size: 4
2025-08-23T22:24:41.498Z,1755987881.498 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:41.499Z,1755987881.499 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:41.508Z,1755987881.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.471594 m,
bearing: 27.226008 deg,
lat: 36.779403 deg,
lon: -121.859580 deg,
deltaT: 0.504729 s,
deltaX: 0.099369 m,
approachRate: 0.196876 m/s,
posRepo size: 4
2025-08-23T22:24:41.508Z,1755987881.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.47 m.
2025-08-23T22:24:41.723Z,1755987881.723 [DAT](INFO): DAT read: 22:24:40.9356 LVL= 22512, 20593, 14306, 26419, AGC= 39, IDX= 512,-0.48,-2.160,-0.247, 0.058,-0.165, PHS=-1.893,-0.036, 0.179, RAW= 264.6, 17.4, CAL= 2660 23.8, ROT= 244.0, -23.8
2025-08-23T22:24:41.725Z,1755987881.725 [DAT](INFO): unknown deviceResponse_: 22:24:40.9356 LVL= 22512, 20593, 14306, 26419, AGC= 39, IDX= 512,-0.48,-2.160,-0.247, 0.058,-0.165, PHS=-1.893,-0.036, 0.179, RAW= 264.6, 17.4, CAL= 2660 23.8, ROT= 244.0, -23.8
2025-08-23T22:24:41.725Z,1755987881.725 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:41.727Z,1755987881.727 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:41.727Z,1755987881.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:41.843Z,1755987881.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.400000 m,
deltaT: 0.257377 s,
deltaX: -0.100000 m,
approachRate: -0.388535 m/s,
rangeRepo size: 4
2025-08-23T22:24:41.843Z,1755987881.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.47 m.
2025-08-23T22:24:41.976Z,1755987881.976 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:41.4356
2025-08-23T22:24:41.979Z,1755987881.979 [DAT](INFO): Rx dataTimestamp_ set to:1755987881.976470
2025-08-23T22:24:41.981Z,1755987881.981 [DAT](INFO): DAT read: Bearing 69.1, -54.7 (Local)
2025-08-23T22:24:41.982Z,1755987881.982 [DAT](INFO): Local bearing/azimuth received:
Bearing 69.1, -54.7 (Local)
2025-08-23T22:24:41.987Z,1755987881.987 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.0
2025-08-23T22:24:41.989Z,1755987881.989 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:24:41.992Z,1755987881.992 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:41.993Z,1755987881.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:42.209Z,1755987882.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.400000 m,
deltaT: 0.504437 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:42.211Z,1755987882.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.47 m.
2025-08-23T22:24:42.234Z,1755987882.234 [DAT](INFO): DAT read: 22:24:41.4356 LVL= 23872, 22417, 14834, 27699, AGC= 39, IDX= 513,-0.35,-1.895,-0.228, 0.334, 0.018, PHS=-1.810,-0.201 0.272 RAW= 257.5, 18.0, CAL= 259.9, 23.7, ROT= 250.1, -23.7
2025-08-23T22:24:42.237Z,1755987882.237 [DAT](INFO): unknown deviceResponse_: 22:24:41.4356 LVL= 23872, 22417, 14834, 27699, AGC= 39, IDX= 513,-0.35,-1.895,-0.228, 0.334, 0.018, PHS=-1.810,-0.201 0.272 RAW= 257.5, 18.0, CAL= 259.9, 23.7, ROT= 250.1, -23.7
2025-08-23T22:24:42.242Z,1755987882.242 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:42.243Z,1755987882.243 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:42.244Z,1755987882.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:42.479Z,1755987882.479 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:41.9355
2025-08-23T22:24:42.481Z,1755987882.481 [DAT](INFO): Rx dataTimestamp_ set to:1755987882.479756
2025-08-23T22:24:42.483Z,1755987882.483 [DAT](INFO): DAT read: Bearing 60.2, -59.6 (Local)
2025-08-23T22:24:42.484Z,1755987882.484 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.2, -59.6 (Local)
2025-08-23T22:24:42.485Z,1755987882.485 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:42.485Z,1755987882.485 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:42.486Z,1755987882.486 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:42.644Z,1755987882.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.47 m.
2025-08-23T22:24:42.729Z,1755987882.729 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.0
2025-08-23T22:24:42.733Z,1755987882.733 [DAT](INFO): DAT read: 22:24:41.9355 LVL= 24432, 21697, 16562, 28963, AGC= 37, IDX= 512,-0.26,-3.085,-1.610,0748,1.209, PHS=-1.775,-0.356, 0.416, RAW= 249.7, 17.5, CAL= 252.8, 21.6, ROT= 257.2, -21.6
2025-08-23T22:24:42.734Z,1755987882.734 [DAT](INFO): got valid direction response:
22:24:41.9355 LVL= 24432, 21697, 16562, 28963, AGC= 37, IDX= 512,-0.26,-3.085,-1.610,0748,1.209, PHS=-1.775,-0.356, 0.416, RAW= 249.7, 17.5, CAL= 252.8, 21.6, ROT= 257.2, -21.6
2025-08-23T22:24:42.735Z,1755987882.735 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:42.736Z,1755987882.736 [DAT](INFO): direction in FSK: [-0.205990,-0.906671,0.368125]
2025-08-23T22:24:42.736Z,1755987882.736 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:42.745Z,1755987882.745 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:42.746Z,1755987882.746 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:42.984Z,1755987882.984 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:42.4356
2025-08-23T22:24:42.986Z,1755987882.986 [DAT](INFO): Rx dataTimestamp_ set to:1755987882.984656
2025-08-23T22:24:42.989Z,1755987882.989 [DAT](INFO): DAT read: Bearing 54.0, -57.5 (Local)
2025-08-23T22:24:42.990Z,1755987882.990 [DAT](INFO): Local bearing/azimuth received:
Bearing 54.0, -57.5 (Local)
2025-08-23T22:24:43.000Z,1755987883.000 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.0
2025-08-23T22:24:43.003Z,1755987883.003 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:24:43.005Z,1755987883.005 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:43.026Z,1755987883.026 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:43.110Z,1755987883.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.400000 m,
deltaT: 1.008186 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:43.112Z,1755987883.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.372227 m,
bearing: 42.616553 deg,
lat: 36.779403 deg,
lon: -121.859580 deg,
deltaT: 1.770000 s,
deltaX: -0.099368 m,
approachRate: -0.056140 m/s,
posRepo size: 4
2025-08-23T22:24:43.113Z,1755987883.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.37 m.
2025-08-23T22:24:43.234Z,1755987883.234 [DAT](INFO): DAT read: 22:24:42.4356 LVL= 23408, 21553, 18850, 28211, AGC= 38, IDX= 512,-0.23,-2.970,-1.571,-0.601,-1.014, PHS=-1.854,-0.512, 0.368, RAW= 246.8, 20.0, CAL= 250.2, 24.7, ROT= 259.8, -24.7
2025-08-23T22:24:43.235Z,1755987883.235 [DAT](INFO): got valid direction response:
22:24:42.4356 LVL= 23408, 21553, 18850, 28211, AGC= 38, IDX= 512,-0.23,-2.970,-1.571,-0.601,-1.014, PHS=-1.854,-0.512, 0.368, RAW= 246.8, 20.0, CAL= 250.2, 24.7, ROT= 259.8, -24.7
2025-08-23T22:24:43.236Z,1755987883.236 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:24:43.237Z,1755987883.237 [DAT](INFO): direction in FSK: [-0.160883,-0.894150,0.417867]
2025-08-23T22:24:43.243Z,1755987883.243 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:43.244Z,1755987883.244 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:43.244Z,1755987883.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:43.442Z,1755987883.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.37 m.
2025-08-23T22:24:43.488Z,1755987883.488 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:42.9355
2025-08-23T22:24:43.491Z,1755987883.491 [DAT](INFO): Rx dataTimestamp_ set to:1755987883.489129
2025-08-23T22:24:43.496Z,1755987883.496 [DAT](INFO): DAT read: Bearing 58.1, -50.1 (Local)
2025-08-23T22:24:43.497Z,1755987883.497 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.1, -50.1 (Local)
2025-08-23T22:24:43.514Z,1755987883.514 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.0
2025-08-23T22:24:43.526Z,1755987883.526 [DAT](INFO): DAT read: 22:24:42.9355 LVL= 21312, 20817, 17906, 26195, AGC= 36, IDX= 511,-0.17,-2.249,-0.707, 0.032,-0.152, PHS=-1.995,-0.510, 0.140, RAW= 252.7, 23.8, CAL= 255.6, 30.7, ROT= 254.4, -30.7
2025-08-23T22:24:43.527Z,1755987883.527 [DAT](INFO): got valid direction response:
22:24:42.9355 LVL= 21312, 20817, 17906, 26195, AGC= 36, IDX= 511,-0.17,-2.249,-0.707, 0.032,-0.152, PHS=-1.995,-0.510, 0.140, RAW= 252.7, 23.8, CAL= 255.6, 30.7, ROT= 254.4, -30.7
2025-08-23T22:24:43.528Z,1755987883.528 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:43.529Z,1755987883.529 [DAT](INFO): direction in FSK: [-0.231232,-0.828177,0.510543]
2025-08-23T22:24:43.529Z,1755987883.529 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:43.537Z,1755987883.537 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:43.542Z,1755987883.542 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:43.734Z,1755987883.734 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:43.734Z,1755987883.734 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:43.735Z,1755987883.735 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:43.845Z,1755987883.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.504473 s,
deltaX: -0.200000 m,
approachRate: -0.396454 m/s,
rangeRepo size: 4
2025-08-23T22:24:43.847Z,1755987883.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.173489 m,
bearing: 40.118959 deg,
lat: 36.779402 deg,
lon: -121.859578 deg,
deltaT: 0.504473 s,
deltaX: -0.198738 m,
approachRate: -0.393952 m/s,
posRepo size: 4
2025-08-23T22:24:43.848Z,1755987883.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:43.999Z,1755987883.999 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:43.4356
2025-08-23T22:24:44.000Z,1755987884.000 [DAT](INFO): Rx dataTimestamp_ set to:1755987883.999493
2025-08-23T22:24:44.004Z,1755987884.004 [DAT](INFO): DAT read: Bearing 65.2, -52.0 (Local)
2025-08-23T22:24:44.005Z,1755987884.005 [DAT](INFO): Local bearing/azimuth received:
Bearing 65.2, -52.0 (Local)
2025-08-23T22:24:44.016Z,1755987884.016 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.0
2025-08-23T22:24:44.032Z,1755987884.032 [DAT](INFO): DAT read: 22:24:43.4356 LVL= 22112, 19361, 16690, 23955, AGC= 38, IDX= 512,-0.09,-2.223,-0.483, 0.136,-0.109, PHS=-2.012,-0.329, 0.202, RAW= 256.7, 20.7, CAL= 259.2, 27.1, ROT= 250.8, -27.1
2025-08-23T22:24:44.033Z,1755987884.033 [DAT](INFO): got valid direction response:
22:24:43.4356 LVL= 22112, 19361, 16690, 23955, AGC= 38, IDX= 512,-0.09,-2.223,-0.483, 0.136,-0.109, PHS=-2.012,-0.329, 0.202, RAW= 256.7, 20.7, CAL= 259.2, 27.1, ROT= 250.8, -27.1
2025-08-23T22:24:44.033Z,1755987884.033 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:44.039Z,1755987884.039 [DAT](INFO): direction in FSK: [-0.292761,-0.840696,0.455545]
2025-08-23T22:24:44.039Z,1755987884.039 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:44.053Z,1755987884.053 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:44.058Z,1755987884.058 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:44.238Z,1755987884.238 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:44.239Z,1755987884.239 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:44.240Z,1755987884.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:44.249Z,1755987884.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.400000 m,
deltaT: 0.510364 s,
deltaX: 0.200000 m,
approachRate: 0.391878 m/s,
rangeRepo size: 4
2025-08-23T22:24:44.251Z,1755987884.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.372234 m,
bearing: 36.567177 deg,
lat: 36.779403 deg,
lon: -121.859578 deg,
deltaT: 0.510364 s,
deltaX: 0.198745 m,
approachRate: 0.389419 m/s,
posRepo size: 4
2025-08-23T22:24:44.251Z,1755987884.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.37 m.
2025-08-23T22:24:44.497Z,1755987884.497 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:43.9355
2025-08-23T22:24:44.499Z,1755987884.499 [DAT](INFO): Rx dataTimestamp_ set to:1755987884.497872
2025-08-23T22:24:44.502Z,1755987884.502 [DAT](INFO): DAT read: Bearing 55.1, -53.1 (Local)
2025-08-23T22:24:44.503Z,1755987884.503 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.1, -53.1 (Local)
2025-08-23T22:24:44.547Z,1755987884.547 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.0
2025-08-23T22:24:44.556Z,1755987884.556 [DAT](INFO): DAT read: 22:24:43.9355 LVL= 21392, 18929, 14034, 24019, AGC= 37, IDX= 511,-0.01,-1.288, 0.212, 1.110, 0.819, PHS=-2.005,-0.563, 0.247, RAW= 249.2, 22.6, CAL= 252.4, 28.6, ROT= 257.6, -28.6
2025-08-23T22:24:44.557Z,1755987884.557 [DAT](INFO): got valid direction response:
22:24:43.9355 LVL= 21392, 18929, 14034, 24019, AGC= 37, IDX= 511,-0.01,-1.288, 0.212, 1.110, 0.819, PHS=-2.005,-0.563, 0.247, RAW= 249.2, 22.6, CAL= 252.4, 28.6, ROT= 257.6, -28.6
2025-08-23T22:24:44.562Z,1755987884.562 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:44.563Z,1755987884.563 [DAT](INFO): direction in FSK: [-0.188534,-0.857502,0.478692]
2025-08-23T22:24:44.563Z,1755987884.563 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:44.574Z,1755987884.574 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:44.575Z,1755987884.575 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:44.698Z,1755987884.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.498379 s,
deltaX: -0.200000 m,
approachRate: -0.401302 m/s,
rangeRepo size: 4
2025-08-23T22:24:44.700Z,1755987884.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.173496 m,
bearing: 43.020344 deg,
lat: 36.779402 deg,
lon: -121.859578 deg,
deltaT: 0.498379 s,
deltaX: -0.198738 m,
approachRate: -0.398769 m/s,
posRepo size: 4
2025-08-23T22:24:44.701Z,1755987884.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:44.742Z,1755987884.742 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:44.743Z,1755987884.743 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:44.743Z,1755987884.743 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:44.997Z,1755987884.997 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:44.4356
2025-08-23T22:24:44.998Z,1755987884.998 [DAT](INFO): Rx dataTimestamp_ set to:1755987884.997664
2025-08-23T22:24:44.999Z,1755987884.999 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.0
2025-08-23T22:24:44.000Z,1755987885.000 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:24:45.000Z,1755987885.000 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:45.001Z,1755987885.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:45.033Z,1755987885.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.400000 m,
deltaT: 0.499792 s,
deltaX: 0.200000 m,
approachRate: 0.400167 m/s,
rangeRepo size: 4
2025-08-23T22:24:45.034Z,1755987885.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:45.249Z,1755987885.249 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:45.250Z,1755987885.250 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:45.250Z,1755987885.250 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:45.495Z,1755987885.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:45.506Z,1755987885.506 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:44.9355
2025-08-23T22:24:45.507Z,1755987885.507 [DAT](INFO): Rx dataTimestamp_ set to:1755987885.506424
2025-08-23T22:24:45.509Z,1755987885.509 [DAT](INFO): DAT read: Bearing 52.6, -53.2 (Local)
2025-08-23T22:24:45.509Z,1755987885.509 [DAT](INFO): Local bearing/azimuth received:
Bearing 52.6, -53.2 (Local)
2025-08-23T22:24:45.511Z,1755987885.511 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.0
2025-08-23T22:24:45.512Z,1755987885.512 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:24:45.512Z,1755987885.512 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:45.513Z,1755987885.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:45.754Z,1755987885.754 [DAT](INFO): DAT read: 22:24:44.9355 LVL= 20272, 16737, 19282, 23539, AGC= 37, IDX= 511, 0.08, 0.192, 1.616, 2.575, 2.275, PHS=-1.981,-0.614, 0.256, RAW= 247.3, 23.0, CAL= 250.7, 28.9, ROT= 259.3, -28.9
2025-08-23T22:24:45.755Z,1755987885.755 [DAT](INFO): got valid direction response:
22:24:44.9355 LVL= 20272, 16737, 19282, 23539, AGC= 37, IDX= 511, 0.08, 0.192, 1.616, 2.575, 2.275, PHS=-1.981,-0.614, 0.256, RAW= 247.3, 23.0, CAL= 250.7, 28.9, ROT= 259.3, -28.9
2025-08-23T22:24:45.756Z,1755987885.756 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:24:45.757Z,1755987885.757 [DAT](INFO): direction in FSK: [-0.162545,-0.860243,0.483282]
2025-08-23T22:24:45.760Z,1755987885.760 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:45.760Z,1755987885.760 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:45.760Z,1755987885.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:45.905Z,1755987885.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.508760 s,
deltaX: -0.200000 m,
approachRate: -0.393113 m/s,
rangeRepo size: 4
2025-08-23T22:24:45.907Z,1755987885.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.173498 m,
bearing: 44.580191 deg,
lat: 36.779402 deg,
lon: -121.859577 deg,
deltaT: 1.008552 s,
deltaX: 0.000002 m,
approachRate: 0.000002 m/s,
posRepo size: 4
2025-08-23T22:24:45.908Z,1755987885.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:46.009Z,1755987886.009 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:45.4355
2025-08-23T22:24:46.010Z,1755987886.010 [DAT](INFO): Rx dataTimestamp_ set to:1755987886.009690
2025-08-23T22:24:46.011Z,1755987886.011 [DAT](INFO): DAT read: Bearing 50.1, -53.2 (Local)
2025-08-23T22:24:46.012Z,1755987886.012 [DAT](INFO): Local bearing/azimuth received:
Bearing 50.1, -53.2 (Local)
2025-08-23T22:24:46.014Z,1755987886.014 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.0
2025-08-23T22:24:46.026Z,1755987886.026 [DAT](INFO): DAT read: 22:24:45.4355 LVL= 18384, 17121, 18274, 21587, AGC= 35, IDX= 511, 0.12, 1.022, 2.390,-2.866, 3.105, PHS=-1.981,-0.670, 0.269, RAW= 245.5, 23.3, CAL= 249.0, 29.3, ROT= 261.0, -29.3
2025-08-23T22:24:46.027Z,1755987886.027 [DAT](INFO): got valid direction response:
22:24:45.4355 LVL= 18384, 17121, 18274, 21587, AGC= 35, IDX= 511, 0.12, 1.022, 2.390,-2.866, 3.105, PHS=-1.981,-0.670, 0.269, RAW= 245.5, 23.3, CAL= 249.0, 29.3, ROT= 261.0, -29.3
2025-08-23T22:24:46.028Z,1755987886.028 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:46.029Z,1755987886.029 [DAT](INFO): direction in FSK: [-0.136422,-0.861333,0.489382]
2025-08-23T22:24:46.029Z,1755987886.029 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:46.040Z,1755987886.040 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:46.041Z,1755987886.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:46.258Z,1755987886.258 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:46.258Z,1755987886.258 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:46.259Z,1755987886.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:46.339Z,1755987886.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.503266 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:24:46.354Z,1755987886.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.173498 m,
bearing: 46.181874 deg,
lat: 36.779402 deg,
lon: -121.859577 deg,
deltaT: 0.503266 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:24:46.354Z,1755987886.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:46.513Z,1755987886.513 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:45.9354
2025-08-23T22:24:46.513Z,1755987886.513 [DAT](INFO): Rx dataTimestamp_ set to:1755987886.512937
2025-08-23T22:24:46.515Z,1755987886.515 [DAT](INFO): DAT read: Bearing 48.2, -54.0 (Local)
2025-08-23T22:24:46.515Z,1755987886.515 [DAT](INFO): Local bearing/azimuth received:
Bearing 48.2, -54.0 (Local)
2025-08-23T22:24:46.517Z,1755987886.517 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0
2025-08-23T22:24:46.522Z,1755987886.522 [DAT](INFO): DAT read: 22:24:45.9354 LVL= 19696, 18497, 15602, 22515, AGC= 34, IDX= 510, 0.18,-0.279, 1.063, 2.160, 1.807, PHS=-1.984,-0.699, 0.309, RAW= 244.0, 22.9, CAL= 247.6, 28.7, ROT= 262.4, -28.7
2025-08-23T22:24:46.523Z,1755987886.523 [DAT](INFO): got valid direction response:
22:24:45.9354 LVL= 19696, 18497, 15602, 22515, AGC= 34, IDX= 510, 0.18,-0.279, 1.063, 2.160, 1.807, PHS=-1.984,-0.699, 0.309, RAW= 244.0, 22.9, CAL= 247.6, 28.7, ROT= 262.4, -28.7
2025-08-23T22:24:46.524Z,1755987886.524 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:46.525Z,1755987886.525 [DAT](INFO): direction in FSK: [-0.116008,-0.869441,0.480224]
2025-08-23T22:24:46.525Z,1755987886.525 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:46.528Z,1755987886.528 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:46.529Z,1755987886.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:46.734Z,1755987886.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.100000 m,
deltaT: 0.503247 s,
deltaX: -0.100000 m,
approachRate: -0.198709 m/s,
rangeRepo size: 4
2025-08-23T22:24:46.736Z,1755987886.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.074129 m,
bearing: 47.499388 deg,
lat: 36.779402 deg,
lon: -121.859577 deg,
deltaT: 0.503247 s,
deltaX: -0.099369 m,
approachRate: -0.197455 m/s,
posRepo size: 4
2025-08-23T22:24:46.736Z,1755987886.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-08-23T22:24:46.765Z,1755987886.765 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:46.765Z,1755987886.765 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:46.765Z,1755987886.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:47.020Z,1755987887.020 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:46.4355
2025-08-23T22:24:47.021Z,1755987887.021 [DAT](INFO): Rx dataTimestamp_ set to:1755987887.020293
2025-08-23T22:24:47.022Z,1755987887.022 [DAT](INFO): DAT read: Bearing 47.1, -55.0 (Local)
2025-08-23T22:24:47.022Z,1755987887.022 [DAT](INFO): Local bearing/azimuth received:
Bearing 47.1, -55.0 (Local)
2025-08-23T22:24:47.024Z,1755987887.024 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.0
2025-08-23T22:24:47.025Z,1755987887.025 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-23T22:24:47.025Z,1755987887.025 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:47.026Z,1755987887.026 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:47.110Z,1755987887.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.507356 s,
deltaX: 0.100000 m,
approachRate: 0.197100 m/s,
rangeRepo size: 4
2025-08-23T22:24:47.110Z,1755987887.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-08-23T22:24:47.275Z,1755987887.275 [DAT](INFO): DAT read: 22:24:46.4355 LVL= 20560, 17905, 15826, 21491, AGC= 36, IDX= 511, 0.24, 0.831, 2.158,-2.984, 2.909, PHS=-1.976,-0.705, 0.347, RAW= 243.1, 22.3, CAL= 246.7, 27.9, ROT= 263.3, -27.9
2025-08-23T22:24:47.276Z,1755987887.276 [DAT](INFO): got valid direction response:
22:24:46.4355 LVL= 20560, 17905, 15826, 21491, AGC= 36, IDX= 511, 0.24, 0.831, 2.158,-2.984, 2.909, PHS=-1.976,-0.705, 0.347, RAW= 243.1, 22.3, CAL= 246.7, 27.9, ROT= 263.3, -27.9
2025-08-23T22:24:47.276Z,1755987887.276 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:24:47.277Z,1755987887.277 [DAT](INFO): direction in FSK: [-0.103110,-0.877730,0.467930]
2025-08-23T22:24:47.280Z,1755987887.280 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:47.280Z,1755987887.280 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:47.281Z,1755987887.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:47.524Z,1755987887.524 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:46.9354
2025-08-23T22:24:47.525Z,1755987887.525 [DAT](INFO): Rx dataTimestamp_ set to:1755987887.524550
2025-08-23T22:24:47.526Z,1755987887.526 [DAT](INFO): DAT read: Bearing 55.0 (Local)
2025-08-23T22:24:47.526Z,1755987887.526 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.0 (Local)
2025-08-23T22:24:47.528Z,1755987887.528 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0
2025-08-23T22:24:47.533Z,1755987887.533 [DAT](INFO): DAT read: 22:24:46.9354 LVL= 19840, 17873, 17186, 21107, AGC= 35, IDX= 510, 0.29,-0.629, 0.666, 1.837, 1.438, PHS=-1.965,-0.727, 0.355, RAW= 242.2, 22.3, CAL= 245.9, 28.0, ROT= 264.1, -28.0
2025-08-23T22:24:47.534Z,1755987887.534 [DAT](INFO): got valid direction response:
22:24:46.9354 LVL= 19840, 17873, 17186, 21107, AGC= 35, IDX= 510, 0.29,-0.629, 0.666, 1.837, 1.438, PHS=-1.965,-0.727, 0.355, RAW= 242.2, 22.3, CAL= 245.9, 28.0, ROT= 264.1, -28.0
2025-08-23T22:24:47.534Z,1755987887.534 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:47.535Z,1755987887.535 [DAT](INFO): direction in FSK: [-0.090760,-0.878270,0.469472]
2025-08-23T22:24:47.535Z,1755987887.535 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:47.547Z,1755987887.547 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:47.547Z,1755987887.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:47.663Z,1755987887.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.100000 m,
deltaT: 0.504257 s,
deltaX: -0.100000 m,
approachRate: -0.198311 m/s,
rangeRepo size: 4
2025-08-23T22:24:47.670Z,1755987887.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.074123 m,
bearing: 49.073219 deg,
lat: 36.779402 deg,
lon: -121.859577 deg,
deltaT: 1.011613 s,
deltaX: -0.000006 m,
approachRate: -0.000006 m/s,
posRepo size: 4
2025-08-23T22:24:47.670Z,1755987887.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-08-23T22:24:47.775Z,1755987887.775 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:47.775Z,1755987887.775 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:47.776Z,1755987887.776 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:48.020Z,1755987888.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-08-23T22:24:48.028Z,1755987888.028 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:47.4355
2025-08-23T22:24:48.029Z,1755987888.029 [DAT](INFO): Rx dataTimestamp_ set to:1755987888.028568
2025-08-23T22:24:48.030Z,1755987888.030 [DAT](INFO): DAT read: Bearing 43.7, -54.5 (Local)
2025-08-23T22:24:48.031Z,1755987888.031 [DAT](INFO): Local bearing/azimuth received:
Bearing 43.7, -54.5 (Local)
2025-08-23T22:24:48.032Z,1755987888.032 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.0
2025-08-23T22:24:48.037Z,1755987888.037 [DAT](INFO): DAT read: 22:24:47.4355 LVL= 19920, 19105, 17906, 20211, AGC= 36, IDX= 511, 0.31, 0.090, 1.333, 2.544, 2.147, PHS=-1.955,-0.769, 0.353, RAW= 240.9, 22.7, CAL= 244.6, 28.6, ROT= 265.4, -28.6
2025-08-23T22:24:48.038Z,1755987888.038 [DAT](INFO): got valid direction response:
22:24:47.4355 LVL= 19920, 19105, 17906, 20211, AGC= 36, IDX= 511, 0.31, 0.090, 1.333, 2.544, 2.147, PHS=-1.955,-0.769, 0.353, RAW= 240.9, 22.7, CAL= 244.6, 28.6, ROT= 265.4, -28.6
2025-08-23T22:24:48.038Z,1755987888.038 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:48.039Z,1755987888.039 [DAT](INFO): direction in FSK: [-0.070413,-0.875155,0.478692]
2025-08-23T22:24:48.040Z,1755987888.040 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:48.047Z,1755987888.047 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:48.047Z,1755987888.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:48.278Z,1755987888.278 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:48.279Z,1755987888.279 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:48.279Z,1755987888.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:48.427Z,1755987888.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.504018 s,
deltaX: 0.100000 m,
approachRate: 0.198405 m/s,
rangeRepo size: 4
2025-08-23T22:24:48.429Z,1755987888.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.173497 m,
bearing: 50.251658 deg,
lat: 36.779402 deg,
lon: -121.859577 deg,
deltaT: 0.504018 s,
deltaX: 0.099373 m,
approachRate: 0.197162 m/s,
posRepo size: 4
2025-08-23T22:24:48.429Z,1755987888.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:48.532Z,1755987888.532 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:47.9354
2025-08-23T22:24:48.533Z,1755987888.533 [DAT](INFO): Rx dataTimestamp_ set to:1755987888.532479
2025-08-23T22:24:48.534Z,1755987888.534 [DAT](INFO): DAT read: Bearing 41.0, -54.7 (Local)
2025-08-23T22:24:48.534Z,1755987888.534 [DAT](INFO): Local bearing/azimuth received:
Bearing 41.0, -54.7 (Local)
2025-08-23T22:24:48.536Z,1755987888.536 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0
2025-08-23T22:24:48.541Z,1755987888.541 [DAT](INFO): DAT read: 22:24:47.9354 LVL= 21440, 18209, 15458, 20403, AGC= 35, IDX= 510, 0.35,-0.881, 0.308, 1.599, 1.173, PHS=-1.952,-0.820, 0.382, RAW= 239.0, 22.7, CAL= 242.8, 28.5, ROT= 267.2, -28.5
2025-08-23T22:24:48.542Z,1755987888.542 [DAT](INFO): got valid direction response:
22:24:47.9354 LVL= 21440, 18209, 15458, 20403, AGC= 35, IDX= 510, 0.35,-0.881, 0.308, 1.599, 1.173, PHS=-1.952,-0.820, 0.382, RAW= 239.0, 22.7, CAL= 242.8, 28.5, ROT= 267.2, -28.5
2025-08-23T22:24:48.542Z,1755987888.542 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:48.543Z,1755987888.543 [DAT](INFO): direction in FSK: [-0.042930,-0.877768,0.477159]
2025-08-23T22:24:48.544Z,1755987888.544 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:48.558Z,1755987888.558 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:48.558Z,1755987888.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:48.782Z,1755987888.782 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:48.782Z,1755987888.782 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:48.783Z,1755987888.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:48.830Z,1755987888.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.100000 m,
deltaT: 0.503911 s,
deltaX: -0.100000 m,
approachRate: -0.198448 m/s,
rangeRepo size: 4
2025-08-23T22:24:48.832Z,1755987888.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.074128 m,
bearing: 51.944258 deg,
lat: 36.779402 deg,
lon: -121.859577 deg,
deltaT: 0.503911 s,
deltaX: -0.099369 m,
approachRate: -0.197195 m/s,
posRepo size: 4
2025-08-23T22:24:48.832Z,1755987888.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-08-23T22:24:49.036Z,1755987889.036 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:48.4355
2025-08-23T22:24:49.037Z,1755987889.037 [DAT](INFO): Rx dataTimestamp_ set to:1755987889.036619
2025-08-23T22:24:49.039Z,1755987889.039 [DAT](INFO): DAT read: Bearing 38.2, -55.0 (Local)
2025-08-23T22:24:49.039Z,1755987889.039 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.2, -55.0 (Local)
2025-08-23T22:24:49.041Z,1755987889.041 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.0
2025-08-23T22:24:49.047Z,1755987889.047 [DAT](INFO): DAT read: 22:24:48.4355 LVL= 21088, 16721, 15778, 22083, AGC= 35, IDX= 511, 0.39,-0.248, 0.873, 2.229, 1.774, PHS=-1.920,-0.855, 0.411, RAW= 237.1, 22.5, CAL= 241.0, 28.2, ROT= 269.0, -28.2
2025-08-23T22:24:49.048Z,1755987889.048 [DAT](INFO): got valid direction response:
22:24:48.4355 LVL= 21088, 16721, 15778, 22083, AGC= 35, IDX= 511, 0.39,-0.248, 0.873, 2.229, 1.774, PHS=-1.920,-0.855, 0.411, RAW= 237.1, 22.5, CAL= 241.0, 28.2, ROT= 269.0, -28.2
2025-08-23T22:24:49.049Z,1755987889.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:49.056Z,1755987889.056 [DAT](INFO): direction in FSK: [-0.015381,-0.881169,0.472551]
2025-08-23T22:24:49.057Z,1755987889.057 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:49.064Z,1755987889.064 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:49.064Z,1755987889.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:49.217Z,1755987889.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.504140 s,
deltaX: 0.100000 m,
approachRate: 0.198357 m/s,
rangeRepo size: 4
2025-08-23T22:24:49.224Z,1755987889.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.173495 m,
bearing: 53.641293 deg,
lat: 36.779402 deg,
lon: -121.859577 deg,
deltaT: 0.504140 s,
deltaX: 0.099367 m,
approachRate: 0.197102 m/s,
posRepo size: 4
2025-08-23T22:24:49.224Z,1755987889.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:49.286Z,1755987889.286 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:49.287Z,1755987889.287 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:49.287Z,1755987889.287 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:49.540Z,1755987889.540 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:48.9354
2025-08-23T22:24:49.541Z,1755987889.541 [DAT](INFO): Rx dataTimestamp_ set to:1755987889.540431
2025-08-23T22:24:49.542Z,1755987889.542 [DAT](INFO): DAT read: Bearing 34.7, -55.2 (Local)
2025-08-23T22:24:49.542Z,1755987889.542 [DAT](INFO): Local bearing/azimuth received:
Bearing 34.7, -55.2 (Local)
2025-08-23T22:24:49.544Z,1755987889.544 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0
2025-08-23T22:24:49.576Z,1755987889.576 [DAT](INFO): DAT read: 22:24:48.9354 LVL= 21104, 18801, 19762, 24979, AGC= 34, IDX= 511,-0.48,-3.100,-2.071,-0.653,-1.134, PHS=-1.864,-0.892, 0.437, RAW= 234.9, 22.3, CAL= 238.8, 28.0, ROT= 271.2, -28.0
2025-08-23T22:24:49.578Z,1755987889.578 [DAT](INFO): got valid direction response:
22:24:48.9354 LVL= 21104, 18801, 19762, 24979, AGC= 34, IDX= 511,-0.48,-3.100,-2.071,-0.653,-1.134, PHS=-1.864,-0.892, 0.437, RAW= 234.9, 22.3, CAL= 238.8, 28.0, ROT= 271.2, -28.0
2025-08-23T22:24:49.578Z,1755987889.578 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:49.579Z,1755987889.579 [DAT](INFO): direction in FSK: [0.018491,-0.882754,0.469472]
2025-08-23T22:24:49.579Z,1755987889.579 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:49.607Z,1755987889.607 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:49.607Z,1755987889.607 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:49.694Z,1755987889.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.100000 m,
deltaT: 0.503812 s,
deltaX: -0.100000 m,
approachRate: -0.198487 m/s,
rangeRepo size: 4
2025-08-23T22:24:49.696Z,1755987889.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.074126 m,
bearing: 55.694031 deg,
lat: 36.779402 deg,
lon: -121.859577 deg,
deltaT: 0.503812 s,
deltaX: -0.099369 m,
approachRate: -0.197234 m/s,
posRepo size: 4
2025-08-23T22:24:49.696Z,1755987889.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-08-23T22:24:49.791Z,1755987889.791 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:49.792Z,1755987889.792 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:49.792Z,1755987889.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:50.037Z,1755987890.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-08-23T22:24:50.044Z,1755987890.044 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:49.4355
2025-08-23T22:24:50.045Z,1755987890.045 [DAT](INFO): Rx dataTimestamp_ set to:1755987890.044343
2025-08-23T22:24:50.046Z,1755987890.046 [DAT](INFO): DAT read: Bearing 32.5, -54.3 (Local)
2025-08-23T22:24:50.046Z,1755987890.046 [DAT](INFO): Local bearing/azimuth received:
Bearing 32.5, -54.3 (Local)
2025-08-23T22:24:50.048Z,1755987890.048 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.0
2025-08-23T22:24:50.053Z,1755987890.053 [DAT](INFO): DAT read: 22:24:49.4355 LVL= 23984, 20257, 20642, 24563, AGC= 35, IDX= 511,-0.38, 3.022,-2.304,-0.872,-1.341, PHS=-1.818,-0.918, 0.425, RAW= 233.5, 22.7, CAL= 237.3, 28.7, ROT= 272.7, -28.7
2025-08-23T22:24:50.054Z,1755987890.054 [DAT](INFO): got valid direction response:
22:24:49.4355 LVL= 23984, 20257, 20642, 24563, AGC= 35, IDX= 511,-0.38, 3.022,-2.304,-0.872,-1.341, PHS=-1.818,-0.918, 0.425, RAW= 233.5, 22.7, CAL= 237.3, 28.7, ROT= 272.7, -28.7
2025-08-23T22:24:50.054Z,1755987890.054 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:50.055Z,1755987890.055 [DAT](INFO): direction in FSK: [0.041319,-0.876172,0.480224]
2025-08-23T22:24:50.055Z,1755987890.055 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:50.059Z,1755987890.059 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:50.059Z,1755987890.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:50.295Z,1755987890.295 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:50.295Z,1755987890.295 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:50.295Z,1755987890.295 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:50.527Z,1755987890.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.503912 s,
deltaX: 0.100000 m,
approachRate: 0.198447 m/s,
rangeRepo size: 4
2025-08-23T22:24:50.534Z,1755987890.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.173494 m,
bearing: 57.033866 deg,
lat: 36.779402 deg,
lon: -121.859576 deg,
deltaT: 0.503912 s,
deltaX: 0.099368 m,
approachRate: 0.197193 m/s,
posRepo size: 4
2025-08-23T22:24:50.534Z,1755987890.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:50.548Z,1755987890.548 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:49.9354
2025-08-23T22:24:50.549Z,1755987890.549 [DAT](INFO): Rx dataTimestamp_ set to:1755987890.548610
2025-08-23T22:24:50.550Z,1755987890.550 [DAT](INFO): DAT read: Bearing 30.0, -53.2 (Local)
2025-08-23T22:24:50.551Z,1755987890.551 [DAT](INFO): Local bearing/azimuth received:
Bearing 30.0, -53.2 (Local)
2025-08-23T22:24:50.553Z,1755987890.553 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.0
2025-08-23T22:24:50.557Z,1755987890.557 [DAT](INFO): DAT read: 22:24:49.9354 LVL= 22592, 19745, 18162, 27027, AGC= 34, IDX= 510,-0.28, 1.245, 2.128,-2.684, 3.136, PHS=-1.789,-0.963, 0.419, RAW= 231.7, 23.1, CAL= 235.5, 29.6, ROT= 274.5, -29.6
2025-08-23T22:24:50.558Z,1755987890.558 [DAT](INFO): got valid direction response:
22:24:49.9354 LVL= 22592, 19745, 18162, 27027, AGC= 34, IDX= 510,-0.28, 1.245, 2.128,-2.684, 3.136, PHS=-1.789,-0.963, 0.419, RAW= 231.7, 23.1, CAL= 235.5, 29.6, ROT= 274.5, -29.6
2025-08-23T22:24:50.559Z,1755987890.559 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:50.560Z,1755987890.560 [DAT](INFO): direction in FSK: [0.068220,-0.866815,0.493942]
2025-08-23T22:24:50.560Z,1755987890.560 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:50.564Z,1755987890.564 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:50.564Z,1755987890.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:50.799Z,1755987890.799 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:50.800Z,1755987890.800 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:50.800Z,1755987890.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:50.857Z,1755987890.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.100000 m,
deltaT: 0.504267 s,
deltaX: -0.100000 m,
approachRate: -0.198307 m/s,
rangeRepo size: 4
2025-08-23T22:24:50.863Z,1755987890.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.074125 m,
bearing: 58.679646 deg,
lat: 36.779402 deg,
lon: -121.859576 deg,
deltaT: 0.504267 s,
deltaX: -0.099369 m,
approachRate: -0.197056 m/s,
posRepo size: 4
2025-08-23T22:24:50.864Z,1755987890.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-08-23T22:24:51.052Z,1755987891.052 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:22:24:50.4355
2025-08-23T22:24:51.053Z,1755987891.053 [DAT](INFO): Rx dataTimestamp_ set to:1755987891.052423
2025-08-23T22:24:51.054Z,1755987891.054 [DAT](INFO): DAT read: Bearing 27.6, -52.9 (Local)
2025-08-23T22:24:51.054Z,1755987891.054 [DAT](INFO): Local bearing/azimuth received:
Bearing 27.6, -52.9 (Local)
2025-08-23T22:24:51.056Z,1755987891.056 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.0
2025-08-23T22:24:51.061Z,1755987891.061 [DAT](INFO): DAT read: 22:24:50.4355 LVL= 26480, 20321, 18930, 31715, AGC= 35, IDX= 511,-0.19, 2.771,-2.690,-1.175,-1.651, PHS=-1.759,-0.994, 0.432, RAW= 230.1, 23.1, CAL= 233.8, 29.7, ROT= 276.2, -29.7
2025-08-23T22:24:51.062Z,1755987891.062 [DAT](INFO): got valid direction response:
22:24:50.4355 LVL= 26480, 20321, 18930, 31715, AGC= 35, IDX= 511,-0.19, 2.771,-2.690,-1.175,-1.651, PHS=-1.759,-0.994, 0.432, RAW= 230.1, 23.1, CAL= 233.8, 29.7, ROT= 276.2, -29.7
2025-08-23T22:24:51.062Z,1755987891.062 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:51.063Z,1755987891.063 [DAT](INFO): direction in FSK: [0.093812,-0.863551,0.495459]
2025-08-23T22:24:51.064Z,1755987891.064 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:51.067Z,1755987891.067 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:51.067Z,1755987891.067 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:51.232Z,1755987891.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.503813 s,
deltaX: 0.100000 m,
approachRate: 0.198486 m/s,
rangeRepo size: 4
2025-08-23T22:24:51.234Z,1755987891.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.173493 m,
bearing: 60.233014 deg,
lat: 36.779401 deg,
lon: -121.859576 deg,
deltaT: 0.503813 s,
deltaX: 0.099368 m,
approachRate: 0.197232 m/s,
posRepo size: 4
2025-08-23T22:24:51.235Z,1755987891.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:51.309Z,1755987891.309 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:51.309Z,1755987891.309 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:51.309Z,1755987891.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:51.559Z,1755987891.559 [DAT](INFO): DAT read: RX DATA OVERRUNRX DATA OVERRUNuser:1727>
2025-08-23T22:24:51.560Z,1755987891.560 [DAT](INFO): DAT read: Command 'r50' not found
2025-08-23T22:24:51.560Z,1755987891.560 [DAT](INFO): unknown deviceResponse_: Command 'r50' not found
2025-08-23T22:24:51.560Z,1755987891.560 [DAT](INFO): DAT read: Error
2025-08-23T22:24:51.561Z,1755987891.561 [DAT](INFO): unknown deviceResponse_: Error
2025-08-23T22:24:51.561Z,1755987891.561 [DAT](INFO): DAT read: user:1728>
2025-08-23T22:24:51.562Z,1755987891.562 [DAT](INFO): Reached modem response timeout
2025-08-23T22:24:51.562Z,1755987891.562 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:24:51.562Z,1755987891.562 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:24:51.692Z,1755987891.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:51.811Z,1755987891.811 [DAT](INFO): DAT read: Tx time:22:24:51.4467
2025-08-23T22:24:51.812Z,1755987891.812 [DAT](INFO): Ping request sent.
2025-08-23T22:24:51.812Z,1755987891.812 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:24:51.813Z,1755987891.813 [DAT](INFO): publishing transmit ping time
2025-08-23T22:24:51.814Z,1755987891.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001921
2025-08-23T22:24:52.021Z,1755987892.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:52.063Z,1755987892.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251096
2025-08-23T22:24:52.315Z,1755987892.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502621
2025-08-23T22:24:52.501Z,1755987892.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:52.567Z,1755987892.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755305
2025-08-23T22:24:52.819Z,1755987892.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006723
2025-08-23T22:24:52.837Z,1755987892.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:53.070Z,1755987893.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258531
2025-08-23T22:24:53.251Z,1755987893.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:53.323Z,1755987893.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510706
2025-08-23T22:24:53.575Z,1755987893.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762644
2025-08-23T22:24:53.669Z,1755987893.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:53.826Z,1755987893.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014551
2025-08-23T22:24:54.046Z,1755987894.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:54.079Z,1755987894.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267111
2025-08-23T22:24:54.331Z,1755987894.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518621
2025-08-23T22:24:54.517Z,1755987894.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:54.583Z,1755987894.583 [DAT](INFO): DAT read: Rx Time:22:24:53.8563
2025-08-23T22:24:54.583Z,1755987894.583 [DAT](INFO): Rx dataTimestamp_ set to:1755987894.582793
2025-08-23T22:24:54.584Z,1755987894.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771718
2025-08-23T22:24:54.835Z,1755987894.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022748
2025-08-23T22:24:54.867Z,1755987894.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:55.091Z,1755987895.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278721
2025-08-23T22:24:55.254Z,1755987895.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-08-23T22:24:55.345Z,1755987895.345 [DAT](INFO): DAT read: 22:24:53.8563 LVL= 26736, 20641, 18562, 31987, AGC= 39, IDX= 181,-0.36,-1.650,-1.261, 0.678, 0.040, PHS=-1.588,-1.256, 0.594, RAW= 218.1, 21.3, CAL= 219.9, 28.2, ROT= 290.1, -28.2
2025-08-23T22:24:55.346Z,1755987895.346 [DAT](INFO): got valid direction response:
22:24:53.8563 LVL= 26736, 20641, 18562, 31987, AGC= 39, IDX= 181,-0.36,-1.650,-1.261, 0.678, 0.040, PHS=-1.588,-1.256, 0.594, RAW= 218.1, 21.3, CAL= 219.9, 28.2, ROT= 290.1, -28.2
2025-08-23T22:24:55.347Z,1755987895.347 [DAT](INFO): DAT read: Bearing 8.6, -49.5 (Local)
2025-08-23T22:24:55.347Z,1755987895.347 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.6, -49.5 (Local)
2025-08-23T22:24:55.349Z,1755987895.349 [DAT](INFO): DAT read: Range 11 to 50 : 4.0 m (Round-trip 5.4 ms) speed 0.0 m/s
2025-08-23T22:24:55.352Z,1755987895.352 [DAT](INFO): DAT read: user:1729>
2025-08-23T22:24:55.355Z,1755987895.355 [DAT](INFO): DAT read: Tx time:22:24:54.9467
2025-08-23T22:24:55.355Z,1755987895.355 [DAT](INFO): Ping request sent.
2025-08-23T22:24:55.355Z,1755987895.355 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:24:55.356Z,1755987895.356 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:24:55.357Z,1755987895.357 [DAT](INFO): direction in FSK: [0.302869,-0.827627,0.472551]
2025-08-23T22:24:55.357Z,1755987895.357 [DAT](INFO): publishing transmit ping time
2025-08-23T22:24:55.357Z,1755987895.357 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:55.360Z,1755987895.360 [DAT](INFO): publishing transmit ping time
2025-08-23T22:24:55.361Z,1755987895.361 [DAT](INFO): publishing direction and range info
2025-08-23T22:24:55.708Z,1755987895.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.000000 m,
deltaT: 4.285886 s,
deltaX: -0.200000 m,
approachRate: -0.046665 m/s,
rangeRepo size: 4
2025-08-23T22:24:55.714Z,1755987895.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.974764 m,
bearing: 73.061224 deg,
lat: 36.779401 deg,
lon: -121.859576 deg,
deltaT: 4.285886 s,
deltaX: -0.198729 m,
approachRate: -0.046368 m/s,
posRepo size: 4
2025-08-23T22:24:55.715Z,1755987895.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:24:55.798Z,1755987895.798 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:24:56.066Z,1755987896.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:24:56.528Z,1755987896.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:24:56.802Z,1755987896.802 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:24:56.892Z,1755987896.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:24:57.274Z,1755987897.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:24:57.694Z,1755987897.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:24:58.089Z,1755987898.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:24:58.111Z,1755987898.111 [DAT](INFO): DAT read: Rx Time:22:24:57.3566
2025-08-23T22:24:58.111Z,1755987898.111 [DAT](INFO): Rx dataTimestamp_ set to:1755987898.110794
2025-08-23T22:24:58.541Z,1755987898.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:24:58.616Z,1755987898.616 [DAT](INFO): DAT read: Range 11 to 50 : 4.3 m (Round-trip 5.8 ms) speed 0.0 m/s
2025-08-23T22:24:58.617Z,1755987898.617 [DAT](INFO): DAT read: user:1730>
2025-08-23T22:24:58.628Z,1755987898.628 [DAT](INFO): DAT read: Tx time:22:24:58.4462
2025-08-23T22:24:58.628Z,1755987898.628 [DAT](INFO): Ping request sent.
2025-08-23T22:24:58.628Z,1755987898.628 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:24:58.629Z,1755987898.629 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-08-23T22:24:58.629Z,1755987898.629 [DAT](INFO): publishing transmit ping time
2025-08-23T22:24:58.630Z,1755987898.630 [DAT](INFO): publishing transmit ping time
2025-08-23T22:24:58.908Z,1755987898.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.300000 m,
deltaT: 3.275805 s,
deltaX: 0.300000 m,
approachRate: 0.091581 m/s,
rangeRepo size: 4
2025-08-23T22:24:58.908Z,1755987898.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:24:59.311Z,1755987899.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:24:59.729Z,1755987899.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:00.107Z,1755987900.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:00.578Z,1755987900.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:00.932Z,1755987900.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:01.332Z,1755987901.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:01.639Z,1755987901.639 [DAT](INFO): DAT read: Rx Time:22:25:00.8568
2025-08-23T22:25:01.639Z,1755987901.639 [DAT](INFO): Rx dataTimestamp_ set to:1755987901.638737
2025-08-23T22:25:01.761Z,1755987901.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:02.129Z,1755987902.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:02.148Z,1755987902.148 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (Round-trip 6.0 ms) speed -0.1 m/s
2025-08-23T22:25:02.149Z,1755987902.149 [DAT](INFO): DAT read: user:1731>
2025-08-23T22:25:02.150Z,1755987902.150 [DAT](INFO): DAT read: Tx time:22:25:01.9466
2025-08-23T22:25:02.150Z,1755987902.150 [DAT](INFO): Ping request sent.
2025-08-23T22:25:02.150Z,1755987902.150 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:02.151Z,1755987902.151 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-08-23T22:25:02.151Z,1755987902.151 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:02.151Z,1755987902.151 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:02.547Z,1755987902.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 3.532971 s,
deltaX: 0.200000 m,
approachRate: 0.056610 m/s,
rangeRepo size: 4
2025-08-23T22:25:02.549Z,1755987902.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:02.961Z,1755987902.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:03.331Z,1755987903.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:03.759Z,1755987903.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:04.148Z,1755987904.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:04.566Z,1755987904.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:04.985Z,1755987904.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:05.171Z,1755987905.171 [DAT](INFO): DAT read: Rx Time:22:25:04.3572
2025-08-23T22:25:05.171Z,1755987905.171 [DAT](INFO): Rx dataTimestamp_ set to:1755987905.170761
2025-08-23T22:25:05.354Z,1755987905.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:05.675Z,1755987905.675 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (Round-trip 6.4 ms) speed -0.1 m/s
2025-08-23T22:25:05.676Z,1755987905.676 [DAT](INFO): DAT read: user:1732>
2025-08-23T22:25:05.677Z,1755987905.677 [DAT](INFO): DAT read: Tx time:22:25:05.4466
2025-08-23T22:25:05.677Z,1755987905.677 [DAT](INFO): Ping request sent.
2025-08-23T22:25:05.677Z,1755987905.677 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:05.678Z,1755987905.678 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-08-23T22:25:05.678Z,1755987905.678 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:05.678Z,1755987905.678 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:05.837Z,1755987905.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 3.526910 s,
deltaX: 0.300000 m,
approachRate: 0.085060 m/s,
rangeRepo size: 4
2025-08-23T22:25:05.837Z,1755987905.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:06.162Z,1755987906.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:06.563Z,1755987906.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:07.042Z,1755987907.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:07.386Z,1755987907.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:07.811Z,1755987907.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:08.222Z,1755987908.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:08.586Z,1755987908.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:08.699Z,1755987908.699 [DAT](INFO): DAT read: Rx Time:22:25:07.8578
2025-08-23T22:25:08.699Z,1755987908.699 [DAT](INFO): Rx dataTimestamp_ set to:1755987908.698931
2025-08-23T22:25:09.025Z,1755987909.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.97 m.
2025-08-23T22:25:09.210Z,1755987909.210 [DAT](INFO): DAT read: 22:25:07.8578 LVL= 28208, 21217, 21858, 32755, AGC= 38, IDX= 436,-0.00,-2.276,-2.597,-0.193,-1.168, PHS=-1.006,-1.383, 0.931, RAW= 201.3, 13.5, CAL= 202.0, 17.0, ROT= 308.0, -17.0
2025-08-23T22:25:09.212Z,1755987909.212 [DAT](INFO): got valid direction response:
22:25:07.8578 LVL= 28208, 21217, 21858, 32755, AGC= 38, IDX= 436,-0.00,-2.276,-2.597,-0.193,-1.168, PHS=-1.006,-1.383, 0.931, RAW= 201.3, 13.5, CAL= 202.0, 17.0, ROT= 308.0, -17.0
2025-08-23T22:25:09.213Z,1755987909.213 [DAT](INFO): DAT read: Bearing 339.1, -44.4 (Local)
2025-08-23T22:25:09.214Z,1755987909.214 [DAT](INFO): Local bearing/azimuth received:
Bearing 339.1, -44.4 (Local)
2025-08-23T22:25:09.215Z,1755987909.215 [DAT](INFO): DAT read: Range 11 to 50 : 5.2 m (Round-trip 7.0 ms) speed -0.1 m/s
2025-08-23T22:25:09.216Z,1755987909.216 [DAT](INFO): DAT read: user:1733>
2025-08-23T22:25:09.217Z,1755987909.217 [DAT](INFO): DAT read: Tx time:22:25:08.9466
2025-08-23T22:25:09.217Z,1755987909.217 [DAT](INFO): Ping request sent.
2025-08-23T22:25:09.217Z,1755987909.217 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:09.217Z,1755987909.217 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-23T22:25:09.218Z,1755987909.218 [DAT](INFO): direction in FSK: [0.588760,-0.753578,0.292372]
2025-08-23T22:25:09.219Z,1755987909.219 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:09.219Z,1755987909.219 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:09.222Z,1755987909.222 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:09.222Z,1755987909.222 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:09.426Z,1755987909.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.200000 m,
deltaT: 3.528402 s,
deltaX: 0.400000 m,
approachRate: 0.113366 m/s,
rangeRepo size: 4
2025-08-23T22:25:09.428Z,1755987909.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.167193 m,
bearing: 90.417084 deg,
lat: 36.779401 deg,
lon: -121.859577 deg,
deltaT: 13.864088 s,
deltaX: 1.192429 m,
approachRate: 0.086008 m/s,
posRepo size: 4
2025-08-23T22:25:09.429Z,1755987909.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.17 m.
2025-08-23T22:25:09.837Z,1755987909.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.17 m.
2025-08-23T22:25:10.245Z,1755987910.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.17 m.
2025-08-23T22:25:10.611Z,1755987910.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.17 m.
2025-08-23T22:25:11.048Z,1755987911.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.17 m.
2025-08-23T22:25:11.411Z,1755987911.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.17 m.
2025-08-23T22:25:11.844Z,1755987911.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.17 m.
2025-08-23T22:25:12.227Z,1755987912.227 [DAT](INFO): DAT read: Rx Time:22:25:11.3583
2025-08-23T22:25:12.227Z,1755987912.227 [DAT](INFO): Rx dataTimestamp_ set to:1755987912.226795
2025-08-23T22:25:12.245Z,1755987912.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.17 m.
2025-08-23T22:25:12.668Z,1755987912.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.17 m.
2025-08-23T22:25:12.751Z,1755987912.751 [DAT](INFO): DAT read: 22:25:11.3583 LVL= 22368, 18641, 17586, 28739, AGC= 41, IDX= 426,-0.22,-0.070,-0.698, 1.740, 0.939, PHS=-0.906,-1.592, 0.757, RAW= 193.5, 16.4, CAL= 193.4, 22.0, ROT= 316.6, -22.0
2025-08-23T22:25:12.753Z,1755987912.753 [DAT](INFO): got valid direction response:
22:25:11.3583 LVL= 22368, 18641, 17586, 28739, AGC= 41, IDX= 426,-0.22,-0.070,-0.698, 1.740, 0.939, PHS=-0.906,-1.592, 0.757, RAW= 193.5, 16.4, CAL= 193.4, 22.0, ROT= 316.6, -22.0
2025-08-23T22:25:12.760Z,1755987912.760 [DAT](INFO): DAT read: Bearing 340.1, -34.9 (Local)
2025-08-23T22:25:12.760Z,1755987912.760 [DAT](INFO): Local bearing/azimuth received:
Bearing 340.1, -34.9 (Local)
2025-08-23T22:25:12.777Z,1755987912.777 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (Round-trip 7.6 ms) speed -0.1 m/s
2025-08-23T22:25:12.782Z,1755987912.782 [DAT](INFO): DAT read: user:1734>
2025-08-23T22:25:12.782Z,1755987912.782 [DAT](INFO): DAT read: Tx time:22:25:12.4466
2025-08-23T22:25:12.783Z,1755987912.783 [DAT](INFO): Ping request sent.
2025-08-23T22:25:12.783Z,1755987912.783 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:12.783Z,1755987912.783 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-23T22:25:12.784Z,1755987912.784 [DAT](INFO): direction in FSK: [0.673668,-0.637056,0.374607]
2025-08-23T22:25:12.784Z,1755987912.784 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:12.785Z,1755987912.785 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:12.802Z,1755987912.802 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:12.803Z,1755987912.803 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:13.155Z,1755987913.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.700000 m,
deltaT: 3.529125 s,
deltaX: 0.500000 m,
approachRate: 0.141678 m/s,
rangeRepo size: 4
2025-08-23T22:25:13.157Z,1755987913.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.664061 m,
bearing: 98.166642 deg,
lat: 36.779401 deg,
lon: -121.859578 deg,
deltaT: 3.529125 s,
deltaX: 0.496868 m,
approachRate: 0.140791 m/s,
posRepo size: 4
2025-08-23T22:25:13.178Z,1755987913.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:25:13.528Z,1755987913.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:25:13.953Z,1755987913.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:25:14.353Z,1755987914.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:25:14.874Z,1755987914.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:25:15.151Z,1755987915.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:25:15.560Z,1755987915.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:25:15.758Z,1755987915.758 [DAT](INFO): DAT read: Rx Time:22:25:14.8587
2025-08-23T22:25:15.760Z,1755987915.760 [DAT](INFO): Rx dataTimestamp_ set to:1755987915.758760
2025-08-23T22:25:15.977Z,1755987915.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.66 m.
2025-08-23T22:25:16.265Z,1755987916.265 [DAT](INFO): DAT read: 22:25:14.8587 LVL= 19552, 18417, 23730, 28147, AGC= 40, IDX= 431,-0.50, 2.795, 2.119,-1.719,-2.488, PHS=-0.899,-1.631, 0.724, RAW= 192.3, 17.0, CAL= 192.0, 23.1, ROT= 318.0, -23.1
2025-08-23T22:25:16.266Z,1755987916.266 [DAT](INFO): got valid direction response:
22:25:14.8587 LVL= 19552, 18417, 23730, 28147, AGC= 40, IDX= 431,-0.50, 2.795, 2.119,-1.719,-2.488, PHS=-0.899,-1.631, 0.724, RAW= 192.3, 17.0, CAL= 192.0, 23.1, ROT= 318.0, -23.1
2025-08-23T22:25:16.267Z,1755987916.267 [DAT](INFO): DAT read: Bearing 340.6, -33.4 (Local)
2025-08-23T22:25:16.267Z,1755987916.267 [DAT](INFO): Local bearing/azimuth received:
Bearing 340.6, -33.4 (Local)
2025-08-23T22:25:16.269Z,1755987916.269 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (Round-trip 8.0 ms) speed -0.1 m/s
2025-08-23T22:25:16.288Z,1755987916.288 [DAT](INFO): DAT read: user:1735>
2025-08-23T22:25:16.289Z,1755987916.289 [DAT](INFO): DAT read: Tx time:22:25:15.9466
2025-08-23T22:25:16.289Z,1755987916.289 [DAT](INFO): Ping request sent.
2025-08-23T22:25:16.290Z,1755987916.290 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:16.290Z,1755987916.290 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-23T22:25:16.291Z,1755987916.291 [DAT](INFO): direction in FSK: [0.683561,-0.615481,0.392337]
2025-08-23T22:25:16.291Z,1755987916.291 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:16.291Z,1755987916.291 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:16.323Z,1755987916.323 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:16.323Z,1755987916.323 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:16.442Z,1755987916.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.000000 m,
deltaT: 3.527223 s,
deltaX: 0.300000 m,
approachRate: 0.085053 m/s,
rangeRepo size: 4
2025-08-23T22:25:16.444Z,1755987916.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.962143 m,
bearing: 99.461727 deg,
lat: 36.779404 deg,
lon: -121.859579 deg,
deltaT: 3.527223 s,
deltaX: 0.298082 m,
approachRate: 0.084509 m/s,
posRepo size: 4
2025-08-23T22:25:16.445Z,1755987916.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-08-23T22:25:16.874Z,1755987916.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:25:16.876Z,1755987916.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-08-23T22:25:17.014Z,1755987917.014 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:25:17.014Z,1755987917.014 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:25:17.015Z,1755987917.015 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:25:17.267Z,1755987917.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977016
2025-08-23T22:25:17.299Z,1755987917.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-08-23T22:25:17.518Z,1755987917.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228909
2025-08-23T22:25:17.700Z,1755987917.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-08-23T22:25:17.773Z,1755987917.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483306
2025-08-23T22:25:18.023Z,1755987918.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733034
2025-08-23T22:25:18.135Z,1755987918.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-08-23T22:25:18.274Z,1755987918.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984928
2025-08-23T22:25:18.506Z,1755987918.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-08-23T22:25:18.526Z,1755987918.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236903
2025-08-23T22:25:18.782Z,1755987918.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492528
2025-08-23T22:25:18.930Z,1755987918.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-08-23T22:25:19.031Z,1755987919.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741799
2025-08-23T22:25:19.283Z,1755987919.283 [DAT](INFO): DAT read: Rx Time:22:25:18.3595
2025-08-23T22:25:19.283Z,1755987919.283 [DAT](INFO): Rx dataTimestamp_ set to:1755987919.282705
2025-08-23T22:25:19.284Z,1755987919.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993984
2025-08-23T22:25:19.335Z,1755987919.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-08-23T22:25:19.535Z,1755987919.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245573
2025-08-23T22:25:19.752Z,1755987919.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-08-23T22:25:19.792Z,1755987919.792 [DAT](INFO): DAT read: 22:25:18.3595 LVL= 22576, 23649, 22002, 29171, AGC= 44, IDX= 438, 0.33,-2.823, 2.493,-1.286,-2.046, PHS=-0.675,-1.698, 0.717, RAW= 185.0, 15.6, CAL= 184.9, 20.6, ROT= 325.1, -20.6
2025-08-23T22:25:19.794Z,1755987919.794 [DAT](INFO): got valid direction response:
22:25:18.3595 LVL= 22576, 23649, 22002, 29171, AGC= 44, IDX= 438, 0.33,-2.823, 2.493,-1.286,-2.046, PHS=-0.675,-1.698, 0.717, RAW= 185.0, 15.6, CAL= 184.9, 20.6, ROT= 325.1, -20.6
2025-08-23T22:25:19.797Z,1755987919.797 [DAT](INFO): DAT read: Bearing 334.9, -28.3 (Local)
2025-08-23T22:25:19.798Z,1755987919.798 [DAT](INFO): Local bearing/azimuth received:
Bearing 334.9, -28.3 (Local)
2025-08-23T22:25:19.807Z,1755987919.807 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (Round-trip 8.7 ms) speed -0.2 m/s
2025-08-23T22:25:19.810Z,1755987919.810 [DAT](INFO): DAT read: user:1736>
2025-08-23T22:25:19.812Z,1755987919.812 [DAT](INFO): DAT read: Tx time:22:25:19.4466
2025-08-23T22:25:19.813Z,1755987919.813 [DAT](INFO): Ping request sent.
2025-08-23T22:25:19.813Z,1755987919.813 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:19.827Z,1755987919.827 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:25:19.835Z,1755987919.835 [DAT](INFO): direction in FSK: [0.767711,-0.535562,0.351842]
2025-08-23T22:25:19.836Z,1755987919.836 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:19.837Z,1755987919.837 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:19.867Z,1755987919.867 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:19.867Z,1755987919.867 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:20.153Z,1755987920.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.500000 m,
deltaT: 3.527609 s,
deltaX: 0.500000 m,
approachRate: 0.141739 m/s,
rangeRepo size: 4
2025-08-23T22:25:20.171Z,1755987920.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.458992 m,
bearing: 106.566695 deg,
lat: 36.779404 deg,
lon: -121.859580 deg,
deltaT: 3.527609 s,
deltaX: 0.496850 m,
approachRate: 0.140846 m/s,
posRepo size: 4
2025-08-23T22:25:20.172Z,1755987920.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-08-23T22:25:20.547Z,1755987920.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-08-23T22:25:20.969Z,1755987920.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-08-23T22:25:21.343Z,1755987921.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-08-23T22:25:21.756Z,1755987921.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-08-23T22:25:22.165Z,1755987922.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-08-23T22:25:22.549Z,1755987922.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-08-23T22:25:22.567Z,1755987922.567 [DAT](INFO): DAT read: Rx Time:22:25:21.8599
2025-08-23T22:25:22.567Z,1755987922.567 [DAT](INFO): Rx dataTimestamp_ set to:1755987922.566741
2025-08-23T22:25:22.970Z,1755987922.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-08-23T22:25:23.328Z,1755987923.328 [DAT](INFO): DAT read: 22:25:21.8599 LVL= 25584, 28065, 25362, 32627, AGC= 46, IDX= 427,-0.06, 2.660, 1.497,-2.257,-3.029, PHS=-0.492,-1.712, 0.728, RAW= 180.0, 13.9, CAL= 179.9, 17.8, ROT= 330.1, -17.8
2025-08-23T22:25:23.329Z,1755987923.329 [DAT](INFO): got valid direction response:
22:25:21.8599 LVL= 25584, 28065, 25362, 32627, AGC= 46, IDX= 427,-0.06, 2.660, 1.497,-2.257,-3.029, PHS=-0.492,-1.712, 0.728, RAW= 180.0, 13.9, CAL= 179.9, 17.8, ROT= 330.1, -17.8
2025-08-23T22:25:23.330Z,1755987923.330 [DAT](INFO): DAT read: Bearing 330.2, -24.8 (Local)
2025-08-23T22:25:23.331Z,1755987923.331 [DAT](INFO): Local bearing/azimuth received:
Bearing 330.2, -24.8 (Local)
2025-08-23T22:25:23.332Z,1755987923.332 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (Round-trip 9.1 ms) speed -0.2 m/s
2025-08-23T22:25:23.333Z,1755987923.333 [DAT](INFO): DAT read: user:1737>
2025-08-23T22:25:23.333Z,1755987923.333 [DAT](INFO): DAT read: Tx time:22:25:22.9466
2025-08-23T22:25:23.334Z,1755987923.334 [DAT](INFO): Ping request sent.
2025-08-23T22:25:23.334Z,1755987923.334 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:23.334Z,1755987923.334 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-23T22:25:23.335Z,1755987923.335 [DAT](INFO): direction in FSK: [0.825398,-0.474625,0.305695]
2025-08-23T22:25:23.335Z,1755987923.335 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:23.336Z,1755987923.336 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:23.343Z,1755987923.343 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:23.343Z,1755987923.343 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:23.478Z,1755987923.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 3.535632 s,
deltaX: 0.300000 m,
approachRate: 0.084851 m/s,
rangeRepo size: 4
2025-08-23T22:25:23.480Z,1755987923.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.757109 m,
bearing: 111.777766 deg,
lat: 36.779404 deg,
lon: -121.859581 deg,
deltaT: 3.535632 s,
deltaX: 0.298117 m,
approachRate: 0.084318 m/s,
posRepo size: 4
2025-08-23T22:25:23.481Z,1755987923.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:25:23.782Z,1755987923.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:25:24.202Z,1755987924.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:25:24.564Z,1755987924.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:25:24.992Z,1755987924.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:25:25.391Z,1755987925.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:25:25.774Z,1755987925.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:25:26.103Z,1755987926.103 [DAT](INFO): DAT read: Rx Time:22:25:25.3606
2025-08-23T22:25:26.103Z,1755987926.103 [DAT](INFO): Rx dataTimestamp_ set to:1755987926.102745
2025-08-23T22:25:26.244Z,1755987926.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m.
2025-08-23T22:25:26.621Z,1755987926.621 [DAT](INFO): DAT read: 22:25:25.3606 LVL= 32304, 32753, 29954, 32755, AGC= 46, IDX= 434,-0.29,-1.610,-2.847,-0.366,-1.096, PHS=-0.412,-1.706, 0.686, RAW= 177.3, 13.7, CAL= 177.4, 17.3, ROT= 332.6, -17.3
2025-08-23T22:25:26.642Z,1755987926.642 [DAT](INFO): got valid direction response:
22:25:25.3606 LVL= 32304, 32753, 29954, 32755, AGC= 46, IDX= 434,-0.29,-1.610,-2.847,-0.366,-1.096, PHS=-0.412,-1.706, 0.686, RAW= 177.3, 13.7, CAL= 177.4, 17.3, ROT= 332.6, -17.3
2025-08-23T22:25:26.643Z,1755987926.643 [DAT](INFO): DAT read: Bearing 328.9, -22.5 (Local)
2025-08-23T22:25:26.643Z,1755987926.643 [DAT](INFO): Local bearing/azimuth received:
Bearing 328.9, -22.5 (Local)
2025-08-23T22:25:26.645Z,1755987926.645 [DAT](INFO): DAT read: Range 11 to 50 : 7.3 m (Round-trip 9.8 ms) speed -0.2 m/s
2025-08-23T22:25:26.650Z,1755987926.650 [DAT](INFO): DAT read: user:1738>
2025-08-23T22:25:26.650Z,1755987926.650 [DAT](INFO): DAT read: Tx time:22:25:26.4466
2025-08-23T22:25:26.651Z,1755987926.651 [DAT](INFO): Ping request sent.
2025-08-23T22:25:26.651Z,1755987926.651 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:26.651Z,1755987926.651 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-23T22:25:26.652Z,1755987926.652 [DAT](INFO): direction in FSK: [0.847651,-0.439381,0.297375]
2025-08-23T22:25:26.652Z,1755987926.652 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:26.652Z,1755987926.652 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:26.660Z,1755987926.660 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:26.660Z,1755987926.660 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:26.673Z,1755987926.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.300000 m,
deltaT: 3.285611 s,
deltaX: 0.500000 m,
approachRate: 0.152179 m/s,
rangeRepo size: 4
2025-08-23T22:25:26.709Z,1755987926.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.253953 m,
bearing: 114.258117 deg,
lat: 36.779404 deg,
lon: -121.859581 deg,
deltaT: 3.285611 s,
deltaX: 0.496844 m,
approachRate: 0.151218 m/s,
posRepo size: 4
2025-08-23T22:25:26.714Z,1755987926.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.25 m.
2025-08-23T22:25:26.927Z,1755987926.927 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:25:27.039Z,1755987927.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.25 m.
2025-08-23T22:25:27.391Z,1755987927.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.25 m.
2025-08-23T22:25:27.814Z,1755987927.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.25 m.
2025-08-23T22:25:27.932Z,1755987927.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:25:28.244Z,1755987928.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.25 m.
2025-08-23T22:25:28.604Z,1755987928.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.25 m.
2025-08-23T22:25:29.045Z,1755987929.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.25 m.
2025-08-23T22:25:29.439Z,1755987929.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.25 m.
2025-08-23T22:25:29.631Z,1755987929.631 [DAT](INFO): DAT read: Rx Time:22:25:28.8614
2025-08-23T22:25:29.632Z,1755987929.632 [DAT](INFO): Rx dataTimestamp_ set to:1755987929.631374
2025-08-23T22:25:29.821Z,1755987929.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.25 m.
2025-08-23T22:25:30.156Z,1755987930.156 [DAT](INFO): DAT read: 22:25:28.8614 LVL= 24880, 32753, 19810, 32755, AGC= 44, IDX= 441, 0.29, 2.916, 1.625,-2.221,-2.948, PHS=-0.316,-1.665, 0.683, RAW= 175.1, 12.7, CAL= 175.2, 15.5, ROT= 334.8, -15.5
2025-08-23T22:25:30.157Z,1755987930.157 [DAT](INFO): got valid direction response:
22:25:28.8614 LVL= 24880, 32753, 19810, 32755, AGC= 44, IDX= 441, 0.29, 2.916, 1.625,-2.221,-2.948, PHS=-0.316,-1.665, 0.683, RAW= 175.1, 12.7, CAL= 175.2, 15.5, ROT= 334.8, -15.5
2025-08-23T22:25:30.158Z,1755987930.158 [DAT](INFO): DAT read: Bearing 326.5, -21.0 (Local)
2025-08-23T22:25:30.158Z,1755987930.158 [DAT](INFO): Local bearing/azimuth received:
Bearing 326.5, -21.0 (Local)
2025-08-23T22:25:30.160Z,1755987930.160 [DAT](INFO): DAT read: Range 11 to 50 : 7.9 m (Round-trip 10.6 ms) speed -0.2 m/s
2025-08-23T22:25:30.161Z,1755987930.161 [DAT](INFO): DAT read: user:1739>
2025-08-23T22:25:30.162Z,1755987930.162 [DAT](INFO): DAT read: Tx time:22:25:29.9466
2025-08-23T22:25:30.162Z,1755987930.162 [DAT](INFO): Ping request sent.
2025-08-23T22:25:30.162Z,1755987930.162 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:30.162Z,1755987930.162 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-23T22:25:30.163Z,1755987930.163 [DAT](INFO): direction in FSK: [0.871919,-0.410294,0.267238]
2025-08-23T22:25:30.164Z,1755987930.164 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:30.164Z,1755987930.164 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:30.167Z,1755987930.167 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:30.167Z,1755987930.167 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:30.359Z,1755987930.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.900000 m,
deltaT: 3.526333 s,
deltaX: 0.600000 m,
approachRate: 0.170148 m/s,
rangeRepo size: 4
2025-08-23T22:25:30.361Z,1755987930.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.850163 m,
bearing: 116.684300 deg,
lat: 36.779402 deg,
lon: -121.859583 deg,
deltaT: 3.526333 s,
deltaX: 0.596210 m,
approachRate: 0.169074 m/s,
posRepo size: 4
2025-08-23T22:25:30.370Z,1755987930.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.85 m.
2025-08-23T22:25:30.660Z,1755987930.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.85 m.
2025-08-23T22:25:31.063Z,1755987931.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.85 m.
2025-08-23T22:25:31.454Z,1755987931.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.85 m.
2025-08-23T22:25:31.846Z,1755987931.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.85 m.
2025-08-23T22:25:32.284Z,1755987932.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.85 m.
2025-08-23T22:25:32.660Z,1755987932.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.85 m.
2025-08-23T22:25:33.089Z,1755987933.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.85 m.
2025-08-23T22:25:33.159Z,1755987933.159 [DAT](INFO): DAT read: Rx Time:22:25:32.3622
2025-08-23T22:25:33.160Z,1755987933.160 [DAT](INFO): Rx dataTimestamp_ set to:1755987933.159557
2025-08-23T22:25:33.478Z,1755987933.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.85 m.
2025-08-23T22:25:33.669Z,1755987933.669 [DAT](INFO): DAT read: 22:25:32.3622 LVL= 24096, 32753, 18866, 32755, AGC= 43, IDX= 433, 0.00,-1.660,-2.993,-0.589,-1.311, PHS=-0.247,-1.637, 0.678, RAW= 173.4, 11.9, CAL= 173.5, 14.3, ROT= 336.5, -14.3
2025-08-23T22:25:33.670Z,1755987933.670 [DAT](INFO): got valid direction response:
22:25:32.3622 LVL= 24096, 32753, 18866, 32755, AGC= 43, IDX= 433, 0.00,-1.660,-2.993,-0.589,-1.311, PHS=-0.247,-1.637, 0.678, RAW= 173.4, 11.9, CAL= 173.5, 14.3, ROT= 336.5, -14.3
2025-08-23T22:25:33.671Z,1755987933.671 [DAT](INFO): DAT read: Bearing 324.7, -19.6 (Local)
2025-08-23T22:25:33.671Z,1755987933.671 [DAT](INFO): Local bearing/azimuth received:
Bearing 324.7, -19.6 (Local)
2025-08-23T22:25:33.673Z,1755987933.673 [DAT](INFO): DAT read: Range 11 to 50 : 8.5 m (Round-trip 11.4 ms) speed -0.2 m/s
2025-08-23T22:25:33.673Z,1755987933.673 [DAT](INFO): DAT read: user:1740>
2025-08-23T22:25:33.704Z,1755987933.704 [DAT](INFO): DAT read: Tx time:22:25:33.4466
2025-08-23T22:25:33.704Z,1755987933.704 [DAT](INFO): Ping request sent.
2025-08-23T22:25:33.705Z,1755987933.705 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:33.705Z,1755987933.705 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-23T22:25:33.707Z,1755987933.707 [DAT](INFO): direction in FSK: [0.888646,-0.386394,0.246999]
2025-08-23T22:25:33.707Z,1755987933.707 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:33.708Z,1755987933.708 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:33.728Z,1755987933.728 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:33.728Z,1755987933.728 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:33.891Z,1755987933.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.500000 m,
deltaT: 3.528291 s,
deltaX: 0.600000 m,
approachRate: 0.170054 m/s,
rangeRepo size: 4
2025-08-23T22:25:33.895Z,1755987933.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.446367 m,
bearing: 118.586136 deg,
lat: 36.779401 deg,
lon: -121.859583 deg,
deltaT: 3.528291 s,
deltaX: 0.596204 m,
approachRate: 0.168978 m/s,
posRepo size: 4
2025-08-23T22:25:33.896Z,1755987933.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.45 m.
2025-08-23T22:25:34.287Z,1755987934.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.45 m.
2025-08-23T22:25:34.667Z,1755987934.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.45 m.
2025-08-23T22:25:35.120Z,1755987935.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.45 m.
2025-08-23T22:25:35.479Z,1755987935.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.45 m.
2025-08-23T22:25:35.903Z,1755987935.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.45 m.
2025-08-23T22:25:36.314Z,1755987936.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.45 m.
2025-08-23T22:25:36.688Z,1755987936.688 [DAT](INFO): DAT read: Rx Time:22:25:35.8629
2025-08-23T22:25:36.689Z,1755987936.689 [DAT](INFO): Rx dataTimestamp_ set to:1755987936.688332
2025-08-23T22:25:36.735Z,1755987936.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.45 m.
2025-08-23T22:25:37.174Z,1755987937.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.45 m.
2025-08-23T22:25:37.200Z,1755987937.200 [DAT](INFO): DAT read: 22:25:35.8629 LVL= 26192, 28129, 19634, 32755, AGC= 46, IDX= 441,-0.10, 0.972,-0.372, 1.992, 1.336, PHS=-0.262,-1.663, 0.612, RAW= 172.4, 13.1, CAL= 172.6, 16.0, ROT= 337.4, -16.0
2025-08-23T22:25:37.202Z,1755987937.202 [DAT](INFO): got valid direction response:
22:25:35.8629 LVL= 26192, 28129, 19634, 32755, AGC= 46, IDX= 441,-0.10, 0.972,-0.372, 1.992, 1.336, PHS=-0.262,-1.663, 0.612, RAW= 172.4, 13.1, CAL= 172.6, 16.0, ROT= 337.4, -16.0
2025-08-23T22:25:37.203Z,1755987937.203 [DAT](INFO): DAT read: Bearing 326.2, -18.5 (Local)
2025-08-23T22:25:37.204Z,1755987937.204 [DAT](INFO): Local bearing/azimuth received:
Bearing 326.2, -18.5 (Local)
2025-08-23T22:25:37.207Z,1755987937.207 [DAT](INFO): DAT read: Range 11 to 50 : 9.1 m (Round-trip 12.2 ms) speed -0.2 m/s
2025-08-23T22:25:37.207Z,1755987937.207 [DAT](INFO): DAT read: user:1741>
2025-08-23T22:25:37.209Z,1755987937.209 [DAT](INFO): DAT read: Tx time:22:25:36.9466
2025-08-23T22:25:37.209Z,1755987937.209 [DAT](INFO): Ping request sent.
2025-08-23T22:25:37.210Z,1755987937.210 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:37.210Z,1755987937.210 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-23T22:25:37.211Z,1755987937.211 [DAT](INFO): direction in FSK: [0.887447,-0.369408,0.275637]
2025-08-23T22:25:37.212Z,1755987937.212 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:37.212Z,1755987937.212 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:37.217Z,1755987937.217 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:37.217Z,1755987937.217 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:37.528Z,1755987937.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.100000 m,
deltaT: 3.528115 s,
deltaX: 0.600000 m,
approachRate: 0.170063 m/s,
rangeRepo size: 4
2025-08-23T22:25:37.530Z,1755987937.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.042608 m,
bearing: 119.280197 deg,
lat: 36.779401 deg,
lon: -121.859583 deg,
deltaT: 3.528115 s,
deltaX: 0.596241 m,
approachRate: 0.168997 m/s,
posRepo size: 4
2025-08-23T22:25:37.531Z,1755987937.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.04 m.
2025-08-23T22:25:37.895Z,1755987937.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.04 m.
2025-08-23T22:25:38.321Z,1755987938.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.04 m.
2025-08-23T22:25:38.726Z,1755987938.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.04 m.
2025-08-23T22:25:39.192Z,1755987939.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.04 m.
2025-08-23T22:25:39.517Z,1755987939.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.04 m.
2025-08-23T22:25:39.929Z,1755987939.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.04 m.
2025-08-23T22:25:40.215Z,1755987940.215 [DAT](INFO): DAT read: Rx Time:22:25:39.3637
2025-08-23T22:25:40.215Z,1755987940.215 [DAT](INFO): Rx dataTimestamp_ set to:1755987940.214762
2025-08-23T22:25:40.351Z,1755987940.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.04 m.
2025-08-23T22:25:40.724Z,1755987940.724 [DAT](INFO): DAT read: 22:25:39.3637 LVL= 25952, 27761, 19730, 32755, AGC= 44, IDX= 433, 0.11,-1.269,-2.633,-0.302,-0.922, PHS=-0.245,-1.666, 0.576, RAW= 171.2, 13.5, CAL= 171.5, 16.5, ROT= 338.5, -16.5
2025-08-23T22:25:40.725Z,1755987940.725 [DAT](INFO): got valid direction response:
22:25:39.3637 LVL= 25952, 27761, 19730, 32755, AGC= 44, IDX= 433, 0.11,-1.269,-2.633,-0.302,-0.922, PHS=-0.245,-1.666, 0.576, RAW= 171.2, 13.5, CAL= 171.5, 16.5, ROT= 338.5, -16.5
2025-08-23T22:25:40.726Z,1755987940.726 [DAT](INFO): DAT read: Bearing 326.5, -17.5 (Local)
2025-08-23T22:25:40.727Z,1755987940.727 [DAT](INFO): Local bearing/azimuth received:
Bearing 326.5, -17.5 (Local)
2025-08-23T22:25:40.728Z,1755987940.728 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (Round-trip 12.9 ms) speed -0.2 m/s
2025-08-23T22:25:40.729Z,1755987940.729 [DAT](INFO): DAT read: user:1742>
2025-08-23T22:25:40.730Z,1755987940.730 [DAT](INFO): DAT read: Tx time:22:25:40.4466
2025-08-23T22:25:40.730Z,1755987940.730 [DAT](INFO): Ping request sent.
2025-08-23T22:25:40.730Z,1755987940.730 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:40.730Z,1755987940.730 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-23T22:25:40.731Z,1755987940.731 [DAT](INFO): direction in FSK: [0.892103,-0.351409,0.284015]
2025-08-23T22:25:40.731Z,1755987940.731 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:40.732Z,1755987940.732 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:40.739Z,1755987940.739 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:40.739Z,1755987940.739 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:40.836Z,1755987940.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 3.527813 s,
deltaX: 0.500000 m,
approachRate: 0.141731 m/s,
rangeRepo size: 4
2025-08-23T22:25:40.846Z,1755987940.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.539502 m,
bearing: 120.310151 deg,
lat: 36.779401 deg,
lon: -121.859583 deg,
deltaT: 3.527813 s,
deltaX: 0.496894 m,
approachRate: 0.140850 m/s,
posRepo size: 4
2025-08-23T22:25:40.847Z,1755987940.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:25:41.225Z,1755987941.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:25:41.527Z,1755987941.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:25:41.944Z,1755987941.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:25:42.367Z,1755987942.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:25:42.739Z,1755987942.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:25:43.242Z,1755987943.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:25:43.556Z,1755987943.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:25:43.743Z,1755987943.743 [DAT](INFO): DAT read: Rx Time:22:25:42.8645
2025-08-23T22:25:43.744Z,1755987943.744 [DAT](INFO): Rx dataTimestamp_ set to:1755987943.743308
2025-08-23T22:25:43.968Z,1755987943.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-23T22:25:44.256Z,1755987944.256 [DAT](INFO): DAT read: 22:25:42.8645 LVL= 21008, 28753, 18850, 32755, AGC= 45, IDX= 441, 0.10,-3.039, 1.860,-2.125,-2.733, PHS=-0.204,-1.645, 0.563, RAW= 170.0, 13.2, CAL= 170.3, 15.9, ROT= 339.7, -15.9
2025-08-23T22:25:44.257Z,1755987944.257 [DAT](INFO): got valid direction response:
22:25:42.8645 LVL= 21008, 28753, 18850, 32755, AGC= 45, IDX= 441, 0.10,-3.039, 1.860,-2.125,-2.733, PHS=-0.204,-1.645, 0.563, RAW= 170.0, 13.2, CAL= 170.3, 15.9, ROT= 339.7, -15.9
2025-08-23T22:25:44.258Z,1755987944.258 [DAT](INFO): DAT read: Bearing 325.7, -16.6 (Local)
2025-08-23T22:25:44.259Z,1755987944.259 [DAT](INFO): Local bearing/azimuth received:
Bearing 325.7, -16.6 (Local)
2025-08-23T22:25:44.260Z,1755987944.260 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (Round-trip 13.7 ms) speed -0.2 m/s
2025-08-23T22:25:44.261Z,1755987944.261 [DAT](INFO): DAT read: user:1743>
2025-08-23T22:25:44.294Z,1755987944.294 [DAT](INFO): DAT read: Tx time:22:25:43.9966
2025-08-23T22:25:44.294Z,1755987944.294 [DAT](INFO): Ping request sent.
2025-08-23T22:25:44.295Z,1755987944.295 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:44.295Z,1755987944.295 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-23T22:25:44.296Z,1755987944.296 [DAT](INFO): direction in FSK: [0.902007,-0.333662,0.273959]
2025-08-23T22:25:44.296Z,1755987944.296 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:44.296Z,1755987944.296 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:44.299Z,1755987944.299 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:44.300Z,1755987944.300 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:44.443Z,1755987944.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 3.527806 s,
deltaX: 0.599999 m,
approachRate: 0.170077 m/s,
rangeRepo size: 4
2025-08-23T22:25:44.445Z,1755987944.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.135669 m,
bearing: 121.746530 deg,
lat: 36.779403 deg,
lon: -121.859583 deg,
deltaT: 3.527806 s,
deltaX: 0.596167 m,
approachRate: 0.168991 m/s,
posRepo size: 4
2025-08-23T22:25:44.445Z,1755987944.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:25:44.763Z,1755987944.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:25:45.235Z,1755987945.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:25:45.590Z,1755987945.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:25:45.990Z,1755987945.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:25:46.415Z,1755987946.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:25:46.780Z,1755987946.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:25:47.262Z,1755987947.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:25:47.271Z,1755987947.271 [DAT](INFO): DAT read: Rx Time:22:25:46.4152
2025-08-23T22:25:47.271Z,1755987947.271 [DAT](INFO): Rx dataTimestamp_ set to:1755987947.270824
2025-08-23T22:25:47.664Z,1755987947.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-08-23T22:25:47.781Z,1755987947.781 [DAT](INFO): DAT read: 22:25:46.4152 LVL= 24816, 31377, 19442, 32755, AGC= 48, IDX= 433, 0.05, 0.070,-1.344, 0.918, 0.355, PHS=-0.183,-1.654, 0.519, RAW= 168.5, 13.6, CAL= 168.9, 16.5, ROT= 341.1, -16.5
2025-08-23T22:25:47.782Z,1755987947.782 [DAT](INFO): got valid direction response:
22:25:46.4152 LVL= 24816, 31377, 19442, 32755, AGC= 48, IDX= 433, 0.05, 0.070,-1.344, 0.918, 0.355, PHS=-0.183,-1.654, 0.519, RAW= 168.5, 13.6, CAL= 168.9, 16.5, ROT= 341.1, -16.5
2025-08-23T22:25:47.783Z,1755987947.783 [DAT](INFO): DAT read: Bearing 326.1, -15.2 (Local)
2025-08-23T22:25:47.784Z,1755987947.784 [DAT](INFO): Local bearing/azimuth received:
Bearing 326.1, -15.2 (Local)
2025-08-23T22:25:47.786Z,1755987947.786 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (Round-trip 14.5 ms) speed -0.1 m/s
2025-08-23T22:25:47.787Z,1755987947.787 [DAT](INFO): DAT read: user:1744>
2025-08-23T22:25:47.788Z,1755987947.788 [DAT](INFO): DAT read: Tx time:22:25:47.5465
2025-08-23T22:25:47.789Z,1755987947.789 [DAT](INFO): Ping request sent.
2025-08-23T22:25:47.789Z,1755987947.789 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:47.790Z,1755987947.790 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-23T22:25:47.791Z,1755987947.791 [DAT](INFO): direction in FSK: [0.907125,-0.310578,0.284015]
2025-08-23T22:25:47.791Z,1755987947.791 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:47.791Z,1755987947.791 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:47.795Z,1755987947.795 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:47.795Z,1755987947.795 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:48.011Z,1755987948.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.800000 m,
deltaT: 3.528056 s,
deltaX: 0.600000 m,
approachRate: 0.170065 m/s,
rangeRepo size: 4
2025-08-23T22:25:48.014Z,1755987948.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.731893 m,
bearing: 123.271153 deg,
lat: 36.779403 deg,
lon: -121.859584 deg,
deltaT: 3.528056 s,
deltaX: 0.596224 m,
approachRate: 0.168995 m/s,
posRepo size: 4
2025-08-23T22:25:48.014Z,1755987948.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:25:48.419Z,1755987948.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:25:48.821Z,1755987948.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:25:49.289Z,1755987949.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:25:49.627Z,1755987949.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:25:50.026Z,1755987950.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:25:50.442Z,1755987950.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:25:50.799Z,1755987950.799 [DAT](INFO): DAT read: Rx Time:22:25:49.9660
2025-08-23T22:25:50.799Z,1755987950.799 [DAT](INFO): Rx dataTimestamp_ set to:1755987950.798687
2025-08-23T22:25:50.820Z,1755987950.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-08-23T22:25:51.315Z,1755987951.315 [DAT](INFO): DAT read: 22:25:49.9660 LVL= 32048, 31697, 23362, 32755, AGC= 48, IDX= 441, 0.16, 2.918, 1.446,-2.543,-3.084, PHS=-0.179,-1.708, 0.497, RAW= 167.4, 14.1, CAL= 167.9, 17.1, ROT= 342.1, -17.1
2025-08-23T22:25:51.316Z,1755987951.316 [DAT](INFO): got valid direction response:
22:25:49.9660 LVL= 32048, 31697, 23362, 32755, AGC= 48, IDX= 441, 0.16, 2.918, 1.446,-2.543,-3.084, PHS=-0.179,-1.708, 0.497, RAW= 167.4, 14.1, CAL= 167.9, 17.1, ROT= 342.1, -17.1
2025-08-23T22:25:51.317Z,1755987951.317 [DAT](INFO): DAT read: Bearing 326.8, -14.3 (Local)
2025-08-23T22:25:51.317Z,1755987951.317 [DAT](INFO): Local bearing/azimuth received:
Bearing 326.8, -14.3 (Local)
2025-08-23T22:25:51.319Z,1755987951.319 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (Round-trip 15.3 ms) speed -0.2 m/s
2025-08-23T22:25:51.320Z,1755987951.320 [DAT](INFO): DAT read: user:1745>
2025-08-23T22:25:51.320Z,1755987951.320 [DAT](INFO): DAT read: Tx time:22:25:51.0965
2025-08-23T22:25:51.320Z,1755987951.320 [DAT](INFO): Ping request sent.
2025-08-23T22:25:51.321Z,1755987951.321 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:51.321Z,1755987951.321 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-23T22:25:51.322Z,1755987951.322 [DAT](INFO): direction in FSK: [0.909527,-0.293769,0.294040]
2025-08-23T22:25:51.322Z,1755987951.322 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:51.323Z,1755987951.323 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:51.326Z,1755987951.326 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:51.326Z,1755987951.326 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:51.348Z,1755987951.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.400000 m,
deltaT: 3.529407 s,
deltaX: 0.599999 m,
approachRate: 0.170000 m/s,
rangeRepo size: 4
2025-08-23T22:25:51.355Z,1755987951.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.328117 m,
bearing: 124.297453 deg,
lat: 36.779404 deg,
lon: -121.859584 deg,
deltaT: 3.529407 s,
deltaX: 0.596225 m,
approachRate: 0.168931 m/s,
posRepo size: 4
2025-08-23T22:25:51.355Z,1755987951.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:25:51.681Z,1755987951.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:25:52.031Z,1755987952.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:25:52.469Z,1755987952.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:25:52.842Z,1755987952.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:25:53.258Z,1755987953.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:25:53.689Z,1755987953.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:25:54.058Z,1755987954.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:25:54.329Z,1755987954.329 [DAT](INFO): DAT read: Rx Time:22:25:53.5169
2025-08-23T22:25:54.331Z,1755987954.331 [DAT](INFO): Rx dataTimestamp_ set to:1755987954.330103
2025-08-23T22:25:54.484Z,1755987954.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-08-23T22:25:54.836Z,1755987954.836 [DAT](INFO): DAT read: 22:25:53.5169 LVL= 26608, 29889, 19874, 32755, AGC= 45, IDX= 435,-0.09,-2.713, 2.148,-1.917,-2.422, PHS=-0.189,-1.669, 0.460, RAW= 167.3, 14.6, CAL= 167.9, 17.8, ROT= 342.1, -17.8
2025-08-23T22:25:54.837Z,1755987954.837 [DAT](INFO): got valid direction response:
22:25:53.5169 LVL= 26608, 29889, 19874, 32755, AGC= 45, IDX= 435,-0.09,-2.713, 2.148,-1.917,-2.422, PHS=-0.189,-1.669, 0.460, RAW= 167.3, 14.6, CAL= 167.9, 17.8, ROT= 342.1, -17.8
2025-08-23T22:25:54.838Z,1755987954.838 [DAT](INFO): DAT read: Bearing 327.6, -14.4 (Local)
2025-08-23T22:25:54.839Z,1755987954.839 [DAT](INFO): Local bearing/azimuth received:
Bearing 327.6, -14.4 (Local)
2025-08-23T22:25:54.840Z,1755987954.840 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (Round-trip 16.3 ms) speed -0.2 m/s
2025-08-23T22:25:54.841Z,1755987954.841 [DAT](INFO): DAT read: user:1746>
2025-08-23T22:25:54.842Z,1755987954.842 [DAT](INFO): DAT read: Tx time:22:25:54.6465
2025-08-23T22:25:54.842Z,1755987954.842 [DAT](INFO): Ping request sent.
2025-08-23T22:25:54.842Z,1755987954.842 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:54.842Z,1755987954.842 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-23T22:25:54.843Z,1755987954.843 [DAT](INFO): direction in FSK: [0.906041,-0.292643,0.305695]
2025-08-23T22:25:54.844Z,1755987954.844 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:54.844Z,1755987954.844 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:54.847Z,1755987954.847 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:54.847Z,1755987954.847 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:54.939Z,1755987954.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 3.526626 s,
deltaX: 0.800000 m,
approachRate: 0.226846 m/s,
rangeRepo size: 4
2025-08-23T22:25:54.941Z,1755987954.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.123108 m,
bearing: 124.286023 deg,
lat: 36.779404 deg,
lon: -121.859584 deg,
deltaT: 3.526626 s,
deltaX: 0.794991 m,
approachRate: 0.225425 m/s,
posRepo size: 4
2025-08-23T22:25:54.941Z,1755987954.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:25:55.270Z,1755987955.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:25:55.705Z,1755987955.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:25:56.071Z,1755987956.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:25:56.493Z,1755987956.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:25:56.883Z,1755987956.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:25:57.301Z,1755987957.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:25:57.724Z,1755987957.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:25:57.855Z,1755987957.855 [DAT](INFO): DAT read: Rx Time:22:25:57.0677
2025-08-23T22:25:57.856Z,1755987957.856 [DAT](INFO): Rx dataTimestamp_ set to:1755987957.855667
2025-08-23T22:25:58.050Z,1755987958.050 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:25:58.102Z,1755987958.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-08-23T22:25:58.366Z,1755987958.366 [DAT](INFO): DAT read: 22:25:57.0677 LVL= 29280, 28497, 20690, 32755, AGC= 49, IDX= 427,-0.02,-1.919, 2.928,-1.136,-1.646, PHS=-0.171,-1.664, 0.465, RAW= 166.9, 14.4, CAL= 167.5, 17.4, ROT= 342.5, -17.4
2025-08-23T22:25:58.369Z,1755987958.369 [DAT](INFO): got valid direction response:
22:25:57.0677 LVL= 29280, 28497, 20690, 32755, AGC= 49, IDX= 427,-0.02,-1.919, 2.928,-1.136,-1.646, PHS=-0.171,-1.664, 0.465, RAW= 166.9, 14.4, CAL= 167.5, 17.4, ROT= 342.5, -17.4
2025-08-23T22:25:58.372Z,1755987958.372 [DAT](INFO): DAT read: Bearing 327.4, -14.3 (Local)
2025-08-23T22:25:58.373Z,1755987958.373 [DAT](INFO): Local bearing/azimuth received:
Bearing 327.4, -14.3 (Local)
2025-08-23T22:25:58.377Z,1755987958.377 [DAT](INFO): DAT read: Range 11 to 50 : 12.7 m (Round-trip 17.0 ms) speed -0.2 m/s
2025-08-23T22:25:58.388Z,1755987958.388 [DAT](INFO): DAT read: user:1747>
2025-08-23T22:25:58.400Z,1755987958.400 [DAT](INFO): DAT read: Tx time:22:25:58.1965
2025-08-23T22:25:58.402Z,1755987958.402 [DAT](INFO): Ping request sent.
2025-08-23T22:25:58.402Z,1755987958.402 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:25:58.403Z,1755987958.403 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-23T22:25:58.415Z,1755987958.415 [DAT](INFO): direction in FSK: [0.910075,-0.286946,0.299041]
2025-08-23T22:25:58.415Z,1755987958.415 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:58.416Z,1755987958.416 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:58.453Z,1755987958.453 [DAT](INFO): publishing transmit ping time
2025-08-23T22:25:58.453Z,1755987958.453 [DAT](INFO): publishing direction and range info
2025-08-23T22:25:58.593Z,1755987958.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.700000 m,
deltaT: 3.527983 s,
deltaX: 0.500000 m,
approachRate: 0.141724 m/s,
rangeRepo size: 4
2025-08-23T22:25:58.599Z,1755987958.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.619934 m,
bearing: 124.975912 deg,
lat: 36.779404 deg,
lon: -121.859584 deg,
deltaT: 3.527983 s,
deltaX: 0.496826 m,
approachRate: 0.140824 m/s,
posRepo size: 4
2025-08-23T22:25:58.599Z,1755987958.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-08-23T22:25:58.898Z,1755987958.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-08-23T22:25:59.054Z,1755987959.054 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:25:59.305Z,1755987959.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-08-23T22:25:59.730Z,1755987959.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-08-23T22:26:00.109Z,1755987960.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-08-23T22:26:00.564Z,1755987960.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-08-23T22:26:00.919Z,1755987960.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-08-23T22:26:01.329Z,1755987961.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-08-23T22:26:01.384Z,1755987961.384 [DAT](INFO): DAT read: Rx Time:22:26:00.6185
2025-08-23T22:26:01.385Z,1755987961.385 [DAT](INFO): Rx dataTimestamp_ set to:1755987961.384627
2025-08-23T22:26:01.758Z,1755987961.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-08-23T22:26:01.895Z,1755987961.895 [DAT](INFO): DAT read: 22:26:00.6185 LVL= 27600, 29393, 21394, 32755, AGC= 50, IDX= 435,-0.01, 2.395, 0.937,-3.125, 2.656, PHS=-0.159,-1.674, 0.458, RAW= 166.3, 14.3, CAL= 166.9, 17.3, ROT= 343.1, -17.3
2025-08-23T22:26:01.896Z,1755987961.896 [DAT](INFO): got valid direction response:
22:26:00.6185 LVL= 27600, 29393, 21394, 32755, AGC= 50, IDX= 435,-0.01, 2.395, 0.937,-3.125, 2.656, PHS=-0.159,-1.674, 0.458, RAW= 166.3, 14.3, CAL= 166.9, 17.3, ROT= 343.1, -17.3
2025-08-23T22:26:01.897Z,1755987961.897 [DAT](INFO): DAT read: Bearing 327.3, -14.0 (Local)
2025-08-23T22:26:01.897Z,1755987961.897 [DAT](INFO): Local bearing/azimuth received:
Bearing 327.3, -14.0 (Local)
2025-08-23T22:26:01.899Z,1755987961.899 [DAT](INFO): DAT read: Range 11 to 50 : 13.3 m (Round-trip 17.8 ms) speed -0.2 m/s
2025-08-23T22:26:01.899Z,1755987961.899 [DAT](INFO): DAT read: user:1748>
2025-08-23T22:26:01.900Z,1755987961.900 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-23T22:26:01.901Z,1755987961.901 [DAT](INFO): direction in FSK: [0.913528,-0.277551,0.297375]
2025-08-23T22:26:01.901Z,1755987961.901 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:02.140Z,1755987962.140 [DAT](INFO): DAT read: Tx time:22:26:01.7465
2025-08-23T22:26:02.140Z,1755987962.140 [DAT](INFO): Ping request sent.
2025-08-23T22:26:02.140Z,1755987962.140 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:02.140Z,1755987962.140 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:02.202Z,1755987962.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.300000 m,
deltaT: 3.527860 s,
deltaX: 0.600000 m,
approachRate: 0.170075 m/s,
rangeRepo size: 4
2025-08-23T22:26:02.205Z,1755987962.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.216134 m,
bearing: 125.821149 deg,
lat: 36.779405 deg,
lon: -121.859583 deg,
deltaT: 3.527860 s,
deltaX: 0.596200 m,
approachRate: 0.168998 m/s,
posRepo size: 4
2025-08-23T22:26:02.210Z,1755987962.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.22 m.
2025-08-23T22:26:02.564Z,1755987962.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.22 m.
2025-08-23T22:26:02.954Z,1755987962.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.22 m.
2025-08-23T22:26:03.342Z,1755987963.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.22 m.
2025-08-23T22:26:03.772Z,1755987963.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.22 m.
2025-08-23T22:26:04.171Z,1755987964.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.22 m.
2025-08-23T22:26:04.583Z,1755987964.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.22 m.
2025-08-23T22:26:04.910Z,1755987964.910 [DAT](INFO): DAT read: Rx Time:22:26:04.1694
2025-08-23T22:26:04.911Z,1755987964.911 [DAT](INFO): Rx dataTimestamp_ set to:1755987964.910682
2025-08-23T22:26:04.988Z,1755987964.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.22 m.
2025-08-23T22:26:05.367Z,1755987965.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.22 m.
2025-08-23T22:26:05.429Z,1755987965.429 [DAT](INFO): DAT read: 22:26:04.1694 LVL= 30016, 27601, 21218, 32755, AGC= 48, IDX= 428,-0.41, 2.197, 0.730, 2.943, 2.443, PHS=-0.144,-1.668, 0.456, RAW= 165.9, 14.2, CAL= 166.4, 17.0, ROT= 343.6, -17.0
2025-08-23T22:26:05.444Z,1755987965.444 [DAT](INFO): got valid direction response:
22:26:04.1694 LVL= 30016, 27601, 21218, 32755, AGC= 48, IDX= 428,-0.41, 2.197, 0.730, 2.943, 2.443, PHS=-0.144,-1.668, 0.456, RAW= 165.9, 14.2, CAL= 166.4, 17.0, ROT= 343.6, -17.0
2025-08-23T22:26:05.445Z,1755987965.445 [DAT](INFO): DAT read: Bearing 327.3, -13.8 (Local)
2025-08-23T22:26:05.445Z,1755987965.445 [DAT](INFO): Local bearing/azimuth received:
Bearing 327.3, -13.8 (Local)
2025-08-23T22:26:05.451Z,1755987965.451 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (Round-trip 18.7 ms) speed -0.2 m/s
2025-08-23T22:26:05.452Z,1755987965.452 [DAT](INFO): DAT read: user:1749>
2025-08-23T22:26:05.453Z,1755987965.453 [DAT](INFO): DAT read: Tx time:22:26:05.2965
2025-08-23T22:26:05.459Z,1755987965.459 [DAT](INFO): Ping request sent.
2025-08-23T22:26:05.460Z,1755987965.460 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:05.461Z,1755987965.461 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-23T22:26:05.469Z,1755987965.469 [DAT](INFO): direction in FSK: [0.917397,-0.270004,0.292372]
2025-08-23T22:26:05.475Z,1755987965.475 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:05.476Z,1755987965.476 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:05.504Z,1755987965.504 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:05.505Z,1755987965.505 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:05.808Z,1755987965.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.000000 m,
deltaT: 3.529658 s,
deltaX: 0.700000 m,
approachRate: 0.198319 m/s,
rangeRepo size: 4
2025-08-23T22:26:05.811Z,1755987965.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.911991 m,
bearing: 126.631056 deg,
lat: 36.779406 deg,
lon: -121.859583 deg,
deltaT: 3.529658 s,
deltaX: 0.695857 m,
approachRate: 0.197146 m/s,
posRepo size: 4
2025-08-23T22:26:05.811Z,1755987965.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:26:06.188Z,1755987966.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:26:06.607Z,1755987966.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:26:06.978Z,1755987966.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:26:07.384Z,1755987967.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:26:07.797Z,1755987967.797 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 81.14, 88.61,
2025-08-23T22:26:07.813Z,1755987967.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:26:08.222Z,1755987968.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:26:08.439Z,1755987968.439 [DAT](INFO): DAT read: Rx Time:22:26:07.7203
2025-08-23T22:26:08.439Z,1755987968.439 [DAT](INFO): Rx dataTimestamp_ set to:1755987968.438952
2025-08-23T22:26:08.654Z,1755987968.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:26:09.015Z,1755987969.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-08-23T22:26:09.202Z,1755987969.202 [DAT](INFO): DAT read: 22:26:07.7203 LVL= 31376, 28081, 21618, 32755, AGC= 48, IDX= 437, 0.08, 0.859,-0.621, 1.599, 1.102, PHS=-0.141,-1.679, 0.452, RAW= 165.6, 14.2, CAL= 166.2, 17.1, ROT= 343.8, -17.1
2025-08-23T22:26:09.204Z,1755987969.204 [DAT](INFO): got valid direction response:
22:26:07.7203 LVL= 31376, 28081, 21618, 32755, AGC= 48, IDX= 437, 0.08, 0.859,-0.621, 1.599, 1.102, PHS=-0.141,-1.679, 0.452, RAW= 165.6, 14.2, CAL= 166.2, 17.1, ROT= 343.8, -17.1
2025-08-23T22:26:09.205Z,1755987969.205 [DAT](INFO): DAT read: Bearing 327.5, -13.4 (Local)
2025-08-23T22:26:09.205Z,1755987969.205 [DAT](INFO): Local bearing/azimuth received:
Bearing 327.5, -13.4 (Local)
2025-08-23T22:26:09.207Z,1755987969.207 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (Round-trip 19.6 ms) speed -0.2 m/s
2025-08-23T22:26:09.208Z,1755987969.208 [DAT](INFO): DAT read: user:1750>
2025-08-23T22:26:09.209Z,1755987969.209 [DAT](INFO): DAT read: Tx time:22:26:08.8465
2025-08-23T22:26:09.210Z,1755987969.210 [DAT](INFO): Ping request sent.
2025-08-23T22:26:09.210Z,1755987969.210 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:09.210Z,1755987969.210 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-23T22:26:09.212Z,1755987969.212 [DAT](INFO): direction in FSK: [0.917842,-0.266658,0.294040]
2025-08-23T22:26:09.212Z,1755987969.212 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:09.212Z,1755987969.212 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:09.216Z,1755987969.216 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:09.216Z,1755987969.216 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:09.432Z,1755987969.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.700000 m,
deltaT: 3.778525 s,
deltaX: 0.700000 m,
approachRate: 0.185257 m/s,
rangeRepo size: 4
2025-08-23T22:26:09.434Z,1755987969.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.607615 m,
bearing: 126.976988 deg,
lat: 36.779406 deg,
lon: -121.859583 deg,
deltaT: 3.778525 s,
deltaX: 0.695624 m,
approachRate: 0.184099 m/s,
posRepo size: 4
2025-08-23T22:26:09.434Z,1755987969.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:09.833Z,1755987969.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:10.238Z,1755987970.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:10.672Z,1755987970.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:11.020Z,1755987971.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:11.434Z,1755987971.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:11.854Z,1755987971.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:11.967Z,1755987971.967 [DAT](INFO): DAT read: Rx Time:22:26:11.2710
2025-08-23T22:26:11.967Z,1755987971.967 [DAT](INFO): Rx dataTimestamp_ set to:1755987971.966783
2025-08-23T22:26:12.265Z,1755987972.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:12.703Z,1755987972.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:12.743Z,1755987972.743 [DAT](INFO): DAT read: 22:26:11.2710 LVL= 32640, 32753, 22834, 32755, AGC= 50, IDX= 429, 0.23, 1.215,-0.312, 1.958, 1.416, PHS=-0.098,-1.682, 0.498, RAW= 165.3, 13.1, CAL= 165.7, 15.4, ROT= 344.3, -15.4
2025-08-23T22:26:12.745Z,1755987972.745 [DAT](INFO): got valid direction response:
22:26:11.2710 LVL= 32640, 32753, 22834, 32755, AGC= 50, IDX= 429, 0.23, 1.215,-0.312, 1.958, 1.416, PHS=-0.098,-1.682, 0.498, RAW= 165.3, 13.1, CAL= 165.7, 15.4, ROT= 344.3, -15.4
2025-08-23T22:26:12.746Z,1755987972.746 [DAT](INFO): DAT read: Bearing 326.0, -13.1 (Local)
2025-08-23T22:26:12.747Z,1755987972.747 [DAT](INFO): Local bearing/azimuth received:
Bearing 326.0, -13.1 (Local)
2025-08-23T22:26:12.749Z,1755987972.749 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (Round-trip 20.4 ms) speed -0.2 m/s
2025-08-23T22:26:12.798Z,1755987972.798 [DAT](INFO): DAT read: user:1751>
2025-08-23T22:26:12.799Z,1755987972.799 [DAT](INFO): DAT read: Tx time:22:26:12.3965
2025-08-23T22:26:12.800Z,1755987972.800 [DAT](INFO): Ping request sent.
2025-08-23T22:26:12.800Z,1755987972.800 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:12.800Z,1755987972.800 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-23T22:26:12.814Z,1755987972.814 [DAT](INFO): direction in FSK: [0.928127,-0.260885,0.265556]
2025-08-23T22:26:12.814Z,1755987972.814 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:12.814Z,1755987972.814 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:12.825Z,1755987972.825 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:12.842Z,1755987972.842 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:13.063Z,1755987973.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 3.541034 s,
deltaX: 0.600000 m,
approachRate: 0.169442 m/s,
rangeRepo size: 4
2025-08-23T22:26:13.066Z,1755987973.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.203842 m,
bearing: 127.943631 deg,
lat: 36.779406 deg,
lon: -121.859583 deg,
deltaT: 3.541034 s,
deltaX: 0.596227 m,
approachRate: 0.168376 m/s,
posRepo size: 4
2025-08-23T22:26:13.066Z,1755987973.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:26:13.442Z,1755987973.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:26:13.868Z,1755987973.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:26:13.869Z,1755987973.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 15.30 m and bearing: 128.076663 deg. Not drifting fast enough.
2025-08-23T22:26:14.266Z,1755987974.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:26:14.268Z,1755987974.268 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-23T22:26:14.268Z,1755987974.268 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-23T22:26:14.268Z,1755987974.268 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-23T22:26:14.268Z,1755987974.268 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-23T22:26:14.745Z,1755987974.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:26:15.059Z,1755987975.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:26:15.471Z,1755987975.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:26:15.507Z,1755987975.507 [DAT](INFO): DAT read: Rx Time:22:26:14.8218
2025-08-23T22:26:15.508Z,1755987975.508 [DAT](INFO): Rx dataTimestamp_ set to:1755987975.507402
2025-08-23T22:26:15.895Z,1755987975.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-23T22:26:16.268Z,1755987976.268 [DAT](INFO): DAT read: 22:26:14.8218 LVL= 31408, 30833, 22194, 32755, AGC= 53, IDX= 437, 0.31, 0.532,-0.964, 1.242, 0.711, PHS=-0.077,-1.630, 0.487, RAW= 164.9, 12.8, CAL= 165.3, 14.9, ROT= 344.7, -14.9
2025-08-23T22:26:16.269Z,1755987976.269 [DAT](INFO): got valid direction response:
22:26:14.8218 LVL= 31408, 30833, 22194, 32755, AGC= 53, IDX= 437, 0.31, 0.532,-0.964, 1.242, 0.711, PHS=-0.077,-1.630, 0.487, RAW= 164.9, 12.8, CAL= 165.3, 14.9, ROT= 344.7, -14.9
2025-08-23T22:26:16.270Z,1755987976.270 [DAT](INFO): DAT read: Bearing 325.8, -12.5 (Local)
2025-08-23T22:26:16.271Z,1755987976.271 [DAT](INFO): Local bearing/azimuth received:
Bearing 325.8, -12.5 (Local)
2025-08-23T22:26:16.272Z,1755987976.272 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (Round-trip 21.1 ms) speed -0.2 m/s
2025-08-23T22:26:16.273Z,1755987976.273 [DAT](INFO): DAT read: user:1752>
2025-08-23T22:26:16.283Z,1755987976.283 [DAT](INFO): DAT read: Tx time:22:26:15.9465
2025-08-23T22:26:16.284Z,1755987976.284 [DAT](INFO): Ping request sent.
2025-08-23T22:26:16.285Z,1755987976.285 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:16.291Z,1755987976.291 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-23T22:26:16.292Z,1755987976.292 [DAT](INFO): direction in FSK: [0.932125,-0.255001,0.257133]
2025-08-23T22:26:16.292Z,1755987976.292 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:16.292Z,1755987976.292 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:16.296Z,1755987976.296 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:16.296Z,1755987976.296 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:16.329Z,1755987976.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 3.526946 s,
deltaX: 0.500000 m,
approachRate: 0.141766 m/s,
rangeRepo size: 4
2025-08-23T22:26:16.352Z,1755987976.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.700677 m,
bearing: 128.686925 deg,
lat: 36.779406 deg,
lon: -121.859583 deg,
deltaT: 3.526946 s,
deltaX: 0.496835 m,
approachRate: 0.140868 m/s,
posRepo size: 4
2025-08-23T22:26:16.353Z,1755987976.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:26:16.756Z,1755987976.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:26:17.112Z,1755987977.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:26:17.115Z,1755987977.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:26:17.270Z,1755987977.270 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:26:17.270Z,1755987977.270 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:26:17.271Z,1755987977.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:26:17.490Z,1755987977.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:26:17.523Z,1755987977.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239313
2025-08-23T22:26:17.774Z,1755987977.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490454
2025-08-23T22:26:17.935Z,1755987977.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:26:18.027Z,1755987978.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743210
2025-08-23T22:26:18.279Z,1755987978.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994582
2025-08-23T22:26:18.315Z,1755987978.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:26:18.530Z,1755987978.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246416
2025-08-23T22:26:18.780Z,1755987978.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:26:18.783Z,1755987978.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498609
2025-08-23T22:26:19.035Z,1755987979.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750576
2025-08-23T22:26:19.129Z,1755987979.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:26:19.286Z,1755987979.286 [DAT](INFO): DAT read: Rx Time:22:26:18.3728
2025-08-23T22:26:19.287Z,1755987979.287 [DAT](INFO): Rx dataTimestamp_ set to:1755987979.286666
2025-08-23T22:26:19.287Z,1755987979.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003497
2025-08-23T22:26:19.509Z,1755987979.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-23T22:26:19.540Z,1755987979.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255207
2025-08-23T22:26:19.796Z,1755987979.796 [DAT](INFO): DAT read: 22:26:18.3728 LVL= 32240, 31025, 23202, 32755, AGC= 50, IDX= 431,-0.10, 0.064,-1.419, 0.763, 0.265, PHS=-0.099,-1.639, 0.454, RAW= 164.8, 13.6, CAL= 165.2, 16.0, ROT= 344.8, -16.0
2025-08-23T22:26:19.797Z,1755987979.797 [DAT](INFO): got valid direction response:
22:26:18.3728 LVL= 32240, 31025, 23202, 32755, AGC= 50, IDX= 431,-0.10, 0.064,-1.419, 0.763, 0.265, PHS=-0.099,-1.639, 0.454, RAW= 164.8, 13.6, CAL= 165.2, 16.0, ROT= 344.8, -16.0
2025-08-23T22:26:19.798Z,1755987979.798 [DAT](INFO): DAT read: Bearing 327.0, -12.1 (Local)
2025-08-23T22:26:19.798Z,1755987979.798 [DAT](INFO): Local bearing/azimuth received:
Bearing 327.0, -12.1 (Local)
2025-08-23T22:26:19.800Z,1755987979.800 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (Round-trip 22.1 ms) speed -0.2 m/s
2025-08-23T22:26:19.800Z,1755987979.800 [DAT](INFO): DAT read: user:1753>
2025-08-23T22:26:19.801Z,1755987979.801 [DAT](INFO): DAT read: Tx time:22:26:19.4965
2025-08-23T22:26:19.802Z,1755987979.802 [DAT](INFO): Ping request sent.
2025-08-23T22:26:19.802Z,1755987979.802 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:19.802Z,1755987979.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:26:19.803Z,1755987979.803 [DAT](INFO): direction in FSK: [0.927633,-0.252032,0.275637]
2025-08-23T22:26:19.803Z,1755987979.803 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:19.803Z,1755987979.803 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:19.807Z,1755987979.807 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:19.807Z,1755987979.807 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:19.986Z,1755987979.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.500000 m,
deltaT: 3.527898 s,
deltaX: 0.700000 m,
approachRate: 0.198418 m/s,
rangeRepo size: 4
2025-08-23T22:26:19.988Z,1755987979.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.396238 m,
bearing: 129.136235 deg,
lat: 36.779406 deg,
lon: -121.859583 deg,
deltaT: 3.527898 s,
deltaX: 0.695561 m,
approachRate: 0.197160 m/s,
posRepo size: 4
2025-08-23T22:26:19.988Z,1755987979.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:26:20.336Z,1755987980.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:26:20.824Z,1755987980.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:26:21.152Z,1755987981.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:26:21.592Z,1755987981.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:26:21.979Z,1755987981.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:26:22.383Z,1755987982.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:26:22.819Z,1755987982.819 [DAT](INFO): DAT read: Rx Time:22:26:21.9235
2025-08-23T22:26:22.820Z,1755987982.820 [DAT](INFO): Rx dataTimestamp_ set to:1755987982.819223
2025-08-23T22:26:22.865Z,1755987982.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:26:23.225Z,1755987983.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-23T22:26:23.328Z,1755987983.328 [DAT](INFO): DAT read: 22:26:21.9235 LVL= 26272, 30833, 21058, 32755, AGC= 47, IDX= 438,-0.20,-2.281, 2.546,-1.584,-2.076, PHS=-0.103,-1.617, 0.447, RAW= 164.9, 13.7, CAL= 165.4, 16.2, ROT= 344.6, -16.2
2025-08-23T22:26:23.330Z,1755987983.330 [DAT](INFO): got valid direction response:
22:26:21.9235 LVL= 26272, 30833, 21058, 32755, AGC= 47, IDX= 438,-0.20,-2.281, 2.546,-1.584,-2.076, PHS=-0.103,-1.617, 0.447, RAW= 164.9, 13.7, CAL= 165.4, 16.2, ROT= 344.6, -16.2
2025-08-23T22:26:23.330Z,1755987983.330 [DAT](INFO): DAT read: Bearing 327.8, -12.4 (Local)
2025-08-23T22:26:23.331Z,1755987983.331 [DAT](INFO): Local bearing/azimuth received:
Bearing 327.8, -12.4 (Local)
2025-08-23T22:26:23.332Z,1755987983.332 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (Round-trip 22.8 ms) speed 0.0 m/s
2025-08-23T22:26:23.333Z,1755987983.333 [DAT](INFO): DAT read: user:1754>
2025-08-23T22:26:23.334Z,1755987983.334 [DAT](INFO): DAT read: Tx time:22:26:23.0465
2025-08-23T22:26:23.334Z,1755987983.334 [DAT](INFO): Ping request sent.
2025-08-23T22:26:23.334Z,1755987983.334 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:23.335Z,1755987983.335 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-23T22:26:23.336Z,1755987983.336 [DAT](INFO): direction in FSK: [0.925815,-0.255012,0.278991]
2025-08-23T22:26:23.336Z,1755987983.336 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:23.336Z,1755987983.336 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:23.339Z,1755987983.339 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:23.339Z,1755987983.339 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:23.646Z,1755987983.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.100000 m,
deltaT: 3.532327 s,
deltaX: 0.600000 m,
approachRate: 0.169860 m/s,
rangeRepo size: 4
2025-08-23T22:26:23.648Z,1755987983.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.992420 m,
bearing: 129.988726 deg,
lat: 36.779406 deg,
lon: -121.859584 deg,
deltaT: 3.532327 s,
deltaX: 0.596182 m,
approachRate: 0.168779 m/s,
posRepo size: 4
2025-08-23T22:26:23.648Z,1755987983.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:24.034Z,1755987984.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:24.433Z,1755987984.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:24.870Z,1755987984.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:25.231Z,1755987985.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:25.634Z,1755987985.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:26.074Z,1755987986.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:26.347Z,1755987986.347 [DAT](INFO): DAT read: Rx Time:22:26:25.4735
2025-08-23T22:26:26.348Z,1755987986.348 [DAT](INFO): Rx dataTimestamp_ set to:1755987986.347468
2025-08-23T22:26:26.443Z,1755987986.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:26.858Z,1755987986.858 [DAT](INFO): DAT read: 22:26:25.4735 LVL= 25632, 29345, 20402, 32755, AGC= 48, IDX= 438, 0.09,-2.408, 2.435,-1.620,-2.183, PHS=-0.123,-1.620, 0.519, RAW= 167.0, 12.8, CAL= 167.3, 15.2, ROT= 342.7, -15.2
2025-08-23T22:26:26.859Z,1755987986.859 [DAT](INFO): got valid direction response:
22:26:25.4735 LVL= 25632, 29345, 20402, 32755, AGC= 48, IDX= 438, 0.09,-2.408, 2.435,-1.620,-2.183, PHS=-0.123,-1.620, 0.519, RAW= 167.0, 12.8, CAL= 167.3, 15.2, ROT= 342.7, -15.2
2025-08-23T22:26:26.860Z,1755987986.860 [DAT](INFO): DAT read: Bearing 329.4, -13.9 (Local)
2025-08-23T22:26:26.860Z,1755987986.860 [DAT](INFO): Local bearing/azimuth received:
Bearing 329.4, -13.9 (Local)
2025-08-23T22:26:26.862Z,1755987986.862 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (Round-trip 22.8 ms) speed 0.0 m/s
2025-08-23T22:26:26.862Z,1755987986.862 [DAT](INFO): DAT read: user:1755>
2025-08-23T22:26:26.863Z,1755987986.863 [DAT](INFO): DAT read: Tx time:22:26:26.5965
2025-08-23T22:26:26.863Z,1755987986.863 [DAT](INFO): Ping request sent.
2025-08-23T22:26:26.863Z,1755987986.863 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:26.864Z,1755987986.864 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-23T22:26:26.865Z,1755987986.865 [DAT](INFO): direction in FSK: [0.921360,-0.286971,0.262189]
2025-08-23T22:26:26.865Z,1755987986.865 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:26.902Z,1755987986.902 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:26.905Z,1755987986.905 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:26.905Z,1755987986.905 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:27.033Z,1755987987.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.100000 m,
deltaT: 3.528936 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:26:27.036Z,1755987987.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.992517 m,
bearing: 130.693501 deg,
lat: 36.779406 deg,
lon: -121.859585 deg,
deltaT: 3.528936 s,
deltaX: 0.000097 m,
approachRate: 0.000028 m/s,
posRepo size: 4
2025-08-23T22:26:27.036Z,1755987987.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:27.590Z,1755987987.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:28.105Z,1755987988.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:28.469Z,1755987988.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:28.891Z,1755987988.891 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS2134982,35.0, +10.4, 0.0,1491.3, 0
2025-08-23T22:26:28.907Z,1755987988.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:29.177Z,1755987989.177 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:26:29.274Z,1755987989.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:29.678Z,1755987989.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:29.878Z,1755987989.878 [DAT](INFO): DAT read: Rx Time:22:26:29.0231
2025-08-23T22:26:29.879Z,1755987989.879 [DAT](INFO): Rx dataTimestamp_ set to:1755987989.878372
2025-08-23T22:26:30.138Z,1755987990.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-23T22:26:30.178Z,1755987990.178 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:26:30.384Z,1755987990.384 [DAT](INFO): DAT read: 22:26:29.0231 LVL= 26960, 27953, 19506, 32755, AGC= 48, IDX= 434, 0.01,-3.027, 1.963,-2.010,-2.690, PHS=-0.235,-1.586, 0.635, RAW= 172.9, 12.2, CAL= 173.0, 14.6, ROT= 337.0, -14.6
2025-08-23T22:26:30.386Z,1755987990.386 [DAT](INFO): got valid direction response:
22:26:29.0231 LVL= 26960, 27953, 19506, 32755, AGC= 48, IDX= 434, 0.01,-3.027, 1.963,-2.010,-2.690, PHS=-0.235,-1.586, 0.635, RAW= 172.9, 12.2, CAL= 173.0, 14.6, ROT= 337.0, -14.6
2025-08-23T22:26:30.387Z,1755987990.387 [DAT](INFO): DAT read: Bearing 334.8, -18.6 (Local)
2025-08-23T22:26:30.387Z,1755987990.387 [DAT](INFO): Local bearing/azimuth received:
Bearing 334.8, -18.6 (Local)
2025-08-23T22:26:30.388Z,1755987990.388 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (Round-trip 22.4 ms) speed 0.1 m/s
2025-08-23T22:26:30.389Z,1755987990.389 [DAT](INFO): DAT read: user:1756>
2025-08-23T22:26:30.390Z,1755987990.390 [DAT](INFO): DAT read: Tx time:22:26:30.1465
2025-08-23T22:26:30.390Z,1755987990.390 [DAT](INFO): Ping request sent.
2025-08-23T22:26:30.390Z,1755987990.390 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:30.391Z,1755987990.391 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-23T22:26:30.392Z,1755987990.392 [DAT](INFO): direction in FSK: [0.890781,-0.378114,0.252069]
2025-08-23T22:26:30.392Z,1755987990.392 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:30.392Z,1755987990.392 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:30.395Z,1755987990.395 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:30.395Z,1755987990.395 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:30.541Z,1755987990.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.799999 m,
deltaT: 3.527124 s,
deltaX: -0.300001 m,
approachRate: -0.085055 m/s,
rangeRepo size: 4
2025-08-23T22:26:30.551Z,1755987990.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.694378 m,
bearing: 129.922904 deg,
lat: 36.779405 deg,
lon: -121.859585 deg,
deltaT: 3.527124 s,
deltaX: -0.298140 m,
approachRate: -0.084528 m/s,
posRepo size: 4
2025-08-23T22:26:30.551Z,1755987990.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:26:30.958Z,1755987990.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:26:31.303Z,1755987991.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:26:31.713Z,1755987991.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:26:32.137Z,1755987992.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:26:32.518Z,1755987992.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:26:32.984Z,1755987992.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:26:33.332Z,1755987993.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:26:33.403Z,1755987993.403 [DAT](INFO): DAT read: Rx Time:22:26:32.5723
2025-08-23T22:26:33.403Z,1755987993.403 [DAT](INFO): Rx dataTimestamp_ set to:1755987993.402848
2025-08-23T22:26:33.742Z,1755987993.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-23T22:26:33.927Z,1755987993.927 [DAT](INFO): DAT read: 22:26:32.5723 LVL= 32368, 32753, 24562, 32755, AGC= 47, IDX= 426,-0.23,-2.691, 2.553,-1.233,-2.155, PHS=-0.434,-1.529, 0.878, RAW= 183.0, 10.4, CAL= 182.9, 12.2, ROT= 327.1, -12.2
2025-08-23T22:26:33.937Z,1755987993.937 [DAT](INFO): got valid direction response:
22:26:32.5723 LVL= 32368, 32753, 24562, 32755, AGC= 47, IDX= 426,-0.23,-2.691, 2.553,-1.233,-2.155, PHS=-0.434,-1.529, 0.878, RAW= 183.0, 10.4, CAL= 182.9, 12.2, ROT= 327.1, -12.2
2025-08-23T22:26:33.943Z,1755987993.943 [DAT](INFO): DAT read: Bearing 341.9, -27.8 (Local)
2025-08-23T22:26:33.943Z,1755987993.943 [DAT](INFO): Local bearing/azimuth received:
Bearing 341.9, -27.8 (Local)
2025-08-23T22:26:33.945Z,1755987993.945 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (Round-trip 21.6 ms) speed 0.0 m/s
2025-08-23T22:26:33.950Z,1755987993.950 [DAT](INFO): DAT read: user:1757>
2025-08-23T22:26:33.951Z,1755987993.951 [DAT](INFO): DAT read: Tx time:22:26:33.6965
2025-08-23T22:26:33.951Z,1755987993.951 [DAT](INFO): Ping request sent.
2025-08-23T22:26:33.952Z,1755987993.952 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:33.952Z,1755987993.952 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-23T22:26:33.966Z,1755987993.966 [DAT](INFO): direction in FSK: [0.820658,-0.530907,0.211325]
2025-08-23T22:26:33.966Z,1755987993.966 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:33.966Z,1755987993.966 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:33.979Z,1755987993.979 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:33.979Z,1755987993.979 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:34.173Z,1755987994.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.200001 m,
deltaT: 3.530553 s,
deltaX: -0.599998 m,
approachRate: -0.169945 m/s,
rangeRepo size: 4
2025-08-23T22:26:34.181Z,1755987994.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.098215 m,
bearing: 127.270604 deg,
lat: 36.779402 deg,
lon: -121.859585 deg,
deltaT: 3.530553 s,
deltaX: -0.596163 m,
approachRate: -0.168858 m/s,
posRepo size: 4
2025-08-23T22:26:34.186Z,1755987994.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:34.534Z,1755987994.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:35.009Z,1755987995.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:35.364Z,1755987995.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:35.745Z,1755987995.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:36.169Z,1755987996.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:36.588Z,1755987996.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:36.931Z,1755987996.931 [DAT](INFO): DAT read: Rx Time:22:26:36.1213
2025-08-23T22:26:36.931Z,1755987996.931 [DAT](INFO): Rx dataTimestamp_ set to:1755987996.930790
2025-08-23T22:26:37.026Z,1755987997.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:37.429Z,1755987997.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:37.435Z,1755987997.435 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (Round-trip 20.7 ms) speed 0.1 m/s
2025-08-23T22:26:37.436Z,1755987997.436 [DAT](INFO): DAT read: user:1758>
2025-08-23T22:26:37.437Z,1755987997.437 [DAT](INFO): DAT read: Tx time:22:26:37.2465
2025-08-23T22:26:37.437Z,1755987997.437 [DAT](INFO): Ping request sent.
2025-08-23T22:26:37.437Z,1755987997.437 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:37.438Z,1755987997.438 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-08-23T22:26:37.438Z,1755987997.438 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:37.438Z,1755987997.438 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:37.792Z,1755987997.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.500000 m,
deltaT: 3.525161 s,
deltaX: -0.700001 m,
approachRate: -0.198573 m/s,
rangeRepo size: 4
2025-08-23T22:26:37.793Z,1755987997.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:38.229Z,1755987998.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:38.594Z,1755987998.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:39.079Z,1755987999.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:39.437Z,1755987999.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:39.835Z,1755987999.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:40.261Z,1755988000.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:40.468Z,1755988000.468 [DAT](INFO): DAT read: Rx Time:22:26:39.6706
2025-08-23T22:26:40.468Z,1755988000.468 [DAT](INFO): Rx dataTimestamp_ set to:1755988000.467829
2025-08-23T22:26:40.634Z,1755988000.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-23T22:26:40.976Z,1755988000.976 [DAT](INFO): DAT read: 22:26:39.6706 LVL= 32752, 32753, 27490, 32755, AGC= 51, IDX= 441,-0.24, 2.447, 2.171,-1.704,-2.654, PHS=-1.081,-1.413, 0.906, RAW= 202.4, 14.5, CAL= 203.4, 18.3, ROT= 306.6, -18.3
2025-08-23T22:26:40.977Z,1755988000.977 [DAT](INFO): got valid direction response:
22:26:39.6706 LVL= 32752, 32753, 27490, 32755, AGC= 51, IDX= 441,-0.24, 2.447, 2.171,-1.704,-2.654, PHS=-1.081,-1.413, 0.906, RAW= 202.4, 14.5, CAL= 203.4, 18.3, ROT= 306.6, -18.3
2025-08-23T22:26:40.980Z,1755988000.980 [DAT](INFO): DAT read: Bearing 17.6, -42.1 (Local)
2025-08-23T22:26:40.981Z,1755988000.981 [DAT](INFO): Local bearing/azimuth received:
Bearing 17.6, -42.1 (Local)
2025-08-23T22:26:40.984Z,1755988000.984 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (Round-trip 19.9 ms) speed 0.0 m/s
2025-08-23T22:26:40.984Z,1755988000.984 [DAT](INFO): DAT read: user:1759>
2025-08-23T22:26:40.985Z,1755988000.985 [DAT](INFO): DAT read: Tx time:22:26:40.7965
2025-08-23T22:26:40.986Z,1755988000.986 [DAT](INFO): Ping request sent.
2025-08-23T22:26:40.986Z,1755988000.986 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:40.986Z,1755988000.986 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-23T22:26:40.987Z,1755988000.987 [DAT](INFO): direction in FSK: [0.566071,-0.762215,0.313992]
2025-08-23T22:26:40.987Z,1755988000.987 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:40.988Z,1755988000.988 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:40.991Z,1755988000.991 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:40.991Z,1755988000.991 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:41.213Z,1755988001.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 3.536060 s,
deltaX: -0.600000 m,
approachRate: -0.169680 m/s,
rangeRepo size: 4
2025-08-23T22:26:41.219Z,1755988001.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.806454 m,
bearing: 123.054473 deg,
lat: 36.779401 deg,
lon: -121.859585 deg,
deltaT: 7.061221 s,
deltaX: -1.291761 m,
approachRate: -0.182937 m/s,
posRepo size: 4
2025-08-23T22:26:41.220Z,1755988001.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:26:41.587Z,1755988001.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:26:42.012Z,1755988002.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:26:42.438Z,1755988002.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:26:42.835Z,1755988002.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:26:43.259Z,1755988003.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:26:43.614Z,1755988003.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:26:43.995Z,1755988003.995 [DAT](INFO): DAT read: Rx Time:22:26:43.2202
2025-08-23T22:26:43.995Z,1755988003.995 [DAT](INFO): Rx dataTimestamp_ set to:1755988003.994847
2025-08-23T22:26:44.075Z,1755988004.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-08-23T22:26:44.508Z,1755988004.508 [DAT](INFO): DAT read: 22:26:43.2202 LVL= 27920, 23841, 21282, 31779, AGC= 46, IDX= 438,-0.37, 1.758, 2.003,-2.131,-3.071, PHS=-1.353,-1.165, 0.896, RAW= 214.3, 14.9, CAL= 216.8, 17.7, ROT= 293.2, -17.7
2025-08-23T22:26:44.509Z,1755988004.509 [DAT](INFO): got valid direction response:
22:26:43.2202 LVL= 27920, 23841, 21282, 31779, AGC= 46, IDX= 438,-0.37, 1.758, 2.003,-2.131,-3.071, PHS=-1.353,-1.165, 0.896, RAW= 214.3, 14.9, CAL= 216.8, 17.7, ROT= 293.2, -17.7
2025-08-23T22:26:44.510Z,1755988004.510 [DAT](INFO): DAT read: Bearing 39.4, -52.6 (Local)
2025-08-23T22:26:44.510Z,1755988004.510 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.4, -52.6 (Local)
2025-08-23T22:26:44.512Z,1755988004.512 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (Round-trip 19.6 ms) speed 0.0 m/s
2025-08-23T22:26:44.512Z,1755988004.512 [DAT](INFO): DAT read: user:1760>
2025-08-23T22:26:44.513Z,1755988004.513 [DAT](INFO): DAT read: Tx time:22:26:44.3464
2025-08-23T22:26:44.513Z,1755988004.513 [DAT](INFO): Ping request sent.
2025-08-23T22:26:44.513Z,1755988004.513 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:44.514Z,1755988004.514 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-23T22:26:44.515Z,1755988004.515 [DAT](INFO): direction in FSK: [0.375294,-0.875625,0.304033]
2025-08-23T22:26:44.515Z,1755988004.515 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:44.515Z,1755988004.515 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:44.535Z,1755988004.535 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:44.536Z,1755988004.536 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:44.578Z,1755988004.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.700000 m,
deltaT: 3.527992 s,
deltaX: -0.200000 m,
approachRate: -0.056689 m/s,
rangeRepo size: 4
2025-08-23T22:26:44.580Z,1755988004.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.607780 m,
bearing: 120.751932 deg,
lat: 36.779400 deg,
lon: -121.859586 deg,
deltaT: 3.527992 s,
deltaX: -0.198673 m,
approachRate: -0.056313 m/s,
posRepo size: 4
2025-08-23T22:26:44.581Z,1755988004.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:44.916Z,1755988004.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:45.337Z,1755988005.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:45.727Z,1755988005.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:46.166Z,1755988006.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:46.639Z,1755988006.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:47.075Z,1755988007.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:47.540Z,1755988007.540 [DAT](INFO): DAT read: Rx Time:22:26:46.7704
2025-08-23T22:26:47.541Z,1755988007.541 [DAT](INFO): Rx dataTimestamp_ set to:1755988007.540160
2025-08-23T22:26:47.640Z,1755988007.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-23T22:26:48.051Z,1755988008.051 [DAT](INFO): DAT read: 22:26:46.7704 LVL= 25008, 20081, 16370, 26019, AGC= 47, IDX= 439, 0.05, 2.884,-2.269,-0.812,-1.723, PHS=-1.574,-0.501, 0.867, RAW= 236.0, 11.4, CAL= 237.2, 13.1, ROT= 272.8, -13.1
2025-08-23T22:26:48.052Z,1755988008.052 [DAT](INFO): got valid direction response:
22:26:46.7704 LVL= 25008, 20081, 16370, 26019, AGC= 47, IDX= 439, 0.05, 2.884,-2.269,-0.812,-1.723, PHS=-1.574,-0.501, 0.867, RAW= 236.0, 11.4, CAL= 237.2, 13.1, ROT= 272.8, -13.1
2025-08-23T22:26:48.053Z,1755988008.053 [DAT](INFO): DAT read: Bearing 82.2, -65.5 (Local)
2025-08-23T22:26:48.054Z,1755988008.054 [DAT](INFO): Local bearing/azimuth received:
Bearing 82.2, -65.5 (Local)
2025-08-23T22:26:48.055Z,1755988008.055 [DAT](INFO): DAT read: Range 11 to 50 : 14.8 m (Round-trip 19.8 ms) speed -0.1 m/s
2025-08-23T22:26:48.056Z,1755988008.056 [DAT](INFO): DAT read: user:1761>
2025-08-23T22:26:48.056Z,1755988008.056 [DAT](INFO): DAT read: Tx time:22:26:47.8964
2025-08-23T22:26:48.057Z,1755988008.057 [DAT](INFO): Ping request sent.
2025-08-23T22:26:48.057Z,1755988008.057 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:48.057Z,1755988008.057 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-23T22:26:48.058Z,1755988008.058 [DAT](INFO): direction in FSK: [0.047578,-0.972813,0.226651]
2025-08-23T22:26:48.059Z,1755988008.059 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:48.059Z,1755988008.059 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:48.062Z,1755988008.062 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:48.062Z,1755988008.062 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:48.188Z,1755988008.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.800000 m,
deltaT: 3.545867 s,
deltaX: 0.100000 m,
approachRate: 0.028202 m/s,
rangeRepo size: 4
2025-08-23T22:26:48.205Z,1755988008.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.706975 m,
bearing: 112.577321 deg,
lat: 36.779395 deg,
lon: -121.859590 deg,
deltaT: 3.545867 s,
deltaX: 0.099195 m,
approachRate: 0.027975 m/s,
posRepo size: 4
2025-08-23T22:26:48.205Z,1755988008.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.71 m.
2025-08-23T22:26:48.567Z,1755988008.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.71 m.
2025-08-23T22:26:48.926Z,1755988008.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.71 m.
2025-08-23T22:26:49.319Z,1755988009.319 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000229035.0, +10.3, 0.0,1491.1, 0
2025-08-23T22:26:49.349Z,1755988009.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.71 m.
2025-08-23T22:26:49.725Z,1755988009.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.71 m.
2025-08-23T22:26:50.213Z,1755988010.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.71 m.
2025-08-23T22:26:50.591Z,1755988010.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.71 m.
2025-08-23T22:26:50.934Z,1755988010.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.71 m.
2025-08-23T22:26:51.070Z,1755988011.070 [DAT](INFO): DAT read: Rx Time:22:26:50.3212
2025-08-23T22:26:51.071Z,1755988011.071 [DAT](INFO): Rx dataTimestamp_ set to:1755988011.070678
2025-08-23T22:26:51.397Z,1755988011.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.71 m.
2025-08-23T22:26:51.587Z,1755988011.587 [DAT](INFO): DAT read: 22:26:50.3212 LVL= 21024, 16113, 11458, 20131, AGC= 46, IDX= 432,-0.28, 1.379, 2.995,-2.518, 3.051, PHS=-1.570,-0.011, 0.670, RAW= 252.7, 9.2, CAL= 252.0, 9.6, ROT= 258.0, -9.6
2025-08-23T22:26:51.588Z,1755988011.588 [DAT](INFO): got valid direction response:
22:26:50.3212 LVL= 21024, 16113, 11458, 20131, AGC= 46, IDX= 432,-0.28, 1.379, 2.995,-2.518, 3.051, PHS=-1.570,-0.011, 0.670, RAW= 252.7, 9.2, CAL= 252.0, 9.6, ROT= 258.0, -9.6
2025-08-23T22:26:51.589Z,1755988011.589 [DAT](INFO): DAT read: Bearing 131.9, -66.0 (Local)
2025-08-23T22:26:51.589Z,1755988011.589 [DAT](INFO): Local bearing/azimuth received:
Bearing 131.9, -66.0 (Local)
2025-08-23T22:26:51.590Z,1755988011.590 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (Round-trip 20.7 ms) speed -0.3 m/s
2025-08-23T22:26:51.591Z,1755988011.591 [DAT](INFO): DAT read: user:1762>
2025-08-23T22:26:51.594Z,1755988011.594 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-23T22:26:51.596Z,1755988011.596 [DAT](INFO): direction in FSK: [-0.205000,-0.964450,0.166769]
2025-08-23T22:26:51.596Z,1755988011.596 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:51.755Z,1755988011.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.500000 m,
deltaT: 3.531639 s,
deltaX: 0.700000 m,
approachRate: 0.198208 m/s,
rangeRepo size: 4
2025-08-23T22:26:51.757Z,1755988011.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.402461 m,
bearing: 109.629468 deg,
lat: 36.779391 deg,
lon: -121.859590 deg,
deltaT: 3.531639 s,
deltaX: 0.695486 m,
approachRate: 0.196930 m/s,
posRepo size: 4
2025-08-23T22:26:51.758Z,1755988011.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:26:51.827Z,1755988011.827 [DAT](INFO): DAT read: Tx time:22:26:51.4464
2025-08-23T22:26:51.827Z,1755988011.827 [DAT](INFO): Ping request sent.
2025-08-23T22:26:51.827Z,1755988011.827 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:51.827Z,1755988011.827 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:52.221Z,1755988012.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:26:52.625Z,1755988012.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:26:52.973Z,1755988012.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:26:53.394Z,1755988013.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:26:53.789Z,1755988013.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:26:54.253Z,1755988014.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:26:54.599Z,1755988014.599 [DAT](INFO): DAT read: Rx Time:22:26:53.8728
2025-08-23T22:26:54.599Z,1755988014.599 [DAT](INFO): Rx dataTimestamp_ set to:1755988014.598837
2025-08-23T22:26:54.650Z,1755988014.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:26:54.992Z,1755988014.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-08-23T22:26:55.366Z,1755988015.366 [DAT](INFO): DAT read: 22:26:53.8728 LVL= 31200, 19681, 22226, 32755, AGC= 50, IDX= 448, 0.11, 0.513, 2.482, 2.439, 2.253, PHS=-1.638, 0.274, 0.141, RAW= 273.5, 13.2, CAL= 273.2, 19.3, ROT= 236.8, -19.3
2025-08-23T22:26:55.367Z,1755988015.367 [DAT](INFO): got valid direction response:
22:26:53.8728 LVL= 31200, 19681, 22226, 32755, AGC= 50, IDX= 448, 0.11, 0.513, 2.482, 2.439, 2.253, PHS=-1.638, 0.274, 0.141, RAW= 273.5, 13.2, CAL= 273.2, 19.3, ROT= 236.8, -19.3
2025-08-23T22:26:55.368Z,1755988015.368 [DAT](INFO): DAT read: Bearing 160.2, -44.6 (Local)
2025-08-23T22:26:55.368Z,1755988015.368 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.2, -44.6 (Local)
2025-08-23T22:26:55.379Z,1755988015.379 [DAT](INFO): DAT read: Range 11 to 50 : 16.6 m (Round-trip 22.2 ms) speed -0.4 m/s
2025-08-23T22:26:55.379Z,1755988015.379 [DAT](INFO): DAT read: user:1763>
2025-08-23T22:26:55.380Z,1755988015.380 [DAT](INFO): DAT read: Tx time:22:26:54.9964
2025-08-23T22:26:55.380Z,1755988015.380 [DAT](INFO): Ping request sent.
2025-08-23T22:26:55.380Z,1755988015.380 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:55.381Z,1755988015.381 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-23T22:26:55.382Z,1755988015.382 [DAT](INFO): direction in FSK: [-0.516791,-0.789739,0.330514]
2025-08-23T22:26:55.382Z,1755988015.382 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:55.382Z,1755988015.382 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:55.410Z,1755988015.410 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:55.410Z,1755988015.410 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:55.555Z,1755988015.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.600000 m,
deltaT: 3.778345 s,
deltaX: 1.100000 m,
approachRate: 0.291133 m/s,
rangeRepo size: 4
2025-08-23T22:26:55.557Z,1755988015.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.495594 m,
bearing: 101.444500 deg,
lat: 36.779391 deg,
lon: -121.859593 deg,
deltaT: 3.778345 s,
deltaX: 1.093133 m,
approachRate: 0.289315 m/s,
posRepo size: 4
2025-08-23T22:26:55.562Z,1755988015.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.50 m.
2025-08-23T22:26:55.864Z,1755988015.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.50 m.
2025-08-23T22:26:56.345Z,1755988016.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.50 m.
2025-08-23T22:26:56.650Z,1755988016.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.50 m.
2025-08-23T22:26:57.069Z,1755988017.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.50 m.
2025-08-23T22:26:57.488Z,1755988017.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.50 m.
2025-08-23T22:26:57.863Z,1755988017.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.50 m.
2025-08-23T22:26:58.127Z,1755988018.127 [DAT](INFO): DAT read: Rx Time:22:26:57.4250
2025-08-23T22:26:58.127Z,1755988018.127 [DAT](INFO): Rx dataTimestamp_ set to:1755988018.126752
2025-08-23T22:26:58.320Z,1755988018.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.50 m.
2025-08-23T22:26:58.757Z,1755988018.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.50 m.
2025-08-23T22:26:58.888Z,1755988018.888 [DAT](INFO): DAT read: 22:26:57.4250 LVL= 32752, 22657, 23698, 31219, AGC= 52, IDX= 455, 0.41,-1.198, 0.973, 0.217, 0.319, PHS=-1.415, 0.699,-0.145, RAW= 293.4, 9.4, CAL= 290.9, 11.3, ROT= 219.1, -11.3
2025-08-23T22:26:58.889Z,1755988018.889 [DAT](INFO): got valid direction response:
22:26:57.4250 LVL= 32752, 22657, 23698, 31219, AGC= 52, IDX= 455, 0.41,-1.198, 0.973, 0.217, 0.319, PHS=-1.415, 0.699,-0.145, RAW= 293.4, 9.4, CAL= 290.9, 11.3, ROT= 219.1, -11.3
2025-08-23T22:26:58.890Z,1755988018.890 [DAT](INFO): DAT read: Bearing 191.9, -33.9 (Local)
2025-08-23T22:26:58.890Z,1755988018.890 [DAT](INFO): Local bearing/azimuth received:
Bearing 191.9, -33.9 (Local)
2025-08-23T22:26:58.892Z,1755988018.892 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (Round-trip 24.5 ms) speed -0.5 m/s
2025-08-23T22:26:58.892Z,1755988018.892 [DAT](INFO): DAT read: user:1764>
2025-08-23T22:26:58.893Z,1755988018.893 [DAT](INFO): DAT read: Tx time:22:26:58.5464
2025-08-23T22:26:58.894Z,1755988018.894 [DAT](INFO): Ping request sent.
2025-08-23T22:26:58.894Z,1755988018.894 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:26:58.894Z,1755988018.894 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-23T22:26:58.895Z,1755988018.895 [DAT](INFO): direction in FSK: [-0.761002,-0.618450,0.195946]
2025-08-23T22:26:58.895Z,1755988018.895 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:58.896Z,1755988018.896 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:58.899Z,1755988018.899 [DAT](INFO): publishing transmit ping time
2025-08-23T22:26:58.899Z,1755988018.899 [DAT](INFO): publishing direction and range info
2025-08-23T22:26:59.131Z,1755988019.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 3.528009 s,
deltaX: 1.699999 m,
approachRate: 0.481858 m/s,
rangeRepo size: 4
2025-08-23T22:26:59.133Z,1755988019.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.184992 m,
bearing: 94.725646 deg,
lat: 36.779391 deg,
lon: -121.859594 deg,
deltaT: 3.528009 s,
deltaX: 1.689398 m,
approachRate: 0.478853 m/s,
posRepo size: 4
2025-08-23T22:26:59.138Z,1755988019.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:26:59.559Z,1755988019.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:26:59.897Z,1755988019.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:27:00.319Z,1755988020.319 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:27:00.342Z,1755988020.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:27:00.737Z,1755988020.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:27:01.114Z,1755988021.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:27:01.323Z,1755988021.323 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:27:01.571Z,1755988021.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:27:01.655Z,1755988021.655 [DAT](INFO): DAT read: Rx Time:22:27:00.9778
2025-08-23T22:27:01.655Z,1755988021.655 [DAT](INFO): Rx dataTimestamp_ set to:1755988021.654756
2025-08-23T22:27:01.908Z,1755988021.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:27:02.381Z,1755988022.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m.
2025-08-23T22:27:02.416Z,1755988022.416 [DAT](INFO): DAT read: 22:27:00.9778 LVL= 31952, 18769, 24722, 30195, AGC= 56, IDX= 451,-0.38,-2.026, 0.248,-0.902,-0.699, PHS=-1.225, 0.992,-0.247, RAW= 303.9, 5.0, CAL= 301.5, 2.7, ROT= 208.5, -2.7
2025-08-23T22:27:02.417Z,1755988022.417 [DAT](INFO): got valid direction response:
22:27:00.9778 LVL= 31952, 18769, 24722, 30195, AGC= 56, IDX= 451,-0.38,-2.026, 0.248,-0.902,-0.699, PHS=-1.225, 0.992,-0.247, RAW= 303.9, 5.0, CAL= 301.5, 2.7, ROT= 208.5, -2.7
2025-08-23T22:27:02.418Z,1755988022.418 [DAT](INFO): DAT read: Bearing 216.2, -26.2 (Local)
2025-08-23T22:27:02.419Z,1755988022.419 [DAT](INFO): Local bearing/azimuth received:
Bearing 216.2, -26.2 (Local)
2025-08-23T22:27:02.420Z,1755988022.420 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (Round-trip 27.2 ms) speed -0.5 m/s
2025-08-23T22:27:02.421Z,1755988022.421 [DAT](INFO): DAT read: user:1765>
2025-08-23T22:27:02.421Z,1755988022.421 [DAT](INFO): DAT read: Tx time:22:27:02.0964
2025-08-23T22:27:02.422Z,1755988022.422 [DAT](INFO): Ping request sent.
2025-08-23T22:27:02.422Z,1755988022.422 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:02.422Z,1755988022.422 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-23T22:27:02.423Z,1755988022.423 [DAT](INFO): direction in FSK: [-0.877842,-0.476629,0.047106]
2025-08-23T22:27:02.423Z,1755988022.423 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:02.424Z,1755988022.424 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:02.435Z,1755988022.435 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:02.435Z,1755988022.435 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:02.779Z,1755988022.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.400000 m,
deltaT: 3.528037 s,
deltaX: 2.100000 m,
approachRate: 0.595232 m/s,
rangeRepo size: 4
2025-08-23T22:27:02.782Z,1755988022.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.271997 m,
bearing: 93.039525 deg,
lat: 36.779391 deg,
lon: -121.859595 deg,
deltaT: 3.528037 s,
deltaX: 2.087006 m,
approachRate: 0.591549 m/s,
posRepo size: 4
2025-08-23T22:27:02.782Z,1755988022.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-23T22:27:03.183Z,1755988023.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-23T22:27:03.604Z,1755988023.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-23T22:27:03.964Z,1755988023.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-23T22:27:04.439Z,1755988024.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-23T22:27:04.765Z,1755988024.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-23T22:27:05.222Z,1755988025.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-23T22:27:05.443Z,1755988025.443 [DAT](INFO): DAT read: Rx Time:22:27:04.5307
2025-08-23T22:27:05.443Z,1755988025.443 [DAT](INFO): Rx dataTimestamp_ set to:1755988025.442738
2025-08-23T22:27:05.603Z,1755988025.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-23T22:27:05.952Z,1755988025.952 [DAT](INFO): DAT read: 22:27:04.5307 LVL= 32752, 24721, 28914, 31699, AGC= 62, IDX= 449, 0.10, 0.678, 2.917, 1.576, 1.918, PHS=-1.139, 1.044,-0.387, RAW= 310.2, 5.1, CAL= 307.9, 3.4, ROT= 202.1, -3.4
2025-08-23T22:27:05.953Z,1755988025.953 [DAT](INFO): got valid direction response:
22:27:04.5307 LVL= 32752, 24721, 28914, 31699, AGC= 62, IDX= 449, 0.10, 0.678, 2.917, 1.576, 1.918, PHS=-1.139, 1.044,-0.387, RAW= 310.2, 5.1, CAL= 307.9, 3.4, ROT= 202.1, -3.4
2025-08-23T22:27:05.954Z,1755988025.954 [DAT](INFO): DAT read: Bearing 228.1, -19.5 (Local)
2025-08-23T22:27:05.955Z,1755988025.955 [DAT](INFO): Local bearing/azimuth received:
Bearing 228.1, -19.5 (Local)
2025-08-23T22:27:05.956Z,1755988025.956 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (Round-trip 30.1 ms) speed -0.7 m/s
2025-08-23T22:27:05.957Z,1755988025.957 [DAT](INFO): DAT read: user:1766>
2025-08-23T22:27:05.958Z,1755988025.958 [DAT](INFO): DAT read: Tx time:22:27:05.6464
2025-08-23T22:27:05.958Z,1755988025.958 [DAT](INFO): Ping request sent.
2025-08-23T22:27:05.958Z,1755988025.958 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:05.958Z,1755988025.958 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-23T22:27:05.959Z,1755988025.959 [DAT](INFO): direction in FSK: [-0.924898,-0.375562,0.059306]
2025-08-23T22:27:05.959Z,1755988025.959 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:05.960Z,1755988025.960 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:06.002Z,1755988026.002 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:06.002Z,1755988026.002 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:06.070Z,1755988026.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.500000 m,
deltaT: 3.536077 s,
deltaX: 2.100000 m,
approachRate: 0.593879 m/s,
rangeRepo size: 4
2025-08-23T22:27:06.072Z,1755988026.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.359011 m,
bearing: 99.586287 deg,
lat: 36.779391 deg,
lon: -121.859595 deg,
deltaT: 3.536077 s,
deltaX: 2.087013 m,
approachRate: 0.590206 m/s,
posRepo size: 4
2025-08-23T22:27:06.073Z,1755988026.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-23T22:27:06.520Z,1755988026.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-23T22:27:06.864Z,1755988026.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-23T22:27:07.249Z,1755988027.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-23T22:27:07.698Z,1755988027.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-23T22:27:08.067Z,1755988028.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-23T22:27:08.521Z,1755988028.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-23T22:27:08.868Z,1755988028.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-23T22:27:08.972Z,1755988028.972 [DAT](INFO): DAT read: Rx Time:22:27:08.0839
2025-08-23T22:27:08.973Z,1755988028.973 [DAT](INFO): Rx dataTimestamp_ set to:1755988028.972377
2025-08-23T22:27:09.271Z,1755988029.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-23T22:27:09.493Z,1755988029.493 [DAT](INFO): DAT read: 22:27:08.0839 LVL= 32752, 25249, 29618, 32755, AGC= 68, IDX= 466,-0.05,-0.180, 2.067, 0.434, 0.793, PHS=-0.870, 1.320,-0.403, RAW= 318.3, -0.5, CAL= 316.8, -3.6, ROT= 193.2, 3.6
2025-08-23T22:27:09.495Z,1755988029.495 [DAT](INFO): got valid direction response:
22:27:08.0839 LVL= 32752, 25249, 29618, 32755, AGC= 68, IDX= 466,-0.05,-0.180, 2.067, 0.434, 0.793, PHS=-0.870, 1.320,-0.403, RAW= 318.3, -0.5, CAL= 316.8, -3.6, ROT= 193.2, 3.6
2025-08-23T22:27:09.497Z,1755988029.497 [DAT](INFO): DAT read: Bearing 248.6, -12.1 (Local)
2025-08-23T22:27:09.497Z,1755988029.497 [DAT](INFO): Local bearing/azimuth received:
Bearing 248.6, -12.1 (Local)
2025-08-23T22:27:09.500Z,1755988029.500 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (Round-trip 33.3 ms) speed -0.6 m/s
2025-08-23T22:27:09.501Z,1755988029.501 [DAT](INFO): DAT read: user:1767>
2025-08-23T22:27:09.502Z,1755988029.502 [DAT](INFO): DAT read: Tx time:22:27:09.1964
2025-08-23T22:27:09.503Z,1755988029.503 [DAT](INFO): Ping request sent.
2025-08-23T22:27:09.503Z,1755988029.503 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:09.503Z,1755988029.503 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-23T22:27:09.505Z,1755988029.505 [DAT](INFO): direction in FSK: [-0.971658,-0.227900,-0.062791]
2025-08-23T22:27:09.505Z,1755988029.505 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:09.543Z,1755988029.543 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:09.561Z,1755988029.561 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:09.561Z,1755988029.561 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:09.748Z,1755988029.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.900000 m,
deltaT: 3.530177 s,
deltaX: 2.400000 m,
approachRate: 0.679852 m/s,
rangeRepo size: 4
2025-08-23T22:27:09.755Z,1755988029.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.743763 m,
bearing: 101.030117 deg,
lat: 36.779391 deg,
lon: -121.859597 deg,
deltaT: 3.530177 s,
deltaX: 2.384752 m,
approachRate: 0.675533 m/s,
posRepo size: 4
2025-08-23T22:27:09.755Z,1755988029.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-23T22:27:10.096Z,1755988030.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-23T22:27:10.557Z,1755988030.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-23T22:27:10.912Z,1755988030.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-23T22:27:11.325Z,1755988031.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-23T22:27:11.752Z,1755988031.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-23T22:27:12.116Z,1755988032.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-23T22:27:12.502Z,1755988032.502 [DAT](INFO): DAT read: Rx Time:22:27:11.6373
2025-08-23T22:27:12.504Z,1755988032.504 [DAT](INFO): Rx dataTimestamp_ set to:1755988032.502890
2025-08-23T22:27:12.605Z,1755988032.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-23T22:27:12.941Z,1755988032.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-23T22:27:13.008Z,1755988033.008 [DAT](INFO): DAT read: 22:27:11.6373 LVL= 32752, 23521, 32754, 32755, AGC= 67, IDX= 452, 0.03, 2.161,-2.292, 2.138, 2.768, PHS=-0.504, 1.269,-0.674, RAW= 334.5, -1.0, CAL= 333.8, -3.9, ROT= 176.2, 3.9
2025-08-23T22:27:13.009Z,1755988033.009 [DAT](INFO): got valid direction response:
22:27:11.6373 LVL= 32752, 23521, 32754, 32755, AGC= 67, IDX= 452, 0.03, 2.161,-2.292, 2.138, 2.768, PHS=-0.504, 1.269,-0.674, RAW= 334.5, -1.0, CAL= 333.8, -3.9, ROT= 176.2, 3.9
2025-08-23T22:27:13.011Z,1755988033.011 [DAT](INFO): DAT read: Bearing 263.8, 4.5 (Local)
2025-08-23T22:27:13.011Z,1755988033.011 [DAT](INFO): Local bearing/azimuth received:
Bearing 263.8, 4.5 (Local)
2025-08-23T22:27:13.013Z,1755988033.013 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (Round-trip 36.7 ms) speed -0.8 m/s
2025-08-23T22:27:13.013Z,1755988033.013 [DAT](INFO): DAT read: user:1768>
2025-08-23T22:27:13.014Z,1755988033.014 [DAT](INFO): DAT read: Tx time:22:27:12.7464
2025-08-23T22:27:13.015Z,1755988033.015 [DAT](INFO): Ping request sent.
2025-08-23T22:27:13.015Z,1755988033.015 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:13.015Z,1755988033.015 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-23T22:27:13.016Z,1755988033.016 [DAT](INFO): direction in FSK: [-0.995491,0.066120,-0.068015]
2025-08-23T22:27:13.016Z,1755988033.016 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:13.016Z,1755988033.016 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:13.025Z,1755988033.025 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:13.026Z,1755988033.026 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:13.336Z,1755988033.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.500000 m,
deltaT: 3.525804 s,
deltaX: 2.600000 m,
approachRate: 0.737421 m/s,
rangeRepo size: 4
2025-08-23T22:27:13.339Z,1755988033.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.327776 m,
bearing: 95.740996 deg,
lat: 36.779392 deg,
lon: -121.859598 deg,
deltaT: 3.525804 s,
deltaX: 2.584013 m,
approachRate: 0.732886 m/s,
posRepo size: 4
2025-08-23T22:27:13.339Z,1755988033.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-23T22:27:13.766Z,1755988033.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-23T22:27:14.133Z,1755988034.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-23T22:27:14.599Z,1755988034.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-23T22:27:14.988Z,1755988034.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-23T22:27:15.352Z,1755988035.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-23T22:27:15.781Z,1755988035.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-23T22:27:16.026Z,1755988036.026 [DAT](INFO): DAT read: Rx Time:22:27:15.1906
2025-08-23T22:27:16.027Z,1755988036.027 [DAT](INFO): Rx dataTimestamp_ set to:1755988036.026636
2025-08-23T22:27:16.155Z,1755988036.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-08-23T22:27:16.583Z,1755988036.583 [DAT](INFO): DAT read: 22:27:15.1906 LVL= 32752, 32289, 32754, 32755, AGC= 66, IDX= 454, 0.04, 0.590, 2.193, 0.214, 1.046, PHS=-0.353, 1.192,-0.876, RAW= 344.1, 0.4, CAL= 343.6, -2.5, ROT= 166.4, 2.5
2025-08-23T22:27:16.584Z,1755988036.584 [DAT](INFO): got valid direction response:
22:27:15.1906 LVL= 32752, 32289, 32754, 32755, AGC= 66, IDX= 454, 0.04, 0.590, 2.193, 0.214, 1.046, PHS=-0.353, 1.192,-0.876, RAW= 344.1, 0.4, CAL= 343.6, -2.5, ROT= 166.4, 2.5
2025-08-23T22:27:16.585Z,1755988036.585 [DAT](INFO): DAT read: Bearing 276.0, 14.5 (Local)
2025-08-23T22:27:16.590Z,1755988036.590 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.0, 14.5 (Local)
2025-08-23T22:27:16.591Z,1755988036.591 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (Round-trip 40.0 ms) speed -0.7 m/s
2025-08-23T22:27:16.592Z,1755988036.592 [DAT](INFO): DAT read: user:1769>
2025-08-23T22:27:16.592Z,1755988036.592 [DAT](INFO): DAT read: Tx time:22:27:16.2964
2025-08-23T22:27:16.593Z,1755988036.593 [DAT](INFO): Ping request sent.
2025-08-23T22:27:16.593Z,1755988036.593 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:16.593Z,1755988036.593 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-23T22:27:16.598Z,1755988036.598 [DAT](INFO): direction in FSK: [-0.971036,0.234918,-0.043619]
2025-08-23T22:27:16.599Z,1755988036.599 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:16.599Z,1755988036.599 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:16.622Z,1755988036.622 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:16.622Z,1755988036.622 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:16.730Z,1755988036.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.000000 m,
deltaT: 3.546122 s,
deltaX: 2.500000 m,
approachRate: 0.704996 m/s,
rangeRepo size: 4
2025-08-23T22:27:16.732Z,1755988036.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.812281 m,
bearing: 96.567024 deg,
lat: 36.779392 deg,
lon: -121.859598 deg,
deltaT: 3.546122 s,
deltaX: 2.484505 m,
approachRate: 0.700626 m/s,
posRepo size: 4
2025-08-23T22:27:16.733Z,1755988036.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:27:16.988Z,1755988036.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:27:17.364Z,1755988037.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:27:17.382Z,1755988037.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:27:17.556Z,1755988037.556 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:27:17.557Z,1755988037.557 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:27:17.563Z,1755988037.563 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:27:17.804Z,1755988037.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:27:17.807Z,1755988037.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213757
2025-08-23T22:27:18.059Z,1755988038.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465674
2025-08-23T22:27:18.176Z,1755988038.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:27:18.314Z,1755988038.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721522
2025-08-23T22:27:18.565Z,1755988038.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971537
2025-08-23T22:27:18.655Z,1755988038.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:27:18.815Z,1755988038.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221673
2025-08-23T22:27:19.002Z,1755988039.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:27:19.067Z,1755988039.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473807
2025-08-23T22:27:19.319Z,1755988039.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725641
2025-08-23T22:27:19.387Z,1755988039.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:27:19.574Z,1755988039.574 [DAT](INFO): DAT read: Rx Time:22:27:18.7438
2025-08-23T22:27:19.576Z,1755988039.576 [DAT](INFO): Rx dataTimestamp_ set to:1755988039.574880
2025-08-23T22:27:19.579Z,1755988039.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985338
2025-08-23T22:27:19.821Z,1755988039.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:27:19.823Z,1755988039.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229743
2025-08-23T22:27:20.080Z,1755988040.080 [DAT](INFO): DAT read: 22:27:18.7438 LVL= 30960, 25025, 32754, 32755, AGC= 59, IDX= 456,-0.28,-0.551, 0.953,-1.093,-0.100, PHS=-0.349, 1.098,-1.037, RAW= 348.4, 3.1, CAL= 347.9, 0.1, ROT= 162.1, -0.1
2025-08-23T22:27:20.081Z,1755988040.081 [DAT](INFO): got valid direction response:
22:27:18.7438 LVL= 30960, 25025, 32754, 32755, AGC= 59, IDX= 456,-0.28,-0.551, 0.953,-1.093,-0.100, PHS=-0.349, 1.098,-1.037, RAW= 348.4, 3.1, CAL= 347.9, 0.1, ROT= 162.1, -0.1
2025-08-23T22:27:20.082Z,1755988040.082 [DAT](INFO): DAT read: Bearing 284.1, 19.7 (Local)
2025-08-23T22:27:20.083Z,1755988040.083 [DAT](INFO): Local bearing/azimuth received:
Bearing 284.1, 19.7 (Local)
2025-08-23T22:27:20.084Z,1755988040.084 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (Round-trip 43.2 ms) speed -0.6 m/s
2025-08-23T22:27:20.085Z,1755988040.085 [DAT](INFO): DAT read: user:1770>
2025-08-23T22:27:20.086Z,1755988040.086 [DAT](INFO): DAT read: Tx time:22:27:19.8464
2025-08-23T22:27:20.086Z,1755988040.086 [DAT](INFO): Ping request sent.
2025-08-23T22:27:20.086Z,1755988040.086 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:20.087Z,1755988040.087 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:27:20.088Z,1755988040.088 [DAT](INFO): direction in FSK: [-0.951593,0.307356,0.001745]
2025-08-23T22:27:20.088Z,1755988040.088 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:20.088Z,1755988040.088 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:20.091Z,1755988040.091 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:20.091Z,1755988040.091 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:20.267Z,1755988040.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.400002 m,
deltaT: 3.525902 s,
deltaX: 2.400002 m,
approachRate: 0.680677 m/s,
rangeRepo size: 4
2025-08-23T22:27:20.269Z,1755988040.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.198662 m,
bearing: 102.152725 deg,
lat: 36.779380 deg,
lon: -121.859599 deg,
deltaT: 3.525902 s,
deltaX: 2.386381 m,
approachRate: 0.676814 m/s,
posRepo size: 4
2025-08-23T22:27:20.274Z,1755988040.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m.
2025-08-23T22:27:20.674Z,1755988040.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m.
2025-08-23T22:27:20.999Z,1755988040.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m.
2025-08-23T22:27:21.403Z,1755988041.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m.
2025-08-23T22:27:21.836Z,1755988041.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m.
2025-08-23T22:27:22.228Z,1755988042.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m.
2025-08-23T22:27:22.703Z,1755988042.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m.
2025-08-23T22:27:23.031Z,1755988043.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m.
2025-08-23T22:27:23.107Z,1755988043.107 [DAT](INFO): DAT read: Rx Time:22:27:22.2970
2025-08-23T22:27:23.108Z,1755988043.108 [DAT](INFO): Rx dataTimestamp_ set to:1755988043.107588
2025-08-23T22:27:23.443Z,1755988043.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m.
2025-08-23T22:27:23.623Z,1755988043.623 [DAT](INFO): DAT read: 22:27:22.2970 LVL= 32752, 21633, 32754, 32755, AGC= 58, IDX= 456, 0.33, 1.081, 2.463, 0.544, 1.537, PHS=-0.354, 0.972,-1.037, RAW= 349.5, 4.8, CAL= 349.2, 2.8, ROT= 160.8, -2.8
2025-08-23T22:27:23.627Z,1755988043.627 [DAT](INFO): got valid direction response:
22:27:22.2970 LVL= 32752, 21633, 32754, 32755, AGC= 58, IDX= 456, 0.33, 1.081, 2.463, 0.544, 1.537, PHS=-0.354, 0.972,-1.037, RAW= 349.5, 4.8, CAL= 349.2, 2.8, ROT= 160.8, -2.8
2025-08-23T22:27:23.630Z,1755988043.630 [DAT](INFO): DAT read: Bearing 287.9, 21.8 (Local)
2025-08-23T22:27:23.631Z,1755988043.631 [DAT](INFO): Local bearing/azimuth received:
Bearing 287.9, 21.8 (Local)
2025-08-23T22:27:23.636Z,1755988043.636 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (Round-trip 46.4 ms) speed -0.7 m/s
2025-08-23T22:27:23.639Z,1755988043.639 [DAT](INFO): DAT read: user:1771>
2025-08-23T22:27:23.641Z,1755988043.641 [DAT](INFO): DAT read: Tx time:22:27:23.3964
2025-08-23T22:27:23.643Z,1755988043.643 [DAT](INFO): Ping request sent.
2025-08-23T22:27:23.643Z,1755988043.643 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:23.644Z,1755988043.644 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-23T22:27:23.652Z,1755988043.652 [DAT](INFO): direction in FSK: [-0.943249,0.328474,0.048850]
2025-08-23T22:27:23.654Z,1755988043.654 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:23.655Z,1755988043.655 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:23.668Z,1755988043.668 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:23.669Z,1755988043.669 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:23.915Z,1755988043.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.799999 m,
deltaT: 3.537553 s,
deltaX: 2.399998 m,
approachRate: 0.678434 m/s,
rangeRepo size: 4
2025-08-23T22:27:23.916Z,1755988043.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.582272 m,
bearing: 106.680408 deg,
lat: 36.779380 deg,
lon: -121.859601 deg,
deltaT: 3.537553 s,
deltaX: 2.383610 m,
approachRate: 0.673802 m/s,
posRepo size: 4
2025-08-23T22:27:23.917Z,1755988043.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:27:24.250Z,1755988044.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:27:24.698Z,1755988044.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:27:25.059Z,1755988045.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:27:25.465Z,1755988045.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:27:25.880Z,1755988045.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:27:26.250Z,1755988046.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:27:26.635Z,1755988046.635 [DAT](INFO): DAT read: Rx Time:22:27:25.8504
2025-08-23T22:27:26.635Z,1755988046.635 [DAT](INFO): Rx dataTimestamp_ set to:1755988046.634776
2025-08-23T22:27:26.716Z,1755988046.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:27:27.129Z,1755988047.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:27:27.144Z,1755988047.144 [DAT](INFO): DAT read: 22:27:25.8504 LVL= 32752, 24817, 32754, 32755, AGC= 61, IDX= 460,-0.16, 0.251, 1.644,-0.251, 0.732, PHS=-0.380, 0.957,-1.027, RAW= 348.7, 5.2, CAL= 348.4, 3.4, ROT= 161.6, -3.4
2025-08-23T22:27:27.145Z,1755988047.145 [DAT](INFO): got valid direction response:
22:27:25.8504 LVL= 32752, 24817, 32754, 32755, AGC= 61, IDX= 460,-0.16, 0.251, 1.644,-0.251, 0.732, PHS=-0.380, 0.957,-1.027, RAW= 348.7, 5.2, CAL= 348.4, 3.4, ROT= 161.6, -3.4
2025-08-23T22:27:27.147Z,1755988047.147 [DAT](INFO): DAT read: Bearing 288.6, 21.4 (Local)
2025-08-23T22:27:27.147Z,1755988047.147 [DAT](INFO): Local bearing/azimuth received:
Bearing 288.6, 21.4 (Local)
2025-08-23T22:27:27.148Z,1755988047.148 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m (Round-trip 50.0 ms) speed -0.7 m/s
2025-08-23T22:27:27.158Z,1755988047.158 [DAT](INFO): DAT read: user:1772>
2025-08-23T22:27:27.158Z,1755988047.158 [DAT](INFO): DAT read: Tx time:22:27:26.9463
2025-08-23T22:27:27.159Z,1755988047.159 [DAT](INFO): Ping request sent.
2025-08-23T22:27:27.159Z,1755988047.159 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:27.159Z,1755988047.159 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-23T22:27:27.160Z,1755988047.160 [DAT](INFO): direction in FSK: [-0.947206,0.315093,0.059306]
2025-08-23T22:27:27.160Z,1755988047.160 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:27.160Z,1755988047.160 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:27.167Z,1755988047.167 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:27.167Z,1755988047.167 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:27.507Z,1755988047.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.500000 m,
deltaT: 3.526441 s,
deltaX: 2.700001 m,
approachRate: 0.765645 m/s,
rangeRepo size: 4
2025-08-23T22:27:27.509Z,1755988047.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.265083 m,
bearing: 109.245904 deg,
lat: 36.779380 deg,
lon: -121.859601 deg,
deltaT: 3.526441 s,
deltaX: 2.682812 m,
approachRate: 0.760770 m/s,
posRepo size: 4
2025-08-23T22:27:27.509Z,1755988047.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:27:27.927Z,1755988047.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:27:28.294Z,1755988048.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:27:28.770Z,1755988048.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:27:29.127Z,1755988049.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:27:29.502Z,1755988049.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:27:29.968Z,1755988049.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:27:30.175Z,1755988050.175 [DAT](INFO): DAT read: Rx Time:22:27:29.4038
2025-08-23T22:27:30.175Z,1755988050.175 [DAT](INFO): Rx dataTimestamp_ set to:1755988050.174734
2025-08-23T22:27:30.331Z,1755988050.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-23T22:27:30.690Z,1755988050.690 [DAT](INFO): DAT read: 22:27:29.4038 LVL= 32752, 21569, 32754, 32755, AGC= 62, IDX= 462, 0.45, 0.848, 2.244, 0.301, 1.306, PHS=-0.356, 0.983,-1.049, RAW= 349.6, 4.8, CAL= 349.3, 2.8, ROT= 160.7, -2.8
2025-08-23T22:27:30.691Z,1755988050.691 [DAT](INFO): got valid direction response:
22:27:29.4038 LVL= 32752, 21569, 32754, 32755, AGC= 62, IDX= 462, 0.45, 0.848, 2.244, 0.301, 1.306, PHS=-0.356, 0.983,-1.049, RAW= 349.6, 4.8, CAL= 349.3, 2.8, ROT= 160.7, -2.8
2025-08-23T22:27:30.692Z,1755988050.692 [DAT](INFO): DAT read: Bearing 289.8, 22.6 (Local)
2025-08-23T22:27:30.692Z,1755988050.692 [DAT](INFO): Local bearing/azimuth received:
Bearing 289.8, 22.6 (Local)
2025-08-23T22:27:30.700Z,1755988050.700 [DAT](INFO): DAT read: Range 11 to 50 : 39.9 m (Round-trip 53.3 ms) speed -0.7 m/s
2025-08-23T22:27:30.702Z,1755988050.702 [DAT](INFO): DAT read: user:1773>
2025-08-23T22:27:30.703Z,1755988050.703 [DAT](INFO): DAT read: Tx time:22:27:30.4963
2025-08-23T22:27:30.704Z,1755988050.704 [DAT](INFO): Ping request sent.
2025-08-23T22:27:30.704Z,1755988050.704 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:30.704Z,1755988050.704 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-23T22:27:30.705Z,1755988050.705 [DAT](INFO): direction in FSK: [-0.942674,0.330120,0.048850]
2025-08-23T22:27:30.714Z,1755988050.714 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:30.715Z,1755988050.715 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:30.777Z,1755988050.777 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:30.782Z,1755988050.782 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:30.818Z,1755988050.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.900002 m,
deltaT: 3.539868 s,
deltaX: 2.400002 m,
approachRate: 0.677992 m/s,
rangeRepo size: 4
2025-08-23T22:27:30.820Z,1755988050.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.650211 m,
bearing: 109.071481 deg,
lat: 36.779373 deg,
lon: -121.859609 deg,
deltaT: 3.539868 s,
deltaX: 2.385128 m,
approachRate: 0.673790 m/s,
posRepo size: 4
2025-08-23T22:27:30.820Z,1755988050.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-08-23T22:27:31.145Z,1755988051.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-08-23T22:27:31.458Z,1755988051.458 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:27:31.528Z,1755988051.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-08-23T22:27:31.992Z,1755988051.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-08-23T22:27:32.348Z,1755988052.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-08-23T22:27:32.462Z,1755988052.462 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:27:32.880Z,1755988052.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-08-23T22:27:33.286Z,1755988053.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-08-23T22:27:33.679Z,1755988053.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-08-23T22:27:33.703Z,1755988053.703 [DAT](INFO): DAT read: Rx Time:22:27:32.9573
2025-08-23T22:27:33.703Z,1755988053.703 [DAT](INFO): Rx dataTimestamp_ set to:1755988053.702726
2025-08-23T22:27:34.101Z,1755988054.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-08-23T22:27:34.233Z,1755988054.233 [DAT](INFO): DAT read: 22:27:32.9573 LVL= 32752, 23233, 32754, 32755, AGC= 63, IDX= 467,-0.39, 1.601, 3.005, 1.032, 2.038, PHS=-0.335, 1.012,-1.050, RAW= 350.0, 4.2, CAL= 349.6, 1.8, ROT= 160.4, -1.8
2025-08-23T22:27:34.235Z,1755988054.235 [DAT](INFO): got valid direction response:
22:27:32.9573 LVL= 32752, 23233, 32754, 32755, AGC= 63, IDX= 467,-0.39, 1.601, 3.005, 1.032, 2.038, PHS=-0.335, 1.012,-1.050, RAW= 350.0, 4.2, CAL= 349.6, 1.8, ROT= 160.4, -1.8
2025-08-23T22:27:34.236Z,1755988054.236 [DAT](INFO): DAT read: Bearing 290.8, 23.4 (Local)
2025-08-23T22:27:34.236Z,1755988054.236 [DAT](INFO): Local bearing/azimuth received:
Bearing 290.8, 23.4 (Local)
2025-08-23T22:27:34.237Z,1755988054.237 [DAT](INFO): DAT read: Range 11 to 50 : 42.6 m (Round-trip 56.8 ms) speed -0.8 m/s
2025-08-23T22:27:34.238Z,1755988054.238 [DAT](INFO): DAT read: user:1774>
2025-08-23T22:27:34.239Z,1755988054.239 [DAT](INFO): DAT read: Tx time:22:27:34.0463
2025-08-23T22:27:34.239Z,1755988054.239 [DAT](INFO): Ping request sent.
2025-08-23T22:27:34.239Z,1755988054.239 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:34.239Z,1755988054.239 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-23T22:27:34.240Z,1755988054.240 [DAT](INFO): direction in FSK: [-0.941593,0.335286,0.031411]
2025-08-23T22:27:34.241Z,1755988054.241 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:34.241Z,1755988054.241 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:34.244Z,1755988054.244 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:34.244Z,1755988054.244 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:34.506Z,1755988054.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.599998 m,
deltaT: 3.530232 s,
deltaX: 2.699997 m,
approachRate: 0.764821 m/s,
rangeRepo size: 4
2025-08-23T22:27:34.508Z,1755988054.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.332977 m,
bearing: 109.241467 deg,
lat: 36.779373 deg,
lon: -121.859609 deg,
deltaT: 3.530232 s,
deltaX: 2.682766 m,
approachRate: 0.759940 m/s,
posRepo size: 4
2025-08-23T22:27:34.509Z,1755988054.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.33 m.
2025-08-23T22:27:34.938Z,1755988054.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.33 m.
2025-08-23T22:27:35.297Z,1755988055.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.33 m.
2025-08-23T22:27:35.704Z,1755988055.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.33 m.
2025-08-23T22:27:36.129Z,1755988056.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.33 m.
2025-08-23T22:27:36.507Z,1755988056.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.33 m.
2025-08-23T22:27:36.959Z,1755988056.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.33 m.
2025-08-23T22:27:37.231Z,1755988057.231 [DAT](INFO): DAT read: Rx Time:22:27:36.5109
2025-08-23T22:27:37.231Z,1755988057.231 [DAT](INFO): Rx dataTimestamp_ set to:1755988057.231122
2025-08-23T22:27:37.323Z,1755988057.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.33 m.
2025-08-23T22:27:37.784Z,1755988057.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.33 m.
2025-08-23T22:27:37.997Z,1755988057.997 [DAT](INFO): DAT read: 22:27:36.5109 LVL= 32752, 22481, 32754, 32755, AGC= 65, IDX= 455,-0.04, 2.142,-2.718, 1.554, 2.541, PHS=-0.297, 1.069,-1.031, RAW= 350.1, 2.8, CAL= 349.7, -0.2, ROT= 160.3, 0.2
2025-08-23T22:27:38.004Z,1755988058.004 [DAT](INFO): got valid direction response:
22:27:36.5109 LVL= 32752, 22481, 32754, 32755, AGC= 65, IDX= 455,-0.04, 2.142,-2.718, 1.554, 2.541, PHS=-0.297, 1.069,-1.031, RAW= 350.1, 2.8, CAL= 349.7, -0.2, ROT= 160.3, 0.2
2025-08-23T22:27:38.005Z,1755988058.005 [DAT](INFO): DAT read: Bearing 292.0, 23.5 (Local)
2025-08-23T22:27:38.005Z,1755988058.005 [DAT](INFO): Local bearing/azimuth received:
Bearing 292.0, 23.5 (Local)
2025-08-23T22:27:38.007Z,1755988058.007 [DAT](INFO): DAT read: Range 11 to 50 : 45.3 m (Round-trip 60.4 ms) speed -0.8 m/s
2025-08-23T22:27:38.007Z,1755988058.007 [DAT](INFO): DAT read: user:1775>
2025-08-23T22:27:38.008Z,1755988058.008 [DAT](INFO): DAT read: Tx time:22:27:37.6463
2025-08-23T22:27:38.008Z,1755988058.008 [DAT](INFO): Ping request sent.
2025-08-23T22:27:38.008Z,1755988058.008 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:38.009Z,1755988058.009 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-23T22:27:38.010Z,1755988058.010 [DAT](INFO): direction in FSK: [-0.941465,0.337093,-0.003491]
2025-08-23T22:27:38.010Z,1755988058.010 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:38.011Z,1755988058.011 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:38.015Z,1755988058.015 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:38.016Z,1755988058.016 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:38.287Z,1755988058.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.299999 m,
deltaT: 3.778137 s,
deltaX: 2.700001 m,
approachRate: 0.714638 m/s,
rangeRepo size: 4
2025-08-23T22:27:38.289Z,1755988058.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.016338 m,
bearing: 109.250003 deg,
lat: 36.779373 deg,
lon: -121.859609 deg,
deltaT: 3.778137 s,
deltaX: 2.683361 m,
approachRate: 0.710234 m/s,
posRepo size: 4
2025-08-23T22:27:38.289Z,1755988058.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.02 m.
2025-08-23T22:27:38.776Z,1755988058.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.02 m.
2025-08-23T22:27:39.248Z,1755988059.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.02 m.
2025-08-23T22:27:39.612Z,1755988059.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.02 m.
2025-08-23T22:27:40.046Z,1755988060.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.02 m.
2025-08-23T22:27:40.449Z,1755988060.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.02 m.
2025-08-23T22:27:40.825Z,1755988060.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.02 m.
2025-08-23T22:27:41.010Z,1755988061.010 [DAT](INFO): DAT read: Rx Time:22:27:40.1147
2025-08-23T22:27:41.011Z,1755988061.011 [DAT](INFO): Rx dataTimestamp_ set to:1755988061.010677
2025-08-23T22:27:41.252Z,1755988061.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.02 m.
2025-08-23T22:27:41.523Z,1755988061.523 [DAT](INFO): DAT read: 22:27:40.1147 LVL= 32752, 25073, 32754, 32755, AGC= 61, IDX= 462,-0.02, 2.620,-2.150, 2.084, 3.058, PHS=-0.336, 1.121,-1.018, RAW= 348.2, 2.5, CAL= 347.7, -0.5, ROT= 162.3, 0.5
2025-08-23T22:27:41.524Z,1755988061.524 [DAT](INFO): got valid direction response:
22:27:40.1147 LVL= 32752, 25073, 32754, 32755, AGC= 61, IDX= 462,-0.02, 2.620,-2.150, 2.084, 3.058, PHS=-0.336, 1.121,-1.018, RAW= 348.2, 2.5, CAL= 347.7, -0.5, ROT= 162.3, 0.5
2025-08-23T22:27:41.525Z,1755988061.525 [DAT](INFO): DAT read: Bearing 291.5, 21.5 (Local)
2025-08-23T22:27:41.526Z,1755988061.526 [DAT](INFO): Local bearing/azimuth received:
Bearing 291.5, 21.5 (Local)
2025-08-23T22:27:41.527Z,1755988061.527 [DAT](INFO): DAT read: Range 11 to 50 : 48.1 m (Round-trip 64.2 ms) speed -0.7 m/s
2025-08-23T22:27:41.528Z,1755988061.528 [DAT](INFO): DAT read: user:1776>
2025-08-23T22:27:41.528Z,1755988061.528 [DAT](INFO): DAT read: Tx time:22:27:41.2463
2025-08-23T22:27:41.529Z,1755988061.529 [DAT](INFO): Ping request sent.
2025-08-23T22:27:41.529Z,1755988061.529 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:41.529Z,1755988061.529 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-23T22:27:41.531Z,1755988061.531 [DAT](INFO): direction in FSK: [-0.952625,0.304021,-0.008727]
2025-08-23T22:27:41.531Z,1755988061.531 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:41.531Z,1755988061.531 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:41.535Z,1755988061.535 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:41.535Z,1755988061.535 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:41.703Z,1755988061.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.099998 m,
deltaT: 3.529503 s,
deltaX: 2.799999 m,
approachRate: 0.793313 m/s,
rangeRepo size: 4
2025-08-23T22:27:41.705Z,1755988061.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.798847 m,
bearing: 111.237711 deg,
lat: 36.779383 deg,
lon: -121.859606 deg,
deltaT: 3.529503 s,
deltaX: 2.782509 m,
approachRate: 0.788357 m/s,
posRepo size: 4
2025-08-23T22:27:41.710Z,1755988061.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m.
2025-08-23T22:27:42.079Z,1755988062.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m.
2025-08-23T22:27:42.452Z,1755988062.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m.
2025-08-23T22:27:42.853Z,1755988062.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m.
2025-08-23T22:27:43.301Z,1755988063.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m.
2025-08-23T22:27:43.702Z,1755988063.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m.
2025-08-23T22:27:44.092Z,1755988064.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m.
2025-08-23T22:27:44.506Z,1755988064.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m.
2025-08-23T22:27:44.539Z,1755988064.539 [DAT](INFO): DAT read: Rx Time:22:27:43.7186
2025-08-23T22:27:44.540Z,1755988064.540 [DAT](INFO): Rx dataTimestamp_ set to:1755988064.539781
2025-08-23T22:27:44.915Z,1755988064.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m.
2025-08-23T22:27:45.048Z,1755988065.048 [DAT](INFO): DAT read: 22:27:43.7186 LVL= 32736, 27617, 32754, 32755, AGC= 63, IDX= 470,-0.03,-0.899, 0.629,-1.370,-0.444, PHS=-0.353, 1.117,-0.970, RAW= 346.7, 2.2, CAL= 346.3, -0.7, ROT= 163.7, 0.7
2025-08-23T22:27:45.050Z,1755988065.050 [DAT](INFO): got valid direction response:
22:27:43.7186 LVL= 32736, 27617, 32754, 32755, AGC= 63, IDX= 470,-0.03,-0.899, 0.629,-1.370,-0.444, PHS=-0.353, 1.117,-0.970, RAW= 346.7, 2.2, CAL= 346.3, -0.7, ROT= 163.7, 0.7
2025-08-23T22:27:45.051Z,1755988065.051 [DAT](INFO): DAT read: Bearing 290.9, 19.7 (Local)
2025-08-23T22:27:45.051Z,1755988065.051 [DAT](INFO): Local bearing/azimuth received:
Bearing 290.9, 19.7 (Local)
2025-08-23T22:27:45.052Z,1755988065.052 [DAT](INFO): DAT read: Range 11 to 50 : 51.0 m (Round-trip 68.1 ms) speed -0.8 m/s
2025-08-23T22:27:45.053Z,1755988065.053 [DAT](INFO): DAT read: user:1777>
2025-08-23T22:27:45.067Z,1755988065.067 [DAT](INFO): DAT read: Tx time:22:27:44.8463
2025-08-23T22:27:45.067Z,1755988065.067 [DAT](INFO): Ping request sent.
2025-08-23T22:27:45.067Z,1755988065.067 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:45.067Z,1755988065.067 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-23T22:27:45.068Z,1755988065.068 [DAT](INFO): direction in FSK: [-0.959734,0.280646,-0.012217]
2025-08-23T22:27:45.069Z,1755988065.069 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:45.069Z,1755988065.069 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:45.078Z,1755988065.078 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:45.078Z,1755988065.078 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:45.448Z,1755988065.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.000000 m,
deltaT: 3.526520 s,
deltaX: 2.900002 m,
approachRate: 0.822341 m/s,
rangeRepo size: 4
2025-08-23T22:27:45.455Z,1755988065.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 50.681133 m,
bearing: 112.772144 deg,
lat: 36.779388 deg,
lon: -121.859606 deg,
deltaT: 3.526520 s,
deltaX: 2.882286 m,
approachRate: 0.817317 m/s,
posRepo size: 4
2025-08-23T22:27:45.455Z,1755988065.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.68 m.
2025-08-23T22:27:45.931Z,1755988065.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.68 m.
2025-08-23T22:27:46.364Z,1755988066.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.68 m.
2025-08-23T22:27:46.726Z,1755988066.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.68 m.
2025-08-23T22:27:47.146Z,1755988067.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.68 m.
2025-08-23T22:27:47.523Z,1755988067.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.68 m.
2025-08-23T22:27:47.945Z,1755988067.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.68 m.
2025-08-23T22:27:48.072Z,1755988068.072 [DAT](INFO): DAT read: Rx Time:22:27:47.3225
2025-08-23T22:27:48.073Z,1755988068.073 [DAT](INFO): Rx dataTimestamp_ set to:1755988068.071953
2025-08-23T22:27:48.425Z,1755988068.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.68 m.
2025-08-23T22:27:48.584Z,1755988068.584 [DAT](INFO): DAT read: 22:27:47.3225 LVL= 32752, 23025, 32754, 32755, AGC= 65, IDX= 462,-0.15,-2.385,-0.836,-2.853,-1.938, PHS=-0.345, 1.147,-0.959, RAW= 346.5, 1.7, CAL= 346.0, -1.3, ROT= 164.0, 1.3
2025-08-23T22:27:48.586Z,1755988068.586 [DAT](INFO): got valid direction response:
22:27:47.3225 LVL= 32752, 23025, 32754, 32755, AGC= 65, IDX= 462,-0.15,-2.385,-0.836,-2.853,-1.938, PHS=-0.345, 1.147,-0.959, RAW= 346.5, 1.7, CAL= 346.0, -1.3, ROT= 164.0, 1.3
2025-08-23T22:27:48.588Z,1755988068.588 [DAT](INFO): DAT read: Bearing 290.7, 18.8 (Local)
2025-08-23T22:27:48.589Z,1755988068.589 [DAT](INFO): Local bearing/azimuth received:
Bearing 290.7, 18.8 (Local)
2025-08-23T22:27:48.592Z,1755988068.592 [DAT](INFO): DAT read: Range 11 to 50 : 54.0 m (Round-trip 72.0 ms) speed -0.7 m/s
2025-08-23T22:27:48.593Z,1755988068.593 [DAT](INFO): DAT read: user:1778>
2025-08-23T22:27:48.594Z,1755988068.594 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-23T22:27:48.595Z,1755988068.595 [DAT](INFO): direction in FSK: [-0.961014,0.275566,-0.022687]
2025-08-23T22:27:48.595Z,1755988068.595 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:48.790Z,1755988068.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.000000 m,
deltaT: 3.533222 s,
deltaX: 3.000000 m,
approachRate: 0.849083 m/s,
rangeRepo size: 4
2025-08-23T22:27:48.792Z,1755988068.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 53.664429 m,
bearing: 113.162722 deg,
lat: 36.779389 deg,
lon: -121.859605 deg,
deltaT: 3.533222 s,
deltaX: 2.983295 m,
approachRate: 0.844356 m/s,
posRepo size: 4
2025-08-23T22:27:48.793Z,1755988068.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m.
2025-08-23T22:27:48.827Z,1755988068.827 [DAT](INFO): DAT read: Tx time:22:27:48.4463
2025-08-23T22:27:48.828Z,1755988068.828 [DAT](INFO): Ping request sent.
2025-08-23T22:27:48.828Z,1755988068.828 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:48.828Z,1755988068.828 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:49.204Z,1755988069.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m.
2025-08-23T22:27:49.556Z,1755988069.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m.
2025-08-23T22:27:49.957Z,1755988069.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m.
2025-08-23T22:27:50.405Z,1755988070.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m.
2025-08-23T22:27:50.767Z,1755988070.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m.
2025-08-23T22:27:51.258Z,1755988071.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m.
2025-08-23T22:27:51.599Z,1755988071.599 [DAT](INFO): DAT read: Rx Time:22:27:50.9264
2025-08-23T22:27:51.599Z,1755988071.599 [DAT](INFO): Rx dataTimestamp_ set to:1755988071.598808
2025-08-23T22:27:51.649Z,1755988071.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m.
2025-08-23T22:27:52.240Z,1755988072.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m.
2025-08-23T22:27:52.360Z,1755988072.360 [DAT](INFO): DAT read: 22:27:50.9264 LVL= 30304, 28561, 32754, 32755, AGC= 64, IDX= 470,-0.02, 0.637, 2.252, 0.171, 1.090, PHS=-0.351, 1.207,-0.963, RAW= 345.9, 1.1, CAL= 345.4, -1.8, ROT= 164.6, 1.8
2025-08-23T22:27:52.361Z,1755988072.361 [DAT](INFO): got valid direction response:
22:27:50.9264 LVL= 30304, 28561, 32754, 32755, AGC= 64, IDX= 470,-0.02, 0.637, 2.252, 0.171, 1.090, PHS=-0.351, 1.207,-0.963, RAW= 345.9, 1.1, CAL= 345.4, -1.8, ROT= 164.6, 1.8
2025-08-23T22:27:52.362Z,1755988072.362 [DAT](INFO): DAT read: Bearing 290.7, 17.4 (Local)
2025-08-23T22:27:52.362Z,1755988072.362 [DAT](INFO): Local bearing/azimuth received:
Bearing 290.7, 17.4 (Local)
2025-08-23T22:27:52.365Z,1755988072.365 [DAT](INFO): DAT read: Range 11 to 50 : 56.9 m (Round-trip 75.9 ms) speed -0.8 m/s
2025-08-23T22:27:52.366Z,1755988072.366 [DAT](INFO): DAT read: user:1779>
2025-08-23T22:27:52.368Z,1755988072.368 [DAT](INFO): DAT read: Tx time:22:27:52.0463
2025-08-23T22:27:52.369Z,1755988072.369 [DAT](INFO): Ping request sent.
2025-08-23T22:27:52.369Z,1755988072.369 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:52.374Z,1755988072.374 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-23T22:27:52.380Z,1755988072.380 [DAT](INFO): direction in FSK: [-0.963620,0.265425,-0.031411]
2025-08-23T22:27:52.381Z,1755988072.381 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:52.382Z,1755988072.382 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:52.397Z,1755988072.397 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:52.397Z,1755988072.397 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:52.545Z,1755988072.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.900002 m,
deltaT: 3.778325 s,
deltaX: 2.900002 m,
approachRate: 0.767536 m/s,
rangeRepo size: 4
2025-08-23T22:27:52.552Z,1755988072.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 56.548981 m,
bearing: 113.615055 deg,
lat: 36.779392 deg,
lon: -121.859604 deg,
deltaT: 3.778325 s,
deltaX: 2.884552 m,
approachRate: 0.763447 m/s,
posRepo size: 4
2025-08-23T22:27:52.552Z,1755988072.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.55 m.
2025-08-23T22:27:52.923Z,1755988072.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.55 m.
2025-08-23T22:27:53.386Z,1755988073.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.55 m.
2025-08-23T22:27:53.739Z,1755988073.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.55 m.
2025-08-23T22:27:54.184Z,1755988074.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.55 m.
2025-08-23T22:27:54.541Z,1755988074.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.55 m.
2025-08-23T22:27:54.955Z,1755988074.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.55 m.
2025-08-23T22:27:55.377Z,1755988075.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.55 m.
2025-08-23T22:27:55.380Z,1755988075.380 [DAT](INFO): DAT read: Rx Time:22:27:54.5304
2025-08-23T22:27:55.381Z,1755988075.381 [DAT](INFO): Rx dataTimestamp_ set to:1755988075.380365
2025-08-23T22:27:55.808Z,1755988075.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.55 m.
2025-08-23T22:27:55.892Z,1755988075.892 [DAT](INFO): DAT read: 22:27:54.5304 LVL= 32752, 26321, 32754, 32755, AGC= 68, IDX= 463, 0.05,-2.352,-0.753,-2.813,-1.890, PHS=-0.360, 1.182,-0.967, RAW= 345.9, 1.5, CAL= 345.4, -1.4, ROT= 164.6, 1.4
2025-08-23T22:27:55.893Z,1755988075.893 [DAT](INFO): got valid direction response:
22:27:54.5304 LVL= 32752, 26321, 32754, 32755, AGC= 68, IDX= 463, 0.05,-2.352,-0.753,-2.813,-1.890, PHS=-0.360, 1.182,-0.967, RAW= 345.9, 1.5, CAL= 345.4, -1.4, ROT= 164.6, 1.4
2025-08-23T22:27:55.894Z,1755988075.894 [DAT](INFO): DAT read: Bearing 289.4, 16.2 (Local)
2025-08-23T22:27:55.895Z,1755988075.895 [DAT](INFO): Local bearing/azimuth received:
Bearing 289.4, 16.2 (Local)
2025-08-23T22:27:55.896Z,1755988075.896 [DAT](INFO): DAT read: Range 11 to 50 : 59.9 m (Round-trip 79.9 ms) speed -0.7 m/s
2025-08-23T22:27:55.897Z,1755988075.897 [DAT](INFO): DAT read: user:1780>
2025-08-23T22:27:55.900Z,1755988075.900 [DAT](INFO): DAT read: Tx time:22:27:55.6463
2025-08-23T22:27:55.901Z,1755988075.901 [DAT](INFO): Ping request sent.
2025-08-23T22:27:55.902Z,1755988075.902 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:55.902Z,1755988075.902 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-23T22:27:55.903Z,1755988075.903 [DAT](INFO): direction in FSK: [-0.963808,0.265477,-0.024432]
2025-08-23T22:27:55.904Z,1755988075.904 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:55.904Z,1755988075.904 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:55.907Z,1755988075.907 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:55.907Z,1755988075.907 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:56.250Z,1755988076.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 59.900002 m,
deltaT: 3.530787 s,
deltaX: 3.000000 m,
approachRate: 0.849669 m/s,
rangeRepo size: 4
2025-08-23T22:27:56.252Z,1755988076.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 59.528858 m,
bearing: 113.250620 deg,
lat: 36.779392 deg,
lon: -121.859602 deg,
deltaT: 3.530787 s,
deltaX: 2.979877 m,
approachRate: 0.843970 m/s,
posRepo size: 4
2025-08-23T22:27:56.253Z,1755988076.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.53 m.
2025-08-23T22:27:56.569Z,1755988076.569 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-08-23T22:27:56.637Z,1755988076.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.53 m.
2025-08-23T22:27:56.977Z,1755988076.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.53 m.
2025-08-23T22:27:57.429Z,1755988077.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.53 m.
2025-08-23T22:27:57.791Z,1755988077.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.53 m.
2025-08-23T22:27:58.267Z,1755988078.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.53 m.
2025-08-23T22:27:58.594Z,1755988078.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.53 m.
2025-08-23T22:27:58.907Z,1755988078.907 [DAT](INFO): DAT read: Rx Time:22:27:58.1344
2025-08-23T22:27:58.907Z,1755988078.907 [DAT](INFO): Rx dataTimestamp_ set to:1755988078.906765
2025-08-23T22:27:58.996Z,1755988078.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.53 m.
2025-08-23T22:27:59.416Z,1755988079.416 [DAT](INFO): DAT read: 22:27:58.1344 LVL= 32752, 27745, 32754, 32755, AGC= 69, IDX= 473,-0.04, 0.492, 2.222, 0.012, 1.038, PHS=-0.444, 1.229,-1.069, RAW= 345.3, 2.8, CAL= 344.8, -0.1, ROT= 165.2, 0.1
2025-08-23T22:27:59.417Z,1755988079.417 [DAT](INFO): got valid direction response:
22:27:58.1344 LVL= 32752, 27745, 32754, 32755, AGC= 69, IDX= 473,-0.04, 0.492, 2.222, 0.012, 1.038, PHS=-0.444, 1.229,-1.069, RAW= 345.3, 2.8, CAL= 344.8, -0.1, ROT= 165.2, 0.1
2025-08-23T22:27:59.418Z,1755988079.418 [DAT](INFO): DAT read: Bearing 287.5, 14.2 (Local)
2025-08-23T22:27:59.418Z,1755988079.418 [DAT](INFO): Local bearing/azimuth received:
Bearing 287.5, 14.2 (Local)
2025-08-23T22:27:59.420Z,1755988079.420 [DAT](INFO): DAT read: Range 11 to 50 : 62.9 m (Round-trip 83.9 ms) speed -0.8 m/s
2025-08-23T22:27:59.420Z,1755988079.420 [DAT](INFO): DAT read: user:1781>
2025-08-23T22:27:59.421Z,1755988079.421 [DAT](INFO): DAT read: Tx time:22:27:59.2463
2025-08-23T22:27:59.426Z,1755988079.426 [DAT](INFO): Ping request sent.
2025-08-23T22:27:59.426Z,1755988079.426 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:27:59.426Z,1755988079.426 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-23T22:27:59.427Z,1755988079.427 [DAT](INFO): direction in FSK: [-0.966822,0.255445,-0.001745]
2025-08-23T22:27:59.427Z,1755988079.427 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:59.428Z,1755988079.428 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:59.435Z,1755988079.435 [DAT](INFO): publishing transmit ping time
2025-08-23T22:27:59.435Z,1755988079.435 [DAT](INFO): publishing direction and range info
2025-08-23T22:27:59.553Z,1755988079.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 62.900002 m,
deltaT: 3.525307 s,
deltaX: 3.000000 m,
approachRate: 0.850990 m/s,
rangeRepo size: 4
2025-08-23T22:27:59.559Z,1755988079.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 62.512783 m,
bearing: 113.818053 deg,
lat: 36.779398 deg,
lon: -121.859601 deg,
deltaT: 3.525307 s,
deltaX: 2.983925 m,
approachRate: 0.846430 m/s,
posRepo size: 4
2025-08-23T22:27:59.560Z,1755988079.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:27:59.901Z,1755988079.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:28:00.319Z,1755988080.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:28:00.692Z,1755988080.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:28:01.226Z,1755988081.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:28:01.550Z,1755988081.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:28:01.932Z,1755988081.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:28:02.359Z,1755988082.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:28:02.435Z,1755988082.435 [DAT](INFO): DAT read: Rx Time:22:28:01.7385
2025-08-23T22:28:02.436Z,1755988082.436 [DAT](INFO): Rx dataTimestamp_ set to:1755988082.435762
2025-08-23T22:28:02.583Z,1755988082.583 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:28:02.714Z,1755988082.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:28:03.132Z,1755988083.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:28:03.225Z,1755988083.225 [DAT](INFO): DAT read: 22:28:01.7385 LVL= 32752, 25537, 32754, 32755, AGC= 70, IDX= 467,-0.30, 0.249, 1.921,-0.200, 0.781, PHS=-0.431, 1.184,-1.025, RAW= 345.1, 2.8, CAL= 344.6, -0.2, ROT= 165.4, 0.2
2025-08-23T22:28:03.233Z,1755988083.233 [DAT](INFO): got valid direction response:
22:28:01.7385 LVL= 32752, 25537, 32754, 32755, AGC= 70, IDX= 467,-0.30, 0.249, 1.921,-0.200, 0.781, PHS=-0.431, 1.184,-1.025, RAW= 345.1, 2.8, CAL= 344.6, -0.2, ROT= 165.4, 0.2
2025-08-23T22:28:03.240Z,1755988083.240 [DAT](INFO): DAT read: Bearing 287.1, 12.9 (Local)
2025-08-23T22:28:03.246Z,1755988083.246 [DAT](INFO): Local bearing/azimuth received:
Bearing 287.1, 12.9 (Local)
2025-08-23T22:28:03.254Z,1755988083.254 [DAT](INFO): DAT read: Range 11 to 50 : 66.0 m (Round-trip 88.0 ms) speed -0.4 m/s
2025-08-23T22:28:03.257Z,1755988083.257 [DAT](INFO): DAT read: user:1782>
2025-08-23T22:28:03.262Z,1755988083.262 [DAT](INFO): DAT read: Tx time:22:28:02.8463
2025-08-23T22:28:03.263Z,1755988083.263 [DAT](INFO): Ping request sent.
2025-08-23T22:28:03.263Z,1755988083.263 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:28:03.263Z,1755988083.263 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-23T22:28:03.264Z,1755988083.264 [DAT](INFO): direction in FSK: [-0.967703,0.252068,-0.003491]
2025-08-23T22:28:03.264Z,1755988083.264 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:03.264Z,1755988083.264 [DAT](INFO): publishing direction and range info
2025-08-23T22:28:03.268Z,1755988083.268 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:03.268Z,1755988083.268 [DAT](INFO): publishing direction and range info
2025-08-23T22:28:03.567Z,1755988083.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 66.000000 m,
deltaT: 3.781327 s,
deltaX: 3.099998 m,
approachRate: 0.819818 m/s,
rangeRepo size: 4
2025-08-23T22:28:03.569Z,1755988083.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 65.591187 m,
bearing: 113.817216 deg,
lat: 36.779409 deg,
lon: -121.859597 deg,
deltaT: 3.781327 s,
deltaX: 3.078403 m,
approachRate: 0.814107 m/s,
posRepo size: 4
2025-08-23T22:28:03.578Z,1755988083.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.59 m.
2025-08-23T22:28:03.588Z,1755988083.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:28:03.919Z,1755988083.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.59 m.
2025-08-23T22:28:04.371Z,1755988084.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.59 m.
2025-08-23T22:28:04.752Z,1755988084.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.59 m.
2025-08-23T22:28:05.150Z,1755988085.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.59 m.
2025-08-23T22:28:05.563Z,1755988085.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.59 m.
2025-08-23T22:28:05.939Z,1755988085.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.59 m.
2025-08-23T22:28:06.215Z,1755988086.215 [DAT](INFO): DAT read: Rx Time:22:28:05.3425
2025-08-23T22:28:06.215Z,1755988086.215 [DAT](INFO): Rx dataTimestamp_ set to:1755988086.214786
2025-08-23T22:28:06.405Z,1755988086.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.59 m.
2025-08-23T22:28:06.724Z,1755988086.724 [DAT](INFO): DAT read: 22:28:05.3425 LVL= 32752, 26705, 32754, 32755, AGC= 70, IDX= 459, 0.31, 0.403, 2.089,-0.033, 0.962, PHS=-0.457, 1.172,-1.039, RAW= 344.7, 3.3, CAL= 344.3, 0.6, ROT= 165.7, -0.6
2025-08-23T22:28:06.725Z,1755988086.725 [DAT](INFO): got valid direction response:
22:28:05.3425 LVL= 32752, 26705, 32754, 32755, AGC= 70, IDX= 459, 0.31, 0.403, 2.089,-0.033, 0.962, PHS=-0.457, 1.172,-1.039, RAW= 344.7, 3.3, CAL= 344.3, 0.6, ROT= 165.7, -0.6
2025-08-23T22:28:06.726Z,1755988086.726 [DAT](INFO): DAT read: Bearing 286.5, 11.8 (Local)
2025-08-23T22:28:06.727Z,1755988086.727 [DAT](INFO): Local bearing/azimuth received:
Bearing 286.5, 11.8 (Local)
2025-08-23T22:28:06.728Z,1755988086.728 [DAT](INFO): DAT read: Range 11 to 50 : 69.0 m (Round-trip 92.0 ms) speed -0.8 m/s
2025-08-23T22:28:06.729Z,1755988086.729 [DAT](INFO): DAT read: user:1783>
2025-08-23T22:28:06.729Z,1755988086.729 [DAT](INFO): DAT read: Tx time:22:28:06.4463
2025-08-23T22:28:06.730Z,1755988086.730 [DAT](INFO): Ping request sent.
2025-08-23T22:28:06.730Z,1755988086.730 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:28:06.730Z,1755988086.730 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-23T22:28:06.731Z,1755988086.731 [DAT](INFO): direction in FSK: [-0.968963,0.246986,0.010472]
2025-08-23T22:28:06.731Z,1755988086.731 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:06.732Z,1755988086.732 [DAT](INFO): publishing direction and range info
2025-08-23T22:28:06.735Z,1755988086.735 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:06.735Z,1755988086.735 [DAT](INFO): publishing direction and range info
2025-08-23T22:28:06.887Z,1755988086.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 69.000000 m,
deltaT: 3.526706 s,
deltaX: 3.000000 m,
approachRate: 0.850652 m/s,
rangeRepo size: 4
2025-08-23T22:28:06.898Z,1755988086.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 68.575432 m,
bearing: 114.051379 deg,
lat: 36.779411 deg,
lon: -121.859593 deg,
deltaT: 3.526706 s,
deltaX: 2.984245 m,
approachRate: 0.846185 m/s,
posRepo size: 4
2025-08-23T22:28:06.898Z,1755988086.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.58 m.
2025-08-23T22:28:07.239Z,1755988087.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.58 m.
2025-08-23T22:28:07.695Z,1755988087.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.58 m.
2025-08-23T22:28:08.031Z,1755988088.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.58 m.
2025-08-23T22:28:08.474Z,1755988088.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.58 m.
2025-08-23T22:28:08.860Z,1755988088.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.58 m.
2025-08-23T22:28:09.254Z,1755988089.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.58 m.
2025-08-23T22:28:09.692Z,1755988089.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.58 m.
2025-08-23T22:28:09.744Z,1755988089.744 [DAT](INFO): DAT read: Rx Time:22:28:08.9466
2025-08-23T22:28:09.744Z,1755988089.744 [DAT](INFO): Rx dataTimestamp_ set to:1755988089.743706
2025-08-23T22:28:10.055Z,1755988090.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.58 m.
2025-08-23T22:28:10.252Z,1755988090.252 [DAT](INFO): DAT read: 22:28:08.9466 LVL= 32752, 25329, 32754, 32755, AGC= 70, IDX= 470,-0.32, 2.660,-2.007, 2.282,-3.035, PHS=-0.486, 1.073,-1.010, RAW= 344.0, 4.6, CAL= 343.6, 2.6, ROT= 166.4, -2.6
2025-08-23T22:28:10.253Z,1755988090.253 [DAT](INFO): got valid direction response:
22:28:08.9466 LVL= 32752, 25329, 32754, 32755, AGC= 70, IDX= 470,-0.32, 2.660,-2.007, 2.282,-3.035, PHS=-0.486, 1.073,-1.010, RAW= 344.0, 4.6, CAL= 343.6, 2.6, ROT= 166.4, -2.6
2025-08-23T22:28:10.254Z,1755988090.254 [DAT](INFO): DAT read: Bearing 284.3, 10.5 (Local)
2025-08-23T22:28:10.254Z,1755988090.254 [DAT](INFO): Local bearing/azimuth received:
Bearing 284.3, 10.5 (Local)
2025-08-23T22:28:10.256Z,1755988090.256 [DAT](INFO): DAT read: Range 11 to 50 : 72.0 m (Round-trip 96.1 ms) speed -0.8 m/s
2025-08-23T22:28:10.256Z,1755988090.256 [DAT](INFO): DAT read: user:1784>
2025-08-23T22:28:10.257Z,1755988090.257 [DAT](INFO): DAT read: Tx time:22:28:10.0463
2025-08-23T22:28:10.258Z,1755988090.258 [DAT](INFO): Ping request sent.
2025-08-23T22:28:10.258Z,1755988090.258 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:28:10.258Z,1755988090.258 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-23T22:28:10.259Z,1755988090.259 [DAT](INFO): direction in FSK: [-0.970960,0.234900,0.045363]
2025-08-23T22:28:10.259Z,1755988090.259 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:10.259Z,1755988090.259 [DAT](INFO): publishing direction and range info
2025-08-23T22:28:10.263Z,1755988090.263 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:10.263Z,1755988090.263 [DAT](INFO): publishing direction and range info
2025-08-23T22:28:10.525Z,1755988090.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 72.000000 m,
deltaT: 3.527967 s,
deltaX: 3.000000 m,
approachRate: 0.850348 m/s,
rangeRepo size: 4
2025-08-23T22:28:10.527Z,1755988090.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 71.556892 m,
bearing: 114.653612 deg,
lat: 36.779422 deg,
lon: -121.859591 deg,
deltaT: 3.527967 s,
deltaX: 2.981461 m,
approachRate: 0.845093 m/s,
posRepo size: 4
2025-08-23T22:28:10.528Z,1755988090.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.56 m.
2025-08-23T22:28:10.889Z,1755988090.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.56 m.
2025-08-23T22:28:11.265Z,1755988091.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.56 m.
2025-08-23T22:28:11.711Z,1755988091.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.56 m.
2025-08-23T22:28:12.073Z,1755988092.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.56 m.
2025-08-23T22:28:12.498Z,1755988092.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.56 m.
2025-08-23T22:28:12.902Z,1755988092.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.56 m.
2025-08-23T22:28:13.271Z,1755988093.271 [DAT](INFO): DAT read: Rx Time:22:28:12.5507
2025-08-23T22:28:13.271Z,1755988093.271 [DAT](INFO): Rx dataTimestamp_ set to:1755988093.270708
2025-08-23T22:28:13.288Z,1755988093.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.56 m.
2025-08-23T22:28:13.709Z,1755988093.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.56 m.
2025-08-23T22:28:13.826Z,1755988093.826 [DAT](INFO): DAT read: 22:28:12.5507 LVL= 25232, 19953, 29874, 28131, AGC= 70, IDX= 464, 0.07, 2.593,-2.066, 2.207, 3.141, PHS=-0.446, 1.121,-0.978, RAW= 344.1, 3.2, CAL= 343.6, 0.5, ROT= 166.4, -0.5
2025-08-23T22:28:13.828Z,1755988093.828 [DAT](INFO): got valid direction response:
22:28:12.5507 LVL= 25232, 19953, 29874, 28131, AGC= 70, IDX= 464, 0.07, 2.593,-2.066, 2.207, 3.141, PHS=-0.446, 1.121,-0.978, RAW= 344.1, 3.2, CAL= 343.6, 0.5, ROT= 166.4, -0.5
2025-08-23T22:28:13.834Z,1755988093.834 [DAT](INFO): DAT read: Bearing 286.5, 9.8 (Local)
2025-08-23T22:28:13.835Z,1755988093.835 [DAT](INFO): Local bearing/azimuth received:
Bearing 286.5, 9.8 (Local)
2025-08-23T22:28:13.843Z,1755988093.843 [DAT](INFO): DAT read: Range 11 to 50 : 75.2 m (Round-trip 100.3 ms) speed -0.8 m/s
2025-08-23T22:28:13.845Z,1755988093.845 [DAT](INFO): DAT read: user:1785>
2025-08-23T22:28:13.850Z,1755988093.850 [DAT](INFO): DAT read: Tx time:22:28:13.6462
2025-08-23T22:28:13.850Z,1755988093.850 [DAT](INFO): Ping request sent.
2025-08-23T22:28:13.850Z,1755988093.850 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:28:13.851Z,1755988093.851 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-23T22:28:13.852Z,1755988093.852 [DAT](INFO): direction in FSK: [-0.971924,0.235133,0.008727]
2025-08-23T22:28:13.852Z,1755988093.852 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:13.852Z,1755988093.852 [DAT](INFO): publishing direction and range info
2025-08-23T22:28:13.859Z,1755988093.859 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:13.860Z,1755988093.860 [DAT](INFO): publishing direction and range info
2025-08-23T22:28:14.167Z,1755988094.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 75.199997 m,
deltaT: 3.531142 s,
deltaX: 3.199997 m,
approachRate: 0.906222 m/s,
rangeRepo size: 4
2025-08-23T22:28:14.168Z,1755988094.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 74.737534 m,
bearing: 114.454804 deg,
lat: 36.779426 deg,
lon: -121.859586 deg,
deltaT: 3.531142 s,
deltaX: 3.180641 m,
approachRate: 0.900740 m/s,
posRepo size: 4
2025-08-23T22:28:14.169Z,1755988094.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.74 m.
2025-08-23T22:28:14.484Z,1755988094.484 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-08-23T22:28:14.550Z,1755988094.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.74 m.
2025-08-23T22:28:14.921Z,1755988094.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.74 m.
2025-08-23T22:28:15.335Z,1755988095.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.74 m.
2025-08-23T22:28:15.739Z,1755988095.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.74 m.
2025-08-23T22:28:16.110Z,1755988096.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.74 m.
2025-08-23T22:28:16.535Z,1755988096.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.74 m.
2025-08-23T22:28:16.925Z,1755988096.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.74 m.
2025-08-23T22:28:17.051Z,1755988097.051 [DAT](INFO): DAT read: Rx Time:22:28:16.1549
2025-08-23T22:28:17.051Z,1755988097.051 [DAT](INFO): Rx dataTimestamp_ set to:1755988097.050746
2025-08-23T22:28:17.348Z,1755988097.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.74 m.
2025-08-23T22:28:17.560Z,1755988097.560 [DAT](INFO): DAT read: 22:28:16.1549 LVL= 32752, 23921, 32754, 32755, AGC= 73, IDX= 475, 0.07, 2.510,-2.129, 2.145, 3.097, PHS=-0.486, 1.102,-0.996, RAW= 343.5, 4.1, CAL= 343.1, 1.8, ROT= 166.9, -1.8
2025-08-23T22:28:17.561Z,1755988097.561 [DAT](INFO): got valid direction response:
22:28:16.1549 LVL= 32752, 23921, 32754, 32755, AGC= 73, IDX= 475, 0.07, 2.510,-2.129, 2.145, 3.097, PHS=-0.486, 1.102,-0.996, RAW= 343.5, 4.1, CAL= 343.1, 1.8, ROT= 166.9, -1.8
2025-08-23T22:28:17.562Z,1755988097.562 [DAT](INFO): DAT read: Bearing 285.1, 8.8 (Local)
2025-08-23T22:28:17.562Z,1755988097.562 [DAT](INFO): Local bearing/azimuth received:
Bearing 285.1, 8.8 (Local)
2025-08-23T22:28:17.564Z,1755988097.564 [DAT](INFO): DAT read: Range 11 to 50 : 78.3 m (Round-trip 104.5 ms) speed -0.5 m/s
2025-08-23T22:28:17.564Z,1755988097.564 [DAT](INFO): DAT read: user:1786>
2025-08-23T22:28:17.565Z,1755988097.565 [DAT](INFO): DAT read: Tx time:22:28:17.2462
2025-08-23T22:28:17.565Z,1755988097.565 [DAT](INFO): Ping request sent.
2025-08-23T22:28:17.566Z,1755988097.566 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:28:17.566Z,1755988097.566 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-23T22:28:17.567Z,1755988097.567 [DAT](INFO): direction in FSK: [-0.973495,0.226540,0.031411]
2025-08-23T22:28:17.567Z,1755988097.567 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:17.567Z,1755988097.567 [DAT](INFO): publishing direction and range info
2025-08-23T22:28:17.571Z,1755988097.571 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:17.571Z,1755988097.571 [DAT](INFO): publishing direction and range info
2025-08-23T22:28:17.857Z,1755988097.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 78.300003 m,
deltaT: 3.776782 s,
deltaX: 3.100006 m,
approachRate: 0.820806 m/s,
rangeRepo size: 4
2025-08-23T22:28:17.859Z,1755988097.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 77.817451 m,
bearing: 114.714433 deg,
lat: 36.779428 deg,
lon: -121.859586 deg,
deltaT: 3.776782 s,
deltaX: 3.079918 m,
approachRate: 0.815487 m/s,
posRepo size: 4
2025-08-23T22:28:17.859Z,1755988097.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:18.187Z,1755988098.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:28:18.190Z,1755988098.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:18.311Z,1755988098.311 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:18.311Z,1755988098.311 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:18.312Z,1755988098.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:28:18.563Z,1755988098.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997026
2025-08-23T22:28:18.612Z,1755988098.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:18.816Z,1755988098.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249888
2025-08-23T22:28:18.997Z,1755988098.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:19.067Z,1755988099.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500929
2025-08-23T22:28:19.320Z,1755988099.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753602
2025-08-23T22:28:19.407Z,1755988099.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:19.571Z,1755988099.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004893
2025-08-23T22:28:19.824Z,1755988099.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257816
2025-08-23T22:28:19.860Z,1755988099.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:20.075Z,1755988100.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509049
2025-08-23T22:28:20.218Z,1755988100.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:20.328Z,1755988100.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761868
2025-08-23T22:28:20.579Z,1755988100.579 [DAT](INFO): DAT read: Rx Time:22:28:19.7590
2025-08-23T22:28:20.579Z,1755988100.579 [DAT](INFO): Rx dataTimestamp_ set to:1755988100.578774
2025-08-23T22:28:20.580Z,1755988100.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014004
2025-08-23T22:28:20.656Z,1755988100.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:20.833Z,1755988100.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267065
2025-08-23T22:28:21.088Z,1755988101.088 [DAT](INFO): DAT read: 22:28:19.7590 LVL= 32752, 29601, 32754, 32755, AGC= 72, IDX= 470,-0.18,-2.300,-0.572,-2.657,-1.709, PHS=-0.489, 1.182,-0.992, RAW= 342.8, 3.1, CAL= 342.3, 0.3, ROT= 167.7, -0.3
2025-08-23T22:28:21.090Z,1755988101.090 [DAT](INFO): got valid direction response:
22:28:19.7590 LVL= 32752, 29601, 32754, 32755, AGC= 72, IDX= 470,-0.18,-2.300,-0.572,-2.657,-1.709, PHS=-0.489, 1.182,-0.992, RAW= 342.8, 3.1, CAL= 342.3, 0.3, ROT= 167.7, -0.3
2025-08-23T22:28:21.090Z,1755988101.090 [DAT](INFO): DAT read: $Error in header
2025-08-23T22:28:21.091Z,1755988101.091 [DAT](INFO): Received a bad header
2025-08-23T22:28:21.102Z,1755988101.102 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:28:21.103Z,1755988101.103 [DAT](INFO): direction in FSK: [-0.977032,0.213028,0.005236]
2025-08-23T22:28:21.122Z,1755988101.122 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:21.122Z,1755988101.122 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:21.123Z,1755988101.123 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:21.226Z,1755988101.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:21.334Z,1755988101.334 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:21.335Z,1755988101.335 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:21.335Z,1755988101.335 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:21.588Z,1755988101.588 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:21.588Z,1755988101.588 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:21.588Z,1755988101.588 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:21.715Z,1755988101.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:21.838Z,1755988101.838 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:21.838Z,1755988101.838 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:21.838Z,1755988101.838 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:22.091Z,1755988102.091 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:22.091Z,1755988102.091 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:22.091Z,1755988102.091 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:22.166Z,1755988102.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:22.342Z,1755988102.342 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:22.342Z,1755988102.342 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:22.342Z,1755988102.342 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:22.594Z,1755988102.594 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:22.594Z,1755988102.594 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:22.594Z,1755988102.594 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:22.610Z,1755988102.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:22.847Z,1755988102.847 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:22.847Z,1755988102.847 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:22.847Z,1755988102.847 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:22.980Z,1755988102.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:23.098Z,1755988103.098 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:23.098Z,1755988103.098 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:23.099Z,1755988103.099 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:23.350Z,1755988103.350 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:23.350Z,1755988103.350 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:23.350Z,1755988103.350 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:23.400Z,1755988103.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:23.602Z,1755988103.602 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:23.602Z,1755988103.602 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:23.602Z,1755988103.602 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:23.854Z,1755988103.854 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:23.855Z,1755988103.855 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:23.855Z,1755988103.855 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:23.862Z,1755988103.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:24.106Z,1755988104.106 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:24.106Z,1755988104.106 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:24.106Z,1755988104.106 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:24.220Z,1755988104.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:24.358Z,1755988104.358 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:24.358Z,1755988104.358 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:24.358Z,1755988104.358 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:24.610Z,1755988104.610 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:24.611Z,1755988104.611 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:24.611Z,1755988104.611 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:24.639Z,1755988104.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:24.864Z,1755988104.864 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:24.864Z,1755988104.864 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:24.864Z,1755988104.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:24.997Z,1755988104.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:25.114Z,1755988105.114 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:25.114Z,1755988105.114 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:25.114Z,1755988105.114 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:25.366Z,1755988105.366 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:25.366Z,1755988105.366 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:25.366Z,1755988105.366 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:25.420Z,1755988105.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:25.618Z,1755988105.618 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:25.618Z,1755988105.618 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:25.618Z,1755988105.618 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:25.870Z,1755988105.870 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:25.870Z,1755988105.870 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:25.871Z,1755988105.871 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:25.872Z,1755988105.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:26.122Z,1755988106.122 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:26.122Z,1755988106.122 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:26.123Z,1755988106.123 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:26.236Z,1755988106.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:26.374Z,1755988106.374 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:26.374Z,1755988106.374 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:26.374Z,1755988106.374 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:26.626Z,1755988106.626 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:26.626Z,1755988106.626 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:26.627Z,1755988106.627 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:26.681Z,1755988106.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:26.881Z,1755988106.881 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:26.881Z,1755988106.881 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:26.881Z,1755988106.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:27.019Z,1755988107.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:27.130Z,1755988107.130 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:27.130Z,1755988107.130 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:27.130Z,1755988107.130 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:27.383Z,1755988107.383 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:28:27.383Z,1755988107.383 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:28:27.383Z,1755988107.383 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:28:27.490Z,1755988107.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:27.638Z,1755988107.638 [DAT](INFO): Reached modem response timeout
2025-08-23T22:28:27.638Z,1755988107.638 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:28:27.638Z,1755988107.638 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:28:27.886Z,1755988107.886 [DAT](INFO): Reached modem response timeout
2025-08-23T22:28:27.886Z,1755988107.886 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:28:27.887Z,1755988107.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:28:27.903Z,1755988107.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:28.138Z,1755988108.138 [DAT](INFO): Reached modem response timeout
2025-08-23T22:28:28.138Z,1755988108.138 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:28:28.139Z,1755988108.139 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:28:28.273Z,1755988108.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:28.390Z,1755988108.390 [DAT](INFO): Reached modem response timeout
2025-08-23T22:28:28.390Z,1755988108.390 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:28:28.391Z,1755988108.391 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:28:28.645Z,1755988108.645 [DAT](INFO): Reached modem response timeout
2025-08-23T22:28:28.645Z,1755988108.645 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:28:28.646Z,1755988108.646 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:28:28.718Z,1755988108.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:28.894Z,1755988108.894 [DAT](INFO): Reached modem response timeout
2025-08-23T22:28:28.894Z,1755988108.894 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:28:28.895Z,1755988108.895 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:28:29.054Z,1755988109.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:29.146Z,1755988109.146 [DAT](INFO): Reached modem response timeout
2025-08-23T22:28:29.146Z,1755988109.146 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:28:29.147Z,1755988109.147 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:28:29.398Z,1755988109.398 [DAT](INFO): Reached modem response timeout
2025-08-23T22:28:29.398Z,1755988109.398 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:28:29.399Z,1755988109.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:28:29.444Z,1755988109.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:29.651Z,1755988109.651 [DAT](INFO): Reached modem response timeout
2025-08-23T22:28:29.651Z,1755988109.651 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:28:29.651Z,1755988109.651 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:28:29.903Z,1755988109.903 [DAT](INFO): DAT read: Response Not Received
2025-08-23T22:28:29.903Z,1755988109.903 [DAT](INFO): response not received
2025-08-23T22:28:29.903Z,1755988109.903 [DAT](INFO): DAT read: user:1788>
2025-08-23T22:28:29.904Z,1755988109.904 [DAT](INFO): DAT read: Tx time:22:28:29.6962
2025-08-23T22:28:29.904Z,1755988109.904 [DAT](INFO): Ping request sent.
2025-08-23T22:28:29.904Z,1755988109.904 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:28:29.905Z,1755988109.905 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:29.905Z,1755988109.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-23T22:28:29.910Z,1755988109.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:30.154Z,1755988110.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249954
2025-08-23T22:28:30.262Z,1755988110.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:30.406Z,1755988110.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501950
2025-08-23T22:28:30.666Z,1755988110.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761086
2025-08-23T22:28:30.737Z,1755988110.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:30.914Z,1755988110.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009893
2025-08-23T22:28:31.066Z,1755988111.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:31.167Z,1755988111.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261971
2025-08-23T22:28:31.419Z,1755988111.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514199
2025-08-23T22:28:31.468Z,1755988111.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:31.674Z,1755988111.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768610
2025-08-23T22:28:31.905Z,1755988111.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:31.923Z,1755988111.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018057
2025-08-23T22:28:32.175Z,1755988112.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270020
2025-08-23T22:28:32.288Z,1755988112.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:32.427Z,1755988112.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522830
2025-08-23T22:28:32.682Z,1755988112.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776770
2025-08-23T22:28:32.823Z,1755988112.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:32.931Z,1755988112.931 [DAT](INFO): DAT read: Rx Time:22:28:32.2235
2025-08-23T22:28:32.931Z,1755988112.931 [DAT](INFO): Rx dataTimestamp_ set to:1755988112.930756
2025-08-23T22:28:32.932Z,1755988112.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027071
2025-08-23T22:28:33.138Z,1755988113.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:33.184Z,1755988113.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278900
2025-08-23T22:28:33.439Z,1755988113.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534238
2025-08-23T22:28:33.546Z,1755988113.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.82 m.
2025-08-23T22:28:33.709Z,1755988113.709 [DAT](INFO): DAT read: 22:28:32.2235 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 58,-0.11,-1.866,-0.146,-2.194,-1.322, PHS=-0.442, 1.221,-0.916, RAW= 342.2, 1.4, CAL= 341.7, -1.5, ROT= 168.3, 1.5
2025-08-23T22:28:33.710Z,1755988113.710 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:28:33.711Z,1755988113.711 [DAT](INFO): got valid direction response:
22:28:32.2235 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 58,-0.11,-1.866,-0.146,-2.194,-1.322, PHS=-0.442, 1.221,-0.916, RAW= 342.2, 1.4, CAL= 341.7, -1.5, ROT= 168.3, 1.5
2025-08-23T22:28:33.712Z,1755988113.712 [DAT](INFO): DAT read: Bearing 288.5, 7.0 (Local)
2025-08-23T22:28:33.713Z,1755988113.713 [DAT](INFO): Local bearing/azimuth received:
Bearing 288.5, 7.0 (Local)
2025-08-23T22:28:33.714Z,1755988113.714 [DAT](INFO): DAT read: Range 11 to 50 : 92.3 m (Round-trip 123.1 ms) speed -0.4 m/s
2025-08-23T22:28:33.715Z,1755988113.715 [DAT](INFO): DAT read: user:1789>
2025-08-23T22:28:33.716Z,1755988113.716 [DAT](INFO): DAT read: Tx time:22:28:33.3462
2025-08-23T22:28:33.716Z,1755988113.716 [DAT](INFO): Ping request sent.
2025-08-23T22:28:33.716Z,1755988113.716 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:28:33.716Z,1755988113.716 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:28:33.719Z,1755988113.719 [DAT](INFO): direction in FSK: [-0.978887,0.202718,-0.026177]
2025-08-23T22:28:33.720Z,1755988113.720 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:33.721Z,1755988113.721 [DAT](INFO): publishing direction and range info
2025-08-23T22:28:33.755Z,1755988113.755 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:33.756Z,1755988113.756 [DAT](INFO): publishing direction and range info
2025-08-23T22:28:33.984Z,1755988113.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 92.300003 m,
deltaT: 16.137779 s,
deltaX: 14.000000 m,
approachRate: 0.867530 m/s,
rangeRepo size: 4
2025-08-23T22:28:33.986Z,1755988113.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 91.724014 m,
bearing: 116.295920 deg,
lat: 36.779437 deg,
lon: -121.859580 deg,
deltaT: 16.137779 s,
deltaX: 13.906563 m,
approachRate: 0.861740 m/s,
posRepo size: 4
2025-08-23T22:28:33.987Z,1755988113.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:34.347Z,1755988114.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:34.715Z,1755988114.715 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:28:34.824Z,1755988114.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:35.170Z,1755988115.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:35.558Z,1755988115.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:35.984Z,1755988115.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:36.391Z,1755988116.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:36.849Z,1755988116.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:37.226Z,1755988117.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:37.654Z,1755988117.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:38.051Z,1755988118.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:38.432Z,1755988118.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:38.950Z,1755988118.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:39.312Z,1755988119.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:39.788Z,1755988119.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:40.156Z,1755988120.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:40.601Z,1755988120.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:41.011Z,1755988121.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:41.366Z,1755988121.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:41.820Z,1755988121.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:42.181Z,1755988122.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:42.562Z,1755988122.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:43.006Z,1755988123.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:43.370Z,1755988123.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:43.808Z,1755988123.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:44.200Z,1755988124.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:44.593Z,1755988124.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:45.059Z,1755988125.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:45.420Z,1755988125.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:45.800Z,1755988125.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:46.046Z,1755988126.046 [DAT](INFO): DAT read: Response Not Received
2025-08-23T22:28:46.047Z,1755988126.047 [DAT](INFO): response not received
2025-08-23T22:28:46.047Z,1755988126.047 [DAT](INFO): DAT read: user:1790>
2025-08-23T22:28:46.048Z,1755988126.048 [DAT](INFO): DAT read: Tx time:22:28:45.7961
2025-08-23T22:28:46.049Z,1755988126.049 [DAT](INFO): Ping request sent.
2025-08-23T22:28:46.049Z,1755988126.049 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:28:46.050Z,1755988126.050 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:46.234Z,1755988126.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:46.601Z,1755988126.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:47.025Z,1755988127.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:47.410Z,1755988127.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:47.827Z,1755988127.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:48.272Z,1755988128.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:48.666Z,1755988128.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:49.107Z,1755988129.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:49.324Z,1755988129.324 [DAT](INFO): DAT read: 22:28:48.3425 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 77, 0.33, 2.155,-2.342, 1.977, 2.721, PHS=-0.464, 1.264,-0.789, RAW= 338.4, -0.1, CAL= 337.9, -3.0, ROT= 172.1, 3.0
2025-08-23T22:28:49.325Z,1755988129.325 [DAT](INFO): got valid direction response:
22:28:48.3425 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 77, 0.33, 2.155,-2.342, 1.977, 2.721, PHS=-0.464, 1.264,-0.789, RAW= 338.4, -0.1, CAL= 337.9, -3.0, ROT= 172.1, 3.0
2025-08-23T22:28:49.326Z,1755988129.326 [DAT](INFO): DAT read: Rx Time:22:28:48.3425
2025-08-23T22:28:49.326Z,1755988129.326 [DAT](INFO): Rx dataTimestamp_ set to:1755988129.326185
2025-08-23T22:28:49.327Z,1755988129.327 [DAT](INFO): DAT read: $Low SNR acquisition
2025-08-23T22:28:49.327Z,1755988129.327 [DAT](INFO): Received low SNR in chirp
2025-08-23T22:28:49.342Z,1755988129.342 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-23T22:28:49.343Z,1755988129.343 [DAT](INFO): direction in FSK: [-0.989152,0.137256,-0.052336]
2025-08-23T22:28:49.446Z,1755988129.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:49.844Z,1755988129.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:50.315Z,1755988130.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:50.662Z,1755988130.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:51.091Z,1755988131.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:51.454Z,1755988131.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:51.864Z,1755988131.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:52.293Z,1755988132.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:52.685Z,1755988132.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:53.087Z,1755988133.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:53.528Z,1755988133.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:53.885Z,1755988133.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:54.326Z,1755988134.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:54.692Z,1755988134.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:55.110Z,1755988135.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:55.493Z,1755988135.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:55.895Z,1755988135.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:56.317Z,1755988136.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:56.719Z,1755988136.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:57.134Z,1755988137.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:57.509Z,1755988137.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:57.931Z,1755988137.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:58.346Z,1755988138.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:58.393Z,1755988138.393 [DAT](INFO): DAT read: Response Not Received
2025-08-23T22:28:58.393Z,1755988138.393 [DAT](INFO): response not received
2025-08-23T22:28:58.394Z,1755988138.394 [DAT](INFO): DAT read: user:1792>
2025-08-23T22:28:58.395Z,1755988138.395 [DAT](ERROR): No response from remote modem.
2025-08-23T22:28:58.643Z,1755988138.643 [DAT](INFO): DAT read: Invalid Command
2025-08-23T22:28:58.643Z,1755988138.643 [DAT](INFO): unknown deviceResponse_: Invalid Command
2025-08-23T22:28:58.644Z,1755988138.644 [DAT](INFO): DAT read:
2025-08-23T22:28:58.644Z,1755988138.644 [DAT](INFO): DAT read: user:1793>
2025-08-23T22:28:58.645Z,1755988138.645 [DAT](INFO): DAT read: Tx time:22:28:58.2960
2025-08-23T22:28:58.645Z,1755988138.645 [DAT](INFO): Ping request sent.
2025-08-23T22:28:58.645Z,1755988138.645 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:28:58.645Z,1755988138.645 [DAT](INFO): publishing transmit ping time
2025-08-23T22:28:58.755Z,1755988138.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:59.218Z,1755988139.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:28:59.568Z,1755988139.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:29:00.075Z,1755988140.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:29:00.588Z,1755988140.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:29:01.052Z,1755988141.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:29:01.469Z,1755988141.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:29:01.667Z,1755988141.667 [DAT](INFO): DAT read: Rx Time:22:29:00.8575
2025-08-23T22:29:01.667Z,1755988141.667 [DAT](INFO): Rx dataTimestamp_ set to:1755988141.666898
2025-08-23T22:29:01.864Z,1755988141.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-08-23T22:29:02.178Z,1755988142.178 [DAT](INFO): DAT read: 22:29:00.8575 LVL= 32752, 30513, 32754, 32755, AGC= 69, IDX= 71, 0.13,-0.413, 1.433,-0.501, 0.140, PHS=-0.451, 1.338,-0.685, RAW= 336.1, -2.1, CAL= 335.4, -5.1, ROT= 174.6, 5.1
2025-08-23T22:29:02.180Z,1755988142.180 [DAT](INFO): got valid direction response:
22:29:00.8575 LVL= 32752, 30513, 32754, 32755, AGC= 69, IDX= 71, 0.13,-0.413, 1.433,-0.501, 0.140, PHS=-0.451, 1.338,-0.685, RAW= 336.1, -2.1, CAL= 335.4, -5.1, ROT= 174.6, 5.1
2025-08-23T22:29:02.181Z,1755988142.181 [DAT](INFO): DAT read: Bearing 291.6, 7.2 (Local)
2025-08-23T22:29:02.181Z,1755988142.181 [DAT](INFO): Local bearing/azimuth received:
Bearing 291.6, 7.2 (Local)
2025-08-23T22:29:02.183Z,1755988142.183 [DAT](INFO): DAT read: Range 11 to 50 : 117.9 m (Round-trip 157.3 ms) speed -0.4 m/s
2025-08-23T22:29:02.184Z,1755988142.184 [DAT](INFO): DAT read: user:1794>
2025-08-23T22:29:02.186Z,1755988142.186 [DAT](INFO): DAT read: Tx time:22:29:01.9460
2025-08-23T22:29:02.186Z,1755988142.186 [DAT](INFO): Ping request sent.
2025-08-23T22:29:02.186Z,1755988142.186 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:02.187Z,1755988142.187 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-23T22:29:02.188Z,1755988142.188 [DAT](INFO): direction in FSK: [-0.991621,0.093736,-0.088894]
2025-08-23T22:29:02.189Z,1755988142.189 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:02.189Z,1755988142.189 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:02.194Z,1755988142.194 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:02.194Z,1755988142.194 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:02.375Z,1755988142.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 117.900002 m,
deltaT: 28.478275 s,
deltaX: 25.599998 m,
approachRate: 0.898931 m/s,
rangeRepo size: 4
2025-08-23T22:29:02.377Z,1755988142.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 117.162743 m,
bearing: 122.580498 deg,
lat: 36.779437 deg,
lon: -121.859580 deg,
deltaT: 28.478275 s,
deltaX: 25.438728 m,
approachRate: 0.893268 m/s,
posRepo size: 4
2025-08-23T22:29:02.377Z,1755988142.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.16 m.
2025-08-23T22:29:02.383Z,1755988142.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 117.90 m. Resuming terminal guidance.
2025-08-23T22:29:02.383Z,1755988142.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-23T22:29:02.708Z,1755988142.708 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-23T22:29:02.708Z,1755988142.708 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-23T22:29:02.708Z,1755988142.708 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-23T22:29:02.715Z,1755988142.715 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 117.900002 m (mode 1.000000 count ).
2025-08-23T22:29:02.715Z,1755988142.715 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-23T22:29:02.715Z,1755988142.715 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-23T22:29:03.056Z,1755988143.056 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-23T22:29:03.056Z,1755988143.056 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-23T22:29:03.058Z,1755988143.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:03.179Z,1755988143.179 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:03.179Z,1755988143.179 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:03.180Z,1755988143.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:03.430Z,1755988143.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244114
2025-08-23T22:29:03.500Z,1755988143.500 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-23T22:29:03.500Z,1755988143.500 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-23T22:29:03.683Z,1755988143.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496171
2025-08-23T22:29:03.935Z,1755988143.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748232
2025-08-23T22:29:04.004Z,1755988144.004 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-23T22:29:04.004Z,1755988144.004 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-23T22:29:04.004Z,1755988144.004 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-23T22:29:04.004Z,1755988144.004 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-23T22:29:04.187Z,1755988144.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001029
2025-08-23T22:29:04.438Z,1755988144.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252067
2025-08-23T22:29:04.696Z,1755988144.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509918
2025-08-23T22:29:04.842Z,1755988144.842 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:29:04.946Z,1755988144.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760131
2025-08-23T22:29:05.200Z,1755988145.200 [DAT](INFO): DAT read: Rx Time:22:29:04.5119
2025-08-23T22:29:05.202Z,1755988145.202 [DAT](INFO): Rx dataTimestamp_ set to:1755988145.200584
2025-08-23T22:29:05.202Z,1755988145.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015809
2025-08-23T22:29:05.286Z,1755988145.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:05.451Z,1755988145.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264195
2025-08-23T22:29:05.704Z,1755988145.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516948
2025-08-23T22:29:05.846Z,1755988145.846 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:29:05.960Z,1755988145.960 [DAT](INFO): DAT read: 22:29:04.5119 LVL= 32752, 28209, 32754, 32755, AGC= 74, IDX= 468,-0.11,-1.141, 0.695,-1.239,-0.576, PHS=-0.463, 1.316,-0.707, RAW= 336.3, -1.5, CAL= 335.7, -4.5, ROT= 174.3, 4.5
2025-08-23T22:29:05.961Z,1755988145.961 [DAT](INFO): got valid direction response:
22:29:04.5119 LVL= 32752, 28209, 32754, 32755, AGC= 74, IDX= 468,-0.11,-1.141, 0.695,-1.239,-0.576, PHS=-0.463, 1.316,-0.707, RAW= 336.3, -1.5, CAL= 335.7, -4.5, ROT= 174.3, 4.5
2025-08-23T22:29:05.972Z,1755988145.972 [DAT](INFO): DAT read: $Error in header
2025-08-23T22:29:05.972Z,1755988145.972 [DAT](INFO): Received a bad header
2025-08-23T22:29:05.990Z,1755988145.990 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-23T22:29:05.991Z,1755988145.991 [DAT](INFO): direction in FSK: [-0.991988,0.099013,-0.078459]
2025-08-23T22:29:06.007Z,1755988146.007 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:06.008Z,1755988146.008 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:06.008Z,1755988146.008 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:06.207Z,1755988146.207 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:06.207Z,1755988146.207 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:06.208Z,1755988146.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:06.458Z,1755988146.458 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:06.458Z,1755988146.458 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:06.458Z,1755988146.458 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:06.711Z,1755988146.711 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:06.712Z,1755988146.712 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:06.712Z,1755988146.712 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:06.963Z,1755988146.963 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:06.963Z,1755988146.963 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:06.963Z,1755988146.963 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:07.217Z,1755988147.217 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:07.218Z,1755988147.218 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:07.218Z,1755988147.218 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:07.305Z,1755988147.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:07.466Z,1755988147.466 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:07.466Z,1755988147.466 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:07.466Z,1755988147.466 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:07.719Z,1755988147.719 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:07.719Z,1755988147.719 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:07.720Z,1755988147.720 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:07.970Z,1755988147.970 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:07.970Z,1755988147.970 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:07.970Z,1755988147.970 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:08.226Z,1755988148.226 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:08.227Z,1755988148.227 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:08.227Z,1755988148.227 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:08.474Z,1755988148.474 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:08.475Z,1755988148.475 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:08.475Z,1755988148.475 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:08.727Z,1755988148.727 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:08.727Z,1755988148.727 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:08.728Z,1755988148.728 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:08.978Z,1755988148.978 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:08.978Z,1755988148.978 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:08.978Z,1755988148.978 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:09.232Z,1755988149.232 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:09.233Z,1755988149.233 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:09.233Z,1755988149.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:09.313Z,1755988149.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:09.482Z,1755988149.482 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:09.482Z,1755988149.482 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:09.482Z,1755988149.482 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:09.739Z,1755988149.739 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:09.740Z,1755988149.740 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:09.740Z,1755988149.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:09.990Z,1755988149.990 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:09.990Z,1755988149.990 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:09.991Z,1755988149.991 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:10.247Z,1755988150.247 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:10.248Z,1755988150.248 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:10.248Z,1755988150.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:10.494Z,1755988150.494 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:10.494Z,1755988150.494 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:10.495Z,1755988150.495 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:10.747Z,1755988150.747 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:10.747Z,1755988150.747 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:10.747Z,1755988150.747 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:10.998Z,1755988150.998 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:10.998Z,1755988150.998 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:10.998Z,1755988150.998 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:11.255Z,1755988151.255 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:11.255Z,1755988151.255 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:11.256Z,1755988151.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:11.340Z,1755988151.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:11.502Z,1755988151.502 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:11.502Z,1755988151.502 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:11.503Z,1755988151.503 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:11.755Z,1755988151.755 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:11.755Z,1755988151.755 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:11.755Z,1755988151.755 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:12.006Z,1755988152.006 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:12.006Z,1755988152.006 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:12.006Z,1755988152.006 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-23T22:29:12.260Z,1755988152.260 [DAT](INFO): Reached modem response timeout
2025-08-23T22:29:12.261Z,1755988152.261 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:29:12.262Z,1755988152.262 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:12.510Z,1755988152.510 [DAT](INFO): Reached modem response timeout
2025-08-23T22:29:12.510Z,1755988152.510 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:29:12.511Z,1755988152.511 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:12.762Z,1755988152.762 [DAT](INFO): Reached modem response timeout
2025-08-23T22:29:12.762Z,1755988152.762 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:29:12.763Z,1755988152.763 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:13.014Z,1755988153.014 [DAT](INFO): Reached modem response timeout
2025-08-23T22:29:13.014Z,1755988153.014 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:29:13.015Z,1755988153.015 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:13.268Z,1755988153.268 [DAT](INFO): Reached modem response timeout
2025-08-23T22:29:13.269Z,1755988153.269 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:29:13.270Z,1755988153.270 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:13.357Z,1755988153.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:13.518Z,1755988153.518 [DAT](INFO): Reached modem response timeout
2025-08-23T22:29:13.519Z,1755988153.519 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:29:13.519Z,1755988153.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:13.771Z,1755988153.771 [DAT](INFO): Reached modem response timeout
2025-08-23T22:29:13.772Z,1755988153.772 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:29:13.772Z,1755988153.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:14.022Z,1755988154.022 [DAT](INFO): Reached modem response timeout
2025-08-23T22:29:14.022Z,1755988154.022 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:29:14.023Z,1755988154.023 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:14.276Z,1755988154.276 [DAT](INFO): Reached modem response timeout
2025-08-23T22:29:14.277Z,1755988154.277 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:29:14.278Z,1755988154.278 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:14.527Z,1755988154.527 [DAT](INFO): DAT read: Response Not Received
2025-08-23T22:29:14.527Z,1755988154.527 [DAT](INFO): response not received
2025-08-23T22:29:14.527Z,1755988154.527 [DAT](INFO): DAT read: user:1796>
2025-08-23T22:29:14.528Z,1755988154.528 [DAT](ERROR): No response from remote modem.
2025-08-23T22:29:14.528Z,1755988154.528 [DAT](DEBUG): Acoustic response timeout
2025-08-23T22:29:14.528Z,1755988154.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:14.779Z,1755988154.779 [DAT](INFO): DAT read: Tx time:22:29:14.3960
2025-08-23T22:29:14.779Z,1755988154.779 [DAT](INFO): Ping request sent.
2025-08-23T22:29:14.779Z,1755988154.779 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:14.779Z,1755988154.779 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:14.780Z,1755988154.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-08-23T22:29:15.030Z,1755988155.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251442
2025-08-23T22:29:15.286Z,1755988155.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505949
2025-08-23T22:29:15.382Z,1755988155.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:15.534Z,1755988155.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755394
2025-08-23T22:29:15.787Z,1755988155.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008224
2025-08-23T22:29:16.039Z,1755988156.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259537
2025-08-23T22:29:16.293Z,1755988156.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513683
2025-08-23T22:29:16.543Z,1755988156.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763574
2025-08-23T22:29:16.795Z,1755988156.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015556
2025-08-23T22:29:17.047Z,1755988157.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267588
2025-08-23T22:29:17.299Z,1755988157.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519506
2025-08-23T22:29:17.444Z,1755988157.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:17.551Z,1755988157.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771491
2025-08-23T22:29:17.803Z,1755988157.803 [DAT](INFO): DAT read: Rx Time:22:29:16.9755
2025-08-23T22:29:17.804Z,1755988157.804 [DAT](INFO): Rx dataTimestamp_ set to:1755988157.803247
2025-08-23T22:29:17.804Z,1755988157.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025419
2025-08-23T22:29:18.054Z,1755988158.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275377
2025-08-23T22:29:18.341Z,1755988158.341 [DAT](INFO): DAT read: 22:29:16.9755 LVL= 26352, 18273, 28226, 26147, AGC= 67, IDX= 48, 0.40, 1.148, 2.160, 0.298, 1.317, PHS=-0.067, 0.888,-1.063, RAW= 0.7, 2.9, CAL= 0.4, 0.1, ROT= 149.6, -0.1
2025-08-23T22:29:18.345Z,1755988158.345 [DAT](INFO): got valid direction response:
22:29:16.9755 LVL= 26352, 18273, 28226, 26147, AGC= 67, IDX= 48, 0.40, 1.148, 2.160, 0.298, 1.317, PHS=-0.067, 0.888,-1.063, RAW= 0.7, 2.9, CAL= 0.4, 0.1, ROT= 149.6, -0.1
2025-08-23T22:29:18.349Z,1755988158.349 [DAT](INFO): DAT read: Bearing 331.6, 28.5 (Local)
2025-08-23T22:29:18.351Z,1755988158.351 [DAT](INFO): Local bearing/azimuth received:
Bearing 331.6, 28.5 (Local)
2025-08-23T22:29:18.355Z,1755988158.355 [DAT](INFO): DAT read: Range 11 to 50 : 131.4 m (Round-trip 175.3 ms) speed -0.6 m/s
2025-08-23T22:29:18.359Z,1755988158.359 [DAT](INFO): DAT read: user:1797>
2025-08-23T22:29:18.362Z,1755988158.362 [DAT](INFO): DAT read: Tx time:22:29:18.0960
2025-08-23T22:29:18.363Z,1755988158.363 [DAT](INFO): Ping request sent.
2025-08-23T22:29:18.364Z,1755988158.364 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:18.365Z,1755988158.365 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:29:18.406Z,1755988158.406 [DAT](INFO): direction in FSK: [-0.862512,0.506033,0.001745]
2025-08-23T22:29:18.407Z,1755988158.407 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:18.407Z,1755988158.407 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:18.414Z,1755988158.414 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:18.415Z,1755988158.415 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:18.606Z,1755988158.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 131.399994 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-08-23T22:29:18.609Z,1755988158.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 130.580444 m,
bearing: 139.617244 deg,
lat: 36.779437 deg,
lon: -121.859580 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-08-23T22:29:18.614Z,1755988158.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.58 m.
2025-08-23T22:29:18.616Z,1755988158.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 130.580444 m,
nav range: 129.681503 m,
bearing: 123.269455 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000000 deg/s,
cmd heading: 128.076663 deg,
new cmd heading: 123.269455 deg.
2025-08-23T22:29:18.617Z,1755988158.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.151458 target range: 130.580444 and range: 131.40 m.
2025-08-23T22:29:18.965Z,1755988158.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.58 m.
2025-08-23T22:29:18.968Z,1755988158.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 130.580444 m,
nav range: 129.914368 m,
bearing: 123.357976 deg,
approach rate: 0.627526 m/s,
LOS rate: 0.238121 deg/s,
cmd heading: 123.269451 deg,
new cmd heading: 123.357976 deg.
2025-08-23T22:29:18.968Z,1755988158.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.153003 target range: 130.580444 and range: 131.40 m.
2025-08-23T22:29:19.435Z,1755988159.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.58 m.
2025-08-23T22:29:19.438Z,1755988159.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 130.580444 m,
nav range: 130.202332 m,
bearing: 123.471282 deg,
approach rate: 0.611920 m/s,
LOS rate: 0.240240 deg/s,
cmd heading: 123.357970 deg,
new cmd heading: 123.471282 deg.
2025-08-23T22:29:19.439Z,1755988159.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.154980 target range: 130.580444 and range: 131.40 m.
2025-08-23T22:29:19.771Z,1755988159.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:19.773Z,1755988159.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.58 m.
2025-08-23T22:29:19.775Z,1755988159.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 130.580444 m,
nav range: 130.404617 m,
bearing: 123.554021 deg,
approach rate: 0.599390 m/s,
LOS rate: 0.244781 deg/s,
cmd heading: 123.471283 deg,
new cmd heading: 123.554021 deg.
2025-08-23T22:29:19.776Z,1755988159.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156425 target range: 130.580444 and range: 131.40 m.
2025-08-23T22:29:19.819Z,1755988159.819 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:19.819Z,1755988159.819 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:19.819Z,1755988159.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:20.071Z,1755988160.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.707441
2025-08-23T22:29:20.215Z,1755988160.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.58 m.
2025-08-23T22:29:20.222Z,1755988160.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 130.580444 m,
nav range: 130.647644 m,
bearing: 123.657385 deg,
approach rate: 0.549374 m/s,
LOS rate: 0.233227 deg/s,
cmd heading: 123.554024 deg,
new cmd heading: 123.657385 deg.
2025-08-23T22:29:20.223Z,1755988160.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.158229 target range: 130.580444 and range: 131.40 m.
2025-08-23T22:29:20.322Z,1755988160.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959256
2025-08-23T22:29:20.575Z,1755988160.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211476
2025-08-23T22:29:20.607Z,1755988160.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.58 m.
2025-08-23T22:29:20.609Z,1755988160.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 130.580444 m,
nav range: 130.892593 m,
bearing: 123.762692 deg,
approach rate: 0.625821 m/s,
LOS rate: 0.268545 deg/s,
cmd heading: 123.657392 deg,
new cmd heading: 123.762692 deg.
2025-08-23T22:29:20.610Z,1755988160.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.160066 target range: 130.580444 and range: 131.40 m.
2025-08-23T22:29:20.827Z,1755988160.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464354
2025-08-23T22:29:20.987Z,1755988160.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.58 m.
2025-08-23T22:29:20.989Z,1755988160.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 130.580444 m,
nav range: 131.109314 m,
bearing: 123.859518 deg,
approach rate: 0.570106 m/s,
LOS rate: 0.254289 deg/s,
cmd heading: 123.762686 deg,
new cmd heading: 123.859518 deg.
2025-08-23T22:29:20.990Z,1755988160.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.161757 target range: 130.580444 and range: 131.40 m.
2025-08-23T22:29:21.079Z,1755988161.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716208
2025-08-23T22:29:21.331Z,1755988161.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967398
2025-08-23T22:29:21.450Z,1755988161.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.58 m.
2025-08-23T22:29:21.453Z,1755988161.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 130.580444 m,
nav range: 131.360825 m,
bearing: 123.976089 deg,
approach rate: 0.542419 m/s,
LOS rate: 0.250919 deg/s,
cmd heading: 123.859525 deg,
new cmd heading: 123.976089 deg.
2025-08-23T22:29:21.454Z,1755988161.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.163791 target range: 130.580444 and range: 131.40 m.
2025-08-23T22:29:21.583Z,1755988161.583 [DAT](INFO): DAT read: Rx Time:22:29:20.6787
2025-08-23T22:29:21.583Z,1755988161.583 [DAT](INFO): Rx dataTimestamp_ set to:1755988161.582719
2025-08-23T22:29:21.584Z,1755988161.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220439
2025-08-23T22:29:21.826Z,1755988161.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:21.828Z,1755988161.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.58 m.
2025-08-23T22:29:21.835Z,1755988161.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471717
2025-08-23T22:29:21.836Z,1755988161.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 130.580444 m,
nav range: 131.560547 m,
bearing: 124.072152 deg,
approach rate: 0.528983 m/s,
LOS rate: 0.254047 deg/s,
cmd heading: 123.976089 deg,
new cmd heading: 124.072152 deg.
2025-08-23T22:29:21.837Z,1755988161.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.165468 target range: 130.580444 and range: 131.40 m.
2025-08-23T22:29:22.092Z,1755988162.092 [DAT](INFO): DAT read: 22:29:20.6787 LVL= 28704, 22001, 29042, 29939, AGC= 64, IDX= 465, 0.01,-1.692,-1.272,-3.080,-1.965, PHS= 0.375, 0.739,-1.159, RAW= 19.6, 0.5, CAL= 20.1, -1.4, ROT= 129.9, 1.4
2025-08-23T22:29:22.093Z,1755988162.093 [DAT](INFO): got valid direction response:
22:29:20.6787 LVL= 28704, 22001, 29042, 29939, AGC= 64, IDX= 465, 0.01,-1.692,-1.272,-3.080,-1.965, PHS= 0.375, 0.739,-1.159, RAW= 19.6, 0.5, CAL= 20.1, -1.4, ROT= 129.9, 1.4
2025-08-23T22:29:22.094Z,1755988162.094 [DAT](INFO): DAT read: Bearing 352.1, 46.8 (Local)
2025-08-23T22:29:22.094Z,1755988162.094 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.1, 46.8 (Local)
2025-08-23T22:29:22.096Z,1755988162.096 [DAT](INFO): DAT read: Range 11 to 50 : 133.9 m (Round-trip 178.6 ms) speed -0.7 m/s
2025-08-23T22:29:22.096Z,1755988162.096 [DAT](INFO): DAT read: user:1798>
2025-08-23T22:29:22.097Z,1755988162.097 [DAT](INFO): DAT read: Tx time:22:29:21.7959
2025-08-23T22:29:22.098Z,1755988162.098 [DAT](INFO): Ping request sent.
2025-08-23T22:29:22.098Z,1755988162.098 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:22.098Z,1755988162.098 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:29:22.099Z,1755988162.099 [DAT](INFO): direction in FSK: [-0.641258,0.766936,-0.024432]
2025-08-23T22:29:22.099Z,1755988162.099 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:22.099Z,1755988162.099 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:22.103Z,1755988162.103 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:22.103Z,1755988162.103 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:22.277Z,1755988162.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 133.899994 m,
deltaT: 3.777430 s,
deltaX: 2.500000 m,
approachRate: 0.661826 m/s,
rangeRepo size: 2
2025-08-23T22:29:22.283Z,1755988162.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 133.065979 m,
bearing: 131.039019 deg,
lat: 36.779407 deg,
lon: -121.859599 deg,
deltaT: 3.777430 s,
deltaX: 2.485535 m,
approachRate: 0.657996 m/s,
posRepo size: 2
2025-08-23T22:29:22.284Z,1755988162.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.07 m.
2025-08-23T22:29:22.295Z,1755988162.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.065979 m,
nav range: 132.357590 m,
bearing: 125.813749 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.254047 deg/s,
cmd heading: 124.072148 deg,
new cmd heading: 124.299834 deg.
2025-08-23T22:29:22.296Z,1755988162.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.169441 target range: 133.065979 and range: 133.90 m.
2025-08-23T22:29:22.632Z,1755988162.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.07 m.
2025-08-23T22:29:22.639Z,1755988162.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.065979 m,
nav range: 132.547394 m,
bearing: 125.903093 deg,
approach rate: 0.533291 m/s,
LOS rate: 0.250671 deg/s,
cmd heading: 124.299840 deg,
new cmd heading: 124.478272 deg.
2025-08-23T22:29:22.640Z,1755988162.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.172556 target range: 133.065979 and range: 133.90 m.
2025-08-23T22:29:23.021Z,1755988163.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.07 m.
2025-08-23T22:29:23.023Z,1755988163.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.065979 m,
nav range: 132.764053 m,
bearing: 126.004593 deg,
approach rate: 0.557589 m/s,
LOS rate: 0.260790 deg/s,
cmd heading: 124.478272 deg,
new cmd heading: 124.680938 deg.
2025-08-23T22:29:23.024Z,1755988163.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.176093 target range: 133.065979 and range: 133.90 m.
2025-08-23T22:29:23.468Z,1755988163.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.07 m.
2025-08-23T22:29:23.470Z,1755988163.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.065979 m,
nav range: 132.991379 m,
bearing: 126.120395 deg,
approach rate: 0.508275 m/s,
LOS rate: 0.258479 deg/s,
cmd heading: 124.680937 deg,
new cmd heading: 124.912144 deg.
2025-08-23T22:29:23.471Z,1755988163.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.180128 target range: 133.065979 and range: 133.90 m.
2025-08-23T22:29:23.854Z,1755988163.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:23.856Z,1755988163.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.07 m.
2025-08-23T22:29:23.875Z,1755988163.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.065979 m,
nav range: 133.183517 m,
bearing: 126.223329 deg,
approach rate: 0.494404 m/s,
LOS rate: 0.264483 deg/s,
cmd heading: 124.912139 deg,
new cmd heading: 125.117709 deg.
2025-08-23T22:29:23.876Z,1755988163.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.183716 target range: 133.065979 and range: 133.90 m.
2025-08-23T22:29:24.102Z,1755988164.102 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:24.102Z,1755988164.102 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:24.103Z,1755988164.103 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:24.267Z,1755988164.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.07 m.
2025-08-23T22:29:24.270Z,1755988164.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.065979 m,
nav range: 133.387970 m,
bearing: 126.332281 deg,
approach rate: 0.498120 m/s,
LOS rate: 0.265039 deg/s,
cmd heading: 125.117714 deg,
new cmd heading: 125.335282 deg.
2025-08-23T22:29:24.271Z,1755988164.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.187513 target range: 133.065979 and range: 133.90 m.
2025-08-23T22:29:24.355Z,1755988164.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257003
2025-08-23T22:29:24.606Z,1755988164.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508786
2025-08-23T22:29:24.701Z,1755988164.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.07 m.
2025-08-23T22:29:24.704Z,1755988164.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.065979 m,
nav range: 133.605469 m,
bearing: 126.446076 deg,
approach rate: 0.501289 m/s,
LOS rate: 0.261847 deg/s,
cmd heading: 125.335283 deg,
new cmd heading: 125.562501 deg.
2025-08-23T22:29:24.705Z,1755988164.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.191479 target range: 133.065979 and range: 133.90 m.
2025-08-23T22:29:24.858Z,1755988164.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760807
2025-08-23T22:29:25.059Z,1755988165.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.07 m.
2025-08-23T22:29:25.062Z,1755988165.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.065979 m,
nav range: 133.770828 m,
bearing: 126.544751 deg,
approach rate: 0.462283 m/s,
LOS rate: 0.275517 deg/s,
cmd heading: 125.562496 deg,
new cmd heading: 125.759601 deg.
2025-08-23T22:29:25.063Z,1755988165.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.194919 target range: 133.065979 and range: 133.90 m.
2025-08-23T22:29:25.111Z,1755988165.111 [DAT](INFO): DAT read: Rx Time:22:29:24.3815
2025-08-23T22:29:25.112Z,1755988165.112 [DAT](INFO): Rx dataTimestamp_ set to:1755988165.111647
2025-08-23T22:29:25.113Z,1755988165.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015143
2025-08-23T22:29:25.365Z,1755988165.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267273
2025-08-23T22:29:25.540Z,1755988165.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.07 m.
2025-08-23T22:29:25.543Z,1755988165.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.065979 m,
nav range: 133.977753 m,
bearing: 126.668756 deg,
approach rate: 0.429437 m/s,
LOS rate: 0.256955 deg/s,
cmd heading: 125.759601 deg,
new cmd heading: 126.007228 deg.
2025-08-23T22:29:25.544Z,1755988165.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199241 target range: 133.065979 and range: 133.90 m.
2025-08-23T22:29:25.623Z,1755988165.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524646
2025-08-23T22:29:25.876Z,1755988165.876 [DAT](INFO): DAT read: 22:29:24.3815 LVL= 21632, 21777, 26034, 28211, AGC= 63, IDX= 462,-0.37, 1.913, 1.780, 0.142, 1.256, PHS= 0.759, 0.569,-1.158, RAW= 35.2, -1.9, CAL= 36.0, -3.5, ROT= 114.0, 3.5
2025-08-23T22:29:25.878Z,1755988165.878 [DAT](INFO): got valid direction response:
22:29:24.3815 LVL= 21632, 21777, 26034, 28211, AGC= 63, IDX= 462,-0.37, 1.913, 1.780, 0.142, 1.256, PHS= 0.759, 0.569,-1.158, RAW= 35.2, -1.9, CAL= 36.0, -3.5, ROT= 114.0, 3.5
2025-08-23T22:29:25.879Z,1755988165.879 [DAT](INFO): DAT read: Bearing 18.3, 60.4 (Local)
2025-08-23T22:29:25.879Z,1755988165.879 [DAT](INFO): Local bearing/azimuth received:
Bearing 18.3, 60.4 (Local)
2025-08-23T22:29:25.881Z,1755988165.881 [DAT](INFO): DAT read: Range 11 to 50 : 136.0 m (Round-trip 181.4 ms) speed -0.4 m/s
2025-08-23T22:29:25.882Z,1755988165.882 [DAT](INFO): DAT read: user:1799>
2025-08-23T22:29:25.882Z,1755988165.882 [DAT](INFO): DAT read: Tx time:22:29:25.4959
2025-08-23T22:29:25.883Z,1755988165.883 [DAT](INFO): Ping request sent.
2025-08-23T22:29:25.883Z,1755988165.883 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:25.883Z,1755988165.883 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:29:25.884Z,1755988165.884 [DAT](INFO): direction in FSK: [-0.405978,0.911841,-0.061049]
2025-08-23T22:29:25.884Z,1755988165.884 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:25.884Z,1755988165.884 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:25.894Z,1755988165.894 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:25.895Z,1755988165.895 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:25.944Z,1755988165.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 136.000000 m,
deltaT: 3.784265 s,
deltaX: 2.100006 m,
approachRate: 0.554931 m/s,
rangeRepo size: 3
2025-08-23T22:29:25.955Z,1755988165.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 135.153137 m,
bearing: 126.319986 deg,
lat: 36.779407 deg,
lon: -121.859599 deg,
deltaT: 3.784265 s,
deltaX: 2.087158 m,
approachRate: 0.551536 m/s,
posRepo size: 3
2025-08-23T22:29:25.955Z,1755988165.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.15 m.
2025-08-23T22:29:25.958Z,1755988165.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.153137 m,
nav range: 134.146301 m,
bearing: 126.774108 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256955 deg/s,
cmd heading: 126.007223 deg,
new cmd heading: 126.214185 deg.
2025-08-23T22:29:25.959Z,1755988165.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202853 target range: 135.153137 and range: 136.00 m.
2025-08-23T22:29:26.293Z,1755988166.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:26.303Z,1755988166.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.15 m.
2025-08-23T22:29:26.314Z,1755988166.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.153137 m,
nav range: 134.306808 m,
bearing: 126.878696 deg,
approach rate: 0.445811 m/s,
LOS rate: 0.290148 deg/s,
cmd heading: 126.214191 deg,
new cmd heading: 126.423117 deg.
2025-08-23T22:29:26.315Z,1755988166.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.206500 target range: 135.153137 and range: 136.00 m.
2025-08-23T22:29:26.376Z,1755988166.376 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:26.376Z,1755988166.376 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:26.376Z,1755988166.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:26.627Z,1755988166.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743873
2025-08-23T22:29:26.724Z,1755988166.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.15 m.
2025-08-23T22:29:26.727Z,1755988166.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.153137 m,
nav range: 134.492554 m,
bearing: 126.996115 deg,
approach rate: 0.441363 m/s,
LOS rate: 0.278622 deg/s,
cmd heading: 126.423113 deg,
new cmd heading: 126.657625 deg.
2025-08-23T22:29:26.728Z,1755988166.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210593 target range: 135.153137 and range: 136.00 m.
2025-08-23T22:29:26.879Z,1755988166.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995841
2025-08-23T22:29:27.110Z,1755988167.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.15 m.
2025-08-23T22:29:27.113Z,1755988167.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.153137 m,
nav range: 134.650055 m,
bearing: 127.099909 deg,
approach rate: 0.407684 m/s,
LOS rate: 0.268351 deg/s,
cmd heading: 126.657621 deg,
new cmd heading: 126.864965 deg.
2025-08-23T22:29:27.118Z,1755988167.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214211 target range: 135.153137 and range: 136.00 m.
2025-08-23T22:29:27.131Z,1755988167.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247983
2025-08-23T22:29:27.383Z,1755988167.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499983
2025-08-23T22:29:27.576Z,1755988167.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.15 m.
2025-08-23T22:29:27.579Z,1755988167.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.153137 m,
nav range: 134.832352 m,
bearing: 127.221857 deg,
approach rate: 0.391578 m/s,
LOS rate: 0.261595 deg/s,
cmd heading: 126.864972 deg,
new cmd heading: 127.108538 deg.
2025-08-23T22:29:27.580Z,1755988167.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.218462 target range: 135.153137 and range: 136.00 m.
2025-08-23T22:29:27.636Z,1755988167.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753027
2025-08-23T22:29:27.887Z,1755988167.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003845
2025-08-23T22:29:27.937Z,1755988167.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.15 m.
2025-08-23T22:29:27.940Z,1755988167.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.153137 m,
nav range: 134.980148 m,
bearing: 127.320182 deg,
approach rate: 0.409453 m/s,
LOS rate: 0.272099 deg/s,
cmd heading: 127.108536 deg,
new cmd heading: 127.304970 deg.
2025-08-23T22:29:27.941Z,1755988167.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221891 target range: 135.153137 and range: 136.00 m.
2025-08-23T22:29:28.140Z,1755988168.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257317
2025-08-23T22:29:28.303Z,1755988168.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:28.305Z,1755988168.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.15 m.
2025-08-23T22:29:28.308Z,1755988168.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.153137 m,
nav range: 135.126190 m,
bearing: 127.426722 deg,
approach rate: 0.396379 m/s,
LOS rate: 0.288851 deg/s,
cmd heading: 127.304973 deg,
new cmd heading: 127.517820 deg.
2025-08-23T22:29:28.309Z,1755988168.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.225606 target range: 135.153137 and range: 136.00 m.
2025-08-23T22:29:28.392Z,1755988168.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509709
2025-08-23T22:29:28.644Z,1755988168.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760848
2025-08-23T22:29:28.750Z,1755988168.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.15 m.
2025-08-23T22:29:28.752Z,1755988168.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.153137 m,
nav range: 135.285095 m,
bearing: 127.540817 deg,
approach rate: 0.361930 m/s,
LOS rate: 0.259564 deg/s,
cmd heading: 127.517815 deg,
new cmd heading: 127.745736 deg.
2025-08-23T22:29:28.758Z,1755988168.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229584 target range: 135.153137 and range: 136.00 m.
2025-08-23T22:29:28.895Z,1755988168.895 [DAT](INFO): DAT read: Rx Time:22:29:28.0837
2025-08-23T22:29:28.895Z,1755988168.895 [DAT](INFO): Rx dataTimestamp_ set to:1755988168.894851
2025-08-23T22:29:28.896Z,1755988168.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013036
2025-08-23T22:29:29.131Z,1755988169.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.15 m.
2025-08-23T22:29:29.134Z,1755988169.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.153137 m,
nav range: 135.432205 m,
bearing: 127.651097 deg,
approach rate: 0.380424 m/s,
LOS rate: 0.284871 deg/s,
cmd heading: 127.745738 deg,
new cmd heading: 127.966057 deg.
2025-08-23T22:29:29.135Z,1755988169.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233429 target range: 135.153137 and range: 136.00 m.
2025-08-23T22:29:29.147Z,1755988169.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264157
2025-08-23T22:29:29.405Z,1755988169.405 [DAT](INFO): DAT read: 22:29:28.0837 LVL= 28480, 32737, 32754, 32755, AGC= 63, IDX= 453,-0.20, 1.200, 0.916,-0.463, 0.610, PHS= 0.692, 0.351,-1.116, RAW= 40.2, 0.9, CAL= 40.8, -0.7, ROT= 109.2, 0.7
2025-08-23T22:29:29.406Z,1755988169.406 [DAT](INFO): got valid direction response:
22:29:28.0837 LVL= 28480, 32737, 32754, 32755, AGC= 63, IDX= 453,-0.20, 1.200, 0.916,-0.463, 0.610, PHS= 0.692, 0.351,-1.116, RAW= 40.2, 0.9, CAL= 40.8, -0.7, ROT= 109.2, 0.7
2025-08-23T22:29:29.407Z,1755988169.407 [DAT](INFO): DAT read: Bearing 29.9, 66.1 (Local)
2025-08-23T22:29:29.407Z,1755988169.407 [DAT](INFO): Local bearing/azimuth received:
Bearing 29.9, 66.1 (Local)
2025-08-23T22:29:29.408Z,1755988169.408 [DAT](INFO): DAT read: Range 11 to 50 : 137.7 m (Round-trip 183.6 ms) speed -0.4 m/s
2025-08-23T22:29:29.409Z,1755988169.409 [DAT](INFO): DAT read: user:1800>
2025-08-23T22:29:29.411Z,1755988169.411 [DAT](INFO): DAT read: Tx time:22:29:29.1975
2025-08-23T22:29:29.411Z,1755988169.411 [DAT](INFO): Ping request sent.
2025-08-23T22:29:29.411Z,1755988169.411 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:29.411Z,1755988169.411 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:29:29.412Z,1755988169.412 [DAT](INFO): direction in FSK: [-0.328842,0.944306,-0.012217]
2025-08-23T22:29:29.412Z,1755988169.412 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:29.413Z,1755988169.413 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:29.416Z,1755988169.416 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:29.416Z,1755988169.416 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:29.699Z,1755988169.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 137.699997 m,
deltaT: 3.528202 s,
deltaX: 1.699997 m,
approachRate: 0.481831 m/s,
rangeRepo size: 4
2025-08-23T22:29:29.701Z,1755988169.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 136.842392 m,
bearing: 132.759051 deg,
lat: 36.779332 deg,
lon: -121.859686 deg,
deltaT: 3.528202 s,
deltaX: 1.689255 m,
approachRate: 0.478786 m/s,
posRepo size: 4
2025-08-23T22:29:29.705Z,1755988169.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.84 m.
2025-08-23T22:29:29.708Z,1755988169.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.842392 m,
nav range: 135.070358 m,
bearing: 132.618976 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.284871 deg/s,
cmd heading: 127.966053 deg,
new cmd heading: 128.286699 deg.
2025-08-23T22:29:29.709Z,1755988169.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239025 target range: 136.842392 and range: 137.70 m.
2025-08-23T22:29:30.038Z,1755988170.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.84 m.
2025-08-23T22:29:30.041Z,1755988170.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.842392 m,
nav range: 135.209732 m,
bearing: 132.716170 deg,
approach rate: 0.404389 m/s,
LOS rate: 0.281712 deg/s,
cmd heading: 128.286703 deg,
new cmd heading: 128.480888 deg.
2025-08-23T22:29:30.042Z,1755988170.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.242414 target range: 136.842392 and range: 137.70 m.
2025-08-23T22:29:30.435Z,1755988170.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:30.437Z,1755988170.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.84 m.
2025-08-23T22:29:30.440Z,1755988170.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.842392 m,
nav range: 135.359756 m,
bearing: 132.825356 deg,
approach rate: 0.376713 m/s,
LOS rate: 0.273864 deg/s,
cmd heading: 128.480885 deg,
new cmd heading: 128.699015 deg.
2025-08-23T22:29:30.441Z,1755988170.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.246222 target range: 136.842392 and range: 137.70 m.
2025-08-23T22:29:30.659Z,1755988170.659 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:30.659Z,1755988170.659 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:30.660Z,1755988170.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:30.883Z,1755988170.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.84 m.
2025-08-23T22:29:30.902Z,1755988170.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.842392 m,
nav range: 135.525360 m,
bearing: 132.941898 deg,
approach rate: 0.371060 m/s,
LOS rate: 0.260811 deg/s,
cmd heading: 128.699014 deg,
new cmd heading: 128.931812 deg.
2025-08-23T22:29:30.903Z,1755988170.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250285 target range: 136.842392 and range: 137.70 m.
2025-08-23T22:29:30.911Z,1755988170.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499640
2025-08-23T22:29:31.164Z,1755988171.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752501
2025-08-23T22:29:31.267Z,1755988171.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.84 m.
2025-08-23T22:29:31.286Z,1755988171.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.842392 m,
nav range: 135.671814 m,
bearing: 133.044403 deg,
approach rate: 0.381496 m/s,
LOS rate: 0.266725 deg/s,
cmd heading: 128.931814 deg,
new cmd heading: 129.136601 deg.
2025-08-23T22:29:31.287Z,1755988171.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.253859 target range: 136.842392 and range: 137.70 m.
2025-08-23T22:29:31.414Z,1755988171.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003445
2025-08-23T22:29:31.667Z,1755988171.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255629
2025-08-23T22:29:31.713Z,1755988171.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.84 m.
2025-08-23T22:29:31.720Z,1755988171.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.842392 m,
nav range: 135.824524 m,
bearing: 133.157079 deg,
approach rate: 0.342570 m/s,
LOS rate: 0.252479 deg/s,
cmd heading: 129.136597 deg,
new cmd heading: 129.361695 deg.
2025-08-23T22:29:31.721Z,1755988171.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257787 target range: 136.842392 and range: 137.70 m.
2025-08-23T22:29:31.919Z,1755988171.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507495
2025-08-23T22:29:32.066Z,1755988172.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.84 m.
2025-08-23T22:29:32.068Z,1755988172.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.842392 m,
nav range: 135.951447 m,
bearing: 133.255090 deg,
approach rate: 0.359633 m/s,
LOS rate: 0.277451 deg/s,
cmd heading: 129.361693 deg,
new cmd heading: 129.557530 deg.
2025-08-23T22:29:32.069Z,1755988172.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.261205 target range: 136.842392 and range: 137.70 m.
2025-08-23T22:29:32.172Z,1755988172.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760847
2025-08-23T22:29:32.422Z,1755988172.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011492
2025-08-23T22:29:32.490Z,1755988172.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:32.492Z,1755988172.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.84 m.
2025-08-23T22:29:32.510Z,1755988172.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.842392 m,
nav range: 136.090729 m,
bearing: 133.367683 deg,
approach rate: 0.326601 m/s,
LOS rate: 0.263748 deg/s,
cmd heading: 129.557528 deg,
new cmd heading: 129.782483 deg.
2025-08-23T22:29:32.511Z,1755988172.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.265132 target range: 136.842392 and range: 137.70 m.
2025-08-23T22:29:32.675Z,1755988172.675 [DAT](INFO): DAT read: Rx Time:22:29:31.7870
2025-08-23T22:29:32.675Z,1755988172.675 [DAT](INFO): Rx dataTimestamp_ set to:1755988172.674779
2025-08-23T22:29:32.676Z,1755988172.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264633
2025-08-23T22:29:32.926Z,1755988172.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515428
2025-08-23T22:29:32.955Z,1755988172.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.84 m.
2025-08-23T22:29:32.962Z,1755988172.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.842392 m,
nav range: 136.221909 m,
bearing: 133.491058 deg,
approach rate: 0.283278 m/s,
LOS rate: 0.266167 deg/s,
cmd heading: 129.782487 deg,
new cmd heading: 130.028997 deg.
2025-08-23T22:29:32.963Z,1755988172.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269434 target range: 136.842392 and range: 137.70 m.
2025-08-23T22:29:33.187Z,1755988173.187 [DAT](INFO): DAT read: 22:29:31.7870 LVL= 28400, 28305, 32754, 32755, AGC= 64, IDX= 454, 0.09, 1.418, 0.790,-0.367, 0.622, PHS= 0.898, 0.212,-1.033, RAW= 50.5, -0.9, CAL= 51.3, -3.0, ROT= 98.7, 3.0
2025-08-23T22:29:33.188Z,1755988173.188 [DAT](INFO): got valid direction response:
22:29:31.7870 LVL= 28400, 28305, 32754, 32755, AGC= 64, IDX= 454, 0.09, 1.418, 0.790,-0.367, 0.622, PHS= 0.898, 0.212,-1.033, RAW= 50.5, -0.9, CAL= 51.3, -3.0, ROT= 98.7, 3.0
2025-08-23T22:29:33.190Z,1755988173.190 [DAT](INFO): DAT read: Bearing 66.5, 72.4 (Local)
2025-08-23T22:29:33.191Z,1755988173.191 [DAT](INFO): Local bearing/azimuth received:
Bearing 66.5, 72.4 (Local)
2025-08-23T22:29:33.193Z,1755988173.193 [DAT](INFO): DAT read: Range 11 to 50 : 138.9 m (Round-trip 185.3 ms) speed -0.3 m/s
2025-08-23T22:29:33.194Z,1755988173.194 [DAT](INFO): DAT read: user:1801>
2025-08-23T22:29:33.195Z,1755988173.195 [DAT](INFO): DAT read: Tx time:22:29:32.8959
2025-08-23T22:29:33.195Z,1755988173.195 [DAT](INFO): Ping request sent.
2025-08-23T22:29:33.195Z,1755988173.195 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:33.196Z,1755988173.196 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:29:33.198Z,1755988173.198 [DAT](INFO): direction in FSK: [-0.151053,0.987139,-0.052336]
2025-08-23T22:29:33.198Z,1755988173.198 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:33.198Z,1755988173.198 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:33.204Z,1755988173.204 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:33.204Z,1755988173.204 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:33.414Z,1755988173.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 138.899994 m,
deltaT: 3.780223 s,
deltaX: 1.199997 m,
approachRate: 0.317441 m/s,
rangeRepo size: 4
2025-08-23T22:29:33.416Z,1755988173.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 138.034973 m,
bearing: 133.068725 deg,
lat: 36.779332 deg,
lon: -121.859686 deg,
deltaT: 3.780223 s,
deltaX: 1.192581 m,
approachRate: 0.315479 m/s,
posRepo size: 4
2025-08-23T22:29:33.417Z,1755988173.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.03 m.
2025-08-23T22:29:33.419Z,1755988173.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.034973 m,
nav range: 136.357162 m,
bearing: 133.617396 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.266167 deg/s,
cmd heading: 130.029002 deg,
new cmd heading: 130.273035 deg.
2025-08-23T22:29:33.420Z,1755988173.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.273693 target range: 138.034973 and range: 138.90 m.
2025-08-23T22:29:33.796Z,1755988173.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.03 m.
2025-08-23T22:29:33.799Z,1755988173.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.034973 m,
nav range: 136.465332 m,
bearing: 133.719142 deg,
approach rate: 0.282498 m/s,
LOS rate: 0.265513 deg/s,
cmd heading: 130.273031 deg,
new cmd heading: 130.476362 deg.
2025-08-23T22:29:33.800Z,1755988173.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277242 target range: 138.034973 and range: 138.90 m.
2025-08-23T22:29:34.197Z,1755988174.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.03 m.
2025-08-23T22:29:34.201Z,1755988174.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.034973 m,
nav range: 136.571091 m,
bearing: 133.823858 deg,
approach rate: 0.264565 m/s,
LOS rate: 0.261753 deg/s,
cmd heading: 130.476366 deg,
new cmd heading: 130.685635 deg.
2025-08-23T22:29:34.222Z,1755988174.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280895 target range: 138.034973 and range: 138.90 m.
2025-08-23T22:29:34.680Z,1755988174.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:34.682Z,1755988174.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.03 m.
2025-08-23T22:29:34.685Z,1755988174.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.034973 m,
nav range: 136.693283 m,
bearing: 133.953748 deg,
approach rate: 0.251751 m/s,
LOS rate: 0.267370 deg/s,
cmd heading: 130.685629 deg,
new cmd heading: 130.945174 deg.
2025-08-23T22:29:34.686Z,1755988174.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285424 target range: 138.034973 and range: 138.90 m.
2025-08-23T22:29:34.698Z,1755988174.698 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:34.698Z,1755988174.698 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:34.699Z,1755988174.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:34.951Z,1755988174.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755090
2025-08-23T22:29:35.039Z,1755988175.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.03 m.
2025-08-23T22:29:35.042Z,1755988175.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.034973 m,
nav range: 136.778168 m,
bearing: 134.048917 deg,
approach rate: 0.237306 m/s,
LOS rate: 0.265891 deg/s,
cmd heading: 130.945177 deg,
new cmd heading: 131.135395 deg.
2025-08-23T22:29:35.043Z,1755988175.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288744 target range: 138.034973 and range: 138.90 m.
2025-08-23T22:29:35.203Z,1755988175.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007702
2025-08-23T22:29:35.442Z,1755988175.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.03 m.
2025-08-23T22:29:35.444Z,1755988175.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.034973 m,
nav range: 136.868958 m,
bearing: 134.156829 deg,
approach rate: 0.225642 m/s,
LOS rate: 0.268019 deg/s,
cmd heading: 131.135397 deg,
new cmd heading: 131.351078 deg.
2025-08-23T22:29:35.445Z,1755988175.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.292509 target range: 138.034973 and range: 138.90 m.
2025-08-23T22:29:35.455Z,1755988175.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259146
2025-08-23T22:29:35.708Z,1755988175.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512167
2025-08-23T22:29:35.875Z,1755988175.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.03 m.
2025-08-23T22:29:35.879Z,1755988175.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.034973 m,
nav range: 136.960632 m,
bearing: 134.268263 deg,
approach rate: 0.211396 m/s,
LOS rate: 0.256788 deg/s,
cmd heading: 131.351081 deg,
new cmd heading: 131.573800 deg.
2025-08-23T22:29:35.880Z,1755988175.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296396 target range: 138.034973 and range: 138.90 m.
2025-08-23T22:29:35.959Z,1755988175.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763677
2025-08-23T22:29:35.971Z,1755988175.971 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:29:36.211Z,1755988176.211 [DAT](INFO): DAT read: Rx Time:22:29:35.4867
2025-08-23T22:29:36.212Z,1755988176.212 [DAT](INFO): Rx dataTimestamp_ set to:1755988176.211379
2025-08-23T22:29:36.213Z,1755988176.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017078
2025-08-23T22:29:36.264Z,1755988176.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.03 m.
2025-08-23T22:29:36.267Z,1755988176.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.034973 m,
nav range: 137.041290 m,
bearing: 134.372727 deg,
approach rate: 0.207539 m/s,
LOS rate: 0.268633 deg/s,
cmd heading: 131.573800 deg,
new cmd heading: 131.782602 deg.
2025-08-23T22:29:36.268Z,1755988176.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300040 target range: 138.034973 and range: 138.90 m.
2025-08-23T22:29:36.463Z,1755988176.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267054
2025-08-23T22:29:36.717Z,1755988176.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521579
2025-08-23T22:29:36.754Z,1755988176.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:36.757Z,1755988176.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.03 m.
2025-08-23T22:29:36.764Z,1755988176.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.034973 m,
nav range: 137.127594 m,
bearing: 134.485320 deg,
approach rate: 0.175189 m/s,
LOS rate: 0.228411 deg/s,
cmd heading: 131.782599 deg,
new cmd heading: 132.007643 deg.
2025-08-23T22:29:36.764Z,1755988176.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303968 target range: 138.034973 and range: 138.90 m.
2025-08-23T22:29:36.971Z,1755988176.971 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:29:36.976Z,1755988176.976 [DAT](INFO): DAT read: 22:29:35.4867 LVL= 23760, 29521, 29986, 29427, AGC= 61, IDX= 434, 0.43, 0.414,-0.493,-1.354,-0.474, PHS= 0.989, 0.025,-0.924, RAW= 60.3, -1.1, CAL= 60.9, -3.3, ROT= 89.1, 3.3
2025-08-23T22:29:36.977Z,1755988176.977 [DAT](INFO): got valid direction response:
22:29:35.4867 LVL= 23760, 29521, 29986, 29427, AGC= 61, IDX= 434, 0.43, 0.414,-0.493,-1.354,-0.474, PHS= 0.989, 0.025,-0.924, RAW= 60.3, -1.1, CAL= 60.9, -3.3, ROT= 89.1, 3.3
2025-08-23T22:29:36.978Z,1755988176.978 [DAT](INFO): DAT read: Bearing 111.4, 75.4 (Local)
2025-08-23T22:29:36.978Z,1755988176.978 [DAT](INFO): Local bearing/azimuth received:
Bearing 111.4, 75.4 (Local)
2025-08-23T22:29:36.980Z,1755988176.980 [DAT](INFO): DAT read: Range 11 to 50 : 139.9 m (Round-trip 186.6 ms) speed -0.2 m/s
2025-08-23T22:29:36.981Z,1755988176.981 [DAT](INFO): DAT read: user:1802>
2025-08-23T22:29:36.983Z,1755988176.983 [DAT](INFO): DAT read: Tx time:22:29:36.5959
2025-08-23T22:29:36.983Z,1755988176.983 [DAT](INFO): Ping request sent.
2025-08-23T22:29:36.983Z,1755988176.983 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:36.984Z,1755988176.984 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:29:36.985Z,1755988176.985 [DAT](INFO): direction in FSK: [0.015681,0.998219,-0.057564]
2025-08-23T22:29:36.985Z,1755988176.985 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:36.985Z,1755988176.985 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:36.988Z,1755988176.988 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:36.989Z,1755988176.989 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:37.113Z,1755988177.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 139.899994 m,
deltaT: 3.787533 s,
deltaX: 1.000000 m,
approachRate: 0.264024 m/s,
rangeRepo size: 4
2025-08-23T22:29:37.135Z,1755988177.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 139.028900 m,
bearing: 135.465913 deg,
lat: 36.779332 deg,
lon: -121.859686 deg,
deltaT: 3.787533 s,
deltaX: 0.993927 m,
approachRate: 0.262421 m/s,
posRepo size: 4
2025-08-23T22:29:37.136Z,1755988177.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.03 m.
2025-08-23T22:29:37.149Z,1755988177.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.028900 m,
nav range: 137.203537 m,
bearing: 134.591480 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.228411 deg/s,
cmd heading: 132.007640 deg,
new cmd heading: 132.169980 deg.
2025-08-23T22:29:37.151Z,1755988177.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306801 target range: 139.028900 and range: 139.90 m.
2025-08-23T22:29:37.471Z,1755988177.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.03 m.
2025-08-23T22:29:37.473Z,1755988177.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.028900 m,
nav range: 137.269485 m,
bearing: 134.690648 deg,
approach rate: 0.184443 m/s,
LOS rate: 0.277215 deg/s,
cmd heading: 132.169980 deg,
new cmd heading: 132.368218 deg.
2025-08-23T22:29:37.474Z,1755988177.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310261 target range: 139.028900 and range: 139.90 m.
2025-08-23T22:29:37.892Z,1755988177.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.03 m.
2025-08-23T22:29:37.894Z,1755988177.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.028900 m,
nav range: 137.341934 m,
bearing: 134.800268 deg,
approach rate: 0.171629 m/s,
LOS rate: 0.259551 deg/s,
cmd heading: 132.368219 deg,
new cmd heading: 132.587344 deg.
2025-08-23T22:29:37.895Z,1755988177.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314086 target range: 139.028900 and range: 139.90 m.
2025-08-23T22:29:38.286Z,1755988178.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.03 m.
2025-08-23T22:29:38.288Z,1755988178.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.028900 m,
nav range: 137.411804 m,
bearing: 134.905181 deg,
approach rate: 0.177355 m/s,
LOS rate: 0.266171 deg/s,
cmd heading: 132.587345 deg,
new cmd heading: 132.797063 deg.
2025-08-23T22:29:38.289Z,1755988178.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.317746 target range: 139.028900 and range: 139.90 m.
2025-08-23T22:29:38.734Z,1755988178.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.03 m.
2025-08-23T22:29:38.737Z,1755988178.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.028900 m,
nav range: 137.475876 m,
bearing: 135.015792 deg,
approach rate: 0.142872 m/s,
LOS rate: 0.246533 deg/s,
cmd heading: 132.797059 deg,
new cmd heading: 133.018177 deg.
2025-08-23T22:29:38.738Z,1755988178.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321605 target range: 139.028900 and range: 139.90 m.
2025-08-23T22:29:39.089Z,1755988179.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:39.091Z,1755988179.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.03 m.
2025-08-23T22:29:39.095Z,1755988179.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.028900 m,
nav range: 137.531830 m,
bearing: 135.111588 deg,
approach rate: 0.156654 m/s,
LOS rate: 0.268089 deg/s,
cmd heading: 133.018180 deg,
new cmd heading: 133.209693 deg.
2025-08-23T22:29:39.096Z,1755988179.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324948 target range: 139.028900 and range: 139.90 m.
2025-08-23T22:29:39.234Z,1755988179.234 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:39.234Z,1755988179.234 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:39.235Z,1755988179.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:39.485Z,1755988179.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.03 m.
2025-08-23T22:29:39.487Z,1755988179.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503371
2025-08-23T22:29:39.490Z,1755988179.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.028900 m,
nav range: 137.580948 m,
bearing: 135.213502 deg,
approach rate: 0.124731 m/s,
LOS rate: 0.258709 deg/s,
cmd heading: 133.209698 deg,
new cmd heading: 133.413453 deg.
2025-08-23T22:29:39.491Z,1755988179.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328504 target range: 139.028900 and range: 139.90 m.
2025-08-23T22:29:39.742Z,1755988179.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758752
2025-08-23T22:29:39.920Z,1755988179.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.03 m.
2025-08-23T22:29:39.924Z,1755988179.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.028900 m,
nav range: 137.621063 m,
bearing: 135.320763 deg,
approach rate: 0.092131 m/s,
LOS rate: 0.246270 deg/s,
cmd heading: 133.413457 deg,
new cmd heading: 133.627916 deg.
2025-08-23T22:29:39.933Z,1755988179.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332247 target range: 139.028900 and range: 139.90 m.
2025-08-23T22:29:39.991Z,1755988179.991 [DAT](INFO): DAT read: Rx Time:22:29:39.1874
2025-08-23T22:29:39.992Z,1755988179.992 [DAT](INFO): Rx dataTimestamp_ set to:1755988179.991512
2025-08-23T22:29:39.993Z,1755988179.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009379
2025-08-23T22:29:40.243Z,1755988180.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259256
2025-08-23T22:29:40.293Z,1755988180.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.03 m.
2025-08-23T22:29:40.296Z,1755988180.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.028900 m,
nav range: 137.654129 m,
bearing: 135.422502 deg,
approach rate: 0.088732 m/s,
LOS rate: 0.272949 deg/s,
cmd heading: 133.627911 deg,
new cmd heading: 133.831338 deg.
2025-08-23T22:29:40.297Z,1755988180.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335798 target range: 139.028900 and range: 139.90 m.
2025-08-23T22:29:40.504Z,1755988180.504 [DAT](INFO): DAT read: 22:29:39.1874 LVL= 24816, 30033, 30146, 32371, AGC= 63, IDX= 427,-0.34, 2.347, 1.005, 0.723, 1.427, PHS= 1.022,-0.377,-0.748, RAW= 78.5, 1.3, CAL= 77.8, -2.2, ROT= 72.2, 2.2
2025-08-23T22:29:40.505Z,1755988180.505 [DAT](INFO): got valid direction response:
22:29:39.1874 LVL= 24816, 30033, 30146, 32371, AGC= 63, IDX= 427,-0.34, 2.347, 1.005, 0.723, 1.427, PHS= 1.022,-0.377,-0.748, RAW= 78.5, 1.3, CAL= 77.8, -2.2, ROT= 72.2, 2.2
2025-08-23T22:29:40.507Z,1755988180.507 [DAT](INFO): DAT read: Bearing 175.4, 68.5 (Local)
2025-08-23T22:29:40.508Z,1755988180.508 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.4, 68.5 (Local)
2025-08-23T22:29:40.509Z,1755988180.509 [DAT](INFO): DAT read: Range 11 to 50 : 140.5 m (Round-trip 187.4 ms) speed 0.0 m/s
2025-08-23T22:29:40.510Z,1755988180.510 [DAT](INFO): DAT read: user:1803>
2025-08-23T22:29:40.511Z,1755988180.511 [DAT](INFO): DAT read: Tx time:22:29:40.2958
2025-08-23T22:29:40.511Z,1755988180.511 [DAT](INFO): Ping request sent.
2025-08-23T22:29:40.511Z,1755988180.511 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:40.512Z,1755988180.512 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:29:40.513Z,1755988180.513 [DAT](INFO): direction in FSK: [0.305470,0.951428,-0.038388]
2025-08-23T22:29:40.513Z,1755988180.513 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:40.513Z,1755988180.513 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:40.517Z,1755988180.517 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:40.518Z,1755988180.518 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:40.792Z,1755988180.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 140.500000 m,
deltaT: 3.529219 s,
deltaX: 0.600006 m,
approachRate: 0.170011 m/s,
rangeRepo size: 4
2025-08-23T22:29:40.798Z,1755988180.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 139.624741 m,
bearing: 129.462412 deg,
lat: 36.779340 deg,
lon: -121.859675 deg,
deltaT: 3.529219 s,
deltaX: 0.595840 m,
approachRate: 0.168831 m/s,
posRepo size: 4
2025-08-23T22:29:40.799Z,1755988180.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.62 m.
2025-08-23T22:29:40.806Z,1755988180.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.624741 m,
nav range: 137.759720 m,
bearing: 135.002026 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.272949 deg/s,
cmd heading: 133.831341 deg,
new cmd heading: 134.103431 deg.
2025-08-23T22:29:40.807Z,1755988180.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340546 target range: 139.624741 and range: 140.50 m.
2025-08-23T22:29:41.100Z,1755988181.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:41.126Z,1755988181.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.62 m.
2025-08-23T22:29:41.134Z,1755988181.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.624741 m,
nav range: 137.780914 m,
bearing: 135.086550 deg,
approach rate: 0.064257 m/s,
LOS rate: 0.256219 deg/s,
cmd heading: 134.103429 deg,
new cmd heading: 134.272449 deg.
2025-08-23T22:29:41.135Z,1755988181.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343496 target range: 139.624741 and range: 140.50 m.
2025-08-23T22:29:41.251Z,1755988181.251 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:41.251Z,1755988181.251 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:41.251Z,1755988181.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:41.503Z,1755988181.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991328
2025-08-23T22:29:41.504Z,1755988181.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.62 m.
2025-08-23T22:29:41.507Z,1755988181.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.624741 m,
nav range: 137.802063 m,
bearing: 135.190580 deg,
approach rate: 0.055303 m/s,
LOS rate: 0.271989 deg/s,
cmd heading: 134.272449 deg,
new cmd heading: 134.480475 deg.
2025-08-23T22:29:41.508Z,1755988181.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.347127 target range: 139.624741 and range: 140.50 m.
2025-08-23T22:29:41.755Z,1755988181.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243233
2025-08-23T22:29:41.912Z,1755988181.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.62 m.
2025-08-23T22:29:41.967Z,1755988181.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.624741 m,
nav range: 137.818771 m,
bearing: 135.297210 deg,
approach rate: 0.040876 m/s,
LOS rate: 0.260834 deg/s,
cmd heading: 134.480469 deg,
new cmd heading: 134.693702 deg.
2025-08-23T22:29:41.968Z,1755988181.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.350849 target range: 139.624741 and range: 140.50 m.
2025-08-23T22:29:42.007Z,1755988182.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495480
2025-08-23T22:29:42.259Z,1755988182.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747570
2025-08-23T22:29:42.323Z,1755988182.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.62 m.
2025-08-23T22:29:42.326Z,1755988182.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.624741 m,
nav range: 137.830627 m,
bearing: 135.403745 deg,
approach rate: 0.028911 m/s,
LOS rate: 0.259766 deg/s,
cmd heading: 134.693707 deg,
new cmd heading: 134.906758 deg.
2025-08-23T22:29:42.327Z,1755988182.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.354567 target range: 139.624741 and range: 140.50 m.
2025-08-23T22:29:42.510Z,1755988182.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999211
2025-08-23T22:29:42.763Z,1755988182.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251274
2025-08-23T22:29:42.792Z,1755988182.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.62 m.
2025-08-23T22:29:42.795Z,1755988182.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.624741 m,
nav range: 137.838577 m,
bearing: 135.526255 deg,
approach rate: 0.016927 m/s,
LOS rate: 0.260840 deg/s,
cmd heading: 134.906755 deg,
new cmd heading: 135.151758 deg.
2025-08-23T22:29:42.796Z,1755988182.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.358843 target range: 139.624741 and range: 140.50 m.
2025-08-23T22:29:43.015Z,1755988183.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503228
2025-08-23T22:29:43.129Z,1755988183.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:43.133Z,1755988183.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.62 m.
2025-08-23T22:29:43.178Z,1755988183.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.624741 m,
nav range: 137.839981 m,
bearing: 135.612915 deg,
approach rate: 0.004118 m/s,
LOS rate: 0.254237 deg/s,
cmd heading: 135.151753 deg,
new cmd heading: 135.325072 deg.
2025-08-23T22:29:43.179Z,1755988183.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.361868 target range: 139.624741 and range: 140.50 m.
2025-08-23T22:29:43.268Z,1755988183.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756370
2025-08-23T22:29:43.519Z,1755988183.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007232
2025-08-23T22:29:43.533Z,1755988183.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.62 m.
2025-08-23T22:29:43.536Z,1755988183.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.624741 m,
nav range: 137.836639 m,
bearing: 135.719096 deg,
approach rate: -0.008365 m/s,
LOS rate: 0.265808 deg/s,
cmd heading: 135.325076 deg,
new cmd heading: 135.537442 deg.
2025-08-23T22:29:43.537Z,1755988183.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.365575 target range: 139.624741 and range: 140.50 m.
2025-08-23T22:29:43.771Z,1755988183.771 [DAT](INFO): DAT read: Rx Time:22:29:42.8875
2025-08-23T22:29:43.771Z,1755988183.771 [DAT](INFO): Rx dataTimestamp_ set to:1755988183.770997
2025-08-23T22:29:43.772Z,1755988183.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260552
2025-08-23T22:29:43.976Z,1755988183.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.62 m.
2025-08-23T22:29:43.984Z,1755988183.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.624741 m,
nav range: 137.836517 m,
bearing: 135.821001 deg,
approach rate: -0.000275 m/s,
LOS rate: 0.229811 deg/s,
cmd heading: 135.537441 deg,
new cmd heading: 135.741251 deg.
2025-08-23T22:29:43.985Z,1755988183.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.369132 target range: 139.624741 and range: 140.50 m.
2025-08-23T22:29:44.023Z,1755988184.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511487
2025-08-23T22:29:44.282Z,1755988184.282 [DAT](INFO): DAT read: 22:29:42.8875 LVL= 25808, 31345, 32754, 32755, AGC= 64, IDX= 444, 0.25,-0.146,-1.520,-1.486,-0.940, PHS= 0.896,-0.535,-0.591, RAW= 88.1, 3.2, CAL= 87.2, -0.2, ROT= 62.8, 0.2
2025-08-23T22:29:44.284Z,1755988184.284 [DAT](INFO): got valid direction response:
22:29:42.8875 LVL= 25808, 31345, 32754, 32755, AGC= 64, IDX= 444, 0.25,-0.146,-1.520,-1.486,-0.940, PHS= 0.896,-0.535,-0.591, RAW= 88.1, 3.2, CAL= 87.2, -0.2, ROT= 62.8, 0.2
2025-08-23T22:29:44.284Z,1755988184.284 [DAT](INFO): DAT read: Bearing 202.5, 61.5 (Local)
2025-08-23T22:29:44.285Z,1755988184.285 [DAT](INFO): Local bearing/azimuth received:
Bearing 202.5, 61.5 (Local)
2025-08-23T22:29:44.286Z,1755988184.286 [DAT](INFO): DAT read: Range 11 to 50 : 140.6 m (Round-trip 187.5 ms) speed -0.1 m/s
2025-08-23T22:29:44.287Z,1755988184.287 [DAT](INFO): DAT read: user:1804>
2025-08-23T22:29:44.288Z,1755988184.288 [DAT](INFO): DAT read: Tx time:22:29:43.9958
2025-08-23T22:29:44.288Z,1755988184.288 [DAT](INFO): Ping request sent.
2025-08-23T22:29:44.288Z,1755988184.288 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:44.288Z,1755988184.288 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:29:44.290Z,1755988184.290 [DAT](INFO): direction in FSK: [0.457095,0.889411,-0.003491]
2025-08-23T22:29:44.290Z,1755988184.290 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:44.291Z,1755988184.291 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:44.295Z,1755988184.295 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:44.295Z,1755988184.295 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:44.417Z,1755988184.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 140.600006 m,
deltaT: 3.779276 s,
deltaX: 0.100006 m,
approachRate: 0.026462 m/s,
rangeRepo size: 4
2025-08-23T22:29:44.423Z,1755988184.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 139.723663 m,
bearing: 130.860373 deg,
lat: 36.779340 deg,
lon: -121.859675 deg,
deltaT: 3.779276 s,
deltaX: 0.098923 m,
approachRate: 0.026175 m/s,
posRepo size: 4
2025-08-23T22:29:44.424Z,1755988184.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.72 m.
2025-08-23T22:29:44.431Z,1755988184.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.723663 m,
nav range: 137.831161 m,
bearing: 135.929733 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.229811 deg/s,
cmd heading: 135.741253 deg,
new cmd heading: 135.943536 deg.
2025-08-23T22:29:44.432Z,1755988184.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.372662 target range: 139.723663 and range: 140.60 m.
2025-08-23T22:29:44.819Z,1755988184.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.72 m.
2025-08-23T22:29:44.822Z,1755988184.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.723663 m,
nav range: 137.822876 m,
bearing: 136.029016 deg,
approach rate: -0.020583 m/s,
LOS rate: 0.246656 deg/s,
cmd heading: 135.943536 deg,
new cmd heading: 136.142112 deg.
2025-08-23T22:29:44.823Z,1755988184.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376128 target range: 139.723663 and range: 140.60 m.
2025-08-23T22:29:45.162Z,1755988185.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:45.164Z,1755988185.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.72 m.
2025-08-23T22:29:45.172Z,1755988185.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.723663 m,
nav range: 137.812073 m,
bearing: 136.111062 deg,
approach rate: -0.031247 m/s,
LOS rate: 0.237330 deg/s,
cmd heading: 136.142117 deg,
new cmd heading: 136.306223 deg.
2025-08-23T22:29:45.204Z,1755988185.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.378992 target range: 139.723663 and range: 140.60 m.
2025-08-23T22:29:45.282Z,1755988185.282 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:45.282Z,1755988185.282 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:45.283Z,1755988185.283 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:45.534Z,1755988185.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246334
2025-08-23T22:29:45.600Z,1755988185.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.72 m.
2025-08-23T22:29:45.630Z,1755988185.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.723663 m,
nav range: 137.794525 m,
bearing: 136.209195 deg,
approach rate: -0.040338 m/s,
LOS rate: 0.225613 deg/s,
cmd heading: 136.306219 deg,
new cmd heading: 136.502509 deg.
2025-08-23T22:29:45.631Z,1755988185.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.382418 target range: 139.723663 and range: 140.60 m.
2025-08-23T22:29:45.790Z,1755988185.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501200
2025-08-23T22:29:46.039Z,1755988186.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750722
2025-08-23T22:29:46.040Z,1755988186.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.72 m.
2025-08-23T22:29:46.043Z,1755988186.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.723663 m,
nav range: 137.768753 m,
bearing: 136.315495 deg,
approach rate: -0.058433 m/s,
LOS rate: 0.241062 deg/s,
cmd heading: 136.502505 deg,
new cmd heading: 136.715145 deg.
2025-08-23T22:29:46.044Z,1755988186.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386129 target range: 139.723663 and range: 140.60 m.
2025-08-23T22:29:46.291Z,1755988186.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002608
2025-08-23T22:29:46.419Z,1755988186.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.72 m.
2025-08-23T22:29:46.422Z,1755988186.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.723663 m,
nav range: 137.743362 m,
bearing: 136.403216 deg,
approach rate: -0.067130 m/s,
LOS rate: 0.231968 deg/s,
cmd heading: 136.715143 deg,
new cmd heading: 136.890616 deg.
2025-08-23T22:29:46.423Z,1755988186.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389192 target range: 139.723663 and range: 140.60 m.
2025-08-23T22:29:46.542Z,1755988186.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254309
2025-08-23T22:29:46.806Z,1755988186.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517992
2025-08-23T22:29:46.905Z,1755988186.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.72 m.
2025-08-23T22:29:46.908Z,1755988186.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.723663 m,
nav range: 137.708069 m,
bearing: 136.514265 deg,
approach rate: -0.072595 m/s,
LOS rate: 0.228472 deg/s,
cmd heading: 136.890610 deg,
new cmd heading: 137.112763 deg.
2025-08-23T22:29:46.909Z,1755988186.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.393069 target range: 139.723663 and range: 140.60 m.
2025-08-23T22:29:47.055Z,1755988187.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766477
2025-08-23T22:29:47.308Z,1755988187.308 [DAT](INFO): DAT read: Rx Time:22:29:46.5872
2025-08-23T22:29:47.308Z,1755988187.308 [DAT](INFO): Rx dataTimestamp_ set to:1755988187.307944
2025-08-23T22:29:47.309Z,1755988187.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021009
2025-08-23T22:29:47.407Z,1755988187.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:47.410Z,1755988187.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.72 m.
2025-08-23T22:29:47.412Z,1755988187.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.723663 m,
nav range: 137.671967 m,
bearing: 136.629562 deg,
approach rate: -0.071548 m/s,
LOS rate: 0.228559 deg/s,
cmd heading: 137.112769 deg,
new cmd heading: 137.343424 deg.
2025-08-23T22:29:47.413Z,1755988187.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.397095 target range: 139.723663 and range: 140.60 m.
2025-08-23T22:29:47.559Z,1755988187.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270388
2025-08-23T22:29:47.815Z,1755988187.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525955
2025-08-23T22:29:47.924Z,1755988187.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.72 m.
2025-08-23T22:29:47.927Z,1755988187.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.723663 m,
nav range: 137.635239 m,
bearing: 136.742451 deg,
approach rate: -0.071395 m/s,
LOS rate: 0.219503 deg/s,
cmd heading: 137.343425 deg,
new cmd heading: 137.569261 deg.
2025-08-23T22:29:47.928Z,1755988187.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.401037 target range: 139.723663 and range: 140.60 m.
2025-08-23T22:29:48.068Z,1755988188.068 [DAT](INFO): DAT read: 22:29:46.5872 LVL= 31216, 32753, 32754, 32755, AGC= 63, IDX= 425, 0.21,-2.104, 2.553, 2.938,-2.936, PHS= 0.934,-0.750,-0.454, RAW= 99.5, 3.5, CAL= 99.8, 2.0, ROT= 50.2, -2.0
2025-08-23T22:29:48.070Z,1755988188.070 [DAT](INFO): got valid direction response:
22:29:46.5872 LVL= 31216, 32753, 32754, 32755, AGC= 63, IDX= 425, 0.21,-2.104, 2.553, 2.938,-2.936, PHS= 0.934,-0.750,-0.454, RAW= 99.5, 3.5, CAL= 99.8, 2.0, ROT= 50.2, -2.0
2025-08-23T22:29:48.071Z,1755988188.071 [DAT](INFO): DAT read: Bearing 225.0, 50.4 (Local)
2025-08-23T22:29:48.071Z,1755988188.071 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.0, 50.4 (Local)
2025-08-23T22:29:48.072Z,1755988188.072 [DAT](INFO): DAT read: Range 11 to 50 : 140.4 m (Round-trip 187.2 ms) speed 0.0 m/s
2025-08-23T22:29:48.073Z,1755988188.073 [DAT](INFO): DAT read: user:1805>
2025-08-23T22:29:48.074Z,1755988188.074 [DAT](INFO): DAT read: Tx time:22:29:47.6958
2025-08-23T22:29:48.074Z,1755988188.074 [DAT](INFO): Ping request sent.
2025-08-23T22:29:48.074Z,1755988188.074 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:48.075Z,1755988188.075 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:29:48.076Z,1755988188.076 [DAT](INFO): direction in FSK: [0.639720,0.767816,0.034899]
2025-08-23T22:29:48.076Z,1755988188.076 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:48.076Z,1755988188.076 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:48.079Z,1755988188.079 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:48.080Z,1755988188.080 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:48.333Z,1755988188.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 140.399994 m,
deltaT: 3.787822 s,
deltaX: -0.200012 m,
approachRate: -0.052804 m/s,
rangeRepo size: 4
2025-08-23T22:29:48.339Z,1755988188.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 139.523590 m,
bearing: 130.089599 deg,
lat: 36.779423 deg,
lon: -121.859586 deg,
deltaT: 3.787822 s,
deltaX: -0.200073 m,
approachRate: -0.052820 m/s,
posRepo size: 4
2025-08-23T22:29:48.340Z,1755988188.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.52 m.
2025-08-23T22:29:48.347Z,1755988188.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.523590 m,
nav range: 136.867111 m,
bearing: 131.748911 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.219503 deg/s,
cmd heading: 137.569258 deg,
new cmd heading: 137.748613 deg.
2025-08-23T22:29:48.348Z,1755988188.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404167 target range: 139.523590 and range: 140.40 m.
2025-08-23T22:29:48.699Z,1755988188.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.52 m.
2025-08-23T22:29:48.701Z,1755988188.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.523590 m,
nav range: 136.801834 m,
bearing: 131.829919 deg,
approach rate: -0.178260 m/s,
LOS rate: 0.221326 deg/s,
cmd heading: 137.748619 deg,
new cmd heading: 137.910713 deg.
2025-08-23T22:29:48.702Z,1755988188.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.406996 target range: 139.523590 and range: 140.40 m.
2025-08-23T22:29:49.159Z,1755988189.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.52 m.
2025-08-23T22:29:49.166Z,1755988189.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.523590 m,
nav range: 136.724808 m,
bearing: 131.921020 deg,
approach rate: -0.167315 m/s,
LOS rate: 0.197998 deg/s,
cmd heading: 137.910713 deg,
new cmd heading: 138.093016 deg.
2025-08-23T22:29:49.167Z,1755988189.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410178 target range: 139.523590 and range: 140.40 m.
2025-08-23T22:29:49.540Z,1755988189.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:49.542Z,1755988189.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.52 m.
2025-08-23T22:29:49.545Z,1755988189.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.523590 m,
nav range: 136.655975 m,
bearing: 132.002860 deg,
approach rate: -0.179527 m/s,
LOS rate: 0.213562 deg/s,
cmd heading: 138.093011 deg,
new cmd heading: 138.256773 deg.
2025-08-23T22:29:49.546Z,1755988189.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413036 target range: 139.523590 and range: 140.40 m.
2025-08-23T22:29:49.575Z,1755988189.575 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:49.575Z,1755988189.575 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:49.575Z,1755988189.575 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:49.829Z,1755988189.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753953
2025-08-23T22:29:49.962Z,1755988189.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.52 m.
2025-08-23T22:29:49.965Z,1755988189.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.523590 m,
nav range: 136.580917 m,
bearing: 132.083849 deg,
approach rate: -0.178810 m/s,
LOS rate: 0.193043 deg/s,
cmd heading: 138.256771 deg,
new cmd heading: 138.418836 deg.
2025-08-23T22:29:49.970Z,1755988189.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.415864 target range: 139.523590 and range: 140.40 m.
2025-08-23T22:29:50.079Z,1755988190.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004009
2025-08-23T22:29:50.331Z,1755988190.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256059
2025-08-23T22:29:50.340Z,1755988190.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.52 m.
2025-08-23T22:29:50.343Z,1755988190.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.523590 m,
nav range: 136.504288 m,
bearing: 132.161798 deg,
approach rate: -0.202982 m/s,
LOS rate: 0.206594 deg/s,
cmd heading: 138.418838 deg,
new cmd heading: 138.574824 deg.
2025-08-23T22:29:50.344Z,1755988190.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418587 target range: 139.523590 and range: 140.40 m.
2025-08-23T22:29:50.583Z,1755988190.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507990
2025-08-23T22:29:50.751Z,1755988190.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.52 m.
2025-08-23T22:29:50.753Z,1755988190.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.523590 m,
nav range: 136.423035 m,
bearing: 132.239980 deg,
approach rate: -0.197758 m/s,
LOS rate: 0.190396 deg/s,
cmd heading: 138.574826 deg,
new cmd heading: 138.731282 deg.
2025-08-23T22:29:50.754Z,1755988190.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421318 target range: 139.523590 and range: 140.40 m.
2025-08-23T22:29:50.839Z,1755988190.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764293
2025-08-23T22:29:51.092Z,1755988191.092 [DAT](INFO): DAT read: Rx Time:22:29:50.2867
2025-08-23T22:29:51.093Z,1755988191.093 [DAT](INFO): Rx dataTimestamp_ set to:1755988191.092406
2025-08-23T22:29:51.094Z,1755988191.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019933
2025-08-23T22:29:51.218Z,1755988191.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.52 m.
2025-08-23T22:29:51.220Z,1755988191.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.523590 m,
nav range: 136.331741 m,
bearing: 132.324499 deg,
approach rate: -0.197386 m/s,
LOS rate: 0.182863 deg/s,
cmd heading: 138.731278 deg,
new cmd heading: 138.900431 deg.
2025-08-23T22:29:51.226Z,1755988191.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424270 target range: 139.523590 and range: 140.40 m.
2025-08-23T22:29:51.342Z,1755988191.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267956
2025-08-23T22:29:51.606Z,1755988191.606 [DAT](INFO): DAT read: 22:29:50.2867 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 436,-0.11,-2.285, 2.169, 2.961,-3.058, PHS= 0.875,-1.011,-0.308, RAW= 111.6, 5.4, CAL= 113.1, 6.2, ROT= 36.9, -6.2
2025-08-23T22:29:51.608Z,1755988191.608 [DAT](INFO): got valid direction response:
22:29:50.2867 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 436,-0.11,-2.285, 2.169, 2.961,-3.058, PHS= 0.875,-1.011,-0.308, RAW= 111.6, 5.4, CAL= 113.1, 6.2, ROT= 36.9, -6.2
2025-08-23T22:29:51.610Z,1755988191.610 [DAT](INFO): DAT read: Bearing 246.5, 38.1 (Local)
2025-08-23T22:29:51.610Z,1755988191.610 [DAT](INFO): Local bearing/azimuth received:
Bearing 246.5, 38.1 (Local)
2025-08-23T22:29:51.613Z,1755988191.613 [DAT](INFO): DAT read: Range 11 to 50 : 140.0 m (Round-trip 186.7 ms) speed 0.3 m/s
2025-08-23T22:29:51.626Z,1755988191.626 [DAT](INFO): DAT read: user:1806>
2025-08-23T22:29:51.626Z,1755988191.626 [DAT](INFO): DAT read: Tx time:22:29:51.3958
2025-08-23T22:29:51.627Z,1755988191.627 [DAT](INFO): Ping request sent.
2025-08-23T22:29:51.627Z,1755988191.627 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:51.627Z,1755988191.627 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:29:51.628Z,1755988191.628 [DAT](INFO): direction in FSK: [0.795007,0.596908,0.107999]
2025-08-23T22:29:51.628Z,1755988191.628 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:51.629Z,1755988191.629 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:51.643Z,1755988191.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 140.000000 m,
deltaT: 3.532091 s,
deltaX: -0.399994 m,
approachRate: -0.113246 m/s,
rangeRepo size: 4
2025-08-23T22:29:51.645Z,1755988191.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 139.126099 m,
bearing: 125.877181 deg,
lat: 36.779428 deg,
lon: -121.859574 deg,
deltaT: 3.532091 s,
deltaX: -0.397491 m,
approachRate: -0.112537 m/s,
posRepo size: 4
2025-08-23T22:29:51.651Z,1755988191.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.13 m.
2025-08-23T22:29:51.653Z,1755988191.653 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:51.654Z,1755988191.654 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:51.662Z,1755988191.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.126099 m,
nav range: 136.595154 m,
bearing: 131.920464 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.182863 deg/s,
cmd heading: 138.900435 deg,
new cmd heading: 139.055734 deg.
2025-08-23T22:29:51.663Z,1755988191.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426980 target range: 139.126099 and range: 140.00 m.
2025-08-23T22:29:52.053Z,1755988192.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.13 m.
2025-08-23T22:29:52.060Z,1755988192.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.126099 m,
nav range: 136.499802 m,
bearing: 131.999514 deg,
approach rate: -0.229540 m/s,
LOS rate: 0.190430 deg/s,
cmd heading: 139.055739 deg,
new cmd heading: 139.213950 deg.
2025-08-23T22:29:52.061Z,1755988192.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429742 target range: 139.126099 and range: 140.00 m.
2025-08-23T22:29:52.412Z,1755988192.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:52.414Z,1755988192.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.13 m.
2025-08-23T22:29:52.417Z,1755988192.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.126099 m,
nav range: 136.414825 m,
bearing: 132.066606 deg,
approach rate: -0.235198 m/s,
LOS rate: 0.185812 deg/s,
cmd heading: 139.213954 deg,
new cmd heading: 139.348220 deg.
2025-08-23T22:29:52.418Z,1755988192.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432085 target range: 139.126099 and range: 140.00 m.
2025-08-23T22:29:52.603Z,1755988192.603 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:52.604Z,1755988192.604 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:52.604Z,1755988192.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:52.857Z,1755988192.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229836
2025-08-23T22:29:52.880Z,1755988192.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.13 m.
2025-08-23T22:29:52.887Z,1755988192.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.126099 m,
nav range: 136.318115 m,
bearing: 132.139426 deg,
approach rate: -0.207728 m/s,
LOS rate: 0.156524 deg/s,
cmd heading: 139.348222 deg,
new cmd heading: 139.493965 deg.
2025-08-23T22:29:52.888Z,1755988192.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434629 target range: 139.126099 and range: 140.00 m.
2025-08-23T22:29:53.108Z,1755988193.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480511
2025-08-23T22:29:53.263Z,1755988193.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.13 m.
2025-08-23T22:29:53.266Z,1755988193.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.126099 m,
nav range: 136.217255 m,
bearing: 132.213102 deg,
approach rate: -0.263669 m/s,
LOS rate: 0.192747 deg/s,
cmd heading: 139.493964 deg,
new cmd heading: 139.641426 deg.
2025-08-23T22:29:53.266Z,1755988193.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437203 target range: 139.126099 and range: 140.00 m.
2025-08-23T22:29:53.360Z,1755988193.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733028
2025-08-23T22:29:53.612Z,1755988193.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984961
2025-08-23T22:29:53.636Z,1755988193.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.13 m.
2025-08-23T22:29:53.639Z,1755988193.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.126099 m,
nav range: 136.126480 m,
bearing: 132.276604 deg,
approach rate: -0.243005 m/s,
LOS rate: 0.170109 deg/s,
cmd heading: 139.641428 deg,
new cmd heading: 139.768516 deg.
2025-08-23T22:29:53.640Z,1755988193.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439421 target range: 139.126099 and range: 140.00 m.
2025-08-23T22:29:53.865Z,1755988193.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237349
2025-08-23T22:29:54.070Z,1755988194.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.13 m.
2025-08-23T22:29:54.073Z,1755988194.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.126099 m,
nav range: 136.021652 m,
bearing: 132.343640 deg,
approach rate: -0.243949 m/s,
LOS rate: 0.156123 deg/s,
cmd heading: 139.768511 deg,
new cmd heading: 139.902686 deg.
2025-08-23T22:29:54.086Z,1755988194.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441762 target range: 139.126099 and range: 140.00 m.
2025-08-23T22:29:54.115Z,1755988194.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487753
2025-08-23T22:29:54.367Z,1755988194.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739670
2025-08-23T22:29:54.438Z,1755988194.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:54.440Z,1755988194.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.13 m.
2025-08-23T22:29:54.443Z,1755988194.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.126099 m,
nav range: 135.919647 m,
bearing: 132.406197 deg,
approach rate: -0.272733 m/s,
LOS rate: 0.167384 deg/s,
cmd heading: 139.902683 deg,
new cmd heading: 140.027890 deg.
2025-08-23T22:29:54.444Z,1755988194.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443948 target range: 139.126099 and range: 140.00 m.
2025-08-23T22:29:54.621Z,1755988194.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994385
2025-08-23T22:29:54.839Z,1755988194.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.13 m.
2025-08-23T22:29:54.843Z,1755988194.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.126099 m,
nav range: 135.813263 m,
bearing: 132.468748 deg,
approach rate: -0.266777 m/s,
LOS rate: 0.156980 deg/s,
cmd heading: 140.027894 deg,
new cmd heading: 140.153093 deg.
2025-08-23T22:29:54.849Z,1755988194.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446133 target range: 139.126099 and range: 140.00 m.
2025-08-23T22:29:54.873Z,1755988194.873 [DAT](INFO): DAT read: Rx Time:22:29:53.9856
2025-08-23T22:29:54.874Z,1755988194.874 [DAT](INFO): Rx dataTimestamp_ set to:1755988194.873379
2025-08-23T22:29:54.876Z,1755988194.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249096
2025-08-23T22:29:55.123Z,1755988195.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495882
2025-08-23T22:29:55.327Z,1755988195.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.13 m.
2025-08-23T22:29:55.330Z,1755988195.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.126099 m,
nav range: 135.679901 m,
bearing: 132.542520 deg,
approach rate: -0.272850 m/s,
LOS rate: 0.151081 deg/s,
cmd heading: 140.153091 deg,
new cmd heading: 140.300779 deg.
2025-08-23T22:29:55.331Z,1755988195.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448710 target range: 139.126099 and range: 140.00 m.
2025-08-23T22:29:55.381Z,1755988195.381 [DAT](INFO): DAT read: 22:29:53.9856 LVL= 29040, 32753, 32754, 32755, AGC= 59, IDX= 425, 0.13, 1.481,-0.420, 0.624, 0.751, PHS= 0.832,-1.126,-0.171, RAW= 119.2, 5.5, CAL= 120.5, 6.6, ROT= 29.5, -6.6
2025-08-23T22:29:55.382Z,1755988195.382 [DAT](INFO): got valid direction response:
22:29:53.9856 LVL= 29040, 32753, 32754, 32755, AGC= 59, IDX= 425, 0.13, 1.481,-0.420, 0.624, 0.751, PHS= 0.832,-1.126,-0.171, RAW= 119.2, 5.5, CAL= 120.5, 6.6, ROT= 29.5, -6.6
2025-08-23T22:29:55.383Z,1755988195.383 [DAT](INFO): DAT read: Bearing 259.9, 30.6 (Local)
2025-08-23T22:29:55.384Z,1755988195.384 [DAT](INFO): Local bearing/azimuth received:
Bearing 259.9, 30.6 (Local)
2025-08-23T22:29:55.385Z,1755988195.385 [DAT](INFO): DAT read: Range 11 to 50 : 139.2 m (Round-trip 185.6 ms) speed 0.2 m/s
2025-08-23T22:29:55.386Z,1755988195.386 [DAT](INFO): DAT read: user:1807>
2025-08-23T22:29:55.387Z,1755988195.387 [DAT](INFO): DAT read: Tx time:22:29:55.0958
2025-08-23T22:29:55.387Z,1755988195.387 [DAT](INFO): Ping request sent.
2025-08-23T22:29:55.387Z,1755988195.387 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:55.387Z,1755988195.387 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:29:55.388Z,1755988195.388 [DAT](INFO): direction in FSK: [0.864588,0.489160,0.114937]
2025-08-23T22:29:55.389Z,1755988195.389 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:55.389Z,1755988195.389 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:55.392Z,1755988195.392 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:55.392Z,1755988195.392 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:55.722Z,1755988195.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 139.199997 m,
deltaT: 3.779763 s,
deltaX: -0.800003 m,
approachRate: -0.211654 m/s,
rangeRepo size: 4
2025-08-23T22:29:55.724Z,1755988195.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 138.331055 m,
bearing: 128.030818 deg,
lat: 36.779506 deg,
lon: -121.859502 deg,
deltaT: 3.779763 s,
deltaX: -0.795044 m,
approachRate: -0.210342 m/s,
posRepo size: 4
2025-08-23T22:29:55.725Z,1755988195.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.33 m.
2025-08-23T22:29:55.728Z,1755988195.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.331055 m,
nav range: 134.906418 m,
bearing: 128.058982 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.151081 deg/s,
cmd heading: 140.300774 deg,
new cmd heading: 140.419847 deg.
2025-08-23T22:29:55.729Z,1755988195.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450789 target range: 138.331055 and range: 139.20 m.
2025-08-23T22:29:56.178Z,1755988196.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.33 m.
2025-08-23T22:29:56.182Z,1755988196.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.331055 m,
nav range: 134.764542 m,
bearing: 128.120397 deg,
approach rate: -0.311220 m/s,
LOS rate: 0.134862 deg/s,
cmd heading: 140.419851 deg,
new cmd heading: 140.542811 deg.
2025-08-23T22:29:56.183Z,1755988196.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452935 target range: 138.331055 and range: 139.20 m.
2025-08-23T22:29:56.503Z,1755988196.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:56.522Z,1755988196.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.33 m.
2025-08-23T22:29:56.524Z,1755988196.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.331055 m,
nav range: 134.660461 m,
bearing: 128.163589 deg,
approach rate: -0.317043 m/s,
LOS rate: 0.131671 deg/s,
cmd heading: 140.542808 deg,
new cmd heading: 140.629259 deg.
2025-08-23T22:29:56.526Z,1755988196.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454444 target range: 138.331055 and range: 139.20 m.
2025-08-23T22:29:56.635Z,1755988196.635 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:29:56.635Z,1755988196.635 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:29:56.635Z,1755988196.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:29:56.889Z,1755988196.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501342
2025-08-23T22:29:57.035Z,1755988197.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.33 m.
2025-08-23T22:29:57.046Z,1755988197.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.331055 m,
nav range: 134.498962 m,
bearing: 128.226812 deg,
approach rate: -0.305083 m/s,
LOS rate: 0.119577 deg/s,
cmd heading: 140.629265 deg,
new cmd heading: 140.755863 deg.
2025-08-23T22:29:57.047Z,1755988197.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456653 target range: 138.331055 and range: 139.20 m.
2025-08-23T22:29:57.139Z,1755988197.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751463
2025-08-23T22:29:57.368Z,1755988197.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.33 m.
2025-08-23T22:29:57.371Z,1755988197.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.331055 m,
nav range: 134.370758 m,
bearing: 128.270740 deg,
approach rate: -0.385038 m/s,
LOS rate: 0.132054 deg/s,
cmd heading: 140.755869 deg,
new cmd heading: 140.843808 deg.
2025-08-23T22:29:57.372Z,1755988197.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.458188 target range: 138.331055 and range: 139.20 m.
2025-08-23T22:29:57.391Z,1755988197.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003407
2025-08-23T22:29:57.643Z,1755988197.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255427
2025-08-23T22:29:57.786Z,1755988197.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.33 m.
2025-08-23T22:29:57.789Z,1755988197.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.331055 m,
nav range: 134.226639 m,
bearing: 128.320253 deg,
approach rate: -0.344439 m/s,
LOS rate: 0.118461 deg/s,
cmd heading: 140.843815 deg,
new cmd heading: 140.942946 deg.
2025-08-23T22:29:57.790Z,1755988197.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459918 target range: 138.331055 and range: 139.20 m.
2025-08-23T22:29:57.895Z,1755988197.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507455
2025-08-23T22:29:58.147Z,1755988198.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759425
2025-08-23T22:29:58.228Z,1755988198.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.33 m.
2025-08-23T22:29:58.231Z,1755988198.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.331055 m,
nav range: 134.070358 m,
bearing: 128.365389 deg,
approach rate: -0.353890 m/s,
LOS rate: 0.102329 deg/s,
cmd heading: 140.942948 deg,
new cmd heading: 141.033327 deg.
2025-08-23T22:29:58.232Z,1755988198.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.461496 target range: 138.331055 and range: 139.20 m.
2025-08-23T22:29:58.399Z,1755988198.399 [DAT](INFO): DAT read: Rx Time:22:29:57.6843
2025-08-23T22:29:58.399Z,1755988198.399 [DAT](INFO): Rx dataTimestamp_ set to:1755988198.398750
2025-08-23T22:29:58.400Z,1755988198.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012453
2025-08-23T22:29:58.619Z,1755988198.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:29:58.626Z,1755988198.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.33 m.
2025-08-23T22:29:58.628Z,1755988198.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.331055 m,
nav range: 133.930618 m,
bearing: 128.403981 deg,
approach rate: -0.355048 m/s,
LOS rate: 0.098154 deg/s,
cmd heading: 141.033325 deg,
new cmd heading: 141.110588 deg.
2025-08-23T22:29:58.634Z,1755988198.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462844 target range: 138.331055 and range: 139.20 m.
2025-08-23T22:29:58.651Z,1755988198.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263528
2025-08-23T22:29:58.907Z,1755988198.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519178
2025-08-23T22:29:59.032Z,1755988199.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.33 m.
2025-08-23T22:29:59.035Z,1755988199.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.331055 m,
nav range: 133.782318 m,
bearing: 128.442954 deg,
approach rate: -0.360907 m/s,
LOS rate: 0.094952 deg/s,
cmd heading: 141.110588 deg,
new cmd heading: 141.188621 deg.
2025-08-23T22:29:59.036Z,1755988199.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464206 target range: 138.331055 and range: 139.20 m.
2025-08-23T22:29:59.160Z,1755988199.160 [DAT](INFO): DAT read: 22:29:57.6843 LVL= 25472, 28625, 30274, 32755, AGC= 62, IDX= 428, 0.30,-2.999, 1.345, 2.749, 2.723, PHS= 0.663,-1.333,-0.018, RAW= 130.4, 7.9, CAL= 130.5, 9.2, ROT= 19.5, -9.2
2025-08-23T22:29:59.163Z,1755988199.163 [DAT](INFO): got valid direction response:
22:29:57.6843 LVL= 25472, 28625, 30274, 32755, AGC= 62, IDX= 428, 0.30,-2.999, 1.345, 2.749, 2.723, PHS= 0.663,-1.333,-0.018, RAW= 130.4, 7.9, CAL= 130.5, 9.2, ROT= 19.5, -9.2
2025-08-23T22:29:59.164Z,1755988199.164 [DAT](INFO): DAT read: Bearing 275.9, 21.3 (Local)
2025-08-23T22:29:59.165Z,1755988199.165 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.9, 21.3 (Local)
2025-08-23T22:29:59.167Z,1755988199.167 [DAT](INFO): DAT read: Range 11 to 50 : 138.2 m (Round-trip 184.3 ms) speed 0.3 m/s
2025-08-23T22:29:59.168Z,1755988199.168 [DAT](INFO): DAT read: user:1808>
2025-08-23T22:29:59.169Z,1755988199.169 [DAT](INFO): DAT read: Tx time:22:29:58.7974
2025-08-23T22:29:59.169Z,1755988199.169 [DAT](INFO): Ping request sent.
2025-08-23T22:29:59.174Z,1755988199.174 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:29:59.174Z,1755988199.174 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:29:59.175Z,1755988199.175 [DAT](INFO): direction in FSK: [0.930516,0.329513,0.159881]
2025-08-23T22:29:59.176Z,1755988199.176 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:59.176Z,1755988199.176 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:59.185Z,1755988199.185 [DAT](INFO): publishing transmit ping time
2025-08-23T22:29:59.185Z,1755988199.185 [DAT](INFO): publishing direction and range info
2025-08-23T22:29:59.416Z,1755988199.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 138.199997 m,
deltaT: 3.779782 s,
deltaX: -1.000000 m,
approachRate: -0.264566 m/s,
rangeRepo size: 4
2025-08-23T22:29:59.418Z,1755988199.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 137.337509 m,
bearing: 132.809023 deg,
lat: 36.779506 deg,
lon: -121.859502 deg,
deltaT: 3.779782 s,
deltaX: -0.993546 m,
approachRate: -0.262858 m/s,
posRepo size: 4
2025-08-23T22:29:59.418Z,1755988199.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.34 m.
2025-08-23T22:29:59.421Z,1755988199.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.337509 m,
nav range: 133.647964 m,
bearing: 128.476611 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.094952 deg/s,
cmd heading: 141.188616 deg,
new cmd heading: 141.261260 deg.
2025-08-23T22:29:59.422Z,1755988199.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.465474 target range: 137.337509 and range: 138.20 m.
2025-08-23T22:29:59.810Z,1755988199.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.34 m.
2025-08-23T22:29:59.813Z,1755988199.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.337509 m,
nav range: 133.503799 m,
bearing: 128.510999 deg,
approach rate: -0.365079 m/s,
LOS rate: 0.087178 deg/s,
cmd heading: 141.261262 deg,
new cmd heading: 141.330113 deg.
2025-08-23T22:29:59.814Z,1755988199.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466676 target range: 137.337509 and range: 138.20 m.
2025-08-23T22:30:00.278Z,1755988200.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.34 m.
2025-08-23T22:30:00.280Z,1755988200.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.337509 m,
nav range: 133.343719 m,
bearing: 128.546688 deg,
approach rate: -0.342410 m/s,
LOS rate: 0.076430 deg/s,
cmd heading: 141.330110 deg,
new cmd heading: 141.401573 deg.
2025-08-23T22:30:00.281Z,1755988200.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.467923 target range: 137.337509 and range: 138.20 m.
2025-08-23T22:30:00.637Z,1755988200.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:00.639Z,1755988200.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.34 m.
2025-08-23T22:30:00.642Z,1755988200.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.337509 m,
nav range: 133.218567 m,
bearing: 128.573176 deg,
approach rate: -0.345748 m/s,
LOS rate: 0.073247 deg/s,
cmd heading: 141.401568 deg,
new cmd heading: 141.454595 deg.
2025-08-23T22:30:00.643Z,1755988200.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468848 target range: 137.337509 and range: 138.20 m.
2025-08-23T22:30:00.670Z,1755988200.670 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:00.670Z,1755988200.670 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:00.671Z,1755988200.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:00.923Z,1755988200.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753275
2025-08-23T22:30:01.051Z,1755988201.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.34 m.
2025-08-23T22:30:01.070Z,1755988201.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.337509 m,
nav range: 133.071869 m,
bearing: 128.600808 deg,
approach rate: -0.356347 m/s,
LOS rate: 0.067193 deg/s,
cmd heading: 141.454597 deg,
new cmd heading: 141.509921 deg.
2025-08-23T22:30:01.071Z,1755988201.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469814 target range: 137.337509 and range: 138.20 m.
2025-08-23T22:30:01.176Z,1755988201.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006100
2025-08-23T22:30:01.427Z,1755988201.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257348
2025-08-23T22:30:01.447Z,1755988201.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.34 m.
2025-08-23T22:30:01.450Z,1755988201.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.337509 m,
nav range: 132.930954 m,
bearing: 128.627415 deg,
approach rate: -0.355859 m/s,
LOS rate: 0.067265 deg/s,
cmd heading: 141.509922 deg,
new cmd heading: 141.563193 deg.
2025-08-23T22:30:01.451Z,1755988201.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470744 target range: 137.337509 and range: 138.20 m.
2025-08-23T22:30:01.678Z,1755988201.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509198
2025-08-23T22:30:01.851Z,1755988201.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.34 m.
2025-08-23T22:30:01.854Z,1755988201.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.337509 m,
nav range: 132.787170 m,
bearing: 128.654625 deg,
approach rate: -0.355860 m/s,
LOS rate: 0.067417 deg/s,
cmd heading: 141.563197 deg,
new cmd heading: 141.617676 deg.
2025-08-23T22:30:01.855Z,1755988201.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471695 target range: 137.337509 and range: 138.20 m.
2025-08-23T22:30:01.931Z,1755988201.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761403
2025-08-23T22:30:02.183Z,1755988202.183 [DAT](INFO): DAT read: Rx Time:22:30:01.3843
2025-08-23T22:30:02.184Z,1755988202.184 [DAT](INFO): Rx dataTimestamp_ set to:1755988202.183730
2025-08-23T22:30:02.185Z,1755988202.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015450
2025-08-23T22:30:02.293Z,1755988202.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.34 m.
2025-08-23T22:30:02.296Z,1755988202.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.337509 m,
nav range: 132.628845 m,
bearing: 128.677878 deg,
approach rate: -0.358059 m/s,
LOS rate: 0.052650 deg/s,
cmd heading: 141.617675 deg,
new cmd heading: 141.664236 deg.
2025-08-23T22:30:02.306Z,1755988202.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472507 target range: 137.337509 and range: 138.20 m.
2025-08-23T22:30:02.436Z,1755988202.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266160
2025-08-23T22:30:02.684Z,1755988202.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:02.711Z,1755988202.711 [DAT](INFO): DAT read: 22:30:01.3843 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 428, 0.22, 0.400,-1.510, 0.180, 0.001, PHS= 0.501,-1.465, 0.135, RAW= 139.9, 9.2, CAL= 139.5, 10.1, ROT= 10.5, -10.1
2025-08-23T22:30:02.717Z,1755988202.717 [DAT](INFO): got valid direction response:
22:30:01.3843 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 428, 0.22, 0.400,-1.510, 0.180, 0.001, PHS= 0.501,-1.465, 0.135, RAW= 139.9, 9.2, CAL= 139.5, 10.1, ROT= 10.5, -10.1
2025-08-23T22:30:02.726Z,1755988202.726 [DAT](INFO): DAT read: Bearing 290.0, 12.5 (Local)
2025-08-23T22:30:02.726Z,1755988202.726 [DAT](INFO): Local bearing/azimuth received:
Bearing 290.0, 12.5 (Local)
2025-08-23T22:30:02.728Z,1755988202.728 [DAT](INFO): DAT read: Range 11 to 50 : 137.1 m (Round-trip 182.8 ms) speed 0.3 m/s
2025-08-23T22:30:02.728Z,1755988202.728 [DAT](INFO): DAT read: user:1809>
2025-08-23T22:30:02.729Z,1755988202.729 [DAT](INFO): DAT read: Tx time:22:30:02.4974
2025-08-23T22:30:02.730Z,1755988202.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.34 m.
2025-08-23T22:30:02.733Z,1755988202.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.337509 m,
nav range: 132.481720 m,
bearing: 128.697999 deg,
approach rate: -0.336545 m/s,
LOS rate: 0.046077 deg/s,
cmd heading: 141.664230 deg,
new cmd heading: 141.704516 deg.
2025-08-23T22:30:02.738Z,1755988202.738 [DAT](INFO): Ping request sent.
2025-08-23T22:30:02.738Z,1755988202.738 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:02.738Z,1755988202.738 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:02.739Z,1755988202.739 [DAT](INFO): direction in FSK: [0.968018,0.179411,0.175367]
2025-08-23T22:30:02.739Z,1755988202.739 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:02.740Z,1755988202.740 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:02.744Z,1755988202.744 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:02.744Z,1755988202.744 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:02.746Z,1755988202.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473210 target range: 137.337509 and range: 138.20 m.
2025-08-23T22:30:03.275Z,1755988203.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 137.100006 m,
deltaT: 3.532056 s,
deltaX: -1.099991 m,
approachRate: -0.311431 m/s,
rangeRepo size: 4
2025-08-23T22:30:03.277Z,1755988203.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 136.244064 m,
bearing: 134.993518 deg,
lat: 36.779506 deg,
lon: -121.859502 deg,
deltaT: 3.532056 s,
deltaX: -1.093445 m,
approachRate: -0.309577 m/s,
posRepo size: 4
2025-08-23T22:30:03.281Z,1755988203.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m.
2025-08-23T22:30:03.284Z,1755988203.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.244064 m,
nav range: 132.273422 m,
bearing: 128.719485 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.046077 deg/s,
cmd heading: 141.704514 deg,
new cmd heading: 141.754587 deg.
2025-08-23T22:30:03.285Z,1755988203.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474084 target range: 136.244064 and range: 137.10 m.
2025-08-23T22:30:03.629Z,1755988203.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m.
2025-08-23T22:30:03.632Z,1755988203.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.244064 m,
nav range: 132.133545 m,
bearing: 128.732523 deg,
approach rate: -0.393778 m/s,
LOS rate: 0.036743 deg/s,
cmd heading: 141.754593 deg,
new cmd heading: 141.780696 deg.
2025-08-23T22:30:03.633Z,1755988203.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474540 target range: 136.244064 and range: 137.10 m.
2025-08-23T22:30:04.092Z,1755988204.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m.
2025-08-23T22:30:04.095Z,1755988204.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.244064 m,
nav range: 131.968857 m,
bearing: 128.747910 deg,
approach rate: -0.355516 m/s,
LOS rate: 0.033258 deg/s,
cmd heading: 141.780698 deg,
new cmd heading: 141.811510 deg.
2025-08-23T22:30:04.096Z,1755988204.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475078 target range: 136.244064 and range: 137.10 m.
2025-08-23T22:30:04.462Z,1755988204.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m.
2025-08-23T22:30:04.465Z,1755988204.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.244064 m,
nav range: 131.822998 m,
bearing: 128.758784 deg,
approach rate: -0.394863 m/s,
LOS rate: 0.029473 deg/s,
cmd heading: 141.811516 deg,
new cmd heading: 141.833290 deg.
2025-08-23T22:30:04.466Z,1755988204.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475458 target range: 136.244064 and range: 137.10 m.
2025-08-23T22:30:04.844Z,1755988204.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:04.846Z,1755988204.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m.
2025-08-23T22:30:04.849Z,1755988204.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.244064 m,
nav range: 131.678207 m,
bearing: 128.768434 deg,
approach rate: -0.376960 m/s,
LOS rate: 0.025150 deg/s,
cmd heading: 141.833290 deg,
new cmd heading: 141.852611 deg.
2025-08-23T22:30:04.850Z,1755988204.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475795 target range: 136.244064 and range: 137.10 m.
2025-08-23T22:30:04.954Z,1755988204.954 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:04.954Z,1755988204.954 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:04.955Z,1755988204.955 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:05.207Z,1755988205.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469404
2025-08-23T22:30:05.302Z,1755988205.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m.
2025-08-23T22:30:05.315Z,1755988205.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.244064 m,
nav range: 131.510269 m,
bearing: 128.776736 deg,
approach rate: -0.368290 m/s,
LOS rate: 0.018229 deg/s,
cmd heading: 141.852606 deg,
new cmd heading: 141.869231 deg.
2025-08-23T22:30:05.316Z,1755988205.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476085 target range: 136.244064 and range: 137.10 m.
2025-08-23T22:30:05.458Z,1755988205.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720698
2025-08-23T22:30:05.659Z,1755988205.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m.
2025-08-23T22:30:05.662Z,1755988205.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.244064 m,
nav range: 131.373215 m,
bearing: 128.782470 deg,
approach rate: -0.383923 m/s,
LOS rate: 0.016079 deg/s,
cmd heading: 141.869231 deg,
new cmd heading: 141.880711 deg.
2025-08-23T22:30:05.663Z,1755988205.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476285 target range: 136.244064 and range: 137.10 m.
2025-08-23T22:30:05.712Z,1755988205.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973924
2025-08-23T22:30:05.963Z,1755988205.963 [DAT](INFO): DAT read: Rx Time:22:30:05.0826
2025-08-23T22:30:05.963Z,1755988205.963 [DAT](INFO): Rx dataTimestamp_ set to:1755988205.962908
2025-08-23T22:30:05.964Z,1755988205.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225980
2025-08-23T22:30:06.139Z,1755988206.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m.
2025-08-23T22:30:06.142Z,1755988206.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.244064 m,
nav range: 131.193253 m,
bearing: 128.786026 deg,
approach rate: -0.374533 m/s,
LOS rate: 0.007411 deg/s,
cmd heading: 141.880706 deg,
new cmd heading: 141.887827 deg.
2025-08-23T22:30:06.143Z,1755988206.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476410 target range: 136.244064 and range: 137.10 m.
2025-08-23T22:30:06.215Z,1755988206.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476847
2025-08-23T22:30:06.457Z,1755988206.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m.
2025-08-23T22:30:06.460Z,1755988206.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.244064 m,
nav range: 131.074142 m,
bearing: 128.787534 deg,
approach rate: -0.374798 m/s,
LOS rate: 0.004750 deg/s,
cmd heading: 141.887823 deg,
new cmd heading: 141.890842 deg.
2025-08-23T22:30:06.461Z,1755988206.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476462 target range: 136.244064 and range: 137.10 m.
2025-08-23T22:30:06.472Z,1755988206.472 [DAT](INFO): DAT read: 22:30:05.0826 LVL= 31936, 32753, 30274, 32755, AGC= 66, IDX= 426, 0.16, 2.885, 1.034, 3.016, 2.551, PHS= 0.436,-1.472, 0.421, RAW= 149.6, 6.5, CAL= 149.0, 6.9, ROT= 1.0, -6.9
2025-08-23T22:30:06.474Z,1755988206.474 [DAT](INFO): got valid direction response:
22:30:05.0826 LVL= 31936, 32753, 30274, 32755, AGC= 66, IDX= 426, 0.16, 2.885, 1.034, 3.016, 2.551, PHS= 0.436,-1.472, 0.421, RAW= 149.6, 6.5, CAL= 149.0, 6.9, ROT= 1.0, -6.9
2025-08-23T22:30:06.475Z,1755988206.475 [DAT](INFO): DAT read: Bearing 299.6, 2.0 (Local)
2025-08-23T22:30:06.475Z,1755988206.475 [DAT](INFO): Local bearing/azimuth received:
Bearing 299.6, 2.0 (Local)
2025-08-23T22:30:06.476Z,1755988206.476 [DAT](INFO): DAT read: Range 11 to 50 : 135.7 m (Round-trip 181.0 ms) speed 0.4 m/s
2025-08-23T22:30:06.477Z,1755988206.477 [DAT](INFO): DAT read: user:1810>
2025-08-23T22:30:06.478Z,1755988206.478 [DAT](INFO): DAT read: Tx time:22:30:06.1958
2025-08-23T22:30:06.478Z,1755988206.478 [DAT](INFO): Ping request sent.
2025-08-23T22:30:06.478Z,1755988206.478 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:06.478Z,1755988206.478 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:06.479Z,1755988206.479 [DAT](INFO): direction in FSK: [0.992606,0.017326,0.120137]
2025-08-23T22:30:06.480Z,1755988206.480 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:06.480Z,1755988206.480 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:06.503Z,1755988206.503 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:06.503Z,1755988206.503 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:06.876Z,1755988206.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 135.699997 m,
deltaT: 3.780133 s,
deltaX: -1.400009 m,
approachRate: -0.370360 m/s,
rangeRepo size: 4
2025-08-23T22:30:06.895Z,1755988206.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 134.853668 m,
bearing: 136.312976 deg,
lat: 36.779436 deg,
lon: -121.859575 deg,
deltaT: 3.780133 s,
deltaX: -1.390396 m,
approachRate: -0.367817 m/s,
posRepo size: 4
2025-08-23T22:30:06.895Z,1755988206.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.85 m.
2025-08-23T22:30:06.902Z,1755988206.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.853668 m,
nav range: 131.048264 m,
bearing: 133.209379 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004750 deg/s,
cmd heading: 141.890842 deg,
new cmd heading: 141.894820 deg.
2025-08-23T22:30:06.903Z,1755988206.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476532 target range: 134.853668 and range: 135.70 m.
2025-08-23T22:30:07.098Z,1755988207.098 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:30:07.300Z,1755988207.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:07.308Z,1755988207.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.85 m.
2025-08-23T22:30:07.316Z,1755988207.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.853668 m,
nav range: 130.899124 m,
bearing: 133.213703 deg,
approach rate: -0.350036 m/s,
LOS rate: 0.010160 deg/s,
cmd heading: 141.894817 deg,
new cmd heading: 141.903474 deg.
2025-08-23T22:30:07.317Z,1755988207.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476683 target range: 134.853668 and range: 135.70 m.
2025-08-23T22:30:07.474Z,1755988207.474 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:07.474Z,1755988207.474 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:07.475Z,1755988207.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:07.691Z,1755988207.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.85 m.
2025-08-23T22:30:07.696Z,1755988207.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.853668 m,
nav range: 130.752991 m,
bearing: 133.217949 deg,
approach rate: -0.375604 m/s,
LOS rate: 0.010927 deg/s,
cmd heading: 141.903477 deg,
new cmd heading: 141.911980 deg.
2025-08-23T22:30:07.727Z,1755988207.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248327
2025-08-23T22:30:07.728Z,1755988207.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476831 target range: 134.853668 and range: 135.70 m.
2025-08-23T22:30:07.978Z,1755988207.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500279
2025-08-23T22:30:08.103Z,1755988208.103 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:30:08.145Z,1755988208.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.85 m.
2025-08-23T22:30:08.148Z,1755988208.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.853668 m,
nav range: 130.590469 m,
bearing: 133.221076 deg,
approach rate: -0.357940 m/s,
LOS rate: 0.006895 deg/s,
cmd heading: 141.911974 deg,
new cmd heading: 141.918236 deg.
2025-08-23T22:30:08.149Z,1755988208.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476940 target range: 134.853668 and range: 135.70 m.
2025-08-23T22:30:08.232Z,1755988208.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753640
2025-08-23T22:30:08.483Z,1755988208.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004377
2025-08-23T22:30:08.535Z,1755988208.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.85 m.
2025-08-23T22:30:08.539Z,1755988208.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.853668 m,
nav range: 130.463791 m,
bearing: 133.221679 deg,
approach rate: -0.325077 m/s,
LOS rate: 0.001549 deg/s,
cmd heading: 141.918231 deg,
new cmd heading: 141.919438 deg.
2025-08-23T22:30:08.540Z,1755988208.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476961 target range: 134.853668 and range: 135.70 m.
2025-08-23T22:30:08.736Z,1755988208.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257426
2025-08-23T22:30:08.897Z,1755988208.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.85 m.
2025-08-23T22:30:08.900Z,1755988208.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.853668 m,
nav range: 130.334274 m,
bearing: 133.221352 deg,
approach rate: -0.357375 m/s,
LOS rate: -0.000903 deg/s,
cmd heading: 141.919433 deg,
new cmd heading: 141.918778 deg.
2025-08-23T22:30:08.901Z,1755988208.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476950 target range: 134.853668 and range: 135.70 m.
2025-08-23T22:30:08.987Z,1755988208.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508977
2025-08-23T22:30:09.238Z,1755988209.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760288
2025-08-23T22:30:09.329Z,1755988209.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:09.335Z,1755988209.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.85 m.
2025-08-23T22:30:09.342Z,1755988209.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.853668 m,
nav range: 130.171204 m,
bearing: 133.219070 deg,
approach rate: -0.372202 m/s,
LOS rate: -0.005215 deg/s,
cmd heading: 141.918777 deg,
new cmd heading: 141.914207 deg.
2025-08-23T22:30:09.343Z,1755988209.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476870 target range: 134.853668 and range: 135.70 m.
2025-08-23T22:30:09.491Z,1755988209.491 [DAT](INFO): DAT read: Rx Time:22:30:08.7791
2025-08-23T22:30:09.491Z,1755988209.491 [DAT](INFO): Rx dataTimestamp_ set to:1755988209.490792
2025-08-23T22:30:09.492Z,1755988209.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013449
2025-08-23T22:30:09.703Z,1755988209.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.85 m.
2025-08-23T22:30:09.711Z,1755988209.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.853668 m,
nav range: 130.038208 m,
bearing: 133.216850 deg,
approach rate: -0.361917 m/s,
LOS rate: -0.006048 deg/s,
cmd heading: 141.914201 deg,
new cmd heading: 141.909756 deg.
2025-08-23T22:30:09.717Z,1755988209.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476793 target range: 134.853668 and range: 135.70 m.
2025-08-23T22:30:09.743Z,1755988209.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264603
2025-08-23T22:30:09.998Z,1755988209.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518863
2025-08-23T22:30:10.165Z,1755988210.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.85 m.
2025-08-23T22:30:10.172Z,1755988210.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.853668 m,
nav range: 129.865295 m,
bearing: 133.213576 deg,
approach rate: -0.374085 m/s,
LOS rate: -0.007093 deg/s,
cmd heading: 141.909761 deg,
new cmd heading: 141.903204 deg.
2025-08-23T22:30:10.173Z,1755988210.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476678 target range: 134.853668 and range: 135.70 m.
2025-08-23T22:30:10.255Z,1755988210.255 [DAT](INFO): DAT read: 22:30:08.7791 LVL= 32752, 32753, 30578, 32755, AGC= 68, IDX= 424, 0.08, 2.412, 0.727, 2.796, 2.290, PHS= 0.224,-1.518, 0.463, RAW= 156.3, 8.9, CAL= 156.0, 9.5, ROT= 354.0, -9.5
2025-08-23T22:30:10.257Z,1755988210.257 [DAT](INFO): got valid direction response:
22:30:08.7791 LVL= 32752, 32753, 30578, 32755, AGC= 68, IDX= 424, 0.08, 2.412, 0.727, 2.796, 2.290, PHS= 0.224,-1.518, 0.463, RAW= 156.3, 8.9, CAL= 156.0, 9.5, ROT= 354.0, -9.5
2025-08-23T22:30:10.259Z,1755988210.259 [DAT](INFO): DAT read: Bearing 309.6, -5.8 (Local)
2025-08-23T22:30:10.259Z,1755988210.259 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.6, -5.8 (Local)
2025-08-23T22:30:10.261Z,1755988210.261 [DAT](INFO): DAT read: Range 11 to 50 : 134.4 m (Round-trip 179.2 ms) speed 0.3 m/s
2025-08-23T22:30:10.262Z,1755988210.262 [DAT](INFO): DAT read: user:1811>
2025-08-23T22:30:10.263Z,1755988210.263 [DAT](INFO): DAT read: Tx time:22:30:09.8958
2025-08-23T22:30:10.263Z,1755988210.263 [DAT](INFO): Ping request sent.
2025-08-23T22:30:10.263Z,1755988210.263 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:10.263Z,1755988210.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:10.264Z,1755988210.264 [DAT](INFO): direction in FSK: [0.980883,-0.103095,0.165048]
2025-08-23T22:30:10.265Z,1755988210.265 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:10.265Z,1755988210.265 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:10.277Z,1755988210.277 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:10.277Z,1755988210.277 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:10.537Z,1755988210.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 134.399994 m,
deltaT: 3.780415 s,
deltaX: -1.300003 m,
approachRate: -0.343878 m/s,
rangeRepo size: 4
2025-08-23T22:30:10.540Z,1755988210.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 133.560928 m,
bearing: 133.528528 deg,
lat: 36.779414 deg,
lon: -121.859575 deg,
deltaT: 3.780415 s,
deltaX: -1.292740 m,
approachRate: -0.341957 m/s,
posRepo size: 4
2025-08-23T22:30:10.542Z,1755988210.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.56 m.
2025-08-23T22:30:10.548Z,1755988210.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.560928 m,
nav range: 131.415222 m,
bearing: 133.990400 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007093 deg/s,
cmd heading: 141.903204 deg,
new cmd heading: 141.897936 deg.
2025-08-23T22:30:10.566Z,1755988210.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476586 target range: 133.560928 and range: 134.40 m.
2025-08-23T22:30:10.902Z,1755988210.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.56 m.
2025-08-23T22:30:10.905Z,1755988210.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.560928 m,
nav range: 131.281143 m,
bearing: 133.990291 deg,
approach rate: -0.366107 m/s,
LOS rate: -0.000298 deg/s,
cmd heading: 141.897931 deg,
new cmd heading: 141.897713 deg.
2025-08-23T22:30:10.906Z,1755988210.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476582 target range: 133.560928 and range: 134.40 m.
2025-08-23T22:30:11.341Z,1755988211.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:11.343Z,1755988211.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.56 m.
2025-08-23T22:30:11.362Z,1755988211.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.560928 m,
nav range: 131.120438 m,
bearing: 133.988958 deg,
approach rate: -0.364820 m/s,
LOS rate: -0.003030 deg/s,
cmd heading: 141.897713 deg,
new cmd heading: 141.895043 deg.
2025-08-23T22:30:11.366Z,1755988211.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476536 target range: 133.560928 and range: 134.40 m.
2025-08-23T22:30:11.506Z,1755988211.506 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:11.506Z,1755988211.506 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:11.507Z,1755988211.507 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:11.719Z,1755988211.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.56 m.
2025-08-23T22:30:11.722Z,1755988211.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.560928 m,
nav range: 130.984879 m,
bearing: 133.987677 deg,
approach rate: -0.360276 m/s,
LOS rate: -0.003407 deg/s,
cmd heading: 141.895049 deg,
new cmd heading: 141.892485 deg.
2025-08-23T22:30:11.723Z,1755988211.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476491 target range: 133.560928 and range: 134.40 m.
2025-08-23T22:30:11.759Z,1755988211.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495435
2025-08-23T22:30:12.011Z,1755988212.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747347
2025-08-23T22:30:12.185Z,1755988212.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.56 m.
2025-08-23T22:30:12.198Z,1755988212.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.560928 m,
nav range: 130.830734 m,
bearing: 133.986096 deg,
approach rate: -0.331210 m/s,
LOS rate: -0.003402 deg/s,
cmd heading: 141.892481 deg,
new cmd heading: 141.889315 deg.
2025-08-23T22:30:12.199Z,1755988212.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476436 target range: 133.560928 and range: 134.40 m.
2025-08-23T22:30:12.263Z,1755988212.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999816
2025-08-23T22:30:12.516Z,1755988212.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253218
2025-08-23T22:30:12.591Z,1755988212.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.56 m.
2025-08-23T22:30:12.594Z,1755988212.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.560928 m,
nav range: 130.655502 m,
bearing: 133.982298 deg,
approach rate: -0.430974 m/s,
LOS rate: -0.009353 deg/s,
cmd heading: 141.889312 deg,
new cmd heading: 141.881706 deg.
2025-08-23T22:30:12.595Z,1755988212.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476303 target range: 133.560928 and range: 134.40 m.
2025-08-23T22:30:12.767Z,1755988212.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503341
2025-08-23T22:30:12.942Z,1755988212.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.56 m.
2025-08-23T22:30:12.945Z,1755988212.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.560928 m,
nav range: 130.520081 m,
bearing: 133.979130 deg,
approach rate: -0.386397 m/s,
LOS rate: -0.009049 deg/s,
cmd heading: 141.881703 deg,
new cmd heading: 141.875360 deg.
2025-08-23T22:30:12.946Z,1755988212.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476192 target range: 133.560928 and range: 134.40 m.
2025-08-23T22:30:13.019Z,1755988213.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755425
2025-08-23T22:30:13.271Z,1755988213.271 [DAT](INFO): DAT read: Rx Time:22:30:12.4774
2025-08-23T22:30:13.271Z,1755988213.271 [DAT](INFO): Rx dataTimestamp_ set to:1755988213.270964
2025-08-23T22:30:13.272Z,1755988213.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008585
2025-08-23T22:30:13.367Z,1755988213.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:13.370Z,1755988213.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.56 m.
2025-08-23T22:30:13.372Z,1755988213.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.560928 m,
nav range: 130.358475 m,
bearing: 133.976564 deg,
approach rate: -0.377802 m/s,
LOS rate: -0.006005 deg/s,
cmd heading: 141.875364 deg,
new cmd heading: 141.870227 deg.
2025-08-23T22:30:13.373Z,1755988213.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476103 target range: 133.560928 and range: 134.40 m.
2025-08-23T22:30:13.523Z,1755988213.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259317
2025-08-23T22:30:13.788Z,1755988213.788 [DAT](INFO): DAT read: 22:30:12.4774 LVL= 31824, 28465, 24306, 32755, AGC= 66, IDX= 422,-0.29, 0.973,-0.669, 1.412, 0.909, PHS= 0.165,-1.533, 0.458, RAW= 157.8, 9.8, CAL= 157.7, 10.6, ROT= 352.3, -10.6
2025-08-23T22:30:13.789Z,1755988213.789 [DAT](INFO): got valid direction response:
22:30:12.4774 LVL= 31824, 28465, 24306, 32755, AGC= 66, IDX= 422,-0.29, 0.973,-0.669, 1.412, 0.909, PHS= 0.165,-1.533, 0.458, RAW= 157.8, 9.8, CAL= 157.7, 10.6, ROT= 352.3, -10.6
2025-08-23T22:30:13.790Z,1755988213.790 [DAT](INFO): DAT read: Bearing 312.5, -8.8 (Local)
2025-08-23T22:30:13.791Z,1755988213.791 [DAT](INFO): Local bearing/azimuth received:
Bearing 312.5, -8.8 (Local)
2025-08-23T22:30:13.792Z,1755988213.792 [DAT](INFO): DAT read: Range 11 to 50 : 133.1 m (Round-trip 177.5 ms) speed 0.4 m/s
2025-08-23T22:30:13.793Z,1755988213.793 [DAT](INFO): DAT read: user:1812>
2025-08-23T22:30:13.794Z,1755988213.794 [DAT](INFO): DAT read: Tx time:22:30:13.5958
2025-08-23T22:30:13.794Z,1755988213.794 [DAT](INFO): Ping request sent.
2025-08-23T22:30:13.794Z,1755988213.794 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:13.794Z,1755988213.794 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:13.795Z,1755988213.795 [DAT](INFO): direction in FSK: [0.974072,-0.131700,0.183951]
2025-08-23T22:30:13.795Z,1755988213.795 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:13.796Z,1755988213.796 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:13.803Z,1755988213.803 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:13.803Z,1755988213.803 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:13.814Z,1755988213.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 133.100006 m,
deltaT: 3.535345 s,
deltaX: -1.299988 m,
approachRate: -0.367712 m/s,
rangeRepo size: 4
2025-08-23T22:30:13.818Z,1755988213.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 132.266907 m,
bearing: 133.730625 deg,
lat: 36.779412 deg,
lon: -121.859575 deg,
deltaT: 3.535345 s,
deltaX: -1.294022 m,
approachRate: -0.366024 m/s,
posRepo size: 4
2025-08-23T22:30:13.822Z,1755988213.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.27 m.
2025-08-23T22:30:13.825Z,1755988213.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.266907 m,
nav range: 130.369400 m,
bearing: 134.049103 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006005 deg/s,
cmd heading: 141.870228 deg,
new cmd heading: 141.864953 deg.
2025-08-23T22:30:13.838Z,1755988213.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476011 target range: 132.266907 and range: 133.10 m.
2025-08-23T22:30:14.261Z,1755988214.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.27 m.
2025-08-23T22:30:14.265Z,1755988214.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.266907 m,
nav range: 130.172073 m,
bearing: 134.044803 deg,
approach rate: -0.436111 m/s,
LOS rate: -0.009517 deg/s,
cmd heading: 141.864955 deg,
new cmd heading: 141.856343 deg.
2025-08-23T22:30:14.334Z,1755988214.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475860 target range: 132.266907 and range: 133.10 m.
2025-08-23T22:30:14.656Z,1755988214.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.27 m.
2025-08-23T22:30:14.659Z,1755988214.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.266907 m,
nav range: 130.008652 m,
bearing: 134.041149 deg,
approach rate: -0.414328 m/s,
LOS rate: -0.009276 deg/s,
cmd heading: 141.856349 deg,
new cmd heading: 141.849032 deg.
2025-08-23T22:30:14.660Z,1755988214.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475733 target range: 132.266907 and range: 133.10 m.
2025-08-23T22:30:15.079Z,1755988215.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.27 m.
2025-08-23T22:30:15.082Z,1755988215.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.266907 m,
nav range: 129.834869 m,
bearing: 134.037150 deg,
approach rate: -0.410267 m/s,
LOS rate: -0.009453 deg/s,
cmd heading: 141.849027 deg,
new cmd heading: 141.841019 deg.
2025-08-23T22:30:15.083Z,1755988215.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475593 target range: 132.266907 and range: 133.10 m.
2025-08-23T22:30:15.578Z,1755988215.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:15.581Z,1755988215.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.27 m.
2025-08-23T22:30:15.608Z,1755988215.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.266907 m,
nav range: 129.636826 m,
bearing: 134.031702 deg,
approach rate: -0.394942 m/s,
LOS rate: -0.010881 deg/s,
cmd heading: 141.841022 deg,
new cmd heading: 141.830110 deg.
2025-08-23T22:30:15.609Z,1755988215.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475402 target range: 132.266907 and range: 133.10 m.
2025-08-23T22:30:15.798Z,1755988215.798 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:15.798Z,1755988215.798 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:15.799Z,1755988215.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:15.960Z,1755988215.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.27 m.
2025-08-23T22:30:15.979Z,1755988215.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.266907 m,
nav range: 129.480896 m,
bearing: 134.027364 deg,
approach rate: -0.410831 m/s,
LOS rate: -0.011443 deg/s,
cmd heading: 141.830108 deg,
new cmd heading: 141.821421 deg.
2025-08-23T22:30:15.980Z,1755988215.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475251 target range: 132.266907 and range: 133.10 m.
2025-08-23T22:30:16.052Z,1755988216.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258133
2025-08-23T22:30:16.302Z,1755988216.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508507
2025-08-23T22:30:16.410Z,1755988216.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.27 m.
2025-08-23T22:30:16.412Z,1755988216.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.266907 m,
nav range: 129.290848 m,
bearing: 134.020711 deg,
approach rate: -0.438730 m/s,
LOS rate: -0.015381 deg/s,
cmd heading: 141.821420 deg,
new cmd heading: 141.808094 deg.
2025-08-23T22:30:16.413Z,1755988216.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475018 target range: 132.266907 and range: 133.10 m.
2025-08-23T22:30:16.555Z,1755988216.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760991
2025-08-23T22:30:16.772Z,1755988216.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.27 m.
2025-08-23T22:30:16.775Z,1755988216.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.266907 m,
nav range: 129.124237 m,
bearing: 134.014814 deg,
approach rate: -0.439899 m/s,
LOS rate: -0.015589 deg/s,
cmd heading: 141.808087 deg,
new cmd heading: 141.796278 deg.
2025-08-23T22:30:16.776Z,1755988216.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474812 target range: 132.266907 and range: 133.10 m.
2025-08-23T22:30:16.807Z,1755988216.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012659
2025-08-23T22:30:17.060Z,1755988217.060 [DAT](INFO): DAT read: Rx Time:22:30:16.1753
2025-08-23T22:30:17.060Z,1755988217.060 [DAT](INFO): Rx dataTimestamp_ set to:1755988217.059821
2025-08-23T22:30:17.061Z,1755988217.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267045
2025-08-23T22:30:17.241Z,1755988217.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.27 m.
2025-08-23T22:30:17.248Z,1755988217.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.266907 m,
nav range: 128.939407 m,
bearing: 134.008229 deg,
approach rate: -0.394397 m/s,
LOS rate: -0.014072 deg/s,
cmd heading: 141.796284 deg,
new cmd heading: 141.783095 deg.
2025-08-23T22:30:17.249Z,1755988217.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474582 target range: 132.266907 and range: 133.10 m.
2025-08-23T22:30:17.311Z,1755988217.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517453
2025-08-23T22:30:17.568Z,1755988217.568 [DAT](INFO): DAT read: 22:30:16.1753 LVL= 29264, 32753, 25586, 32755, AGC= 67, IDX= 417, 0.23,-0.425,-2.069, 0.044,-0.491, PHS= 0.168,-1.533, 0.491, RAW= 158.5, 9.3, CAL= 158.3, 9.9, ROT= 351.7, -9.9
2025-08-23T22:30:17.569Z,1755988217.569 [DAT](INFO): got valid direction response:
22:30:16.1753 LVL= 29264, 32753, 25586, 32755, AGC= 67, IDX= 417, 0.23,-0.425,-2.069, 0.044,-0.491, PHS= 0.168,-1.533, 0.491, RAW= 158.5, 9.3, CAL= 158.3, 9.9, ROT= 351.7, -9.9
2025-08-23T22:30:17.570Z,1755988217.570 [DAT](INFO): DAT read: Bearing 312.2, -10.5 (Local)
2025-08-23T22:30:17.571Z,1755988217.571 [DAT](INFO): Local bearing/azimuth received:
Bearing 312.2, -10.5 (Local)
2025-08-23T22:30:17.572Z,1755988217.572 [DAT](INFO): DAT read: Range 11 to 50 : 131.5 m (Round-trip 175.4 ms) speed 0.1 m/s
2025-08-23T22:30:17.573Z,1755988217.573 [DAT](INFO): DAT read: user:1813>
2025-08-23T22:30:17.574Z,1755988217.574 [DAT](INFO): DAT read: Tx time:22:30:17.2958
2025-08-23T22:30:17.574Z,1755988217.574 [DAT](INFO): Ping request sent.
2025-08-23T22:30:17.574Z,1755988217.574 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:17.574Z,1755988217.574 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:17.575Z,1755988217.575 [DAT](INFO): direction in FSK: [0.974791,-0.142206,0.171929]
2025-08-23T22:30:17.576Z,1755988217.576 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:17.576Z,1755988217.576 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:17.583Z,1755988217.583 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:17.583Z,1755988217.583 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:17.755Z,1755988217.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 131.500000 m,
deltaT: 3.780058 s,
deltaX: -1.600006 m,
approachRate: -0.423276 m/s,
rangeRepo size: 4
2025-08-23T22:30:17.757Z,1755988217.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 130.677231 m,
bearing: 133.787396 deg,
lat: 36.779409 deg,
lon: -121.859564 deg,
deltaT: 3.780058 s,
deltaX: -1.589676 m,
approachRate: -0.420543 m/s,
posRepo size: 4
2025-08-23T22:30:17.759Z,1755988217.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.68 m.
2025-08-23T22:30:17.766Z,1755988217.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.677231 m,
nav range: 129.760651 m,
bearing: 133.800548 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.014072 deg/s,
cmd heading: 141.783089 deg,
new cmd heading: 141.768629 deg.
2025-08-23T22:30:17.767Z,1755988217.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474329 target range: 130.677231 and range: 131.50 m.
2025-08-23T22:30:18.107Z,1755988218.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:18.110Z,1755988218.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.68 m.
2025-08-23T22:30:18.112Z,1755988218.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.677231 m,
nav range: 129.593689 m,
bearing: 133.793432 deg,
approach rate: -0.470458 m/s,
LOS rate: -0.020077 deg/s,
cmd heading: 141.768622 deg,
new cmd heading: 141.754372 deg.
2025-08-23T22:30:18.114Z,1755988218.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474081 target range: 130.677231 and range: 131.50 m.
2025-08-23T22:30:18.318Z,1755988218.318 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:18.318Z,1755988218.318 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:18.319Z,1755988218.319 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:18.571Z,1755988218.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996539
2025-08-23T22:30:18.571Z,1755988218.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.68 m.
2025-08-23T22:30:18.574Z,1755988218.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.677231 m,
nav range: 129.411331 m,
bearing: 133.785567 deg,
approach rate: -0.399919 m/s,
LOS rate: -0.017272 deg/s,
cmd heading: 141.754374 deg,
new cmd heading: 141.738623 deg.
2025-08-23T22:30:18.575Z,1755988218.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473806 target range: 130.677231 and range: 131.50 m.
2025-08-23T22:30:18.823Z,1755988218.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248951
2025-08-23T22:30:18.903Z,1755988218.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.68 m.
2025-08-23T22:30:18.906Z,1755988218.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.677231 m,
nav range: 129.270386 m,
bearing: 133.779443 deg,
approach rate: -0.417736 m/s,
LOS rate: -0.018170 deg/s,
cmd heading: 141.738624 deg,
new cmd heading: 141.726363 deg.
2025-08-23T22:30:18.907Z,1755988218.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473592 target range: 130.677231 and range: 131.50 m.
2025-08-23T22:30:19.074Z,1755988219.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500452
2025-08-23T22:30:19.327Z,1755988219.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752640
2025-08-23T22:30:19.337Z,1755988219.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.68 m.
2025-08-23T22:30:19.340Z,1755988219.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.677231 m,
nav range: 129.100937 m,
bearing: 133.771711 deg,
approach rate: -0.390298 m/s,
LOS rate: -0.017834 deg/s,
cmd heading: 141.726357 deg,
new cmd heading: 141.710872 deg.
2025-08-23T22:30:19.341Z,1755988219.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473321 target range: 130.677231 and range: 131.50 m.
2025-08-23T22:30:19.579Z,1755988219.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004579
2025-08-23T22:30:19.719Z,1755988219.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.68 m.
2025-08-23T22:30:19.724Z,1755988219.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.677231 m,
nav range: 128.948853 m,
bearing: 133.764768 deg,
approach rate: -0.400126 m/s,
LOS rate: -0.018288 deg/s,
cmd heading: 141.710866 deg,
new cmd heading: 141.696964 deg.
2025-08-23T22:30:19.730Z,1755988219.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473078 target range: 130.677231 and range: 131.50 m.
2025-08-23T22:30:19.831Z,1755988219.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256802
2025-08-23T22:30:20.082Z,1755988220.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508362
2025-08-23T22:30:20.112Z,1755988220.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:20.138Z,1755988220.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.68 m.
2025-08-23T22:30:20.141Z,1755988220.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.677231 m,
nav range: 128.792130 m,
bearing: 133.757600 deg,
approach rate: -0.394947 m/s,
LOS rate: -0.018085 deg/s,
cmd heading: 141.696960 deg,
new cmd heading: 141.682607 deg.
2025-08-23T22:30:20.146Z,1755988220.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472828 target range: 130.677231 and range: 131.50 m.
2025-08-23T22:30:20.335Z,1755988220.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760655
2025-08-23T22:30:20.566Z,1755988220.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.68 m.
2025-08-23T22:30:20.568Z,1755988220.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.677231 m,
nav range: 128.611618 m,
bearing: 133.750276 deg,
approach rate: -0.399780 m/s,
LOS rate: -0.016245 deg/s,
cmd heading: 141.682603 deg,
new cmd heading: 141.667933 deg.
2025-08-23T22:30:20.569Z,1755988220.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472572 target range: 130.677231 and range: 131.50 m.
2025-08-23T22:30:20.586Z,1755988220.586 [DAT](INFO): DAT read: Rx Time:22:30:19.8733
2025-08-23T22:30:20.587Z,1755988220.587 [DAT](INFO): Rx dataTimestamp_ set to:1755988220.586595
2025-08-23T22:30:20.587Z,1755988220.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013411
2025-08-23T22:30:20.840Z,1755988220.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265332
2025-08-23T22:30:20.927Z,1755988220.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.68 m.
2025-08-23T22:30:20.930Z,1755988220.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.677231 m,
nav range: 128.469391 m,
bearing: 133.744452 deg,
approach rate: -0.393251 m/s,
LOS rate: -0.016120 deg/s,
cmd heading: 141.667932 deg,
new cmd heading: 141.656272 deg.
2025-08-23T22:30:20.931Z,1755988220.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472368 target range: 130.677231 and range: 131.50 m.
2025-08-23T22:30:21.094Z,1755988221.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519050
2025-08-23T22:30:21.348Z,1755988221.348 [DAT](INFO): DAT read: 22:30:19.8733 LVL= 28336, 31889, 25234, 32755, AGC= 63, IDX= 428, 0.00,-0.222,-1.818, 0.279,-0.264, PHS= 0.144,-1.509, 0.499, RAW= 159.5, 9.4, CAL= 159.4, 9.9, ROT= 350.6, -9.9
2025-08-23T22:30:21.350Z,1755988221.350 [DAT](INFO): got valid direction response:
22:30:19.8733 LVL= 28336, 31889, 25234, 32755, AGC= 63, IDX= 428, 0.00,-0.222,-1.818, 0.279,-0.264, PHS= 0.144,-1.509, 0.499, RAW= 159.5, 9.4, CAL= 159.4, 9.9, ROT= 350.6, -9.9
2025-08-23T22:30:21.350Z,1755988221.350 [DAT](INFO): DAT read: Bearing 312.7, -12.3 (Local)
2025-08-23T22:30:21.351Z,1755988221.351 [DAT](INFO): Local bearing/azimuth received:
Bearing 312.7, -12.3 (Local)
2025-08-23T22:30:21.352Z,1755988221.352 [DAT](INFO): DAT read: Range 11 to 50 : 130.0 m (Round-trip 173.4 ms) speed 0.4 m/s
2025-08-23T22:30:21.353Z,1755988221.353 [DAT](INFO): DAT read: user:1814>
2025-08-23T22:30:21.354Z,1755988221.354 [DAT](INFO): DAT read: Tx time:22:30:20.9958
2025-08-23T22:30:21.354Z,1755988221.354 [DAT](INFO): Ping request sent.
2025-08-23T22:30:21.354Z,1755988221.354 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:21.354Z,1755988221.354 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:21.355Z,1755988221.355 [DAT](INFO): direction in FSK: [0.971881,-0.160894,0.171929]
2025-08-23T22:30:21.356Z,1755988221.356 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:21.356Z,1755988221.356 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:21.360Z,1755988221.360 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:21.360Z,1755988221.360 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:21.439Z,1755988221.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 130.000000 m,
deltaT: 3.780030 s,
deltaX: -1.500000 m,
approachRate: -0.396822 m/s,
rangeRepo size: 4
2025-08-23T22:30:21.441Z,1755988221.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 129.187408 m,
bearing: 132.885428 deg,
lat: 36.779412 deg,
lon: -121.859562 deg,
deltaT: 3.780030 s,
deltaX: -1.489822 m,
approachRate: -0.394130 m/s,
posRepo size: 4
2025-08-23T22:30:21.458Z,1755988221.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.19 m.
2025-08-23T22:30:21.461Z,1755988221.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.187408 m,
nav range: 128.102188 m,
bearing: 133.569908 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016120 deg/s,
cmd heading: 141.656266 deg,
new cmd heading: 141.639784 deg.
2025-08-23T22:30:21.466Z,1755988221.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472080 target range: 129.187408 and range: 130.00 m.
2025-08-23T22:30:21.830Z,1755988221.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.19 m.
2025-08-23T22:30:21.832Z,1755988221.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.187408 m,
nav range: 127.940331 m,
bearing: 133.562134 deg,
approach rate: -0.413710 m/s,
LOS rate: -0.019896 deg/s,
cmd heading: 141.639777 deg,
new cmd heading: 141.624209 deg.
2025-08-23T22:30:21.840Z,1755988221.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471809 target range: 129.187408 and range: 130.00 m.
2025-08-23T22:30:22.226Z,1755988222.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:22.228Z,1755988222.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.19 m.
2025-08-23T22:30:22.231Z,1755988222.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.187408 m,
nav range: 127.774437 m,
bearing: 133.554116 deg,
approach rate: -0.416385 m/s,
LOS rate: -0.020149 deg/s,
cmd heading: 141.624205 deg,
new cmd heading: 141.608150 deg.
2025-08-23T22:30:22.232Z,1755988222.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471529 target range: 129.187408 and range: 130.00 m.
2025-08-23T22:30:22.350Z,1755988222.350 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:22.351Z,1755988222.351 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:22.351Z,1755988222.351 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:22.603Z,1755988222.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248525
2025-08-23T22:30:22.661Z,1755988222.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.19 m.
2025-08-23T22:30:22.668Z,1755988222.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.187408 m,
nav range: 127.602959 m,
bearing: 133.546602 deg,
approach rate: -0.396284 m/s,
LOS rate: -0.017389 deg/s,
cmd heading: 141.608154 deg,
new cmd heading: 141.593105 deg.
2025-08-23T22:30:22.669Z,1755988222.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471266 target range: 129.187408 and range: 130.00 m.
2025-08-23T22:30:22.854Z,1755988222.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500372
2025-08-23T22:30:23.063Z,1755988223.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.19 m.
2025-08-23T22:30:23.066Z,1755988223.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.187408 m,
nav range: 127.427330 m,
bearing: 133.538859 deg,
approach rate: -0.436013 m/s,
LOS rate: -0.019248 deg/s,
cmd heading: 141.593100 deg,
new cmd heading: 141.577593 deg.
2025-08-23T22:30:23.067Z,1755988223.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470995 target range: 129.187408 and range: 130.00 m.
2025-08-23T22:30:23.107Z,1755988223.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752907
2025-08-23T22:30:23.359Z,1755988223.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004531
2025-08-23T22:30:23.451Z,1755988223.451 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -14 +593.31, -0.38, 7.54, 0.00
2025-08-23T22:30:23.487Z,1755988223.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.19 m.
2025-08-23T22:30:23.494Z,1755988223.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.187408 m,
nav range: 127.259857 m,
bearing: 133.531422 deg,
approach rate: -0.395177 m/s,
LOS rate: -0.017574 deg/s,
cmd heading: 141.577595 deg,
new cmd heading: 141.562700 deg.
2025-08-23T22:30:23.495Z,1755988223.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470735 target range: 129.187408 and range: 130.00 m.
2025-08-23T22:30:23.612Z,1755988223.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257500
2025-08-23T22:30:23.852Z,1755988223.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.19 m.
2025-08-23T22:30:23.855Z,1755988223.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.187408 m,
nav range: 127.100006 m,
bearing: 133.524351 deg,
approach rate: -0.438081 m/s,
LOS rate: -0.019403 deg/s,
cmd heading: 141.562706 deg,
new cmd heading: 141.548546 deg.
2025-08-23T22:30:23.856Z,1755988223.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470488 target range: 129.187408 and range: 130.00 m.
2025-08-23T22:30:23.863Z,1755988223.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508524
2025-08-23T22:30:24.115Z,1755988224.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761377
2025-08-23T22:30:24.270Z,1755988224.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:24.272Z,1755988224.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.19 m.
2025-08-23T22:30:24.275Z,1755988224.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.187408 m,
nav range: 126.931450 m,
bearing: 133.516850 deg,
approach rate: -0.401753 m/s,
LOS rate: -0.017901 deg/s,
cmd heading: 141.548540 deg,
new cmd heading: 141.533519 deg.
2025-08-23T22:30:24.279Z,1755988224.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470226 target range: 129.187408 and range: 130.00 m.
2025-08-23T22:30:24.367Z,1755988224.367 [DAT](INFO): DAT read: Rx Time:22:30:23.5713
2025-08-23T22:30:24.367Z,1755988224.367 [DAT](INFO): Rx dataTimestamp_ set to:1755988224.366817
2025-08-23T22:30:24.368Z,1755988224.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013559
2025-08-23T22:30:24.618Z,1755988224.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264397
2025-08-23T22:30:24.686Z,1755988224.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.19 m.
2025-08-23T22:30:24.689Z,1755988224.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.187408 m,
nav range: 126.747650 m,
bearing: 133.511583 deg,
approach rate: -0.443542 m/s,
LOS rate: -0.012729 deg/s,
cmd heading: 141.533513 deg,
new cmd heading: 141.522963 deg.
2025-08-23T22:30:24.691Z,1755988224.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470042 target range: 129.187408 and range: 130.00 m.
2025-08-23T22:30:24.878Z,1755988224.878 [DAT](INFO): DAT read: 22:30:23.5713 LVL= 29600, 29681, 26834, 32755, AGC= 64, IDX= 424,-0.37,-2.222, 2.494,-1.685,-2.215, PHS= 0.095,-1.529, 0.486, RAW= 160.5, 10.3, CAL= 160.5, 11.2, ROT= 349.5, -11.2
2025-08-23T22:30:24.879Z,1755988224.879 [DAT](INFO): got valid direction response:
22:30:23.5713 LVL= 29600, 29681, 26834, 32755, AGC= 64, IDX= 424,-0.37,-2.222, 2.494,-1.685,-2.215, PHS= 0.095,-1.529, 0.486, RAW= 160.5, 10.3, CAL= 160.5, 11.2, ROT= 349.5, -11.2
2025-08-23T22:30:24.881Z,1755988224.881 [DAT](INFO): DAT read: Bearing 314.3, -13.9 (Local)
2025-08-23T22:30:24.881Z,1755988224.881 [DAT](INFO): Local bearing/azimuth received:
Bearing 314.3, -13.9 (Local)
2025-08-23T22:30:24.887Z,1755988224.887 [DAT](INFO): DAT read: Range 11 to 50 : 128.5 m (Round-trip 171.4 ms) speed 0.4 m/s
2025-08-23T22:30:24.888Z,1755988224.888 [DAT](INFO): DAT read: user:1815>
2025-08-23T22:30:24.894Z,1755988224.894 [DAT](INFO): DAT read: Tx time:22:30:24.6958
2025-08-23T22:30:24.895Z,1755988224.895 [DAT](INFO): Ping request sent.
2025-08-23T22:30:24.895Z,1755988224.895 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:24.895Z,1755988224.895 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:24.897Z,1755988224.897 [DAT](INFO): direction in FSK: [0.964529,-0.178765,0.194234]
2025-08-23T22:30:24.897Z,1755988224.897 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:24.902Z,1755988224.902 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:24.905Z,1755988224.905 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:24.905Z,1755988224.905 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:25.099Z,1755988225.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 128.500000 m,
deltaT: 3.528131 s,
deltaX: -1.500000 m,
approachRate: -0.425154 m/s,
rangeRepo size: 4
2025-08-23T22:30:25.106Z,1755988225.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 127.696854 m,
bearing: 131.973347 deg,
lat: 36.779412 deg,
lon: -121.859562 deg,
deltaT: 3.528131 s,
deltaX: -1.490555 m,
approachRate: -0.422477 m/s,
posRepo size: 4
2025-08-23T22:30:25.107Z,1755988225.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m.
2025-08-23T22:30:25.114Z,1755988225.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.696854 m,
nav range: 126.580551 m,
bearing: 133.506744 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.012729 deg/s,
cmd heading: 141.522968 deg,
new cmd heading: 141.512459 deg.
2025-08-23T22:30:25.115Z,1755988225.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469858 target range: 127.696854 and range: 128.50 m.
2025-08-23T22:30:25.488Z,1755988225.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m.
2025-08-23T22:30:25.491Z,1755988225.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.696854 m,
nav range: 126.392426 m,
bearing: 133.500284 deg,
approach rate: -0.483952 m/s,
LOS rate: -0.016644 deg/s,
cmd heading: 141.512463 deg,
new cmd heading: 141.499523 deg.
2025-08-23T22:30:25.492Z,1755988225.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469633 target range: 127.696854 and range: 128.50 m.
2025-08-23T22:30:25.888Z,1755988225.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m.
2025-08-23T22:30:25.891Z,1755988225.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.696854 m,
nav range: 126.218208 m,
bearing: 133.494225 deg,
approach rate: -0.437416 m/s,
LOS rate: -0.015235 deg/s,
cmd heading: 141.499526 deg,
new cmd heading: 141.487391 deg.
2025-08-23T22:30:25.892Z,1755988225.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469421 target range: 127.696854 and range: 128.50 m.
2025-08-23T22:30:26.300Z,1755988226.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:26.307Z,1755988226.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m.
2025-08-23T22:30:26.316Z,1755988226.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.696854 m,
nav range: 126.030479 m,
bearing: 133.487678 deg,
approach rate: -0.451419 m/s,
LOS rate: -0.015766 deg/s,
cmd heading: 141.487396 deg,
new cmd heading: 141.474283 deg.
2025-08-23T22:30:26.317Z,1755988226.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469192 target range: 127.696854 and range: 128.50 m.
2025-08-23T22:30:26.385Z,1755988226.385 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:26.385Z,1755988226.385 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:26.386Z,1755988226.386 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:26.635Z,1755988226.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740132
2025-08-23T22:30:26.739Z,1755988226.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m.
2025-08-23T22:30:26.742Z,1755988226.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.696854 m,
nav range: 125.826698 m,
bearing: 133.480149 deg,
approach rate: -0.465945 m/s,
LOS rate: -0.017242 deg/s,
cmd heading: 141.474282 deg,
new cmd heading: 141.459200 deg.
2025-08-23T22:30:26.743Z,1755988226.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468929 target range: 127.696854 and range: 128.50 m.
2025-08-23T22:30:26.887Z,1755988226.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992020
2025-08-23T22:30:27.111Z,1755988227.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m.
2025-08-23T22:30:27.114Z,1755988227.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.696854 m,
nav range: 125.660980 m,
bearing: 133.473941 deg,
approach rate: -0.445744 m/s,
LOS rate: -0.016722 deg/s,
cmd heading: 141.459201 deg,
new cmd heading: 141.446768 deg.
2025-08-23T22:30:27.115Z,1755988227.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468712 target range: 127.696854 and range: 128.50 m.
2025-08-23T22:30:27.139Z,1755988227.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243777
2025-08-23T22:30:27.391Z,1755988227.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495870
2025-08-23T22:30:27.556Z,1755988227.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m.
2025-08-23T22:30:27.559Z,1755988227.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.696854 m,
nav range: 125.458160 m,
bearing: 133.466079 deg,
approach rate: -0.455934 m/s,
LOS rate: -0.017701 deg/s,
cmd heading: 141.446770 deg,
new cmd heading: 141.431022 deg.
2025-08-23T22:30:27.560Z,1755988227.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468437 target range: 127.696854 and range: 128.50 m.
2025-08-23T22:30:27.643Z,1755988227.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748589
2025-08-23T22:30:27.894Z,1755988227.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999695
2025-08-23T22:30:27.947Z,1755988227.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m.
2025-08-23T22:30:27.950Z,1755988227.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.696854 m,
nav range: 125.281731 m,
bearing: 133.459220 deg,
approach rate: -0.451262 m/s,
LOS rate: -0.017569 deg/s,
cmd heading: 141.431020 deg,
new cmd heading: 141.417282 deg.
2025-08-23T22:30:27.951Z,1755988227.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468197 target range: 127.696854 and range: 128.50 m.
2025-08-23T22:30:28.147Z,1755988228.147 [DAT](INFO): DAT read: Rx Time:22:30:27.2691
2025-08-23T22:30:28.147Z,1755988228.147 [DAT](INFO): Rx dataTimestamp_ set to:1755988228.146774
2025-08-23T22:30:28.148Z,1755988228.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252869
2025-08-23T22:30:28.335Z,1755988228.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:28.341Z,1755988228.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m.
2025-08-23T22:30:28.344Z,1755988228.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.696854 m,
nav range: 125.109070 m,
bearing: 133.452478 deg,
approach rate: -0.437607 m/s,
LOS rate: -0.017113 deg/s,
cmd heading: 141.417277 deg,
new cmd heading: 141.403773 deg.
2025-08-23T22:30:28.345Z,1755988228.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.467961 target range: 127.696854 and range: 128.50 m.
2025-08-23T22:30:28.401Z,1755988228.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505912
2025-08-23T22:30:28.656Z,1755988228.656 [DAT](INFO): DAT read: 22:30:27.2691 LVL= 32704, 32753, 27554, 32755, AGC= 67, IDX= 417, 0.11,-0.007,-1.566, 0.540,-0.019, PHS= 0.114,-1.502, 0.515, RAW= 160.8, 9.5, CAL= 160.7, 10.1, ROT= 349.3, -10.1
2025-08-23T22:30:28.657Z,1755988228.657 [DAT](INFO): got valid direction response:
22:30:27.2691 LVL= 32704, 32753, 27554, 32755, AGC= 67, IDX= 417, 0.11,-0.007,-1.566, 0.540,-0.019, PHS= 0.114,-1.502, 0.515, RAW= 160.8, 9.5, CAL= 160.7, 10.1, ROT= 349.3, -10.1
2025-08-23T22:30:28.658Z,1755988228.658 [DAT](INFO): DAT read: Bearing 313.2, -14.7 (Local)
2025-08-23T22:30:28.659Z,1755988228.659 [DAT](INFO): Local bearing/azimuth received:
Bearing 313.2, -14.7 (Local)
2025-08-23T22:30:28.660Z,1755988228.660 [DAT](INFO): DAT read: Range 11 to 50 : 126.9 m (Round-trip 169.2 ms) speed 0.3 m/s
2025-08-23T22:30:28.661Z,1755988228.661 [DAT](INFO): DAT read: user:1816>
2025-08-23T22:30:28.662Z,1755988228.662 [DAT](INFO): DAT read: Tx time:22:30:28.3958
2025-08-23T22:30:28.662Z,1755988228.662 [DAT](INFO): Ping request sent.
2025-08-23T22:30:28.663Z,1755988228.663 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:28.663Z,1755988228.663 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:28.664Z,1755988228.664 [DAT](INFO): direction in FSK: [0.967385,-0.182789,0.175367]
2025-08-23T22:30:28.664Z,1755988228.664 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:28.664Z,1755988228.664 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:28.668Z,1755988228.668 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:28.668Z,1755988228.668 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:28.842Z,1755988228.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 126.900002 m,
deltaT: 3.779754 s,
deltaX: -1.599998 m,
approachRate: -0.423308 m/s,
rangeRepo size: 4
2025-08-23T22:30:28.844Z,1755988228.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 126.107231 m,
bearing: 132.007800 deg,
lat: 36.779419 deg,
lon: -121.859546 deg,
deltaT: 3.779754 s,
deltaX: -1.589622 m,
approachRate: -0.420562 m/s,
posRepo size: 4
2025-08-23T22:30:28.845Z,1755988228.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:30:28.852Z,1755988228.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.107231 m,
nav range: 125.369095 m,
bearing: 132.741370 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.017113 deg/s,
cmd heading: 141.403767 deg,
new cmd heading: 141.386797 deg.
2025-08-23T22:30:28.853Z,1755988228.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.467665 target range: 126.107231 and range: 126.90 m.
2025-08-23T22:30:29.226Z,1755988229.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:30:29.229Z,1755988229.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.107231 m,
nav range: 125.202271 m,
bearing: 132.733300 deg,
approach rate: -0.428524 m/s,
LOS rate: -0.020755 deg/s,
cmd heading: 141.386801 deg,
new cmd heading: 141.370641 deg.
2025-08-23T22:30:29.230Z,1755988229.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.467383 target range: 126.107231 and range: 126.90 m.
2025-08-23T22:30:29.613Z,1755988229.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:30:29.616Z,1755988229.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.107231 m,
nav range: 125.017693 m,
bearing: 132.722495 deg,
approach rate: -0.477110 m/s,
LOS rate: -0.027972 deg/s,
cmd heading: 141.370641 deg,
new cmd heading: 141.348998 deg.
2025-08-23T22:30:29.617Z,1755988229.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.467005 target range: 126.107231 and range: 126.90 m.
2025-08-23T22:30:29.996Z,1755988229.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:30:30.022Z,1755988230.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.107231 m,
nav range: 124.843124 m,
bearing: 132.712263 deg,
approach rate: -0.456374 m/s,
LOS rate: -0.026787 deg/s,
cmd heading: 141.349003 deg,
new cmd heading: 141.328510 deg.
2025-08-23T22:30:30.024Z,1755988230.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466648 target range: 126.107231 and range: 126.90 m.
2025-08-23T22:30:30.532Z,1755988230.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:30.536Z,1755988230.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:30:30.555Z,1755988230.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.107231 m,
nav range: 124.613617 m,
bearing: 132.697316 deg,
approach rate: -0.425100 m/s,
LOS rate: -0.027737 deg/s,
cmd heading: 141.328512 deg,
new cmd heading: 141.298563 deg.
2025-08-23T22:30:30.556Z,1755988230.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466125 target range: 126.107231 and range: 126.90 m.
2025-08-23T22:30:30.666Z,1755988230.666 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:30.666Z,1755988230.666 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:30.667Z,1755988230.667 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:30.903Z,1755988230.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:30:30.906Z,1755988230.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.107231 m,
nav range: 124.450531 m,
bearing: 132.686661 deg,
approach rate: -0.443974 m/s,
LOS rate: -0.029045 deg/s,
cmd heading: 141.298569 deg,
new cmd heading: 141.277230 deg.
2025-08-23T22:30:30.907Z,1755988230.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.465753 target range: 126.107231 and range: 126.90 m.
2025-08-23T22:30:30.919Z,1755988230.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256023
2025-08-23T22:30:31.171Z,1755988231.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507897
2025-08-23T22:30:31.289Z,1755988231.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:30:31.292Z,1755988231.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.107231 m,
nav range: 124.283745 m,
bearing: 132.675817 deg,
approach rate: -0.431993 m/s,
LOS rate: -0.028124 deg/s,
cmd heading: 141.277231 deg,
new cmd heading: 141.255514 deg.
2025-08-23T22:30:31.293Z,1755988231.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.465374 target range: 126.107231 and range: 126.90 m.
2025-08-23T22:30:31.425Z,1755988231.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762112
2025-08-23T22:30:31.675Z,1755988231.675 [DAT](INFO): DAT read: Rx Time:22:30:30.9667
2025-08-23T22:30:31.675Z,1755988231.675 [DAT](INFO): Rx dataTimestamp_ set to:1755988231.674822
2025-08-23T22:30:31.676Z,1755988231.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013052
2025-08-23T22:30:31.705Z,1755988231.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:30:31.739Z,1755988231.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.107231 m,
nav range: 124.101860 m,
bearing: 132.663425 deg,
approach rate: -0.437300 m/s,
LOS rate: -0.029836 deg/s,
cmd heading: 141.255511 deg,
new cmd heading: 141.230692 deg.
2025-08-23T22:30:31.740Z,1755988231.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464941 target range: 126.107231 and range: 126.90 m.
2025-08-23T22:30:31.926Z,1755988231.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263861
2025-08-23T22:30:32.089Z,1755988232.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.11 m.
2025-08-23T22:30:32.091Z,1755988232.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.107231 m,
nav range: 123.933922 m,
bearing: 132.651991 deg,
approach rate: -0.437640 m/s,
LOS rate: -0.029838 deg/s,
cmd heading: 141.230690 deg,
new cmd heading: 141.207790 deg.
2025-08-23T22:30:32.092Z,1755988232.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464541 target range: 126.107231 and range: 126.90 m.
2025-08-23T22:30:32.185Z,1755988232.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522055
2025-08-23T22:30:32.483Z,1755988232.483 [DAT](INFO): DAT read: 22:30:30.9667 LVL= 27584, 32753, 21874, 32755, AGC= 66, IDX= 426, 0.10,-1.903, 2.799,-1.331,-1.894, PHS= 0.093,-1.545, 0.519, RAW= 161.3, 9.9, CAL= 161.2, 10.7, ROT= 348.8, -10.7
2025-08-23T22:30:32.484Z,1755988232.484 [DAT](INFO): got valid direction response:
22:30:30.9667 LVL= 27584, 32753, 21874, 32755, AGC= 66, IDX= 426, 0.10,-1.903, 2.799,-1.331,-1.894, PHS= 0.093,-1.545, 0.519, RAW= 161.3, 9.9, CAL= 161.2, 10.7, ROT= 348.8, -10.7
2025-08-23T22:30:32.485Z,1755988232.485 [DAT](INFO): DAT read: Bearing 313.7, -15.7 (Local)
2025-08-23T22:30:32.485Z,1755988232.485 [DAT](INFO): Local bearing/azimuth received:
Bearing 313.7, -15.7 (Local)
2025-08-23T22:30:32.523Z,1755988232.523 [DAT](INFO): DAT read: Range 11 to 50 : 125.1 m (Round-trip 166.9 ms) speed 0.4 m/s
2025-08-23T22:30:32.523Z,1755988232.523 [DAT](INFO): DAT read: user:1817>
2025-08-23T22:30:32.524Z,1755988232.524 [DAT](INFO): DAT read: Tx time:22:30:32.0957
2025-08-23T22:30:32.524Z,1755988232.524 [DAT](INFO): Ping request sent.
2025-08-23T22:30:32.525Z,1755988232.525 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:32.525Z,1755988232.525 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:32.535Z,1755988232.535 [DAT](INFO): direction in FSK: [0.963899,-0.190858,0.185667]
2025-08-23T22:30:32.536Z,1755988232.536 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:32.536Z,1755988232.536 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:32.547Z,1755988232.547 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:32.547Z,1755988232.547 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:32.673Z,1755988232.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 125.099998 m,
deltaT: 3.787997 s,
deltaX: -1.800003 m,
approachRate: -0.475186 m/s,
rangeRepo size: 4
2025-08-23T22:30:32.683Z,1755988232.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 124.317787 m,
bearing: 131.356458 deg,
lat: 36.779428 deg,
lon: -121.859533 deg,
deltaT: 3.787997 s,
deltaX: -1.789444 m,
approachRate: -0.472398 m/s,
posRepo size: 4
2025-08-23T22:30:32.684Z,1755988232.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.32 m.
2025-08-23T22:30:32.692Z,1755988232.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.317787 m,
nav range: 123.886528 m,
bearing: 131.934845 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.029838 deg/s,
cmd heading: 141.207795 deg,
new cmd heading: 141.172955 deg.
2025-08-23T22:30:32.693Z,1755988232.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463933 target range: 124.317787 and range: 125.10 m.
2025-08-23T22:30:33.135Z,1755988233.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:33.137Z,1755988233.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.32 m.
2025-08-23T22:30:33.140Z,1755988233.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.317787 m,
nav range: 123.679863 m,
bearing: 131.918856 deg,
approach rate: -0.445159 m/s,
LOS rate: -0.034498 deg/s,
cmd heading: 141.172961 deg,
new cmd heading: 141.140930 deg.
2025-08-23T22:30:33.140Z,1755988233.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463374 target range: 124.317787 and range: 125.10 m.
2025-08-23T22:30:33.196Z,1755988233.196 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:33.196Z,1755988233.196 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:33.196Z,1755988233.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:33.450Z,1755988233.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.924375
2025-08-23T22:30:33.560Z,1755988233.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.32 m.
2025-08-23T22:30:33.562Z,1755988233.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.317787 m,
nav range: 123.478508 m,
bearing: 131.904436 deg,
approach rate: -0.476303 m/s,
LOS rate: -0.034165 deg/s,
cmd heading: 141.140928 deg,
new cmd heading: 141.112041 deg.
2025-08-23T22:30:33.563Z,1755988233.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462870 target range: 124.317787 and range: 125.10 m.
2025-08-23T22:30:33.699Z,1755988233.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.173995
2025-08-23T22:30:33.937Z,1755988233.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.32 m.
2025-08-23T22:30:33.940Z,1755988233.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.317787 m,
nav range: 123.305092 m,
bearing: 131.892038 deg,
approach rate: -0.459730 m/s,
LOS rate: -0.032915 deg/s,
cmd heading: 141.112036 deg,
new cmd heading: 141.087204 deg.
2025-08-23T22:30:33.941Z,1755988233.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462436 target range: 124.317787 and range: 125.10 m.
2025-08-23T22:30:33.951Z,1755988233.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.426076
2025-08-23T22:30:34.204Z,1755988234.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678900
2025-08-23T22:30:34.350Z,1755988234.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.32 m.
2025-08-23T22:30:34.352Z,1755988234.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.317787 m,
nav range: 123.115715 m,
bearing: 131.878457 deg,
approach rate: -0.458801 m/s,
LOS rate: -0.032951 deg/s,
cmd heading: 141.087202 deg,
new cmd heading: 141.059999 deg.
2025-08-23T22:30:34.357Z,1755988234.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.461962 target range: 124.317787 and range: 125.10 m.
2025-08-23T22:30:34.459Z,1755988234.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.933679
2025-08-23T22:30:34.706Z,1755988234.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.181925
2025-08-23T22:30:34.797Z,1755988234.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.32 m.
2025-08-23T22:30:34.800Z,1755988234.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.317787 m,
nav range: 122.919991 m,
bearing: 131.866334 deg,
approach rate: -0.437182 m/s,
LOS rate: -0.027122 deg/s,
cmd heading: 141.060004 deg,
new cmd heading: 141.035719 deg.
2025-08-23T22:30:34.801Z,1755988234.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.461538 target range: 124.317787 and range: 125.10 m.
2025-08-23T22:30:34.958Z,1755988234.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.433908
2025-08-23T22:30:35.154Z,1755988235.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:35.156Z,1755988235.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.32 m.
2025-08-23T22:30:35.159Z,1755988235.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.317787 m,
nav range: 122.762474 m,
bearing: 131.856564 deg,
approach rate: -0.438605 m/s,
LOS rate: -0.027241 deg/s,
cmd heading: 141.035716 deg,
new cmd heading: 141.016149 deg.
2025-08-23T22:30:35.160Z,1755988235.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.461196 target range: 124.317787 and range: 125.10 m.
2025-08-23T22:30:35.211Z,1755988235.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.686668
2025-08-23T22:30:35.466Z,1755988235.466 [DAT](INFO): DAT read: Rx Time:22:30:34.6646
2025-08-23T22:30:35.467Z,1755988235.467 [DAT](INFO): Rx dataTimestamp_ set to:1755988235.466296
2025-08-23T22:30:35.469Z,1755988235.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.943960
2025-08-23T22:30:35.582Z,1755988235.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.32 m.
2025-08-23T22:30:35.584Z,1755988235.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.317787 m,
nav range: 122.563927 m,
bearing: 131.843161 deg,
approach rate: -0.467035 m/s,
LOS rate: -0.031578 deg/s,
cmd heading: 141.016154 deg,
new cmd heading: 140.989305 deg.
2025-08-23T22:30:35.598Z,1755988235.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460728 target range: 124.317787 and range: 125.10 m.
2025-08-23T22:30:35.714Z,1755988235.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.189911
2025-08-23T22:30:35.972Z,1755988235.972 [DAT](INFO): DAT read: 22:30:34.6646 LVL= 27632, 32753, 23186, 32755, AGC= 66, IDX= 420,-0.17, 0.375,-1.164, 0.958, 0.429, PHS= 0.048,-1.547, 0.485, RAW= 161.8, 10.9, CAL= 161.9, 12.2, ROT= 348.1, -12.2
2025-08-23T22:30:35.973Z,1755988235.973 [DAT](INFO): got valid direction response:
22:30:34.6646 LVL= 27632, 32753, 23186, 32755, AGC= 66, IDX= 420,-0.17, 0.375,-1.164, 0.958, 0.429, PHS= 0.048,-1.547, 0.485, RAW= 161.8, 10.9, CAL= 161.9, 12.2, ROT= 348.1, -12.2
2025-08-23T22:30:35.974Z,1755988235.974 [DAT](INFO): DAT read: Bearing 314.9, -16.4 (Local)
2025-08-23T22:30:35.975Z,1755988235.975 [DAT](INFO): Local bearing/azimuth received:
Bearing 314.9, -16.4 (Local)
2025-08-23T22:30:35.976Z,1755988235.976 [DAT](INFO): DAT read: Range 11 to 50 : 123.6 m (Round-trip 164.8 ms) speed 0.4 m/s
2025-08-23T22:30:35.977Z,1755988235.977 [DAT](INFO): DAT read: user:1818>
2025-08-23T22:30:35.978Z,1755988235.978 [DAT](INFO): DAT read: Tx time:22:30:35.7957
2025-08-23T22:30:35.978Z,1755988235.978 [DAT](INFO): Ping request sent.
2025-08-23T22:30:35.978Z,1755988235.978 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:35.978Z,1755988235.978 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:35.980Z,1755988235.980 [DAT](INFO): direction in FSK: [0.956410,-0.201547,0.211325]
2025-08-23T22:30:35.981Z,1755988235.981 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:35.983Z,1755988235.983 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:35.989Z,1755988235.989 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:36.006Z,1755988236.006 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:36.060Z,1755988236.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 123.599998 m,
deltaT: 3.528117 s,
deltaX: -1.500000 m,
approachRate: -0.425156 m/s,
rangeRepo size: 4
2025-08-23T22:30:36.066Z,1755988236.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 122.828049 m,
bearing: 130.522186 deg,
lat: 36.779432 deg,
lon: -121.859532 deg,
deltaT: 3.528117 s,
deltaX: -1.489738 m,
approachRate: -0.422247 m/s,
posRepo size: 4
2025-08-23T22:30:36.067Z,1755988236.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.83 m.
2025-08-23T22:30:36.078Z,1755988236.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.828049 m,
nav range: 122.173790 m,
bearing: 131.618468 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.031578 deg/s,
cmd heading: 140.989311 deg,
new cmd heading: 140.959143 deg.
2025-08-23T22:30:36.079Z,1755988236.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460201 target range: 122.828049 and range: 123.60 m.
2025-08-23T22:30:36.380Z,1755988236.380 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-23T22:30:36.402Z,1755988236.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.83 m.
2025-08-23T22:30:36.405Z,1755988236.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.828049 m,
nav range: 121.972389 m,
bearing: 131.604361 deg,
approach rate: -0.586846 m/s,
LOS rate: -0.041171 deg/s,
cmd heading: 140.959149 deg,
new cmd heading: 140.930890 deg.
2025-08-23T22:30:36.427Z,1755988236.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459708 target range: 122.828049 and range: 123.60 m.
2025-08-23T22:30:36.827Z,1755988236.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.83 m.
2025-08-23T22:30:36.830Z,1755988236.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.828049 m,
nav range: 121.777580 m,
bearing: 131.592006 deg,
approach rate: -0.458245 m/s,
LOS rate: -0.029110 deg/s,
cmd heading: 140.930886 deg,
new cmd heading: 140.906135 deg.
2025-08-23T22:30:36.831Z,1755988236.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459276 target range: 122.828049 and range: 123.60 m.
2025-08-23T22:30:37.210Z,1755988237.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:37.214Z,1755988237.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.83 m.
2025-08-23T22:30:37.217Z,1755988237.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.828049 m,
nav range: 121.604469 m,
bearing: 131.580993 deg,
approach rate: -0.448374 m/s,
LOS rate: -0.028565 deg/s,
cmd heading: 140.906133 deg,
new cmd heading: 140.884076 deg.
2025-08-23T22:30:37.218Z,1755988237.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.458891 target range: 122.828049 and range: 123.60 m.
2025-08-23T22:30:37.226Z,1755988237.226 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:37.226Z,1755988237.226 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:37.227Z,1755988237.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:37.482Z,1755988237.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503566
2025-08-23T22:30:37.609Z,1755988237.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.83 m.
2025-08-23T22:30:37.612Z,1755988237.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.828049 m,
nav range: 121.427216 m,
bearing: 131.569668 deg,
approach rate: -0.448082 m/s,
LOS rate: -0.028671 deg/s,
cmd heading: 140.884072 deg,
new cmd heading: 140.861388 deg.
2025-08-23T22:30:37.613Z,1755988237.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.458495 target range: 122.828049 and range: 123.60 m.
2025-08-23T22:30:37.731Z,1755988237.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753356
2025-08-23T22:30:37.984Z,1755988237.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005951
2025-08-23T22:30:38.023Z,1755988238.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.83 m.
2025-08-23T22:30:38.027Z,1755988238.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.828049 m,
nav range: 121.244194 m,
bearing: 131.557971 deg,
approach rate: -0.442045 m/s,
LOS rate: -0.028294 deg/s,
cmd heading: 140.861382 deg,
new cmd heading: 140.837952 deg.
2025-08-23T22:30:38.028Z,1755988238.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.458086 target range: 122.828049 and range: 123.60 m.
2025-08-23T22:30:38.236Z,1755988238.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257991
2025-08-23T22:30:38.237Z,1755988238.237 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:30:38.402Z,1755988238.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.83 m.
2025-08-23T22:30:38.405Z,1755988238.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.828049 m,
nav range: 121.076767 m,
bearing: 131.547276 deg,
approach rate: -0.442445 m/s,
LOS rate: -0.028303 deg/s,
cmd heading: 140.837954 deg,
new cmd heading: 140.816534 deg.
2025-08-23T22:30:38.426Z,1755988238.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457712 target range: 122.828049 and range: 123.60 m.
2025-08-23T22:30:38.490Z,1755988238.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511799
2025-08-23T22:30:38.738Z,1755988238.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760429
2025-08-23T22:30:38.831Z,1755988238.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.83 m.
2025-08-23T22:30:38.834Z,1755988238.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.828049 m,
nav range: 120.878090 m,
bearing: 131.534271 deg,
approach rate: -0.462086 m/s,
LOS rate: -0.030297 deg/s,
cmd heading: 140.816535 deg,
new cmd heading: 140.790482 deg.
2025-08-23T22:30:38.835Z,1755988238.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457258 target range: 122.828049 and range: 123.60 m.
2025-08-23T22:30:38.992Z,1755988238.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013770
2025-08-23T22:30:39.232Z,1755988239.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:39.234Z,1755988239.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.83 m.
2025-08-23T22:30:39.237Z,1755988239.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.828049 m,
nav range: 120.692139 m,
bearing: 131.522093 deg,
approach rate: -0.461769 m/s,
LOS rate: -0.030287 deg/s,
cmd heading: 140.790484 deg,
new cmd heading: 140.766092 deg.
2025-08-23T22:30:39.238Z,1755988239.238 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:30:39.243Z,1755988239.243 [DAT](INFO): DAT read: Rx Time:22:30:38.3623
2025-08-23T22:30:39.243Z,1755988239.243 [DAT](INFO): Rx dataTimestamp_ set to:1755988239.242912
2025-08-23T22:30:39.244Z,1755988239.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265697
2025-08-23T22:30:39.258Z,1755988239.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456832 target range: 122.828049 and range: 123.60 m.
2025-08-23T22:30:39.495Z,1755988239.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516792
2025-08-23T22:30:39.668Z,1755988239.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.83 m.
2025-08-23T22:30:39.671Z,1755988239.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.828049 m,
nav range: 120.496895 m,
bearing: 131.509974 deg,
approach rate: -0.450080 m/s,
LOS rate: -0.027982 deg/s,
cmd heading: 140.766087 deg,
new cmd heading: 140.741810 deg.
2025-08-23T22:30:39.672Z,1755988239.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456408 target range: 122.828049 and range: 123.60 m.
2025-08-23T22:30:39.754Z,1755988239.754 [DAT](INFO): DAT read: 22:30:38.3623 LVL= 28752, 31729, 25042, 32755, AGC= 65, IDX= 413,-0.43, 3.058, 1.494,-2.652, 3.072, PHS= 0.087,-1.534, 0.515, RAW= 161.4, 10.0, CAL= 161.3, 10.8, ROT= 348.7, -10.8
2025-08-23T22:30:39.755Z,1755988239.755 [DAT](INFO): got valid direction response:
22:30:38.3623 LVL= 28752, 31729, 25042, 32755, AGC= 65, IDX= 413,-0.43, 3.058, 1.494,-2.652, 3.072, PHS= 0.087,-1.534, 0.515, RAW= 161.4, 10.0, CAL= 161.3, 10.8, ROT= 348.7, -10.8
2025-08-23T22:30:39.756Z,1755988239.756 [DAT](INFO): DAT read: Bearing 312.9, -16.0 (Local)
2025-08-23T22:30:39.756Z,1755988239.756 [DAT](INFO): Local bearing/azimuth received:
Bearing 312.9, -16.0 (Local)
2025-08-23T22:30:39.758Z,1755988239.758 [DAT](INFO): DAT read: Range 11 to 50 : 121.8 m (Round-trip 162.5 ms) speed 0.4 m/s
2025-08-23T22:30:39.758Z,1755988239.758 [DAT](INFO): DAT read: user:1819>
2025-08-23T22:30:39.759Z,1755988239.759 [DAT](INFO): DAT read: Tx time:22:30:39.4957
2025-08-23T22:30:39.759Z,1755988239.759 [DAT](INFO): Ping request sent.
2025-08-23T22:30:39.760Z,1755988239.760 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:39.760Z,1755988239.760 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:39.761Z,1755988239.761 [DAT](INFO): direction in FSK: [0.963245,-0.192475,0.187381]
2025-08-23T22:30:39.761Z,1755988239.761 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:39.761Z,1755988239.761 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:39.764Z,1755988239.764 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:39.765Z,1755988239.765 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:40.032Z,1755988240.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 121.800003 m,
deltaT: 3.780176 s,
deltaX: -1.799995 m,
approachRate: -0.476167 m/s,
rangeRepo size: 4
2025-08-23T22:30:40.035Z,1755988240.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 121.043465 m,
bearing: 131.077091 deg,
lat: 36.779436 deg,
lon: -121.859524 deg,
deltaT: 3.780176 s,
deltaX: -1.784584 m,
approachRate: -0.472090 m/s,
posRepo size: 4
2025-08-23T22:30:40.035Z,1755988240.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.04 m.
2025-08-23T22:30:40.038Z,1755988240.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.043465 m,
nav range: 120.546303 m,
bearing: 131.121045 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.027982 deg/s,
cmd heading: 140.741813 deg,
new cmd heading: 140.721453 deg.
2025-08-23T22:30:40.039Z,1755988240.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456053 target range: 121.043465 and range: 121.80 m.
2025-08-23T22:30:40.423Z,1755988240.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.04 m.
2025-08-23T22:30:40.426Z,1755988240.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.043465 m,
nav range: 120.371033 m,
bearing: 131.109691 deg,
approach rate: -0.448063 m/s,
LOS rate: -0.029069 deg/s,
cmd heading: 140.721459 deg,
new cmd heading: 140.698716 deg.
2025-08-23T22:30:40.427Z,1755988240.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455656 target range: 121.043465 and range: 121.80 m.
2025-08-23T22:30:40.872Z,1755988240.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.04 m.
2025-08-23T22:30:40.875Z,1755988240.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.043465 m,
nav range: 120.175713 m,
bearing: 131.094481 deg,
approach rate: -0.434903 m/s,
LOS rate: -0.033920 deg/s,
cmd heading: 140.698714 deg,
new cmd heading: 140.668246 deg.
2025-08-23T22:30:40.876Z,1755988240.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455124 target range: 121.043465 and range: 121.80 m.
2025-08-23T22:30:41.240Z,1755988241.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:41.242Z,1755988241.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.04 m.
2025-08-23T22:30:41.245Z,1755988241.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.043465 m,
nav range: 120.003853 m,
bearing: 131.081258 deg,
approach rate: -0.464955 m/s,
LOS rate: -0.035825 deg/s,
cmd heading: 140.668251 deg,
new cmd heading: 140.641767 deg.
2025-08-23T22:30:41.247Z,1755988241.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454662 target range: 121.043465 and range: 121.80 m.
2025-08-23T22:30:41.258Z,1755988241.258 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:41.258Z,1755988241.258 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:41.259Z,1755988241.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:41.511Z,1755988241.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750938
2025-08-23T22:30:41.665Z,1755988241.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.04 m.
2025-08-23T22:30:41.672Z,1755988241.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.043465 m,
nav range: 119.823059 m,
bearing: 131.069615 deg,
approach rate: -0.427223 m/s,
LOS rate: -0.027554 deg/s,
cmd heading: 140.641764 deg,
new cmd heading: 140.618443 deg.
2025-08-23T22:30:41.673Z,1755988241.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454255 target range: 121.043465 and range: 121.80 m.
2025-08-23T22:30:41.762Z,1755988241.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002871
2025-08-23T22:30:42.014Z,1755988242.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254798
2025-08-23T22:30:42.033Z,1755988242.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.04 m.
2025-08-23T22:30:42.052Z,1755988242.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.043465 m,
nav range: 119.652649 m,
bearing: 131.058703 deg,
approach rate: -0.463163 m/s,
LOS rate: -0.029700 deg/s,
cmd heading: 140.618446 deg,
new cmd heading: 140.596591 deg.
2025-08-23T22:30:42.053Z,1755988242.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453873 target range: 121.043465 and range: 121.80 m.
2025-08-23T22:30:42.267Z,1755988242.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507044
2025-08-23T22:30:42.444Z,1755988242.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.04 m.
2025-08-23T22:30:42.447Z,1755988242.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.043465 m,
nav range: 119.469955 m,
bearing: 131.047087 deg,
approach rate: -0.443756 m/s,
LOS rate: -0.028259 deg/s,
cmd heading: 140.596589 deg,
new cmd heading: 140.573321 deg.
2025-08-23T22:30:42.448Z,1755988242.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453467 target range: 121.043465 and range: 121.80 m.
2025-08-23T22:30:42.519Z,1755988242.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759127
2025-08-23T22:30:42.776Z,1755988242.776 [DAT](INFO): DAT read: Rx Time:22:30:42.0601
2025-08-23T22:30:42.776Z,1755988242.776 [DAT](INFO): Rx dataTimestamp_ set to:1755988242.776148
2025-08-23T22:30:42.777Z,1755988242.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017762
2025-08-23T22:30:42.918Z,1755988242.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.04 m.
2025-08-23T22:30:42.921Z,1755988242.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.043465 m,
nav range: 119.271851 m,
bearing: 131.034828 deg,
approach rate: -0.418705 m/s,
LOS rate: -0.025954 deg/s,
cmd heading: 140.573325 deg,
new cmd heading: 140.548766 deg.
2025-08-23T22:30:42.930Z,1755988242.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453039 target range: 121.043465 and range: 121.80 m.
2025-08-23T22:30:43.023Z,1755988243.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262974
2025-08-23T22:30:43.276Z,1755988243.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516316
2025-08-23T22:30:43.492Z,1755988243.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:43.502Z,1755988243.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.04 m.
2025-08-23T22:30:43.504Z,1755988243.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.043465 m,
nav range: 119.021690 m,
bearing: 131.019505 deg,
approach rate: -0.430434 m/s,
LOS rate: -0.026419 deg/s,
cmd heading: 140.548764 deg,
new cmd heading: 140.518055 deg.
2025-08-23T22:30:43.506Z,1755988243.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452503 target range: 121.043465 and range: 121.80 m.
2025-08-23T22:30:43.532Z,1755988243.532 [DAT](INFO): DAT read: 22:30:42.0601 LVL= 29968, 32753, 22738, 32755, AGC= 67, IDX= 422, 0.29,-1.070,-2.613,-0.504,-1.100, PHS= 0.132,-1.468, 0.553, RAW= 161.4, 8.5, CAL= 161.1, 8.9, ROT= 348.9, -8.9
2025-08-23T22:30:43.534Z,1755988243.534 [DAT](INFO): got valid direction response:
22:30:42.0601 LVL= 29968, 32753, 22738, 32755, AGC= 67, IDX= 422, 0.29,-1.070,-2.613,-0.504,-1.100, PHS= 0.132,-1.468, 0.553, RAW= 161.4, 8.5, CAL= 161.1, 8.9, ROT= 348.9, -8.9
2025-08-23T22:30:43.534Z,1755988243.534 [DAT](INFO): DAT read: Bearing 310.6, -15.7 (Local)
2025-08-23T22:30:43.535Z,1755988243.535 [DAT](INFO): Local bearing/azimuth received:
Bearing 310.6, -15.7 (Local)
2025-08-23T22:30:43.536Z,1755988243.536 [DAT](INFO): DAT read: Range 11 to 50 : 120.2 m (Round-trip 160.3 ms) speed 0.4 m/s
2025-08-23T22:30:43.537Z,1755988243.537 [DAT](INFO): DAT read: user:1820>
2025-08-23T22:30:43.538Z,1755988243.538 [DAT](INFO): DAT read: Tx time:22:30:43.1457
2025-08-23T22:30:43.538Z,1755988243.538 [DAT](INFO): Ping request sent.
2025-08-23T22:30:43.538Z,1755988243.538 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:43.538Z,1755988243.538 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:43.539Z,1755988243.539 [DAT](INFO): direction in FSK: [0.969478,-0.190204,0.154710]
2025-08-23T22:30:43.540Z,1755988243.540 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:43.540Z,1755988243.540 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:43.543Z,1755988243.543 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:43.543Z,1755988243.543 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:44.022Z,1755988244.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 120.199997 m,
deltaT: 3.779945 s,
deltaX: -1.600006 m,
approachRate: -0.423288 m/s,
rangeRepo size: 4
2025-08-23T22:30:44.024Z,1755988244.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 119.455528 m,
bearing: 130.830568 deg,
lat: 36.779436 deg,
lon: -121.859523 deg,
deltaT: 3.779945 s,
deltaX: -1.587936 m,
approachRate: -0.420095 m/s,
posRepo size: 4
2025-08-23T22:30:44.025Z,1755988244.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m.
2025-08-23T22:30:44.028Z,1755988244.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.455528 m,
nav range: 118.829445 m,
bearing: 130.978343 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.026419 deg/s,
cmd heading: 140.518056 deg,
new cmd heading: 140.490449 deg.
2025-08-23T22:30:44.029Z,1755988244.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452021 target range: 119.455528 and range: 120.20 m.
2025-08-23T22:30:44.383Z,1755988244.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m.
2025-08-23T22:30:44.386Z,1755988244.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.455528 m,
nav range: 118.662285 m,
bearing: 130.967389 deg,
approach rate: -0.463731 m/s,
LOS rate: -0.030431 deg/s,
cmd heading: 140.490448 deg,
new cmd heading: 140.468509 deg.
2025-08-23T22:30:44.387Z,1755988244.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451638 target range: 119.455528 and range: 120.20 m.
2025-08-23T22:30:44.799Z,1755988244.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m.
2025-08-23T22:30:44.803Z,1755988244.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.455528 m,
nav range: 118.477242 m,
bearing: 130.955106 deg,
approach rate: -0.443309 m/s,
LOS rate: -0.029474 deg/s,
cmd heading: 140.468509 deg,
new cmd heading: 140.443903 deg.
2025-08-23T22:30:44.804Z,1755988244.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451209 target range: 119.455528 and range: 120.20 m.
2025-08-23T22:30:45.203Z,1755988245.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m.
2025-08-23T22:30:45.211Z,1755988245.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.455528 m,
nav range: 118.307312 m,
bearing: 130.943908 deg,
approach rate: -0.421350 m/s,
LOS rate: -0.027805 deg/s,
cmd heading: 140.443907 deg,
new cmd heading: 140.421480 deg.
2025-08-23T22:30:45.213Z,1755988245.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450817 target range: 119.455528 and range: 120.20 m.
2025-08-23T22:30:45.619Z,1755988245.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:45.629Z,1755988245.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m.
2025-08-23T22:30:45.662Z,1755988245.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.455528 m,
nav range: 118.122337 m,
bearing: 130.931811 deg,
approach rate: -0.437274 m/s,
LOS rate: -0.028642 deg/s,
cmd heading: 140.421477 deg,
new cmd heading: 140.397244 deg.
2025-08-23T22:30:45.663Z,1755988245.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450394 target range: 119.455528 and range: 120.20 m.
2025-08-23T22:30:45.794Z,1755988245.794 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:45.794Z,1755988245.794 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:45.795Z,1755988245.795 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:46.047Z,1755988246.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508517
2025-08-23T22:30:46.051Z,1755988246.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m.
2025-08-23T22:30:46.058Z,1755988246.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.455528 m,
nav range: 117.931465 m,
bearing: 130.919255 deg,
approach rate: -0.448238 m/s,
LOS rate: -0.029535 deg/s,
cmd heading: 140.397243 deg,
new cmd heading: 140.372090 deg.
2025-08-23T22:30:46.059Z,1755988246.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449955 target range: 119.455528 and range: 120.20 m.
2025-08-23T22:30:46.299Z,1755988246.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760365
2025-08-23T22:30:46.414Z,1755988246.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m.
2025-08-23T22:30:46.417Z,1755988246.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.455528 m,
nav range: 117.764641 m,
bearing: 130.908351 deg,
approach rate: -0.459814 m/s,
LOS rate: -0.030096 deg/s,
cmd heading: 140.372094 deg,
new cmd heading: 140.350256 deg.
2025-08-23T22:30:46.418Z,1755988246.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449574 target range: 119.455528 and range: 120.20 m.
2025-08-23T22:30:46.551Z,1755988246.551 [DAT](INFO): DAT read: Rx Time:22:30:45.7079
2025-08-23T22:30:46.551Z,1755988246.551 [DAT](INFO): Rx dataTimestamp_ set to:1755988246.550857
2025-08-23T22:30:46.552Z,1755988246.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013576
2025-08-23T22:30:46.803Z,1755988246.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264457
2025-08-23T22:30:46.850Z,1755988246.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m.
2025-08-23T22:30:46.853Z,1755988246.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.455528 m,
nav range: 117.578003 m,
bearing: 130.895169 deg,
approach rate: -0.428070 m/s,
LOS rate: -0.030282 deg/s,
cmd heading: 140.350251 deg,
new cmd heading: 140.323846 deg.
2025-08-23T22:30:46.854Z,1755988246.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449113 target range: 119.455528 and range: 120.20 m.
2025-08-23T22:30:47.060Z,1755988247.060 [DAT](INFO): DAT read: 22:30:45.7079 LVL= 28000, 32753, 24306, 32755, AGC= 68, IDX= 415, 0.00, 1.389,-0.209, 1.954, 1.384, PHS= 0.107,-1.548, 0.526, RAW= 161.0, 9.7, CAL= 160.9, 10.4, ROT= 349.1, -10.4
2025-08-23T22:30:47.061Z,1755988247.061 [DAT](INFO): got valid direction response:
22:30:45.7079 LVL= 28000, 32753, 24306, 32755, AGC= 68, IDX= 415, 0.00, 1.389,-0.209, 1.954, 1.384, PHS= 0.107,-1.548, 0.526, RAW= 161.0, 9.7, CAL= 160.9, 10.4, ROT= 349.1, -10.4
2025-08-23T22:30:47.062Z,1755988247.062 [DAT](INFO): DAT read: Bearing 311.8, -15.1 (Local)
2025-08-23T22:30:47.063Z,1755988247.063 [DAT](INFO): Local bearing/azimuth received:
Bearing 311.8, -15.1 (Local)
2025-08-23T22:30:47.064Z,1755988247.064 [DAT](INFO): DAT read: Range 11 to 50 : 118.5 m (Round-trip 158.1 ms) speed 0.4 m/s
2025-08-23T22:30:47.065Z,1755988247.065 [DAT](INFO): DAT read: user:1821>
2025-08-23T22:30:47.068Z,1755988247.068 [DAT](INFO): DAT read: Tx time:22:30:46.7972
2025-08-23T22:30:47.070Z,1755988247.070 [DAT](INFO): Ping request sent.
2025-08-23T22:30:47.070Z,1755988247.070 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:47.072Z,1755988247.072 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:47.074Z,1755988247.074 [DAT](INFO): direction in FSK: [0.965827,-0.185989,0.180519]
2025-08-23T22:30:47.074Z,1755988247.074 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:47.075Z,1755988247.075 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:47.078Z,1755988247.078 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:47.078Z,1755988247.078 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:47.279Z,1755988247.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 118.500000 m,
deltaT: 3.527743 s,
deltaX: -1.699997 m,
approachRate: -0.481894 m/s,
rangeRepo size: 4
2025-08-23T22:30:47.281Z,1755988247.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 117.764610 m,
bearing: 130.526663 deg,
lat: 36.779437 deg,
lon: -121.859519 deg,
deltaT: 3.527743 s,
deltaX: -1.690918 m,
approachRate: -0.479320 m/s,
posRepo size: 4
2025-08-23T22:30:47.286Z,1755988247.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.76 m.
2025-08-23T22:30:47.288Z,1755988247.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.764610 m,
nav range: 117.655411 m,
bearing: 130.730716 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.030282 deg/s,
cmd heading: 140.323846 deg,
new cmd heading: 140.298429 deg.
2025-08-23T22:30:47.289Z,1755988247.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448669 target range: 117.764610 and range: 118.50 m.
2025-08-23T22:30:47.622Z,1755988247.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:47.630Z,1755988247.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.76 m.
2025-08-23T22:30:47.665Z,1755988247.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.764610 m,
nav range: 117.486671 m,
bearing: 130.718609 deg,
approach rate: -0.470254 m/s,
LOS rate: -0.033791 deg/s,
cmd heading: 140.298424 deg,
new cmd heading: 140.274174 deg.
2025-08-23T22:30:47.672Z,1755988247.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448246 target range: 117.764610 and range: 118.50 m.
2025-08-23T22:30:47.810Z,1755988247.810 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:47.810Z,1755988247.810 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:47.811Z,1755988247.811 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:48.063Z,1755988248.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992817
2025-08-23T22:30:48.072Z,1755988248.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.76 m.
2025-08-23T22:30:48.075Z,1755988248.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.764610 m,
nav range: 117.282211 m,
bearing: 130.706389 deg,
approach rate: -0.460664 m/s,
LOS rate: -0.027581 deg/s,
cmd heading: 140.274177 deg,
new cmd heading: 140.249694 deg.
2025-08-23T22:30:48.076Z,1755988248.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447819 target range: 117.764610 and range: 118.50 m.
2025-08-23T22:30:48.318Z,1755988248.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248461
2025-08-23T22:30:48.440Z,1755988248.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.76 m.
2025-08-23T22:30:48.443Z,1755988248.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.764610 m,
nav range: 117.115494 m,
bearing: 130.696393 deg,
approach rate: -0.453935 m/s,
LOS rate: -0.027255 deg/s,
cmd heading: 140.249697 deg,
new cmd heading: 140.229678 deg.
2025-08-23T22:30:48.444Z,1755988248.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447469 target range: 117.764610 and range: 118.50 m.
2025-08-23T22:30:48.567Z,1755988248.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497549
2025-08-23T22:30:48.819Z,1755988248.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748856
2025-08-23T22:30:48.849Z,1755988248.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.76 m.
2025-08-23T22:30:48.876Z,1755988248.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.764610 m,
nav range: 116.933578 m,
bearing: 130.687076 deg,
approach rate: -0.444306 m/s,
LOS rate: -0.022790 deg/s,
cmd heading: 140.229671 deg,
new cmd heading: 140.211009 deg.
2025-08-23T22:30:48.877Z,1755988248.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447144 target range: 117.764610 and range: 118.50 m.
2025-08-23T22:30:49.071Z,1755988249.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000836
2025-08-23T22:30:49.235Z,1755988249.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.76 m.
2025-08-23T22:30:49.238Z,1755988249.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.764610 m,
nav range: 116.762039 m,
bearing: 130.678382 deg,
approach rate: -0.444271 m/s,
LOS rate: -0.022551 deg/s,
cmd heading: 140.211011 deg,
new cmd heading: 140.193597 deg.
2025-08-23T22:30:49.239Z,1755988249.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446840 target range: 117.764610 and range: 118.50 m.
2025-08-23T22:30:49.323Z,1755988249.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252883
2025-08-23T22:30:49.575Z,1755988249.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505113
2025-08-23T22:30:49.646Z,1755988249.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:49.648Z,1755988249.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.76 m.
2025-08-23T22:30:49.651Z,1755988249.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.764610 m,
nav range: 116.580688 m,
bearing: 130.669162 deg,
approach rate: -0.439420 m/s,
LOS rate: -0.022373 deg/s,
cmd heading: 140.193594 deg,
new cmd heading: 140.175127 deg.
2025-08-23T22:30:49.655Z,1755988249.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446517 target range: 117.764610 and range: 118.50 m.
2025-08-23T22:30:49.827Z,1755988249.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756855
2025-08-23T22:30:50.075Z,1755988250.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.76 m.
2025-08-23T22:30:50.079Z,1755988250.079 [DAT](INFO): DAT read: Rx Time:22:30:49.3573
2025-08-23T22:30:50.079Z,1755988250.079 [DAT](INFO): Rx dataTimestamp_ set to:1755988250.078847
2025-08-23T22:30:50.080Z,1755988250.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010002
2025-08-23T22:30:50.081Z,1755988250.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.764610 m,
nav range: 116.380882 m,
bearing: 130.658373 deg,
approach rate: -0.468004 m/s,
LOS rate: -0.025315 deg/s,
cmd heading: 140.175125 deg,
new cmd heading: 140.153510 deg.
2025-08-23T22:30:50.082Z,1755988250.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446140 target range: 117.764610 and range: 118.50 m.
2025-08-23T22:30:50.333Z,1755988250.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263126
2025-08-23T22:30:50.477Z,1755988250.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.76 m.
2025-08-23T22:30:50.488Z,1755988250.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.764610 m,
nav range: 116.206459 m,
bearing: 130.649024 deg,
approach rate: -0.434506 m/s,
LOS rate: -0.023325 deg/s,
cmd heading: 140.153515 deg,
new cmd heading: 140.134788 deg.
2025-08-23T22:30:50.489Z,1755988250.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445813 target range: 117.764610 and range: 118.50 m.
2025-08-23T22:30:50.587Z,1755988250.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516725
2025-08-23T22:30:50.840Z,1755988250.840 [DAT](INFO): DAT read: 22:30:49.3573 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 425,-0.25,-2.309, 2.376,-1.771,-2.323, PHS= 0.116,-1.540, 0.507, RAW= 160.4, 9.8, CAL= 160.3, 10.5, ROT= 349.7, -10.5
2025-08-23T22:30:50.841Z,1755988250.841 [DAT](INFO): got valid direction response:
22:30:49.3573 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 425,-0.25,-2.309, 2.376,-1.771,-2.323, PHS= 0.116,-1.540, 0.507, RAW= 160.4, 9.8, CAL= 160.3, 10.5, ROT= 349.7, -10.5
2025-08-23T22:30:50.842Z,1755988250.842 [DAT](INFO): DAT read: Bearing 311.8, -14.0 (Local)
2025-08-23T22:30:50.843Z,1755988250.843 [DAT](INFO): Local bearing/azimuth received:
Bearing 311.8, -14.0 (Local)
2025-08-23T22:30:50.844Z,1755988250.844 [DAT](INFO): DAT read: Range 11 to 50 : 116.9 m (Round-trip 155.9 ms) speed 0.4 m/s
2025-08-23T22:30:50.845Z,1755988250.845 [DAT](INFO): DAT read: user:1822>
2025-08-23T22:30:50.846Z,1755988250.846 [DAT](INFO): DAT read: Tx time:22:30:50.4457
2025-08-23T22:30:50.846Z,1755988250.846 [DAT](INFO): Ping request sent.
2025-08-23T22:30:50.846Z,1755988250.846 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:50.846Z,1755988250.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:50.847Z,1755988250.847 [DAT](INFO): direction in FSK: [0.967410,-0.175808,0.182236]
2025-08-23T22:30:50.848Z,1755988250.848 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:50.848Z,1755988250.848 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:50.852Z,1755988250.852 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:50.852Z,1755988250.852 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:50.959Z,1755988250.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 116.900002 m,
deltaT: 3.780154 s,
deltaX: -1.599998 m,
approachRate: -0.423263 m/s,
rangeRepo size: 4
2025-08-23T22:30:50.971Z,1755988250.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 116.180565 m,
bearing: 130.675047 deg,
lat: 36.779439 deg,
lon: -121.859519 deg,
deltaT: 3.780154 s,
deltaX: -1.584045 m,
approachRate: -0.419043 m/s,
posRepo size: 4
2025-08-23T22:30:50.972Z,1755988250.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-08-23T22:30:50.984Z,1755988250.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.180565 m,
nav range: 115.871712 m,
bearing: 130.569664 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.023325 deg/s,
cmd heading: 140.134786 deg,
new cmd heading: 140.112575 deg.
2025-08-23T22:30:50.985Z,1755988250.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445426 target range: 116.180565 and range: 116.90 m.
2025-08-23T22:30:51.322Z,1755988251.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-08-23T22:30:51.325Z,1755988251.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.180565 m,
nav range: 115.685608 m,
bearing: 130.561117 deg,
approach rate: -0.503123 m/s,
LOS rate: -0.023142 deg/s,
cmd heading: 140.112575 deg,
new cmd heading: 140.095454 deg.
2025-08-23T22:30:51.326Z,1755988251.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445127 target range: 116.180565 and range: 116.90 m.
2025-08-23T22:30:51.738Z,1755988251.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:51.754Z,1755988251.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-08-23T22:30:51.757Z,1755988251.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.180565 m,
nav range: 115.524780 m,
bearing: 130.553731 deg,
approach rate: -0.376788 m/s,
LOS rate: -0.017329 deg/s,
cmd heading: 140.095458 deg,
new cmd heading: 140.080664 deg.
2025-08-23T22:30:51.762Z,1755988251.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444869 target range: 116.180565 and range: 116.90 m.
2025-08-23T22:30:51.842Z,1755988251.842 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:51.842Z,1755988251.842 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:51.843Z,1755988251.843 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:52.095Z,1755988252.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248636
2025-08-23T22:30:52.280Z,1755988252.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-08-23T22:30:52.283Z,1755988252.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.180565 m,
nav range: 115.241356 m,
bearing: 130.539443 deg,
approach rate: -0.533897 m/s,
LOS rate: -0.026980 deg/s,
cmd heading: 140.080664 deg,
new cmd heading: 140.052019 deg.
2025-08-23T22:30:52.284Z,1755988252.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444369 target range: 116.180565 and range: 116.90 m.
2025-08-23T22:30:52.347Z,1755988252.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500635
2025-08-23T22:30:52.599Z,1755988252.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752677
2025-08-23T22:30:52.835Z,1755988252.835 [RDI_Pathfinder](ERROR): only read -1 of 4 data items for water velocity. Device response is::WS,
2025-08-23T22:30:52.851Z,1755988252.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004577
2025-08-23T22:30:52.852Z,1755988252.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-08-23T22:30:52.855Z,1755988252.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.180565 m,
nav range: 114.974846 m,
bearing: 130.525994 deg,
approach rate: -0.465756 m/s,
LOS rate: -0.023558 deg/s,
cmd heading: 140.052018 deg,
new cmd heading: 140.025058 deg.
2025-08-23T22:30:52.856Z,1755988252.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443898 target range: 116.180565 and range: 116.90 m.
2025-08-23T22:30:53.102Z,1755988253.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256323
2025-08-23T22:30:53.276Z,1755988253.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-08-23T22:30:53.279Z,1755988253.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.180565 m,
nav range: 114.776169 m,
bearing: 130.515884 deg,
approach rate: -0.468456 m/s,
LOS rate: -0.023880 deg/s,
cmd heading: 140.025052 deg,
new cmd heading: 140.004797 deg.
2025-08-23T22:30:53.280Z,1755988253.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443545 target range: 116.180565 and range: 116.90 m.
2025-08-23T22:30:53.357Z,1755988253.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510662
2025-08-23T22:30:53.611Z,1755988253.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764460
2025-08-23T22:30:53.703Z,1755988253.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-08-23T22:30:53.710Z,1755988253.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.180565 m,
nav range: 114.587883 m,
bearing: 130.506298 deg,
approach rate: -0.441579 m/s,
LOS rate: -0.022519 deg/s,
cmd heading: 140.004794 deg,
new cmd heading: 139.985590 deg.
2025-08-23T22:30:53.711Z,1755988253.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443209 target range: 116.180565 and range: 116.90 m.
2025-08-23T22:30:53.867Z,1755988253.867 [DAT](INFO): DAT read: Rx Time:22:30:53.0034
2025-08-23T22:30:53.867Z,1755988253.867 [DAT](INFO): Rx dataTimestamp_ set to:1755988253.866824
2025-08-23T22:30:53.868Z,1755988253.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021578
2025-08-23T22:30:54.115Z,1755988254.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:54.119Z,1755988254.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272545
2025-08-23T22:30:54.120Z,1755988254.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-08-23T22:30:54.138Z,1755988254.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.180565 m,
nav range: 114.386871 m,
bearing: 130.498149 deg,
approach rate: -0.484867 m/s,
LOS rate: -0.019690 deg/s,
cmd heading: 139.985588 deg,
new cmd heading: 139.969262 deg.
2025-08-23T22:30:54.139Z,1755988254.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442924 target range: 116.180565 and range: 116.90 m.
2025-08-23T22:30:54.376Z,1755988254.376 [DAT](INFO): DAT read: 22:30:53.0034 LVL= 27824, 29681, 30578, 32755, AGC= 66, IDX= 417,-0.03,-2.380, 2.290,-1.888,-2.442, PHS= 0.163,-1.507, 0.510, RAW= 159.2, 9.0, CAL= 159.0, 9.4, ROT= 351.0, -9.4
2025-08-23T22:30:54.378Z,1755988254.378 [DAT](INFO): got valid direction response:
22:30:53.0034 LVL= 27824, 29681, 30578, 32755, AGC= 66, IDX= 417,-0.03,-2.380, 2.290,-1.888,-2.442, PHS= 0.163,-1.507, 0.510, RAW= 159.2, 9.0, CAL= 159.0, 9.4, ROT= 351.0, -9.4
2025-08-23T22:30:54.379Z,1755988254.379 [DAT](INFO): DAT read: Bearing 310.7, -12.5 (Local)
2025-08-23T22:30:54.379Z,1755988254.379 [DAT](INFO): Local bearing/azimuth received:
Bearing 310.7, -12.5 (Local)
2025-08-23T22:30:54.381Z,1755988254.381 [DAT](INFO): DAT read: Range 11 to 50 : 115.2 m (Round-trip 153.6 ms) speed 0.4 m/s
2025-08-23T22:30:54.387Z,1755988254.387 [DAT](INFO): DAT read: user:1823>
2025-08-23T22:30:54.388Z,1755988254.388 [DAT](INFO): DAT read: Tx time:22:30:54.0957
2025-08-23T22:30:54.388Z,1755988254.388 [DAT](INFO): Ping request sent.
2025-08-23T22:30:54.388Z,1755988254.388 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:54.389Z,1755988254.389 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:54.390Z,1755988254.390 [DAT](INFO): direction in FSK: [0.974426,-0.154334,0.163326]
2025-08-23T22:30:54.390Z,1755988254.390 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:54.390Z,1755988254.390 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:54.393Z,1755988254.393 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:54.394Z,1755988254.394 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:54.593Z,1755988254.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 115.199997 m,
deltaT: 3.536183 s,
deltaX: -1.700005 m,
approachRate: -0.480746 m/s,
rangeRepo size: 4
2025-08-23T22:30:54.599Z,1755988254.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 114.490768 m,
bearing: 131.750348 deg,
lat: 36.779437 deg,
lon: -121.859522 deg,
deltaT: 3.536183 s,
deltaX: -1.689796 m,
approachRate: -0.477859 m/s,
posRepo size: 4
2025-08-23T22:30:54.600Z,1755988254.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-23T22:30:54.607Z,1755988254.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.490768 m,
nav range: 114.051193 m,
bearing: 130.666899 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.019690 deg/s,
cmd heading: 139.969263 deg,
new cmd heading: 139.950561 deg.
2025-08-23T22:30:54.608Z,1755988254.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442598 target range: 114.490768 and range: 115.20 m.
2025-08-23T22:30:54.916Z,1755988254.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-23T22:30:54.935Z,1755988254.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.490768 m,
nav range: 113.893829 m,
bearing: 130.660663 deg,
approach rate: -0.486143 m/s,
LOS rate: -0.019293 deg/s,
cmd heading: 139.950562 deg,
new cmd heading: 139.938072 deg.
2025-08-23T22:30:54.942Z,1755988254.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442380 target range: 114.490768 and range: 115.20 m.
2025-08-23T22:30:55.311Z,1755988255.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-23T22:30:55.314Z,1755988255.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.490768 m,
nav range: 113.720749 m,
bearing: 130.653816 deg,
approach rate: -0.438021 m/s,
LOS rate: -0.017353 deg/s,
cmd heading: 139.938077 deg,
new cmd heading: 139.924363 deg.
2025-08-23T22:30:55.315Z,1755988255.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442141 target range: 114.490768 and range: 115.20 m.
2025-08-23T22:30:55.705Z,1755988255.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-23T22:30:55.724Z,1755988255.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.490768 m,
nav range: 113.532799 m,
bearing: 130.646407 deg,
approach rate: -0.476947 m/s,
LOS rate: -0.018832 deg/s,
cmd heading: 139.924362 deg,
new cmd heading: 139.909520 deg.
2025-08-23T22:30:55.731Z,1755988255.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441882 target range: 114.490768 and range: 115.20 m.
2025-08-23T22:30:56.160Z,1755988256.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:56.167Z,1755988256.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-23T22:30:56.174Z,1755988256.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.490768 m,
nav range: 113.331322 m,
bearing: 130.637528 deg,
approach rate: -0.436039 m/s,
LOS rate: -0.019250 deg/s,
cmd heading: 139.909513 deg,
new cmd heading: 139.891723 deg.
2025-08-23T22:30:56.175Z,1755988256.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441571 target range: 114.490768 and range: 115.20 m.
2025-08-23T22:30:56.391Z,1755988256.391 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:56.391Z,1755988256.391 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:56.392Z,1755988256.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:56.537Z,1755988256.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-23T22:30:56.540Z,1755988256.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.490768 m,
nav range: 113.152893 m,
bearing: 130.629788 deg,
approach rate: -0.482241 m/s,
LOS rate: -0.020954 deg/s,
cmd heading: 139.891727 deg,
new cmd heading: 139.876221 deg.
2025-08-23T22:30:56.542Z,1755988256.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441301 target range: 114.490768 and range: 115.20 m.
2025-08-23T22:30:56.643Z,1755988256.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254392
2025-08-23T22:30:56.894Z,1755988256.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506227
2025-08-23T22:30:56.982Z,1755988256.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-23T22:30:56.985Z,1755988256.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.490768 m,
nav range: 112.951965 m,
bearing: 130.619291 deg,
approach rate: -0.456152 m/s,
LOS rate: -0.023873 deg/s,
cmd heading: 139.876223 deg,
new cmd heading: 139.855191 deg.
2025-08-23T22:30:56.990Z,1755988256.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440933 target range: 114.490768 and range: 115.20 m.
2025-08-23T22:30:57.147Z,1755988257.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758529
2025-08-23T22:30:57.343Z,1755988257.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-23T22:30:57.346Z,1755988257.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.490768 m,
nav range: 112.771027 m,
bearing: 130.609919 deg,
approach rate: -0.495355 m/s,
LOS rate: -0.025699 deg/s,
cmd heading: 139.855186 deg,
new cmd heading: 139.836411 deg.
2025-08-23T22:30:57.347Z,1755988257.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440606 target range: 114.490768 and range: 115.20 m.
2025-08-23T22:30:57.399Z,1755988257.399 [DAT](INFO): DAT read: Rx Time:22:30:56.6509
2025-08-23T22:30:57.400Z,1755988257.400 [DAT](INFO): Rx dataTimestamp_ set to:1755988257.399610
2025-08-23T22:30:57.401Z,1755988257.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012518
2025-08-23T22:30:57.650Z,1755988257.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262213
2025-08-23T22:30:57.731Z,1755988257.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.49 m.
2025-08-23T22:30:57.736Z,1755988257.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.490768 m,
nav range: 112.585663 m,
bearing: 130.600380 deg,
approach rate: -0.477637 m/s,
LOS rate: -0.024620 deg/s,
cmd heading: 139.836416 deg,
new cmd heading: 139.817307 deg.
2025-08-23T22:30:57.765Z,1755988257.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440272 target range: 114.490768 and range: 115.20 m.
2025-08-23T22:30:57.917Z,1755988257.917 [DAT](INFO): DAT read: 22:30:56.6509 LVL= 27312, 28817, 28658, 32755, AGC= 67, IDX= 425, 0.42, 0.997,-0.665, 1.460, 0.911, PHS= 0.188,-1.530, 0.505, RAW= 158.3, 8.9, CAL= 158.1, 9.4, ROT= 351.9, -9.4
2025-08-23T22:30:57.945Z,1755988257.945 [DAT](INFO): got valid direction response:
22:30:56.6509 LVL= 27312, 28817, 28658, 32755, AGC= 67, IDX= 425, 0.42, 0.997,-0.665, 1.460, 0.911, PHS= 0.188,-1.530, 0.505, RAW= 158.3, 8.9, CAL= 158.1, 9.4, ROT= 351.9, -9.4
2025-08-23T22:30:57.947Z,1755988257.947 [DAT](INFO): DAT read: Bearing 310.5, -10.9 (Local)
2025-08-23T22:30:57.947Z,1755988257.947 [DAT](INFO): Local bearing/azimuth received:
Bearing 310.5, -10.9 (Local)
2025-08-23T22:30:57.961Z,1755988257.961 [DAT](INFO): DAT read: Range 11 to 50 : 113.4 m (Round-trip 151.2 ms) speed 0.4 m/s
2025-08-23T22:30:57.967Z,1755988257.967 [DAT](INFO): DAT read: user:1824>
2025-08-23T22:30:57.967Z,1755988257.967 [DAT](INFO): DAT read: Tx time:22:30:57.7456
2025-08-23T22:30:57.968Z,1755988257.968 [DAT](INFO): Ping request sent.
2025-08-23T22:30:57.968Z,1755988257.968 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:30:57.968Z,1755988257.968 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:30:57.969Z,1755988257.969 [DAT](INFO): direction in FSK: [0.976730,-0.139009,0.163326]
2025-08-23T22:30:57.970Z,1755988257.970 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:57.970Z,1755988257.970 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:57.973Z,1755988257.973 [DAT](INFO): publishing transmit ping time
2025-08-23T22:30:57.973Z,1755988257.973 [DAT](INFO): publishing direction and range info
2025-08-23T22:30:58.226Z,1755988258.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 113.400002 m,
deltaT: 3.536401 s,
deltaX: -1.799995 m,
approachRate: -0.508991 m/s,
rangeRepo size: 4
2025-08-23T22:30:58.228Z,1755988258.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 112.705559 m,
bearing: 132.270220 deg,
lat: 36.779436 deg,
lon: -121.859522 deg,
deltaT: 3.536401 s,
deltaX: -1.785210 m,
approachRate: -0.504810 m/s,
posRepo size: 4
2025-08-23T22:30:58.228Z,1755988258.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.71 m.
2025-08-23T22:30:58.231Z,1755988258.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.705559 m,
nav range: 112.416183 m,
bearing: 130.629583 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.024620 deg/s,
cmd heading: 139.817305 deg,
new cmd heading: 139.792998 deg.
2025-08-23T22:30:58.232Z,1755988258.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439848 target range: 112.705559 and range: 113.40 m.
2025-08-23T22:30:58.600Z,1755988258.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:30:58.602Z,1755988258.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.71 m.
2025-08-23T22:30:58.605Z,1755988258.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.705559 m,
nav range: 112.231430 m,
bearing: 130.621519 deg,
approach rate: -0.489630 m/s,
LOS rate: -0.021407 deg/s,
cmd heading: 139.793004 deg,
new cmd heading: 139.776849 deg.
2025-08-23T22:30:58.614Z,1755988258.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439566 target range: 112.705559 and range: 113.40 m.
2025-08-23T22:30:58.667Z,1755988258.667 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:30:58.667Z,1755988258.667 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:30:58.668Z,1755988258.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:30:58.919Z,1755988258.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.950691
2025-08-23T22:30:59.029Z,1755988259.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.71 m.
2025-08-23T22:30:59.032Z,1755988259.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.705559 m,
nav range: 112.036163 m,
bearing: 130.614535 deg,
approach rate: -0.457200 m/s,
LOS rate: -0.016381 deg/s,
cmd heading: 139.776843 deg,
new cmd heading: 139.762851 deg.
2025-08-23T22:30:59.033Z,1755988259.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439322 target range: 112.705559 and range: 113.40 m.
2025-08-23T22:30:59.170Z,1755988259.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.202600
2025-08-23T22:30:59.400Z,1755988259.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.71 m.
2025-08-23T22:30:59.403Z,1755988259.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.705559 m,
nav range: 111.866875 m,
bearing: 130.608564 deg,
approach rate: -0.455977 m/s,
LOS rate: -0.016106 deg/s,
cmd heading: 139.762855 deg,
new cmd heading: 139.750896 deg.
2025-08-23T22:30:59.404Z,1755988259.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439113 target range: 112.705559 and range: 113.40 m.
2025-08-23T22:30:59.423Z,1755988259.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.455085
2025-08-23T22:30:59.675Z,1755988259.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706729
2025-08-23T22:30:59.831Z,1755988259.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.71 m.
2025-08-23T22:30:59.849Z,1755988259.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.705559 m,
nav range: 111.682549 m,
bearing: 130.602163 deg,
approach rate: -0.446188 m/s,
LOS rate: -0.015519 deg/s,
cmd heading: 139.750902 deg,
new cmd heading: 139.738080 deg.
2025-08-23T22:30:59.857Z,1755988259.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438890 target range: 112.705559 and range: 113.40 m.
2025-08-23T22:30:59.929Z,1755988259.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960810
2025-08-23T22:31:00.180Z,1755988260.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211673
2025-08-23T22:31:00.248Z,1755988260.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.71 m.
2025-08-23T22:31:00.267Z,1755988260.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.705559 m,
nav range: 111.473839 m,
bearing: 130.594371 deg,
approach rate: -0.480768 m/s,
LOS rate: -0.017984 deg/s,
cmd heading: 139.738075 deg,
new cmd heading: 139.722461 deg.
2025-08-23T22:31:00.268Z,1755988260.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438617 target range: 112.705559 and range: 113.40 m.
2025-08-23T22:31:00.432Z,1755988260.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464039
2025-08-23T22:31:00.612Z,1755988260.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:00.614Z,1755988260.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.71 m.
2025-08-23T22:31:00.617Z,1755988260.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.705559 m,
nav range: 111.301880 m,
bearing: 130.588006 deg,
approach rate: -0.469266 m/s,
LOS rate: -0.017397 deg/s,
cmd heading: 139.722461 deg,
new cmd heading: 139.709712 deg.
2025-08-23T22:31:00.618Z,1755988260.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438395 target range: 112.705559 and range: 113.40 m.
2025-08-23T22:31:00.684Z,1755988260.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715817
2025-08-23T22:31:00.935Z,1755988260.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967031
2025-08-23T22:31:01.040Z,1755988261.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.71 m.
2025-08-23T22:31:01.043Z,1755988261.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.705559 m,
nav range: 111.104248 m,
bearing: 130.580275 deg,
approach rate: -0.464554 m/s,
LOS rate: -0.018205 deg/s,
cmd heading: 139.709716 deg,
new cmd heading: 139.694226 deg.
2025-08-23T22:31:01.044Z,1755988261.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438124 target range: 112.705559 and range: 113.40 m.
2025-08-23T22:31:01.189Z,1755988261.189 [DAT](INFO): DAT read: Rx Time:22:31:00.2988
2025-08-23T22:31:01.190Z,1755988261.190 [DAT](INFO): Rx dataTimestamp_ set to:1755988261.189206
2025-08-23T22:31:01.190Z,1755988261.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222682
2025-08-23T22:31:01.424Z,1755988261.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.71 m.
2025-08-23T22:31:01.430Z,1755988261.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.705559 m,
nav range: 110.926949 m,
bearing: 130.573370 deg,
approach rate: -0.461287 m/s,
LOS rate: -0.017993 deg/s,
cmd heading: 139.694225 deg,
new cmd heading: 139.680394 deg.
2025-08-23T22:31:01.433Z,1755988261.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437883 target range: 112.705559 and range: 113.40 m.
2025-08-23T22:31:01.440Z,1755988261.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472013
2025-08-23T22:31:01.696Z,1755988261.696 [DAT](INFO): DAT read: 22:31:00.2988 LVL= 30240, 32753, 27762, 32755, AGC= 67, IDX= 419, 0.17,-0.764,-2.397,-0.342,-0.866, PHS= 0.204,-1.486, 0.480, RAW= 157.4, 8.7, CAL= 157.1, 9.2, ROT= 352.9, -9.2
2025-08-23T22:31:01.697Z,1755988261.697 [DAT](INFO): got valid direction response:
22:31:00.2988 LVL= 30240, 32753, 27762, 32755, AGC= 67, IDX= 419, 0.17,-0.764,-2.397,-0.342,-0.866, PHS= 0.204,-1.486, 0.480, RAW= 157.4, 8.7, CAL= 157.1, 9.2, ROT= 352.9, -9.2
2025-08-23T22:31:01.698Z,1755988261.698 [DAT](INFO): DAT read: Bearing 309.7, -9.3 (Local)
2025-08-23T22:31:01.699Z,1755988261.699 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.7, -9.3 (Local)
2025-08-23T22:31:01.700Z,1755988261.700 [DAT](INFO): DAT read: Range 11 to 50 : 111.8 m (Round-trip 149.1 ms) speed 0.4 m/s
2025-08-23T22:31:01.701Z,1755988261.701 [DAT](INFO): DAT read: user:1825>
2025-08-23T22:31:01.702Z,1755988261.702 [DAT](INFO): DAT read: Tx time:22:31:01.3956
2025-08-23T22:31:01.702Z,1755988261.702 [DAT](INFO): Ping request sent.
2025-08-23T22:31:01.702Z,1755988261.702 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:01.702Z,1755988261.702 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:01.703Z,1755988261.703 [DAT](INFO): direction in FSK: [0.979567,-0.122011,0.159881]
2025-08-23T22:31:01.704Z,1755988261.704 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:01.704Z,1755988261.704 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:01.707Z,1755988261.707 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:01.707Z,1755988261.707 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:01.911Z,1755988261.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 111.800003 m,
deltaT: 3.783303 s,
deltaX: -1.599998 m,
approachRate: -0.422910 m/s,
rangeRepo size: 4
2025-08-23T22:31:01.913Z,1755988261.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 111.116562 m,
bearing: 132.661350 deg,
lat: 36.779422 deg,
lon: -121.859538 deg,
deltaT: 3.783303 s,
deltaX: -1.588997 m,
approachRate: -0.420003 m/s,
posRepo size: 4
2025-08-23T22:31:01.918Z,1755988261.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-08-23T22:31:01.928Z,1755988261.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.116562 m,
nav range: 110.662712 m,
bearing: 131.641549 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.017993 deg/s,
cmd heading: 139.680387 deg,
new cmd heading: 139.662879 deg.
2025-08-23T22:31:01.929Z,1755988261.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437577 target range: 111.116562 and range: 111.80 m.
2025-08-23T22:31:02.298Z,1755988262.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-08-23T22:31:02.301Z,1755988262.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.116562 m,
nav range: 110.450668 m,
bearing: 131.635788 deg,
approach rate: -0.546803 m/s,
LOS rate: -0.014884 deg/s,
cmd heading: 139.662875 deg,
new cmd heading: 139.651331 deg.
2025-08-23T22:31:02.302Z,1755988262.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437376 target range: 111.116562 and range: 111.80 m.
2025-08-23T22:31:02.680Z,1755988262.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:02.682Z,1755988262.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-08-23T22:31:02.685Z,1755988262.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.116562 m,
nav range: 110.273804 m,
bearing: 131.631033 deg,
approach rate: -0.460513 m/s,
LOS rate: -0.012400 deg/s,
cmd heading: 139.651332 deg,
new cmd heading: 139.641807 deg.
2025-08-23T22:31:02.686Z,1755988262.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437209 target range: 111.116562 and range: 111.80 m.
2025-08-23T22:31:02.698Z,1755988262.698 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:02.698Z,1755988262.698 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:02.699Z,1755988262.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:02.954Z,1755988262.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252356
2025-08-23T22:31:03.115Z,1755988263.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-08-23T22:31:03.118Z,1755988263.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.116562 m,
nav range: 110.079735 m,
bearing: 131.625738 deg,
approach rate: -0.448106 m/s,
LOS rate: -0.012249 deg/s,
cmd heading: 139.641811 deg,
new cmd heading: 139.631201 deg.
2025-08-23T22:31:03.119Z,1755988263.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437024 target range: 111.116562 and range: 111.80 m.
2025-08-23T22:31:03.204Z,1755988263.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501761
2025-08-23T22:31:03.455Z,1755988263.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752576
2025-08-23T22:31:03.495Z,1755988263.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-08-23T22:31:03.499Z,1755988263.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.116562 m,
nav range: 109.909378 m,
bearing: 131.621116 deg,
approach rate: -0.448246 m/s,
LOS rate: -0.012180 deg/s,
cmd heading: 139.631196 deg,
new cmd heading: 139.621938 deg.
2025-08-23T22:31:03.499Z,1755988263.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436862 target range: 111.116562 and range: 111.80 m.
2025-08-23T22:31:03.708Z,1755988263.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005528
2025-08-23T22:31:03.959Z,1755988263.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256532
2025-08-23T22:31:03.963Z,1755988263.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-08-23T22:31:03.966Z,1755988263.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.116562 m,
nav range: 109.708588 m,
bearing: 131.615671 deg,
approach rate: -0.429514 m/s,
LOS rate: -0.011669 deg/s,
cmd heading: 139.621935 deg,
new cmd heading: 139.611024 deg.
2025-08-23T22:31:03.967Z,1755988263.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436672 target range: 111.116562 and range: 111.80 m.
2025-08-23T22:31:04.211Z,1755988264.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509233
2025-08-23T22:31:04.332Z,1755988264.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-08-23T22:31:04.339Z,1755988264.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.116562 m,
nav range: 109.534241 m,
bearing: 131.610284 deg,
approach rate: -0.472973 m/s,
LOS rate: -0.014637 deg/s,
cmd heading: 139.611020 deg,
new cmd heading: 139.600229 deg.
2025-08-23T22:31:04.340Z,1755988264.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436484 target range: 111.116562 and range: 111.80 m.
2025-08-23T22:31:04.463Z,1755988264.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760877
2025-08-23T22:31:04.715Z,1755988264.715 [DAT](INFO): DAT read: Rx Time:22:31:03.9464
2025-08-23T22:31:04.715Z,1755988264.715 [DAT](INFO): Rx dataTimestamp_ set to:1755988264.715080
2025-08-23T22:31:04.716Z,1755988264.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013855
2025-08-23T22:31:04.731Z,1755988264.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:04.733Z,1755988264.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-08-23T22:31:04.740Z,1755988264.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.116562 m,
nav range: 109.345322 m,
bearing: 131.604450 deg,
approach rate: -0.470627 m/s,
LOS rate: -0.014558 deg/s,
cmd heading: 139.600228 deg,
new cmd heading: 139.588540 deg.
2025-08-23T22:31:04.741Z,1755988264.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436280 target range: 111.116562 and range: 111.80 m.
2025-08-23T22:31:04.967Z,1755988264.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265231
2025-08-23T22:31:05.224Z,1755988265.224 [DAT](INFO): DAT read: 22:31:03.9464 LVL= 25280, 32241, 25842, 32755, AGC= 67, IDX= 411, 0.14,-0.958,-2.605,-0.551,-1.083, PHS= 0.228,-1.477, 0.489, RAW= 157.0, 8.3, CAL= 156.6, 8.7, ROT= 353.4, -8.7
2025-08-23T22:31:05.226Z,1755988265.226 [DAT](INFO): got valid direction response:
22:31:03.9464 LVL= 25280, 32241, 25842, 32755, AGC= 67, IDX= 411, 0.14,-0.958,-2.605,-0.551,-1.083, PHS= 0.228,-1.477, 0.489, RAW= 157.0, 8.3, CAL= 156.6, 8.7, ROT= 353.4, -8.7
2025-08-23T22:31:05.227Z,1755988265.227 [DAT](INFO): DAT read: Bearing 308.6, -8.0 (Local)
2025-08-23T22:31:05.227Z,1755988265.227 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.6, -8.0 (Local)
2025-08-23T22:31:05.229Z,1755988265.229 [DAT](INFO): DAT read: Range 11 to 50 : 110.0 m (Round-trip 146.7 ms) speed 0.7 m/s
2025-08-23T22:31:05.230Z,1755988265.230 [DAT](INFO): DAT read: user:1826>
2025-08-23T22:31:05.230Z,1755988265.230 [DAT](INFO): DAT read: Tx time:22:31:05.0456
2025-08-23T22:31:05.231Z,1755988265.231 [DAT](INFO): Ping request sent.
2025-08-23T22:31:05.231Z,1755988265.231 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:05.231Z,1755988265.231 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:05.232Z,1755988265.232 [DAT](INFO): direction in FSK: [0.981943,-0.113615,0.151261]
2025-08-23T22:31:05.232Z,1755988265.232 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:05.232Z,1755988265.232 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:05.236Z,1755988265.236 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:05.236Z,1755988265.236 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:05.322Z,1755988265.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 110.000000 m,
deltaT: 3.528206 s,
deltaX: -1.800003 m,
approachRate: -0.510175 m/s,
rangeRepo size: 4
2025-08-23T22:31:05.324Z,1755988265.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 109.327675 m,
bearing: 132.850576 deg,
lat: 36.779416 deg,
lon: -121.859548 deg,
deltaT: 3.528206 s,
deltaX: -1.788887 m,
approachRate: -0.507025 m/s,
posRepo size: 4
2025-08-23T22:31:05.325Z,1755988265.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.33 m.
2025-08-23T22:31:05.341Z,1755988265.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.327675 m,
nav range: 108.885544 m,
bearing: 132.195023 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.014558 deg/s,
cmd heading: 139.588535 deg,
new cmd heading: 139.571525 deg.
2025-08-23T22:31:05.346Z,1755988265.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435983 target range: 109.327675 and range: 110.00 m.
2025-08-23T22:31:05.622Z,1755988265.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.33 m.
2025-08-23T22:31:05.625Z,1755988265.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.327675 m,
nav range: 108.729088 m,
bearing: 132.191635 deg,
approach rate: -0.514243 m/s,
LOS rate: -0.011152 deg/s,
cmd heading: 139.571528 deg,
new cmd heading: 139.564742 deg.
2025-08-23T22:31:05.643Z,1755988265.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435864 target range: 109.327675 and range: 110.00 m.
2025-08-23T22:31:06.064Z,1755988266.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.33 m.
2025-08-23T22:31:06.067Z,1755988266.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.327675 m,
nav range: 108.521965 m,
bearing: 132.186306 deg,
approach rate: -0.467740 m/s,
LOS rate: -0.012057 deg/s,
cmd heading: 139.564739 deg,
new cmd heading: 139.554061 deg.
2025-08-23T22:31:06.068Z,1755988266.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435678 target range: 109.327675 and range: 110.00 m.
2025-08-23T22:31:06.450Z,1755988266.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.33 m.
2025-08-23T22:31:06.453Z,1755988266.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.327675 m,
nav range: 108.340744 m,
bearing: 132.181696 deg,
approach rate: -0.469322 m/s,
LOS rate: -0.011958 deg/s,
cmd heading: 139.554056 deg,
new cmd heading: 139.544821 deg.
2025-08-23T22:31:06.454Z,1755988266.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435517 target range: 109.327675 and range: 110.00 m.
2025-08-23T22:31:06.832Z,1755988266.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:06.834Z,1755988266.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.33 m.
2025-08-23T22:31:06.837Z,1755988266.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.327675 m,
nav range: 108.161316 m,
bearing: 132.177141 deg,
approach rate: -0.467646 m/s,
LOS rate: -0.011892 deg/s,
cmd heading: 139.544822 deg,
new cmd heading: 139.535696 deg.
2025-08-23T22:31:06.838Z,1755988266.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435357 target range: 109.327675 and range: 110.00 m.
2025-08-23T22:31:06.985Z,1755988266.985 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:06.986Z,1755988266.986 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:06.987Z,1755988266.987 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:07.234Z,1755988267.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003710
2025-08-23T22:31:07.297Z,1755988267.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.33 m.
2025-08-23T22:31:07.300Z,1755988267.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.327675 m,
nav range: 107.945595 m,
bearing: 132.173506 deg,
approach rate: -0.466300 m/s,
LOS rate: -0.007873 deg/s,
cmd heading: 139.535697 deg,
new cmd heading: 139.528412 deg.
2025-08-23T22:31:07.301Z,1755988267.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435230 target range: 109.327675 and range: 110.00 m.
2025-08-23T22:31:07.486Z,1755988267.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255752
2025-08-23T22:31:07.675Z,1755988267.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.33 m.
2025-08-23T22:31:07.690Z,1755988267.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.327675 m,
nav range: 107.769119 m,
bearing: 132.170554 deg,
approach rate: -0.465916 m/s,
LOS rate: -0.007806 deg/s,
cmd heading: 139.528416 deg,
new cmd heading: 139.522502 deg.
2025-08-23T22:31:07.691Z,1755988267.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435127 target range: 109.327675 and range: 110.00 m.
2025-08-23T22:31:07.739Z,1755988267.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508206
2025-08-23T22:31:07.991Z,1755988267.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759958
2025-08-23T22:31:08.077Z,1755988268.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.33 m.
2025-08-23T22:31:08.080Z,1755988268.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.327675 m,
nav range: 107.580002 m,
bearing: 132.166862 deg,
approach rate: -0.471188 m/s,
LOS rate: -0.009216 deg/s,
cmd heading: 139.522501 deg,
new cmd heading: 139.515103 deg.
2025-08-23T22:31:08.081Z,1755988268.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434998 target range: 109.327675 and range: 110.00 m.
2025-08-23T22:31:08.243Z,1755988268.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011896
2025-08-23T22:31:08.461Z,1755988268.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.33 m.
2025-08-23T22:31:08.464Z,1755988268.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.327675 m,
nav range: 107.398941 m,
bearing: 132.163321 deg,
approach rate: -0.471415 m/s,
LOS rate: -0.009234 deg/s,
cmd heading: 139.515097 deg,
new cmd heading: 139.508004 deg.
2025-08-23T22:31:08.465Z,1755988268.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434874 target range: 109.327675 and range: 110.00 m.
2025-08-23T22:31:08.494Z,1755988268.494 [DAT](INFO): DAT read: Rx Time:22:31:07.5941
2025-08-23T22:31:08.495Z,1755988268.495 [DAT](INFO): Rx dataTimestamp_ set to:1755988268.494649
2025-08-23T22:31:08.495Z,1755988268.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264766
2025-08-23T22:31:08.746Z,1755988268.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515766
2025-08-23T22:31:08.881Z,1755988268.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:08.883Z,1755988268.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.33 m.
2025-08-23T22:31:08.886Z,1755988268.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.327675 m,
nav range: 107.199989 m,
bearing: 132.159445 deg,
approach rate: -0.470797 m/s,
LOS rate: -0.009190 deg/s,
cmd heading: 139.508007 deg,
new cmd heading: 139.500240 deg.
2025-08-23T22:31:08.887Z,1755988268.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434738 target range: 109.327675 and range: 110.00 m.
2025-08-23T22:31:09.026Z,1755988269.026 [DAT](INFO): DAT read: 22:31:07.5941 LVL= 32000, 32753, 26914, 32755, AGC= 66, IDX= 419,-0.17, 3.125, 1.415,-2.761, 2.998, PHS= 0.229,-1.538, 0.480, RAW= 156.6, 8.8, CAL= 156.2, 9.3, ROT= 353.8, -9.3
2025-08-23T22:31:09.027Z,1755988269.027 [DAT](INFO): got valid direction response:
22:31:07.5941 LVL= 32000, 32753, 26914, 32755, AGC= 66, IDX= 419,-0.17, 3.125, 1.415,-2.761, 2.998, PHS= 0.229,-1.538, 0.480, RAW= 156.6, 8.8, CAL= 156.2, 9.3, ROT= 353.8, -9.3
2025-08-23T22:31:09.028Z,1755988269.028 [DAT](INFO): DAT read: Bearing 309.0, -7.0 (Local)
2025-08-23T22:31:09.028Z,1755988269.028 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.0, -7.0 (Local)
2025-08-23T22:31:09.046Z,1755988269.046 [DAT](INFO): DAT read: Range 11 to 50 : 108.3 m (Round-trip 144.4 ms) speed 0.4 m/s
2025-08-23T22:31:09.047Z,1755988269.047 [DAT](INFO): DAT read: user:1827>
2025-08-23T22:31:09.048Z,1755988269.048 [DAT](INFO): DAT read: Tx time:22:31:08.6956
2025-08-23T22:31:09.048Z,1755988269.048 [DAT](INFO): Ping request sent.
2025-08-23T22:31:09.048Z,1755988269.048 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:09.049Z,1755988269.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:09.050Z,1755988269.050 [DAT](INFO): direction in FSK: [0.981084,-0.106580,0.161604]
2025-08-23T22:31:09.050Z,1755988269.050 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:09.050Z,1755988269.050 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:09.058Z,1755988269.058 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:09.058Z,1755988269.058 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:09.287Z,1755988269.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 108.300003 m,
deltaT: 3.781586 s,
deltaX: -1.699997 m,
approachRate: -0.449546 m/s,
rangeRepo size: 4
2025-08-23T22:31:09.289Z,1755988269.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 107.637619 m,
bearing: 132.964175 deg,
lat: 36.779411 deg,
lon: -121.859555 deg,
deltaT: 3.781586 s,
deltaX: -1.690056 m,
approachRate: -0.446917 m/s,
posRepo size: 4
2025-08-23T22:31:09.290Z,1755988269.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.64 m.
2025-08-23T22:31:09.292Z,1755988269.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.637619 m,
nav range: 106.974831 m,
bearing: 132.601951 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.009190 deg/s,
cmd heading: 139.500234 deg,
new cmd heading: 139.492827 deg.
2025-08-23T22:31:09.294Z,1755988269.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434609 target range: 107.637619 and range: 108.30 m.
2025-08-23T22:31:09.359Z,1755988269.359 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:31:09.690Z,1755988269.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.64 m.
2025-08-23T22:31:09.693Z,1755988269.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.637619 m,
nav range: 106.783226 m,
bearing: 132.601364 deg,
approach rate: -0.479749 m/s,
LOS rate: -0.001473 deg/s,
cmd heading: 139.492830 deg,
new cmd heading: 139.491654 deg.
2025-08-23T22:31:09.698Z,1755988269.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434589 target range: 107.637619 and range: 108.30 m.
2025-08-23T22:31:10.095Z,1755988270.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.64 m.
2025-08-23T22:31:10.098Z,1755988270.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.637619 m,
nav range: 106.588348 m,
bearing: 132.602374 deg,
approach rate: -0.475759 m/s,
LOS rate: 0.002470 deg/s,
cmd heading: 139.491656 deg,
new cmd heading: 139.493679 deg.
2025-08-23T22:31:10.099Z,1755988270.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434624 target range: 107.637619 and range: 108.30 m.
2025-08-23T22:31:10.362Z,1755988270.362 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:31:10.478Z,1755988270.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.64 m.
2025-08-23T22:31:10.481Z,1755988270.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.637619 m,
nav range: 106.409607 m,
bearing: 132.603243 deg,
approach rate: -0.466822 m/s,
LOS rate: 0.002273 deg/s,
cmd heading: 139.493677 deg,
new cmd heading: 139.495418 deg.
2025-08-23T22:31:10.482Z,1755988270.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434654 target range: 107.637619 and range: 108.30 m.
2025-08-23T22:31:10.936Z,1755988270.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:10.939Z,1755988270.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.64 m.
2025-08-23T22:31:10.941Z,1755988270.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.637619 m,
nav range: 106.196182 m,
bearing: 132.604292 deg,
approach rate: -0.463747 m/s,
LOS rate: 0.002285 deg/s,
cmd heading: 139.495412 deg,
new cmd heading: 139.497515 deg.
2025-08-23T22:31:10.974Z,1755988270.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434691 target range: 107.637619 and range: 108.30 m.
2025-08-23T22:31:11.017Z,1755988271.017 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:11.017Z,1755988271.017 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:11.018Z,1755988271.018 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:11.267Z,1755988271.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218215
2025-08-23T22:31:11.337Z,1755988271.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.64 m.
2025-08-23T22:31:11.344Z,1755988271.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.637619 m,
nav range: 106.016106 m,
bearing: 132.603786 deg,
approach rate: -0.451695 m/s,
LOS rate: -0.001272 deg/s,
cmd heading: 139.497516 deg,
new cmd heading: 139.496502 deg.
2025-08-23T22:31:11.349Z,1755988271.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434673 target range: 107.637619 and range: 108.30 m.
2025-08-23T22:31:11.519Z,1755988271.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470231
2025-08-23T22:31:11.708Z,1755988271.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.64 m.
2025-08-23T22:31:11.712Z,1755988271.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.637619 m,
nav range: 105.831688 m,
bearing: 132.603281 deg,
approach rate: -0.497159 m/s,
LOS rate: -0.001363 deg/s,
cmd heading: 139.496505 deg,
new cmd heading: 139.495494 deg.
2025-08-23T22:31:11.713Z,1755988271.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434656 target range: 107.637619 and range: 108.30 m.
2025-08-23T22:31:11.775Z,1755988271.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726834
2025-08-23T22:31:12.029Z,1755988272.029 [DAT](INFO): DAT read: Rx Time:22:31:11.2418
2025-08-23T22:31:12.031Z,1755988272.031 [DAT](INFO): Rx dataTimestamp_ set to:1755988272.030083
2025-08-23T22:31:12.033Z,1755988272.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983873
2025-08-23T22:31:12.136Z,1755988272.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.64 m.
2025-08-23T22:31:12.139Z,1755988272.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.637619 m,
nav range: 105.625580 m,
bearing: 132.603607 deg,
approach rate: -0.481495 m/s,
LOS rate: 0.000763 deg/s,
cmd heading: 139.495494 deg,
new cmd heading: 139.496148 deg.
2025-08-23T22:31:12.140Z,1755988272.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434667 target range: 107.637619 and range: 108.30 m.
2025-08-23T22:31:12.278Z,1755988272.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230140
2025-08-23T22:31:12.536Z,1755988272.536 [DAT](INFO): DAT read: 22:31:11.2418 LVL= 28784, 32593, 26978, 32755, AGC= 65, IDX= 412, 0.14,-1.183,-2.870,-0.812,-1.359, PHS= 0.278,-1.466, 0.503, RAW= 156.0, 7.4, CAL= 155.5, 7.6, ROT= 354.5, -7.6
2025-08-23T22:31:12.537Z,1755988272.537 [DAT](INFO): got valid direction response:
22:31:11.2418 LVL= 28784, 32593, 26978, 32755, AGC= 65, IDX= 412, 0.14,-1.183,-2.870,-0.812,-1.359, PHS= 0.278,-1.466, 0.503, RAW= 156.0, 7.4, CAL= 155.5, 7.6, ROT= 354.5, -7.6
2025-08-23T22:31:12.538Z,1755988272.538 [DAT](INFO): DAT read: Bearing 307.2, -5.8 (Local)
2025-08-23T22:31:12.539Z,1755988272.539 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.2, -5.8 (Local)
2025-08-23T22:31:12.540Z,1755988272.540 [DAT](INFO): DAT read: Range 11 to 50 : 106.5 m (Round-trip 142.1 ms) speed 0.4 m/s
2025-08-23T22:31:12.541Z,1755988272.541 [DAT](INFO): DAT read: user:1828>
2025-08-23T22:31:12.550Z,1755988272.550 [DAT](INFO): DAT read: Tx time:22:31:12.3456
2025-08-23T22:31:12.550Z,1755988272.550 [DAT](INFO): Ping request sent.
2025-08-23T22:31:12.550Z,1755988272.550 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:12.551Z,1755988272.551 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:12.552Z,1755988272.552 [DAT](INFO): direction in FSK: [0.986652,-0.095004,0.132256]
2025-08-23T22:31:12.552Z,1755988272.552 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:12.552Z,1755988272.552 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:12.555Z,1755988272.555 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:12.555Z,1755988272.555 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:12.655Z,1755988272.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 106.500000 m,
deltaT: 3.530304 s,
deltaX: -1.800003 m,
approachRate: -0.509872 m/s,
rangeRepo size: 4
2025-08-23T22:31:12.657Z,1755988272.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 105.848625 m,
bearing: 133.696444 deg,
lat: 36.779409 deg,
lon: -121.859560 deg,
deltaT: 3.530304 s,
deltaX: -1.788994 m,
approachRate: -0.506754 m/s,
posRepo size: 4
2025-08-23T22:31:12.670Z,1755988272.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.85 m.
2025-08-23T22:31:12.672Z,1755988272.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.848625 m,
nav range: 105.167038 m,
bearing: 132.830062 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000763 deg/s,
cmd heading: 139.496150 deg,
new cmd heading: 139.496941 deg.
2025-08-23T22:31:12.678Z,1755988272.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434681 target range: 105.848625 and range: 106.50 m.
2025-08-23T22:31:13.047Z,1755988273.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:13.065Z,1755988273.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.85 m.
2025-08-23T22:31:13.079Z,1755988273.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.848625 m,
nav range: 104.976791 m,
bearing: 132.830767 deg,
approach rate: -0.472044 m/s,
LOS rate: 0.001752 deg/s,
cmd heading: 139.496942 deg,
new cmd heading: 139.498355 deg.
2025-08-23T22:31:13.080Z,1755988273.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434705 target range: 105.848625 and range: 106.50 m.
2025-08-23T22:31:13.287Z,1755988273.287 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:13.287Z,1755988273.287 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:13.288Z,1755988273.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:13.456Z,1755988273.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.85 m.
2025-08-23T22:31:13.459Z,1755988273.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.848625 m,
nav range: 104.765961 m,
bearing: 132.831986 deg,
approach rate: -0.529328 m/s,
LOS rate: 0.003064 deg/s,
cmd heading: 139.498349 deg,
new cmd heading: 139.500790 deg.
2025-08-23T22:31:13.459Z,1755988273.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434748 target range: 105.848625 and range: 106.50 m.
2025-08-23T22:31:13.540Z,1755988273.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988924
2025-08-23T22:31:13.791Z,1755988273.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240549
2025-08-23T22:31:13.824Z,1755988273.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.85 m.
2025-08-23T22:31:13.827Z,1755988273.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.848625 m,
nav range: 104.588936 m,
bearing: 132.832958 deg,
approach rate: -0.480627 m/s,
LOS rate: 0.002645 deg/s,
cmd heading: 139.500794 deg,
new cmd heading: 139.502743 deg.
2025-08-23T22:31:13.828Z,1755988273.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434782 target range: 105.848625 and range: 106.50 m.
2025-08-23T22:31:14.045Z,1755988274.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494189
2025-08-23T22:31:14.256Z,1755988274.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.85 m.
2025-08-23T22:31:14.259Z,1755988274.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.848625 m,
nav range: 104.381119 m,
bearing: 132.832414 deg,
approach rate: -0.480835 m/s,
LOS rate: -0.001262 deg/s,
cmd heading: 139.502748 deg,
new cmd heading: 139.501657 deg.
2025-08-23T22:31:14.260Z,1755988274.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434763 target range: 105.848625 and range: 106.50 m.
2025-08-23T22:31:14.295Z,1755988274.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744416
2025-08-23T22:31:14.547Z,1755988274.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996172
2025-08-23T22:31:14.630Z,1755988274.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.85 m.
2025-08-23T22:31:14.632Z,1755988274.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.848625 m,
nav range: 104.201828 m,
bearing: 132.831960 deg,
approach rate: -0.480244 m/s,
LOS rate: -0.001219 deg/s,
cmd heading: 139.501655 deg,
new cmd heading: 139.500745 deg.
2025-08-23T22:31:14.633Z,1755988274.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434747 target range: 105.848625 and range: 106.50 m.
2025-08-23T22:31:14.799Z,1755988274.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248276
2025-08-23T22:31:15.031Z,1755988275.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.85 m.
2025-08-23T22:31:15.053Z,1755988275.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502284
2025-08-23T22:31:15.055Z,1755988275.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.848625 m,
nav range: 104.010567 m,
bearing: 132.831490 deg,
approach rate: -0.476982 m/s,
LOS rate: -0.001174 deg/s,
cmd heading: 139.500740 deg,
new cmd heading: 139.499799 deg.
2025-08-23T22:31:15.063Z,1755988275.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434731 target range: 105.848625 and range: 106.50 m.
2025-08-23T22:31:15.303Z,1755988275.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752225
2025-08-23T22:31:15.462Z,1755988275.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:15.464Z,1755988275.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.85 m.
2025-08-23T22:31:15.467Z,1755988275.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.848625 m,
nav range: 103.806038 m,
bearing: 132.831038 deg,
approach rate: -0.472019 m/s,
LOS rate: -0.001045 deg/s,
cmd heading: 139.499797 deg,
new cmd heading: 139.498892 deg.
2025-08-23T22:31:15.468Z,1755988275.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434715 target range: 105.848625 and range: 106.50 m.
2025-08-23T22:31:15.555Z,1755988275.555 [DAT](INFO): DAT read: Rx Time:22:31:14.8895
2025-08-23T22:31:15.555Z,1755988275.555 [DAT](INFO): Rx dataTimestamp_ set to:1755988275.554870
2025-08-23T22:31:15.556Z,1755988275.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005382
2025-08-23T22:31:15.807Z,1755988275.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256214
2025-08-23T22:31:15.863Z,1755988275.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.85 m.
2025-08-23T22:31:15.870Z,1755988275.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.848625 m,
nav range: 103.622086 m,
bearing: 132.830668 deg,
approach rate: -0.460673 m/s,
LOS rate: -0.000928 deg/s,
cmd heading: 139.498896 deg,
new cmd heading: 139.498155 deg.
2025-08-23T22:31:15.871Z,1755988275.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434702 target range: 105.848625 and range: 106.50 m.
2025-08-23T22:31:16.061Z,1755988276.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510285
2025-08-23T22:31:16.277Z,1755988276.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.85 m.
2025-08-23T22:31:16.279Z,1755988276.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.848625 m,
nav range: 103.423386 m,
bearing: 132.827186 deg,
approach rate: -0.480574 m/s,
LOS rate: -0.008438 deg/s,
cmd heading: 139.498158 deg,
new cmd heading: 139.491180 deg.
2025-08-23T22:31:16.280Z,1755988276.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434580 target range: 105.848625 and range: 106.50 m.
2025-08-23T22:31:16.320Z,1755988276.320 [DAT](INFO): DAT read: 22:31:14.8895 LVL= 27840, 30833, 25922, 32755, AGC= 67, IDX= 420, 0.09, 3.090, 1.393,-2.842, 2.921, PHS= 0.271,-1.483, 0.476, RAW= 155.5, 7.9, CAL= 155.0, 8.3, ROT= 355.0, -8.3
2025-08-23T22:31:16.322Z,1755988276.322 [DAT](INFO): got valid direction response:
22:31:14.8895 LVL= 27840, 30833, 25922, 32755, AGC= 67, IDX= 420, 0.09, 3.090, 1.393,-2.842, 2.921, PHS= 0.271,-1.483, 0.476, RAW= 155.5, 7.9, CAL= 155.0, 8.3, ROT= 355.0, -8.3
2025-08-23T22:31:16.323Z,1755988276.323 [DAT](INFO): DAT read: Bearing 308.0, -5.0 (Local)
2025-08-23T22:31:16.324Z,1755988276.324 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.0, -5.0 (Local)
2025-08-23T22:31:16.326Z,1755988276.326 [DAT](INFO): DAT read: Range 11 to 50 : 104.8 m (Round-trip 139.8 ms) speed 0.4 m/s
2025-08-23T22:31:16.327Z,1755988276.327 [DAT](INFO): DAT read: user:1829>
2025-08-23T22:31:16.328Z,1755988276.328 [DAT](INFO): DAT read: Tx time:22:31:15.9956
2025-08-23T22:31:16.328Z,1755988276.328 [DAT](INFO): Ping request sent.
2025-08-23T22:31:16.328Z,1755988276.328 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:16.329Z,1755988276.329 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:16.335Z,1755988276.335 [DAT](INFO): direction in FSK: [0.985760,-0.086243,0.144356]
2025-08-23T22:31:16.335Z,1755988276.335 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:16.336Z,1755988276.336 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:16.340Z,1755988276.340 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:16.340Z,1755988276.340 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:16.664Z,1755988276.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 104.800003 m,
deltaT: 3.780931 s,
deltaX: -1.699997 m,
approachRate: -0.449624 m/s,
rangeRepo size: 4
2025-08-23T22:31:16.666Z,1755988276.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 104.158401 m,
bearing: 134.190485 deg,
lat: 36.779408 deg,
lon: -121.859563 deg,
deltaT: 3.780931 s,
deltaX: -1.690224 m,
approachRate: -0.447039 m/s,
posRepo size: 4
2025-08-23T22:31:16.667Z,1755988276.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.16 m.
2025-08-23T22:31:16.670Z,1755988276.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.158401 m,
nav range: 103.147606 m,
bearing: 132.967885 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008438 deg/s,
cmd heading: 139.491178 deg,
new cmd heading: 139.484650 deg.
2025-08-23T22:31:16.671Z,1755988276.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434466 target range: 104.158401 and range: 104.80 m.
2025-08-23T22:31:17.048Z,1755988277.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.16 m.
2025-08-23T22:31:17.051Z,1755988277.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.158401 m,
nav range: 102.964363 m,
bearing: 132.964946 deg,
approach rate: -0.476740 m/s,
LOS rate: -0.007661 deg/s,
cmd heading: 139.484648 deg,
new cmd heading: 139.478759 deg.
2025-08-23T22:31:17.052Z,1755988277.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434364 target range: 104.158401 and range: 104.80 m.
2025-08-23T22:31:17.475Z,1755988277.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:17.478Z,1755988277.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.16 m.
2025-08-23T22:31:17.480Z,1755988277.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.158401 m,
nav range: 102.762436 m,
bearing: 132.960056 deg,
approach rate: -0.469743 m/s,
LOS rate: -0.011397 deg/s,
cmd heading: 139.478760 deg,
new cmd heading: 139.468962 deg.
2025-08-23T22:31:17.481Z,1755988277.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434193 target range: 104.158401 and range: 104.80 m.
2025-08-23T22:31:17.570Z,1755988277.570 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:17.571Z,1755988277.571 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:17.571Z,1755988277.571 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:17.823Z,1755988277.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494070
2025-08-23T22:31:17.865Z,1755988277.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.16 m.
2025-08-23T22:31:17.868Z,1755988277.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.158401 m,
nav range: 102.579590 m,
bearing: 132.955637 deg,
approach rate: -0.471757 m/s,
LOS rate: -0.011423 deg/s,
cmd heading: 139.468966 deg,
new cmd heading: 139.460111 deg.
2025-08-23T22:31:17.869Z,1755988277.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434038 target range: 104.158401 and range: 104.80 m.
2025-08-23T22:31:18.078Z,1755988278.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748895
2025-08-23T22:31:18.294Z,1755988278.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.16 m.
2025-08-23T22:31:18.296Z,1755988278.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.158401 m,
nav range: 102.387154 m,
bearing: 132.951497 deg,
approach rate: -0.453534 m/s,
LOS rate: -0.009775 deg/s,
cmd heading: 139.460114 deg,
new cmd heading: 139.451819 deg.
2025-08-23T22:31:18.301Z,1755988278.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433893 target range: 104.158401 and range: 104.80 m.
2025-08-23T22:31:18.327Z,1755988278.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998192
2025-08-23T22:31:18.580Z,1755988278.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251614
2025-08-23T22:31:18.747Z,1755988278.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.16 m.
2025-08-23T22:31:18.750Z,1755988278.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.158401 m,
nav range: 102.176781 m,
bearing: 132.946954 deg,
approach rate: -0.459303 m/s,
LOS rate: -0.009939 deg/s,
cmd heading: 139.451822 deg,
new cmd heading: 139.442717 deg.
2025-08-23T22:31:18.751Z,1755988278.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433734 target range: 104.158401 and range: 104.80 m.
2025-08-23T22:31:18.831Z,1755988278.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502095
2025-08-23T22:31:19.076Z,1755988279.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.16 m.
2025-08-23T22:31:19.079Z,1755988279.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.158401 m,
nav range: 102.014107 m,
bearing: 132.943487 deg,
approach rate: -0.494743 m/s,
LOS rate: -0.010562 deg/s,
cmd heading: 139.442711 deg,
new cmd heading: 139.435765 deg.
2025-08-23T22:31:19.080Z,1755988279.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433613 target range: 104.158401 and range: 104.80 m.
2025-08-23T22:31:19.083Z,1755988279.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754176
2025-08-23T22:31:19.335Z,1755988279.335 [DAT](INFO): DAT read: Rx Time:22:31:18.5372
2025-08-23T22:31:19.335Z,1755988279.335 [DAT](INFO): Rx dataTimestamp_ set to:1755988279.334731
2025-08-23T22:31:19.336Z,1755988279.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007140
2025-08-23T22:31:19.526Z,1755988279.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:19.528Z,1755988279.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.16 m.
2025-08-23T22:31:19.531Z,1755988279.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.158401 m,
nav range: 101.795074 m,
bearing: 132.937248 deg,
approach rate: -0.484646 m/s,
LOS rate: -0.013834 deg/s,
cmd heading: 139.435771 deg,
new cmd heading: 139.423267 deg.
2025-08-23T22:31:19.532Z,1755988279.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433395 target range: 104.158401 and range: 104.80 m.
2025-08-23T22:31:19.587Z,1755988279.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258906
2025-08-23T22:31:19.851Z,1755988279.851 [DAT](INFO): DAT read: 22:31:18.5372 LVL= 29824, 31729, 26226, 32755, AGC= 65, IDX= 413,-0.21, 1.999, 0.329, 2.341, 1.854, PHS= 0.247,-1.480, 0.443, RAW= 155.3, 8.7, CAL= 154.9, 9.2, ROT= 355.1, -9.2
2025-08-23T22:31:19.852Z,1755988279.852 [DAT](INFO): got valid direction response:
22:31:18.5372 LVL= 29824, 31729, 26226, 32755, AGC= 65, IDX= 413,-0.21, 1.999, 0.329, 2.341, 1.854, PHS= 0.247,-1.480, 0.443, RAW= 155.3, 8.7, CAL= 154.9, 9.2, ROT= 355.1, -9.2
2025-08-23T22:31:19.853Z,1755988279.853 [DAT](INFO): DAT read: Bearing 308.7, -4.6 (Local)
2025-08-23T22:31:19.853Z,1755988279.853 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.7, -4.6 (Local)
2025-08-23T22:31:19.863Z,1755988279.863 [DAT](INFO): DAT read: Range 11 to 50 : 103.1 m (Round-trip 137.5 ms) speed 0.4 m/s
2025-08-23T22:31:19.863Z,1755988279.863 [DAT](INFO): DAT read: user:1830>
2025-08-23T22:31:19.864Z,1755988279.864 [DAT](INFO): DAT read: Tx time:22:31:19.6455
2025-08-23T22:31:19.864Z,1755988279.864 [DAT](INFO): Ping request sent.
2025-08-23T22:31:19.864Z,1755988279.864 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:19.865Z,1755988279.865 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:19.866Z,1755988279.866 [DAT](INFO): direction in FSK: [0.983529,-0.084318,0.159881]
2025-08-23T22:31:19.866Z,1755988279.866 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:19.867Z,1755988279.867 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:19.870Z,1755988279.870 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:19.870Z,1755988279.870 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:19.988Z,1755988279.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 103.099998 m,
deltaT: 3.527255 s,
deltaX: -1.700005 m,
approachRate: -0.481962 m/s,
rangeRepo size: 4
2025-08-23T22:31:19.991Z,1755988279.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 102.469620 m,
bearing: 134.114738 deg,
lat: 36.779399 deg,
lon: -121.859572 deg,
deltaT: 3.527255 s,
deltaX: -1.688782 m,
approachRate: -0.478781 m/s,
posRepo size: 4
2025-08-23T22:31:19.991Z,1755988279.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.47 m.
2025-08-23T22:31:19.998Z,1755988279.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.469620 m,
nav range: 101.669586 m,
bearing: 133.680899 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013834 deg/s,
cmd heading: 139.423272 deg,
new cmd heading: 139.410557 deg.
2025-08-23T22:31:19.999Z,1755988279.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433173 target range: 102.469620 and range: 103.10 m.
2025-08-23T22:31:20.318Z,1755988280.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.47 m.
2025-08-23T22:31:20.320Z,1755988280.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.469620 m,
nav range: 101.497818 m,
bearing: 133.677804 deg,
approach rate: -0.521276 m/s,
LOS rate: -0.009409 deg/s,
cmd heading: 139.410554 deg,
new cmd heading: 139.404353 deg.
2025-08-23T22:31:20.321Z,1755988280.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433065 target range: 102.469620 and range: 103.10 m.
2025-08-23T22:31:20.708Z,1755988280.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.47 m.
2025-08-23T22:31:20.711Z,1755988280.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.469620 m,
nav range: 101.318817 m,
bearing: 133.674563 deg,
approach rate: -0.458444 m/s,
LOS rate: -0.008314 deg/s,
cmd heading: 139.404352 deg,
new cmd heading: 139.397860 deg.
2025-08-23T22:31:20.712Z,1755988280.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432952 target range: 102.469620 and range: 103.10 m.
2025-08-23T22:31:21.088Z,1755988281.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.47 m.
2025-08-23T22:31:21.091Z,1755988281.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.469620 m,
nav range: 101.128098 m,
bearing: 133.671119 deg,
approach rate: -0.501982 m/s,
LOS rate: -0.009084 deg/s,
cmd heading: 139.397864 deg,
new cmd heading: 139.390961 deg.
2025-08-23T22:31:21.092Z,1755988281.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432831 target range: 102.469620 and range: 103.10 m.
2025-08-23T22:31:21.517Z,1755988281.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.47 m.
2025-08-23T22:31:21.519Z,1755988281.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.469620 m,
nav range: 100.929230 m,
bearing: 133.670031 deg,
approach rate: -0.463767 m/s,
LOS rate: -0.002542 deg/s,
cmd heading: 139.390965 deg,
new cmd heading: 139.388785 deg.
2025-08-23T22:31:21.520Z,1755988281.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432793 target range: 102.469620 and range: 103.10 m.
2025-08-23T22:31:21.921Z,1755988281.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:21.941Z,1755988281.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.47 m.
2025-08-23T22:31:21.944Z,1755988281.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.469620 m,
nav range: 100.740791 m,
bearing: 133.668996 deg,
approach rate: -0.443764 m/s,
LOS rate: -0.002441 deg/s,
cmd heading: 139.388779 deg,
new cmd heading: 139.386706 deg.
2025-08-23T22:31:21.945Z,1755988281.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432757 target range: 102.469620 and range: 103.10 m.
2025-08-23T22:31:22.125Z,1755988282.125 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:22.125Z,1755988282.125 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:22.126Z,1755988282.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:22.328Z,1755988282.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.47 m.
2025-08-23T22:31:22.331Z,1755988282.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.469620 m,
nav range: 100.550217 m,
bearing: 133.669141 deg,
approach rate: -0.492967 m/s,
LOS rate: 0.000376 deg/s,
cmd heading: 139.386703 deg,
new cmd heading: 139.386994 deg.
2025-08-23T22:31:22.332Z,1755988282.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432762 target range: 102.469620 and range: 103.10 m.
2025-08-23T22:31:22.376Z,1755988282.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511380
2025-08-23T22:31:22.626Z,1755988282.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761917
2025-08-23T22:31:22.712Z,1755988282.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.47 m.
2025-08-23T22:31:22.714Z,1755988282.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.469620 m,
nav range: 100.373405 m,
bearing: 133.669239 deg,
approach rate: -0.460530 m/s,
LOS rate: 0.000255 deg/s,
cmd heading: 139.386990 deg,
new cmd heading: 139.387186 deg.
2025-08-23T22:31:22.715Z,1755988282.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432765 target range: 102.469620 and range: 103.10 m.
2025-08-23T22:31:22.880Z,1755988282.880 [DAT](INFO): DAT read: Rx Time:22:31:22.1848
2025-08-23T22:31:22.880Z,1755988282.880 [DAT](INFO): Rx dataTimestamp_ set to:1755988282.879815
2025-08-23T22:31:22.881Z,1755988282.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016458
2025-08-23T22:31:23.107Z,1755988283.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.47 m.
2025-08-23T22:31:23.109Z,1755988283.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.469620 m,
nav range: 100.182640 m,
bearing: 133.669277 deg,
approach rate: -0.483082 m/s,
LOS rate: 0.000097 deg/s,
cmd heading: 139.387181 deg,
new cmd heading: 139.387258 deg.
2025-08-23T22:31:23.126Z,1755988283.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432767 target range: 102.469620 and range: 103.10 m.
2025-08-23T22:31:23.131Z,1755988283.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266134
2025-08-23T22:31:23.390Z,1755988283.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524673
2025-08-23T22:31:23.536Z,1755988283.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.47 m.
2025-08-23T22:31:23.539Z,1755988283.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.469620 m,
nav range: 99.976089 m,
bearing: 133.670186 deg,
approach rate: -0.480691 m/s,
LOS rate: 0.002119 deg/s,
cmd heading: 139.387263 deg,
new cmd heading: 139.389085 deg.
2025-08-23T22:31:23.540Z,1755988283.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432798 target range: 102.469620 and range: 103.10 m.
2025-08-23T22:31:23.646Z,1755988283.646 [DAT](INFO): DAT read: 22:31:22.1848 LVL= 25264, 32753, 25698, 32755, AGC= 63, IDX= 421,-0.03, 0.128,-1.541, 0.458,-0.034, PHS= 0.264,-1.462, 0.448, RAW= 155.0, 8.3, CAL= 154.6, 8.7, ROT= 355.4, -8.7
2025-08-23T22:31:23.647Z,1755988283.647 [DAT](INFO): got valid direction response:
22:31:22.1848 LVL= 25264, 32753, 25698, 32755, AGC= 63, IDX= 421,-0.03, 0.128,-1.541, 0.458,-0.034, PHS= 0.264,-1.462, 0.448, RAW= 155.0, 8.3, CAL= 154.6, 8.7, ROT= 355.4, -8.7
2025-08-23T22:31:23.648Z,1755988283.648 [DAT](INFO): DAT read: Bearing 308.4, -4.0 (Local)
2025-08-23T22:31:23.649Z,1755988283.649 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.4, -4.0 (Local)
2025-08-23T22:31:23.650Z,1755988283.650 [DAT](INFO): DAT read: Range 11 to 50 : 101.4 m (Round-trip 135.2 ms) speed 0.4 m/s
2025-08-23T22:31:23.651Z,1755988283.651 [DAT](INFO): DAT read: user:1831>
2025-08-23T22:31:23.652Z,1755988283.652 [DAT](INFO): DAT read: Tx time:22:31:23.2955
2025-08-23T22:31:23.652Z,1755988283.652 [DAT](INFO): Ping request sent.
2025-08-23T22:31:23.652Z,1755988283.652 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:23.652Z,1755988283.652 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:23.658Z,1755988283.658 [DAT](INFO): direction in FSK: [0.985310,-0.079276,0.151261]
2025-08-23T22:31:23.658Z,1755988283.658 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:23.658Z,1755988283.658 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:23.665Z,1755988283.665 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:23.666Z,1755988283.666 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:23.930Z,1755988283.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 101.400002 m,
deltaT: 3.800384 s,
deltaX: -1.699997 m,
approachRate: -0.447322 m/s,
rangeRepo size: 4
2025-08-23T22:31:23.932Z,1755988283.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 100.778847 m,
bearing: 134.530133 deg,
lat: 36.779396 deg,
lon: -121.859579 deg,
deltaT: 3.800384 s,
deltaX: -1.690773 m,
approachRate: -0.444895 m/s,
posRepo size: 4
2025-08-23T22:31:23.933Z,1755988283.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.78 m.
2025-08-23T22:31:23.955Z,1755988283.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.778847 m,
nav range: 99.527863 m,
bearing: 134.026599 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002119 deg/s,
cmd heading: 139.389080 deg,
new cmd heading: 139.390745 deg.
2025-08-23T22:31:23.956Z,1755988283.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432827 target range: 100.778847 and range: 101.40 m.
2025-08-23T22:31:24.356Z,1755988284.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:24.359Z,1755988284.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.78 m.
2025-08-23T22:31:24.362Z,1755988284.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.778847 m,
nav range: 99.319389 m,
bearing: 134.030170 deg,
approach rate: -0.485314 m/s,
LOS rate: 0.008331 deg/s,
cmd heading: 139.390746 deg,
new cmd heading: 139.397904 deg.
2025-08-23T22:31:24.363Z,1755988284.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432952 target range: 100.778847 and range: 101.40 m.
2025-08-23T22:31:24.395Z,1755988284.395 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:24.395Z,1755988284.395 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:24.396Z,1755988284.396 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:24.647Z,1755988284.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994905
2025-08-23T22:31:24.742Z,1755988284.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.78 m.
2025-08-23T22:31:24.744Z,1755988284.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.778847 m,
nav range: 99.134605 m,
bearing: 134.033357 deg,
approach rate: -0.482635 m/s,
LOS rate: 0.008339 deg/s,
cmd heading: 139.397905 deg,
new cmd heading: 139.404290 deg.
2025-08-23T22:31:24.745Z,1755988284.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433064 target range: 100.778847 and range: 101.40 m.
2025-08-23T22:31:24.899Z,1755988284.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246840
2025-08-23T22:31:25.151Z,1755988285.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498536
2025-08-23T22:31:25.154Z,1755988285.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.78 m.
2025-08-23T22:31:25.157Z,1755988285.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.778847 m,
nav range: 98.936707 m,
bearing: 134.036793 deg,
approach rate: -0.479549 m/s,
LOS rate: 0.008342 deg/s,
cmd heading: 139.404284 deg,
new cmd heading: 139.411169 deg.
2025-08-23T22:31:25.158Z,1755988285.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433184 target range: 100.778847 and range: 101.40 m.
2025-08-23T22:31:25.403Z,1755988285.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750499
2025-08-23T22:31:25.590Z,1755988285.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.78 m.
2025-08-23T22:31:25.593Z,1755988285.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.778847 m,
nav range: 98.724686 m,
bearing: 134.042622 deg,
approach rate: -0.486293 m/s,
LOS rate: 0.013399 deg/s,
cmd heading: 139.411169 deg,
new cmd heading: 139.422852 deg.
2025-08-23T22:31:25.599Z,1755988285.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433388 target range: 100.778847 and range: 101.40 m.
2025-08-23T22:31:25.656Z,1755988285.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003518
2025-08-23T22:31:25.907Z,1755988285.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254859
2025-08-23T22:31:25.957Z,1755988285.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.78 m.
2025-08-23T22:31:25.960Z,1755988285.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.778847 m,
nav range: 98.546890 m,
bearing: 134.047472 deg,
approach rate: -0.484628 m/s,
LOS rate: 0.013243 deg/s,
cmd heading: 139.422848 deg,
new cmd heading: 139.432565 deg.
2025-08-23T22:31:25.961Z,1755988285.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433557 target range: 100.778847 and range: 101.40 m.
2025-08-23T22:31:26.159Z,1755988286.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507149
2025-08-23T22:31:26.405Z,1755988286.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:26.411Z,1755988286.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758652
2025-08-23T22:31:26.413Z,1755988286.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.78 m.
2025-08-23T22:31:26.420Z,1755988286.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.778847 m,
nav range: 98.330742 m,
bearing: 134.050183 deg,
approach rate: -0.474611 m/s,
LOS rate: 0.005967 deg/s,
cmd heading: 139.432561 deg,
new cmd heading: 139.437996 deg.
2025-08-23T22:31:26.421Z,1755988286.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433652 target range: 100.778847 and range: 101.40 m.
2025-08-23T22:31:26.662Z,1755988286.662 [DAT](INFO): DAT read: Rx Time:22:31:25.8324
2025-08-23T22:31:26.663Z,1755988286.663 [DAT](INFO): Rx dataTimestamp_ set to:1755988286.662679
2025-08-23T22:31:26.664Z,1755988286.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011474
2025-08-23T22:31:26.768Z,1755988286.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.78 m.
2025-08-23T22:31:26.780Z,1755988286.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.778847 m,
nav range: 98.161034 m,
bearing: 134.052325 deg,
approach rate: -0.476989 m/s,
LOS rate: 0.006028 deg/s,
cmd heading: 139.437998 deg,
new cmd heading: 139.442287 deg.
2025-08-23T22:31:26.780Z,1755988286.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433727 target range: 100.778847 and range: 101.40 m.
2025-08-23T22:31:26.915Z,1755988286.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262689
2025-08-23T22:31:27.172Z,1755988287.172 [DAT](INFO): DAT read: 22:31:25.8324 LVL= 30368, 32753, 23154, 32755, AGC= 66, IDX= 412,-0.20,-0.707,-2.350,-0.346,-0.863, PHS= 0.258,-1.441, 0.473, RAW= 155.9, 7.9, CAL= 155.4, 8.2, ROT= 354.6, -8.2
2025-08-23T22:31:27.173Z,1755988287.173 [DAT](INFO): got valid direction response:
22:31:25.8324 LVL= 30368, 32753, 23154, 32755, AGC= 66, IDX= 412,-0.20,-0.707,-2.350,-0.346,-0.863, PHS= 0.258,-1.441, 0.473, RAW= 155.9, 7.9, CAL= 155.4, 8.2, ROT= 354.6, -8.2
2025-08-23T22:31:27.174Z,1755988287.174 [DAT](INFO): DAT read: Bearing 307.9, -4.7 (Local)
2025-08-23T22:31:27.174Z,1755988287.174 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.9, -4.7 (Local)
2025-08-23T22:31:27.176Z,1755988287.176 [DAT](INFO): DAT read: Range 11 to 50 : 99.6 m (Round-trip 132.8 ms) speed 0.4 m/s
2025-08-23T22:31:27.176Z,1755988287.176 [DAT](INFO): DAT read: user:1832>
2025-08-23T22:31:27.177Z,1755988287.177 [DAT](INFO): DAT read: Tx time:22:31:26.9455
2025-08-23T22:31:27.190Z,1755988287.190 [DAT](INFO): Ping request sent.
2025-08-23T22:31:27.190Z,1755988287.190 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:27.191Z,1755988287.191 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:27.192Z,1755988287.192 [DAT](INFO): direction in FSK: [0.985384,-0.093146,0.142629]
2025-08-23T22:31:27.192Z,1755988287.192 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:27.192Z,1755988287.192 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:27.205Z,1755988287.205 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:27.206Z,1755988287.206 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:27.330Z,1755988287.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 99.599998 m,
deltaT: 3.527142 s,
deltaX: -1.800003 m,
approachRate: -0.510329 m/s,
rangeRepo size: 4
2025-08-23T22:31:27.332Z,1755988287.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 98.991089 m,
bearing: 133.824161 deg,
lat: 36.779396 deg,
lon: -121.859579 deg,
deltaT: 3.527142 s,
deltaX: -1.787758 m,
approachRate: -0.506857 m/s,
posRepo size: 4
2025-08-23T22:31:27.333Z,1755988287.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-08-23T22:31:27.336Z,1755988287.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.991089 m,
nav range: 97.907425 m,
bearing: 134.055503 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.006028 deg/s,
cmd heading: 139.442287 deg,
new cmd heading: 139.448851 deg.
2025-08-23T22:31:27.336Z,1755988287.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433842 target range: 98.991089 and range: 99.60 m.
2025-08-23T22:31:27.589Z,1755988287.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-08-23T22:31:27.591Z,1755988287.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.991089 m,
nav range: 97.755112 m,
bearing: 134.057420 deg,
approach rate: -0.552080 m/s,
LOS rate: 0.006959 deg/s,
cmd heading: 139.448858 deg,
new cmd heading: 139.452697 deg.
2025-08-23T22:31:27.592Z,1755988287.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433909 target range: 98.991089 and range: 99.60 m.
2025-08-23T22:31:27.603Z,1755988287.603 [CTD_Seabird](ERROR): Failed to parse device response: .84
2025-08-23T22:31:27.982Z,1755988287.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-08-23T22:31:27.984Z,1755988287.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.991089 m,
nav range: 97.570091 m,
bearing: 134.059772 deg,
approach rate: -0.470970 m/s,
LOS rate: 0.006000 deg/s,
cmd heading: 139.452696 deg,
new cmd heading: 139.457410 deg.
2025-08-23T22:31:27.985Z,1755988287.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433991 target range: 98.991089 and range: 99.60 m.
2025-08-23T22:31:28.416Z,1755988288.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:28.418Z,1755988288.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-08-23T22:31:28.421Z,1755988288.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.991089 m,
nav range: 97.361610 m,
bearing: 134.062453 deg,
approach rate: -0.477908 m/s,
LOS rate: 0.006157 deg/s,
cmd heading: 139.457409 deg,
new cmd heading: 139.462781 deg.
2025-08-23T22:31:28.422Z,1755988288.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434085 target range: 98.991089 and range: 99.60 m.
2025-08-23T22:31:28.427Z,1755988288.427 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:28.427Z,1755988288.427 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:28.427Z,1755988288.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:28.679Z,1755988288.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488525
2025-08-23T22:31:28.778Z,1755988288.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-08-23T22:31:28.780Z,1755988288.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.991089 m,
nav range: 97.178368 m,
bearing: 134.064808 deg,
approach rate: -0.508996 m/s,
LOS rate: 0.006554 deg/s,
cmd heading: 139.462778 deg,
new cmd heading: 139.467496 deg.
2025-08-23T22:31:28.782Z,1755988288.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434167 target range: 98.991089 and range: 99.60 m.
2025-08-23T22:31:28.931Z,1755988288.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740292
2025-08-23T22:31:29.177Z,1755988289.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-08-23T22:31:29.181Z,1755988289.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.991089 m,
nav range: 96.984741 m,
bearing: 134.067219 deg,
approach rate: -0.485471 m/s,
LOS rate: 0.006059 deg/s,
cmd heading: 139.467490 deg,
new cmd heading: 139.472324 deg.
2025-08-23T22:31:29.183Z,1755988289.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992967
2025-08-23T22:31:29.186Z,1755988289.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434251 target range: 98.991089 and range: 99.60 m.
2025-08-23T22:31:29.435Z,1755988289.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244660
2025-08-23T22:31:29.619Z,1755988289.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-08-23T22:31:29.623Z,1755988289.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.991089 m,
nav range: 96.779015 m,
bearing: 134.067480 deg,
approach rate: -0.464497 m/s,
LOS rate: 0.000590 deg/s,
cmd heading: 139.472326 deg,
new cmd heading: 139.472849 deg.
2025-08-23T22:31:29.623Z,1755988289.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434260 target range: 98.991089 and range: 99.60 m.
2025-08-23T22:31:29.687Z,1755988289.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496285
2025-08-23T22:31:29.939Z,1755988289.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748192
2025-08-23T22:31:29.990Z,1755988289.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-08-23T22:31:29.993Z,1755988289.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.991089 m,
nav range: 96.607094 m,
bearing: 134.067679 deg,
approach rate: -0.463450 m/s,
LOS rate: 0.000538 deg/s,
cmd heading: 139.472845 deg,
new cmd heading: 139.473244 deg.
2025-08-23T22:31:29.995Z,1755988289.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434267 target range: 98.991089 and range: 99.60 m.
2025-08-23T22:31:30.192Z,1755988290.192 [DAT](INFO): DAT read: Rx Time:22:31:29.4800
2025-08-23T22:31:30.192Z,1755988290.192 [DAT](INFO): Rx dataTimestamp_ set to:1755988290.192160
2025-08-23T22:31:30.193Z,1755988290.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002973
2025-08-23T22:31:30.437Z,1755988290.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:30.443Z,1755988290.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252240
2025-08-23T22:31:30.450Z,1755988290.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-08-23T22:31:30.452Z,1755988290.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.991089 m,
nav range: 96.392311 m,
bearing: 134.063594 deg,
approach rate: -0.472040 m/s,
LOS rate: -0.008998 deg/s,
cmd heading: 139.473241 deg,
new cmd heading: 139.465053 deg.
2025-08-23T22:31:30.458Z,1755988290.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434124 target range: 98.991089 and range: 99.60 m.
2025-08-23T22:31:30.698Z,1755988290.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506701
2025-08-23T22:31:30.811Z,1755988290.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-08-23T22:31:30.813Z,1755988290.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.991089 m,
nav range: 96.207977 m,
bearing: 134.060013 deg,
approach rate: -0.504663 m/s,
LOS rate: -0.009824 deg/s,
cmd heading: 139.465059 deg,
new cmd heading: 139.457882 deg.
2025-08-23T22:31:30.814Z,1755988290.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433999 target range: 98.991089 and range: 99.60 m.
2025-08-23T22:31:30.953Z,1755988290.953 [DAT](INFO): DAT read: 22:31:29.4800 LVL= 30864, 32753, 26866, 32755, AGC= 64, IDX= 420, 0.14, 3.001, 1.315,-2.940, 2.842, PHS= 0.261,-1.482, 0.457, RAW= 155.3, 8.3, CAL= 154.8, 8.8, ROT= 355.2, -8.8
2025-08-23T22:31:30.954Z,1755988290.954 [DAT](INFO): got valid direction response:
22:31:29.4800 LVL= 30864, 32753, 26866, 32755, AGC= 64, IDX= 420, 0.14, 3.001, 1.315,-2.940, 2.842, PHS= 0.261,-1.482, 0.457, RAW= 155.3, 8.3, CAL= 154.8, 8.8, ROT= 355.2, -8.8
2025-08-23T22:31:30.955Z,1755988290.955 [DAT](INFO): DAT read: Bearing 308.7, -3.9 (Local)
2025-08-23T22:31:30.956Z,1755988290.956 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.7, -3.9 (Local)
2025-08-23T22:31:30.957Z,1755988290.957 [DAT](INFO): DAT read: Range 11 to 50 : 97.8 m (Round-trip 130.4 ms) speed 0.4 m/s
2025-08-23T22:31:30.958Z,1755988290.958 [DAT](INFO): DAT read: user:1833>
2025-08-23T22:31:30.959Z,1755988290.959 [DAT](INFO): DAT read: Tx time:22:31:30.5955
2025-08-23T22:31:30.959Z,1755988290.959 [DAT](INFO): Ping request sent.
2025-08-23T22:31:30.959Z,1755988290.959 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:30.959Z,1755988290.959 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:30.960Z,1755988290.960 [DAT](INFO): direction in FSK: [0.984763,-0.082693,0.152986]
2025-08-23T22:31:30.961Z,1755988290.961 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:30.961Z,1755988290.961 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:30.964Z,1755988290.964 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:30.964Z,1755988290.964 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:31.238Z,1755988291.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 97.800003 m,
deltaT: 3.780365 s,
deltaX: -1.799995 m,
approachRate: -0.476143 m/s,
rangeRepo size: 4
2025-08-23T22:31:31.240Z,1755988291.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 97.202736 m,
bearing: 134.457803 deg,
lat: 36.779393 deg,
lon: -121.859581 deg,
deltaT: 3.780365 s,
deltaX: -1.788353 m,
approachRate: -0.473064 m/s,
posRepo size: 4
2025-08-23T22:31:31.241Z,1755988291.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m.
2025-08-23T22:31:31.248Z,1755988291.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.202736 m,
nav range: 96.100052 m,
bearing: 134.295693 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.009824 deg/s,
cmd heading: 139.457887 deg,
new cmd heading: 139.449584 deg.
2025-08-23T22:31:31.249Z,1755988291.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433854 target range: 97.202736 and range: 97.80 m.
2025-08-23T22:31:31.643Z,1755988291.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m.
2025-08-23T22:31:31.650Z,1755988291.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.202736 m,
nav range: 95.902733 m,
bearing: 134.291864 deg,
approach rate: -0.482182 m/s,
LOS rate: -0.009376 deg/s,
cmd heading: 139.449582 deg,
new cmd heading: 139.441908 deg.
2025-08-23T22:31:31.651Z,1755988291.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433720 target range: 97.202736 and range: 97.80 m.
2025-08-23T22:31:32.069Z,1755988292.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m.
2025-08-23T22:31:32.072Z,1755988292.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.202736 m,
nav range: 95.689888 m,
bearing: 134.287745 deg,
approach rate: -0.498780 m/s,
LOS rate: -0.009674 deg/s,
cmd heading: 139.441905 deg,
new cmd heading: 139.433648 deg.
2025-08-23T22:31:32.073Z,1755988292.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433576 target range: 97.202736 and range: 97.80 m.
2025-08-23T22:31:32.458Z,1755988292.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:32.461Z,1755988292.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m.
2025-08-23T22:31:32.475Z,1755988292.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.202736 m,
nav range: 95.504707 m,
bearing: 134.284881 deg,
approach rate: -0.473206 m/s,
LOS rate: -0.007331 deg/s,
cmd heading: 139.433654 deg,
new cmd heading: 139.427916 deg.
2025-08-23T22:31:32.476Z,1755988292.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433476 target range: 97.202736 and range: 97.80 m.
2025-08-23T22:31:32.711Z,1755988292.711 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:32.711Z,1755988292.711 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:32.711Z,1755988292.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:32.891Z,1755988292.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m.
2025-08-23T22:31:32.898Z,1755988292.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.202736 m,
nav range: 95.307014 m,
bearing: 134.281788 deg,
approach rate: -0.459303 m/s,
LOS rate: -0.007202 deg/s,
cmd heading: 139.427916 deg,
new cmd heading: 139.421717 deg.
2025-08-23T22:31:32.902Z,1755988292.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433368 target range: 97.202736 and range: 97.80 m.
2025-08-23T22:31:32.963Z,1755988292.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004315
2025-08-23T22:31:33.215Z,1755988293.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255554
2025-08-23T22:31:33.286Z,1755988293.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m.
2025-08-23T22:31:33.288Z,1755988293.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.202736 m,
nav range: 95.119080 m,
bearing: 134.278881 deg,
approach rate: -0.476205 m/s,
LOS rate: -0.007380 deg/s,
cmd heading: 139.421715 deg,
new cmd heading: 139.415889 deg.
2025-08-23T22:31:33.290Z,1755988293.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433266 target range: 97.202736 and range: 97.80 m.
2025-08-23T22:31:33.466Z,1755988293.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507393
2025-08-23T22:31:33.664Z,1755988293.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m.
2025-08-23T22:31:33.667Z,1755988293.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.202736 m,
nav range: 94.939011 m,
bearing: 134.276075 deg,
approach rate: -0.476190 m/s,
LOS rate: -0.007436 deg/s,
cmd heading: 139.415895 deg,
new cmd heading: 139.410272 deg.
2025-08-23T22:31:33.668Z,1755988293.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433168 target range: 97.202736 and range: 97.80 m.
2025-08-23T22:31:33.719Z,1755988293.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760366
2025-08-23T22:31:33.970Z,1755988293.970 [DAT](INFO): DAT read: Rx Time:22:31:33.1278
2025-08-23T22:31:33.971Z,1755988293.971 [DAT](INFO): Rx dataTimestamp_ set to:1755988293.970670
2025-08-23T22:31:33.971Z,1755988293.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012463
2025-08-23T22:31:34.060Z,1755988294.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m.
2025-08-23T22:31:34.070Z,1755988294.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.202736 m,
nav range: 94.744469 m,
bearing: 134.272983 deg,
approach rate: -0.491568 m/s,
LOS rate: -0.007828 deg/s,
cmd heading: 139.410267 deg,
new cmd heading: 139.404071 deg.
2025-08-23T22:31:34.071Z,1755988294.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433060 target range: 97.202736 and range: 97.80 m.
2025-08-23T22:31:34.223Z,1755988294.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263542
2025-08-23T22:31:34.480Z,1755988294.480 [DAT](INFO): DAT read: 22:31:33.1278 LVL= 31520, 30689, 25442, 32755, AGC= 63, IDX= 414,-0.36,-2.569, 2.041,-2.221,-2.721, PHS= 0.254,-1.476, 0.456, RAW= 155.5, 8.4, CAL= 155.1, 8.9, ROT= 354.9, -8.9
2025-08-23T22:31:34.481Z,1755988294.481 [DAT](INFO): got valid direction response:
22:31:33.1278 LVL= 31520, 30689, 25442, 32755, AGC= 63, IDX= 414,-0.36,-2.569, 2.041,-2.221,-2.721, PHS= 0.254,-1.476, 0.456, RAW= 155.5, 8.4, CAL= 155.1, 8.9, ROT= 354.9, -8.9
2025-08-23T22:31:34.482Z,1755988294.482 [DAT](INFO): DAT read: Bearing 308.9, -3.8 (Local)
2025-08-23T22:31:34.483Z,1755988294.483 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.9, -3.8 (Local)
2025-08-23T22:31:34.484Z,1755988294.484 [DAT](INFO): DAT read: Range 11 to 50 : 96.1 m (Round-trip 128.2 ms) speed 0.4 m/s
2025-08-23T22:31:34.485Z,1755988294.485 [DAT](INFO): DAT read: user:1834>
2025-08-23T22:31:34.486Z,1755988294.486 [DAT](INFO): DAT read: Tx time:22:31:34.2455
2025-08-23T22:31:34.486Z,1755988294.486 [DAT](INFO): Ping request sent.
2025-08-23T22:31:34.486Z,1755988294.486 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:34.486Z,1755988294.486 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:34.487Z,1755988294.487 [DAT](INFO): direction in FSK: [0.984049,-0.087824,0.154710]
2025-08-23T22:31:34.488Z,1755988294.488 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:34.488Z,1755988294.488 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:34.495Z,1755988294.495 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:34.495Z,1755988294.495 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:34.608Z,1755988294.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 96.099998 m,
deltaT: 3.527871 s,
deltaX: -1.700005 m,
approachRate: -0.481878 m/s,
rangeRepo size: 4
2025-08-23T22:31:34.615Z,1755988294.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 95.513077 m,
bearing: 134.165850 deg,
lat: 36.779396 deg,
lon: -121.859582 deg,
deltaT: 3.527871 s,
deltaX: -1.689659 m,
approachRate: -0.478946 m/s,
posRepo size: 4
2025-08-23T22:31:34.626Z,1755988294.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.51 m.
2025-08-23T22:31:34.628Z,1755988294.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.513077 m,
nav range: 94.290527 m,
bearing: 134.165511 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007828 deg/s,
cmd heading: 139.404065 deg,
new cmd heading: 139.395486 deg.
2025-08-23T22:31:34.629Z,1755988294.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432910 target range: 95.513077 and range: 96.10 m.
2025-08-23T22:31:34.965Z,1755988294.965 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:34.967Z,1755988294.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.51 m.
2025-08-23T22:31:34.970Z,1755988294.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.513077 m,
nav range: 94.101143 m,
bearing: 134.162347 deg,
approach rate: -0.526663 m/s,
LOS rate: -0.008816 deg/s,
cmd heading: 139.395487 deg,
new cmd heading: 139.389147 deg.
2025-08-23T22:31:34.971Z,1755988294.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432800 target range: 95.513077 and range: 96.10 m.
2025-08-23T22:31:34.978Z,1755988294.978 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:34.978Z,1755988294.978 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:34.979Z,1755988294.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:35.231Z,1755988295.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744651
2025-08-23T22:31:35.458Z,1755988295.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.51 m.
2025-08-23T22:31:35.461Z,1755988295.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.513077 m,
nav range: 93.869446 m,
bearing: 134.162076 deg,
approach rate: -0.471897 m/s,
LOS rate: -0.000553 deg/s,
cmd heading: 139.389148 deg,
new cmd heading: 139.388605 deg.
2025-08-23T22:31:35.463Z,1755988295.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432790 target range: 95.513077 and range: 96.10 m.
2025-08-23T22:31:35.483Z,1755988295.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996599
2025-08-23T22:31:35.734Z,1755988295.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248519
2025-08-23T22:31:35.787Z,1755988295.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.51 m.
2025-08-23T22:31:35.791Z,1755988295.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.513077 m,
nav range: 93.713554 m,
bearing: 134.161893 deg,
approach rate: -0.473497 m/s,
LOS rate: -0.000557 deg/s,
cmd heading: 139.388602 deg,
new cmd heading: 139.388235 deg.
2025-08-23T22:31:35.795Z,1755988295.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432784 target range: 95.513077 and range: 96.10 m.
2025-08-23T22:31:35.987Z,1755988295.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500700
2025-08-23T22:31:36.202Z,1755988296.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.51 m.
2025-08-23T22:31:36.206Z,1755988296.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.513077 m,
nav range: 93.521980 m,
bearing: 134.161667 deg,
approach rate: -0.462544 m/s,
LOS rate: -0.000546 deg/s,
cmd heading: 139.388233 deg,
new cmd heading: 139.387780 deg.
2025-08-23T22:31:36.208Z,1755988296.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432776 target range: 95.513077 and range: 96.10 m.
2025-08-23T22:31:36.239Z,1755988296.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752684
2025-08-23T22:31:36.491Z,1755988296.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004776
2025-08-23T22:31:36.612Z,1755988296.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.51 m.
2025-08-23T22:31:36.619Z,1755988296.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.513077 m,
nav range: 93.331718 m,
bearing: 134.161824 deg,
approach rate: -0.463230 m/s,
LOS rate: 0.000381 deg/s,
cmd heading: 139.387782 deg,
new cmd heading: 139.388095 deg.
2025-08-23T22:31:36.620Z,1755988296.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432781 target range: 95.513077 and range: 96.10 m.
2025-08-23T22:31:36.629Z,1755988296.629 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-23T22:21:36.5Z
2025-08-23T22:31:36.629Z,1755988296.629 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-23T22:31:36.629Z,1755988296.629 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-23T22:31:36.629Z,1755988296.629 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-23T22:31:36.629Z,1755988296.629 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-23T22:31:36.629Z,1755988296.629 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-23T22:31:36.743Z,1755988296.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256693
2025-08-23T22:31:36.998Z,1755988296.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512506
2025-08-23T22:31:36.999Z,1755988296.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:37.001Z,1755988297.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.51 m.
2025-08-23T22:31:37.004Z,1755988297.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.513077 m,
nav range: 93.142319 m,
bearing: 134.161979 deg,
approach rate: -0.487169 m/s,
LOS rate: 0.000401 deg/s,
cmd heading: 139.388096 deg,
new cmd heading: 139.388408 deg.
2025-08-23T22:31:37.005Z,1755988297.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432787 target range: 95.513077 and range: 96.10 m.
2025-08-23T22:31:37.009Z,1755988297.009 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-23T22:31:37.009Z,1755988297.009 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-23T22:31:37.009Z,1755988297.009 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-23T22:31:37.009Z,1755988297.009 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-23T22:31:37.009Z,1755988297.009 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-23T22:31:37.246Z,1755988297.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760565
2025-08-23T22:31:37.499Z,1755988297.499 [DAT](INFO): DAT read: Rx Time:22:31:36.7754
2025-08-23T22:31:37.499Z,1755988297.499 [DAT](INFO): Rx dataTimestamp_ set to:1755988297.498881
2025-08-23T22:31:37.500Z,1755988297.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013794
2025-08-23T22:31:37.662Z,1755988297.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.51 m.
2025-08-23T22:31:37.665Z,1755988297.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.513077 m,
nav range: 92.822151 m,
bearing: 134.160791 deg,
approach rate: -0.484552 m/s,
LOS rate: -0.001804 deg/s,
cmd heading: 139.388411 deg,
new cmd heading: 139.386026 deg.
2025-08-23T22:31:37.666Z,1755988297.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432745 target range: 95.513077 and range: 96.10 m.
2025-08-23T22:31:37.753Z,1755988297.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266755
2025-08-23T22:31:38.006Z,1755988298.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518863
2025-08-23T22:31:38.070Z,1755988298.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.51 m.
2025-08-23T22:31:38.073Z,1755988298.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.513077 m,
nav range: 92.626297 m,
bearing: 134.160056 deg,
approach rate: -0.479200 m/s,
LOS rate: -0.001803 deg/s,
cmd heading: 139.386020 deg,
new cmd heading: 139.384546 deg.
2025-08-23T22:31:38.074Z,1755988298.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432719 target range: 95.513077 and range: 96.10 m.
2025-08-23T22:31:38.260Z,1755988298.260 [DAT](INFO): DAT read: 22:31:36.7754 LVL= 28208, 31713, 25474, 32755, AGC= 64, IDX= 422,-0.24, 2.479, 0.824, 2.810, 2.323, PHS= 0.258,-1.455, 0.442, RAW= 155.1, 8.4, CAL= 154.7, 8.9, ROT= 355.3, -8.9
2025-08-23T22:31:38.266Z,1755988298.266 [DAT](INFO): got valid direction response:
22:31:36.7754 LVL= 28208, 31713, 25474, 32755, AGC= 64, IDX= 422,-0.24, 2.479, 0.824, 2.810, 2.323, PHS= 0.258,-1.455, 0.442, RAW= 155.1, 8.4, CAL= 154.7, 8.9, ROT= 355.3, -8.9
2025-08-23T22:31:38.267Z,1755988298.267 [DAT](INFO): DAT read: Bearing 309.0, -3.6 (Local)
2025-08-23T22:31:38.268Z,1755988298.268 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.0, -3.6 (Local)
2025-08-23T22:31:38.269Z,1755988298.269 [DAT](INFO): DAT read: Range 11 to 50 : 94.4 m (Round-trip 125.9 ms) speed 0.4 m/s
2025-08-23T22:31:38.274Z,1755988298.274 [DAT](INFO): DAT read: user:1835>
2025-08-23T22:31:38.275Z,1755988298.275 [DAT](INFO): DAT read: Tx time:22:31:37.8954
2025-08-23T22:31:38.276Z,1755988298.276 [DAT](INFO): Ping request sent.
2025-08-23T22:31:38.276Z,1755988298.276 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:38.276Z,1755988298.276 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:38.309Z,1755988298.309 [DAT](INFO): direction in FSK: [0.984638,-0.080952,0.154710]
2025-08-23T22:31:38.314Z,1755988298.314 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:38.315Z,1755988298.315 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:38.327Z,1755988298.327 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:38.327Z,1755988298.327 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:38.564Z,1755988298.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 94.400002 m,
deltaT: 3.780017 s,
deltaX: -1.699997 m,
approachRate: -0.449733 m/s,
rangeRepo size: 4
2025-08-23T22:31:38.570Z,1755988298.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 93.823662 m,
bearing: 134.596582 deg,
lat: 36.779392 deg,
lon: -121.859584 deg,
deltaT: 3.780017 s,
deltaX: -1.689415 m,
approachRate: -0.446933 m/s,
posRepo size: 4
2025-08-23T22:31:38.571Z,1755988298.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.82 m.
2025-08-23T22:31:38.578Z,1755988298.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.823662 m,
nav range: 92.550888 m,
bearing: 134.434690 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001803 deg/s,
cmd heading: 139.384545 deg,
new cmd heading: 139.382768 deg.
2025-08-23T22:31:38.579Z,1755988298.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432688 target range: 93.823662 and range: 94.40 m.
2025-08-23T22:31:38.934Z,1755988298.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.82 m.
2025-08-23T22:31:38.937Z,1755988298.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.823662 m,
nav range: 92.365456 m,
bearing: 134.435974 deg,
approach rate: -0.499756 m/s,
LOS rate: 0.003468 deg/s,
cmd heading: 139.382769 deg,
new cmd heading: 139.385342 deg.
2025-08-23T22:31:38.938Z,1755988298.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432733 target range: 93.823662 and range: 94.40 m.
2025-08-23T22:31:39.317Z,1755988299.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:39.319Z,1755988299.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.82 m.
2025-08-23T22:31:39.322Z,1755988299.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.823662 m,
nav range: 92.180748 m,
bearing: 134.437255 deg,
approach rate: -0.479817 m/s,
LOS rate: 0.003334 deg/s,
cmd heading: 139.385337 deg,
new cmd heading: 139.387904 deg.
2025-08-23T22:31:39.323Z,1755988299.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432778 target range: 93.823662 and range: 94.40 m.
2025-08-23T22:31:39.514Z,1755988299.514 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:39.514Z,1755988299.514 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:39.515Z,1755988299.515 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:39.747Z,1755988299.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.82 m.
2025-08-23T22:31:39.750Z,1755988299.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.823662 m,
nav range: 91.968544 m,
bearing: 134.439429 deg,
approach rate: -0.496280 m/s,
LOS rate: 0.005097 deg/s,
cmd heading: 139.387905 deg,
new cmd heading: 139.392264 deg.
2025-08-23T22:31:39.751Z,1755988299.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432854 target range: 93.823662 and range: 94.40 m.
2025-08-23T22:31:39.769Z,1755988299.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493155
2025-08-23T22:31:40.018Z,1755988300.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742638
2025-08-23T22:31:40.135Z,1755988300.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.82 m.
2025-08-23T22:31:40.138Z,1755988300.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.823662 m,
nav range: 91.775810 m,
bearing: 134.441400 deg,
approach rate: -0.496128 m/s,
LOS rate: 0.005082 deg/s,
cmd heading: 139.392263 deg,
new cmd heading: 139.396211 deg.
2025-08-23T22:31:40.139Z,1755988300.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432923 target range: 93.823662 and range: 94.40 m.
2025-08-23T22:31:40.271Z,1755988300.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994778
2025-08-23T22:31:40.482Z,1755988300.482 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:31:40.522Z,1755988300.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246677
2025-08-23T22:31:40.570Z,1755988300.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.82 m.
2025-08-23T22:31:40.572Z,1755988300.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.823662 m,
nav range: 91.563118 m,
bearing: 134.441300 deg,
approach rate: -0.489929 m/s,
LOS rate: -0.000231 deg/s,
cmd heading: 139.396211 deg,
new cmd heading: 139.396010 deg.
2025-08-23T22:31:40.573Z,1755988300.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432919 target range: 93.823662 and range: 94.40 m.
2025-08-23T22:31:40.775Z,1755988300.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499337
2025-08-23T22:31:40.950Z,1755988300.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.82 m.
2025-08-23T22:31:40.952Z,1755988300.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.823662 m,
nav range: 91.384476 m,
bearing: 134.441221 deg,
approach rate: -0.490480 m/s,
LOS rate: -0.000215 deg/s,
cmd heading: 139.396006 deg,
new cmd heading: 139.395849 deg.
2025-08-23T22:31:40.954Z,1755988300.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432917 target range: 93.823662 and range: 94.40 m.
2025-08-23T22:31:41.027Z,1755988301.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751212
2025-08-23T22:31:41.279Z,1755988301.279 [DAT](INFO): DAT read: Rx Time:22:31:40.4231
2025-08-23T22:31:41.279Z,1755988301.279 [DAT](INFO): Rx dataTimestamp_ set to:1755988301.278781
2025-08-23T22:31:41.280Z,1755988301.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003836
2025-08-23T22:31:41.388Z,1755988301.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:41.399Z,1755988301.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.82 m.
2025-08-23T22:31:41.404Z,1755988301.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.823662 m,
nav range: 91.164742 m,
bearing: 134.441125 deg,
approach rate: -0.476247 m/s,
LOS rate: -0.000210 deg/s,
cmd heading: 139.395855 deg,
new cmd heading: 139.395662 deg.
2025-08-23T22:31:41.405Z,1755988301.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432913 target range: 93.823662 and range: 94.40 m.
2025-08-23T22:31:41.488Z,1755988301.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:31:41.531Z,1755988301.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254794
2025-08-23T22:31:41.788Z,1755988301.788 [DAT](INFO): DAT read: 22:31:40.4231 LVL= 26800, 30257, 23458, 32755, AGC= 65, IDX= 414,-0.38, 1.977, 0.298, 2.315, 1.811, PHS= 0.267,-1.468, 0.459, RAW= 155.2, 8.1, CAL= 154.8, 8.5, ROT= 355.2, -8.5
2025-08-23T22:31:41.789Z,1755988301.789 [DAT](INFO): got valid direction response:
22:31:40.4231 LVL= 26800, 30257, 23458, 32755, AGC= 65, IDX= 414,-0.38, 1.977, 0.298, 2.315, 1.811, PHS= 0.267,-1.468, 0.459, RAW= 155.2, 8.1, CAL= 154.8, 8.5, ROT= 355.2, -8.5
2025-08-23T22:31:41.791Z,1755988301.791 [DAT](INFO): DAT read: Bearing 308.6, -3.6 (Local)
2025-08-23T22:31:41.791Z,1755988301.791 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.6, -3.6 (Local)
2025-08-23T22:31:41.793Z,1755988301.793 [DAT](INFO): DAT read: Range 11 to 50 : 92.7 m (Round-trip 123.6 ms) speed 0.4 m/s
2025-08-23T22:31:41.793Z,1755988301.793 [DAT](INFO): DAT read: user:1836>
2025-08-23T22:31:41.794Z,1755988301.794 [DAT](INFO): DAT read: Tx time:22:31:41.5454
2025-08-23T22:31:41.794Z,1755988301.794 [DAT](INFO): Ping request sent.
2025-08-23T22:31:41.795Z,1755988301.795 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:41.795Z,1755988301.795 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:41.796Z,1755988301.796 [DAT](INFO): direction in FSK: [0.985547,-0.082759,0.147809]
2025-08-23T22:31:41.797Z,1755988301.797 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:41.806Z,1755988301.806 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:41.809Z,1755988301.809 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:41.809Z,1755988301.809 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:41.899Z,1755988301.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 92.699997 m,
deltaT: 3.528014 s,
deltaX: -1.700005 m,
approachRate: -0.481859 m/s,
rangeRepo size: 4
2025-08-23T22:31:41.901Z,1755988301.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 92.133125 m,
bearing: 134.463009 deg,
lat: 36.779392 deg,
lon: -121.859584 deg,
deltaT: 3.528014 s,
deltaX: -1.690536 m,
approachRate: -0.479175 m/s,
posRepo size: 4
2025-08-23T22:31:41.910Z,1755988301.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.13 m.
2025-08-23T22:31:41.912Z,1755988301.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.133125 m,
nav range: 90.958328 m,
bearing: 134.431237 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000210 deg/s,
cmd heading: 139.395664 deg,
new cmd heading: 139.395458 deg.
2025-08-23T22:31:41.913Z,1755988301.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432910 target range: 92.133125 and range: 92.70 m.
2025-08-23T22:31:42.260Z,1755988302.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.13 m.
2025-08-23T22:31:42.263Z,1755988302.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.133125 m,
nav range: 90.757370 m,
bearing: 134.431832 deg,
approach rate: -0.536437 m/s,
LOS rate: 0.001591 deg/s,
cmd heading: 139.395459 deg,
new cmd heading: 139.396652 deg.
2025-08-23T22:31:42.264Z,1755988302.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432930 target range: 92.133125 and range: 92.70 m.
2025-08-23T22:31:42.680Z,1755988302.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.13 m.
2025-08-23T22:31:42.683Z,1755988302.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.133125 m,
nav range: 90.556473 m,
bearing: 134.431818 deg,
approach rate: -0.478968 m/s,
LOS rate: -0.000033 deg/s,
cmd heading: 139.396648 deg,
new cmd heading: 139.396620 deg.
2025-08-23T22:31:42.684Z,1755988302.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432930 target range: 92.133125 and range: 92.70 m.
2025-08-23T22:31:43.060Z,1755988303.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.13 m.
2025-08-23T22:31:43.063Z,1755988303.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.133125 m,
nav range: 90.373886 m,
bearing: 134.431822 deg,
approach rate: -0.479329 m/s,
LOS rate: 0.000009 deg/s,
cmd heading: 139.396620 deg,
new cmd heading: 139.396628 deg.
2025-08-23T22:31:43.064Z,1755988303.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432930 target range: 92.133125 and range: 92.70 m.
2025-08-23T22:31:43.536Z,1755988303.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:43.539Z,1755988303.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.13 m.
2025-08-23T22:31:43.542Z,1755988303.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.133125 m,
nav range: 90.162743 m,
bearing: 134.431859 deg,
approach rate: -0.440794 m/s,
LOS rate: 0.000077 deg/s,
cmd heading: 139.396634 deg,
new cmd heading: 139.396708 deg.
2025-08-23T22:31:43.543Z,1755988303.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432931 target range: 92.133125 and range: 92.70 m.
2025-08-23T22:31:43.546Z,1755988303.546 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:43.547Z,1755988303.547 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:43.547Z,1755988303.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:43.801Z,1755988303.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006015
2025-08-23T22:31:43.915Z,1755988303.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.13 m.
2025-08-23T22:31:43.918Z,1755988303.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.133125 m,
nav range: 89.963753 m,
bearing: 134.429881 deg,
approach rate: -0.529469 m/s,
LOS rate: -0.005275 deg/s,
cmd heading: 139.396702 deg,
new cmd heading: 139.392738 deg.
2025-08-23T22:31:43.919Z,1755988303.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432862 target range: 92.133125 and range: 92.70 m.
2025-08-23T22:31:44.050Z,1755988304.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255883
2025-08-23T22:31:44.283Z,1755988304.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.13 m.
2025-08-23T22:31:44.286Z,1755988304.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.133125 m,
nav range: 89.783226 m,
bearing: 134.428118 deg,
approach rate: -0.491093 m/s,
LOS rate: -0.004807 deg/s,
cmd heading: 139.392741 deg,
new cmd heading: 139.389207 deg.
2025-08-23T22:31:44.287Z,1755988304.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432801 target range: 92.133125 and range: 92.70 m.
2025-08-23T22:31:44.303Z,1755988304.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508048
2025-08-23T22:31:44.554Z,1755988304.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759890
2025-08-23T22:31:44.718Z,1755988304.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.13 m.
2025-08-23T22:31:44.721Z,1755988304.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.133125 m,
nav range: 89.572594 m,
bearing: 134.424903 deg,
approach rate: -0.483910 m/s,
LOS rate: -0.007402 deg/s,
cmd heading: 139.389203 deg,
new cmd heading: 139.382759 deg.
2025-08-23T22:31:44.722Z,1755988304.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432688 target range: 92.133125 and range: 92.70 m.
2025-08-23T22:31:44.807Z,1755988304.807 [DAT](INFO): DAT read: Rx Time:22:31:44.0707
2025-08-23T22:31:44.807Z,1755988304.807 [DAT](INFO): Rx dataTimestamp_ set to:1755988304.806831
2025-08-23T22:31:44.808Z,1755988304.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013069
2025-08-23T22:31:45.058Z,1755988305.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263896
2025-08-23T22:31:45.155Z,1755988305.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.13 m.
2025-08-23T22:31:45.157Z,1755988305.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.133125 m,
nav range: 89.360268 m,
bearing: 134.421674 deg,
approach rate: -0.486439 m/s,
LOS rate: -0.007416 deg/s,
cmd heading: 139.382755 deg,
new cmd heading: 139.376281 deg.
2025-08-23T22:31:45.158Z,1755988305.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432575 target range: 92.133125 and range: 92.70 m.
2025-08-23T22:31:45.314Z,1755988305.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518711
2025-08-23T22:31:45.568Z,1755988305.568 [DAT](INFO): DAT read: 22:31:44.0707 LVL= 30112, 32753, 30834, 32755, AGC= 63, IDX= 421,-0.18, 0.472,-1.188, 0.781, 0.306, PHS= 0.267,-1.450, 0.430, RAW= 154.5, 8.4, CAL= 154.1, 8.9, ROT= 355.9, -8.9
2025-08-23T22:31:45.569Z,1755988305.569 [DAT](INFO): got valid direction response:
22:31:44.0707 LVL= 30112, 32753, 30834, 32755, AGC= 63, IDX= 421,-0.18, 0.472,-1.188, 0.781, 0.306, PHS= 0.267,-1.450, 0.430, RAW= 154.5, 8.4, CAL= 154.1, 8.9, ROT= 355.9, -8.9
2025-08-23T22:31:45.570Z,1755988305.570 [DAT](INFO): DAT read: Bearing 308.7, -2.6 (Local)
2025-08-23T22:31:45.571Z,1755988305.571 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.7, -2.6 (Local)
2025-08-23T22:31:45.572Z,1755988305.572 [DAT](INFO): DAT read: Range 11 to 50 : 90.8 m (Round-trip 121.1 ms) speed 0.4 m/s
2025-08-23T22:31:45.573Z,1755988305.573 [DAT](INFO): DAT read: user:1837>
2025-08-23T22:31:45.574Z,1755988305.574 [DAT](INFO): DAT read: Tx time:22:31:45.1954
2025-08-23T22:31:45.574Z,1755988305.574 [DAT](INFO): Ping request sent.
2025-08-23T22:31:45.574Z,1755988305.574 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:45.574Z,1755988305.574 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:45.575Z,1755988305.575 [DAT](INFO): direction in FSK: [0.985431,-0.070637,0.154710]
2025-08-23T22:31:45.576Z,1755988305.576 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:45.576Z,1755988305.576 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:45.579Z,1755988305.579 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:45.580Z,1755988305.580 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:45.607Z,1755988305.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 90.800003 m,
deltaT: 3.780041 s,
deltaX: -1.899994 m,
approachRate: -0.502638 m/s,
rangeRepo size: 4
2025-08-23T22:31:45.613Z,1755988305.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 90.245079 m,
bearing: 135.100064 deg,
lat: 36.779391 deg,
lon: -121.859584 deg,
deltaT: 3.780041 s,
deltaX: -1.888046 m,
approachRate: -0.499478 m/s,
posRepo size: 4
2025-08-23T22:31:45.614Z,1755988305.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.25 m.
2025-08-23T22:31:45.617Z,1755988305.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.245079 m,
nav range: 89.199295 m,
bearing: 134.461608 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007416 deg/s,
cmd heading: 139.376280 deg,
new cmd heading: 139.369577 deg.
2025-08-23T22:31:45.626Z,1755988305.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432458 target range: 90.245079 and range: 90.80 m.
2025-08-23T22:31:45.960Z,1755988305.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:45.963Z,1755988305.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.25 m.
2025-08-23T22:31:45.966Z,1755988305.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.245079 m,
nav range: 88.997475 m,
bearing: 134.458175 deg,
approach rate: -0.566617 m/s,
LOS rate: -0.009660 deg/s,
cmd heading: 139.369573 deg,
new cmd heading: 139.362691 deg.
2025-08-23T22:31:45.967Z,1755988305.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432338 target range: 90.245079 and range: 90.80 m.
2025-08-23T22:31:46.066Z,1755988306.066 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:46.067Z,1755988306.067 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:46.067Z,1755988306.067 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:46.320Z,1755988306.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746042
2025-08-23T22:31:46.355Z,1755988306.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.25 m.
2025-08-23T22:31:46.358Z,1755988306.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.245079 m,
nav range: 88.804207 m,
bearing: 134.454873 deg,
approach rate: -0.492874 m/s,
LOS rate: -0.008440 deg/s,
cmd heading: 139.362688 deg,
new cmd heading: 139.356069 deg.
2025-08-23T22:31:46.359Z,1755988306.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432222 target range: 90.245079 and range: 90.80 m.
2025-08-23T22:31:46.571Z,1755988306.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996407
2025-08-23T22:31:46.795Z,1755988306.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.25 m.
2025-08-23T22:31:46.798Z,1755988306.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.245079 m,
nav range: 88.597717 m,
bearing: 134.452463 deg,
approach rate: -0.469257 m/s,
LOS rate: -0.005490 deg/s,
cmd heading: 139.356063 deg,
new cmd heading: 139.351231 deg.
2025-08-23T22:31:46.799Z,1755988306.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432138 target range: 90.245079 and range: 90.80 m.
2025-08-23T22:31:46.824Z,1755988306.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249628
2025-08-23T22:31:47.074Z,1755988307.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500364
2025-08-23T22:31:47.213Z,1755988307.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.25 m.
2025-08-23T22:31:47.220Z,1755988307.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.245079 m,
nav range: 88.416466 m,
bearing: 134.450338 deg,
approach rate: -0.433981 m/s,
LOS rate: -0.005098 deg/s,
cmd heading: 139.351227 deg,
new cmd heading: 139.346968 deg.
2025-08-23T22:31:47.221Z,1755988307.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432063 target range: 90.245079 and range: 90.80 m.
2025-08-23T22:31:47.327Z,1755988307.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753119
2025-08-23T22:31:47.582Z,1755988307.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006853
2025-08-23T22:31:47.666Z,1755988307.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.25 m.
2025-08-23T22:31:47.668Z,1755988307.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.245079 m,
nav range: 88.199173 m,
bearing: 134.448176 deg,
approach rate: -0.497491 m/s,
LOS rate: -0.004961 deg/s,
cmd heading: 139.346965 deg,
new cmd heading: 139.342632 deg.
2025-08-23T22:31:47.669Z,1755988307.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431988 target range: 90.245079 and range: 90.80 m.
2025-08-23T22:31:47.831Z,1755988307.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257137
2025-08-23T22:31:48.026Z,1755988308.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:48.028Z,1755988308.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.25 m.
2025-08-23T22:31:48.031Z,1755988308.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.245079 m,
nav range: 88.023460 m,
bearing: 134.446421 deg,
approach rate: -0.464257 m/s,
LOS rate: -0.004648 deg/s,
cmd heading: 139.342635 deg,
new cmd heading: 139.339116 deg.
2025-08-23T22:31:48.032Z,1755988308.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431926 target range: 90.245079 and range: 90.80 m.
2025-08-23T22:31:48.083Z,1755988308.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508590
2025-08-23T22:31:48.336Z,1755988308.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761487
2025-08-23T22:31:48.423Z,1755988308.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.25 m.
2025-08-23T22:31:48.427Z,1755988308.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.245079 m,
nav range: 87.848831 m,
bearing: 134.444762 deg,
approach rate: -0.441690 m/s,
LOS rate: -0.004203 deg/s,
cmd heading: 139.339110 deg,
new cmd heading: 139.335787 deg.
2025-08-23T22:31:48.428Z,1755988308.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431868 target range: 90.245079 and range: 90.80 m.
2025-08-23T22:31:48.588Z,1755988308.588 [DAT](INFO): DAT read: Rx Time:22:31:47.7184
2025-08-23T22:31:48.589Z,1755988308.589 [DAT](INFO): Rx dataTimestamp_ set to:1755988308.588293
2025-08-23T22:31:48.589Z,1755988308.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015061
2025-08-23T22:31:48.839Z,1755988308.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264937
2025-08-23T22:31:48.866Z,1755988308.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.25 m.
2025-08-23T22:31:48.869Z,1755988308.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.245079 m,
nav range: 87.647339 m,
bearing: 134.443820 deg,
approach rate: -0.454691 m/s,
LOS rate: -0.002131 deg/s,
cmd heading: 139.335791 deg,
new cmd heading: 139.333902 deg.
2025-08-23T22:31:48.874Z,1755988308.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431835 target range: 90.245079 and range: 90.80 m.
2025-08-23T22:31:49.099Z,1755988309.099 [DAT](INFO): DAT read: 22:31:47.7184 LVL= 29152, 32753, 29682, 32755, AGC= 63, IDX= 414, 0.09, 1.054,-0.650, 1.381, 0.885, PHS= 0.270,-1.490, 0.452, RAW= 154.9, 8.3, CAL= 154.4, 8.8, ROT= 355.6, -8.8
2025-08-23T22:31:49.100Z,1755988309.100 [DAT](INFO): got valid direction response:
22:31:47.7184 LVL= 29152, 32753, 29682, 32755, AGC= 63, IDX= 414, 0.09, 1.054,-0.650, 1.381, 0.885, PHS= 0.270,-1.490, 0.452, RAW= 154.9, 8.3, CAL= 154.4, 8.8, ROT= 355.6, -8.8
2025-08-23T22:31:49.101Z,1755988309.101 [DAT](INFO): DAT read: Bearing 308.3, -2.8 (Local)
2025-08-23T22:31:49.102Z,1755988309.102 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.3, -2.8 (Local)
2025-08-23T22:31:49.104Z,1755988309.104 [DAT](INFO): DAT read: Range 11 to 50 : 89.1 m (Round-trip 118.9 ms) speed 0.4 m/s
2025-08-23T22:31:49.105Z,1755988309.105 [DAT](INFO): DAT read: user:1838>
2025-08-23T22:31:49.106Z,1755988309.106 [DAT](INFO): DAT read: Tx time:22:31:48.8454
2025-08-23T22:31:49.107Z,1755988309.107 [DAT](INFO): Ping request sent.
2025-08-23T22:31:49.107Z,1755988309.107 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:49.107Z,1755988309.107 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:49.108Z,1755988309.108 [DAT](INFO): direction in FSK: [0.985316,-0.075816,0.152986]
2025-08-23T22:31:49.109Z,1755988309.109 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:49.109Z,1755988309.109 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:49.139Z,1755988309.139 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:49.139Z,1755988309.139 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:49.286Z,1755988309.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 89.099998 m,
deltaT: 3.529903 s,
deltaX: -1.700005 m,
approachRate: -0.481601 m/s,
rangeRepo size: 4
2025-08-23T22:31:49.288Z,1755988309.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 88.555199 m,
bearing: 134.648682 deg,
lat: 36.779390 deg,
lon: -121.859586 deg,
deltaT: 3.529903 s,
deltaX: -1.689880 m,
approachRate: -0.478733 m/s,
posRepo size: 4
2025-08-23T22:31:49.289Z,1755988309.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.56 m.
2025-08-23T22:31:49.300Z,1755988309.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.555199 m,
nav range: 87.435799 m,
bearing: 134.572230 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002131 deg/s,
cmd heading: 139.333906 deg,
new cmd heading: 139.332122 deg.
2025-08-23T22:31:49.301Z,1755988309.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431804 target range: 88.555199 and range: 89.10 m.
2025-08-23T22:31:49.683Z,1755988309.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.56 m.
2025-08-23T22:31:49.686Z,1755988309.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.555199 m,
nav range: 87.226089 m,
bearing: 134.574007 deg,
approach rate: -0.526421 m/s,
LOS rate: 0.004470 deg/s,
cmd heading: 139.332116 deg,
new cmd heading: 139.335678 deg.
2025-08-23T22:31:49.687Z,1755988309.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431866 target range: 88.555199 and range: 89.10 m.
2025-08-23T22:31:50.091Z,1755988310.091 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:50.093Z,1755988310.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.56 m.
2025-08-23T22:31:50.098Z,1755988310.098 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:50.099Z,1755988310.099 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:50.099Z,1755988310.099 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:50.104Z,1755988310.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.555199 m,
nav range: 87.042343 m,
bearing: 134.575687 deg,
approach rate: -0.448072 m/s,
LOS rate: 0.004107 deg/s,
cmd heading: 139.335681 deg,
new cmd heading: 139.339050 deg.
2025-08-23T22:31:50.105Z,1755988310.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431925 target range: 88.555199 and range: 89.10 m.
2025-08-23T22:31:50.352Z,1755988310.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244747
2025-08-23T22:31:50.490Z,1755988310.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.56 m.
2025-08-23T22:31:50.493Z,1755988310.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.555199 m,
nav range: 86.844643 m,
bearing: 134.577606 deg,
approach rate: -0.497626 m/s,
LOS rate: 0.004840 deg/s,
cmd heading: 139.339056 deg,
new cmd heading: 139.342901 deg.
2025-08-23T22:31:50.498Z,1755988310.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431993 target range: 88.555199 and range: 89.10 m.
2025-08-23T22:31:50.607Z,1755988310.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499123
2025-08-23T22:31:50.855Z,1755988310.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747647
2025-08-23T22:31:50.910Z,1755988310.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.56 m.
2025-08-23T22:31:50.913Z,1755988310.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.555199 m,
nav range: 86.622971 m,
bearing: 134.581253 deg,
approach rate: -0.527833 m/s,
LOS rate: 0.008707 deg/s,
cmd heading: 139.342908 deg,
new cmd heading: 139.350221 deg.
2025-08-23T22:31:50.914Z,1755988310.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432120 target range: 88.555199 and range: 89.10 m.
2025-08-23T22:31:51.107Z,1755988311.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000356
2025-08-23T22:31:51.288Z,1755988311.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.56 m.
2025-08-23T22:31:51.291Z,1755988311.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.555199 m,
nav range: 86.448181 m,
bearing: 134.584332 deg,
approach rate: -0.462847 m/s,
LOS rate: 0.008170 deg/s,
cmd heading: 139.350216 deg,
new cmd heading: 139.356387 deg.
2025-08-23T22:31:51.292Z,1755988311.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432228 target range: 88.555199 and range: 89.10 m.
2025-08-23T22:31:51.359Z,1755988311.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251909
2025-08-23T22:31:51.613Z,1755988311.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505566
2025-08-23T22:31:51.718Z,1755988311.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.56 m.
2025-08-23T22:31:51.720Z,1755988311.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.555199 m,
nav range: 86.235374 m,
bearing: 134.588201 deg,
approach rate: -0.495501 m/s,
LOS rate: 0.009030 deg/s,
cmd heading: 139.356391 deg,
new cmd heading: 139.364147 deg.
2025-08-23T22:31:51.722Z,1755988311.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432363 target range: 88.555199 and range: 89.10 m.
2025-08-23T22:31:51.863Z,1755988311.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755728
2025-08-23T22:31:52.115Z,1755988312.115 [DAT](INFO): DAT read: Rx Time:22:31:51.3660
2025-08-23T22:31:52.116Z,1755988312.116 [DAT](INFO): Rx dataTimestamp_ set to:1755988312.115427
2025-08-23T22:31:52.116Z,1755988312.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009415
2025-08-23T22:31:52.174Z,1755988312.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:52.176Z,1755988312.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.56 m.
2025-08-23T22:31:52.185Z,1755988312.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.555199 m,
nav range: 86.025131 m,
bearing: 134.592063 deg,
approach rate: -0.458545 m/s,
LOS rate: 0.008444 deg/s,
cmd heading: 139.364150 deg,
new cmd heading: 139.371893 deg.
2025-08-23T22:31:52.191Z,1755988312.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432498 target range: 88.555199 and range: 89.10 m.
2025-08-23T22:31:52.366Z,1755988312.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259636
2025-08-23T22:31:52.608Z,1755988312.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.56 m.
2025-08-23T22:31:52.650Z,1755988312.650 [DAT](INFO): DAT read: 22:31:51.3660 LVL= 27632, 32753, 23122, 32755, AGC= 66, IDX= 421,-0.14,-1.502, 3.109,-1.173,-1.670, PHS= 0.271,-1.459, 0.453, RAW= 155.0, 8.1, CAL= 154.5, 8.5, ROT= 355.5, -8.5
2025-08-23T22:31:52.651Z,1755988312.651 [DAT](INFO): got valid direction response:
22:31:51.3660 LVL= 27632, 32753, 23122, 32755, AGC= 66, IDX= 421,-0.14,-1.502, 3.109,-1.173,-1.670, PHS= 0.271,-1.459, 0.453, RAW= 155.0, 8.1, CAL= 154.5, 8.5, ROT= 355.5, -8.5
2025-08-23T22:31:52.652Z,1755988312.652 [DAT](INFO): DAT read: Bearing 307.4, -2.9 (Local)
2025-08-23T22:31:52.652Z,1755988312.652 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.4, -2.9 (Local)
2025-08-23T22:31:52.655Z,1755988312.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.555199 m,
nav range: 85.833000 m,
bearing: 134.595626 deg,
approach rate: -0.465218 m/s,
LOS rate: 0.008646 deg/s,
cmd heading: 139.371895 deg,
new cmd heading: 139.379037 deg.
2025-08-23T22:31:52.656Z,1755988312.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432623 target range: 88.555199 and range: 89.10 m.
2025-08-23T22:31:52.662Z,1755988312.662 [DAT](INFO): DAT read: Range 11 to 50 : 87.3 m (Round-trip 116.5 ms) speed 0.4 m/s
2025-08-23T22:31:52.663Z,1755988312.663 [DAT](INFO): DAT read: user:1839>
2025-08-23T22:31:52.664Z,1755988312.664 [DAT](INFO): DAT read: Tx time:22:31:52.4954
2025-08-23T22:31:52.664Z,1755988312.664 [DAT](INFO): Ping request sent.
2025-08-23T22:31:52.664Z,1755988312.664 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:52.664Z,1755988312.664 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:52.665Z,1755988312.665 [DAT](INFO): direction in FSK: [0.985967,-0.077597,0.147809]
2025-08-23T22:31:52.674Z,1755988312.674 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:52.674Z,1755988312.674 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:52.677Z,1755988312.677 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:52.686Z,1755988312.686 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:53.131Z,1755988313.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 87.300003 m,
deltaT: 3.528442 s,
deltaX: -1.799995 m,
approachRate: -0.510139 m/s,
rangeRepo size: 4
2025-08-23T22:31:53.133Z,1755988313.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 86.766678 m,
bearing: 134.356956 deg,
lat: 36.779390 deg,
lon: -121.859586 deg,
deltaT: 3.528442 s,
deltaX: -1.788521 m,
approachRate: -0.506887 m/s,
posRepo size: 4
2025-08-23T22:31:53.134Z,1755988313.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-08-23T22:31:53.137Z,1755988313.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.766678 m,
nav range: 85.565063 m,
bearing: 134.598217 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.008646 deg/s,
cmd heading: 139.379040 deg,
new cmd heading: 139.388390 deg.
2025-08-23T22:31:53.138Z,1755988313.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432786 target range: 86.766678 and range: 87.30 m.
2025-08-23T22:31:53.507Z,1755988313.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-08-23T22:31:53.510Z,1755988313.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.766678 m,
nav range: 85.380371 m,
bearing: 134.599972 deg,
approach rate: -0.490002 m/s,
LOS rate: 0.004666 deg/s,
cmd heading: 139.388397 deg,
new cmd heading: 139.391914 deg.
2025-08-23T22:31:53.511Z,1755988313.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432848 target range: 86.766678 and range: 87.30 m.
2025-08-23T22:31:53.945Z,1755988313.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-08-23T22:31:53.947Z,1755988313.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.766678 m,
nav range: 85.170853 m,
bearing: 134.602983 deg,
approach rate: -0.478483 m/s,
LOS rate: 0.006892 deg/s,
cmd heading: 139.391921 deg,
new cmd heading: 139.397957 deg.
2025-08-23T22:31:53.948Z,1755988313.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432953 target range: 86.766678 and range: 87.30 m.
2025-08-23T22:31:54.331Z,1755988314.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:54.333Z,1755988314.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-08-23T22:31:54.336Z,1755988314.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.766678 m,
nav range: 84.987526 m,
bearing: 134.605583 deg,
approach rate: -0.471675 m/s,
LOS rate: 0.006705 deg/s,
cmd heading: 139.397959 deg,
new cmd heading: 139.403171 deg.
2025-08-23T22:31:54.337Z,1755988314.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433044 target range: 86.766678 and range: 87.30 m.
2025-08-23T22:31:54.383Z,1755988314.383 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:54.383Z,1755988314.383 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:54.383Z,1755988314.383 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:54.638Z,1755988314.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974040
2025-08-23T22:31:54.761Z,1755988314.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-08-23T22:31:54.768Z,1755988314.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.766678 m,
nav range: 84.783234 m,
bearing: 134.607331 deg,
approach rate: -0.477467 m/s,
LOS rate: 0.004094 deg/s,
cmd heading: 139.403177 deg,
new cmd heading: 139.406681 deg.
2025-08-23T22:31:54.769Z,1755988314.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433105 target range: 86.766678 and range: 87.30 m.
2025-08-23T22:31:54.887Z,1755988314.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223549
2025-08-23T22:31:55.139Z,1755988315.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474668
2025-08-23T22:31:55.139Z,1755988315.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-08-23T22:31:55.142Z,1755988315.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.766678 m,
nav range: 84.598663 m,
bearing: 134.608934 deg,
approach rate: -0.490143 m/s,
LOS rate: 0.004265 deg/s,
cmd heading: 139.406674 deg,
new cmd heading: 139.409887 deg.
2025-08-23T22:31:55.143Z,1755988315.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433161 target range: 86.766678 and range: 87.30 m.
2025-08-23T22:31:55.391Z,1755988315.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727259
2025-08-23T22:31:55.562Z,1755988315.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-08-23T22:31:55.564Z,1755988315.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.766678 m,
nav range: 84.404366 m,
bearing: 134.610672 deg,
approach rate: -0.458285 m/s,
LOS rate: 0.004109 deg/s,
cmd heading: 139.409885 deg,
new cmd heading: 139.413369 deg.
2025-08-23T22:31:55.570Z,1755988315.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433222 target range: 86.766678 and range: 87.30 m.
2025-08-23T22:31:55.647Z,1755988315.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981415
2025-08-23T22:31:55.895Z,1755988315.895 [DAT](INFO): DAT read: Rx Time:22:31:55.0136
2025-08-23T22:31:55.895Z,1755988315.895 [DAT](INFO): Rx dataTimestamp_ set to:1755988315.894875
2025-08-23T22:31:55.896Z,1755988315.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231802
2025-08-23T22:31:55.984Z,1755988315.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-08-23T22:31:55.991Z,1755988315.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.766678 m,
nav range: 84.200119 m,
bearing: 134.612549 deg,
approach rate: -0.483254 m/s,
LOS rate: 0.004452 deg/s,
cmd heading: 139.413368 deg,
new cmd heading: 139.417132 deg.
2025-08-23T22:31:55.992Z,1755988315.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433288 target range: 86.766678 and range: 87.30 m.
2025-08-23T22:31:56.146Z,1755988316.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482506
2025-08-23T22:31:56.350Z,1755988316.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:56.352Z,1755988316.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-08-23T22:31:56.355Z,1755988316.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.766678 m,
nav range: 84.023781 m,
bearing: 134.614212 deg,
approach rate: -0.480080 m/s,
LOS rate: 0.004536 deg/s,
cmd heading: 139.417138 deg,
new cmd heading: 139.420471 deg.
2025-08-23T22:31:56.356Z,1755988316.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433346 target range: 86.766678 and range: 87.30 m.
2025-08-23T22:31:56.404Z,1755988316.404 [DAT](INFO): DAT read: 22:31:55.0136 LVL= 30320, 31889, 26770, 32755, AGC= 61, IDX= 413, 0.02, 1.590,-0.077, 1.914, 1.421, PHS= 0.271,-1.454, 0.449, RAW= 154.9, 8.1, CAL= 154.4, 8.6, ROT= 355.6, -8.6
2025-08-23T22:31:56.406Z,1755988316.406 [DAT](INFO): got valid direction response:
22:31:55.0136 LVL= 30320, 31889, 26770, 32755, AGC= 61, IDX= 413, 0.02, 1.590,-0.077, 1.914, 1.421, PHS= 0.271,-1.454, 0.449, RAW= 154.9, 8.1, CAL= 154.4, 8.6, ROT= 355.6, -8.6
2025-08-23T22:31:56.406Z,1755988316.406 [DAT](INFO): DAT read: Bearing 307.5, -3.0 (Local)
2025-08-23T22:31:56.407Z,1755988316.407 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.5, -3.0 (Local)
2025-08-23T22:31:56.408Z,1755988316.408 [DAT](INFO): DAT read: Range 11 to 50 : 85.5 m (Round-trip 114.1 ms) speed 0.4 m/s
2025-08-23T22:31:56.409Z,1755988316.409 [DAT](INFO): DAT read: user:1840>
2025-08-23T22:31:56.410Z,1755988316.410 [DAT](INFO): DAT read: Tx time:22:31:56.1454
2025-08-23T22:31:56.410Z,1755988316.410 [DAT](INFO): Ping request sent.
2025-08-23T22:31:56.410Z,1755988316.410 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:31:56.410Z,1755988316.410 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:56.411Z,1755988316.411 [DAT](INFO): direction in FSK: [0.985842,-0.075856,0.149535]
2025-08-23T22:31:56.412Z,1755988316.412 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:56.412Z,1755988316.412 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:56.423Z,1755988316.423 [DAT](INFO): publishing transmit ping time
2025-08-23T22:31:56.423Z,1755988316.423 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:56.826Z,1755988316.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 85.500000 m,
deltaT: 3.777639 s,
deltaX: -1.800003 m,
approachRate: -0.476489 m/s,
rangeRepo size: 4
2025-08-23T22:31:56.828Z,1755988316.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 84.977768 m,
bearing: 134.444145 deg,
lat: 36.779391 deg,
lon: -121.859584 deg,
deltaT: 3.777639 s,
deltaX: -1.788910 m,
approachRate: -0.473552 m/s,
posRepo size: 4
2025-08-23T22:31:56.829Z,1755988316.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.98 m.
2025-08-23T22:31:56.836Z,1755988316.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.977768 m,
nav range: 83.855400 m,
bearing: 134.482909 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004536 deg/s,
cmd heading: 139.420471 deg,
new cmd heading: 139.424732 deg.
2025-08-23T22:31:56.837Z,1755988316.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433421 target range: 84.977768 and range: 85.50 m.
2025-08-23T22:31:57.172Z,1755988317.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.98 m.
2025-08-23T22:31:57.175Z,1755988317.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.977768 m,
nav range: 83.664352 m,
bearing: 134.484022 deg,
approach rate: -0.544204 m/s,
LOS rate: 0.003179 deg/s,
cmd heading: 139.424733 deg,
new cmd heading: 139.426965 deg.
2025-08-23T22:31:57.176Z,1755988317.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433460 target range: 84.977768 and range: 85.50 m.
2025-08-23T22:31:57.571Z,1755988317.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.98 m.
2025-08-23T22:31:57.574Z,1755988317.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.977768 m,
nav range: 83.467186 m,
bearing: 134.485191 deg,
approach rate: -0.494620 m/s,
LOS rate: 0.002939 deg/s,
cmd heading: 139.426960 deg,
new cmd heading: 139.429304 deg.
2025-08-23T22:31:57.575Z,1755988317.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433501 target range: 84.977768 and range: 85.50 m.
2025-08-23T22:31:57.994Z,1755988317.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.98 m.
2025-08-23T22:31:57.997Z,1755988317.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.977768 m,
nav range: 83.261169 m,
bearing: 134.485997 deg,
approach rate: -0.486820 m/s,
LOS rate: 0.001908 deg/s,
cmd heading: 139.429310 deg,
new cmd heading: 139.430925 deg.
2025-08-23T22:31:57.998Z,1755988317.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433529 target range: 84.977768 and range: 85.50 m.
2025-08-23T22:31:58.434Z,1755988318.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:31:58.436Z,1755988318.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.98 m.
2025-08-23T22:31:58.439Z,1755988318.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.977768 m,
nav range: 83.046097 m,
bearing: 134.486842 deg,
approach rate: -0.487050 m/s,
LOS rate: 0.001919 deg/s,
cmd heading: 139.430922 deg,
new cmd heading: 139.432616 deg.
2025-08-23T22:31:58.440Z,1755988318.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433558 target range: 84.977768 and range: 85.50 m.
2025-08-23T22:31:58.669Z,1755988318.669 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:58.669Z,1755988318.669 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:58.670Z,1755988318.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:31:58.876Z,1755988318.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.98 m.
2025-08-23T22:31:58.883Z,1755988318.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.977768 m,
nav range: 82.829750 m,
bearing: 134.487423 deg,
approach rate: -0.491152 m/s,
LOS rate: 0.001322 deg/s,
cmd heading: 139.432616 deg,
new cmd heading: 139.433780 deg.
2025-08-23T22:31:58.884Z,1755988318.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433578 target range: 84.977768 and range: 85.50 m.
2025-08-23T22:31:58.919Z,1755988318.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508557
2025-08-23T22:31:59.171Z,1755988319.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760865
2025-08-23T22:31:59.265Z,1755988319.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.98 m.
2025-08-23T22:31:59.268Z,1755988319.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.977768 m,
nav range: 82.638985 m,
bearing: 134.487940 deg,
approach rate: -0.511012 m/s,
LOS rate: 0.001389 deg/s,
cmd heading: 139.433777 deg,
new cmd heading: 139.434814 deg.
2025-08-23T22:31:59.269Z,1755988319.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433597 target range: 84.977768 and range: 85.50 m.
2025-08-23T22:31:59.423Z,1755988319.423 [DAT](INFO): DAT read: Rx Time:22:31:58.6613
2025-08-23T22:31:59.423Z,1755988319.423 [DAT](INFO): Rx dataTimestamp_ set to:1755988319.422943
2025-08-23T22:31:59.424Z,1755988319.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013700
2025-08-23T22:31:59.637Z,1755988319.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.98 m.
2025-08-23T22:31:59.639Z,1755988319.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.977768 m,
nav range: 82.445488 m,
bearing: 134.488446 deg,
approach rate: -0.499873 m/s,
LOS rate: 0.001309 deg/s,
cmd heading: 139.434815 deg,
new cmd heading: 139.435828 deg.
2025-08-23T22:31:59.640Z,1755988319.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433614 target range: 84.977768 and range: 85.50 m.
2025-08-23T22:31:59.675Z,1755988319.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265143
2025-08-23T22:31:59.932Z,1755988319.932 [DAT](INFO): DAT read: 22:31:58.6613 LVL= 30688, 28337, 25650, 32755, AGC= 63, IDX= 421, 0.11,-0.548,-2.239,-0.211,-0.737, PHS= 0.290,-1.458, 0.482, RAW= 155.1, 7.5, CAL= 154.6, 7.7, ROT= 355.4, -7.7
2025-08-23T22:31:59.934Z,1755988319.934 [DAT](INFO): got valid direction response:
22:31:58.6613 LVL= 30688, 28337, 25650, 32755, AGC= 63, IDX= 421, 0.11,-0.548,-2.239,-0.211,-0.737, PHS= 0.290,-1.458, 0.482, RAW= 155.1, 7.5, CAL= 154.6, 7.7, ROT= 355.4, -7.7
2025-08-23T22:31:59.934Z,1755988319.934 [DAT](INFO): DAT read: Bearing 306.8, -3.4 (Local)
2025-08-23T22:31:59.935Z,1755988319.935 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.8, -3.4 (Local)
2025-08-23T22:31:59.936Z,1755988319.936 [DAT](INFO): DAT read: Range 11 to 50 : 83.8 m (Round-trip 111.8 ms) speed 0.4 m/s
2025-08-23T22:31:59.937Z,1755988319.937 [DAT](INFO): DAT read: user:1841>
2025-08-23T22:31:59.937Z,1755988319.937 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:31:59.939Z,1755988319.939 [DAT](INFO): direction in FSK: [0.987791,-0.079476,0.133986]
2025-08-23T22:31:59.939Z,1755988319.939 [DAT](INFO): publishing direction and range info
2025-08-23T22:31:59.942Z,1755988319.942 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:31:59.942Z,1755988319.942 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:31:59.943Z,1755988319.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:00.122Z,1755988320.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 83.800003 m,
deltaT: 3.528019 s,
deltaX: -1.699997 m,
approachRate: -0.481856 m/s,
rangeRepo size: 4
2025-08-23T22:32:00.124Z,1755988320.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 83.288330 m,
bearing: 134.285727 deg,
lat: 36.779391 deg,
lon: -121.859583 deg,
deltaT: 3.528019 s,
deltaX: -1.689438 m,
approachRate: -0.478863 m/s,
posRepo size: 4
2025-08-23T22:32:00.125Z,1755988320.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.29 m.
2025-08-23T22:32:00.136Z,1755988320.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.288330 m,
nav range: 82.266075 m,
bearing: 134.449963 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001309 deg/s,
cmd heading: 139.435826 deg,
new cmd heading: 139.437084 deg.
2025-08-23T22:32:00.137Z,1755988320.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433636 target range: 83.288330 and range: 83.80 m.
2025-08-23T22:32:00.180Z,1755988320.180 [DAT](INFO): DAT read: Tx tm:2:31:59.7954
2025-08-23T22:32:00.180Z,1755988320.180 [DAT](INFO): unknown deviceResponse_: Tx tm:2:31:59.7954
2025-08-23T22:32:00.181Z,1755988320.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771063
2025-08-23T22:32:00.431Z,1755988320.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020433
2025-08-23T22:32:00.484Z,1755988320.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:00.486Z,1755988320.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.29 m.
2025-08-23T22:32:00.489Z,1755988320.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.288330 m,
nav range: 82.074677 m,
bearing: 134.450976 deg,
approach rate: -0.518038 m/s,
LOS rate: 0.002750 deg/s,
cmd heading: 139.437082 deg,
new cmd heading: 139.439114 deg.
2025-08-23T22:32:00.490Z,1755988320.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433672 target range: 83.288330 and range: 83.80 m.
2025-08-23T22:32:00.683Z,1755988320.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272799
2025-08-23T22:32:00.922Z,1755988320.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.29 m.
2025-08-23T22:32:00.924Z,1755988320.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.288330 m,
nav range: 81.873909 m,
bearing: 134.451907 deg,
approach rate: -0.463301 m/s,
LOS rate: 0.002154 deg/s,
cmd heading: 139.439118 deg,
new cmd heading: 139.440985 deg.
2025-08-23T22:32:00.926Z,1755988320.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433704 target range: 83.288330 and range: 83.80 m.
2025-08-23T22:32:00.935Z,1755988320.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524710
2025-08-23T22:32:01.187Z,1755988321.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777064
2025-08-23T22:32:01.363Z,1755988321.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.29 m.
2025-08-23T22:32:01.366Z,1755988321.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.288330 m,
nav range: 81.649857 m,
bearing: 134.452880 deg,
approach rate: -0.505813 m/s,
LOS rate: 0.002203 deg/s,
cmd heading: 139.440989 deg,
new cmd heading: 139.442941 deg.
2025-08-23T22:32:01.366Z,1755988321.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433738 target range: 83.288330 and range: 83.80 m.
2025-08-23T22:32:01.440Z,1755988321.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030183
2025-08-23T22:32:01.691Z,1755988321.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280539
2025-08-23T22:32:01.751Z,1755988321.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.29 m.
2025-08-23T22:32:01.798Z,1755988321.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.288330 m,
nav range: 81.475761 m,
bearing: 134.453593 deg,
approach rate: -0.454818 m/s,
LOS rate: 0.001865 deg/s,
cmd heading: 139.442943 deg,
new cmd heading: 139.444371 deg.
2025-08-23T22:32:01.800Z,1755988321.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433764 target range: 83.288330 and range: 83.80 m.
2025-08-23T22:32:01.943Z,1755988321.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532418
2025-08-23T22:32:02.195Z,1755988322.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784748
2025-08-23T22:32:02.224Z,1755988322.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.29 m.
2025-08-23T22:32:02.231Z,1755988322.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.288330 m,
nav range: 81.255440 m,
bearing: 134.456090 deg,
approach rate: -0.460653 m/s,
LOS rate: 0.005236 deg/s,
cmd heading: 139.444377 deg,
new cmd heading: 139.449385 deg.
2025-08-23T22:32:02.232Z,1755988322.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433851 target range: 83.288330 and range: 83.80 m.
2025-08-23T22:32:02.447Z,1755988322.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037127
2025-08-23T22:32:02.577Z,1755988322.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:02.579Z,1755988322.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.29 m.
2025-08-23T22:32:02.583Z,1755988322.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.288330 m,
nav range: 81.067757 m,
bearing: 134.458177 deg,
approach rate: -0.528530 m/s,
LOS rate: 0.005891 deg/s,
cmd heading: 139.449390 deg,
new cmd heading: 139.453575 deg.
2025-08-23T22:32:02.584Z,1755988322.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433924 target range: 83.288330 and range: 83.80 m.
2025-08-23T22:32:02.699Z,1755988322.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288435
2025-08-23T22:32:02.951Z,1755988322.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540498
2025-08-23T22:32:02.976Z,1755988322.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.29 m.
2025-08-23T22:32:02.978Z,1755988322.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.288330 m,
nav range: 80.879715 m,
bearing: 134.457443 deg,
approach rate: -0.473968 m/s,
LOS rate: -0.001856 deg/s,
cmd heading: 139.453571 deg,
new cmd heading: 139.452098 deg.
2025-08-23T22:32:02.979Z,1755988322.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433898 target range: 83.288330 and range: 83.80 m.
2025-08-23T22:32:03.204Z,1755988323.204 [DAT](INFO): DAT read: Rx Time:22:32:02.3088
2025-08-23T22:32:03.204Z,1755988323.204 [DAT](INFO): Rx dataTimestamp_ set to:1755988323.203763
2025-08-23T22:32:03.205Z,1755988323.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794912
2025-08-23T22:32:03.378Z,1755988323.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.29 m.
2025-08-23T22:32:03.381Z,1755988323.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.288330 m,
nav range: 80.689430 m,
bearing: 134.456696 deg,
approach rate: -0.473735 m/s,
LOS rate: -0.001864 deg/s,
cmd heading: 139.452095 deg,
new cmd heading: 139.450598 deg.
2025-08-23T22:32:03.382Z,1755988323.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433872 target range: 83.288330 and range: 83.80 m.
2025-08-23T22:32:03.455Z,1755988323.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044542
2025-08-23T22:32:03.712Z,1755988323.712 [DAT](INFO): DAT read: 22:32:02.3088 LVL= 27280, 31617, 26226, 32755, AGC= 64, IDX= 413, 0.00,-2.767, 1.844,-2.417,-2.920, PHS= 0.255,-1.474, 0.459, RAW= 155.5, 8.3, CAL= 155.1, 8.8, ROT= 354.9, -8.8
2025-08-23T22:32:03.713Z,1755988323.713 [DAT](INFO): got valid direction response:
22:32:02.3088 LVL= 27280, 31617, 26226, 32755, AGC= 64, IDX= 413, 0.00,-2.767, 1.844,-2.417,-2.920, PHS= 0.255,-1.474, 0.459, RAW= 155.5, 8.3, CAL= 155.1, 8.8, ROT= 354.9, -8.8
2025-08-23T22:32:03.714Z,1755988323.714 [DAT](INFO): DAT read: Bearing 308.2, -4.0 (Local)
2025-08-23T22:32:03.714Z,1755988323.714 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.2, -4.0 (Local)
2025-08-23T22:32:03.716Z,1755988323.716 [DAT](INFO): DAT read: Range 11 to 50 : 82.0 m (Round-trip 109.4 ms) speed 0.4 m/s
2025-08-23T22:32:03.717Z,1755988323.717 [DAT](INFO): DAT read: user:1842>
2025-08-23T22:32:03.717Z,1755988323.717 [DAT](INFO): DAT read: Tx time:22:32:03.3953
2025-08-23T22:32:03.718Z,1755988323.718 [DAT](INFO): Ping request sent.
2025-08-23T22:32:03.718Z,1755988323.718 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:03.718Z,1755988323.718 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:03.719Z,1755988323.719 [DAT](INFO): direction in FSK: [0.984316,-0.087848,0.152986]
2025-08-23T22:32:03.719Z,1755988323.719 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:03.720Z,1755988323.720 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:03.723Z,1755988323.723 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:03.723Z,1755988323.723 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:03.898Z,1755988323.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 82.000000 m,
deltaT: 3.779861 s,
deltaX: -1.800003 m,
approachRate: -0.476209 m/s,
rangeRepo size: 4
2025-08-23T22:32:03.900Z,1755988323.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.498802 m,
bearing: 133.936851 deg,
lat: 36.779391 deg,
lon: -121.859582 deg,
deltaT: 3.779861 s,
deltaX: -1.789528 m,
approachRate: -0.473437 m/s,
posRepo size: 4
2025-08-23T22:32:03.901Z,1755988323.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-23T22:32:03.916Z,1755988323.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.498802 m,
nav range: 80.491394 m,
bearing: 134.415109 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001864 deg/s,
cmd heading: 139.450593 deg,
new cmd heading: 139.448685 deg.
2025-08-23T22:32:03.917Z,1755988323.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433839 target range: 81.498802 and range: 82.00 m.
2025-08-23T22:32:04.386Z,1755988324.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-23T22:32:04.389Z,1755988324.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.498802 m,
nav range: 80.235931 m,
bearing: 134.415589 deg,
approach rate: -0.513788 m/s,
LOS rate: 0.000969 deg/s,
cmd heading: 139.448680 deg,
new cmd heading: 139.449643 deg.
2025-08-23T22:32:04.390Z,1755988324.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433856 target range: 81.498802 and range: 82.00 m.
2025-08-23T22:32:04.838Z,1755988324.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:04.840Z,1755988324.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-23T22:32:04.848Z,1755988324.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.498802 m,
nav range: 80.030098 m,
bearing: 134.416000 deg,
approach rate: -0.453145 m/s,
LOS rate: 0.000909 deg/s,
cmd heading: 139.449650 deg,
new cmd heading: 139.450476 deg.
2025-08-23T22:32:04.849Z,1755988324.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433870 target range: 81.498802 and range: 82.00 m.
2025-08-23T22:32:04.966Z,1755988324.966 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:04.966Z,1755988324.966 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:04.967Z,1755988324.967 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:05.219Z,1755988325.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500795
2025-08-23T22:32:05.310Z,1755988325.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-23T22:32:05.313Z,1755988325.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.498802 m,
nav range: 79.800041 m,
bearing: 134.415327 deg,
approach rate: -0.494522 m/s,
LOS rate: -0.001453 deg/s,
cmd heading: 139.450470 deg,
new cmd heading: 139.449118 deg.
2025-08-23T22:32:05.318Z,1755988325.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433846 target range: 81.498802 and range: 82.00 m.
2025-08-23T22:32:05.471Z,1755988325.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752778
2025-08-23T22:32:05.723Z,1755988325.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004786
2025-08-23T22:32:05.728Z,1755988325.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-23T22:32:05.732Z,1755988325.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.498802 m,
nav range: 79.584320 m,
bearing: 134.414596 deg,
approach rate: -0.510679 m/s,
LOS rate: -0.001733 deg/s,
cmd heading: 139.449117 deg,
new cmd heading: 139.447653 deg.
2025-08-23T22:32:05.733Z,1755988325.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433821 target range: 81.498802 and range: 82.00 m.
2025-08-23T22:32:05.975Z,1755988325.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256741
2025-08-23T22:32:06.167Z,1755988326.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-23T22:32:06.170Z,1755988326.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.498802 m,
nav range: 79.366898 m,
bearing: 134.413054 deg,
approach rate: -0.495145 m/s,
LOS rate: -0.003523 deg/s,
cmd heading: 139.447656 deg,
new cmd heading: 139.444562 deg.
2025-08-23T22:32:06.171Z,1755988326.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433767 target range: 81.498802 and range: 82.00 m.
2025-08-23T22:32:06.227Z,1755988326.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508957
2025-08-23T22:32:06.478Z,1755988326.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760695
2025-08-23T22:32:06.534Z,1755988326.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-23T22:32:06.536Z,1755988326.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.498802 m,
nav range: 79.186012 m,
bearing: 134.411732 deg,
approach rate: -0.493700 m/s,
LOS rate: -0.003616 deg/s,
cmd heading: 139.444568 deg,
new cmd heading: 139.441918 deg.
2025-08-23T22:32:06.538Z,1755988326.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433721 target range: 81.498802 and range: 82.00 m.
2025-08-23T22:32:06.732Z,1755988326.732 [DAT](INFO): DAT read: Rx Time:22:32:05.9064
2025-08-23T22:32:06.733Z,1755988326.733 [DAT](INFO): Rx dataTimestamp_ set to:1755988326.732457
2025-08-23T22:32:06.734Z,1755988326.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015939
2025-08-23T22:32:06.948Z,1755988326.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:06.951Z,1755988326.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m.
2025-08-23T22:32:06.953Z,1755988326.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.498802 m,
nav range: 78.992149 m,
bearing: 134.411329 deg,
approach rate: -0.464898 m/s,
LOS rate: -0.000969 deg/s,
cmd heading: 139.441918 deg,
new cmd heading: 139.441110 deg.
2025-08-23T22:32:06.954Z,1755988326.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433707 target range: 81.498802 and range: 82.00 m.
2025-08-23T22:32:06.984Z,1755988326.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265759
2025-08-23T22:32:07.240Z,1755988327.240 [DAT](INFO): DAT read: 22:32:05.9064 LVL= 25168, 32209, 21170, 32755, AGC= 65, IDX= 420, 0.19, 0.026,-1.688, 0.387,-0.129, PHS= 0.257,-1.514, 0.473, RAW= 155.7, 8.4, CAL= 155.3, 8.8, ROT= 354.7, -8.8
2025-08-23T22:32:07.241Z,1755988327.241 [DAT](INFO): got valid direction response:
22:32:05.9064 LVL= 25168, 32209, 21170, 32755, AGC= 65, IDX= 420, 0.19, 0.026,-1.688, 0.387,-0.129, PHS= 0.257,-1.514, 0.473, RAW= 155.7, 8.4, CAL= 155.3, 8.8, ROT= 354.7, -8.8
2025-08-23T22:32:07.242Z,1755988327.242 [DAT](INFO): DAT read: Bearing 308.4, -4.7 (Local)
2025-08-23T22:32:07.242Z,1755988327.242 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.4, -4.7 (Local)
2025-08-23T22:32:07.244Z,1755988327.244 [DAT](INFO): DAT read: Range 11 to 50 : 80.2 m (Round-trip 107.0 ms) speed 0.4 m/s
2025-08-23T22:32:07.245Z,1755988327.245 [DAT](INFO): DAT read: user:1843>
2025-08-23T22:32:07.245Z,1755988327.245 [DAT](INFO): DAT read: Tx time:22:32:06.9953
2025-08-23T22:32:07.246Z,1755988327.246 [DAT](INFO): Ping request sent.
2025-08-23T22:32:07.246Z,1755988327.246 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:07.246Z,1755988327.246 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:07.247Z,1755988327.247 [DAT](INFO): direction in FSK: [0.984003,-0.091283,0.152986]
2025-08-23T22:32:07.247Z,1755988327.247 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:07.248Z,1755988327.248 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:07.251Z,1755988327.251 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:07.251Z,1755988327.251 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:07.395Z,1755988327.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 80.199997 m,
deltaT: 3.527970 s,
deltaX: -1.800003 m,
approachRate: -0.510209 m/s,
rangeRepo size: 4
2025-08-23T22:32:07.397Z,1755988327.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 79.708755 m,
bearing: 133.869765 deg,
lat: 36.779392 deg,
lon: -121.859579 deg,
deltaT: 3.527970 s,
deltaX: -1.790047 m,
approachRate: -0.507387 m/s,
posRepo size: 4
2025-08-23T22:32:07.402Z,1755988327.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.71 m.
2025-08-23T22:32:07.405Z,1755988327.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.708755 m,
nav range: 78.934708 m,
bearing: 134.242509 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000969 deg/s,
cmd heading: 139.441112 deg,
new cmd heading: 139.440261 deg.
2025-08-23T22:32:07.410Z,1755988327.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433692 target range: 79.708755 and range: 80.20 m.
2025-08-23T22:32:07.748Z,1755988327.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.71 m.
2025-08-23T22:32:07.752Z,1755988327.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.708755 m,
nav range: 78.752823 m,
bearing: 134.241785 deg,
approach rate: -0.507446 m/s,
LOS rate: -0.002024 deg/s,
cmd heading: 139.440265 deg,
new cmd heading: 139.438814 deg.
2025-08-23T22:32:07.753Z,1755988327.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433666 target range: 79.708755 and range: 80.20 m.
2025-08-23T22:32:08.187Z,1755988328.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.71 m.
2025-08-23T22:32:08.192Z,1755988328.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.708755 m,
nav range: 78.548676 m,
bearing: 134.240501 deg,
approach rate: -0.465193 m/s,
LOS rate: -0.002933 deg/s,
cmd heading: 139.438817 deg,
new cmd heading: 139.436243 deg.
2025-08-23T22:32:08.193Z,1755988328.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433622 target range: 79.708755 and range: 80.20 m.
2025-08-23T22:32:08.551Z,1755988328.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.71 m.
2025-08-23T22:32:08.554Z,1755988328.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.708755 m,
nav range: 78.375778 m,
bearing: 134.239350 deg,
approach rate: -0.474908 m/s,
LOS rate: -0.003168 deg/s,
cmd heading: 139.436249 deg,
new cmd heading: 139.433942 deg.
2025-08-23T22:32:08.555Z,1755988328.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433581 target range: 79.708755 and range: 80.20 m.
2025-08-23T22:32:08.986Z,1755988328.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:08.988Z,1755988328.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.71 m.
2025-08-23T22:32:08.991Z,1755988328.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.708755 m,
nav range: 78.163940 m,
bearing: 134.234722 deg,
approach rate: -0.485039 m/s,
LOS rate: -0.010626 deg/s,
cmd heading: 139.433941 deg,
new cmd heading: 139.424659 deg.
2025-08-23T22:32:08.992Z,1755988328.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433419 target range: 79.708755 and range: 80.20 m.
2025-08-23T22:32:08.998Z,1755988328.998 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:08.998Z,1755988328.998 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:08.999Z,1755988328.999 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:09.251Z,1755988329.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004741
2025-08-23T22:32:09.379Z,1755988329.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.71 m.
2025-08-23T22:32:09.382Z,1755988329.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.708755 m,
nav range: 77.982101 m,
bearing: 134.230663 deg,
approach rate: -0.466686 m/s,
LOS rate: -0.010442 deg/s,
cmd heading: 139.424665 deg,
new cmd heading: 139.416528 deg.
2025-08-23T22:32:09.383Z,1755988329.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433277 target range: 79.708755 and range: 80.20 m.
2025-08-23T22:32:09.502Z,1755988329.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256686
2025-08-23T22:32:09.755Z,1755988329.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508844
2025-08-23T22:32:09.772Z,1755988329.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.71 m.
2025-08-23T22:32:09.776Z,1755988329.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.708755 m,
nav range: 77.786537 m,
bearing: 134.226200 deg,
approach rate: -0.496843 m/s,
LOS rate: -0.011367 deg/s,
cmd heading: 139.416524 deg,
new cmd heading: 139.407575 deg.
2025-08-23T22:32:09.778Z,1755988329.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433121 target range: 79.708755 and range: 80.20 m.
2025-08-23T22:32:10.007Z,1755988330.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760756
2025-08-23T22:32:10.219Z,1755988330.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.71 m.
2025-08-23T22:32:10.230Z,1755988330.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.708755 m,
nav range: 77.573433 m,
bearing: 134.221766 deg,
approach rate: -0.475983 m/s,
LOS rate: -0.009930 deg/s,
cmd heading: 139.407576 deg,
new cmd heading: 139.398685 deg.
2025-08-23T22:32:10.231Z,1755988330.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432966 target range: 79.708755 and range: 80.20 m.
2025-08-23T22:32:10.260Z,1755988330.260 [DAT](INFO): DAT read: Rx Time:22:32:09.5042
2025-08-23T22:32:10.261Z,1755988330.261 [DAT](INFO): Rx dataTimestamp_ set to:1755988330.260053
2025-08-23T22:32:10.262Z,1755988330.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016102
2025-08-23T22:32:10.511Z,1755988330.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265663
2025-08-23T22:32:10.613Z,1755988330.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.71 m.
2025-08-23T22:32:10.616Z,1755988330.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.708755 m,
nav range: 77.378693 m,
bearing: 134.217640 deg,
approach rate: -0.494075 m/s,
LOS rate: -0.010496 deg/s,
cmd heading: 139.398683 deg,
new cmd heading: 139.390409 deg.
2025-08-23T22:32:10.618Z,1755988330.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432822 target range: 79.708755 and range: 80.20 m.
2025-08-23T22:32:10.775Z,1755988330.775 [DAT](INFO): DAT read: 22:32:09.5042 LVL= 27312, 32193, 26066, 32755, AGC= 63, IDX= 414,-0.24, 0.551,-1.085, 0.932, 0.443, PHS= 0.210,-1.482, 0.445, RAW= 156.4, 9.1, CAL= 156.1, 9.7, ROT= 353.9, -9.7
2025-08-23T22:32:10.777Z,1755988330.777 [DAT](INFO): got valid direction response:
22:32:09.5042 LVL= 27312, 32193, 26066, 32755, AGC= 63, IDX= 414,-0.24, 0.551,-1.085, 0.932, 0.443, PHS= 0.210,-1.482, 0.445, RAW= 156.4, 9.1, CAL= 156.1, 9.7, ROT= 353.9, -9.7
2025-08-23T22:32:10.779Z,1755988330.779 [DAT](INFO): DAT read: Bearing 309.6, -6.1 (Local)
2025-08-23T22:32:10.780Z,1755988330.780 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.6, -6.1 (Local)
2025-08-23T22:32:10.783Z,1755988330.783 [DAT](INFO): DAT read: Range 11 to 50 : 78.6 m (Round-trip 104.8 ms) speed 0.4 m/s
2025-08-23T22:32:10.784Z,1755988330.784 [DAT](INFO): DAT read: user:1844>
2025-08-23T22:32:10.785Z,1755988330.785 [DAT](INFO): DAT read: Tx time:22:32:10.5953
2025-08-23T22:32:10.786Z,1755988330.786 [DAT](INFO): Ping request sent.
2025-08-23T22:32:10.786Z,1755988330.786 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:10.787Z,1755988330.787 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:10.788Z,1755988330.788 [DAT](INFO): direction in FSK: [0.980122,-0.104745,0.168489]
2025-08-23T22:32:10.789Z,1755988330.789 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:10.798Z,1755988330.798 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:10.801Z,1755988330.801 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:10.801Z,1755988330.801 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:11.101Z,1755988331.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 78.599998 m,
deltaT: 3.529537 s,
deltaX: -1.599998 m,
approachRate: -0.453317 m/s,
rangeRepo size: 4
2025-08-23T22:32:11.104Z,1755988331.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 78.118660 m,
bearing: 133.196269 deg,
lat: 36.779395 deg,
lon: -121.859576 deg,
deltaT: 3.529537 s,
deltaX: -1.590096 m,
approachRate: -0.450511 m/s,
posRepo size: 4
2025-08-23T22:32:11.104Z,1755988331.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.12 m.
2025-08-23T22:32:11.111Z,1755988331.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.118660 m,
nav range: 77.094765 m,
bearing: 133.883531 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010496 deg/s,
cmd heading: 139.390405 deg,
new cmd heading: 139.380252 deg.
2025-08-23T22:32:11.112Z,1755988331.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432644 target range: 78.118660 and range: 78.60 m.
2025-08-23T22:32:11.452Z,1755988331.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:11.454Z,1755988331.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.12 m.
2025-08-23T22:32:11.457Z,1755988331.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.118660 m,
nav range: 76.918312 m,
bearing: 133.877677 deg,
approach rate: -0.494237 m/s,
LOS rate: -0.016435 deg/s,
cmd heading: 139.380255 deg,
new cmd heading: 139.368520 deg.
2025-08-23T22:32:11.462Z,1755988331.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432440 target range: 78.118660 and range: 78.60 m.
2025-08-23T22:32:11.519Z,1755988331.519 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:11.520Z,1755988331.520 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:11.520Z,1755988331.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:11.618Z,1755988331.618 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:32:11.771Z,1755988331.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985404
2025-08-23T22:32:11.968Z,1755988331.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.12 m.
2025-08-23T22:32:11.971Z,1755988331.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.118660 m,
nav range: 76.663811 m,
bearing: 133.869153 deg,
approach rate: -0.494379 m/s,
LOS rate: -0.016614 deg/s,
cmd heading: 139.368521 deg,
new cmd heading: 139.351416 deg.
2025-08-23T22:32:11.972Z,1755988331.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432141 target range: 78.118660 and range: 78.60 m.
2025-08-23T22:32:12.024Z,1755988332.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237985
2025-08-23T22:32:12.275Z,1755988332.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489352
2025-08-23T22:32:12.311Z,1755988332.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.12 m.
2025-08-23T22:32:12.318Z,1755988332.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.118660 m,
nav range: 76.484589 m,
bearing: 133.863155 deg,
approach rate: -0.522911 m/s,
LOS rate: -0.017540 deg/s,
cmd heading: 139.351418 deg,
new cmd heading: 139.339395 deg.
2025-08-23T22:32:12.319Z,1755988332.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431931 target range: 78.118660 and range: 78.60 m.
2025-08-23T22:32:12.527Z,1755988332.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741150
2025-08-23T22:32:12.622Z,1755988332.622 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:32:12.698Z,1755988332.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.12 m.
2025-08-23T22:32:12.700Z,1755988332.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.118660 m,
nav range: 76.294434 m,
bearing: 133.856773 deg,
approach rate: -0.497139 m/s,
LOS rate: -0.016726 deg/s,
cmd heading: 139.339397 deg,
new cmd heading: 139.326602 deg.
2025-08-23T22:32:12.706Z,1755988332.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431708 target range: 78.118660 and range: 78.60 m.
2025-08-23T22:32:12.780Z,1755988332.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994097
2025-08-23T22:32:13.033Z,1755988333.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246674
2025-08-23T22:32:13.096Z,1755988333.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.12 m.
2025-08-23T22:32:13.119Z,1755988333.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.118660 m,
nav range: 76.083908 m,
bearing: 133.849651 deg,
approach rate: -0.523646 m/s,
LOS rate: -0.017766 deg/s,
cmd heading: 139.326597 deg,
new cmd heading: 139.312312 deg.
2025-08-23T22:32:13.120Z,1755988333.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431458 target range: 78.118660 and range: 78.60 m.
2025-08-23T22:32:13.284Z,1755988333.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497460
2025-08-23T22:32:13.457Z,1755988333.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:13.460Z,1755988333.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.12 m.
2025-08-23T22:32:13.462Z,1755988333.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.118660 m,
nav range: 75.902542 m,
bearing: 133.843439 deg,
approach rate: -0.498422 m/s,
LOS rate: -0.017111 deg/s,
cmd heading: 139.312309 deg,
new cmd heading: 139.299856 deg.
2025-08-23T22:32:13.463Z,1755988333.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431241 target range: 78.118660 and range: 78.60 m.
2025-08-23T22:32:13.536Z,1755988333.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749822
2025-08-23T22:32:13.787Z,1755988333.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000568
2025-08-23T22:32:13.880Z,1755988333.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.12 m.
2025-08-23T22:32:13.883Z,1755988333.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.118660 m,
nav range: 75.698769 m,
bearing: 133.836365 deg,
approach rate: -0.484600 m/s,
LOS rate: -0.016869 deg/s,
cmd heading: 139.299850 deg,
new cmd heading: 139.285664 deg.
2025-08-23T22:32:13.884Z,1755988333.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430993 target range: 78.118660 and range: 78.60 m.
2025-08-23T22:32:14.039Z,1755988334.039 [DAT](INFO): DAT read: Rx Time:22:32:13.1019
2025-08-23T22:32:14.039Z,1755988334.039 [DAT](INFO): Rx dataTimestamp_ set to:1755988334.038814
2025-08-23T22:32:14.040Z,1755988334.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253623
2025-08-23T22:32:14.291Z,1755988334.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504588
2025-08-23T22:32:14.376Z,1755988334.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.12 m.
2025-08-23T22:32:14.384Z,1755988334.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.118660 m,
nav range: 75.487869 m,
bearing: 133.828991 deg,
approach rate: -0.425096 m/s,
LOS rate: -0.014904 deg/s,
cmd heading: 139.285657 deg,
new cmd heading: 139.270869 deg.
2025-08-23T22:32:14.385Z,1755988334.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430735 target range: 78.118660 and range: 78.60 m.
2025-08-23T22:32:14.548Z,1755988334.548 [DAT](INFO): DAT read: 22:32:13.1019 LVL= 28272, 32113, 23154, 32755, AGC= 63, IDX= 422,-0.02,-0.351,-1.991, 0.071,-0.450, PHS= 0.201,-1.496, 0.476, RAW= 157.4, 8.9, CAL= 157.1, 9.4, ROT= 352.9, -9.4
2025-08-23T22:32:14.549Z,1755988334.549 [DAT](INFO): got valid direction response:
22:32:13.1019 LVL= 28272, 32113, 23154, 32755, AGC= 63, IDX= 422,-0.02,-0.351,-1.991, 0.071,-0.450, PHS= 0.201,-1.496, 0.476, RAW= 157.4, 8.9, CAL= 157.1, 9.4, ROT= 352.9, -9.4
2025-08-23T22:32:14.550Z,1755988334.550 [DAT](INFO): DAT read: Bearing 309.6, -7.8 (Local)
2025-08-23T22:32:14.551Z,1755988334.551 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.6, -7.8 (Local)
2025-08-23T22:32:14.552Z,1755988334.552 [DAT](INFO): DAT read: Range 11 to 50 : 76.8 m (Round-trip 102.5 ms) speed 0.4 m/s
2025-08-23T22:32:14.553Z,1755988334.553 [DAT](INFO): DAT read: user:1845>
2025-08-23T22:32:14.554Z,1755988334.554 [DAT](INFO): DAT read: Tx time:22:32:14.1953
2025-08-23T22:32:14.555Z,1755988334.555 [DAT](INFO): Ping request sent.
2025-08-23T22:32:14.555Z,1755988334.555 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:14.555Z,1755988334.555 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:14.556Z,1755988334.556 [DAT](INFO): direction in FSK: [0.979007,-0.121942,0.163326]
2025-08-23T22:32:14.556Z,1755988334.556 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:14.556Z,1755988334.556 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:14.560Z,1755988334.560 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:14.560Z,1755988334.560 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:14.775Z,1755988334.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 76.800003 m,
deltaT: 3.778514 s,
deltaX: -1.799995 m,
approachRate: -0.476377 m/s,
rangeRepo size: 4
2025-08-23T22:32:14.782Z,1755988334.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 76.326553 m,
bearing: 132.375819 deg,
lat: 36.779396 deg,
lon: -121.859576 deg,
deltaT: 3.778514 s,
deltaX: -1.792107 m,
approachRate: -0.474289 m/s,
posRepo size: 4
2025-08-23T22:32:14.783Z,1755988334.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.33 m.
2025-08-23T22:32:14.790Z,1755988334.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.326553 m,
nav range: 75.256035 m,
bearing: 133.766303 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.014904 deg/s,
cmd heading: 139.270863 deg,
new cmd heading: 139.259158 deg.
2025-08-23T22:32:14.791Z,1755988334.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430531 target range: 76.326553 and range: 76.80 m.
2025-08-23T22:32:15.173Z,1755988335.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.33 m.
2025-08-23T22:32:15.176Z,1755988335.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.326553 m,
nav range: 75.041046 m,
bearing: 133.761883 deg,
approach rate: -0.532563 m/s,
LOS rate: -0.010979 deg/s,
cmd heading: 139.259156 deg,
new cmd heading: 139.250292 deg.
2025-08-23T22:32:15.183Z,1755988335.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430376 target range: 76.326553 and range: 76.80 m.
2025-08-23T22:32:15.616Z,1755988335.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:15.619Z,1755988335.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.33 m.
2025-08-23T22:32:15.645Z,1755988335.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.326553 m,
nav range: 74.818314 m,
bearing: 133.757278 deg,
approach rate: -0.499264 m/s,
LOS rate: -0.010354 deg/s,
cmd heading: 139.250290 deg,
new cmd heading: 139.241052 deg.
2025-08-23T22:32:15.647Z,1755988335.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430215 target range: 76.326553 and range: 76.80 m.
2025-08-23T22:32:15.803Z,1755988335.803 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:15.803Z,1755988335.803 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:15.803Z,1755988335.803 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:16.054Z,1755988336.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499738
2025-08-23T22:32:16.096Z,1755988336.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.33 m.
2025-08-23T22:32:16.103Z,1755988336.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.326553 m,
nav range: 74.587227 m,
bearing: 133.754202 deg,
approach rate: -0.484481 m/s,
LOS rate: -0.006468 deg/s,
cmd heading: 139.241056 deg,
new cmd heading: 139.234885 deg.
2025-08-23T22:32:16.103Z,1755988336.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430107 target range: 76.326553 and range: 76.80 m.
2025-08-23T22:32:16.307Z,1755988336.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751878
2025-08-23T22:32:16.447Z,1755988336.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.33 m.
2025-08-23T22:32:16.450Z,1755988336.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.326553 m,
nav range: 74.410873 m,
bearing: 133.751892 deg,
approach rate: -0.501332 m/s,
LOS rate: -0.006581 deg/s,
cmd heading: 139.234882 deg,
new cmd heading: 139.230252 deg.
2025-08-23T22:32:16.451Z,1755988336.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430026 target range: 76.326553 and range: 76.80 m.
2025-08-23T22:32:16.559Z,1755988336.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003835
2025-08-23T22:32:16.811Z,1755988336.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255916
2025-08-23T22:32:16.880Z,1755988336.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.33 m.
2025-08-23T22:32:16.883Z,1755988336.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.326553 m,
nav range: 74.198174 m,
bearing: 133.749203 deg,
approach rate: -0.491167 m/s,
LOS rate: -0.006228 deg/s,
cmd heading: 139.230251 deg,
new cmd heading: 139.224856 deg.
2025-08-23T22:32:16.884Z,1755988336.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429932 target range: 76.326553 and range: 76.80 m.
2025-08-23T22:32:17.062Z,1755988337.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507780
2025-08-23T22:32:17.291Z,1755988337.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.33 m.
2025-08-23T22:32:17.293Z,1755988337.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.326553 m,
nav range: 73.999641 m,
bearing: 133.745904 deg,
approach rate: -0.484116 m/s,
LOS rate: -0.008066 deg/s,
cmd heading: 139.224855 deg,
new cmd heading: 139.218239 deg.
2025-08-23T22:32:17.294Z,1755988337.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429817 target range: 76.326553 and range: 76.80 m.
2025-08-23T22:32:17.318Z,1755988337.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763765
2025-08-23T22:32:17.571Z,1755988337.571 [DAT](INFO): DAT read: Rx Time:22:32:16.6996
2025-08-23T22:32:17.571Z,1755988337.571 [DAT](INFO): Rx dataTimestamp_ set to:1755988337.570757
2025-08-23T22:32:17.572Z,1755988337.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016912
2025-08-23T22:32:17.653Z,1755988337.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:17.655Z,1755988337.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.33 m.
2025-08-23T22:32:17.658Z,1755988337.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.326553 m,
nav range: 73.823174 m,
bearing: 133.742999 deg,
approach rate: -0.483544 m/s,
LOS rate: -0.007979 deg/s,
cmd heading: 139.218243 deg,
new cmd heading: 139.212420 deg.
2025-08-23T22:32:17.659Z,1755988337.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429715 target range: 76.326553 and range: 76.80 m.
2025-08-23T22:32:17.822Z,1755988337.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267785
2025-08-23T22:32:18.080Z,1755988338.080 [DAT](INFO): DAT read: 22:32:16.6996 LVL= 31248, 32753, 31378, 32755, AGC= 65, IDX= 414,-0.05,-1.984, 2.716,-1.582,-2.061, PHS= 0.179,-1.461, 0.435, RAW= 157.2, 9.5, CAL= 157.0, 10.2, ROT= 353.0, -10.2
2025-08-23T22:32:18.081Z,1755988338.081 [DAT](INFO): got valid direction response:
22:32:16.6996 LVL= 31248, 32753, 31378, 32755, AGC= 65, IDX= 414,-0.05,-1.984, 2.716,-1.582,-2.061, PHS= 0.179,-1.461, 0.435, RAW= 157.2, 9.5, CAL= 157.0, 10.2, ROT= 353.0, -10.2
2025-08-23T22:32:18.090Z,1755988338.090 [DAT](INFO): DAT read: Bearing 310.0, -8.2 (Local)
2025-08-23T22:32:18.091Z,1755988338.091 [DAT](INFO): Local bearing/azimuth received:
Bearing 310.0, -8.2 (Local)
2025-08-23T22:32:18.092Z,1755988338.092 [DAT](INFO): DAT read: Range 11 to 50 : 75.und-trip 100.1 ms) speed 0.4 m/s
2025-08-23T22:32:18.092Z,1755988338.092 [DAT](INFO): DAT read: user:1846>
2025-08-23T22:32:18.093Z,1755988338.093 [DAT](INFO): DAT read: Tx time:22:32:17.7953
2025-08-23T22:32:18.094Z,1755988338.094 [DAT](INFO): Ping request sent.
2025-08-23T22:32:18.094Z,1755988338.094 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:18.094Z,1755988338.094 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:18.095Z,1755988338.095 [DAT](INFO): direction in FSK: [0.976860,-0.119943,0.177085]
2025-08-23T22:32:18.095Z,1755988338.095 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:18.095Z,1755988338.095 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:18.115Z,1755988338.115 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:18.115Z,1755988338.115 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:18.146Z,1755988338.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 75.000000 m,
deltaT: 3.532106 s,
deltaX: -1.800003 m,
approachRate: -0.509612 m/s,
rangeRepo size: 4
2025-08-23T22:32:18.148Z,1755988338.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 74.540176 m,
bearing: 132.413098 deg,
lat: 36.779400 deg,
lon: -121.859568 deg,
deltaT: 3.532106 s,
deltaX: -1.786377 m,
approachRate: -0.505754 m/s,
posRepo size: 4
2025-08-23T22:32:18.148Z,1755988338.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-08-23T22:32:18.155Z,1755988338.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.540176 m,
nav range: 73.784027 m,
bearing: 133.074978 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007979 deg/s,
cmd heading: 139.212424 deg,
new cmd heading: 139.204680 deg.
2025-08-23T22:32:18.156Z,1755988338.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429580 target range: 74.540176 and range: 75.00 m.
2025-08-23T22:32:18.510Z,1755988338.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-08-23T22:32:18.512Z,1755988338.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.540176 m,
nav range: 73.594002 m,
bearing: 133.069082 deg,
approach rate: -0.515461 m/s,
LOS rate: -0.016034 deg/s,
cmd heading: 139.204678 deg,
new cmd heading: 139.192857 deg.
2025-08-23T22:32:18.513Z,1755988338.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429374 target range: 74.540176 and range: 75.00 m.
2025-08-23T22:32:18.910Z,1755988338.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-08-23T22:32:18.913Z,1755988338.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.540176 m,
nav range: 73.402596 m,
bearing: 133.063183 deg,
approach rate: -0.477668 m/s,
LOS rate: -0.014761 deg/s,
cmd heading: 139.192862 deg,
new cmd heading: 139.181033 deg.
2025-08-23T22:32:18.914Z,1755988338.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429167 target range: 74.540176 and range: 75.00 m.
2025-08-23T22:32:19.335Z,1755988339.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-08-23T22:32:19.339Z,1755988339.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.540176 m,
nav range: 73.207123 m,
bearing: 133.059136 deg,
approach rate: -0.459882 m/s,
LOS rate: -0.009546 deg/s,
cmd heading: 139.181032 deg,
new cmd heading: 139.172917 deg.
2025-08-23T22:32:19.340Z,1755988339.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429026 target range: 74.540176 and range: 75.00 m.
2025-08-23T22:32:19.712Z,1755988339.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:19.718Z,1755988339.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-08-23T22:32:19.721Z,1755988339.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.540176 m,
nav range: 73.033356 m,
bearing: 133.055622 deg,
approach rate: -0.454212 m/s,
LOS rate: -0.009209 deg/s,
cmd heading: 139.172918 deg,
new cmd heading: 139.165872 deg.
2025-08-23T22:32:19.722Z,1755988339.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428903 target range: 74.540176 and range: 75.00 m.
2025-08-23T22:32:19.842Z,1755988339.842 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:19.843Z,1755988339.843 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:19.843Z,1755988339.843 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:20.095Z,1755988340.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000849
2025-08-23T22:32:20.147Z,1755988340.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-08-23T22:32:20.149Z,1755988340.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.540176 m,
nav range: 72.827835 m,
bearing: 133.050479 deg,
approach rate: -0.479357 m/s,
LOS rate: -0.012030 deg/s,
cmd heading: 139.165869 deg,
new cmd heading: 139.155554 deg.
2025-08-23T22:32:20.150Z,1755988340.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428723 target range: 74.540176 and range: 75.00 m.
2025-08-23T22:32:20.346Z,1755988340.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252770
2025-08-23T22:32:20.534Z,1755988340.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-08-23T22:32:20.537Z,1755988340.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.540176 m,
nav range: 72.644188 m,
bearing: 133.045943 deg,
approach rate: -0.474858 m/s,
LOS rate: -0.011757 deg/s,
cmd heading: 139.155556 deg,
new cmd heading: 139.146462 deg.
2025-08-23T22:32:20.538Z,1755988340.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428564 target range: 74.540176 and range: 75.00 m.
2025-08-23T22:32:20.599Z,1755988340.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505140
2025-08-23T22:32:20.850Z,1755988340.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756768
2025-08-23T22:32:20.926Z,1755988340.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-08-23T22:32:20.929Z,1755988340.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.540176 m,
nav range: 72.457863 m,
bearing: 133.041414 deg,
approach rate: -0.474230 m/s,
LOS rate: -0.011558 deg/s,
cmd heading: 139.146458 deg,
new cmd heading: 139.137376 deg.
2025-08-23T22:32:20.930Z,1755988340.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428405 target range: 74.540176 and range: 75.00 m.
2025-08-23T22:32:21.103Z,1755988341.103 [DAT](INFO): DAT read: Rx Time:22:32:20.2972
2025-08-23T22:32:21.103Z,1755988341.103 [DAT](INFO): Rx dataTimestamp_ set to:1755988341.102694
2025-08-23T22:32:21.104Z,1755988341.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009827
2025-08-23T22:32:21.355Z,1755988341.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260940
2025-08-23T22:32:21.372Z,1755988341.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-08-23T22:32:21.375Z,1755988341.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.540176 m,
nav range: 72.251213 m,
bearing: 133.034248 deg,
approach rate: -0.463483 m/s,
LOS rate: -0.016117 deg/s,
cmd heading: 139.137374 deg,
new cmd heading: 139.123001 deg.
2025-08-23T22:32:21.376Z,1755988341.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428154 target range: 74.540176 and range: 75.00 m.
2025-08-23T22:32:21.612Z,1755988341.612 [DAT](INFO): DAT read: 22:32:20.2972 LVL= 26736, 30369, 23010, 32755, AGC= 64, IDX= 422, 0.33, 2.790, 1.171,-3.059, 2.707, PHS= 0.186,-1.491, 0.473, RAW= 157.8, 9.1, CAL= 157.5, 9.7, ROT= 352.5, -9.7
2025-08-23T22:32:21.613Z,1755988341.613 [DAT](INFO): got valid direction response:
22:32:20.2972 LVL= 26736, 30369, 23010, 32755, AGC= 64, IDX= 422, 0.33, 2.790, 1.171,-3.059, 2.707, PHS= 0.186,-1.491, 0.473, RAW= 157.8, 9.1, CAL= 157.5, 9.7, ROT= 352.5, -9.7
2025-08-23T22:32:21.614Z,1755988341.614 [DAT](INFO): DAT read: Bearing 309.2, -9.1 (Local)
2025-08-23T22:32:21.614Z,1755988341.614 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.2, -9.1 (Local)
2025-08-23T22:32:21.616Z,1755988341.616 [DAT](INFO): DAT read: Range 11 to 50 : 73.3 m (Round-trip 97.8 ms) speed 0.4 m/s
2025-08-23T22:32:21.616Z,1755988341.616 [DAT](INFO): DAT read: user:1847>
2025-08-23T22:32:21.617Z,1755988341.617 [DAT](INFO): DAT read: Tx time:22:32:21.3953
2025-08-23T22:32:21.617Z,1755988341.617 [DAT](INFO): Ping request sent.
2025-08-23T22:32:21.618Z,1755988341.618 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:21.618Z,1755988341.618 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:21.619Z,1755988341.619 [DAT](INFO): direction in FSK: [0.977271,-0.128660,0.168489]
2025-08-23T22:32:21.619Z,1755988341.619 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:21.619Z,1755988341.619 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:21.623Z,1755988341.623 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:21.623Z,1755988341.623 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:21.789Z,1755988341.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 73.300003 m,
deltaT: 3.531815 s,
deltaX: -1.699997 m,
approachRate: -0.481338 m/s,
rangeRepo size: 4
2025-08-23T22:32:21.795Z,1755988341.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 72.850471 m,
bearing: 131.569631 deg,
lat: 36.779405 deg,
lon: -121.859561 deg,
deltaT: 3.531815 s,
deltaX: -1.689705 m,
approachRate: -0.478424 m/s,
posRepo size: 4
2025-08-23T22:32:21.796Z,1755988341.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-23T22:32:21.803Z,1755988341.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.850471 m,
nav range: 72.131424 m,
bearing: 132.379114 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016117 deg/s,
cmd heading: 139.123003 deg,
new cmd heading: 139.109586 deg.
2025-08-23T22:32:21.804Z,1755988341.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427920 target range: 72.850471 and range: 73.30 m.
2025-08-23T22:32:22.164Z,1755988342.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:22.166Z,1755988342.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-23T22:32:22.169Z,1755988342.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.850471 m,
nav range: 71.946533 m,
bearing: 132.369794 deg,
approach rate: -0.490042 m/s,
LOS rate: -0.024766 deg/s,
cmd heading: 139.109589 deg,
new cmd heading: 139.090900 deg.
2025-08-23T22:32:22.170Z,1755988342.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427594 target range: 72.850471 and range: 73.30 m.
2025-08-23T22:32:22.362Z,1755988342.362 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:22.362Z,1755988342.362 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:22.363Z,1755988342.363 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:22.561Z,1755988342.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-23T22:32:22.564Z,1755988342.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.850471 m,
nav range: 71.763489 m,
bearing: 132.360617 deg,
approach rate: -0.463017 m/s,
LOS rate: -0.023275 deg/s,
cmd heading: 139.090901 deg,
new cmd heading: 139.072499 deg.
2025-08-23T22:32:22.565Z,1755988342.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427273 target range: 72.850471 and range: 73.30 m.
2025-08-23T22:32:22.615Z,1755988342.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997706
2025-08-23T22:32:22.867Z,1755988342.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249520
2025-08-23T22:32:22.953Z,1755988342.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-23T22:32:22.955Z,1755988342.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.850471 m,
nav range: 71.582382 m,
bearing: 132.351561 deg,
approach rate: -0.462441 m/s,
LOS rate: -0.023180 deg/s,
cmd heading: 139.072501 deg,
new cmd heading: 139.054344 deg.
2025-08-23T22:32:22.956Z,1755988342.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426956 target range: 72.850471 and range: 73.30 m.
2025-08-23T22:32:23.118Z,1755988343.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500829
2025-08-23T22:32:23.371Z,1755988343.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752967
2025-08-23T22:32:23.387Z,1755988343.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-23T22:32:23.391Z,1755988343.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.850471 m,
nav range: 71.375038 m,
bearing: 132.344284 deg,
approach rate: -0.477044 m/s,
LOS rate: -0.016791 deg/s,
cmd heading: 139.054346 deg,
new cmd heading: 139.039750 deg.
2025-08-23T22:32:23.392Z,1755988343.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426702 target range: 72.850471 and range: 73.30 m.
2025-08-23T22:32:23.623Z,1755988343.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004910
2025-08-23T22:32:23.783Z,1755988343.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-23T22:32:23.786Z,1755988343.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.850471 m,
nav range: 71.184830 m,
bearing: 132.337640 deg,
approach rate: -0.480024 m/s,
LOS rate: -0.016813 deg/s,
cmd heading: 139.039757 deg,
new cmd heading: 139.026433 deg.
2025-08-23T22:32:23.787Z,1755988343.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426469 target range: 72.850471 and range: 73.30 m.
2025-08-23T22:32:23.875Z,1755988343.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257493
2025-08-23T22:32:24.128Z,1755988344.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509967
2025-08-23T22:32:24.187Z,1755988344.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:24.191Z,1755988344.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-23T22:32:24.215Z,1755988344.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.850471 m,
nav range: 70.991676 m,
bearing: 132.331869 deg,
approach rate: -0.473712 m/s,
LOS rate: -0.014192 deg/s,
cmd heading: 139.026438 deg,
new cmd heading: 139.014865 deg.
2025-08-23T22:32:24.216Z,1755988344.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426267 target range: 72.850471 and range: 73.30 m.
2025-08-23T22:32:24.379Z,1755988344.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761402
2025-08-23T22:32:24.561Z,1755988344.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-23T22:32:24.564Z,1755988344.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.850471 m,
nav range: 70.810219 m,
bearing: 132.326476 deg,
approach rate: -0.490383 m/s,
LOS rate: -0.014613 deg/s,
cmd heading: 139.014867 deg,
new cmd heading: 139.004053 deg.
2025-08-23T22:32:24.565Z,1755988344.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426078 target range: 72.850471 and range: 73.30 m.
2025-08-23T22:32:24.631Z,1755988344.631 [DAT](INFO): DAT read: Rx Time:22:32:23.8950
2025-08-23T22:32:24.632Z,1755988344.632 [DAT](INFO): Rx dataTimestamp_ set to:1755988344.631998
2025-08-23T22:32:24.633Z,1755988344.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015550
2025-08-23T22:32:24.882Z,1755988344.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264742
2025-08-23T22:32:24.982Z,1755988344.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.85 m.
2025-08-23T22:32:24.985Z,1755988344.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.850471 m,
nav range: 70.607422 m,
bearing: 132.320415 deg,
approach rate: -0.481669 m/s,
LOS rate: -0.014436 deg/s,
cmd heading: 139.004048 deg,
new cmd heading: 138.991892 deg.
2025-08-23T22:32:25.002Z,1755988345.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425866 target range: 72.850471 and range: 73.30 m.
2025-08-23T22:32:25.159Z,1755988345.159 [DAT](INFO): DAT read: 22:32:23.8950 LVL= 32752, 32753, 28578, 32755, AGC= 65, IDX= 415,-0.38,-1.796, 2.860,-1.344,-1.878, PHS= 0.184,-1.500, 0.490, RAW= 158.2, 9.0, CAL= 158.0, 9.5, ROT= 352.0, -9.5
2025-08-23T22:32:25.160Z,1755988345.160 [DAT](INFO): got valid direction response:
22:32:23.8950 LVL= 32752, 32753, 28578, 32755, AGC= 65, IDX= 415,-0.38,-1.796, 2.860,-1.344,-1.878, PHS= 0.184,-1.500, 0.490, RAW= 158.2, 9.0, CAL= 158.0, 9.5, ROT= 352.0, -9.5
2025-08-23T22:32:25.161Z,1755988345.161 [DAT](INFO): DAT read: Bearing 309.1, -9.8 (Local)
2025-08-23T22:32:25.165Z,1755988345.165 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.1, -9.8 (Local)
2025-08-23T22:32:25.167Z,1755988345.167 [DAT](INFO): DAT read: Range 11 to 50 : 71.7 m (Round-trip 95.6 ms) speed 0.4 m/s
2025-08-23T22:32:25.168Z,1755988345.168 [DAT](INFO): DAT read: user:1848>
2025-08-23T22:32:25.168Z,1755988345.168 [DAT](INFO): DAT read: Tx time:22:32:24.9953
2025-08-23T22:32:25.169Z,1755988345.169 [DAT](INFO): Ping request sent.
2025-08-23T22:32:25.169Z,1755988345.169 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:25.169Z,1755988345.169 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:25.174Z,1755988345.174 [DAT](INFO): direction in FSK: [0.976687,-0.137264,0.165048]
2025-08-23T22:32:25.175Z,1755988345.175 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:25.175Z,1755988345.175 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:25.192Z,1755988345.192 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:25.192Z,1755988345.192 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:25.491Z,1755988345.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 71.699997 m,
deltaT: 3.529628 s,
deltaX: -1.600006 m,
approachRate: -0.453307 m/s,
rangeRepo size: 4
2025-08-23T22:32:25.493Z,1755988345.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 71.259972 m,
bearing: 130.869122 deg,
lat: 36.779406 deg,
lon: -121.859559 deg,
deltaT: 3.529628 s,
deltaX: -1.590500 m,
approachRate: -0.450614 m/s,
posRepo size: 4
2025-08-23T22:32:25.494Z,1755988345.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.26 m.
2025-08-23T22:32:25.497Z,1755988345.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.259972 m,
nav range: 70.505043 m,
bearing: 132.152195 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.014436 deg/s,
cmd heading: 138.991891 deg,
new cmd heading: 138.977217 deg.
2025-08-23T22:32:25.498Z,1755988345.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425610 target range: 71.259972 and range: 71.70 m.
2025-08-23T22:32:25.830Z,1755988345.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.26 m.
2025-08-23T22:32:25.832Z,1755988345.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.259972 m,
nav range: 70.337837 m,
bearing: 132.146017 deg,
approach rate: -0.493340 m/s,
LOS rate: -0.018272 deg/s,
cmd heading: 138.977219 deg,
new cmd heading: 138.964834 deg.
2025-08-23T22:32:25.833Z,1755988345.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425394 target range: 71.259972 and range: 71.70 m.
2025-08-23T22:32:26.292Z,1755988346.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:26.294Z,1755988346.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.26 m.
2025-08-23T22:32:26.297Z,1755988346.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.259972 m,
nav range: 70.104500 m,
bearing: 132.137968 deg,
approach rate: -0.501884 m/s,
LOS rate: -0.017369 deg/s,
cmd heading: 138.964830 deg,
new cmd heading: 138.948679 deg.
2025-08-23T22:32:26.298Z,1755988346.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425112 target range: 71.259972 and range: 71.70 m.
2025-08-23T22:32:26.394Z,1755988346.394 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:26.394Z,1755988346.394 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:26.395Z,1755988346.395 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:26.647Z,1755988346.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477981
2025-08-23T22:32:26.662Z,1755988346.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.26 m.
2025-08-23T22:32:26.665Z,1755988346.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.259972 m,
nav range: 69.928932 m,
bearing: 132.131893 deg,
approach rate: -0.476914 m/s,
LOS rate: -0.016544 deg/s,
cmd heading: 138.948683 deg,
new cmd heading: 138.936502 deg.
2025-08-23T22:32:26.667Z,1755988346.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424899 target range: 71.259972 and range: 71.70 m.
2025-08-23T22:32:26.898Z,1755988346.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729699
2025-08-23T22:32:27.028Z,1755988347.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.26 m.
2025-08-23T22:32:27.031Z,1755988347.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.259972 m,
nav range: 69.734398 m,
bearing: 132.125107 deg,
approach rate: -0.531841 m/s,
LOS rate: -0.018605 deg/s,
cmd heading: 138.936498 deg,
new cmd heading: 138.922888 deg.
2025-08-23T22:32:27.032Z,1755988347.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424662 target range: 71.259972 and range: 71.70 m.
2025-08-23T22:32:27.155Z,1755988347.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985753
2025-08-23T22:32:27.403Z,1755988347.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233897
2025-08-23T22:32:27.467Z,1755988347.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.26 m.
2025-08-23T22:32:27.470Z,1755988347.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.259972 m,
nav range: 69.524063 m,
bearing: 132.118119 deg,
approach rate: -0.479363 m/s,
LOS rate: -0.015973 deg/s,
cmd heading: 138.922892 deg,
new cmd heading: 138.908875 deg.
2025-08-23T22:32:27.471Z,1755988347.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424417 target range: 71.259972 and range: 71.70 m.
2025-08-23T22:32:27.654Z,1755988347.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485677
2025-08-23T22:32:27.898Z,1755988347.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.26 m.
2025-08-23T22:32:27.900Z,1755988347.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.259972 m,
nav range: 69.325912 m,
bearing: 132.111600 deg,
approach rate: -0.473523 m/s,
LOS rate: -0.015624 deg/s,
cmd heading: 138.908877 deg,
new cmd heading: 138.895801 deg.
2025-08-23T22:32:27.901Z,1755988347.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424189 target range: 71.259972 and range: 71.70 m.
2025-08-23T22:32:27.907Z,1755988347.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738052
2025-08-23T22:32:28.162Z,1755988348.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992436
2025-08-23T22:32:28.300Z,1755988348.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:28.307Z,1755988348.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.26 m.
2025-08-23T22:32:28.314Z,1755988348.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.259972 m,
nav range: 69.130325 m,
bearing: 132.102065 deg,
approach rate: -0.464275 m/s,
LOS rate: -0.022697 deg/s,
cmd heading: 138.895804 deg,
new cmd heading: 138.876680 deg.
2025-08-23T22:32:28.315Z,1755988348.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423855 target range: 71.259972 and range: 71.70 m.
2025-08-23T22:32:28.411Z,1755988348.411 [DAT](INFO): DAT read: Rx Time:22:32:27.4926
2025-08-23T22:32:28.412Z,1755988348.412 [DAT](INFO): Rx dataTimestamp_ set to:1755988348.411423
2025-08-23T22:32:28.413Z,1755988348.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243883
2025-08-23T22:32:28.663Z,1755988348.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493848
2025-08-23T22:32:28.664Z,1755988348.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.26 m.
2025-08-23T22:32:28.678Z,1755988348.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.259972 m,
nav range: 68.950623 m,
bearing: 132.093311 deg,
approach rate: -0.503080 m/s,
LOS rate: -0.024572 deg/s,
cmd heading: 138.876679 deg,
new cmd heading: 138.859124 deg.
2025-08-23T22:32:28.679Z,1755988348.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423549 target range: 71.259972 and range: 71.70 m.
2025-08-23T22:32:28.920Z,1755988348.920 [DAT](INFO): DAT read: 22:32:27.4925 LVL= 29120, 29553, 23874, 32755, AGC= 64, IDX= 423,-0.15, 0.402,-1.219, 0.872, 0.343, PHS= 0.161,-1.517, 0.486, RAW= 158.7, 9.4, CAL= 158.5, 10.0, ROT= 351.5, -10.0
2025-08-23T22:32:28.921Z,1755988348.921 [DAT](INFO): got valid direction response:
22:32:27.4925 LVL= 29120, 29553, 23874, 32755, AGC= 64, IDX= 423,-0.15, 0.402,-1.219, 0.872, 0.343, PHS= 0.161,-1.517, 0.486, RAW= 158.7, 9.4, CAL= 158.5, 10.0, ROT= 351.5, -10.0
2025-08-23T22:32:28.922Z,1755988348.922 [DAT](INFO): DAT read: Bearing 309.6, -10.6 (Local)
2025-08-23T22:32:28.922Z,1755988348.922 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.6, -10.6 (Local)
2025-08-23T22:32:28.924Z,1755988348.924 [DAT](INFO): DAT read: Range 11 to 50 : 69.9 m (Round-trip 93.2 ms) speed 0.4 m/s
2025-08-23T22:32:28.925Z,1755988348.925 [DAT](INFO): DAT read: user:1849>
2025-08-23T22:32:28.931Z,1755988348.931 [DAT](INFO): DAT read: Tx time:22:32:28.5952
2025-08-23T22:32:28.933Z,1755988348.933 [DAT](INFO): Ping request sent.
2025-08-23T22:32:28.933Z,1755988348.933 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:28.935Z,1755988348.935 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:28.947Z,1755988348.947 [DAT](INFO): direction in FSK: [0.973990,-0.145564,0.173648]
2025-08-23T22:32:28.947Z,1755988348.947 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:28.948Z,1755988348.948 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:28.956Z,1755988348.956 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:28.957Z,1755988348.957 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:29.094Z,1755988349.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 69.900002 m,
deltaT: 3.778467 s,
deltaX: -1.799995 m,
approachRate: -0.476382 m/s,
rangeRepo size: 4
2025-08-23T22:32:29.096Z,1755988349.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 69.471230 m,
bearing: 130.286502 deg,
lat: 36.779411 deg,
lon: -121.859552 deg,
deltaT: 3.778467 s,
deltaX: -1.788742 m,
approachRate: -0.473404 m/s,
posRepo size: 4
2025-08-23T22:32:29.096Z,1755988349.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.47 m.
2025-08-23T22:32:29.104Z,1755988349.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.471230 m,
nav range: 68.766472 m,
bearing: 131.395804 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.024572 deg/s,
cmd heading: 138.859126 deg,
new cmd heading: 138.838445 deg.
2025-08-23T22:32:29.110Z,1755988349.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423188 target range: 69.471230 and range: 69.90 m.
2025-08-23T22:32:29.506Z,1755988349.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.47 m.
2025-08-23T22:32:29.509Z,1755988349.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.471230 m,
nav range: 68.553734 m,
bearing: 131.385491 deg,
approach rate: -0.504633 m/s,
LOS rate: -0.024539 deg/s,
cmd heading: 138.838444 deg,
new cmd heading: 138.817754 deg.
2025-08-23T22:32:29.511Z,1755988349.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422827 target range: 69.471230 and range: 69.90 m.
2025-08-23T22:32:29.971Z,1755988349.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.47 m.
2025-08-23T22:32:29.974Z,1755988349.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.471230 m,
nav range: 68.333984 m,
bearing: 131.374863 deg,
approach rate: -0.472888 m/s,
LOS rate: -0.022943 deg/s,
cmd heading: 138.817748 deg,
new cmd heading: 138.796425 deg.
2025-08-23T22:32:29.975Z,1755988349.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422455 target range: 69.471230 and range: 69.90 m.
2025-08-23T22:32:30.316Z,1755988350.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:30.334Z,1755988350.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.47 m.
2025-08-23T22:32:30.337Z,1755988350.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.471230 m,
nav range: 68.160614 m,
bearing: 131.368149 deg,
approach rate: -0.477385 m/s,
LOS rate: -0.018535 deg/s,
cmd heading: 138.796424 deg,
new cmd heading: 138.782962 deg.
2025-08-23T22:32:30.342Z,1755988350.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422220 target range: 69.471230 and range: 69.90 m.
2025-08-23T22:32:30.426Z,1755988350.426 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:30.427Z,1755988350.427 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:30.427Z,1755988350.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:30.678Z,1755988350.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746007
2025-08-23T22:32:30.728Z,1755988350.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.47 m.
2025-08-23T22:32:30.733Z,1755988350.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.471230 m,
nav range: 67.967239 m,
bearing: 131.360625 deg,
approach rate: -0.490989 m/s,
LOS rate: -0.019160 deg/s,
cmd heading: 138.782969 deg,
new cmd heading: 138.767877 deg.
2025-08-23T22:32:30.736Z,1755988350.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421956 target range: 69.471230 and range: 69.90 m.
2025-08-23T22:32:30.931Z,1755988350.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998311
2025-08-23T22:32:31.114Z,1755988351.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.47 m.
2025-08-23T22:32:31.117Z,1755988351.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.471230 m,
nav range: 67.776810 m,
bearing: 131.353179 deg,
approach rate: -0.493238 m/s,
LOS rate: -0.019340 deg/s,
cmd heading: 138.767874 deg,
new cmd heading: 138.752941 deg.
2025-08-23T22:32:31.118Z,1755988351.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421696 target range: 69.471230 and range: 69.90 m.
2025-08-23T22:32:31.186Z,1755988351.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252835
2025-08-23T22:32:31.435Z,1755988351.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502372
2025-08-23T22:32:31.544Z,1755988351.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.47 m.
2025-08-23T22:32:31.551Z,1755988351.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.471230 m,
nav range: 67.580673 m,
bearing: 131.346009 deg,
approach rate: -0.456219 m/s,
LOS rate: -0.016727 deg/s,
cmd heading: 138.752943 deg,
new cmd heading: 138.738561 deg.
2025-08-23T22:32:31.552Z,1755988351.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421445 target range: 69.471230 and range: 69.90 m.
2025-08-23T22:32:31.687Z,1755988351.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754343
2025-08-23T22:32:31.931Z,1755988351.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.47 m.
2025-08-23T22:32:31.934Z,1755988351.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.471230 m,
nav range: 67.386108 m,
bearing: 131.338853 deg,
approach rate: -0.503070 m/s,
LOS rate: -0.018555 deg/s,
cmd heading: 138.738559 deg,
new cmd heading: 138.724206 deg.
2025-08-23T22:32:31.935Z,1755988351.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421194 target range: 69.471230 and range: 69.90 m.
2025-08-23T22:32:31.939Z,1755988351.939 [DAT](INFO): DAT read: Rx Time:22:32:31.0902
2025-08-23T22:32:31.939Z,1755988351.939 [DAT](INFO): Rx dataTimestamp_ set to:1755988351.938884
2025-08-23T22:32:31.940Z,1755988351.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007271
2025-08-23T22:32:32.194Z,1755988352.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261266
2025-08-23T22:32:32.395Z,1755988352.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:32.398Z,1755988352.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.47 m.
2025-08-23T22:32:32.400Z,1755988352.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.471230 m,
nav range: 67.155075 m,
bearing: 131.330771 deg,
approach rate: -0.495109 m/s,
LOS rate: -0.017378 deg/s,
cmd heading: 138.724202 deg,
new cmd heading: 138.707983 deg.
2025-08-23T22:32:32.401Z,1755988352.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420911 target range: 69.471230 and range: 69.90 m.
2025-08-23T22:32:32.450Z,1755988352.450 [DAT](INFO): DAT read: 22:32:31.0902 LVL= 29424, 32753, 23778, 32755, AGC= 66, IDX= 415,-0.02,-0.088,-1.708, 0.389,-0.152, PHS= 0.166,-1.511, 0.498, RAW= 158.9, 9.1, CAL= 158.6, 9.7, ROT= 351.4, -9.7
2025-08-23T22:32:32.452Z,1755988352.452 [DAT](INFO): got valid direction response:
22:32:31.0902 LVL= 29424, 32753, 23778, 32755, AGC= 66, IDX= 415,-0.02,-0.088,-1.708, 0.389,-0.152, PHS= 0.166,-1.511, 0.498, RAW= 158.9, 9.1, CAL= 158.6, 9.7, ROT= 351.4, -9.7
2025-08-23T22:32:32.454Z,1755988352.454 [DAT](INFO): DAT read: Bearing 309.2, -10.9 (Local)
2025-08-23T22:32:32.454Z,1755988352.454 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.2, -10.9 (Local)
2025-08-23T22:32:32.456Z,1755988352.456 [DAT](INFO): DAT read: Range 11 to 50 : 68.1 m (Round-trip 90.9 ms) speed 0.4 m/s
2025-08-23T22:32:32.457Z,1755988352.457 [DAT](INFO): DAT read: user:1850>
2025-08-23T22:32:32.458Z,1755988352.458 [DAT](INFO): DAT read: Tx time:22:32:32.1952
2025-08-23T22:32:32.459Z,1755988352.459 [DAT](INFO): Ping request sent.
2025-08-23T22:32:32.459Z,1755988352.459 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:32.459Z,1755988352.459 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:32.460Z,1755988352.460 [DAT](INFO): direction in FSK: [0.974621,-0.147398,0.168489]
2025-08-23T22:32:32.461Z,1755988352.461 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:32.461Z,1755988352.461 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:32.464Z,1755988352.464 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:32.464Z,1755988352.464 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:32.762Z,1755988352.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.099998 m,
deltaT: 3.528202 s,
deltaX: -1.800003 m,
approachRate: -0.510176 m/s,
rangeRepo size: 4
2025-08-23T22:32:32.764Z,1755988352.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 67.682007 m,
bearing: 130.108299 deg,
lat: 36.779415 deg,
lon: -121.859544 deg,
deltaT: 3.528202 s,
deltaX: -1.789223 m,
approachRate: -0.507120 m/s,
posRepo size: 4
2025-08-23T22:32:32.765Z,1755988352.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-08-23T22:32:32.772Z,1755988352.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.682007 m,
nav range: 67.266045 m,
bearing: 130.679940 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.017378 deg/s,
cmd heading: 138.707987 deg,
new cmd heading: 138.695467 deg.
2025-08-23T22:32:32.773Z,1755988352.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420692 target range: 67.682007 and range: 68.10 m.
2025-08-23T22:32:33.137Z,1755988353.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-08-23T22:32:33.141Z,1755988353.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.682007 m,
nav range: 67.068848 m,
bearing: 130.671079 deg,
approach rate: -0.519552 m/s,
LOS rate: -0.023413 deg/s,
cmd heading: 138.695461 deg,
new cmd heading: 138.677687 deg.
2025-08-23T22:32:33.142Z,1755988353.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420382 target range: 67.682007 and range: 68.10 m.
2025-08-23T22:32:33.600Z,1755988353.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-08-23T22:32:33.607Z,1755988353.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.682007 m,
nav range: 66.855270 m,
bearing: 130.658716 deg,
approach rate: -0.461703 m/s,
LOS rate: -0.026812 deg/s,
cmd heading: 138.677688 deg,
new cmd heading: 138.652883 deg.
2025-08-23T22:32:33.608Z,1755988353.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419949 target range: 67.682007 and range: 68.10 m.
2025-08-23T22:32:33.972Z,1755988353.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-08-23T22:32:33.975Z,1755988353.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.682007 m,
nav range: 66.665428 m,
bearing: 130.647655 deg,
approach rate: -0.510091 m/s,
LOS rate: -0.029805 deg/s,
cmd heading: 138.652881 deg,
new cmd heading: 138.630696 deg.
2025-08-23T22:32:33.976Z,1755988353.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419562 target range: 67.682007 and range: 68.10 m.
2025-08-23T22:32:34.403Z,1755988354.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:34.405Z,1755988354.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-08-23T22:32:34.408Z,1755988354.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.682007 m,
nav range: 66.463089 m,
bearing: 130.636378 deg,
approach rate: -0.467034 m/s,
LOS rate: -0.026107 deg/s,
cmd heading: 138.630697 deg,
new cmd heading: 138.608075 deg.
2025-08-23T22:32:34.409Z,1755988354.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419167 target range: 67.682007 and range: 68.10 m.
2025-08-23T22:32:34.459Z,1755988354.459 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:34.459Z,1755988354.459 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:34.460Z,1755988354.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:34.712Z,1755988354.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252833
2025-08-23T22:32:34.779Z,1755988354.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-08-23T22:32:34.781Z,1755988354.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.682007 m,
nav range: 66.288300 m,
bearing: 130.626554 deg,
approach rate: -0.468170 m/s,
LOS rate: -0.026384 deg/s,
cmd heading: 138.608075 deg,
new cmd heading: 138.588375 deg.
2025-08-23T22:32:34.782Z,1755988354.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418823 target range: 67.682007 and range: 68.10 m.
2025-08-23T22:32:34.962Z,1755988354.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503726
2025-08-23T22:32:35.201Z,1755988355.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-08-23T22:32:35.219Z,1755988355.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759364
2025-08-23T22:32:35.228Z,1755988355.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.682007 m,
nav range: 66.102524 m,
bearing: 130.616101 deg,
approach rate: -0.440467 m/s,
LOS rate: -0.024854 deg/s,
cmd heading: 138.588377 deg,
new cmd heading: 138.567412 deg.
2025-08-23T22:32:35.236Z,1755988355.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418458 target range: 67.682007 and range: 68.10 m.
2025-08-23T22:32:35.467Z,1755988355.467 [DAT](INFO): DAT read: Rx Time:22:32:34.6878
2025-08-23T22:32:35.467Z,1755988355.467 [DAT](INFO): Rx dataTimestamp_ set to:1755988355.466704
2025-08-23T22:32:35.468Z,1755988355.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008777
2025-08-23T22:32:35.634Z,1755988355.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-08-23T22:32:35.636Z,1755988355.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.682007 m,
nav range: 65.881058 m,
bearing: 130.601756 deg,
approach rate: -0.511039 m/s,
LOS rate: -0.033212 deg/s,
cmd heading: 138.567408 deg,
new cmd heading: 138.538622 deg.
2025-08-23T22:32:35.638Z,1755988355.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417955 target range: 67.682007 and range: 68.10 m.
2025-08-23T22:32:35.720Z,1755988355.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261043
2025-08-23T22:32:35.976Z,1755988355.976 [DAT](INFO): DAT read: 22:32:34.6878 LVL= 28208, 31985, 27538, 32755, AGC= 65, IDX= 423, 0.02,-2.186, 2.472,-1.718,-2.250, PHS= 0.166,-1.516, 0.488, RAW= 158.6, 9.3, CAL= 158.4, 9.9, ROT= 351.6, -9.9
2025-08-23T22:32:35.977Z,1755988355.977 [DAT](INFO): got valid direction response:
22:32:34.6878 LVL= 28208, 31985, 27538, 32755, AGC= 65, IDX= 423, 0.02,-2.186, 2.472,-1.718,-2.250, PHS= 0.166,-1.516, 0.488, RAW= 158.6, 9.3, CAL= 158.4, 9.9, ROT= 351.6, -9.9
2025-08-23T22:32:35.982Z,1755988355.982 [DAT](INFO): DAT read: Bearing 309.5, -10.8 (Local)
2025-08-23T22:32:35.983Z,1755988355.983 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.5, -10.8 (Local)
2025-08-23T22:32:35.984Z,1755988355.984 [DAT](INFO): DAT read: Range 11 to 50 : 66.3 m (Round-trip 88.5 ms) speed 0.4 m/s
2025-08-23T22:32:35.985Z,1755988355.985 [DAT](INFO): DAT read: user:1851>
2025-08-23T22:32:35.986Z,1755988355.986 [DAT](INFO): DAT read: Tx time:22:32:35.7952
2025-08-23T22:32:35.986Z,1755988355.986 [DAT](INFO): Ping request sent.
2025-08-23T22:32:35.986Z,1755988355.986 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:35.986Z,1755988355.986 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:35.987Z,1755988355.987 [DAT](INFO): direction in FSK: [0.974541,-0.143908,0.171929]
2025-08-23T22:32:35.988Z,1755988355.988 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:35.988Z,1755988355.988 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:35.991Z,1755988355.991 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:35.991Z,1755988355.991 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:36.097Z,1755988356.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 66.300003 m,
deltaT: 3.527772 s,
deltaX: -1.799995 m,
approachRate: -0.510236 m/s,
rangeRepo size: 4
2025-08-23T22:32:36.115Z,1755988356.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 65.892807 m,
bearing: 130.371417 deg,
lat: 36.779417 deg,
lon: -121.859544 deg,
deltaT: 3.527772 s,
deltaX: -1.789200 m,
approachRate: -0.507176 m/s,
posRepo size: 4
2025-08-23T22:32:36.116Z,1755988356.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-08-23T22:32:36.122Z,1755988356.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.892807 m,
nav range: 65.492790 m,
bearing: 130.371179 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.033212 deg/s,
cmd heading: 138.538626 deg,
new cmd heading: 138.507918 deg.
2025-08-23T22:32:36.123Z,1755988356.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417419 target range: 65.892807 and range: 66.30 m.
2025-08-23T22:32:36.479Z,1755988356.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:36.481Z,1755988356.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-08-23T22:32:36.484Z,1755988356.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.892807 m,
nav range: 65.305077 m,
bearing: 130.356468 deg,
approach rate: -0.487746 m/s,
LOS rate: -0.038335 deg/s,
cmd heading: 138.507917 deg,
new cmd heading: 138.478410 deg.
2025-08-23T22:32:36.485Z,1755988356.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.416904 target range: 65.892807 and range: 66.30 m.
2025-08-23T22:32:36.727Z,1755988356.727 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:36.727Z,1755988356.727 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:36.727Z,1755988356.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:36.862Z,1755988356.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-08-23T22:32:36.864Z,1755988356.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.892807 m,
nav range: 65.125267 m,
bearing: 130.342451 deg,
approach rate: -0.472097 m/s,
LOS rate: -0.036904 deg/s,
cmd heading: 138.478411 deg,
new cmd heading: 138.450300 deg.
2025-08-23T22:32:36.894Z,1755988356.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.416414 target range: 65.892807 and range: 66.30 m.
2025-08-23T22:32:36.980Z,1755988356.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993464
2025-08-23T22:32:37.231Z,1755988357.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244636
2025-08-23T22:32:37.379Z,1755988357.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-08-23T22:32:37.386Z,1755988357.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.892807 m,
nav range: 64.889778 m,
bearing: 130.325613 deg,
approach rate: -0.455450 m/s,
LOS rate: -0.032685 deg/s,
cmd heading: 138.450298 deg,
new cmd heading: 138.416499 deg.
2025-08-23T22:32:37.387Z,1755988357.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.415824 target range: 65.892807 and range: 66.30 m.
2025-08-23T22:32:37.483Z,1755988357.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497376
2025-08-23T22:32:37.735Z,1755988357.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748507
2025-08-23T22:32:37.766Z,1755988357.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-08-23T22:32:37.769Z,1755988357.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.892807 m,
nav range: 64.704231 m,
bearing: 130.312382 deg,
approach rate: -0.478996 m/s,
LOS rate: -0.034253 deg/s,
cmd heading: 138.416502 deg,
new cmd heading: 138.389965 deg.
2025-08-23T22:32:37.786Z,1755988357.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.415360 target range: 65.892807 and range: 66.30 m.
2025-08-23T22:32:37.987Z,1755988357.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001099
2025-08-23T22:32:38.168Z,1755988358.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-08-23T22:32:38.171Z,1755988358.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.892807 m,
nav range: 64.523209 m,
bearing: 130.299472 deg,
approach rate: -0.450627 m/s,
LOS rate: -0.032227 deg/s,
cmd heading: 138.389960 deg,
new cmd heading: 138.364068 deg.
2025-08-23T22:32:38.172Z,1755988358.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.414909 target range: 65.892807 and range: 66.30 m.
2025-08-23T22:32:38.239Z,1755988358.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252612
2025-08-23T22:32:38.491Z,1755988358.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504821
2025-08-23T22:32:38.633Z,1755988358.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:38.635Z,1755988358.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-08-23T22:32:38.638Z,1755988358.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.892807 m,
nav range: 64.289284 m,
bearing: 130.283165 deg,
approach rate: -0.500680 m/s,
LOS rate: -0.035030 deg/s,
cmd heading: 138.364073 deg,
new cmd heading: 138.331341 deg.
2025-08-23T22:32:38.639Z,1755988358.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.414337 target range: 65.892807 and range: 66.30 m.
2025-08-23T22:32:38.744Z,1755988358.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757528
2025-08-23T22:32:38.995Z,1755988358.995 [DAT](INFO): DAT read: Rx Time:22:32:38.2856
2025-08-23T22:32:38.995Z,1755988358.995 [DAT](INFO): Rx dataTimestamp_ set to:1755988358.994804
2025-08-23T22:32:38.996Z,1755988358.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009628
2025-08-23T22:32:39.000Z,1755988359.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-08-23T22:32:39.003Z,1755988359.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.892807 m,
nav range: 64.120918 m,
bearing: 130.271489 deg,
approach rate: -0.461044 m/s,
LOS rate: -0.032057 deg/s,
cmd heading: 138.331343 deg,
new cmd heading: 138.307930 deg.
2025-08-23T22:32:39.004Z,1755988359.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413929 target range: 65.892807 and range: 66.30 m.
2025-08-23T22:32:39.247Z,1755988359.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260532
2025-08-23T22:32:39.419Z,1755988359.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-08-23T22:32:39.422Z,1755988359.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.892807 m,
nav range: 63.921600 m,
bearing: 130.257094 deg,
approach rate: -0.475447 m/s,
LOS rate: -0.034446 deg/s,
cmd heading: 138.307929 deg,
new cmd heading: 138.279048 deg.
2025-08-23T22:32:39.423Z,1755988359.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413425 target range: 65.892807 and range: 66.30 m.
2025-08-23T22:32:39.502Z,1755988359.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515047
2025-08-23T22:32:39.756Z,1755988359.756 [DAT](INFO): DAT read: 22:32:38.2856 LVL= 28144, 32673, 23778, 32755, AGC= 63, IDX= 416,-0.26,-2.469, 2.204,-1.961,-2.520, PHS= 0.153,-1.514, 0.515, RAW= 159.6, 9.1, CAL= 159.4, 9.6, ROT= 350.6, -9.6
2025-08-23T22:32:39.757Z,1755988359.757 [DAT](INFO): got valid direction response:
22:32:38.2856 LVL= 28144, 32673, 23778, 32755, AGC= 63, IDX= 416,-0.26,-2.469, 2.204,-1.961,-2.520, PHS= 0.153,-1.514, 0.515, RAW= 159.6, 9.1, CAL= 159.4, 9.6, ROT= 350.6, -9.6
2025-08-23T22:32:39.767Z,1755988359.767 [DAT](INFO): DAT read: Bearing 309.3, -12.0 (Local)
2025-08-23T22:32:39.768Z,1755988359.768 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.3, -12.0 (Local)
2025-08-23T22:32:39.769Z,1755988359.769 [DAT](INFO): DAT read: Range 11 to 50 : 64.7 m (Round-trip 86.3 ms) speed 0.4 m/s
2025-08-23T22:32:39.778Z,1755988359.778 [DAT](INFO): DAT read: user:1852>
2025-08-23T22:32:39.779Z,1755988359.779 [DAT](INFO): DAT read: Tx time:22:32:39.3952
2025-08-23T22:32:39.779Z,1755988359.779 [DAT](INFO): Ping request sent.
2025-08-23T22:32:39.779Z,1755988359.779 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:39.779Z,1755988359.779 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:39.780Z,1755988359.780 [DAT](INFO): direction in FSK: [0.972756,-0.161039,0.166769]
2025-08-23T22:32:39.781Z,1755988359.781 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:39.781Z,1755988359.781 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:39.808Z,1755988359.808 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:39.809Z,1755988359.809 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:39.851Z,1755988359.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 64.699997 m,
deltaT: 3.780069 s,
deltaX: -1.600006 m,
approachRate: -0.423274 m/s,
rangeRepo size: 4
2025-08-23T22:32:39.859Z,1755988359.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 64.302391 m,
bearing: 129.097808 deg,
lat: 36.779419 deg,
lon: -121.859540 deg,
deltaT: 3.780069 s,
deltaX: -1.590416 m,
approachRate: -0.420737 m/s,
posRepo size: 4
2025-08-23T22:32:39.860Z,1755988359.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-23T22:32:39.867Z,1755988359.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.302391 m,
nav range: 63.858448 m,
bearing: 129.945668 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.034446 deg/s,
cmd heading: 138.279051 deg,
new cmd heading: 138.249335 deg.
2025-08-23T22:32:39.868Z,1755988359.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.412906 target range: 64.302391 and range: 64.70 m.
2025-08-23T22:32:40.246Z,1755988360.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-23T22:32:40.249Z,1755988360.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.302391 m,
nav range: 63.664478 m,
bearing: 129.930641 deg,
approach rate: -0.490786 m/s,
LOS rate: -0.038137 deg/s,
cmd heading: 138.249340 deg,
new cmd heading: 138.219194 deg.
2025-08-23T22:32:40.250Z,1755988360.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.412380 target range: 64.302391 and range: 64.70 m.
2025-08-23T22:32:40.671Z,1755988360.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:40.678Z,1755988360.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-23T22:32:40.680Z,1755988360.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.302391 m,
nav range: 63.471237 m,
bearing: 129.914800 deg,
approach rate: -0.452215 m/s,
LOS rate: -0.037185 deg/s,
cmd heading: 138.219191 deg,
new cmd heading: 138.187412 deg.
2025-08-23T22:32:40.681Z,1755988360.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.411825 target range: 64.302391 and range: 64.70 m.
2025-08-23T22:32:40.759Z,1755988360.759 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:40.759Z,1755988360.759 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:40.760Z,1755988360.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:41.011Z,1755988361.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231570
2025-08-23T22:32:41.063Z,1755988361.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-23T22:32:41.065Z,1755988361.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.302391 m,
nav range: 63.286854 m,
bearing: 129.899657 deg,
approach rate: -0.473560 m/s,
LOS rate: -0.039004 deg/s,
cmd heading: 138.187417 deg,
new cmd heading: 138.157044 deg.
2025-08-23T22:32:41.066Z,1755988361.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.411295 target range: 64.302391 and range: 64.70 m.
2025-08-23T22:32:41.263Z,1755988361.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483846
2025-08-23T22:32:41.485Z,1755988361.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-23T22:32:41.487Z,1755988361.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.302391 m,
nav range: 63.075172 m,
bearing: 129.881294 deg,
approach rate: -0.501628 m/s,
LOS rate: -0.043663 deg/s,
cmd heading: 138.157050 deg,
new cmd heading: 138.120200 deg.
2025-08-23T22:32:41.488Z,1755988361.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410652 target range: 64.302391 and range: 64.70 m.
2025-08-23T22:32:41.514Z,1755988361.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735398
2025-08-23T22:32:41.767Z,1755988361.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987515
2025-08-23T22:32:41.852Z,1755988361.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-23T22:32:41.860Z,1755988361.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.302391 m,
nav range: 62.899635 m,
bearing: 129.866024 deg,
approach rate: -0.477642 m/s,
LOS rate: -0.041664 deg/s,
cmd heading: 138.120195 deg,
new cmd heading: 138.089571 deg.
2025-08-23T22:32:41.861Z,1755988361.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410118 target range: 64.302391 and range: 64.70 m.
2025-08-23T22:32:42.019Z,1755988362.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239524
2025-08-23T22:32:42.251Z,1755988362.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-23T22:32:42.270Z,1755988362.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491371
2025-08-23T22:32:42.271Z,1755988362.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.302391 m,
nav range: 62.709309 m,
bearing: 129.849456 deg,
approach rate: -0.477350 m/s,
LOS rate: -0.041680 deg/s,
cmd heading: 138.089568 deg,
new cmd heading: 138.056331 deg.
2025-08-23T22:32:42.272Z,1755988362.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.409538 target range: 64.302391 and range: 64.70 m.
2025-08-23T22:32:42.523Z,1755988362.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743519
2025-08-23T22:32:42.707Z,1755988362.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:42.716Z,1755988362.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-23T22:32:42.727Z,1755988362.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.302391 m,
nav range: 62.512833 m,
bearing: 129.837305 deg,
approach rate: -0.423061 m/s,
LOS rate: -0.026247 deg/s,
cmd heading: 138.056332 deg,
new cmd heading: 138.031954 deg.
2025-08-23T22:32:42.728Z,1755988362.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.409112 target range: 64.302391 and range: 64.70 m.
2025-08-23T22:32:42.742Z,1755988362.742 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:32:42.775Z,1755988362.775 [DAT](INFO): DAT read: Rx Time:22:32:41.8833
2025-08-23T22:32:42.775Z,1755988362.775 [DAT](INFO): Rx dataTimestamp_ set to:1755988362.774790
2025-08-23T22:32:42.776Z,1755988362.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996606
2025-08-23T22:32:43.027Z,1755988363.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248063
2025-08-23T22:32:43.158Z,1755988363.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.30 m.
2025-08-23T22:32:43.160Z,1755988363.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.302391 m,
nav range: 62.313656 m,
bearing: 129.825057 deg,
approach rate: -0.454553 m/s,
LOS rate: -0.028040 deg/s,
cmd heading: 138.031949 deg,
new cmd heading: 138.007375 deg.
2025-08-23T22:32:43.161Z,1755988363.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.408683 target range: 64.302391 and range: 64.70 m.
2025-08-23T22:32:43.285Z,1755988363.285 [DAT](INFO): DAT read: 22:32:41.8833 LVL= 21184, 28881, 19538, 27315, AGC= 63, IDX= 424,-0.19,-2.655, 2.011,-2.141,-2.710, PHS= 0.157,-1.518, 0.524, RAW= 159.7, 8.9, CAL= 159.5, 9.4, ROT= 350.5, -9.4
2025-08-23T22:32:43.286Z,1755988363.286 [DAT](INFO): got valid direction response:
22:32:41.8833 LVL= 21184, 28881, 19538, 27315, AGC= 63, IDX= 424,-0.19,-2.655, 2.011,-2.141,-2.710, PHS= 0.157,-1.518, 0.524, RAW= 159.7, 8.9, CAL= 159.5, 9.4, ROT= 350.5, -9.4
2025-08-23T22:32:43.287Z,1755988363.287 [DAT](INFO): DAT read: Bearing 309.1, -12.2 (Local)
2025-08-23T22:32:43.288Z,1755988363.288 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.1, -12.2 (Local)
2025-08-23T22:32:43.289Z,1755988363.289 [DAT](INFO): DAT read: Range 11 to 50 : 62.9 m (Round-trip 83.9 ms) speed 0.4 m/s
2025-08-23T22:32:43.295Z,1755988363.295 [DAT](INFO): DAT read: user:1853>
2025-08-23T22:32:43.296Z,1755988363.296 [DAT](INFO): DAT read: Tx time:22:32:42.9967
2025-08-23T22:32:43.296Z,1755988363.296 [DAT](INFO): Ping request sent.
2025-08-23T22:32:43.296Z,1755988363.296 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:43.297Z,1755988363.297 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:43.311Z,1755988363.311 [DAT](INFO): direction in FSK: [0.973042,-0.162831,0.163326]
2025-08-23T22:32:43.312Z,1755988363.312 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:43.312Z,1755988363.312 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:43.354Z,1755988363.354 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:43.355Z,1755988363.355 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:43.605Z,1755988363.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 62.900002 m,
deltaT: 3.529031 s,
deltaX: -1.799995 m,
approachRate: -0.510054 m/s,
rangeRepo size: 4
2025-08-23T22:32:43.616Z,1755988363.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 62.513210 m,
bearing: 128.821704 deg,
lat: 36.779419 deg,
lon: -121.859539 deg,
deltaT: 3.529031 s,
deltaX: -1.789181 m,
approachRate: -0.506989 m/s,
posRepo size: 4
2025-08-23T22:32:43.616Z,1755988363.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:32:43.624Z,1755988363.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.513210 m,
nav range: 62.144726 m,
bearing: 129.727232 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.028040 deg/s,
cmd heading: 138.007374 deg,
new cmd heading: 137.982080 deg.
2025-08-23T22:32:43.625Z,1755988363.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.408242 target range: 62.513210 and range: 62.90 m.
2025-08-23T22:32:43.746Z,1755988363.746 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:32:43.966Z,1755988363.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:32:43.969Z,1755988363.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.513210 m,
nav range: 61.957752 m,
bearing: 129.716088 deg,
approach rate: -0.516726 m/s,
LOS rate: -0.030891 deg/s,
cmd heading: 137.982075 deg,
new cmd heading: 137.959720 deg.
2025-08-23T22:32:43.970Z,1755988363.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407851 target range: 62.513210 and range: 62.90 m.
2025-08-23T22:32:44.511Z,1755988364.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:32:44.513Z,1755988364.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.513210 m,
nav range: 61.691982 m,
bearing: 129.702288 deg,
approach rate: -0.488235 m/s,
LOS rate: -0.025461 deg/s,
cmd heading: 137.959726 deg,
new cmd heading: 137.932007 deg.
2025-08-23T22:32:44.514Z,1755988364.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407368 target range: 62.513210 and range: 62.90 m.
2025-08-23T22:32:44.878Z,1755988364.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:44.880Z,1755988364.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:32:44.883Z,1755988364.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.513210 m,
nav range: 61.511856 m,
bearing: 129.692918 deg,
approach rate: -0.487900 m/s,
LOS rate: -0.025454 deg/s,
cmd heading: 137.932009 deg,
new cmd heading: 137.913215 deg.
2025-08-23T22:32:44.884Z,1755988364.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407040 target range: 62.513210 and range: 62.90 m.
2025-08-23T22:32:45.042Z,1755988365.042 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:45.042Z,1755988365.042 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:45.043Z,1755988365.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:45.290Z,1755988365.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:32:45.293Z,1755988365.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.513210 m,
nav range: 61.311729 m,
bearing: 129.682512 deg,
approach rate: -0.487826 m/s,
LOS rate: -0.025450 deg/s,
cmd heading: 137.913213 deg,
new cmd heading: 137.892331 deg.
2025-08-23T22:32:45.295Z,1755988365.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998189
2025-08-23T22:32:45.295Z,1755988365.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.406675 target range: 62.513210 and range: 62.90 m.
2025-08-23T22:32:45.547Z,1755988365.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250550
2025-08-23T22:32:45.736Z,1755988365.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:32:45.739Z,1755988365.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.513210 m,
nav range: 61.093441 m,
bearing: 129.672468 deg,
approach rate: -0.489793 m/s,
LOS rate: -0.022618 deg/s,
cmd heading: 137.892326 deg,
new cmd heading: 137.872166 deg.
2025-08-23T22:32:45.740Z,1755988365.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.406323 target range: 62.513210 and range: 62.90 m.
2025-08-23T22:32:45.800Z,1755988365.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503146
2025-08-23T22:32:46.051Z,1755988366.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754382
2025-08-23T22:32:46.099Z,1755988366.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:32:46.106Z,1755988366.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.513210 m,
nav range: 60.923950 m,
bearing: 129.664719 deg,
approach rate: -0.466832 m/s,
LOS rate: -0.021400 deg/s,
cmd heading: 137.872163 deg,
new cmd heading: 137.856624 deg.
2025-08-23T22:32:46.107Z,1755988366.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.406052 target range: 62.513210 and range: 62.90 m.
2025-08-23T22:32:46.303Z,1755988366.303 [DAT](INFO): DAT read: Rx Time:22:32:45.4825
2025-08-23T22:32:46.303Z,1755988366.303 [DAT](INFO): Rx dataTimestamp_ set to:1755988366.302785
2025-08-23T22:32:46.304Z,1755988366.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007195
2025-08-23T22:32:46.534Z,1755988366.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-08-23T22:32:46.536Z,1755988366.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.513210 m,
nav range: 60.710728 m,
bearing: 129.654365 deg,
approach rate: -0.495279 m/s,
LOS rate: -0.024136 deg/s,
cmd heading: 137.856618 deg,
new cmd heading: 137.835836 deg.
2025-08-23T22:32:46.542Z,1755988366.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405689 target range: 62.513210 and range: 62.90 m.
2025-08-23T22:32:46.555Z,1755988366.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258140
2025-08-23T22:32:46.812Z,1755988366.812 [DAT](INFO): DAT read: 22:32:45.4824 LVL= 24560, 29377, 23202, 31987, AGC= 64, IDX= 416,-0.29, 0.964,-0.617, 1.468, 0.928, PHS= 0.137,-1.500, 0.496, RAW= 159.7, 9.4, CAL= 159.5, 10.0, ROT= 350.5, -10.0
2025-08-23T22:32:46.813Z,1755988366.813 [DAT](INFO): got valid direction response:
22:32:45.4824 LVL= 24560, 29377, 23202, 31987, AGC= 64, IDX= 416,-0.29, 0.964,-0.617, 1.468, 0.928, PHS= 0.137,-1.500, 0.496, RAW= 159.7, 9.4, CAL= 159.5, 10.0, ROT= 350.5, -10.0
2025-08-23T22:32:46.814Z,1755988366.814 [DAT](INFO): DAT read: Bearing 309.8, -12.3 (Local)
2025-08-23T22:32:46.814Z,1755988366.814 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.8, -12.3 (Local)
2025-08-23T22:32:46.816Z,1755988366.816 [DAT](INFO): DAT read: Range 11 to 50 : 61.2 m (Round-trip 81.6 ms) speed 0.4 m/s
2025-08-23T22:32:46.817Z,1755988366.817 [DAT](INFO): DAT read: user:1854>
2025-08-23T22:32:46.817Z,1755988366.817 [DAT](INFO): DAT read: Tx time:22:32:46.5951
2025-08-23T22:32:46.818Z,1755988366.818 [DAT](INFO): Ping request sent.
2025-08-23T22:32:46.818Z,1755988366.818 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:46.818Z,1755988366.818 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:46.819Z,1755988366.819 [DAT](INFO): direction in FSK: [0.971302,-0.162540,0.173648]
2025-08-23T22:32:46.819Z,1755988366.819 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:46.819Z,1755988366.819 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:46.823Z,1755988366.823 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:46.823Z,1755988366.823 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:46.940Z,1755988366.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 61.200001 m,
deltaT: 3.526896 s,
deltaX: -1.700001 m,
approachRate: -0.482010 m/s,
rangeRepo size: 4
2025-08-23T22:32:46.954Z,1755988366.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 60.823647 m,
bearing: 128.554753 deg,
lat: 36.779425 deg,
lon: -121.859533 deg,
deltaT: 3.526896 s,
deltaX: -1.689564 m,
approachRate: -0.479051 m/s,
posRepo size: 4
2025-08-23T22:32:46.955Z,1755988366.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.82 m.
2025-08-23T22:32:46.962Z,1755988366.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.823647 m,
nav range: 60.563511 m,
bearing: 128.835300 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.024136 deg/s,
cmd heading: 137.835840 deg,
new cmd heading: 137.816049 deg.
2025-08-23T22:32:46.963Z,1755988366.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405344 target range: 60.823647 and range: 61.20 m.
2025-08-23T22:32:47.306Z,1755988367.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:47.308Z,1755988367.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.82 m.
2025-08-23T22:32:47.310Z,1755988367.310 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:47.310Z,1755988367.310 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:47.311Z,1755988367.311 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:47.315Z,1755988367.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.823647 m,
nav range: 60.377262 m,
bearing: 128.823899 deg,
approach rate: -0.505527 m/s,
LOS rate: -0.031040 deg/s,
cmd heading: 137.816046 deg,
new cmd heading: 137.793175 deg.
2025-08-23T22:32:47.316Z,1755988367.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404945 target range: 60.823647 and range: 61.20 m.
2025-08-23T22:32:47.563Z,1755988367.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745435
2025-08-23T22:32:47.732Z,1755988367.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.82 m.
2025-08-23T22:32:47.751Z,1755988367.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.823647 m,
nav range: 60.162636 m,
bearing: 128.808730 deg,
approach rate: -0.506422 m/s,
LOS rate: -0.035921 deg/s,
cmd heading: 137.793179 deg,
new cmd heading: 137.762731 deg.
2025-08-23T22:32:47.751Z,1755988367.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404413 target range: 60.823647 and range: 61.20 m.
2025-08-23T22:32:47.815Z,1755988367.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997592
2025-08-23T22:32:48.067Z,1755988368.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249203
2025-08-23T22:32:48.143Z,1755988368.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.82 m.
2025-08-23T22:32:48.146Z,1755988368.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.823647 m,
nav range: 59.963078 m,
bearing: 128.794527 deg,
approach rate: -0.501440 m/s,
LOS rate: -0.035806 deg/s,
cmd heading: 137.762730 deg,
new cmd heading: 137.734230 deg.
2025-08-23T22:32:48.147Z,1755988368.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.403916 target range: 60.823647 and range: 61.20 m.
2025-08-23T22:32:48.319Z,1755988368.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500839
2025-08-23T22:32:48.539Z,1755988368.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.82 m.
2025-08-23T22:32:48.542Z,1755988368.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.823647 m,
nav range: 59.758423 m,
bearing: 128.778634 deg,
approach rate: -0.499371 m/s,
LOS rate: -0.038912 deg/s,
cmd heading: 137.734234 deg,
new cmd heading: 137.702340 deg.
2025-08-23T22:32:48.543Z,1755988368.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.403359 target range: 60.823647 and range: 61.20 m.
2025-08-23T22:32:48.571Z,1755988368.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753068
2025-08-23T22:32:48.822Z,1755988368.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004694
2025-08-23T22:32:48.913Z,1755988368.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.82 m.
2025-08-23T22:32:48.916Z,1755988368.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.823647 m,
nav range: 59.571949 m,
bearing: 128.764183 deg,
approach rate: -0.499653 m/s,
LOS rate: -0.038843 deg/s,
cmd heading: 137.702337 deg,
new cmd heading: 137.673344 deg.
2025-08-23T22:32:48.917Z,1755988368.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402853 target range: 60.823647 and range: 61.20 m.
2025-08-23T22:32:49.075Z,1755988369.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256801
2025-08-23T22:32:49.327Z,1755988369.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508983
2025-08-23T22:32:49.337Z,1755988369.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:49.344Z,1755988369.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.82 m.
2025-08-23T22:32:49.350Z,1755988369.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.823647 m,
nav range: 59.366879 m,
bearing: 128.748333 deg,
approach rate: -0.475867 m/s,
LOS rate: -0.036908 deg/s,
cmd heading: 137.673350 deg,
new cmd heading: 137.641540 deg.
2025-08-23T22:32:49.351Z,1755988369.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402298 target range: 60.823647 and range: 61.20 m.
2025-08-23T22:32:49.579Z,1755988369.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760794
2025-08-23T22:32:49.772Z,1755988369.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.82 m.
2025-08-23T22:32:49.775Z,1755988369.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.823647 m,
nav range: 59.152500 m,
bearing: 128.730698 deg,
approach rate: -0.503432 m/s,
LOS rate: -0.041563 deg/s,
cmd heading: 137.641535 deg,
new cmd heading: 137.606138 deg.
2025-08-23T22:32:49.776Z,1755988369.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.401680 target range: 60.823647 and range: 61.20 m.
2025-08-23T22:32:49.832Z,1755988369.832 [DAT](INFO): DAT read: Rx Time:22:32:49.0785
2025-08-23T22:32:49.832Z,1755988369.832 [DAT](INFO): Rx dataTimestamp_ set to:1755988369.831698
2025-08-23T22:32:49.833Z,1755988369.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015167
2025-08-23T22:32:50.083Z,1755988370.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264950
2025-08-23T22:32:50.139Z,1755988370.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.82 m.
2025-08-23T22:32:50.142Z,1755988370.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.823647 m,
nav range: 58.952919 m,
bearing: 128.714332 deg,
approach rate: -0.539672 m/s,
LOS rate: -0.044402 deg/s,
cmd heading: 137.606141 deg,
new cmd heading: 137.573299 deg.
2025-08-23T22:32:50.143Z,1755988370.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.401107 target range: 60.823647 and range: 61.20 m.
2025-08-23T22:32:50.353Z,1755988370.353 [DAT](INFO): DAT read: 22:32:49.0785 LVL= 25680, 31633, 23026, 32755, AGC= 63, IDX= 424, 0.08,-1.954, 2.734,-1.460,-2.010, PHS= 0.158,-1.495, 0.506, RAW= 159.4, 9.0, CAL= 159.1, 9.5, ROT= 350.9, -9.5
2025-08-23T22:32:50.355Z,1755988370.355 [DAT](INFO): got valid direction response:
22:32:49.0785 LVL= 25680, 31633, 23026, 32755, AGC= 63, IDX= 424, 0.08,-1.954, 2.734,-1.460,-2.010, PHS= 0.158,-1.495, 0.506, RAW= 159.4, 9.0, CAL= 159.1, 9.5, ROT= 350.9, -9.5
2025-08-23T22:32:50.356Z,1755988370.356 [DAT](INFO): DAT read: Bearing 309.0, -12.2 (Local)
2025-08-23T22:32:50.357Z,1755988370.357 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.0, -12.2 (Local)
2025-08-23T22:32:50.359Z,1755988370.359 [DAT](INFO): DAT read: Range 11 to 50 : 59.4 m (Round-trip 79.2 ms) speed 0.4 m/s
2025-08-23T22:32:50.360Z,1755988370.360 [DAT](INFO): DAT read: user:1855>
2025-08-23T22:32:50.361Z,1755988370.361 [DAT](INFO): DAT read: Tx time:22:32:50.1951
2025-08-23T22:32:50.361Z,1755988370.361 [DAT](INFO): Ping request sent.
2025-08-23T22:32:50.362Z,1755988370.362 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:50.363Z,1755988370.363 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:50.364Z,1755988370.364 [DAT](INFO): direction in FSK: [0.973872,-0.155989,0.165048]
2025-08-23T22:32:50.364Z,1755988370.364 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:50.365Z,1755988370.365 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:50.368Z,1755988370.368 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:50.369Z,1755988370.369 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:50.638Z,1755988370.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 59.400002 m,
deltaT: 3.530018 s,
deltaX: -1.799999 m,
approachRate: -0.509912 m/s,
rangeRepo size: 4
2025-08-23T22:32:50.640Z,1755988370.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 59.034431 m,
bearing: 128.638020 deg,
lat: 36.779425 deg,
lon: -121.859532 deg,
deltaT: 3.530018 s,
deltaX: -1.789215 m,
approachRate: -0.506857 m/s,
posRepo size: 4
2025-08-23T22:32:50.641Z,1755988370.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-23T22:32:50.641Z,1755988370.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-23T22:32:50.652Z,1755988370.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.034431 m,
nav range: 58.772671 m,
bearing: 128.637807 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.044402 deg/s,
cmd heading: 137.573301 deg,
new cmd heading: 137.529792 deg.
2025-08-23T22:32:50.653Z,1755988370.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.400348 target range: 59.034431 and range: 59.40 m.
2025-08-23T22:32:50.709Z,1755988370.709 [DockingStepper](INFO): Changing to mode: 2
2025-08-23T22:32:51.059Z,1755988371.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-23T22:32:51.060Z,1755988371.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-23T22:32:51.063Z,1755988371.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.034431 m,
nav range: 58.558006 m,
bearing: 128.619953 deg,
approach rate: -0.499006 m/s,
LOS rate: -0.041656 deg/s,
cmd heading: 137.529793 deg,
new cmd heading: 137.493953 deg.
2025-08-23T22:32:51.068Z,1755988371.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.399722 target range: 59.034431 and range: 59.40 m.
2025-08-23T22:32:51.541Z,1755988371.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:51.543Z,1755988371.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-23T22:32:51.544Z,1755988371.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-23T22:32:51.551Z,1755988371.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.034431 m,
nav range: 58.327435 m,
bearing: 128.600938 deg,
approach rate: -0.476238 m/s,
LOS rate: -0.039430 deg/s,
cmd heading: 137.493948 deg,
new cmd heading: 137.455769 deg.
2025-08-23T22:32:51.552Z,1755988371.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.399056 target range: 59.034431 and range: 59.40 m.
2025-08-23T22:32:51.595Z,1755988371.595 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:51.595Z,1755988371.595 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:51.595Z,1755988371.595 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:51.847Z,1755988371.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485213
2025-08-23T22:32:52.006Z,1755988372.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-23T22:32:52.006Z,1755988372.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-23T22:32:52.009Z,1755988372.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.034431 m,
nav range: 58.104408 m,
bearing: 128.582988 deg,
approach rate: -0.500239 m/s,
LOS rate: -0.040416 deg/s,
cmd heading: 137.455768 deg,
new cmd heading: 137.419730 deg.
2025-08-23T22:32:52.014Z,1755988372.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398427 target range: 59.034431 and range: 59.40 m.
2025-08-23T22:32:52.099Z,1755988372.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737312
2025-08-23T22:32:52.351Z,1755988372.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989284
2025-08-23T22:32:52.403Z,1755988372.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-23T22:32:52.404Z,1755988372.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-23T22:32:52.411Z,1755988372.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.034431 m,
nav range: 57.904339 m,
bearing: 128.567273 deg,
approach rate: -0.483167 m/s,
LOS rate: -0.038083 deg/s,
cmd heading: 137.419731 deg,
new cmd heading: 137.388192 deg.
2025-08-23T22:32:52.412Z,1755988372.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.397876 target range: 59.034431 and range: 59.40 m.
2025-08-23T22:32:52.602Z,1755988372.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241118
2025-08-23T22:32:52.807Z,1755988372.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-23T22:32:52.807Z,1755988372.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-23T22:32:52.810Z,1755988372.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.034431 m,
nav range: 57.703480 m,
bearing: 128.549820 deg,
approach rate: -0.497912 m/s,
LOS rate: -0.043415 deg/s,
cmd heading: 137.388190 deg,
new cmd heading: 137.353162 deg.
2025-08-23T22:32:52.811Z,1755988372.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.397265 target range: 59.034431 and range: 59.40 m.
2025-08-23T22:32:52.855Z,1755988372.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493585
2025-08-23T22:32:53.107Z,1755988373.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745295
2025-08-23T22:32:53.191Z,1755988373.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-23T22:32:53.192Z,1755988373.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-23T22:32:53.196Z,1755988373.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.034431 m,
nav range: 57.520420 m,
bearing: 128.533937 deg,
approach rate: -0.478266 m/s,
LOS rate: -0.041628 deg/s,
cmd heading: 137.353164 deg,
new cmd heading: 137.321298 deg.
2025-08-23T22:32:53.198Z,1755988373.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.396709 target range: 59.034431 and range: 59.40 m.
2025-08-23T22:32:53.359Z,1755988373.359 [DAT](INFO): DAT read: Rx Time:22:32:52.6761
2025-08-23T22:32:53.359Z,1755988373.359 [DAT](INFO): Rx dataTimestamp_ set to:1755988373.358721
2025-08-23T22:32:53.360Z,1755988373.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998221
2025-08-23T22:32:53.608Z,1755988373.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:53.611Z,1755988373.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249275
2025-08-23T22:32:53.612Z,1755988373.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-23T22:32:53.613Z,1755988373.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-23T22:32:53.615Z,1755988373.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.034431 m,
nav range: 57.312534 m,
bearing: 128.514244 deg,
approach rate: -0.491981 m/s,
LOS rate: -0.046776 deg/s,
cmd heading: 137.321295 deg,
new cmd heading: 137.281765 deg.
2025-08-23T22:32:53.616Z,1755988373.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.396019 target range: 59.034431 and range: 59.40 m.
2025-08-23T22:32:53.863Z,1755988373.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501200
2025-08-23T22:32:53.994Z,1755988373.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.03 m.
2025-08-23T22:32:53.994Z,1755988373.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-23T22:32:53.997Z,1755988373.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.034431 m,
nav range: 57.130291 m,
bearing: 128.496861 deg,
approach rate: -0.482571 m/s,
LOS rate: -0.046176 deg/s,
cmd heading: 137.281762 deg,
new cmd heading: 137.246885 deg.
2025-08-23T22:32:53.998Z,1755988373.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395410 target range: 59.034431 and range: 59.40 m.
2025-08-23T22:32:54.120Z,1755988374.120 [DAT](INFO): DAT read: 22:32:52.6761 LVL= 25536, 26529, 25138, 32755, AGC= 62, IDX= 416, 0.13, 2.511, 0.947, 3.140, 2.493, PHS= 0.120,-1.500, 0.604, RAW= 162.7, 8.2, CAL= 162.3, 8.4, ROT= 347.7, -8.4
2025-08-23T22:32:54.121Z,1755988374.121 [DAT](INFO): got valid direction response:
22:32:52.6761 LVL= 25536, 26529, 25138, 32755, AGC= 62, IDX= 416, 0.13, 2.511, 0.947, 3.140, 2.493, PHS= 0.120,-1.500, 0.604, RAW= 162.7, 8.2, CAL= 162.3, 8.4, ROT= 347.7, -8.4
2025-08-23T22:32:54.122Z,1755988374.122 [DAT](INFO): DAT read: Bearing 307.8, -15.7 (Local)
2025-08-23T22:32:54.123Z,1755988374.123 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.8, -15.7 (Local)
2025-08-23T22:32:54.124Z,1755988374.124 [DAT](INFO): DAT read: Range 11 to 50 : 57.6 m (Round-trip 76.9 ms) speed 0.4 m/s
2025-08-23T22:32:54.125Z,1755988374.125 [DAT](INFO): DAT read: user:1856>
2025-08-23T22:32:54.125Z,1755988374.125 [DAT](INFO): DAT read: Tx time:22:32:53.7951
2025-08-23T22:32:54.126Z,1755988374.126 [DAT](INFO): Ping request sent.
2025-08-23T22:32:54.126Z,1755988374.126 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:54.126Z,1755988374.126 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:54.127Z,1755988374.127 [DAT](INFO): direction in FSK: [0.966564,-0.210745,0.146083]
2025-08-23T22:32:54.127Z,1755988374.127 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:54.128Z,1755988374.128 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:54.131Z,1755988374.131 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:54.131Z,1755988374.131 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:54.362Z,1755988374.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 57.599998 m,
deltaT: 3.778004 s,
deltaX: -1.800003 m,
approachRate: -0.476443 m/s,
rangeRepo size: 4
2025-08-23T22:32:54.364Z,1755988374.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 57.245361 m,
bearing: 124.947829 deg,
lat: 36.779425 deg,
lon: -121.859531 deg,
deltaT: 3.778004 s,
deltaX: -1.789070 m,
approachRate: -0.473549 m/s,
posRepo size: 4
2025-08-23T22:32:54.364Z,1755988374.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.25 m.
2025-08-23T22:32:54.365Z,1755988374.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-23T22:32:54.369Z,1755988374.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.245361 m,
nav range: 56.927940 m,
bearing: 128.410465 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.046176 deg/s,
cmd heading: 137.246887 deg,
new cmd heading: 137.212633 deg.
2025-08-23T22:32:54.370Z,1755988374.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.394812 target range: 57.245361 and range: 57.60 m.
2025-08-23T22:32:54.774Z,1755988374.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.25 m.
2025-08-23T22:32:54.775Z,1755988374.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-23T22:32:54.778Z,1755988374.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.245361 m,
nav range: 56.725632 m,
bearing: 128.391037 deg,
approach rate: -0.489104 m/s,
LOS rate: -0.047138 deg/s,
cmd heading: 137.212626 deg,
new cmd heading: 137.173631 deg.
2025-08-23T22:32:54.779Z,1755988374.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.394131 target range: 57.245361 and range: 57.60 m.
2025-08-23T22:32:55.171Z,1755988375.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.25 m.
2025-08-23T22:32:55.171Z,1755988375.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-23T22:32:55.178Z,1755988375.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.245361 m,
nav range: 56.537800 m,
bearing: 128.372916 deg,
approach rate: -0.473824 m/s,
LOS rate: -0.045863 deg/s,
cmd heading: 137.173626 deg,
new cmd heading: 137.137264 deg.
2025-08-23T22:32:55.180Z,1755988375.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.393497 target range: 57.245361 and range: 57.60 m.
2025-08-23T22:32:55.628Z,1755988375.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:55.630Z,1755988375.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.25 m.
2025-08-23T22:32:55.631Z,1755988375.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-23T22:32:55.634Z,1755988375.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.245361 m,
nav range: 56.323048 m,
bearing: 128.355700 deg,
approach rate: -0.467251 m/s,
LOS rate: -0.037600 deg/s,
cmd heading: 137.137262 deg,
new cmd heading: 137.102699 deg.
2025-08-23T22:32:55.635Z,1755988375.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392894 target range: 57.245361 and range: 57.60 m.
2025-08-23T22:32:55.879Z,1755988375.879 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:55.879Z,1755988375.879 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:55.879Z,1755988375.879 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:55.979Z,1755988375.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.25 m.
2025-08-23T22:32:55.980Z,1755988375.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-23T22:32:55.983Z,1755988375.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.245361 m,
nav range: 56.168869 m,
bearing: 128.343280 deg,
approach rate: -0.441684 m/s,
LOS rate: -0.035680 deg/s,
cmd heading: 137.102701 deg,
new cmd heading: 137.077792 deg.
2025-08-23T22:32:55.984Z,1755988375.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392459 target range: 57.245361 and range: 57.60 m.
2025-08-23T22:32:56.131Z,1755988376.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004631
2025-08-23T22:32:56.364Z,1755988376.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.25 m.
2025-08-23T22:32:56.364Z,1755988376.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-23T22:32:56.367Z,1755988376.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.245361 m,
nav range: 55.984779 m,
bearing: 128.328177 deg,
approach rate: -0.478574 m/s,
LOS rate: -0.039391 deg/s,
cmd heading: 137.077799 deg,
new cmd heading: 137.047494 deg.
2025-08-23T22:32:56.368Z,1755988376.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.391930 target range: 57.245361 and range: 57.60 m.
2025-08-23T22:32:56.383Z,1755988376.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256711
2025-08-23T22:32:56.635Z,1755988376.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508888
2025-08-23T22:32:56.795Z,1755988376.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.25 m.
2025-08-23T22:32:56.795Z,1755988376.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-23T22:32:56.795Z,1755988376.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.60 m.
2025-08-23T22:32:56.796Z,1755988376.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-23T22:32:56.799Z,1755988376.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.245361 m,
nav range: 55.784298 m,
bearing: 128.314192 deg,
approach rate: -0.466598 m/s,
LOS rate: -0.032666 deg/s,
cmd heading: 137.047500 deg,
new cmd heading: 137.019429 deg.
2025-08-23T22:32:56.800Z,1755988376.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.391440 target range: 57.245361 and range: 57.60 m.
2025-08-23T22:32:56.832Z,1755988376.832 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-08-23T22:32:56.832Z,1755988376.832 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-23T22:32:56.887Z,1755988376.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760877
2025-08-23T22:32:57.138Z,1755988377.138 [DAT](INFO): DAT read: Rx Time:22:32:56.2739
2025-08-23T22:32:57.139Z,1755988377.139 [DAT](INFO): Rx dataTimestamp_ set to:1755988377.138641
2025-08-23T22:32:57.139Z,1755988377.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013582
2025-08-23T22:32:57.228Z,1755988377.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.25 m.
2025-08-23T22:32:57.235Z,1755988377.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.245361 m,
nav range: 55.588215 m,
bearing: 128.300015 deg,
approach rate: -0.451433 m/s,
LOS rate: -0.032753 deg/s,
cmd heading: 137.019428 deg,
new cmd heading: 136.990975 deg.
2025-08-23T22:32:57.236Z,1755988377.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.390944 target range: 57.245361 and range: 57.60 m.
2025-08-23T22:32:57.391Z,1755988377.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265063
2025-08-23T22:32:57.648Z,1755988377.648 [DAT](INFO): DAT read: 22:32:56.2739 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 425,-0.40,-2.082, 2.604,-1.498,-2.109, PHS= 0.129,-1.526, 0.567, RAW= 161.5, 8.7, CAL= 161.2, 9.1, ROT= 348.8, -9.1
2025-08-23T22:32:57.651Z,1755988377.651 [DAT](INFO): got valid direction response:
22:32:56.2739 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 425,-0.40,-2.082, 2.604,-1.498,-2.109, PHS= 0.129,-1.526, 0.567, RAW= 161.5, 8.7, CAL= 161.2, 9.1, ROT= 348.8, -9.1
2025-08-23T22:32:57.653Z,1755988377.653 [DAT](INFO): DAT read: Bearing 308.6, -14.4 (Local)
2025-08-23T22:32:57.654Z,1755988377.654 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.6, -14.4 (Local)
2025-08-23T22:32:57.658Z,1755988377.658 [DAT](INFO): DAT read: Range 11 to 50 : 56.0 m (Round-trip 74.7 ms) speed 0.4 m/s
2025-08-23T22:32:57.659Z,1755988377.659 [DAT](INFO): DAT read: user:1857>
2025-08-23T22:32:57.660Z,1755988377.660 [DAT](INFO): DAT read: Tx time:22:32:57.3951
2025-08-23T22:32:57.661Z,1755988377.661 [DAT](INFO): Ping request sent.
2025-08-23T22:32:57.661Z,1755988377.661 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:32:57.662Z,1755988377.662 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:32:57.664Z,1755988377.664 [DAT](INFO): direction in FSK: [0.968609,-0.191790,0.158158]
2025-08-23T22:32:57.665Z,1755988377.665 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:57.665Z,1755988377.665 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:57.679Z,1755988377.679 [DAT](INFO): publishing transmit ping time
2025-08-23T22:32:57.680Z,1755988377.680 [DAT](INFO): publishing direction and range info
2025-08-23T22:32:57.719Z,1755988377.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.000000 m,
deltaT: 3.528150 s,
deltaX: -1.599998 m,
approachRate: -0.453495 m/s,
rangeRepo size: 4
2025-08-23T22:32:57.721Z,1755988377.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 55.655178 m,
bearing: 126.309933 deg,
lat: 36.779427 deg,
lon: -121.859531 deg,
deltaT: 3.528150 s,
deltaX: -1.590183 m,
approachRate: -0.450713 m/s,
posRepo size: 4
2025-08-23T22:32:57.730Z,1755988377.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.66 m.
2025-08-23T22:32:57.732Z,1755988377.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.655178 m,
nav range: 55.259121 m,
bearing: 128.101857 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.032753 deg/s,
cmd heading: 136.990973 deg,
new cmd heading: 136.959417 deg.
2025-08-23T22:32:57.733Z,1755988377.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.390393 target range: 55.655178 and range: 56.00 m.
2025-08-23T22:32:58.035Z,1755988378.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:32:58.037Z,1755988378.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.66 m.
2025-08-23T22:32:58.044Z,1755988378.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.655178 m,
nav range: 55.104652 m,
bearing: 128.085722 deg,
approach rate: -0.472108 m/s,
LOS rate: -0.049452 deg/s,
cmd heading: 136.959418 deg,
new cmd heading: 136.927058 deg.
2025-08-23T22:32:58.045Z,1755988378.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389828 target range: 55.655178 and range: 56.00 m.
2025-08-23T22:32:58.146Z,1755988378.146 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:32:58.146Z,1755988378.146 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:32:58.147Z,1755988378.147 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:32:58.399Z,1755988378.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.738531
2025-08-23T22:32:58.523Z,1755988378.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.66 m.
2025-08-23T22:32:58.546Z,1755988378.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.655178 m,
nav range: 54.871521 m,
bearing: 128.060905 deg,
approach rate: -0.479236 m/s,
LOS rate: -0.051232 deg/s,
cmd heading: 136.927056 deg,
new cmd heading: 136.877211 deg.
2025-08-23T22:32:58.547Z,1755988378.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.388958 target range: 55.655178 and range: 56.00 m.
2025-08-23T22:32:58.652Z,1755988378.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991163
2025-08-23T22:32:58.903Z,1755988378.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241793
2025-08-23T22:32:59.115Z,1755988379.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.66 m.
2025-08-23T22:32:59.118Z,1755988379.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.655178 m,
nav range: 54.602936 m,
bearing: 128.033716 deg,
approach rate: -0.454284 m/s,
LOS rate: -0.046214 deg/s,
cmd heading: 136.877210 deg,
new cmd heading: 136.822564 deg.
2025-08-23T22:32:59.119Z,1755988379.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.388004 target range: 55.655178 and range: 56.00 m.
2025-08-23T22:32:59.155Z,1755988379.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494542
2025-08-23T22:32:59.407Z,1755988379.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745790
2025-08-23T22:32:59.655Z,1755988379.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.66 m.
2025-08-23T22:32:59.660Z,1755988379.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998918
2025-08-23T22:32:59.664Z,1755988379.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.655178 m,
nav range: 54.364613 m,
bearing: 128.008383 deg,
approach rate: -0.441591 m/s,
LOS rate: -0.047146 deg/s,
cmd heading: 136.822568 deg,
new cmd heading: 136.771680 deg.
2025-08-23T22:32:59.670Z,1755988379.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387116 target range: 55.655178 and range: 56.00 m.
2025-08-23T22:32:59.912Z,1755988379.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250848
2025-08-23T22:33:00.059Z,1755988380.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:00.066Z,1755988380.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.66 m.
2025-08-23T22:33:00.068Z,1755988380.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.655178 m,
nav range: 54.177719 m,
bearing: 127.988509 deg,
approach rate: -0.459211 m/s,
LOS rate: -0.049000 deg/s,
cmd heading: 136.771683 deg,
new cmd heading: 136.731798 deg.
2025-08-23T22:33:00.073Z,1755988380.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386420 target range: 55.655178 and range: 56.00 m.
2025-08-23T22:33:00.164Z,1755988380.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502502
2025-08-23T22:33:00.412Z,1755988380.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.66 m.
2025-08-23T22:33:00.415Z,1755988380.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753911
2025-08-23T22:33:00.417Z,1755988380.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.655178 m,
nav range: 54.010902 m,
bearing: 127.970440 deg,
approach rate: -0.475087 m/s,
LOS rate: -0.051617 deg/s,
cmd heading: 136.731795 deg,
new cmd heading: 136.695546 deg.
2025-08-23T22:33:00.418Z,1755988380.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385787 target range: 55.655178 and range: 56.00 m.
2025-08-23T22:33:00.668Z,1755988380.668 [DAT](INFO): DAT read: Rx Time:22:32:59.8715
2025-08-23T22:33:00.669Z,1755988380.669 [DAT](INFO): Rx dataTimestamp_ set to:1755988380.668705
2025-08-23T22:33:00.671Z,1755988380.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009985
2025-08-23T22:33:00.844Z,1755988380.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.66 m.
2025-08-23T22:33:00.847Z,1755988380.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.655178 m,
nav range: 53.803917 m,
bearing: 127.947688 deg,
approach rate: -0.479253 m/s,
LOS rate: -0.052883 deg/s,
cmd heading: 136.695540 deg,
new cmd heading: 136.649861 deg.
2025-08-23T22:33:00.848Z,1755988380.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384990 target range: 55.655178 and range: 56.00 m.
2025-08-23T22:33:00.919Z,1755988380.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258001
2025-08-23T22:33:01.178Z,1755988381.178 [DAT](INFO): DAT read: 22:32:59.8715 LVL= 27440, 32753, 21842, 32755, AGC= 63, IDX= 417, 0.22,-2.478, 2.218,-1.888,-2.512, PHS= 0.136,-1.508, 0.580, RAW= 161.6, 8.4, CAL= 161.3, 8.6, ROT= 348.7, -8.6
2025-08-23T22:33:01.180Z,1755988381.180 [DAT](INFO): got valid direction response:
22:32:59.8715 LVL= 27440, 32753, 21842, 32755, AGC= 63, IDX= 417, 0.22,-2.478, 2.218,-1.888,-2.512, PHS= 0.136,-1.508, 0.580, RAW= 161.6, 8.4, CAL= 161.3, 8.6, ROT= 348.7, -8.6
2025-08-23T22:33:01.181Z,1755988381.181 [DAT](INFO): DAT read: Bearing 309.1, -14.3 (Local)
2025-08-23T22:33:01.182Z,1755988381.182 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.1, -14.3 (Local)
2025-08-23T22:33:01.184Z,1755988381.184 [DAT](INFO): DAT read: Range 11 to 50 : 54.2 m (Round-trip 72.3 ms) speed 0.4 m/s
2025-08-23T22:33:01.185Z,1755988381.185 [DAT](INFO): DAT read: user:1858>
2025-08-23T22:33:01.214Z,1755988381.214 [DAT](INFO): DAT read: Tx time:22:33:00.9951
2025-08-23T22:33:01.214Z,1755988381.214 [DAT](INFO): Ping request sent.
2025-08-23T22:33:01.214Z,1755988381.214 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:01.215Z,1755988381.215 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:33:01.215Z,1755988381.215 [DAT](INFO): direction in FSK: [0.969589,-0.193743,0.149535]
2025-08-23T22:33:01.216Z,1755988381.216 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:01.216Z,1755988381.216 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:01.223Z,1755988381.223 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:01.223Z,1755988381.223 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:01.356Z,1755988381.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.200001 m,
deltaT: 3.527812 s,
deltaX: -1.799999 m,
approachRate: -0.510231 m/s,
rangeRepo size: 4
2025-08-23T22:33:01.362Z,1755988381.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 53.866177 m,
bearing: 126.830681 deg,
lat: 36.779434 deg,
lon: -121.859523 deg,
deltaT: 3.527812 s,
deltaX: -1.789001 m,
approachRate: -0.507114 m/s,
posRepo size: 4
2025-08-23T22:33:01.363Z,1755988381.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.87 m.
2025-08-23T22:33:01.370Z,1755988381.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.866177 m,
nav range: 53.690296 m,
bearing: 126.830487 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.052883 deg/s,
cmd heading: 136.649860 deg,
new cmd heading: 136.595797 deg.
2025-08-23T22:33:01.371Z,1755988381.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384046 target range: 53.866177 and range: 54.20 m.
2025-08-23T22:33:01.735Z,1755988381.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.87 m.
2025-08-23T22:33:01.738Z,1755988381.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.866177 m,
nav range: 53.497936 m,
bearing: 126.801488 deg,
approach rate: -0.506801 m/s,
LOS rate: -0.076676 deg/s,
cmd heading: 136.595792 deg,
new cmd heading: 136.537586 deg.
2025-08-23T22:33:01.739Z,1755988381.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.383030 target range: 53.866177 and range: 54.20 m.
2025-08-23T22:33:02.073Z,1755988382.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:02.075Z,1755988382.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.87 m.
2025-08-23T22:33:02.094Z,1755988382.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.866177 m,
nav range: 53.335892 m,
bearing: 126.776666 deg,
approach rate: -0.476225 m/s,
LOS rate: -0.073170 deg/s,
cmd heading: 136.537585 deg,
new cmd heading: 136.487790 deg.
2025-08-23T22:33:02.095Z,1755988382.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.382161 target range: 53.866177 and range: 54.20 m.
2025-08-23T22:33:02.179Z,1755988382.179 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:33:02.179Z,1755988382.179 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:33:02.180Z,1755988382.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:33:02.430Z,1755988382.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216241
2025-08-23T22:33:02.480Z,1755988382.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.87 m.
2025-08-23T22:33:02.483Z,1755988382.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.866177 m,
nav range: 53.142948 m,
bearing: 126.746668 deg,
approach rate: -0.476376 m/s,
LOS rate: -0.074334 deg/s,
cmd heading: 136.487793 deg,
new cmd heading: 136.427579 deg.
2025-08-23T22:33:02.484Z,1755988382.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.381110 target range: 53.866177 and range: 54.20 m.
2025-08-23T22:33:02.686Z,1755988382.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471665
2025-08-23T22:33:02.929Z,1755988382.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.87 m.
2025-08-23T22:33:02.932Z,1755988382.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.866177 m,
nav range: 52.931156 m,
bearing: 126.713640 deg,
approach rate: -0.472248 m/s,
LOS rate: -0.073939 deg/s,
cmd heading: 136.427578 deg,
new cmd heading: 136.361259 deg.
2025-08-23T22:33:02.933Z,1755988382.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.379953 target range: 53.866177 and range: 54.20 m.
2025-08-23T22:33:02.935Z,1755988382.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720449
2025-08-23T22:33:03.187Z,1755988383.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972954
2025-08-23T22:33:03.299Z,1755988383.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.87 m.
2025-08-23T22:33:03.301Z,1755988383.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.866177 m,
nav range: 52.764206 m,
bearing: 126.686968 deg,
approach rate: -0.451594 m/s,
LOS rate: -0.072375 deg/s,
cmd heading: 136.361257 deg,
new cmd heading: 136.307744 deg.
2025-08-23T22:33:03.302Z,1755988383.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.379019 target range: 53.866177 and range: 54.20 m.
2025-08-23T22:33:03.439Z,1755988383.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224595
2025-08-23T22:33:03.694Z,1755988383.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478745
2025-08-23T22:33:03.744Z,1755988383.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.87 m.
2025-08-23T22:33:03.747Z,1755988383.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.866177 m,
nav range: 52.548252 m,
bearing: 126.652878 deg,
approach rate: -0.485112 m/s,
LOS rate: -0.076892 deg/s,
cmd heading: 136.307749 deg,
new cmd heading: 136.239290 deg.
2025-08-23T22:33:03.748Z,1755988383.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.377824 target range: 53.866177 and range: 54.20 m.
2025-08-23T22:33:03.942Z,1755988383.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728243
2025-08-23T22:33:04.109Z,1755988384.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:04.115Z,1755988384.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.87 m.
2025-08-23T22:33:04.122Z,1755988384.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.866177 m,
nav range: 52.378105 m,
bearing: 126.625729 deg,
approach rate: -0.458000 m/s,
LOS rate: -0.073317 deg/s,
cmd heading: 136.239284 deg,
new cmd heading: 136.184809 deg.
2025-08-23T22:33:04.123Z,1755988384.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376873 target range: 53.866177 and range: 54.20 m.
2025-08-23T22:33:04.195Z,1755988384.195 [DAT](INFO): DAT read: Rx Time:22:33:03.4694
2025-08-23T22:33:04.196Z,1755988384.196 [DAT](INFO): Rx dataTimestamp_ set to:1755988384.195597
2025-08-23T22:33:04.197Z,1755988384.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982588
2025-08-23T22:33:04.447Z,1755988384.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232322
2025-08-23T22:33:04.501Z,1755988384.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.87 m.
2025-08-23T22:33:04.504Z,1755988384.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.866177 m,
nav range: 52.193455 m,
bearing: 126.595838 deg,
approach rate: -0.479039 m/s,
LOS rate: -0.077822 deg/s,
cmd heading: 136.184806 deg,
new cmd heading: 136.124812 deg.
2025-08-23T22:33:04.505Z,1755988384.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.375826 target range: 53.866177 and range: 54.20 m.
2025-08-23T22:33:04.703Z,1755988384.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487825
2025-08-23T22:33:04.923Z,1755988384.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.87 m.
2025-08-23T22:33:04.926Z,1755988384.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.866177 m,
nav range: 51.995701 m,
bearing: 126.563587 deg,
approach rate: -0.468599 m/s,
LOS rate: -0.076713 deg/s,
cmd heading: 136.124810 deg,
new cmd heading: 136.060062 deg.
2025-08-23T22:33:04.927Z,1755988384.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.374696 target range: 53.866177 and range: 54.20 m.
2025-08-23T22:33:04.957Z,1755988384.957 [DAT](INFO): DAT read: 22:33:03.4694 LVL= 24864, 27761, 20722, 31347, AGC= 62, IDX= 427, 0.06, 1.006,-0.612, 1.599, 0.991, PHS= 0.117,-1.558, 0.565, RAW= 161.5, 9.1, CAL= 161.3, 9.6, ROT= 348.7, -9.6
2025-08-23T22:33:04.958Z,1755988384.958 [DAT](INFO): got valid direction response:
22:33:03.4694 LVL= 24864, 27761, 20722, 31347, AGC= 62, IDX= 427, 0.06, 1.006,-0.612, 1.599, 0.991, PHS= 0.117,-1.558, 0.565, RAW= 161.5, 9.1, CAL= 161.3, 9.6, ROT= 348.7, -9.6
2025-08-23T22:33:04.960Z,1755988384.960 [DAT](INFO): DAT read: Bearing 311.1, -13.7 (Local)
2025-08-23T22:33:04.960Z,1755988384.960 [DAT](INFO): Local bearing/azimuth received:
Bearing 311.1, -13.7 (Local)
2025-08-23T22:33:04.962Z,1755988384.962 [DAT](INFO): DAT read: Range 11 to 50 : 52.6 m (Round-trip 70.2 ms) speed 0.4 m/s
2025-08-23T22:33:04.963Z,1755988384.963 [DAT](INFO): DAT read: user:1859>
2025-08-23T22:33:04.964Z,1755988384.964 [DAT](INFO): DAT read: Tx time:22:33:04.5951
2025-08-23T22:33:04.965Z,1755988384.965 [DAT](INFO): Ping request sent.
2025-08-23T22:33:04.965Z,1755988384.965 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:04.966Z,1755988384.966 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:33:04.968Z,1755988384.968 [DAT](INFO): direction in FSK: [0.966882,-0.193202,0.166769]
2025-08-23T22:33:04.968Z,1755988384.968 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:04.968Z,1755988384.968 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:04.992Z,1755988384.992 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:04.992Z,1755988384.992 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:05.376Z,1755988385.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.599998 m,
deltaT: 3.779972 s,
deltaX: -1.600002 m,
approachRate: -0.423284 m/s,
rangeRepo size: 4
2025-08-23T22:33:05.378Z,1755988385.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.276184 m,
bearing: 127.427523 deg,
lat: 36.779434 deg,
lon: -121.859523 deg,
deltaT: 3.779972 s,
deltaX: -1.589993 m,
approachRate: -0.420636 m/s,
posRepo size: 4
2025-08-23T22:33:05.379Z,1755988385.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.28 m.
2025-08-23T22:33:05.382Z,1755988385.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.276184 m,
nav range: 51.785664 m,
bearing: 126.528733 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.076713 deg/s,
cmd heading: 136.060059 deg,
new cmd heading: 135.990649 deg.
2025-08-23T22:33:05.383Z,1755988385.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373485 target range: 52.276184 and range: 52.60 m.
2025-08-23T22:33:05.792Z,1755988385.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.28 m.
2025-08-23T22:33:05.799Z,1755988385.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.276184 m,
nav range: 51.605907 m,
bearing: 126.494716 deg,
approach rate: -0.430779 m/s,
LOS rate: -0.081804 deg/s,
cmd heading: 135.990651 deg,
new cmd heading: 135.922380 deg.
2025-08-23T22:33:05.800Z,1755988385.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.372293 target range: 52.276184 and range: 52.60 m.
2025-08-23T22:33:06.167Z,1755988386.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:06.169Z,1755988386.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.28 m.
2025-08-23T22:33:06.172Z,1755988386.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.276184 m,
nav range: 51.428890 m,
bearing: 126.460921 deg,
approach rate: -0.469629 m/s,
LOS rate: -0.089968 deg/s,
cmd heading: 135.922376 deg,
new cmd heading: 135.854553 deg.
2025-08-23T22:33:06.173Z,1755988386.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.371109 target range: 52.276184 and range: 52.60 m.
2025-08-23T22:33:06.211Z,1755988386.211 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:33:06.211Z,1755988386.211 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:33:06.211Z,1755988386.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:33:06.463Z,1755988386.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497507
2025-08-23T22:33:06.552Z,1755988386.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.28 m.
2025-08-23T22:33:06.555Z,1755988386.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.276184 m,
nav range: 51.256733 m,
bearing: 126.427717 deg,
approach rate: -0.450296 m/s,
LOS rate: -0.087141 deg/s,
cmd heading: 135.854553 deg,
new cmd heading: 135.787922 deg.
2025-08-23T22:33:06.556Z,1755988386.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.369946 target range: 52.276184 and range: 52.60 m.
2025-08-23T22:33:06.717Z,1755988386.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751733
2025-08-23T22:33:06.957Z,1755988386.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.28 m.
2025-08-23T22:33:06.960Z,1755988386.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.276184 m,
nav range: 51.084068 m,
bearing: 126.393898 deg,
approach rate: -0.426221 m/s,
LOS rate: -0.083765 deg/s,
cmd heading: 135.787917 deg,
new cmd heading: 135.720050 deg.
2025-08-23T22:33:06.961Z,1755988386.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.368762 target range: 52.276184 and range: 52.60 m.
2025-08-23T22:33:06.967Z,1755988386.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001511
2025-08-23T22:33:07.218Z,1755988387.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253399
2025-08-23T22:33:07.343Z,1755988387.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.28 m.
2025-08-23T22:33:07.346Z,1755988387.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.276184 m,
nav range: 50.919407 m,
bearing: 126.361400 deg,
approach rate: -0.426327 m/s,
LOS rate: -0.084413 deg/s,
cmd heading: 135.720053 deg,
new cmd heading: 135.654846 deg.
2025-08-23T22:33:07.347Z,1755988387.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.367624 target range: 52.276184 and range: 52.60 m.
2025-08-23T22:33:07.471Z,1755988387.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505461
2025-08-23T22:33:07.726Z,1755988387.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759935
2025-08-23T22:33:07.804Z,1755988387.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.28 m.
2025-08-23T22:33:07.823Z,1755988387.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.276184 m,
nav range: 50.714539 m,
bearing: 126.321774 deg,
approach rate: -0.444425 m/s,
LOS rate: -0.086308 deg/s,
cmd heading: 135.654852 deg,
new cmd heading: 135.575280 deg.
2025-08-23T22:33:07.824Z,1755988387.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.366235 target range: 52.276184 and range: 52.60 m.
2025-08-23T22:33:07.975Z,1755988387.975 [DAT](INFO): DAT read: Rx Time:22:33:07.0672
2025-08-23T22:33:07.975Z,1755988387.975 [DAT](INFO): Rx dataTimestamp_ set to:1755988387.974697
2025-08-23T22:33:07.976Z,1755988387.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010465
2025-08-23T22:33:08.216Z,1755988388.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:08.218Z,1755988388.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.28 m.
2025-08-23T22:33:08.221Z,1755988388.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.276184 m,
nav range: 50.532051 m,
bearing: 126.286203 deg,
approach rate: -0.440577 m/s,
LOS rate: -0.086190 deg/s,
cmd heading: 135.575280 deg,
new cmd heading: 135.503880 deg.
2025-08-23T22:33:08.222Z,1755988388.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.364989 target range: 52.276184 and range: 52.60 m.
2025-08-23T22:33:08.227Z,1755988388.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261595
2025-08-23T22:33:08.486Z,1755988388.486 [DAT](INFO): DAT read: 22:33:07.0672 LVL= 28016, 32753, 22098, 29427, AGC= 64, IDX= 421, 0.04, 0.475,-1.154, 1.031, 0.444, PHS= 0.132,-1.554, 0.543, RAW= 160.6, 9.2, CAL= 160.4, 9.7, ROT= 349.6, -9.7
2025-08-23T22:33:08.487Z,1755988388.487 [DAT](INFO): got valid direction response:
22:33:07.0672 LVL= 28016, 32753, 22098, 29427, AGC= 64, IDX= 421, 0.04, 0.475,-1.154, 1.031, 0.444, PHS= 0.132,-1.554, 0.543, RAW= 160.6, 9.2, CAL= 160.4, 9.7, ROT= 349.6, -9.7
2025-08-23T22:33:08.488Z,1755988388.488 [DAT](INFO): DAT read: Bearing 311.5, -12.3 (Local)
2025-08-23T22:33:08.488Z,1755988388.488 [DAT](INFO): Local bearing/azimuth received:
Bearing 311.5, -12.3 (Local)
2025-08-23T22:33:08.491Z,1755988388.491 [DAT](INFO): DAT read: Range 11 to 50 : 51.0 m (Round-trip 68.0 ms) speed 0.4 m/s
2025-08-23T22:33:08.491Z,1755988388.491 [DAT](INFO): DAT read: user:1860>
2025-08-23T22:33:08.492Z,1755988388.492 [DAT](INFO): DAT read: Tx time:22:33:08.1951
2025-08-23T22:33:08.492Z,1755988388.492 [DAT](INFO): Ping request sent.
2025-08-23T22:33:08.492Z,1755988388.492 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:08.493Z,1755988388.493 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:33:08.494Z,1755988388.494 [DAT](INFO): direction in FSK: [0.969510,-0.177938,0.168489]
2025-08-23T22:33:08.494Z,1755988388.494 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:08.494Z,1755988388.494 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:08.498Z,1755988388.498 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:08.498Z,1755988388.498 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:08.658Z,1755988388.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.000000 m,
deltaT: 3.528493 s,
deltaX: -1.599998 m,
approachRate: -0.453451 m/s,
rangeRepo size: 4
2025-08-23T22:33:08.660Z,1755988388.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 50.686077 m,
bearing: 128.404250 deg,
lat: 36.779434 deg,
lon: -121.859523 deg,
deltaT: 3.528493 s,
deltaX: -1.590107 m,
approachRate: -0.450648 m/s,
posRepo size: 4
2025-08-23T22:33:08.661Z,1755988388.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.69 m.
2025-08-23T22:33:08.668Z,1755988388.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.686077 m,
nav range: 50.352631 m,
bearing: 126.251141 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.086190 deg/s,
cmd heading: 135.503877 deg,
new cmd heading: 135.429007 deg.
2025-08-23T22:33:08.668Z,1755988388.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.363682 target range: 50.686077 and range: 51.00 m.
2025-08-23T22:33:09.047Z,1755988389.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.69 m.
2025-08-23T22:33:09.051Z,1755988389.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.686077 m,
nav range: 50.163273 m,
bearing: 126.212451 deg,
approach rate: -0.479487 m/s,
LOS rate: -0.098341 deg/s,
cmd heading: 135.429005 deg,
new cmd heading: 135.351332 deg.
2025-08-23T22:33:09.052Z,1755988389.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.362326 target range: 50.686077 and range: 51.00 m.
2025-08-23T22:33:09.435Z,1755988389.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.69 m.
2025-08-23T22:33:09.438Z,1755988389.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.686077 m,
nav range: 49.995930 m,
bearing: 126.178142 deg,
approach rate: -0.432018 m/s,
LOS rate: -0.088869 deg/s,
cmd heading: 135.351332 deg,
new cmd heading: 135.282484 deg.
2025-08-23T22:33:09.439Z,1755988389.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.361125 target range: 50.686077 and range: 51.00 m.
2025-08-23T22:33:09.861Z,1755988389.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.69 m.
2025-08-23T22:33:09.864Z,1755988389.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.686077 m,
nav range: 49.812637 m,
bearing: 126.142244 deg,
approach rate: -0.433856 m/s,
LOS rate: -0.085285 deg/s,
cmd heading: 135.282483 deg,
new cmd heading: 135.210422 deg.
2025-08-23T22:33:09.865Z,1755988389.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.359867 target range: 50.686077 and range: 51.00 m.
2025-08-23T22:33:10.254Z,1755988390.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:10.256Z,1755988390.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.69 m.
2025-08-23T22:33:10.259Z,1755988390.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.686077 m,
nav range: 49.632088 m,
bearing: 126.106618 deg,
approach rate: -0.452544 m/s,
LOS rate: -0.089619 deg/s,
cmd heading: 135.210425 deg,
new cmd heading: 135.138915 deg.
2025-08-23T22:33:10.260Z,1755988390.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.358619 target range: 50.686077 and range: 51.00 m.
2025-08-23T22:33:10.494Z,1755988390.494 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:33:10.494Z,1755988390.494 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:33:10.495Z,1755988390.495 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:33:10.658Z,1755988390.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.69 m.
2025-08-23T22:33:10.661Z,1755988390.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.686077 m,
nav range: 49.458576 m,
bearing: 126.072491 deg,
approach rate: -0.432252 m/s,
LOS rate: -0.085316 deg/s,
cmd heading: 135.138913 deg,
new cmd heading: 135.070419 deg.
2025-08-23T22:33:10.664Z,1755988390.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.357424 target range: 50.686077 and range: 51.00 m.
2025-08-23T22:33:10.747Z,1755988390.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254753
2025-08-23T22:33:10.999Z,1755988390.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506136
2025-08-23T22:33:11.077Z,1755988391.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.69 m.
2025-08-23T22:33:11.080Z,1755988391.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.686077 m,
nav range: 49.270611 m,
bearing: 126.034560 deg,
approach rate: -0.447927 m/s,
LOS rate: -0.090735 deg/s,
cmd heading: 135.070420 deg,
new cmd heading: 134.994269 deg.
2025-08-23T22:33:11.081Z,1755988391.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.356094 target range: 50.686077 and range: 51.00 m.
2025-08-23T22:33:11.251Z,1755988391.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758083
2025-08-23T22:33:11.456Z,1755988391.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.69 m.
2025-08-23T22:33:11.459Z,1755988391.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.686077 m,
nav range: 49.109570 m,
bearing: 126.002077 deg,
approach rate: -0.426477 m/s,
LOS rate: -0.086306 deg/s,
cmd heading: 134.994263 deg,
new cmd heading: 134.929083 deg.
2025-08-23T22:33:11.460Z,1755988391.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.354957 target range: 50.686077 and range: 51.00 m.
2025-08-23T22:33:11.503Z,1755988391.503 [DAT](INFO): DAT read: Rx Time:22:33:10.6650
2025-08-23T22:33:11.504Z,1755988391.504 [DAT](INFO): Rx dataTimestamp_ set to:1755988391.503438
2025-08-23T22:33:11.505Z,1755988391.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012168
2025-08-23T22:33:11.758Z,1755988391.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264948
2025-08-23T22:33:11.920Z,1755988391.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.69 m.
2025-08-23T22:33:11.928Z,1755988391.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.686077 m,
nav range: 48.922703 m,
bearing: 125.966679 deg,
approach rate: -0.407209 m/s,
LOS rate: -0.077432 deg/s,
cmd heading: 134.929089 deg,
new cmd heading: 134.858023 deg.
2025-08-23T22:33:11.934Z,1755988391.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.353717 target range: 50.686077 and range: 51.00 m.
2025-08-23T22:33:12.014Z,1755988392.014 [DAT](INFO): DAT read: 22:33:10.6650 LVL= 26000, 30289, 22162, 32755, AGC= 62, IDX= 414, 0.03, 3.009, 1.412,-2.738, 2.968, PHS= 0.143,-1.511, 0.534, RAW= 160.4, 8.9, CAL= 160.1, 9.4, ROT= 349.9, -9.4
2025-08-23T22:33:12.015Z,1755988392.015 [DAT](INFO): got valid direction response:
22:33:10.6650 LVL= 26000, 30289, 22162, 32755, AGC= 62, IDX= 414, 0.03, 3.009, 1.412,-2.738, 2.968, PHS= 0.143,-1.511, 0.534, RAW= 160.4, 8.9, CAL= 160.1, 9.4, ROT= 349.9, -9.4
2025-08-23T22:33:12.016Z,1755988392.016 [DAT](INFO): DAT read: Bearing 310.9, -11.7 (Local)
2025-08-23T22:33:12.016Z,1755988392.016 [DAT](INFO): Local bearing/azimuth received:
Bearing 310.9, -11.7 (Local)
2025-08-23T22:33:12.018Z,1755988392.018 [DAT](INFO): DAT read: Range 11 to 50 : 49.3 m (Round-trip 65.8 ms) speed 0.4 m/s
2025-08-23T22:33:12.019Z,1755988392.019 [DAT](INFO): DAT read: user:1861>
2025-08-23T22:33:12.019Z,1755988392.019 [DAT](INFO): DAT read: Tx time:22:33:11.7951
2025-08-23T22:33:12.020Z,1755988392.020 [DAT](INFO): Ping request sent.
2025-08-23T22:33:12.020Z,1755988392.020 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:12.020Z,1755988392.020 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:33:12.021Z,1755988392.021 [DAT](INFO): direction in FSK: [0.971283,-0.173012,0.163326]
2025-08-23T22:33:12.025Z,1755988392.025 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:12.026Z,1755988392.026 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:12.034Z,1755988392.034 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:12.034Z,1755988392.034 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:12.307Z,1755988392.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.299999 m,
deltaT: 3.528327 s,
deltaX: -1.700001 m,
approachRate: -0.481815 m/s,
rangeRepo size: 4
2025-08-23T22:33:12.309Z,1755988392.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.996555 m,
bearing: 128.311113 deg,
lat: 36.779427 deg,
lon: -121.859527 deg,
deltaT: 3.528327 s,
deltaX: -1.689522 m,
approachRate: -0.478845 m/s,
posRepo size: 4
2025-08-23T22:33:12.309Z,1755988392.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m.
2025-08-23T22:33:12.316Z,1755988392.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.996555 m,
nav range: 48.912582 m,
bearing: 126.888933 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.077432 deg/s,
cmd heading: 134.858028 deg,
new cmd heading: 134.797944 deg.
2025-08-23T22:33:12.317Z,1755988392.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.352668 target range: 48.996555 and range: 49.30 m.
2025-08-23T22:33:12.693Z,1755988392.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:12.696Z,1755988392.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m.
2025-08-23T22:33:12.699Z,1755988392.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.996555 m,
nav range: 48.735096 m,
bearing: 126.858777 deg,
approach rate: -0.450274 m/s,
LOS rate: -0.076785 deg/s,
cmd heading: 134.797950 deg,
new cmd heading: 134.737417 deg.
2025-08-23T22:33:12.700Z,1755988392.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.351612 target range: 48.996555 and range: 49.30 m.
2025-08-23T22:33:12.763Z,1755988392.763 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:33:12.763Z,1755988392.763 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:33:12.763Z,1755988392.763 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:33:13.014Z,1755988393.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994698
2025-08-23T22:33:13.239Z,1755988393.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m.
2025-08-23T22:33:13.247Z,1755988393.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.996555 m,
nav range: 48.505913 m,
bearing: 126.819078 deg,
approach rate: -0.422363 m/s,
LOS rate: -0.073507 deg/s,
cmd heading: 134.737421 deg,
new cmd heading: 134.657647 deg.
2025-08-23T22:33:13.248Z,1755988393.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.350219 target range: 48.996555 and range: 49.30 m.
2025-08-23T22:33:13.267Z,1755988393.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246820
2025-08-23T22:33:13.522Z,1755988393.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502456
2025-08-23T22:33:13.621Z,1755988393.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m.
2025-08-23T22:33:13.634Z,1755988393.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.996555 m,
nav range: 48.348106 m,
bearing: 126.792063 deg,
approach rate: -0.412565 m/s,
LOS rate: -0.070857 deg/s,
cmd heading: 134.657644 deg,
new cmd heading: 134.603438 deg.
2025-08-23T22:33:13.636Z,1755988393.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.349273 target range: 48.996555 and range: 49.30 m.
2025-08-23T22:33:13.771Z,1755988393.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750769
2025-08-23T22:33:13.870Z,1755988393.870 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:33:14.023Z,1755988394.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002922
2025-08-23T22:33:14.054Z,1755988394.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m.
2025-08-23T22:33:14.056Z,1755988394.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.996555 m,
nav range: 48.157246 m,
bearing: 126.759300 deg,
approach rate: -0.462664 m/s,
LOS rate: -0.079734 deg/s,
cmd heading: 134.603440 deg,
new cmd heading: 134.537655 deg.
2025-08-23T22:33:14.062Z,1755988394.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.348125 target range: 48.996555 and range: 49.30 m.
2025-08-23T22:33:14.275Z,1755988394.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255071
2025-08-23T22:33:14.411Z,1755988394.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m.
2025-08-23T22:33:14.414Z,1755988394.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.996555 m,
nav range: 47.989792 m,
bearing: 126.730603 deg,
approach rate: -0.443576 m/s,
LOS rate: -0.076282 deg/s,
cmd heading: 134.537651 deg,
new cmd heading: 134.480057 deg.
2025-08-23T22:33:14.415Z,1755988394.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.347120 target range: 48.996555 and range: 49.30 m.
2025-08-23T22:33:14.527Z,1755988394.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506762
2025-08-23T22:33:14.779Z,1755988394.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758824
2025-08-23T22:33:14.855Z,1755988394.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:14.872Z,1755988394.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m.
2025-08-23T22:33:14.875Z,1755988394.875 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:33:14.880Z,1755988394.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.996555 m,
nav range: 47.813545 m,
bearing: 126.700453 deg,
approach rate: -0.383539 m/s,
LOS rate: -0.065854 deg/s,
cmd heading: 134.480059 deg,
new cmd heading: 134.419536 deg.
2025-08-23T22:33:14.881Z,1755988394.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.346063 target range: 48.996555 and range: 49.30 m.
2025-08-23T22:33:15.031Z,1755988395.031 [DAT](INFO): DAT read: Rx Time:22:33:14.2627
2025-08-23T22:33:15.031Z,1755988395.031 [DAT](INFO): Rx dataTimestamp_ set to:1755988395.030706
2025-08-23T22:33:15.032Z,1755988395.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011769
2025-08-23T22:33:15.252Z,1755988395.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m.
2025-08-23T22:33:15.255Z,1755988395.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.996555 m,
nav range: 47.620968 m,
bearing: 126.669027 deg,
approach rate: -0.505065 m/s,
LOS rate: -0.082751 deg/s,
cmd heading: 134.419530 deg,
new cmd heading: 134.356425 deg.
2025-08-23T22:33:15.256Z,1755988395.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.344962 target range: 48.996555 and range: 49.30 m.
2025-08-23T22:33:15.283Z,1755988395.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262793
2025-08-23T22:33:15.540Z,1755988395.540 [DAT](INFO): DAT read: 22:33:14.2627 LVL= 26336, 30465, 22898, 32755, AGC= 62, IDX= 424, 0.18, 2.172, 0.556, 2.688, 2.101, PHS= 0.174,-1.500, 0.544, RAW= 159.8, 8.4, CAL= 159.4, 8.6, ROT= 350.6, -8.6
2025-08-23T22:33:15.541Z,1755988395.541 [DAT](INFO): got valid direction response:
22:33:14.2627 LVL= 26336, 30465, 22898, 32755, AGC= 62, IDX= 424, 0.18, 2.172, 0.556, 2.688, 2.101, PHS= 0.174,-1.500, 0.544, RAW= 159.8, 8.4, CAL= 159.4, 8.6, ROT= 350.6, -8.6
2025-08-23T22:33:15.542Z,1755988395.542 [DAT](INFO): DAT read: Bearing 309.7, -10.6 (Local)
2025-08-23T22:33:15.542Z,1755988395.542 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.7, -10.6 (Local)
2025-08-23T22:33:15.546Z,1755988395.546 [DAT](INFO): DAT read: Range 11 to 50 : 47.7 m (Round-trip 63.6 ms) speed 0.4 m/s
2025-08-23T22:33:15.548Z,1755988395.548 [DAT](INFO): DAT read: user:1862>
2025-08-23T22:33:15.548Z,1755988395.548 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:33:15.549Z,1755988395.549 [DAT](INFO): direction in FSK: [0.975480,-0.161490,0.149535]
2025-08-23T22:33:15.550Z,1755988395.550 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:15.553Z,1755988395.553 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:33:15.553Z,1755988395.553 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:33:15.553Z,1755988395.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:33:15.699Z,1755988395.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.700001 m,
deltaT: 3.527220 s,
deltaX: -1.599998 m,
approachRate: -0.453615 m/s,
rangeRepo size: 4
2025-08-23T22:33:15.706Z,1755988395.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.406418 m,
bearing: 128.435416 deg,
lat: 36.779420 deg,
lon: -121.859536 deg,
deltaT: 3.527220 s,
deltaX: -1.590137 m,
approachRate: -0.450819 m/s,
posRepo size: 4
2025-08-23T22:33:15.706Z,1755988395.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.41 m.
2025-08-23T22:33:15.709Z,1755988395.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.406418 m,
nav range: 47.225193 m,
bearing: 127.945779 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.082751 deg/s,
cmd heading: 134.356419 deg,
new cmd heading: 134.282453 deg.
2025-08-23T22:33:15.715Z,1755988395.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343671 target range: 47.406418 and range: 47.70 m.
2025-08-23T22:33:15.788Z,1755988395.788 [DAT](INFO): DAT read: Tx time:22:33:15.3950
2025-08-23T22:33:15.788Z,1755988395.788 [DAT](INFO): Ping request sent.
2025-08-23T22:33:15.788Z,1755988395.788 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:15.788Z,1755988395.788 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:15.789Z,1755988395.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001104
2025-08-23T22:33:16.039Z,1755988396.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250469
2025-08-23T22:33:16.095Z,1755988396.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.41 m.
2025-08-23T22:33:16.115Z,1755988396.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.406418 m,
nav range: 47.033245 m,
bearing: 127.922215 deg,
approach rate: -0.484454 m/s,
LOS rate: -0.059715 deg/s,
cmd heading: 134.282448 deg,
new cmd heading: 134.235128 deg.
2025-08-23T22:33:16.116Z,1755988396.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342845 target range: 47.406418 and range: 47.70 m.
2025-08-23T22:33:16.294Z,1755988396.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505790
2025-08-23T22:33:16.473Z,1755988396.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.41 m.
2025-08-23T22:33:16.476Z,1755988396.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.406418 m,
nav range: 46.866169 m,
bearing: 127.901734 deg,
approach rate: -0.441769 m/s,
LOS rate: -0.054348 deg/s,
cmd heading: 134.235128 deg,
new cmd heading: 134.194020 deg.
2025-08-23T22:33:16.477Z,1755988396.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342128 target range: 47.406418 and range: 47.70 m.
2025-08-23T22:33:16.545Z,1755988396.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756432
2025-08-23T22:33:16.798Z,1755988396.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010370
2025-08-23T22:33:16.937Z,1755988396.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:16.959Z,1755988396.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.41 m.
2025-08-23T22:33:16.966Z,1755988396.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.406418 m,
nav range: 46.646740 m,
bearing: 127.873112 deg,
approach rate: -0.451424 m/s,
LOS rate: -0.059160 deg/s,
cmd heading: 134.194024 deg,
new cmd heading: 134.136511 deg.
2025-08-23T22:33:16.967Z,1755988396.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341124 target range: 47.406418 and range: 47.70 m.
2025-08-23T22:33:17.051Z,1755988397.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262851
2025-08-23T22:33:17.303Z,1755988397.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514435
2025-08-23T22:33:17.335Z,1755988397.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.41 m.
2025-08-23T22:33:17.338Z,1755988397.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.406418 m,
nav range: 46.460247 m,
bearing: 127.848572 deg,
approach rate: -0.496401 m/s,
LOS rate: -0.065583 deg/s,
cmd heading: 134.136514 deg,
new cmd heading: 134.087237 deg.
2025-08-23T22:33:17.339Z,1755988397.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340264 target range: 47.406418 and range: 47.70 m.
2025-08-23T22:33:17.555Z,1755988397.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766860
2025-08-23T22:33:17.717Z,1755988397.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.41 m.
2025-08-23T22:33:17.720Z,1755988397.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.406418 m,
nav range: 46.280769 m,
bearing: 127.825306 deg,
approach rate: -0.469757 m/s,
LOS rate: -0.061133 deg/s,
cmd heading: 134.087241 deg,
new cmd heading: 134.040528 deg.
2025-08-23T22:33:17.721Z,1755988397.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.339448 target range: 47.406418 and range: 47.70 m.
2025-08-23T22:33:17.807Z,1755988397.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018808
2025-08-23T22:33:18.059Z,1755988398.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270459
2025-08-23T22:33:18.160Z,1755988398.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.41 m.
2025-08-23T22:33:18.162Z,1755988398.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.406418 m,
nav range: 46.084373 m,
bearing: 127.800360 deg,
approach rate: -0.445776 m/s,
LOS rate: -0.056863 deg/s,
cmd heading: 134.040523 deg,
new cmd heading: 133.990418 deg.
2025-08-23T22:33:18.163Z,1755988398.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.338574 target range: 47.406418 and range: 47.70 m.
2025-08-23T22:33:18.311Z,1755988398.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522408
2025-08-23T22:33:18.563Z,1755988398.563 [DAT](INFO): DAT read: Rx Time:22:33:17.8607
2025-08-23T22:33:18.563Z,1755988398.563 [DAT](INFO): Rx dataTimestamp_ set to:1755988398.562717
2025-08-23T22:33:18.564Z,1755988398.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775475
2025-08-23T22:33:18.628Z,1755988398.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.41 m.
2025-08-23T22:33:18.635Z,1755988398.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.406418 m,
nav range: 45.891304 m,
bearing: 127.775869 deg,
approach rate: -0.410964 m/s,
LOS rate: -0.052350 deg/s,
cmd heading: 133.990416 deg,
new cmd heading: 133.941229 deg.
2025-08-23T22:33:18.636Z,1755988398.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.337715 target range: 47.406418 and range: 47.70 m.
2025-08-23T22:33:18.815Z,1755988398.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026434
2025-08-23T22:33:19.042Z,1755988399.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:19.044Z,1755988399.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.41 m.
2025-08-23T22:33:19.051Z,1755988399.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.406418 m,
nav range: 45.695206 m,
bearing: 127.752921 deg,
approach rate: -0.471127 m/s,
LOS rate: -0.055369 deg/s,
cmd heading: 133.941225 deg,
new cmd heading: 133.895133 deg.
2025-08-23T22:33:19.052Z,1755988399.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336911 target range: 47.406418 and range: 47.70 m.
2025-08-23T22:33:19.070Z,1755988399.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280748
2025-08-23T22:33:19.325Z,1755988399.325 [DAT](INFO): DAT read: 22:33:17.8607 LVL= 25328, 28449, 22002, 32755, AGC= 62, IDX= 419, 0.17, 2.516, 0.858, 3.015, 2.421, PHS= 0.197,-1.517, 0.551, RAW= 159.2, 8.1, CAL= 158.8, 8.3, ROT= 351.2, -8.3
2025-08-23T22:33:19.326Z,1755988399.326 [DAT](INFO): got valid direction response:
22:33:17.8607 LVL= 25328, 28449, 22002, 32755, AGC= 62, IDX= 419, 0.17, 2.516, 0.858, 3.015, 2.421, PHS= 0.197,-1.517, 0.551, RAW= 159.2, 8.1, CAL= 158.8, 8.3, ROT= 351.2, -8.3
2025-08-23T22:33:19.327Z,1755988399.327 [DAT](INFO): DAT read: Bearing 308.9, -9.8 (Local)
2025-08-23T22:33:19.328Z,1755988399.328 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.9, -9.8 (Local)
2025-08-23T22:33:19.329Z,1755988399.329 [DAT](INFO): DAT read: Range 11 to 50 : 46.2 m (Round-trip 61.6 ms) speed 0.4 m/s
2025-08-23T22:33:19.343Z,1755988399.343 [DAT](INFO): DAT read: user:1863>
2025-08-23T22:33:19.344Z,1755988399.344 [DAT](INFO): DAT read: Tx time:22:33:18.9450
2025-08-23T22:33:19.345Z,1755988399.345 [DAT](INFO): Ping request sent.
2025-08-23T22:33:19.345Z,1755988399.345 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:19.345Z,1755988399.345 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:33:19.347Z,1755988399.347 [DAT](INFO): direction in FSK: [0.977878,-0.151383,0.144356]
2025-08-23T22:33:19.347Z,1755988399.347 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:19.348Z,1755988399.348 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:19.402Z,1755988399.402 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:19.403Z,1755988399.403 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:19.558Z,1755988399.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.200001 m,
deltaT: 3.784472 s,
deltaX: -1.500000 m,
approachRate: -0.396356 m/s,
rangeRepo size: 4
2025-08-23T22:33:19.560Z,1755988399.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.915569 m,
bearing: 128.418546 deg,
lat: 36.779420 deg,
lon: -121.859538 deg,
deltaT: 3.784472 s,
deltaX: -1.490849 m,
approachRate: -0.393938 m/s,
posRepo size: 4
2025-08-23T22:33:19.560Z,1755988399.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.92 m.
2025-08-23T22:33:19.567Z,1755988399.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.915569 m,
nav range: 45.405167 m,
bearing: 127.892850 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.055369 deg/s,
cmd heading: 133.895135 deg,
new cmd heading: 133.839200 deg.
2025-08-23T22:33:19.568Z,1755988399.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335935 target range: 45.915569 and range: 46.20 m.
2025-08-23T22:33:19.971Z,1755988399.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.92 m.
2025-08-23T22:33:19.974Z,1755988399.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.915569 m,
nav range: 45.207645 m,
bearing: 127.870206 deg,
approach rate: -0.468089 m/s,
LOS rate: -0.053896 deg/s,
cmd heading: 133.839196 deg,
new cmd heading: 133.793711 deg.
2025-08-23T22:33:19.975Z,1755988399.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335141 target range: 45.915569 and range: 46.20 m.
2025-08-23T22:33:20.308Z,1755988400.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.92 m.
2025-08-23T22:33:20.311Z,1755988400.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.915569 m,
nav range: 45.059433 m,
bearing: 127.853382 deg,
approach rate: -0.439027 m/s,
LOS rate: -0.050000 deg/s,
cmd heading: 133.793707 deg,
new cmd heading: 133.759948 deg.
2025-08-23T22:33:20.312Z,1755988400.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334552 target range: 45.915569 and range: 46.20 m.
2025-08-23T22:33:20.729Z,1755988400.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.92 m.
2025-08-23T22:33:20.732Z,1755988400.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.915569 m,
nav range: 44.880028 m,
bearing: 127.832868 deg,
approach rate: -0.426767 m/s,
LOS rate: -0.048995 deg/s,
cmd heading: 133.759952 deg,
new cmd heading: 133.718759 deg.
2025-08-23T22:33:20.733Z,1755988400.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333833 target range: 45.915569 and range: 46.20 m.
2025-08-23T22:33:21.156Z,1755988401.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:21.159Z,1755988401.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.92 m.
2025-08-23T22:33:21.162Z,1755988401.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.915569 m,
nav range: 44.681404 m,
bearing: 127.813513 deg,
approach rate: -0.461451 m/s,
LOS rate: -0.045165 deg/s,
cmd heading: 133.718752 deg,
new cmd heading: 133.679872 deg.
2025-08-23T22:33:21.163Z,1755988401.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333154 target range: 45.915569 and range: 46.20 m.
2025-08-23T22:33:21.334Z,1755988401.334 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:33:21.334Z,1755988401.334 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:33:21.335Z,1755988401.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:33:21.511Z,1755988401.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.92 m.
2025-08-23T22:33:21.514Z,1755988401.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.915569 m,
nav range: 44.522129 m,
bearing: 127.798163 deg,
approach rate: -0.452559 m/s,
LOS rate: -0.043771 deg/s,
cmd heading: 133.679875 deg,
new cmd heading: 133.649065 deg.
2025-08-23T22:33:21.515Z,1755988401.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332616 target range: 45.915569 and range: 46.20 m.
2025-08-23T22:33:21.588Z,1755988401.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243093
2025-08-23T22:33:21.838Z,1755988401.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493761
2025-08-23T22:33:21.987Z,1755988401.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.92 m.
2025-08-23T22:33:21.991Z,1755988401.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.915569 m,
nav range: 44.320488 m,
bearing: 127.779296 deg,
approach rate: -0.423534 m/s,
LOS rate: -0.039810 deg/s,
cmd heading: 133.649071 deg,
new cmd heading: 133.611164 deg.
2025-08-23T22:33:21.992Z,1755988401.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331955 target range: 45.915569 and range: 46.20 m.
2025-08-23T22:33:22.092Z,1755988402.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746942
2025-08-23T22:33:22.343Z,1755988402.343 [DAT](INFO): DAT read: Rx Time:22:33:21.4086
2025-08-23T22:33:22.343Z,1755988402.343 [DAT](INFO): Rx dataTimestamp_ set to:1755988402.342803
2025-08-23T22:33:22.344Z,1755988402.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998910
2025-08-23T22:33:22.357Z,1755988402.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.92 m.
2025-08-23T22:33:22.360Z,1755988402.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.915569 m,
nav range: 44.142921 m,
bearing: 127.762284 deg,
approach rate: -0.480584 m/s,
LOS rate: -0.046228 deg/s,
cmd heading: 133.611163 deg,
new cmd heading: 133.577003 deg.
2025-08-23T22:33:22.360Z,1755988402.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331358 target range: 45.915569 and range: 46.20 m.
2025-08-23T22:33:22.597Z,1755988402.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252442
2025-08-23T22:33:22.749Z,1755988402.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.92 m.
2025-08-23T22:33:22.757Z,1755988402.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.915569 m,
nav range: 43.978783 m,
bearing: 127.746970 deg,
approach rate: -0.418682 m/s,
LOS rate: -0.039208 deg/s,
cmd heading: 133.576999 deg,
new cmd heading: 133.546256 deg.
2025-08-23T22:33:22.767Z,1755988402.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330822 target range: 45.915569 and range: 46.20 m.
2025-08-23T22:33:22.852Z,1755988402.852 [DAT](INFO): DAT read: 22:33:21.4086 LVL= 26064, 30577, 23026, 32755, AGC= 62, IDX= 414,-0.32,-1.027,-2.652,-0.542,-1.119, PHS= 0.194,-1.488, 0.533, RAW= 159.0, 8.2, CAL= 158.6, 8.4, ROT= 351.4, -8.4
2025-08-23T22:33:22.853Z,1755988402.853 [DAT](INFO): got valid direction response:
22:33:21.4086 LVL= 26064, 30577, 23026, 32755, AGC= 62, IDX= 414,-0.32,-1.027,-2.652,-0.542,-1.119, PHS= 0.194,-1.488, 0.533, RAW= 159.0, 8.2, CAL= 158.6, 8.4, ROT= 351.4, -8.4
2025-08-23T22:33:22.872Z,1755988402.872 [DAT](INFO): DAT read: Bearing 308.2, -9.4 (Local)
2025-08-23T22:33:22.875Z,1755988402.875 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.2, -9.4 (Local)
2025-08-23T22:33:22.881Z,1755988402.881 [DAT](INFO): DAT read: Range 11 to 50 : 44.6 m (Round-trip 59.5 ms) speed 0.4 m/s
2025-08-23T22:33:22.882Z,1755988402.882 [DAT](INFO): DAT read: user:1864>
2025-08-23T22:33:22.882Z,1755988402.882 [DAT](INFO): DAT read: Tx time:22:33:22.4950
2025-08-23T22:33:22.883Z,1755988402.883 [DAT](INFO): Ping request sent.
2025-08-23T22:33:22.883Z,1755988402.883 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:22.883Z,1755988402.883 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:33:22.884Z,1755988402.884 [DAT](INFO): direction in FSK: [0.978149,-0.147931,0.146083]
2025-08-23T22:33:22.884Z,1755988402.884 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:22.884Z,1755988402.884 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:22.922Z,1755988402.922 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:22.923Z,1755988402.923 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:23.224Z,1755988403.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.599998 m,
deltaT: 3.527566 s,
deltaX: -1.600002 m,
approachRate: -0.453571 m/s,
rangeRepo size: 4
2025-08-23T22:33:23.234Z,1755988403.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.325294 m,
bearing: 127.945974 deg,
lat: 36.779418 deg,
lon: -121.859538 deg,
deltaT: 3.527566 s,
deltaX: -1.590275 m,
approachRate: -0.450814 m/s,
posRepo size: 4
2025-08-23T22:33:23.235Z,1755988403.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.33 m.
2025-08-23T22:33:23.243Z,1755988403.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.325294 m,
nav range: 43.889690 m,
bearing: 127.912660 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.039208 deg/s,
cmd heading: 133.546263 deg,
new cmd heading: 133.509060 deg.
2025-08-23T22:33:23.244Z,1755988403.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330173 target range: 44.325294 and range: 44.60 m.
2025-08-23T22:33:23.594Z,1755988403.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:23.598Z,1755988403.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.33 m.
2025-08-23T22:33:23.604Z,1755988403.604 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:33:23.604Z,1755988403.604 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:33:23.604Z,1755988403.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:33:23.608Z,1755988403.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.325294 m,
nav range: 43.725948 m,
bearing: 127.899019 deg,
approach rate: -0.437046 m/s,
LOS rate: -0.036546 deg/s,
cmd heading: 133.509066 deg,
new cmd heading: 133.481681 deg.
2025-08-23T22:33:23.610Z,1755988403.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329695 target range: 44.325294 and range: 44.60 m.
2025-08-23T22:33:23.856Z,1755988403.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972760
2025-08-23T22:33:24.046Z,1755988404.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.33 m.
2025-08-23T22:33:24.048Z,1755988404.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.325294 m,
nav range: 43.531792 m,
bearing: 127.883750 deg,
approach rate: -0.433810 m/s,
LOS rate: -0.034267 deg/s,
cmd heading: 133.481677 deg,
new cmd heading: 133.451003 deg.
2025-08-23T22:33:24.049Z,1755988404.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329159 target range: 44.325294 and range: 44.60 m.
2025-08-23T22:33:24.108Z,1755988404.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225523
2025-08-23T22:33:24.358Z,1755988404.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475679
2025-08-23T22:33:24.405Z,1755988404.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.33 m.
2025-08-23T22:33:24.407Z,1755988404.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.325294 m,
nav range: 43.378139 m,
bearing: 127.871765 deg,
approach rate: -0.427729 m/s,
LOS rate: -0.033482 deg/s,
cmd heading: 133.451009 deg,
new cmd heading: 133.426954 deg.
2025-08-23T22:33:24.408Z,1755988404.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328740 target range: 44.325294 and range: 44.60 m.
2025-08-23T22:33:24.612Z,1755988404.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728796
2025-08-23T22:33:24.818Z,1755988404.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.33 m.
2025-08-23T22:33:24.820Z,1755988404.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.325294 m,
nav range: 43.208389 m,
bearing: 127.858717 deg,
approach rate: -0.427638 m/s,
LOS rate: -0.032999 deg/s,
cmd heading: 133.426953 deg,
new cmd heading: 133.400755 deg.
2025-08-23T22:33:24.829Z,1755988404.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328282 target range: 44.325294 and range: 44.60 m.
2025-08-23T22:33:24.863Z,1755988404.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980091
2025-08-23T22:33:25.115Z,1755988405.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232622
2025-08-23T22:33:25.250Z,1755988405.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.33 m.
2025-08-23T22:33:25.253Z,1755988405.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.325294 m,
nav range: 43.012936 m,
bearing: 127.840523 deg,
approach rate: -0.435410 m/s,
LOS rate: -0.040716 deg/s,
cmd heading: 133.400753 deg,
new cmd heading: 133.364198 deg.
2025-08-23T22:33:25.254Z,1755988405.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327644 target range: 44.325294 and range: 44.60 m.
2025-08-23T22:33:25.367Z,1755988405.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484130
2025-08-23T22:33:25.619Z,1755988405.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735991
2025-08-23T22:33:25.624Z,1755988405.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:25.626Z,1755988405.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.33 m.
2025-08-23T22:33:25.629Z,1755988405.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.325294 m,
nav range: 42.832516 m,
bearing: 127.823890 deg,
approach rate: -0.479718 m/s,
LOS rate: -0.044412 deg/s,
cmd heading: 133.364197 deg,
new cmd heading: 133.330791 deg.
2025-08-23T22:33:25.630Z,1755988405.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327061 target range: 44.325294 and range: 44.60 m.
2025-08-23T22:33:25.871Z,1755988405.871 [DAT](INFO): DAT read: Rx Time:22:33:24.9565
2025-08-23T22:33:25.872Z,1755988405.872 [DAT](INFO): Rx dataTimestamp_ set to:1755988405.871641
2025-08-23T22:33:25.872Z,1755988405.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989752
2025-08-23T22:33:26.071Z,1755988406.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.33 m.
2025-08-23T22:33:26.074Z,1755988406.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.325294 m,
nav range: 42.632511 m,
bearing: 127.803438 deg,
approach rate: -0.449971 m/s,
LOS rate: -0.046229 deg/s,
cmd heading: 133.330798 deg,
new cmd heading: 133.289702 deg.
2025-08-23T22:33:26.075Z,1755988406.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.326344 target range: 44.325294 and range: 44.60 m.
2025-08-23T22:33:26.125Z,1755988406.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242489
2025-08-23T22:33:26.381Z,1755988406.381 [DAT](INFO): DAT read: 22:33:24.9565 LVL= 28944, 32753, 23826, 32755, AGC= 60, IDX= 424,-0.07,-2.686, 1.952,-2.204,-2.780, PHS= 0.196,-1.506, 0.532, RAW= 158.8, 8.3, CAL= 158.5, 8.6, ROT= 351.5, -8.6
2025-08-23T22:33:26.382Z,1755988406.382 [DAT](INFO): got valid direction response:
22:33:24.9565 LVL= 28944, 32753, 23826, 32755, AGC= 60, IDX= 424,-0.07,-2.686, 1.952,-2.204,-2.780, PHS= 0.196,-1.506, 0.532, RAW= 158.8, 8.3, CAL= 158.5, 8.6, ROT= 351.5, -8.6
2025-08-23T22:33:26.383Z,1755988406.383 [DAT](INFO): DAT read: Bearing 307.9, -9.1 (Local)
2025-08-23T22:33:26.383Z,1755988406.383 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.9, -9.1 (Local)
2025-08-23T22:33:26.385Z,1755988406.385 [DAT](INFO): DAT read: Range 11 to 50 : 43.0 m (Round-trip 57.4 ms) speed 0.4 m/s
2025-08-23T22:33:26.386Z,1755988406.386 [DAT](INFO): DAT read: user:1865>
2025-08-23T22:33:26.386Z,1755988406.386 [DAT](INFO): DAT read: Tx time:22:33:26.0450
2025-08-23T22:33:26.387Z,1755988406.387 [DAT](INFO): Ping request sent.
2025-08-23T22:33:26.387Z,1755988406.387 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:26.387Z,1755988406.387 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:33:26.388Z,1755988406.388 [DAT](INFO): direction in FSK: [0.977896,-0.146147,0.149535]
2025-08-23T22:33:26.388Z,1755988406.388 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:26.388Z,1755988406.388 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:26.404Z,1755988406.404 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:26.404Z,1755988406.404 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:26.510Z,1755988406.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.000000 m,
deltaT: 3.528388 s,
deltaX: -1.599998 m,
approachRate: -0.453464 m/s,
rangeRepo size: 4
2025-08-23T22:33:26.512Z,1755988406.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.734810 m,
bearing: 127.464408 deg,
lat: 36.779418 deg,
lon: -121.859538 deg,
deltaT: 3.528388 s,
deltaX: -1.590485 m,
approachRate: -0.450768 m/s,
posRepo size: 4
2025-08-23T22:33:26.513Z,1755988406.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-08-23T22:33:26.524Z,1755988406.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.734810 m,
nav range: 42.452946 m,
bearing: 127.785148 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.046229 deg/s,
cmd heading: 133.289707 deg,
new cmd heading: 133.250331 deg.
2025-08-23T22:33:26.534Z,1755988406.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325657 target range: 42.734810 and range: 43.00 m.
2025-08-23T22:33:26.844Z,1755988406.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-08-23T22:33:26.847Z,1755988406.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.734810 m,
nav range: 42.285538 m,
bearing: 127.768149 deg,
approach rate: -0.482021 m/s,
LOS rate: -0.049138 deg/s,
cmd heading: 133.250338 deg,
new cmd heading: 133.216206 deg.
2025-08-23T22:33:26.848Z,1755988406.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325061 target range: 42.734810 and range: 43.00 m.
2025-08-23T22:33:27.270Z,1755988407.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-08-23T22:33:27.273Z,1755988407.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.734810 m,
nav range: 42.100883 m,
bearing: 127.750996 deg,
approach rate: -0.433929 m/s,
LOS rate: -0.040485 deg/s,
cmd heading: 133.216201 deg,
new cmd heading: 133.181745 deg.
2025-08-23T22:33:27.274Z,1755988407.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324460 target range: 42.734810 and range: 43.00 m.
2025-08-23T22:33:27.717Z,1755988407.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:27.719Z,1755988407.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-08-23T22:33:27.723Z,1755988407.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.734810 m,
nav range: 41.902554 m,
bearing: 127.732613 deg,
approach rate: -0.441377 m/s,
LOS rate: -0.041105 deg/s,
cmd heading: 133.181749 deg,
new cmd heading: 133.144809 deg.
2025-08-23T22:33:27.724Z,1755988407.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323815 target range: 42.734810 and range: 43.00 m.
2025-08-23T22:33:27.886Z,1755988407.886 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:33:27.886Z,1755988407.886 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:33:27.887Z,1755988407.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:33:28.139Z,1755988408.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751800
2025-08-23T22:33:28.160Z,1755988408.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-08-23T22:33:28.167Z,1755988408.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.734810 m,
nav range: 41.702320 m,
bearing: 127.714118 deg,
approach rate: -0.454480 m/s,
LOS rate: -0.042180 deg/s,
cmd heading: 133.144812 deg,
new cmd heading: 133.107645 deg.
2025-08-23T22:33:28.168Z,1755988408.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323167 target range: 42.734810 and range: 43.00 m.
2025-08-23T22:33:28.391Z,1755988408.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003797
2025-08-23T22:33:28.501Z,1755988408.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-08-23T22:33:28.504Z,1755988408.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.734810 m,
nav range: 41.546585 m,
bearing: 127.699944 deg,
approach rate: -0.456667 m/s,
LOS rate: -0.041719 deg/s,
cmd heading: 133.107642 deg,
new cmd heading: 133.079187 deg.
2025-08-23T22:33:28.504Z,1755988408.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322670 target range: 42.734810 and range: 43.00 m.
2025-08-23T22:33:28.643Z,1755988408.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255862
2025-08-23T22:33:28.895Z,1755988408.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507854
2025-08-23T22:33:28.900Z,1755988408.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-08-23T22:33:28.903Z,1755988408.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.734810 m,
nav range: 41.357742 m,
bearing: 127.682921 deg,
approach rate: -0.472614 m/s,
LOS rate: -0.042798 deg/s,
cmd heading: 133.079187 deg,
new cmd heading: 133.044986 deg.
2025-08-23T22:33:28.904Z,1755988408.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322073 target range: 42.734810 and range: 43.00 m.
2025-08-23T22:33:29.147Z,1755988409.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759801
2025-08-23T22:33:29.326Z,1755988409.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-08-23T22:33:29.328Z,1755988409.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.734810 m,
nav range: 41.165852 m,
bearing: 127.662037 deg,
approach rate: -0.451119 m/s,
LOS rate: -0.049324 deg/s,
cmd heading: 133.044982 deg,
new cmd heading: 133.003020 deg.
2025-08-23T22:33:29.330Z,1755988409.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321341 target range: 42.734810 and range: 43.00 m.
2025-08-23T22:33:29.400Z,1755988409.400 [DAT](INFO): DAT read: Rx Time:22:33:28.5043
2025-08-23T22:33:29.400Z,1755988409.400 [DAT](INFO): Rx dataTimestamp_ set to:1755988409.399965
2025-08-23T22:33:29.401Z,1755988409.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014461
2025-08-23T22:33:29.650Z,1755988409.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263782
2025-08-23T22:33:29.692Z,1755988409.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-08-23T22:33:29.694Z,1755988409.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.734810 m,
nav range: 41.001400 m,
bearing: 127.644231 deg,
approach rate: -0.449369 m/s,
LOS rate: -0.048853 deg/s,
cmd heading: 133.003017 deg,
new cmd heading: 132.967260 deg.
2025-08-23T22:33:29.695Z,1755988409.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320716 target range: 42.734810 and range: 43.00 m.
2025-08-23T22:33:29.912Z,1755988409.912 [DAT](INFO): DAT read: 22:33:28.5043 LVL= 26608, 29089, 21714, 32755, AGC= 61, IDX= 418, 0.17,-2.234, 2.386,-1.767,-2.348, PHS= 0.217,-1.504, 0.538, RAW= 158.4, 7.9, CAL= 158.0, 8.2, ROT= 352.0, -8.2
2025-08-23T22:33:29.915Z,1755988409.915 [DAT](INFO): got valid direction response:
22:33:28.5043 LVL= 26608, 29089, 21714, 32755, AGC= 61, IDX= 418, 0.17,-2.234, 2.386,-1.767,-2.348, PHS= 0.217,-1.504, 0.538, RAW= 158.4, 7.9, CAL= 158.0, 8.2, ROT= 352.0, -8.2
2025-08-23T22:33:29.916Z,1755988409.916 [DAT](INFO): DAT read: Bearing 306.9, -8.6 (Local)
2025-08-23T22:33:29.916Z,1755988409.916 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.9, -8.6 (Local)
2025-08-23T22:33:29.919Z,1755988409.919 [DAT](INFO): DAT read: Range 11 to 50 : 41.4 m (Round-trip 55.2 ms) speed 0.4 m/s
2025-08-23T22:33:29.920Z,1755988409.920 [DAT](INFO): DAT read: user:1866>
2025-08-23T22:33:29.921Z,1755988409.921 [DAT](INFO): DAT read: Tx time:22:33:29.5950
2025-08-23T22:33:29.926Z,1755988409.926 [DAT](INFO): Ping request sent.
2025-08-23T22:33:29.926Z,1755988409.926 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:29.926Z,1755988409.926 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:33:29.927Z,1755988409.927 [DAT](INFO): direction in FSK: [0.980144,-0.137750,0.142629]
2025-08-23T22:33:29.927Z,1755988409.927 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:29.928Z,1755988409.928 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:29.967Z,1755988409.967 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:29.967Z,1755988409.967 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:30.207Z,1755988410.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.400002 m,
deltaT: 3.529985 s,
deltaX: -1.599998 m,
approachRate: -0.453259 m/s,
rangeRepo size: 4
2025-08-23T22:33:30.218Z,1755988410.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.144470 m,
bearing: 127.480656 deg,
lat: 36.779418 deg,
lon: -121.859537 deg,
deltaT: 3.529985 s,
deltaX: -1.590340 m,
approachRate: -0.450523 m/s,
posRepo size: 4
2025-08-23T22:33:30.219Z,1755988410.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-23T22:33:30.226Z,1755988410.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144470 m,
nav range: 40.847679 m,
bearing: 127.552312 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.048853 deg/s,
cmd heading: 132.967254 deg,
new cmd heading: 132.917114 deg.
2025-08-23T22:33:30.228Z,1755988410.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319841 target range: 41.144470 and range: 41.40 m.
2025-08-23T22:33:30.501Z,1755988410.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:30.503Z,1755988410.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-23T22:33:30.506Z,1755988410.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144470 m,
nav range: 40.701469 m,
bearing: 127.539056 deg,
approach rate: -0.489643 m/s,
LOS rate: -0.044555 deg/s,
cmd heading: 132.917120 deg,
new cmd heading: 132.890512 deg.
2025-08-23T22:33:30.507Z,1755988410.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319377 target range: 41.144470 and range: 41.40 m.
2025-08-23T22:33:30.658Z,1755988410.658 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:33:30.658Z,1755988410.658 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:33:30.659Z,1755988410.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-23T22:33:30.911Z,1755988410.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984969
2025-08-23T22:33:30.911Z,1755988410.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-23T22:33:30.914Z,1755988410.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144470 m,
nav range: 40.517727 m,
bearing: 127.522541 deg,
approach rate: -0.452551 m/s,
LOS rate: -0.040860 deg/s,
cmd heading: 132.890510 deg,
new cmd heading: 132.857330 deg.
2025-08-23T22:33:30.915Z,1755988410.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318798 target range: 41.144470 and range: 41.40 m.
2025-08-23T22:33:31.162Z,1755988411.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236768
2025-08-23T22:33:31.341Z,1755988411.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-23T22:33:31.344Z,1755988411.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144470 m,
nav range: 40.323135 m,
bearing: 127.504571 deg,
approach rate: -0.450776 m/s,
LOS rate: -0.041829 deg/s,
cmd heading: 132.857329 deg,
new cmd heading: 132.821216 deg.
2025-08-23T22:33:31.345Z,1755988411.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318167 target range: 41.144470 and range: 41.40 m.
2025-08-23T22:33:31.415Z,1755988411.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489614
2025-08-23T22:33:31.667Z,1755988411.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740831
2025-08-23T22:33:31.768Z,1755988411.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-23T22:33:31.771Z,1755988411.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144470 m,
nav range: 40.130402 m,
bearing: 127.486906 deg,
approach rate: -0.451085 m/s,
LOS rate: -0.041543 deg/s,
cmd heading: 132.821211 deg,
new cmd heading: 132.785711 deg.
2025-08-23T22:33:31.772Z,1755988411.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.317548 target range: 41.144470 and range: 41.40 m.
2025-08-23T22:33:31.918Z,1755988411.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992720
2025-08-23T22:33:32.191Z,1755988412.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265533
2025-08-23T22:33:32.214Z,1755988412.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-23T22:33:32.217Z,1755988412.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144470 m,
nav range: 39.944061 m,
bearing: 127.470825 deg,
approach rate: -0.422122 m/s,
LOS rate: -0.036599 deg/s,
cmd heading: 132.785708 deg,
new cmd heading: 132.753396 deg.
2025-08-23T22:33:32.222Z,1755988412.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.316984 target range: 41.144470 and range: 41.40 m.
2025-08-23T22:33:32.443Z,1755988412.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516983
2025-08-23T22:33:32.608Z,1755988412.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:32.614Z,1755988412.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-23T22:33:32.617Z,1755988412.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144470 m,
nav range: 39.749889 m,
bearing: 127.454186 deg,
approach rate: -0.485300 m/s,
LOS rate: -0.041789 deg/s,
cmd heading: 132.753401 deg,
new cmd heading: 132.719961 deg.
2025-08-23T22:33:32.622Z,1755988412.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.316400 target range: 41.144470 and range: 41.40 m.
2025-08-23T22:33:32.695Z,1755988412.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769278
2025-08-23T22:33:32.947Z,1755988412.947 [DAT](INFO): DAT read: Rx Time:22:33:32.0522
2025-08-23T22:33:32.947Z,1755988412.947 [DAT](INFO): Rx dataTimestamp_ set to:1755988412.946831
2025-08-23T22:33:32.948Z,1755988412.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021978
2025-08-23T22:33:32.986Z,1755988412.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-23T22:33:32.988Z,1755988412.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144470 m,
nav range: 39.572601 m,
bearing: 127.439130 deg,
approach rate: -0.471835 m/s,
LOS rate: -0.040250 deg/s,
cmd heading: 132.719960 deg,
new cmd heading: 132.689713 deg.
2025-08-23T22:33:33.014Z,1755988413.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315872 target range: 41.144470 and range: 41.40 m.
2025-08-23T22:33:33.199Z,1755988413.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273239
2025-08-23T22:33:33.394Z,1755988413.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.14 m.
2025-08-23T22:33:33.397Z,1755988413.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.144470 m,
nav range: 39.388496 m,
bearing: 127.423959 deg,
approach rate: -0.450274 m/s,
LOS rate: -0.037279 deg/s,
cmd heading: 132.689716 deg,
new cmd heading: 132.659231 deg.
2025-08-23T22:33:33.398Z,1755988413.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315340 target range: 41.144470 and range: 41.40 m.
2025-08-23T22:33:33.461Z,1755988413.461 [DAT](INFO): DAT read: 22:33:32.0522 LVL= 26160, 30433, 24498, 32755, AGC= 62, IDX= 412, 0.15, 2.373, 0.716, 2.808, 2.257, PHS= 0.218,-1.496, 0.506, RAW= 157.7, 8.3, CAL= 157.3, 8.6, ROT= 352.7, -8.6
2025-08-23T22:33:33.486Z,1755988413.486 [DAT](INFO): got valid direction response:
22:33:32.0522 LVL= 26160, 30433, 24498, 32755, AGC= 62, IDX= 412, 0.15, 2.373, 0.716, 2.808, 2.257, PHS= 0.218,-1.496, 0.506, RAW= 157.7, 8.3, CAL= 157.3, 8.6, ROT= 352.7, -8.6
2025-08-23T22:33:33.487Z,1755988413.487 [DAT](INFO): DAT read: Bearing 306.9, -7.8 (Local)
2025-08-23T22:33:33.487Z,1755988413.487 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.9, -7.8 (Local)
2025-08-23T22:33:33.489Z,1755988413.489 [DAT](INFO): DAT read: Range 11 to 50 : 39.8 m (Round-trip 53.1 ms) speed 0.4 m/s
2025-08-23T22:33:33.494Z,1755988413.494 [DAT](INFO): DAT read: user:1867>
2025-08-23T22:33:33.494Z,1755988413.494 [DAT](INFO): DAT read: Tx time:22:33:33.1450
2025-08-23T22:33:33.495Z,1755988413.495 [DAT](INFO): Ping request sent.
2025-08-23T22:33:33.495Z,1755988413.495 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:33.495Z,1755988413.495 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:33:33.496Z,1755988413.496 [DAT](INFO): direction in FSK: [0.980742,-0.125636,0.149535]
2025-08-23T22:33:33.496Z,1755988413.496 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:33.497Z,1755988413.497 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:33.504Z,1755988413.504 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:33.505Z,1755988413.505 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:33.780Z,1755988413.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.799999 m,
deltaT: 3.546032 s,
deltaX: -1.600002 m,
approachRate: -0.451209 m/s,
rangeRepo size: 4
2025-08-23T22:33:33.783Z,1755988413.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.554344 m,
bearing: 127.659878 deg,
lat: 36.779417 deg,
lon: -121.859537 deg,
deltaT: 3.546032 s,
deltaX: -1.590126 m,
approachRate: -0.448424 m/s,
posRepo size: 4
2025-08-23T22:33:33.783Z,1755988413.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-23T22:33:33.786Z,1755988413.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.554344 m,
nav range: 39.276646 m,
bearing: 127.523373 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.037279 deg/s,
cmd heading: 132.659226 deg,
new cmd heading: 132.630499 deg.
2025-08-23T22:33:33.787Z,1755988413.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314839 target range: 39.554344 and range: 39.80 m.
2025-08-23T22:33:34.230Z,1755988414.230 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-23T22:33:34.230Z,1755988414.230 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-23T22:33:34.230Z,1755988414.230 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-23T22:33:34.231Z,1755988414.231 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.799999 m (mode 2.000000 count ).
2025-08-23T22:33:34.231Z,1755988414.231 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-23T22:33:34.231Z,1755988414.231 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-23T22:33:34.234Z,1755988414.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-23T22:33:34.236Z,1755988414.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.554344 m,
nav range: 39.062721 m,
bearing: 127.507653 deg,
approach rate: -0.471340 m/s,
LOS rate: -0.034824 deg/s,
cmd heading: 132.630498 deg,
new cmd heading: 132.598887 deg.
2025-08-23T22:33:34.238Z,1755988414.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314287 target range: 39.554344 and range: 39.80 m.
2025-08-23T22:33:34.598Z,1755988414.598 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-23T22:33:34.598Z,1755988414.598 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-23T22:33:34.600Z,1755988414.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-23T22:33:34.623Z,1755988414.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.554344 m,
nav range: 38.891762 m,
bearing: 127.495261 deg,
approach rate: -0.466710 m/s,
LOS rate: -0.033978 deg/s,
cmd heading: 132.598888 deg,
new cmd heading: 132.573995 deg.
2025-08-23T22:33:34.624Z,1755988414.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313853 target range: 39.554344 and range: 39.80 m.
2025-08-23T22:33:34.000Z,1755988415.000 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-23T22:33:34.000Z,1755988415.000 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-23T22:33:35.000Z,1755988415.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:35.002Z,1755988415.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-23T22:33:35.005Z,1755988415.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.554344 m,
nav range: 38.707874 m,
bearing: 127.482151 deg,
approach rate: -0.456822 m/s,
LOS rate: -0.032725 deg/s,
cmd heading: 132.573999 deg,
new cmd heading: 132.547653 deg.
2025-08-23T22:33:35.006Z,1755988415.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313393 target range: 39.554344 and range: 39.80 m.
2025-08-23T22:33:35.215Z,1755988415.215 [DAT](INFO): ****** received valid address query ******
2025-08-23T22:33:35.215Z,1755988415.215 [DAT](INFO): ****** received valid ping request ******
2025-08-23T22:33:35.216Z,1755988415.216 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-23T22:33:35.414Z,1755988415.414 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-23T22:33:35.414Z,1755988415.414 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-23T22:33:35.414Z,1755988415.414 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-23T22:33:35.414Z,1755988415.414 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-23T22:33:35.416Z,1755988415.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-23T22:33:35.419Z,1755988415.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.554344 m,
nav range: 38.518078 m,
bearing: 127.471385 deg,
approach rate: -0.458393 m/s,
LOS rate: -0.026130 deg/s,
cmd heading: 132.547648 deg,
new cmd heading: 132.526010 deg.
2025-08-23T22:33:35.420Z,1755988415.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313015 target range: 39.554344 and range: 39.80 m.
2025-08-23T22:33:35.467Z,1755988415.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971982
2025-08-23T22:33:35.718Z,1755988415.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223547
2025-08-23T22:33:35.802Z,1755988415.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-23T22:33:35.804Z,1755988415.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.554344 m,
nav range: 38.346767 m,
bearing: 127.461943 deg,
approach rate: -0.445108 m/s,
LOS rate: -0.024642 deg/s,
cmd heading: 132.526010 deg,
new cmd heading: 132.507042 deg.
2025-08-23T22:33:35.805Z,1755988415.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312684 target range: 39.554344 and range: 39.80 m.
2025-08-23T22:33:35.971Z,1755988415.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475641
2025-08-23T22:33:36.223Z,1755988416.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727730
2025-08-23T22:33:36.264Z,1755988416.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-23T22:33:36.271Z,1755988416.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.554344 m,
nav range: 38.150448 m,
bearing: 127.448766 deg,
approach rate: -0.424355 m/s,
LOS rate: -0.028628 deg/s,
cmd heading: 132.507036 deg,
new cmd heading: 132.480547 deg.
2025-08-23T22:33:36.272Z,1755988416.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312222 target range: 39.554344 and range: 39.80 m.
2025-08-23T22:33:36.475Z,1755988416.475 [DAT](INFO): DAT read: Rx Time:22:33:35.6000
2025-08-23T22:33:36.475Z,1755988416.475 [DAT](INFO): Rx dataTimestamp_ set to:1755988416.474689
2025-08-23T22:33:36.476Z,1755988416.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980654
2025-08-23T22:33:36.630Z,1755988416.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-23T22:33:36.633Z,1755988416.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.554344 m,
nav range: 37.978924 m,
bearing: 127.437476 deg,
approach rate: -0.468109 m/s,
LOS rate: -0.030951 deg/s,
cmd heading: 132.480548 deg,
new cmd heading: 132.457866 deg.
2025-08-23T22:33:36.634Z,1755988416.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311826 target range: 39.554344 and range: 39.80 m.
2025-08-23T22:33:36.727Z,1755988416.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231757
2025-08-23T22:33:36.985Z,1755988416.985 [DAT](INFO): DAT read: 22:33:35.6000 LVL= 27968, 32753, 22130, 32755, AGC= 61, IDX= 422, 0.23, 1.016,-0.713, 1.455, 0.860, PHS= 0.258,-1.528, 0.551, RAW= 157.5, 7.4, CAL= 157.0, 7.6, ROT= 353.0, -7.6
2025-08-23T22:33:36.986Z,1755988416.986 [DAT](INFO): got valid direction response:
22:33:35.6000 LVL= 27968, 32753, 22130, 32755, AGC= 61, IDX= 422, 0.23, 1.016,-0.713, 1.455, 0.860, PHS= 0.258,-1.528, 0.551, RAW= 157.5, 7.4, CAL= 157.0, 7.6, ROT= 353.0, -7.6
2025-08-23T22:33:36.987Z,1755988416.987 [DAT](INFO): DAT read: Bearing 305.2, -7.5 (Local)
2025-08-23T22:33:36.987Z,1755988416.987 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.2, -7.5 (Local)
2025-08-23T22:33:36.989Z,1755988416.989 [DAT](INFO): DAT read: Range 11 to 50 : 38.1 m (Round-trip 50.9 ms) speed 0.4 m/s
2025-08-23T22:33:36.996Z,1755988416.996 [DAT](INFO): DAT read: user:1868>
2025-08-23T22:33:36.996Z,1755988416.996 [DAT](INFO): DAT read: Tx time:22:33:36.6949
2025-08-23T22:33:36.997Z,1755988416.997 [DAT](INFO): Ping request sent.
2025-08-23T22:33:36.997Z,1755988416.997 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:36.997Z,1755988416.997 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-23T22:33:37.023Z,1755988417.023 [DAT](INFO): direction in FSK: [0.983827,-0.120799,0.132256]
2025-08-23T22:33:37.023Z,1755988417.023 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:37.024Z,1755988417.024 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:37.040Z,1755988417.040 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:37.040Z,1755988417.040 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:37.047Z,1755988417.047 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.050365
2025-08-23T22:33:37.136Z,1755988417.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.099998 m,
deltaT: 3.527570 s,
deltaX: -1.700001 m,
approachRate: -0.481918 m/s,
rangeRepo size: 4
2025-08-23T22:33:37.214Z,1755988417.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.864750 m,
bearing: 127.408684 deg,
lat: 36.779418 deg,
lon: -121.859537 deg,
deltaT: 3.527570 s,
deltaX: -1.689594 m,
approachRate: -0.478968 m/s,
posRepo size: 4
2025-08-23T22:33:37.215Z,1755988417.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-23T22:33:37.222Z,1755988417.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.864750 m,
nav range: 37.708885 m,
bearing: 127.305143 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.030951 deg/s,
cmd heading: 132.457872 deg,
new cmd heading: 132.426590 deg.
2025-08-23T22:33:37.223Z,1755988417.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311280 target range: 37.864750 and range: 38.10 m.
2025-08-23T22:33:37.231Z,1755988417.231 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.233704
2025-08-23T22:33:37.483Z,1755988417.483 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.485871
2025-08-23T22:33:37.614Z,1755988417.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:37.616Z,1755988417.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-23T22:33:37.619Z,1755988417.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.864750 m,
nav range: 37.473808 m,
bearing: 127.294813 deg,
approach rate: -0.489204 m/s,
LOS rate: -0.021630 deg/s,
cmd heading: 132.426590 deg,
new cmd heading: 132.405802 deg.
2025-08-23T22:33:37.620Z,1755988417.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310917 target range: 37.864750 and range: 38.10 m.
2025-08-23T22:33:37.735Z,1755988417.735 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.738090
2025-08-23T22:33:37.981Z,1755988417.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-23T22:33:37.984Z,1755988417.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.864750 m,
nav range: 37.305828 m,
bearing: 127.287548 deg,
approach rate: -0.460507 m/s,
LOS rate: -0.020008 deg/s,
cmd heading: 132.405799 deg,
new cmd heading: 132.391202 deg.
2025-08-23T22:33:37.985Z,1755988417.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310662 target range: 37.864750 and range: 38.10 m.
2025-08-23T22:33:37.987Z,1755988417.987 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.989697
2025-08-23T22:33:38.241Z,1755988418.241 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.244008
2025-08-23T22:33:38.421Z,1755988418.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-23T22:33:38.428Z,1755988418.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.864750 m,
nav range: 37.111607 m,
bearing: 127.281833 deg,
approach rate: -0.441502 m/s,
LOS rate: -0.013060 deg/s,
cmd heading: 132.391196 deg,
new cmd heading: 132.379706 deg.
2025-08-23T22:33:38.429Z,1755988418.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310462 target range: 37.864750 and range: 38.10 m.
2025-08-23T22:33:38.491Z,1755988418.491 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.494521
2025-08-23T22:33:38.742Z,1755988418.742 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.745570
2025-08-23T22:33:38.794Z,1755988418.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-23T22:33:38.797Z,1755988418.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.864750 m,
nav range: 36.930176 m,
bearing: 127.276842 deg,
approach rate: -0.486163 m/s,
LOS rate: -0.013439 deg/s,
cmd heading: 132.379708 deg,
new cmd heading: 132.369677 deg.
2025-08-23T22:33:38.798Z,1755988418.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310287 target range: 37.864750 and range: 38.10 m.
2025-08-23T22:33:38.995Z,1755988418.995 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.997912
2025-08-23T22:33:39.247Z,1755988419.247 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.249746
2025-08-23T22:33:39.259Z,1755988419.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-23T22:33:39.262Z,1755988419.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.864750 m,
nav range: 36.715141 m,
bearing: 127.271234 deg,
approach rate: -0.462377 m/s,
LOS rate: -0.012129 deg/s,
cmd heading: 132.369681 deg,
new cmd heading: 132.358400 deg.
2025-08-23T22:33:39.263Z,1755988419.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310090 target range: 37.864750 and range: 38.10 m.
2025-08-23T22:33:39.498Z,1755988419.498 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.501587
2025-08-23T22:33:39.619Z,1755988419.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:39.622Z,1755988419.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-23T22:33:39.624Z,1755988419.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.864750 m,
nav range: 36.548828 m,
bearing: 127.260888 deg,
approach rate: -0.459167 m/s,
LOS rate: -0.028693 deg/s,
cmd heading: 132.358397 deg,
new cmd heading: 132.337612 deg.
2025-08-23T22:33:39.642Z,1755988419.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309727 target range: 37.864750 and range: 38.10 m.
2025-08-23T22:33:39.750Z,1755988419.750 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.753571
2025-08-23T22:33:40.003Z,1755988420.003 [DAT](INFO): DAT read: Rx Time:22:33:39.1478
2025-08-23T22:33:40.003Z,1755988420.003 [DAT](INFO): Rx dataTimestamp_ set to:1755988420.002855
2025-08-23T22:33:40.004Z,1755988420.004 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.006790
2025-08-23T22:33:40.012Z,1755988420.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-23T22:33:40.019Z,1755988420.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.864750 m,
nav range: 36.377663 m,
bearing: 127.250470 deg,
approach rate: -0.438325 m/s,
LOS rate: -0.026806 deg/s,
cmd heading: 132.337606 deg,
new cmd heading: 132.316671 deg.
2025-08-23T22:33:40.020Z,1755988420.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309361 target range: 37.864750 and range: 38.10 m.
2025-08-23T22:33:40.256Z,1755988420.256 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.258995
2025-08-23T22:33:40.487Z,1755988420.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-23T22:33:40.490Z,1755988420.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.864750 m,
nav range: 36.155674 m,
bearing: 127.241361 deg,
approach rate: -0.467618 m/s,
LOS rate: -0.019305 deg/s,
cmd heading: 132.316665 deg,
new cmd heading: 132.298336 deg.
2025-08-23T22:33:40.491Z,1755988420.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309042 target range: 37.864750 and range: 38.10 m.
2025-08-23T22:33:40.514Z,1755988420.514 [DAT](INFO): DAT read: 22:33:39.1478 LVL= 25632, 28129, 22258, 32755, AGC= 62, IDX= 416, 0.32,-0.974,-2.660,-0.553,-1.128, PHS= 0.255,-1.488, 0.531, RAW= 157.2, 7.5, CAL= 156.7, 7.6, ROT= 353.3, -7.6
2025-08-23T22:33:40.515Z,1755988420.515 [DAT](INFO): got valid direction response:
22:33:39.1478 LVL= 25632, 28129, 22258, 32755, AGC= 62, IDX= 416, 0.32,-0.974,-2.660,-0.553,-1.128, PHS= 0.255,-1.488, 0.531, RAW= 157.2, 7.5, CAL= 156.7, 7.6, ROT= 353.3, -7.6
2025-08-23T22:33:40.516Z,1755988420.516 [DAT](INFO): DAT read: Bearing 304.9, -7.1 (Local)
2025-08-23T22:33:40.517Z,1755988420.517 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.9, -7.1 (Local)
2025-08-23T22:33:40.535Z,1755988420.535 [DAT](INFO): DAT read: Range 11 to 50 : 36.6 m (Round-trip 48.8 ms) speed 0.4 m/s
2025-08-23T22:33:40.536Z,1755988420.536 [DAT](INFO): DAT read: user:1869>
2025-08-23T22:33:40.537Z,1755988420.537 [DAT](INFO): DAT read: Tx time:22:33:40.2449
2025-08-23T22:33:40.546Z,1755988420.546 [DAT](INFO): Ping request sent.
2025-08-23T22:33:40.546Z,1755988420.546 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:40.547Z,1755988420.547 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-23T22:33:40.548Z,1755988420.548 [DAT](INFO): direction in FSK: [0.984446,-0.115646,0.132256]
2025-08-23T22:33:40.549Z,1755988420.549 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:40.558Z,1755988420.558 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:40.568Z,1755988420.568 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:40.568Z,1755988420.568 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:40.583Z,1755988420.583 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.037506
2025-08-23T22:33:40.759Z,1755988420.759 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.212830
2025-08-23T22:33:40.846Z,1755988420.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.599998 m,
deltaT: 3.530150 s,
deltaX: -1.500000 m,
approachRate: -0.424911 m/s,
rangeRepo size: 4
2025-08-23T22:33:40.848Z,1755988420.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.373413 m,
bearing: 127.176093 deg,
lat: 36.779418 deg,
lon: -121.859537 deg,
deltaT: 3.530150 s,
deltaX: -1.491337 m,
approachRate: -0.422457 m/s,
posRepo size: 4
2025-08-23T22:33:40.849Z,1755988420.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-23T22:33:40.856Z,1755988420.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.373413 m,
nav range: 36.018368 m,
bearing: 127.216649 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.019305 deg/s,
cmd heading: 132.298333 deg,
new cmd heading: 132.284642 deg.
2025-08-23T22:33:40.857Z,1755988420.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308803 target range: 36.373413 and range: 36.60 m.
2025-08-23T22:33:41.011Z,1755988421.011 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.465581
2025-08-23T22:33:41.266Z,1755988421.266 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.719179
2025-08-23T22:33:41.311Z,1755988421.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-23T22:33:41.313Z,1755988421.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.373413 m,
nav range: 35.800987 m,
bearing: 127.208930 deg,
approach rate: -0.463119 m/s,
LOS rate: -0.016544 deg/s,
cmd heading: 132.284645 deg,
new cmd heading: 132.269114 deg.
2025-08-23T22:33:41.314Z,1755988421.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308532 target range: 36.373413 and range: 36.60 m.
2025-08-23T22:33:41.518Z,1755988421.518 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.971939
2025-08-23T22:33:41.631Z,1755988421.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:41.633Z,1755988421.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-23T22:33:41.636Z,1755988421.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.373413 m,
nav range: 35.656998 m,
bearing: 127.203869 deg,
approach rate: -0.446357 m/s,
LOS rate: -0.015754 deg/s,
cmd heading: 132.269113 deg,
new cmd heading: 132.258949 deg.
2025-08-23T22:33:41.637Z,1755988421.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308354 target range: 36.373413 and range: 36.60 m.
2025-08-23T22:33:41.766Z,1755988421.766 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.220554
2025-08-23T22:33:42.019Z,1755988422.019 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.472679
2025-08-23T22:33:42.120Z,1755988422.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-23T22:33:42.123Z,1755988422.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.373413 m,
nav range: 35.438675 m,
bearing: 127.196409 deg,
approach rate: -0.448678 m/s,
LOS rate: -0.015424 deg/s,
cmd heading: 132.258950 deg,
new cmd heading: 132.243939 deg.
2025-08-23T22:33:42.124Z,1755988422.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308092 target range: 36.373413 and range: 36.60 m.
2025-08-23T22:33:42.271Z,1755988422.271 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.724884
2025-08-23T22:33:42.494Z,1755988422.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-23T22:33:42.496Z,1755988422.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.373413 m,
nav range: 35.270790 m,
bearing: 127.185162 deg,
approach rate: -0.449416 m/s,
LOS rate: -0.030251 deg/s,
cmd heading: 132.243937 deg,
new cmd heading: 132.221336 deg.
2025-08-23T22:33:42.497Z,1755988422.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307698 target range: 36.373413 and range: 36.60 m.
2025-08-23T22:33:42.523Z,1755988422.523 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.976611
2025-08-23T22:33:42.775Z,1755988422.775 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.228659
2025-08-23T22:33:42.862Z,1755988422.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-23T22:33:42.865Z,1755988422.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.373413 m,
nav range: 35.105087 m,
bearing: 127.174080 deg,
approach rate: -0.449476 m/s,
LOS rate: -0.030203 deg/s,
cmd heading: 132.221329 deg,
new cmd heading: 132.199060 deg.
2025-08-23T22:33:42.906Z,1755988422.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307309 target range: 36.373413 and range: 36.60 m.
2025-08-23T22:33:43.027Z,1755988423.027 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.480684
2025-08-23T22:33:43.281Z,1755988423.281 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.734885
2025-08-23T22:33:43.317Z,1755988423.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-23T22:33:43.320Z,1755988423.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.373413 m,
nav range: 34.900822 m,
bearing: 127.160453 deg,
approach rate: -0.449266 m/s,
LOS rate: -0.030147 deg/s,
cmd heading: 132.199063 deg,
new cmd heading: 132.171649 deg.
2025-08-23T22:33:43.321Z,1755988423.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306830 target range: 36.373413 and range: 36.60 m.
2025-08-23T22:33:43.531Z,1755988423.531 [DAT](INFO): DAT read: Rx Time:22:33:42.6956
2025-08-23T22:33:43.532Z,1755988423.532 [DAT](INFO): Rx dataTimestamp_ set to:1755988423.531636
2025-08-23T22:33:43.532Z,1755988423.532 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.986617
2025-08-23T22:33:43.682Z,1755988423.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:43.684Z,1755988423.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.37 m.
2025-08-23T22:33:43.691Z,1755988423.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.373413 m,
nav range: 34.742725 m,
bearing: 127.151072 deg,
approach rate: -0.430318 m/s,
LOS rate: -0.025649 deg/s,
cmd heading: 132.171646 deg,
new cmd heading: 132.152799 deg.
2025-08-23T22:33:43.692Z,1755988423.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306501 target range: 36.373413 and range: 36.60 m.
2025-08-23T22:33:43.787Z,1755988423.787 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.241415
2025-08-23T22:33:44.049Z,1755988424.049 [DAT](INFO): DAT read: 22:33:42.6956 LVL= 23472, 31425, 21234, 32755, AGC= 60, IDX= 425, 0.39, 2.900, 1.161,-2.963, 2.707, PHS= 0.295,-1.501, 0.569, RAW= 157.0, 6.6, CAL= 156.3, 6.6, ROT= 353.7, -6.6
2025-08-23T22:33:44.051Z,1755988424.051 [DAT](INFO): got valid direction response:
22:33:42.6956 LVL= 23472, 31425, 21234, 32755, AGC= 60, IDX= 425, 0.39, 2.900, 1.161,-2.963, 2.707, PHS= 0.295,-1.501, 0.569, RAW= 157.0, 6.6, CAL= 156.3, 6.6, ROT= 353.7, -6.6
2025-08-23T22:33:44.052Z,1755988424.052 [DAT](INFO): DAT read: Bearing 303.3, -6.8 (Local)
2025-08-23T22:33:44.052Z,1755988424.052 [DAT](INFO): Local bearing/azimuth received:
Bearing 303.3, -6.8 (Local)
2025-08-23T22:33:44.056Z,1755988424.056 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (Round-trip 46.5 ms) speed 0.4 m/s
2025-08-23T22:33:44.056Z,1755988424.056 [DAT](INFO): DAT read: user:1870>
2025-08-23T22:33:44.058Z,1755988424.058 [DAT](INFO): DAT read: Tx time:22:33:43.7949
2025-08-23T22:33:44.059Z,1755988424.059 [DAT](INFO): Ping request sent.
2025-08-23T22:33:44.059Z,1755988424.059 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:44.059Z,1755988424.059 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-23T22:33:44.061Z,1755988424.061 [DAT](INFO): direction in FSK: [0.987374,-0.109007,0.114937]
2025-08-23T22:33:44.066Z,1755988424.066 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:44.066Z,1755988424.066 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:44.103Z,1755988424.103 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:44.103Z,1755988424.103 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:44.115Z,1755988424.115 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.056110
2025-08-23T22:33:44.146Z,1755988424.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.799999 m,
deltaT: 3.529881 s,
deltaX: -1.799999 m,
approachRate: -0.509932 m/s,
rangeRepo size: 4
2025-08-23T22:33:44.148Z,1755988424.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.584160 m,
bearing: 127.378577 deg,
lat: 36.779418 deg,
lon: -121.859538 deg,
deltaT: 3.529881 s,
deltaX: -1.789253 m,
approachRate: -0.506888 m/s,
posRepo size: 4
2025-08-23T22:33:44.148Z,1755988424.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:33:44.155Z,1755988424.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.584160 m,
nav range: 34.472034 m,
bearing: 127.314200 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.025649 deg/s,
cmd heading: 132.152795 deg,
new cmd heading: 132.129781 deg.
2025-08-23T22:33:44.156Z,1755988424.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306100 target range: 34.584160 and range: 34.80 m.
2025-08-23T22:33:44.294Z,1755988424.294 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.234006
2025-08-23T22:33:44.544Z,1755988424.544 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.485501
2025-08-23T22:33:44.561Z,1755988424.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:33:44.574Z,1755988424.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.584160 m,
nav range: 34.277351 m,
bearing: 127.305162 deg,
approach rate: -0.455558 m/s,
LOS rate: -0.021269 deg/s,
cmd heading: 132.129777 deg,
new cmd heading: 132.111599 deg.
2025-08-23T22:33:44.575Z,1755988424.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305782 target range: 34.584160 and range: 34.80 m.
2025-08-23T22:33:44.795Z,1755988424.795 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.736164
2025-08-23T22:33:44.998Z,1755988424.998 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:33:45.002Z,1755988425.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:33:45.004Z,1755988425.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.584160 m,
nav range: 34.069271 m,
bearing: 127.295383 deg,
approach rate: -0.471428 m/s,
LOS rate: -0.022291 deg/s,
cmd heading: 132.111595 deg,
new cmd heading: 132.091918 deg.
2025-08-23T22:33:45.005Z,1755988425.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305439 target range: 34.584160 and range: 34.80 m.
2025-08-23T22:33:45.048Z,1755988425.048 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.988805
2025-08-23T22:33:45.301Z,1755988425.301 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.241624
2025-08-23T22:33:45.422Z,1755988425.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:33:45.425Z,1755988425.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.584160 m,
nav range: 33.888161 m,
bearing: 127.284165 deg,
approach rate: -0.430556 m/s,
LOS rate: -0.026810 deg/s,
cmd heading: 132.091924 deg,
new cmd heading: 132.069370 deg.
2025-08-23T22:33:45.430Z,1755988425.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305045 target range: 34.584160 and range: 34.80 m.
2025-08-23T22:33:45.552Z,1755988425.552 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.492951
2025-08-23T22:33:45.789Z,1755988425.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:45.791Z,1755988425.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:33:45.794Z,1755988425.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.584160 m,
nav range: 33.723755 m,
bearing: 127.274029 deg,
approach rate: -0.445787 m/s,
LOS rate: -0.027620 deg/s,
cmd heading: 132.069371 deg,
new cmd heading: 132.048999 deg.
2025-08-23T22:33:45.795Z,1755988425.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304690 target range: 34.584160 and range: 34.80 m.
2025-08-23T22:33:45.803Z,1755988425.803 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.743845
2025-08-23T22:33:46.002Z,1755988426.002 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:33:46.056Z,1755988426.056 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.996668
2025-08-23T22:33:46.175Z,1755988426.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:33:46.179Z,1755988426.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.584160 m,
nav range: 33.544952 m,
bearing: 127.263072 deg,
approach rate: -0.465952 m/s,
LOS rate: -0.028704 deg/s,
cmd heading: 132.049003 deg,
new cmd heading: 132.026974 deg.
2025-08-23T22:33:46.180Z,1755988426.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304305 target range: 34.584160 and range: 34.80 m.
2025-08-23T22:33:46.310Z,1755988426.310 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.250173
2025-08-23T22:33:46.560Z,1755988426.560 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.501003
2025-08-23T22:33:46.612Z,1755988426.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:33:46.614Z,1755988426.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.584160 m,
nav range: 33.342525 m,
bearing: 127.257061 deg,
approach rate: -0.463320 m/s,
LOS rate: -0.013842 deg/s,
cmd heading: 132.026969 deg,
new cmd heading: 132.014874 deg.
2025-08-23T22:33:46.615Z,1755988426.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304094 target range: 34.584160 and range: 34.80 m.
2025-08-23T22:33:46.811Z,1755988426.811 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.752538
2025-08-23T22:33:47.063Z,1755988427.063 [DAT](INFO): DAT read: Rx Time:22:33:46.2435
2025-08-23T22:33:47.065Z,1755988427.065 [DAT](INFO): Rx dataTimestamp_ set to:1755988427.063929
2025-08-23T22:33:47.066Z,1755988427.066 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.006738
2025-08-23T22:33:47.100Z,1755988427.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-23T22:33:47.115Z,1755988427.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.584160 m,
nav range: 33.116581 m,
bearing: 127.250616 deg,
approach rate: -0.462782 m/s,
LOS rate: -0.013292 deg/s,
cmd heading: 132.014880 deg,
new cmd heading: 132.001900 deg.
2025-08-23T22:33:47.116Z,1755988427.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303868 target range: 34.584160 and range: 34.80 m.
2025-08-23T22:33:47.318Z,1755988427.318 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.258322
2025-08-23T22:33:47.572Z,1755988427.572 [DAT](INFO): DAT read: 22:33:46.2435 LVL= 25248, 30177, 21586, 32755, AGC= 59, IDX= 420,-0.47, 0.035,-1.664, 0.441,-0.132, PHS= 0.269,-1.487, 0.529, RAW= 156.8, 7.3, CAL= 156.3, 7.5, ROT= 353.7, -7.5
2025-08-23T22:33:47.574Z,1755988427.574 [DAT](INFO): got valid direction response:
22:33:46.2435 LVL= 25248, 30177, 21586, 32755, AGC= 59, IDX= 420,-0.47, 0.035,-1.664, 0.441,-0.132, PHS= 0.269,-1.487, 0.529, RAW= 156.8, 7.3, CAL= 156.3, 7.5, ROT= 353.7, -7.5
2025-08-23T22:33:47.575Z,1755988427.575 [DAT](INFO): DAT read: Bearing 304.0, -6.7 (Local)
2025-08-23T22:33:47.575Z,1755988427.575 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.0, -6.7 (Local)
2025-08-23T22:33:47.577Z,1755988427.577 [DAT](INFO): DAT read: Range 11 to 50 : 33.3 m (Round-trip 44.5 ms) speed 0.4 m/s
2025-08-23T22:33:47.598Z,1755988427.598 [DAT](INFO): DAT read: user:1871>
2025-08-23T22:33:47.599Z,1755988427.599 [DAT](INFO): DAT read: Tx time:22:33:47.3449
2025-08-23T22:33:47.599Z,1755988427.599 [DAT](INFO): Ping request sent.
2025-08-23T22:33:47.600Z,1755988427.600 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:47.600Z,1755988427.600 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-23T22:33:47.601Z,1755988427.601 [DAT](INFO): direction in FSK: [0.985457,-0.108795,0.130526]
2025-08-23T22:33:47.601Z,1755988427.601 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:47.610Z,1755988427.610 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:47.613Z,1755988427.613 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:47.613Z,1755988427.613 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:47.625Z,1755988427.625 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.025289
2025-08-23T22:33:47.647Z,1755988427.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.299999 m,
deltaT: 3.528143 s,
deltaX: -1.500000 m,
approachRate: -0.425153 m/s,
rangeRepo size: 4
2025-08-23T22:33:47.649Z,1755988427.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.092884 m,
bearing: 127.205153 deg,
lat: 36.779418 deg,
lon: -121.859538 deg,
deltaT: 3.528143 s,
deltaX: -1.491276 m,
approachRate: -0.422680 m/s,
posRepo size: 4
2025-08-23T22:33:47.679Z,1755988427.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.09 m.
2025-08-23T22:33:47.685Z,1755988427.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.092884 m,
nav range: 32.901379 m,
bearing: 127.255390 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013292 deg/s,
cmd heading: 132.001902 deg,
new cmd heading: 131.987368 deg.
2025-08-23T22:33:47.699Z,1755988427.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303614 target range: 33.092884 and range: 33.30 m.
2025-08-23T22:33:47.819Z,1755988427.819 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.219038
2025-08-23T22:33:48.071Z,1755988428.071 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.470961
2025-08-23T22:33:48.107Z,1755988428.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:48.109Z,1755988428.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.09 m.
2025-08-23T22:33:48.112Z,1755988428.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.092884 m,
nav range: 32.661995 m,
bearing: 127.256705 deg,
approach rate: -0.517454 m/s,
LOS rate: 0.002862 deg/s,
cmd heading: 131.987368 deg,
new cmd heading: 131.990015 deg.
2025-08-23T22:33:48.113Z,1755988428.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303660 target range: 33.092884 and range: 33.30 m.
2025-08-23T22:33:48.326Z,1755988428.326 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.725765
2025-08-23T22:33:48.575Z,1755988428.575 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.975029
2025-08-23T22:33:48.584Z,1755988428.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.09 m.
2025-08-23T22:33:48.587Z,1755988428.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.092884 m,
nav range: 32.448551 m,
bearing: 127.252421 deg,
approach rate: -0.449768 m/s,
LOS rate: -0.009085 deg/s,
cmd heading: 131.990018 deg,
new cmd heading: 131.981395 deg.
2025-08-23T22:33:48.588Z,1755988428.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303510 target range: 33.092884 and range: 33.30 m.
2025-08-23T22:33:48.826Z,1755988428.826 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.226881
2025-08-23T22:33:48.897Z,1755988428.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.09 m.
2025-08-23T22:33:48.900Z,1755988428.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.092884 m,
nav range: 32.306572 m,
bearing: 127.249662 deg,
approach rate: -0.453637 m/s,
LOS rate: -0.008855 deg/s,
cmd heading: 131.981398 deg,
new cmd heading: 131.975855 deg.
2025-08-23T22:33:48.900Z,1755988428.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303413 target range: 33.092884 and range: 33.30 m.
2025-08-23T22:33:49.079Z,1755988429.079 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.478924
2025-08-23T22:33:49.300Z,1755988429.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.09 m.
2025-08-23T22:33:49.319Z,1755988429.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.092884 m,
nav range: 32.124805 m,
bearing: 127.246122 deg,
approach rate: -0.450928 m/s,
LOS rate: -0.008831 deg/s,
cmd heading: 131.975852 deg,
new cmd heading: 131.968733 deg.
2025-08-23T22:33:49.322Z,1755988429.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303289 target range: 33.092884 and range: 33.30 m.
2025-08-23T22:33:49.333Z,1755988429.333 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.733131
2025-08-23T22:33:49.583Z,1755988429.583 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.983405
2025-08-23T22:33:49.741Z,1755988429.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.09 m.
2025-08-23T22:33:49.759Z,1755988429.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.092884 m,
nav range: 31.921713 m,
bearing: 127.241295 deg,
approach rate: -0.460726 m/s,
LOS rate: -0.011020 deg/s,
cmd heading: 131.968735 deg,
new cmd heading: 131.959019 deg.
2025-08-23T22:33:49.760Z,1755988429.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303119 target range: 33.092884 and range: 33.30 m.
2025-08-23T22:33:49.836Z,1755988429.836 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.236022
2025-08-23T22:33:50.090Z,1755988430.090 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.490846
2025-08-23T22:33:50.155Z,1755988430.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:50.157Z,1755988430.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.09 m.
2025-08-23T22:33:50.159Z,1755988430.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.092884 m,
nav range: 31.730122 m,
bearing: 127.236888 deg,
approach rate: -0.460465 m/s,
LOS rate: -0.010655 deg/s,
cmd heading: 131.959023 deg,
new cmd heading: 131.950156 deg.
2025-08-23T22:33:50.160Z,1755988430.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302965 target range: 33.092884 and range: 33.30 m.
2025-08-23T22:33:50.345Z,1755988430.345 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.745207
2025-08-23T22:33:50.576Z,1755988430.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.09 m.
2025-08-23T22:33:50.591Z,1755988430.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.092884 m,
nav range: 31.538351 m,
bearing: 127.241397 deg,
approach rate: -0.457365 m/s,
LOS rate: 0.010819 deg/s,
cmd heading: 131.950157 deg,
new cmd heading: 131.959230 deg.
2025-08-23T22:33:50.592Z,1755988430.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303123 target range: 33.092884 and range: 33.30 m.
2025-08-23T22:33:50.595Z,1755988430.595 [DAT](INFO): DAT read: Rx Time:22:33:49.7913
2025-08-23T22:33:50.595Z,1755988430.595 [DAT](INFO): Rx dataTimestamp_ set to:1755988430.594885
2025-08-23T22:33:50.596Z,1755988430.596 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.996162
2025-08-23T22:33:50.846Z,1755988430.846 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.246905
2025-08-23T22:33:50.943Z,1755988430.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.09 m.
2025-08-23T22:33:50.945Z,1755988430.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.092884 m,
nav range: 31.371181 m,
bearing: 127.245470 deg,
approach rate: -0.455894 m/s,
LOS rate: 0.011166 deg/s,
cmd heading: 131.959227 deg,
new cmd heading: 131.967417 deg.
2025-08-23T22:33:50.946Z,1755988430.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303266 target range: 33.092884 and range: 33.30 m.
2025-08-23T22:33:51.104Z,1755988431.104 [DAT](INFO): DAT read: 22:33:49.7913 LVL= 25840, 32753, 21138, 32755, AGC= 59, IDX= 413, 0.41, 0.048,-1.692, 0.456,-0.134, PHS= 0.284,-1.513, 0.547, RAW= 156.7, 7.1, CAL= 156.2, 7.2, ROT= 353.8, -7.2
2025-08-23T22:33:51.105Z,1755988431.105 [DAT](INFO): got valid direction response:
22:33:49.7913 LVL= 25840, 32753, 21138, 32755, AGC= 59, IDX= 413, 0.41, 0.048,-1.692, 0.456,-0.134, PHS= 0.284,-1.513, 0.547, RAW= 156.7, 7.1, CAL= 156.2, 7.2, ROT= 353.8, -7.2
2025-08-23T22:33:51.106Z,1755988431.106 [DAT](INFO): DAT read: Bearing 303.4, -6.7 (Local)
2025-08-23T22:33:51.106Z,1755988431.106 [DAT](INFO): Local bearing/azimuth received:
Bearing 303.4, -6.7 (Local)
2025-08-23T22:33:51.108Z,1755988431.108 [DAT](INFO): DAT read: Range 11 to 50 : 31.6 m (Round-trip 42.2 ms) speed 0.4 m/s
2025-08-23T22:33:51.108Z,1755988431.108 [DAT](INFO): DAT read: user:1872>
2025-08-23T22:33:51.109Z,1755988431.109 [DAT](INFO): DAT read: Tx time:22:33:50.8949
2025-08-23T22:33:51.110Z,1755988431.110 [DAT](INFO): Ping request sent.
2025-08-23T22:33:51.110Z,1755988431.110 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:51.110Z,1755988431.110 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-23T22:33:51.111Z,1755988431.111 [DAT](INFO): direction in FSK: [0.986312,-0.107148,0.125333]
2025-08-23T22:33:51.111Z,1755988431.111 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:51.112Z,1755988431.112 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:51.140Z,1755988431.140 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:51.140Z,1755988431.140 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:51.149Z,1755988431.149 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.038903
2025-08-23T22:33:51.353Z,1755988431.353 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.242861
2025-08-23T22:33:51.420Z,1755988431.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.600000 m,
deltaT: 3.531817 s,
deltaX: -1.699999 m,
approachRate: -0.481338 m/s,
rangeRepo size: 4
2025-08-23T22:33:51.426Z,1755988431.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.403194 m,
bearing: 127.142657 deg,
lat: 36.779418 deg,
lon: -121.859538 deg,
deltaT: 3.531817 s,
deltaX: -1.689690 m,
approachRate: -0.478419 m/s,
posRepo size: 4
2025-08-23T22:33:51.426Z,1755988431.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.40 m.
2025-08-23T22:33:51.429Z,1755988431.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.403194 m,
nav range: 31.172529 m,
bearing: 127.226416 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.011166 deg/s,
cmd heading: 131.967410 deg,
new cmd heading: 131.978047 deg.
2025-08-23T22:33:51.438Z,1755988431.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303452 target range: 31.403194 and range: 31.60 m.
2025-08-23T22:33:51.603Z,1755988431.603 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.492745
2025-08-23T22:33:51.781Z,1755988431.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.40 m.
2025-08-23T22:33:51.784Z,1755988431.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.403194 m,
nav range: 30.973614 m,
bearing: 127.224691 deg,
approach rate: -0.549861 m/s,
LOS rate: -0.004800 deg/s,
cmd heading: 131.978051 deg,
new cmd heading: 131.974579 deg.
2025-08-23T22:33:51.785Z,1755988431.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303391 target range: 31.403194 and range: 31.60 m.
2025-08-23T22:33:51.855Z,1755988431.855 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.744701
2025-08-23T22:33:52.107Z,1755988432.107 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.996623
2025-08-23T22:33:52.160Z,1755988432.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:52.163Z,1755988432.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.40 m.
2025-08-23T22:33:52.166Z,1755988432.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.403194 m,
nav range: 30.795536 m,
bearing: 127.223369 deg,
approach rate: -0.466211 m/s,
LOS rate: -0.003483 deg/s,
cmd heading: 131.974582 deg,
new cmd heading: 131.971921 deg.
2025-08-23T22:33:52.167Z,1755988432.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303344 target range: 31.403194 and range: 31.60 m.
2025-08-23T22:33:52.362Z,1755988432.362 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.251826
2025-08-23T22:33:52.611Z,1755988432.611 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.500651
2025-08-23T22:33:52.621Z,1755988432.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.40 m.
2025-08-23T22:33:52.624Z,1755988432.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.403194 m,
nav range: 30.586468 m,
bearing: 127.218064 deg,
approach rate: -0.455954 m/s,
LOS rate: -0.011647 deg/s,
cmd heading: 131.971918 deg,
new cmd heading: 131.961237 deg.
2025-08-23T22:33:52.625Z,1755988432.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303158 target range: 31.403194 and range: 31.60 m.
2025-08-23T22:33:52.863Z,1755988432.863 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.752712
2025-08-23T22:33:52.964Z,1755988432.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.40 m.
2025-08-23T22:33:52.967Z,1755988432.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.403194 m,
nav range: 30.416451 m,
bearing: 127.213939 deg,
approach rate: -0.495759 m/s,
LOS rate: -0.012097 deg/s,
cmd heading: 131.961236 deg,
new cmd heading: 131.952938 deg.
2025-08-23T22:33:52.968Z,1755988432.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303013 target range: 31.403194 and range: 31.60 m.
2025-08-23T22:33:53.114Z,1755988433.114 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.004497
2025-08-23T22:33:53.357Z,1755988433.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.40 m.
2025-08-23T22:33:53.360Z,1755988433.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.403194 m,
nav range: 30.230827 m,
bearing: 127.209371 deg,
approach rate: -0.472860 m/s,
LOS rate: -0.011709 deg/s,
cmd heading: 131.952944 deg,
new cmd heading: 131.943751 deg.
2025-08-23T22:33:53.361Z,1755988433.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302853 target range: 31.403194 and range: 31.60 m.
2025-08-23T22:33:53.369Z,1755988433.369 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.258885
2025-08-23T22:33:53.619Z,1755988433.619 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.508597
2025-08-23T22:33:53.784Z,1755988433.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.40 m.
2025-08-23T22:33:53.786Z,1755988433.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.403194 m,
nav range: 30.030748 m,
bearing: 127.199020 deg,
approach rate: -0.468683 m/s,
LOS rate: -0.024407 deg/s,
cmd heading: 131.943750 deg,
new cmd heading: 131.922912 deg.
2025-08-23T22:33:53.787Z,1755988433.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302489 target range: 31.403194 and range: 31.60 m.
2025-08-23T22:33:53.872Z,1755988433.872 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.761569
2025-08-23T22:33:54.123Z,1755988434.123 [DAT](INFO): DAT read: Rx Time:22:33:53.3390
2025-08-23T22:33:54.123Z,1755988434.123 [DAT](INFO): Rx dataTimestamp_ set to:1755988434.123025
2025-08-23T22:33:54.124Z,1755988434.124 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.013942
2025-08-23T22:33:54.181Z,1755988434.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:54.184Z,1755988434.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.40 m.
2025-08-23T22:33:54.189Z,1755988434.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.403194 m,
nav range: 29.844509 m,
bearing: 127.189433 deg,
approach rate: -0.464669 m/s,
LOS rate: -0.024070 deg/s,
cmd heading: 131.922918 deg,
new cmd heading: 131.903623 deg.
2025-08-23T22:33:54.207Z,1755988434.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302153 target range: 31.403194 and range: 31.60 m.
2025-08-23T22:33:54.375Z,1755988434.375 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.264590
2025-08-23T22:33:54.632Z,1755988434.632 [DAT](INFO): DAT read: 22:33:53.3390 LVL= 21776, 28865, 22098, 32755, AGC= 58, IDX= 423, 0.23,-1.458,-3.115,-1.055,-1.622, PHS= 0.266,-1.448, 0.523, RAW= 156.9, 7.1, CAL= 156.3, 7.3, ROT= 353.7, -7.3
2025-08-23T22:33:54.633Z,1755988434.633 [DAT](INFO): got valid direction response:
22:33:53.3390 LVL= 21776, 28865, 22098, 32755, AGC= 58, IDX= 423, 0.23,-1.458,-3.115,-1.055,-1.622, PHS= 0.266,-1.448, 0.523, RAW= 156.9, 7.1, CAL= 156.3, 7.3, ROT= 353.7, -7.3
2025-08-23T22:33:54.634Z,1755988434.634 [DAT](INFO): DAT read: Bearing 303.0, -7.2 (Local)
2025-08-23T22:33:54.635Z,1755988434.635 [DAT](INFO): Local bearing/azimuth received:
Bearing 303.0, -7.2 (Local)
2025-08-23T22:33:54.636Z,1755988434.636 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (Round-trip 40.1 ms) speed 0.4 m/s
2025-08-23T22:33:54.637Z,1755988434.637 [DAT](INFO): DAT read: user:1873>
2025-08-23T22:33:54.638Z,1755988434.638 [DAT](INFO): DAT read: Tx time:22:33:54.4448
2025-08-23T22:33:54.638Z,1755988434.638 [DAT](INFO): Ping request sent.
2025-08-23T22:33:54.638Z,1755988434.638 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:54.638Z,1755988434.638 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-23T22:33:54.639Z,1755988434.639 [DAT](INFO): direction in FSK: [0.985904,-0.108845,0.127065]
2025-08-23T22:33:54.639Z,1755988434.639 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:54.640Z,1755988434.640 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:54.645Z,1755988434.645 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:54.645Z,1755988434.645 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:54.652Z,1755988434.652 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.014454
2025-08-23T22:33:54.740Z,1755988434.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.000000 m,
deltaT: 3.528094 s,
deltaX: -1.600000 m,
approachRate: -0.453503 m/s,
rangeRepo size: 4
2025-08-23T22:33:54.746Z,1755988434.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.813128 m,
bearing: 126.881497 deg,
lat: 36.779418 deg,
lon: -121.859537 deg,
deltaT: 3.528094 s,
deltaX: -1.590067 m,
approachRate: -0.450687 m/s,
posRepo size: 4
2025-08-23T22:33:54.747Z,1755988434.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:33:54.754Z,1755988434.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.813128 m,
nav range: 29.686255 m,
bearing: 127.097215 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.024070 deg/s,
cmd heading: 131.903630 deg,
new cmd heading: 131.876925 deg.
2025-08-23T22:33:54.755Z,1755988434.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301687 target range: 29.813128 and range: 30.00 m.
2025-08-23T22:33:54.879Z,1755988434.879 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.240910
2025-08-23T22:33:55.089Z,1755988435.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:33:55.092Z,1755988435.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.813128 m,
nav range: 29.495577 m,
bearing: 127.093073 deg,
approach rate: -0.545244 m/s,
LOS rate: -0.011920 deg/s,
cmd heading: 131.876924 deg,
new cmd heading: 131.868587 deg.
2025-08-23T22:33:55.093Z,1755988435.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301541 target range: 29.813128 and range: 30.00 m.
2025-08-23T22:33:55.132Z,1755988435.132 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.493953
2025-08-23T22:33:55.383Z,1755988435.383 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.745157
2025-08-23T22:33:55.561Z,1755988435.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:33:55.569Z,1755988435.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.813128 m,
nav range: 29.280266 m,
bearing: 127.077859 deg,
approach rate: -0.455801 m/s,
LOS rate: -0.032446 deg/s,
cmd heading: 131.868591 deg,
new cmd heading: 131.837937 deg.
2025-08-23T22:33:55.574Z,1755988435.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301006 target range: 29.813128 and range: 30.00 m.
2025-08-23T22:33:55.635Z,1755988435.635 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.997459
2025-08-23T22:33:55.887Z,1755988435.887 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.248720
2025-08-23T22:33:55.898Z,1755988435.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:33:55.901Z,1755988435.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.813128 m,
nav range: 29.119143 m,
bearing: 127.066255 deg,
approach rate: -0.478841 m/s,
LOS rate: -0.034677 deg/s,
cmd heading: 131.837937 deg,
new cmd heading: 131.814601 deg.
2025-08-23T22:33:55.918Z,1755988435.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300599 target range: 29.813128 and range: 30.00 m.
2025-08-23T22:33:56.142Z,1755988436.142 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.503754
2025-08-23T22:33:56.367Z,1755988436.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:56.369Z,1755988436.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:33:56.372Z,1755988436.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.813128 m,
nav range: 28.900135 m,
bearing: 127.050234 deg,
approach rate: -0.464908 m/s,
LOS rate: -0.034266 deg/s,
cmd heading: 131.814605 deg,
new cmd heading: 131.782321 deg.
2025-08-23T22:33:56.372Z,1755988436.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300035 target range: 29.813128 and range: 30.00 m.
2025-08-23T22:33:56.392Z,1755988436.392 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.754475
2025-08-23T22:33:56.643Z,1755988436.643 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.004733
2025-08-23T22:33:56.781Z,1755988436.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:33:56.788Z,1755988436.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.813128 m,
nav range: 28.719515 m,
bearing: 127.033672 deg,
approach rate: -0.438390 m/s,
LOS rate: -0.040450 deg/s,
cmd heading: 131.782326 deg,
new cmd heading: 131.748994 deg.
2025-08-23T22:33:56.789Z,1755988436.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299454 target range: 29.813128 and range: 30.00 m.
2025-08-23T22:33:56.895Z,1755988436.895 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.256739
2025-08-23T22:33:57.151Z,1755988437.151 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.512638
2025-08-23T22:33:57.167Z,1755988437.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:33:57.170Z,1755988437.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.813128 m,
nav range: 28.547031 m,
bearing: 127.017948 deg,
approach rate: -0.446278 m/s,
LOS rate: -0.040930 deg/s,
cmd heading: 131.748994 deg,
new cmd heading: 131.717356 deg.
2025-08-23T22:33:57.171Z,1755988437.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.298902 target range: 29.813128 and range: 30.00 m.
2025-08-23T22:33:57.403Z,1755988437.403 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.764637
2025-08-23T22:33:57.609Z,1755988437.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:33:57.612Z,1755988437.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.813128 m,
nav range: 28.338085 m,
bearing: 127.000612 deg,
approach rate: -0.472705 m/s,
LOS rate: -0.039509 deg/s,
cmd heading: 131.717357 deg,
new cmd heading: 131.682429 deg.
2025-08-23T22:33:57.613Z,1755988437.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.298292 target range: 29.813128 and range: 30.00 m.
2025-08-23T22:33:57.655Z,1755988437.655 [DAT](INFO): DAT read: Rx Time:22:33:56.8869
2025-08-23T22:33:57.655Z,1755988437.655 [DAT](INFO): Rx dataTimestamp_ set to:1755988437.654883
2025-08-23T22:33:57.656Z,1755988437.656 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.017798
2025-08-23T22:33:57.907Z,1755988437.907 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.269149
2025-08-23T22:33:58.033Z,1755988438.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m.
2025-08-23T22:33:58.039Z,1755988438.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.813128 m,
nav range: 28.150972 m,
bearing: 126.984869 deg,
approach rate: -0.442168 m/s,
LOS rate: -0.037450 deg/s,
cmd heading: 131.682427 deg,
new cmd heading: 131.650732 deg.
2025-08-23T22:33:58.040Z,1755988438.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.297739 target range: 29.813128 and range: 30.00 m.
2025-08-23T22:33:58.168Z,1755988438.168 [DAT](INFO): DAT read: 22:33:56.8869 LVL= 25904, 32753, 25218, 32755, AGC= 58, IDX= 417, 0.29, 2.322, 0.624, 2.744, 2.146, PHS= 0.278,-1.477, 0.554, RAW= 157.2, 6.8, CAL= 156.6, 6.8, ROT= 353.4, -6.8
2025-08-23T22:33:58.170Z,1755988438.170 [DAT](INFO): got valid direction response:
22:33:56.8869 LVL= 25904, 32753, 25218, 32755, AGC= 58, IDX= 417, 0.29, 2.322, 0.624, 2.744, 2.146, PHS= 0.278,-1.477, 0.554, RAW= 157.2, 6.8, CAL= 156.6, 6.8, ROT= 353.4, -6.8
2025-08-23T22:33:58.171Z,1755988438.171 [DAT](INFO): DAT read: Bearing 302.1, -7.8 (Local)
2025-08-23T22:33:58.172Z,1755988438.172 [DAT](INFO): Local bearing/azimuth received:
Bearing 302.1, -7.8 (Local)
2025-08-23T22:33:58.174Z,1755988438.174 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (Round-trip 37.9 ms) speed 0.4 m/s
2025-08-23T22:33:58.175Z,1755988438.175 [DAT](INFO): DAT read: user:1874>
2025-08-23T22:33:58.176Z,1755988438.176 [DAT](INFO): DAT read: Tx time:22:33:57.9948
2025-08-23T22:33:58.177Z,1755988438.177 [DAT](INFO): Ping request sent.
2025-08-23T22:33:58.177Z,1755988438.177 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:33:58.182Z,1755988438.182 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-23T22:33:58.184Z,1755988438.184 [DAT](INFO): direction in FSK: [0.986385,-0.114129,0.118404]
2025-08-23T22:33:58.184Z,1755988438.184 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:58.185Z,1755988438.185 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:58.196Z,1755988438.196 [DAT](INFO): publishing transmit ping time
2025-08-23T22:33:58.196Z,1755988438.196 [DAT](INFO): publishing direction and range info
2025-08-23T22:33:58.216Z,1755988438.216 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.039149
2025-08-23T22:33:58.411Z,1755988438.411 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.233799
2025-08-23T22:33:58.515Z,1755988438.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.400000 m,
deltaT: 3.534110 s,
deltaX: -1.600000 m,
approachRate: -0.452731 m/s,
rangeRepo size: 4
2025-08-23T22:33:58.523Z,1755988438.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.222841 m,
bearing: 126.473232 deg,
lat: 36.779418 deg,
lon: -121.859537 deg,
deltaT: 3.534110 s,
deltaX: -1.590286 m,
approachRate: -0.449982 m/s,
posRepo size: 4
2025-08-23T22:33:58.524Z,1755988438.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:33:58.539Z,1755988438.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 27.951296 m,
bearing: 126.936220 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.037450 deg/s,
cmd heading: 131.650735 deg,
new cmd heading: 131.615057 deg.
2025-08-23T22:33:58.540Z,1755988438.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.297116 target range: 28.222841 and range: 28.40 m.
2025-08-23T22:33:58.663Z,1755988438.663 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.486249
2025-08-23T22:33:58.848Z,1755988438.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:33:58.851Z,1755988438.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:33:58.854Z,1755988438.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 27.763515 m,
bearing: 126.924982 deg,
approach rate: -0.548008 m/s,
LOS rate: -0.033018 deg/s,
cmd heading: 131.615054 deg,
new cmd heading: 131.592426 deg.
2025-08-23T22:33:58.855Z,1755988438.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296721 target range: 28.222841 and range: 28.40 m.
2025-08-23T22:33:58.915Z,1755988438.915 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.738119
2025-08-23T22:33:59.167Z,1755988439.167 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.989711
2025-08-23T22:33:59.234Z,1755988439.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:33:59.236Z,1755988439.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 27.592312 m,
bearing: 126.914677 deg,
approach rate: -0.448028 m/s,
LOS rate: -0.027136 deg/s,
cmd heading: 131.592433 deg,
new cmd heading: 131.571694 deg.
2025-08-23T22:33:59.238Z,1755988439.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296359 target range: 28.222841 and range: 28.40 m.
2025-08-23T22:33:59.419Z,1755988439.419 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.242358
2025-08-23T22:33:59.655Z,1755988439.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:33:59.658Z,1755988439.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 27.399439 m,
bearing: 126.908239 deg,
approach rate: -0.457117 m/s,
LOS rate: -0.015366 deg/s,
cmd heading: 131.571696 deg,
new cmd heading: 131.558729 deg.
2025-08-23T22:33:59.659Z,1755988439.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296133 target range: 28.222841 and range: 28.40 m.
2025-08-23T22:33:59.671Z,1755988439.671 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.493886
2025-08-23T22:33:59.922Z,1755988439.922 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.745710
2025-08-23T22:34:00.043Z,1755988440.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:00.050Z,1755988440.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 27.236174 m,
bearing: 126.902917 deg,
approach rate: -0.421645 m/s,
LOS rate: -0.013827 deg/s,
cmd heading: 131.558732 deg,
new cmd heading: 131.548025 deg.
2025-08-23T22:34:00.051Z,1755988440.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295946 target range: 28.222841 and range: 28.40 m.
2025-08-23T22:34:00.175Z,1755988440.175 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.997727
2025-08-23T22:34:00.416Z,1755988440.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:00.419Z,1755988440.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 27.052303 m,
bearing: 126.896764 deg,
approach rate: -0.492649 m/s,
LOS rate: -0.016598 deg/s,
cmd heading: 131.548023 deg,
new cmd heading: 131.535633 deg.
2025-08-23T22:34:00.420Z,1755988440.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295730 target range: 28.222841 and range: 28.40 m.
2025-08-23T22:34:00.427Z,1755988440.427 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.249890
2025-08-23T22:34:00.679Z,1755988440.679 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.502355
2025-08-23T22:34:00.843Z,1755988440.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:00.846Z,1755988440.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 26.857048 m,
bearing: 126.891365 deg,
approach rate: -0.456677 m/s,
LOS rate: -0.012719 deg/s,
cmd heading: 131.535633 deg,
new cmd heading: 131.524756 deg.
2025-08-23T22:34:00.847Z,1755988440.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295540 target range: 28.222841 and range: 28.40 m.
2025-08-23T22:34:00.931Z,1755988440.931 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.753889
2025-08-23T22:34:01.183Z,1755988441.183 [DAT](INFO): DAT read: Rx Time:22:34:00.4347
2025-08-23T22:34:01.184Z,1755988441.184 [DAT](INFO): Rx dataTimestamp_ set to:1755988441.183375
2025-08-23T22:34:01.185Z,1755988441.185 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.007753
2025-08-23T22:34:01.260Z,1755988441.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:01.262Z,1755988441.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:01.265Z,1755988441.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 26.668434 m,
bearing: 126.886307 deg,
approach rate: -0.450987 m/s,
LOS rate: -0.012178 deg/s,
cmd heading: 131.524759 deg,
new cmd heading: 131.514573 deg.
2025-08-23T22:34:01.266Z,1755988441.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295362 target range: 28.222841 and range: 28.40 m.
2025-08-23T22:34:01.434Z,1755988441.434 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.257634
2025-08-23T22:34:01.701Z,1755988441.701 [DAT](INFO): DAT read: 22:34:00.4347 LVL= 22112, 27569, 21266, 32755, AGC= 57, IDX= 427, 0.19, 0.672,-1.008, 1.105, 0.504, PHS= 0.270,-1.467, 0.557, RAW= 157.5, 6.8, CAL= 156.9, 6.8, ROT= 353.1, -6.8
2025-08-23T22:34:01.703Z,1755988441.703 [DAT](INFO): got valid direction response:
22:34:00.4347 LVL= 22112, 27569, 21266, 32755, AGC= 57, IDX= 427, 0.19, 0.672,-1.008, 1.105, 0.504, PHS= 0.270,-1.467, 0.557, RAW= 157.5, 6.8, CAL= 156.9, 6.8, ROT= 353.1, -6.8
2025-08-23T22:34:01.703Z,1755988441.703 [DAT](INFO): #Rx 8: Read direction message, but no range.
2025-08-23T22:34:01.704Z,1755988441.704 [DAT](INFO): direction in FSK: [0.985774,-0.119291,0.118404]
2025-08-23T22:34:01.707Z,1755988441.707 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.530618
2025-08-23T22:34:01.750Z,1755988441.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:01.753Z,1755988441.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 26.453186 m,
bearing: 126.885981 deg,
approach rate: -0.448479 m/s,
LOS rate: -0.000685 deg/s,
cmd heading: 131.514568 deg,
new cmd heading: 131.513911 deg.
2025-08-23T22:34:01.758Z,1755988441.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295351 target range: 28.222841 and range: 28.40 m.
2025-08-23T22:34:01.939Z,1755988441.939 [DAT](INFO): DAT read: Bearing 302.0, -8.3 (Local)
2025-08-23T22:34:01.940Z,1755988441.940 [DAT](INFO): Local bearing/azimuth received:
Bearing 302.0, -8.3 (Local)
2025-08-23T22:34:01.941Z,1755988441.941 [DAT](INFO): DAT read: Range 11 to 50 : 26.8 m (Round-trip 35.8 ms) speed 0.4 m/s
2025-08-23T22:34:01.942Z,1755988441.942 [DAT](INFO): DAT read: user:1875>
2025-08-23T22:34:01.943Z,1755988441.943 [DAT](INFO): DAT read: Tx time:22:34:01.5448
2025-08-23T22:34:01.943Z,1755988441.943 [DAT](INFO): Ping request sent.
2025-08-23T22:34:01.943Z,1755988441.943 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:01.943Z,1755988441.943 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-08-23T22:34:01.943Z,1755988441.943 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:01.944Z,1755988441.944 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:01.945Z,1755988441.945 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.001835
2025-08-23T22:34:02.110Z,1755988442.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.799999 m,
deltaT: 3.778145 s,
deltaX: -1.600000 m,
approachRate: -0.423488 m/s,
rangeRepo size: 4
2025-08-23T22:34:02.111Z,1755988442.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:02.118Z,1755988442.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 26.282433 m,
bearing: 126.885743 deg,
approach rate: -0.470336 m/s,
LOS rate: -0.000661 deg/s,
cmd heading: 131.513913 deg,
new cmd heading: 131.513433 deg.
2025-08-23T22:34:02.119Z,1755988442.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295342 target range: 28.222841 and range: 26.80 m.
2025-08-23T22:34:02.192Z,1755988442.192 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.248650
2025-08-23T22:34:02.443Z,1755988442.443 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.499565
2025-08-23T22:34:02.502Z,1755988442.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:02.538Z,1755988442.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 26.098801 m,
bearing: 126.885623 deg,
approach rate: -0.464799 m/s,
LOS rate: -0.000305 deg/s,
cmd heading: 131.513435 deg,
new cmd heading: 131.513194 deg.
2025-08-23T22:34:02.541Z,1755988442.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295338 target range: 28.222841 and range: 26.80 m.
2025-08-23T22:34:02.695Z,1755988442.695 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.751658
2025-08-23T22:34:02.947Z,1755988442.947 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.003659
2025-08-23T22:34:02.955Z,1755988442.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:02.958Z,1755988442.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 25.889160 m,
bearing: 126.887903 deg,
approach rate: -0.460261 m/s,
LOS rate: 0.005045 deg/s,
cmd heading: 131.513189 deg,
new cmd heading: 131.517785 deg.
2025-08-23T22:34:02.959Z,1755988442.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295418 target range: 28.222841 and range: 26.80 m.
2025-08-23T22:34:03.200Z,1755988443.200 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.256271
2025-08-23T22:34:03.297Z,1755988443.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:03.299Z,1755988443.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:03.302Z,1755988443.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 25.730993 m,
bearing: 126.889618 deg,
approach rate: -0.460114 m/s,
LOS rate: 0.005022 deg/s,
cmd heading: 131.517779 deg,
new cmd heading: 131.521231 deg.
2025-08-23T22:34:03.303Z,1755988443.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295479 target range: 28.222841 and range: 26.80 m.
2025-08-23T22:34:03.451Z,1755988443.451 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.507642
2025-08-23T22:34:03.703Z,1755988443.703 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.759613
2025-08-23T22:34:03.731Z,1755988443.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:03.734Z,1755988443.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 25.537510 m,
bearing: 126.893966 deg,
approach rate: -0.447554 m/s,
LOS rate: 0.010132 deg/s,
cmd heading: 131.521235 deg,
new cmd heading: 131.529995 deg.
2025-08-23T22:34:03.735Z,1755988443.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295631 target range: 28.222841 and range: 26.80 m.
2025-08-23T22:34:03.955Z,1755988443.955 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.011625
2025-08-23T22:34:04.113Z,1755988444.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:04.116Z,1755988444.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 25.366890 m,
bearing: 126.897998 deg,
approach rate: -0.447369 m/s,
LOS rate: 0.010642 deg/s,
cmd heading: 131.529991 deg,
new cmd heading: 131.538109 deg.
2025-08-23T22:34:04.117Z,1755988444.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295773 target range: 28.222841 and range: 26.80 m.
2025-08-23T22:34:04.207Z,1755988444.207 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.264407
2025-08-23T22:34:04.458Z,1755988444.458 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.515556
2025-08-23T22:34:04.600Z,1755988444.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:04.607Z,1755988444.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 25.174438 m,
bearing: 126.902723 deg,
approach rate: -0.395162 m/s,
LOS rate: 0.009777 deg/s,
cmd heading: 131.538105 deg,
new cmd heading: 131.547629 deg.
2025-08-23T22:34:04.608Z,1755988444.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295939 target range: 28.222841 and range: 26.80 m.
2025-08-23T22:34:04.711Z,1755988444.711 [DAT](INFO): DAT read: Rx Time:22:34:03.9825
2025-08-23T22:34:04.711Z,1755988444.711 [DAT](INFO): Rx dataTimestamp_ set to:1755988444.711023
2025-08-23T22:34:04.712Z,1755988444.712 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.769321
2025-08-23T22:34:04.963Z,1755988444.963 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.019724
2025-08-23T22:34:04.974Z,1755988444.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:04.977Z,1755988444.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 24.982220 m,
bearing: 126.902588 deg,
approach rate: -0.513431 m/s,
LOS rate: -0.000364 deg/s,
cmd heading: 131.547627 deg,
new cmd heading: 131.547354 deg.
2025-08-23T22:34:04.978Z,1755988444.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295934 target range: 28.222841 and range: 26.80 m.
2025-08-23T22:34:05.217Z,1755988445.217 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.273888
2025-08-23T22:34:05.340Z,1755988445.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:05.342Z,1755988445.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-08-23T22:34:05.345Z,1755988445.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.222841 m,
nav range: 24.817705 m,
bearing: 126.902830 deg,
approach rate: -0.446667 m/s,
LOS rate: 0.000663 deg/s,
cmd heading: 131.547353 deg,
new cmd heading: 131.547842 deg.
2025-08-23T22:34:05.346Z,1755988445.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295943 target range: 28.222841 and range: 26.80 m.
2025-08-23T22:34:05.472Z,1755988445.472 [DAT](INFO): DAT read: 22:34:03.9825 LVL= 27120, 26737, 24642, 31923, AGC= 59, IDX= 420, 0.02,-1.950, 2.642,-1.513,-2.086, PHS= 0.238,-1.510, 0.529, RAW= 157.6, 7.8, CAL= 157.1, 8.1, ROT= 352.9, -8.1
2025-08-23T22:34:05.473Z,1755988445.473 [DAT](INFO): got valid direction response:
22:34:03.9825 LVL= 27120, 26737, 24642, 31923, AGC= 59, IDX= 420, 0.02,-1.950, 2.642,-1.513,-2.086, PHS= 0.238,-1.510, 0.529, RAW= 157.6, 7.8, CAL= 157.1, 8.1, ROT= 352.9, -8.1
2025-08-23T22:34:05.474Z,1755988445.474 [DAT](INFO): DAT read: Bearing 303.1, -8.7 (Local)
2025-08-23T22:34:05.474Z,1755988445.474 [DAT](INFO): Local bearing/azimuth received:
Bearing 303.1, -8.7 (Local)
2025-08-23T22:34:05.476Z,1755988445.476 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (Round-trip 33.5 ms) speed 0.4 m/s
2025-08-23T22:34:05.476Z,1755988445.476 [DAT](INFO): DAT read: user:1876>
2025-08-23T22:34:05.477Z,1755988445.477 [DAT](INFO): DAT read: Tx time:22:34:05.0963
2025-08-23T22:34:05.477Z,1755988445.477 [DAT](INFO): Ping request sent.
2025-08-23T22:34:05.478Z,1755988445.478 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:05.478Z,1755988445.478 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-23T22:34:05.479Z,1755988445.479 [DAT](INFO): direction in FSK: [0.982432,-0.122368,0.140901]
2025-08-23T22:34:05.479Z,1755988445.479 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:05.479Z,1755988445.479 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:05.483Z,1755988445.483 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:05.483Z,1755988445.483 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:05.486Z,1755988445.486 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.008636
2025-08-23T22:34:05.719Z,1755988445.719 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.241003
2025-08-23T22:34:05.774Z,1755988445.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.100000 m,
deltaT: 3.527637 s,
deltaX: -1.699999 m,
approachRate: -0.481909 m/s,
rangeRepo size: 4
2025-08-23T22:34:05.776Z,1755988445.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.943174 m,
bearing: 125.720067 deg,
lat: 36.779419 deg,
lon: -121.859537 deg,
deltaT: 7.305782 s,
deltaX: -3.279667 m,
approachRate: -0.448914 m/s,
posRepo size: 4
2025-08-23T22:34:05.777Z,1755988445.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-23T22:34:05.796Z,1755988445.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.943174 m,
nav range: 24.608667 m,
bearing: 126.678053 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000663 deg/s,
cmd heading: 131.547845 deg,
new cmd heading: 131.548416 deg.
2025-08-23T22:34:05.797Z,1755988445.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295953 target range: 24.943174 and range: 25.10 m.
2025-08-23T22:34:05.970Z,1755988445.970 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.492852
2025-08-23T22:34:06.167Z,1755988446.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-23T22:34:06.170Z,1755988446.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.943174 m,
nav range: 24.425756 m,
bearing: 126.670861 deg,
approach rate: -0.464155 m/s,
LOS rate: -0.018389 deg/s,
cmd heading: 131.548419 deg,
new cmd heading: 131.533926 deg.
2025-08-23T22:34:06.171Z,1755988446.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295700 target range: 24.943174 and range: 25.10 m.
2025-08-23T22:34:06.224Z,1755988446.224 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.746164
2025-08-23T22:34:06.475Z,1755988446.475 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.996906
2025-08-23T22:34:06.557Z,1755988446.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-23T22:34:06.602Z,1755988446.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.943174 m,
nav range: 24.240854 m,
bearing: 126.663518 deg,
approach rate: -0.474227 m/s,
LOS rate: -0.018975 deg/s,
cmd heading: 131.533925 deg,
new cmd heading: 131.519129 deg.
2025-08-23T22:34:06.612Z,1755988446.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295442 target range: 24.943174 and range: 25.10 m.
2025-08-23T22:34:06.727Z,1755988446.727 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.249177
2025-08-23T22:34:06.979Z,1755988446.979 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.500960
2025-08-23T22:34:07.012Z,1755988447.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-23T22:34:07.020Z,1755988447.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.943174 m,
nav range: 24.046198 m,
bearing: 126.651969 deg,
approach rate: -0.428104 m/s,
LOS rate: -0.025607 deg/s,
cmd heading: 131.519131 deg,
new cmd heading: 131.495845 deg.
2025-08-23T22:34:07.029Z,1755988447.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295035 target range: 24.943174 and range: 25.10 m.
2025-08-23T22:34:07.231Z,1755988447.231 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.752908
2025-08-23T22:34:07.383Z,1755988447.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:07.386Z,1755988447.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-23T22:34:07.388Z,1755988447.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.943174 m,
nav range: 23.868174 m,
bearing: 126.641531 deg,
approach rate: -0.476266 m/s,
LOS rate: -0.028134 deg/s,
cmd heading: 131.495840 deg,
new cmd heading: 131.474808 deg.
2025-08-23T22:34:07.389Z,1755988447.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.294668 target range: 24.943174 and range: 25.10 m.
2025-08-23T22:34:07.483Z,1755988447.483 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.005032
2025-08-23T22:34:07.734Z,1755988447.734 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.256815
2025-08-23T22:34:07.808Z,1755988447.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-23T22:34:07.811Z,1755988447.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.943174 m,
nav range: 23.672586 m,
bearing: 126.628404 deg,
approach rate: -0.462441 m/s,
LOS rate: -0.031293 deg/s,
cmd heading: 131.474803 deg,
new cmd heading: 131.448332 deg.
2025-08-23T22:34:07.812Z,1755988447.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.294206 target range: 24.943174 and range: 25.10 m.
2025-08-23T22:34:07.988Z,1755988447.988 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.510316
2025-08-23T22:34:08.175Z,1755988448.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-23T22:34:08.180Z,1755988448.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.943174 m,
nav range: 23.509563 m,
bearing: 126.617469 deg,
approach rate: -0.444579 m/s,
LOS rate: -0.030026 deg/s,
cmd heading: 131.448329 deg,
new cmd heading: 131.426309 deg.
2025-08-23T22:34:08.181Z,1755988448.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293822 target range: 24.943174 and range: 25.10 m.
2025-08-23T22:34:08.239Z,1755988448.239 [DAT](INFO): DAT read: Rx Time:22:34:07.5319
2025-08-23T22:34:08.240Z,1755988448.240 [DAT](INFO): Rx dataTimestamp_ set to:1755988448.239491
2025-08-23T22:34:08.241Z,1755988448.241 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.762924
2025-08-23T22:34:08.491Z,1755988448.491 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.013838
2025-08-23T22:34:08.583Z,1755988448.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-23T22:34:08.622Z,1755988448.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.943174 m,
nav range: 23.330025 m,
bearing: 126.605428 deg,
approach rate: -0.439800 m/s,
LOS rate: -0.029723 deg/s,
cmd heading: 131.426309 deg,
new cmd heading: 131.402041 deg.
2025-08-23T22:34:08.630Z,1755988448.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293398 target range: 24.943174 and range: 25.10 m.
2025-08-23T22:34:08.749Z,1755988448.749 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.271404
2025-08-23T22:34:09.023Z,1755988449.023 [DAT](INFO): DAT read: 22:34:07.5319 LVL= 24208, 26097, 23602, 32755, AGC= 56, IDX= 414, 0.07, 2.064, 0.393, 2.481, 1.924, PHS= 0.242,-1.486, 0.513, RAW= 157.2, 7.8, CAL= 156.7, 8.1, ROT= 353.3, -8.1
2025-08-23T22:34:09.024Z,1755988449.024 [DAT](INFO): got valid direction response:
22:34:07.5319 LVL= 24208, 26097, 23602, 32755, AGC= 56, IDX= 414, 0.07, 2.064, 0.393, 2.481, 1.924, PHS= 0.242,-1.486, 0.513, RAW= 157.2, 7.8, CAL= 156.7, 8.1, ROT= 353.3, -8.1
2025-08-23T22:34:09.025Z,1755988449.025 [DAT](INFO): DAT read: Bearing 303.0, -8.5 (Local)
2025-08-23T22:34:09.060Z,1755988449.060 [DAT](INFO): Local bearing/azimuth received:
Bearing 303.0, -8.5 (Local)
2025-08-23T22:34:09.066Z,1755988449.066 [DAT](INFO): DAT read: Range 11 to 50 : 23.5 m (Round-trip 31.4 ms) speed 0.4 m/s
2025-08-23T22:34:09.067Z,1755988449.067 [DAT](INFO): DAT read: user:1877>
2025-08-23T22:34:09.068Z,1755988449.068 [DAT](INFO): DAT read: Invalid Command
2025-08-23T22:34:09.068Z,1755988449.068 [DAT](INFO): unknown deviceResponse_: Invalid Command
2025-08-23T22:34:09.068Z,1755988449.068 [DAT](INFO): DAT read:
2025-08-23T22:34:09.069Z,1755988449.069 [DAT](INFO): DAT read: user:1878>
2025-08-23T22:34:09.074Z,1755988449.074 [DAT](INFO): DAT read: Tx time:22:34:08.7448
2025-08-23T22:34:09.074Z,1755988449.074 [DAT](INFO): Ping request sent.
2025-08-23T22:34:09.074Z,1755988449.074 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:09.074Z,1755988449.074 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-23T22:34:09.075Z,1755988449.075 [DAT](INFO): direction in FSK: [0.983262,-0.115507,0.140901]
2025-08-23T22:34:09.076Z,1755988449.076 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:09.076Z,1755988449.076 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:09.099Z,1755988449.099 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:09.100Z,1755988449.100 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:09.115Z,1755988449.115 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.041007
2025-08-23T22:34:09.129Z,1755988449.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.500000 m,
deltaT: 3.533994 s,
deltaX: -1.600000 m,
approachRate: -0.452746 m/s,
rangeRepo size: 4
2025-08-23T22:34:09.136Z,1755988449.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.353125 m,
bearing: 125.925221 deg,
lat: 36.779419 deg,
lon: -121.859534 deg,
deltaT: 3.533994 s,
deltaX: -1.590050 m,
approachRate: -0.449930 m/s,
posRepo size: 4
2025-08-23T22:34:09.136Z,1755988449.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-23T22:34:09.154Z,1755988449.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.353125 m,
nav range: 23.278046 m,
bearing: 126.253437 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.029723 deg/s,
cmd heading: 131.402048 deg,
new cmd heading: 131.369649 deg.
2025-08-23T22:34:09.155Z,1755988449.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.292833 target range: 23.353125 and range: 23.50 m.
2025-08-23T22:34:09.251Z,1755988449.251 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.176646
2025-08-23T22:34:09.463Z,1755988449.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:09.468Z,1755988449.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-23T22:34:09.471Z,1755988449.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.353125 m,
nav range: 23.106504 m,
bearing: 126.234738 deg,
approach rate: -0.505066 m/s,
LOS rate: -0.055463 deg/s,
cmd heading: 131.369646 deg,
new cmd heading: 131.331971 deg.
2025-08-23T22:34:09.472Z,1755988449.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.292175 target range: 23.353125 and range: 23.50 m.
2025-08-23T22:34:09.504Z,1755988449.504 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.429631
2025-08-23T22:34:09.755Z,1755988449.755 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.680314
2025-08-23T22:34:09.866Z,1755988449.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-23T22:34:09.869Z,1755988449.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.353125 m,
nav range: 22.922569 m,
bearing: 126.211852 deg,
approach rate: -0.462362 m/s,
LOS rate: -0.057991 deg/s,
cmd heading: 131.331970 deg,
new cmd heading: 131.285831 deg.
2025-08-23T22:34:09.870Z,1755988449.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.291370 target range: 23.353125 and range: 23.50 m.
2025-08-23T22:34:10.008Z,1755988450.008 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.933499
2025-08-23T22:34:10.250Z,1755988450.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-23T22:34:10.252Z,1755988450.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.353125 m,
nav range: 22.750116 m,
bearing: 126.190314 deg,
approach rate: -0.449543 m/s,
LOS rate: -0.056570 deg/s,
cmd heading: 131.285825 deg,
new cmd heading: 131.242423 deg.
2025-08-23T22:34:10.254Z,1755988450.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290612 target range: 23.353125 and range: 23.50 m.
2025-08-23T22:34:10.259Z,1755988450.259 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.184516
2025-08-23T22:34:10.511Z,1755988450.511 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.436615
2025-08-23T22:34:10.763Z,1755988450.763 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.688586
2025-08-23T22:34:10.810Z,1755988450.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-23T22:34:10.812Z,1755988450.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.353125 m,
nav range: 22.493460 m,
bearing: 126.168361 deg,
approach rate: -0.458297 m/s,
LOS rate: -0.039647 deg/s,
cmd heading: 131.242426 deg,
new cmd heading: 131.198020 deg.
2025-08-23T22:34:10.814Z,1755988450.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289837 target range: 23.353125 and range: 23.50 m.
2025-08-23T22:34:11.015Z,1755988451.015 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.940367
2025-08-23T22:34:11.231Z,1755988451.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-23T22:34:11.234Z,1755988451.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.353125 m,
nav range: 22.300554 m,
bearing: 126.151642 deg,
approach rate: -0.457526 m/s,
LOS rate: -0.039997 deg/s,
cmd heading: 131.198017 deg,
new cmd heading: 131.164289 deg.
2025-08-23T22:34:11.235Z,1755988451.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289249 target range: 23.353125 and range: 23.50 m.
2025-08-23T22:34:11.267Z,1755988451.267 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.192588
2025-08-23T22:34:11.519Z,1755988451.519 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.444414
2025-08-23T22:34:11.588Z,1755988451.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:11.597Z,1755988451.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-23T22:34:11.600Z,1755988451.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.353125 m,
nav range: 22.143312 m,
bearing: 126.137870 deg,
approach rate: -0.438322 m/s,
LOS rate: -0.038664 deg/s,
cmd heading: 131.164289 deg,
new cmd heading: 131.136549 deg.
2025-08-23T22:34:11.600Z,1755988451.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288764 target range: 23.353125 and range: 23.50 m.
2025-08-23T22:34:11.771Z,1755988451.771 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.697247
2025-08-23T22:34:12.007Z,1755988452.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-23T22:34:12.014Z,1755988452.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.353125 m,
nav range: 21.960989 m,
bearing: 126.122479 deg,
approach rate: -0.436631 m/s,
LOS rate: -0.037164 deg/s,
cmd heading: 131.136545 deg,
new cmd heading: 131.105507 deg.
2025-08-23T22:34:12.015Z,1755988452.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288223 target range: 23.353125 and range: 23.50 m.
2025-08-23T22:34:12.023Z,1755988452.023 [DAT](INFO): DAT read: Rx Time:22:34:11.1782
2025-08-23T22:34:12.023Z,1755988452.023 [DAT](INFO): Rx dataTimestamp_ set to:1755988452.022823
2025-08-23T22:34:12.024Z,1755988452.024 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.949490
2025-08-23T22:34:12.275Z,1755988452.275 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.200695
2025-08-23T22:34:12.462Z,1755988452.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.35 m.
2025-08-23T22:34:12.465Z,1755988452.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.353125 m,
nav range: 21.749636 m,
bearing: 126.104668 deg,
approach rate: -0.464722 m/s,
LOS rate: -0.039544 deg/s,
cmd heading: 131.105508 deg,
new cmd heading: 131.069540 deg.
2025-08-23T22:34:12.466Z,1755988452.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287595 target range: 23.353125 and range: 23.50 m.
2025-08-23T22:34:12.535Z,1755988452.535 [DAT](INFO): DAT read: 22:34:11.1782 LVL= 21088, 29233, 20786, 32755, AGC= 53, IDX= 424, 0.18,-0.458,-2.132,-0.042,-0.601, PHS= 0.245,-1.486, 0.515, RAW= 157.1, 7.8, CAL= 156.7, 8.0, ROT= 353.3, -8.0
2025-08-23T22:34:12.536Z,1755988452.536 [DAT](INFO): got valid direction response:
22:34:11.1782 LVL= 21088, 29233, 20786, 32755, AGC= 53, IDX= 424, 0.18,-0.458,-2.132,-0.042,-0.601, PHS= 0.245,-1.486, 0.515, RAW= 157.1, 7.8, CAL= 156.7, 8.0, ROT= 353.3, -8.0
2025-08-23T22:34:12.537Z,1755988452.537 [DAT](INFO): DAT read: Bearing 302.6, -8.7 (Local)
2025-08-23T22:34:12.537Z,1755988452.537 [DAT](INFO): Local bearing/azimuth received:
Bearing 302.6, -8.7 (Local)
2025-08-23T22:34:12.539Z,1755988452.539 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (Round-trip 29.2 ms) speed 0.4 m/s
2025-08-23T22:34:12.539Z,1755988452.539 [DAT](INFO): DAT read: user:1879>
2025-08-23T22:34:12.540Z,1755988452.540 [DAT](INFO): DAT read: Tx time:22:34:12.2948
2025-08-23T22:34:12.540Z,1755988452.540 [DAT](INFO): Ping request sent.
2025-08-23T22:34:12.540Z,1755988452.540 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:12.541Z,1755988452.541 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-23T22:34:12.542Z,1755988452.542 [DAT](INFO): direction in FSK: [0.983505,-0.115536,0.139173]
2025-08-23T22:34:12.543Z,1755988452.543 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:12.543Z,1755988452.543 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:12.546Z,1755988452.546 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:12.546Z,1755988452.546 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:12.550Z,1755988452.550 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.008915
2025-08-23T22:34:12.779Z,1755988452.779 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.238193
2025-08-23T22:34:12.922Z,1755988452.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.900000 m,
deltaT: 3.526613 s,
deltaX: -1.600000 m,
approachRate: -0.453693 m/s,
rangeRepo size: 4
2025-08-23T22:34:12.924Z,1755988452.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.763092 m,
bearing: 125.783221 deg,
lat: 36.779419 deg,
lon: -121.859534 deg,
deltaT: 3.526613 s,
deltaX: -1.590033 m,
approachRate: -0.450867 m/s,
posRepo size: 4
2025-08-23T22:34:12.925Z,1755988452.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m.
2025-08-23T22:34:12.928Z,1755988452.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.763092 m,
nav range: 21.583260 m,
bearing: 125.965377 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.039544 deg/s,
cmd heading: 131.069541 deg,
new cmd heading: 131.035405 deg.
2025-08-23T22:34:12.929Z,1755988452.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286999 target range: 21.763092 and range: 21.90 m.
2025-08-23T22:34:13.031Z,1755988453.031 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.490247
2025-08-23T22:34:13.273Z,1755988453.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m.
2025-08-23T22:34:13.276Z,1755988453.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.763092 m,
nav range: 21.401400 m,
bearing: 125.954431 deg,
approach rate: -0.479423 m/s,
LOS rate: -0.029102 deg/s,
cmd heading: 131.035403 deg,
new cmd heading: 131.013325 deg.
2025-08-23T22:34:13.277Z,1755988453.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286614 target range: 21.763092 and range: 21.90 m.
2025-08-23T22:34:13.283Z,1755988453.283 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.742274
2025-08-23T22:34:13.535Z,1755988453.535 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.994719
2025-08-23T22:34:13.677Z,1755988453.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:13.680Z,1755988453.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m.
2025-08-23T22:34:13.714Z,1755988453.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.763092 m,
nav range: 21.214882 m,
bearing: 125.943114 deg,
approach rate: -0.459381 m/s,
LOS rate: -0.028119 deg/s,
cmd heading: 131.013328 deg,
new cmd heading: 130.990495 deg.
2025-08-23T22:34:13.722Z,1755988453.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286215 target range: 21.763092 and range: 21.90 m.
2025-08-23T22:34:13.787Z,1755988453.787 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.246975
2025-08-23T22:34:14.039Z,1755988454.039 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.498148
2025-08-23T22:34:14.100Z,1755988454.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m.
2025-08-23T22:34:14.118Z,1755988454.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.763092 m,
nav range: 21.021063 m,
bearing: 125.940294 deg,
approach rate: -0.461057 m/s,
LOS rate: -0.006770 deg/s,
cmd heading: 130.990488 deg,
new cmd heading: 130.984796 deg.
2025-08-23T22:34:14.119Z,1755988454.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286116 target range: 21.763092 and range: 21.90 m.
2025-08-23T22:34:14.290Z,1755988454.290 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.750047
2025-08-23T22:34:14.491Z,1755988454.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m.
2025-08-23T22:34:14.511Z,1755988454.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.763092 m,
nav range: 20.844328 m,
bearing: 125.937977 deg,
approach rate: -0.451890 m/s,
LOS rate: -0.005976 deg/s,
cmd heading: 130.984792 deg,
new cmd heading: 130.980117 deg.
2025-08-23T22:34:14.512Z,1755988454.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286034 target range: 21.763092 and range: 21.90 m.
2025-08-23T22:34:14.543Z,1755988454.543 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.002749
2025-08-23T22:34:14.795Z,1755988454.795 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.254207
2025-08-23T22:34:14.915Z,1755988454.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m.
2025-08-23T22:34:14.918Z,1755988454.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.763092 m,
nav range: 20.652977 m,
bearing: 125.940407 deg,
approach rate: -0.450979 m/s,
LOS rate: 0.005782 deg/s,
cmd heading: 130.980120 deg,
new cmd heading: 130.985026 deg.
2025-08-23T22:34:14.919Z,1755988454.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286120 target range: 21.763092 and range: 21.90 m.
2025-08-23T22:34:15.047Z,1755988455.047 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.506105
2025-08-23T22:34:15.299Z,1755988455.299 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.758184
2025-08-23T22:34:15.312Z,1755988455.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m.
2025-08-23T22:34:15.315Z,1755988455.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.763092 m,
nav range: 20.486921 m,
bearing: 125.942732 deg,
approach rate: -0.420722 m/s,
LOS rate: 0.005937 deg/s,
cmd heading: 130.985024 deg,
new cmd heading: 130.989710 deg.
2025-08-23T22:34:15.316Z,1755988455.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286202 target range: 21.763092 and range: 21.90 m.
2025-08-23T22:34:15.551Z,1755988455.551 [DAT](INFO): DAT read: Rx Time:22:34:14.7260
2025-08-23T22:34:15.552Z,1755988455.552 [DAT](INFO): Rx dataTimestamp_ set to:1755988455.551416
2025-08-23T22:34:15.552Z,1755988455.552 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.011867
2025-08-23T22:34:15.700Z,1755988455.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:15.721Z,1755988455.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m.
2025-08-23T22:34:15.744Z,1755988455.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.763092 m,
nav range: 20.306030 m,
bearing: 125.945569 deg,
approach rate: -0.441456 m/s,
LOS rate: 0.006986 deg/s,
cmd heading: 130.989709 deg,
new cmd heading: 130.995435 deg.
2025-08-23T22:34:15.752Z,1755988455.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286302 target range: 21.763092 and range: 21.90 m.
2025-08-23T22:34:15.803Z,1755988455.803 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.262249
2025-08-23T22:34:16.060Z,1755988456.060 [DAT](INFO): DAT read: 22:34:14.7260 LVL= 21840, 25761, 22386, 32755, AGC= 56, IDX= 418, 0.09,-0.452,-2.104,-0.031,-0.569, PHS= 0.219,-1.490, 0.494, RAW= 157.3, 8.4, CAL= 157.0, 8.8, ROT= 353.0, -8.8
2025-08-23T22:34:16.061Z,1755988456.061 [DAT](INFO): got valid direction response:
22:34:14.7260 LVL= 21840, 25761, 22386, 32755, AGC= 56, IDX= 418, 0.09,-0.452,-2.104,-0.031,-0.569, PHS= 0.219,-1.490, 0.494, RAW= 157.3, 8.4, CAL= 157.0, 8.8, ROT= 353.0, -8.8
2025-08-23T22:34:16.066Z,1755988456.066 [DAT](INFO): DAT read: Bearing 303.3, -9.3 (Local)
2025-08-23T22:34:16.066Z,1755988456.066 [DAT](INFO): Local bearing/azimuth received:
Bearing 303.3, -9.3 (Local)
2025-08-23T22:34:16.068Z,1755988456.068 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (Round-trip 27.1 ms) speed 0.4 m/s
2025-08-23T22:34:16.069Z,1755988456.069 [DAT](INFO): DAT read: user:1880>
2025-08-23T22:34:16.086Z,1755988456.086 [DAT](INFO): DAT read: Tx time:22:34:15.8448
2025-08-23T22:34:16.086Z,1755988456.086 [DAT](INFO): Ping request sent.
2025-08-23T22:34:16.086Z,1755988456.086 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:16.086Z,1755988456.086 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-23T22:34:16.087Z,1755988456.087 [DAT](INFO): direction in FSK: [0.980862,-0.120435,0.152986]
2025-08-23T22:34:16.088Z,1755988456.088 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:16.088Z,1755988456.088 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:16.091Z,1755988456.091 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:16.091Z,1755988456.091 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:16.107Z,1755988456.107 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.020694
2025-08-23T22:34:16.130Z,1755988456.130 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:34:16.248Z,1755988456.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.299999 m,
deltaT: 3.527409 s,
deltaX: -1.600000 m,
approachRate: -0.453591 m/s,
rangeRepo size: 4
2025-08-23T22:34:16.254Z,1755988456.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.173140 m,
bearing: 125.331682 deg,
lat: 36.779420 deg,
lon: -121.859532 deg,
deltaT: 3.527409 s,
deltaX: -1.589952 m,
approachRate: -0.450742 m/s,
posRepo size: 4
2025-08-23T22:34:16.255Z,1755988456.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m.
2025-08-23T22:34:16.262Z,1755988456.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.173140 m,
nav range: 20.107307 m,
bearing: 125.509035 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.006986 deg/s,
cmd heading: 130.995433 deg,
new cmd heading: 131.002808 deg.
2025-08-23T22:34:16.263Z,1755988456.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286430 target range: 20.173140 and range: 20.30 m.
2025-08-23T22:34:16.307Z,1755988456.307 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.220619
2025-08-23T22:34:16.559Z,1755988456.559 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.472791
2025-08-23T22:34:16.609Z,1755988456.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m.
2025-08-23T22:34:16.612Z,1755988456.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.173140 m,
nav range: 19.928865 m,
bearing: 125.506734 deg,
approach rate: -0.493054 m/s,
LOS rate: -0.006415 deg/s,
cmd heading: 131.002810 deg,
new cmd heading: 130.998166 deg.
2025-08-23T22:34:16.613Z,1755988456.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286349 target range: 20.173140 and range: 20.30 m.
2025-08-23T22:34:16.814Z,1755988456.814 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.727642
2025-08-23T22:34:17.062Z,1755988457.062 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.976417
2025-08-23T22:34:17.073Z,1755988457.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m.
2025-08-23T22:34:17.080Z,1755988457.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.173140 m,
nav range: 19.724976 m,
bearing: 125.511176 deg,
approach rate: -0.439878 m/s,
LOS rate: 0.009681 deg/s,
cmd heading: 130.998165 deg,
new cmd heading: 131.007140 deg.
2025-08-23T22:34:17.080Z,1755988457.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286506 target range: 20.173140 and range: 20.30 m.
2025-08-23T22:34:17.134Z,1755988457.134 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:34:17.315Z,1755988457.315 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.229065
2025-08-23T22:34:17.428Z,1755988457.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m.
2025-08-23T22:34:17.431Z,1755988457.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.173140 m,
nav range: 19.555649 m,
bearing: 125.515009 deg,
approach rate: -0.476303 m/s,
LOS rate: 0.010875 deg/s,
cmd heading: 131.007140 deg,
new cmd heading: 131.014872 deg.
2025-08-23T22:34:17.432Z,1755988457.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286641 target range: 20.173140 and range: 20.30 m.
2025-08-23T22:34:17.566Z,1755988457.566 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.480443
2025-08-23T22:34:17.819Z,1755988457.819 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.732621
2025-08-23T22:34:17.866Z,1755988457.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:17.869Z,1755988457.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m.
2025-08-23T22:34:17.871Z,1755988457.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.173140 m,
nav range: 19.357552 m,
bearing: 125.515339 deg,
approach rate: -0.449779 m/s,
LOS rate: 0.000758 deg/s,
cmd heading: 131.014872 deg,
new cmd heading: 131.015539 deg.
2025-08-23T22:34:17.872Z,1755988457.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286653 target range: 20.173140 and range: 20.30 m.
2025-08-23T22:34:18.070Z,1755988458.070 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.984384
2025-08-23T22:34:18.246Z,1755988458.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m.
2025-08-23T22:34:18.249Z,1755988458.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.173140 m,
nav range: 19.187454 m,
bearing: 125.515655 deg,
approach rate: -0.450994 m/s,
LOS rate: 0.000844 deg/s,
cmd heading: 131.015541 deg,
new cmd heading: 131.016178 deg.
2025-08-23T22:34:18.250Z,1755988458.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286664 target range: 20.173140 and range: 20.30 m.
2025-08-23T22:34:18.324Z,1755988458.324 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.237673
2025-08-23T22:34:18.575Z,1755988458.575 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.488582
2025-08-23T22:34:18.666Z,1755988458.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m.
2025-08-23T22:34:18.669Z,1755988458.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.173140 m,
nav range: 18.997990 m,
bearing: 125.516013 deg,
approach rate: -0.450321 m/s,
LOS rate: 0.000860 deg/s,
cmd heading: 131.016183 deg,
new cmd heading: 131.016907 deg.
2025-08-23T22:34:18.671Z,1755988458.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286676 target range: 20.173140 and range: 20.30 m.
2025-08-23T22:34:18.827Z,1755988458.827 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.740474
2025-08-23T22:34:19.038Z,1755988459.038 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 80.80, 78.76, 83.18
2025-08-23T22:34:19.053Z,1755988459.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m.
2025-08-23T22:34:19.056Z,1755988459.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.173140 m,
nav range: 18.824057 m,
bearing: 125.516555 deg,
approach rate: -0.450041 m/s,
LOS rate: 0.001415 deg/s,
cmd heading: 131.016907 deg,
new cmd heading: 131.018001 deg.
2025-08-23T22:34:19.057Z,1755988459.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286695 target range: 20.173140 and range: 20.30 m.
2025-08-23T22:34:19.079Z,1755988459.079 [DAT](INFO): DAT read: Rx Time:22:34:18.2737
2025-08-23T22:34:19.079Z,1755988459.079 [DAT](INFO): Rx dataTimestamp_ set to:1755988459.078887
2025-08-23T22:34:19.080Z,1755988459.080 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.993703
2025-08-23T22:34:19.331Z,1755988459.331 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.245205
2025-08-23T22:34:19.462Z,1755988459.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m.
2025-08-23T22:34:19.467Z,1755988459.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.173140 m,
nav range: 18.641697 m,
bearing: 125.517124 deg,
approach rate: -0.447129 m/s,
LOS rate: 0.001409 deg/s,
cmd heading: 131.018000 deg,
new cmd heading: 131.019149 deg.
2025-08-23T22:34:19.469Z,1755988459.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286716 target range: 20.173140 and range: 20.30 m.
2025-08-23T22:34:19.592Z,1755988459.592 [DAT](INFO): DAT read: 22:34:18.2737 LVL= 21392, 25409, 20402, 32243, AGC= 55, IDX= 411, 0.01, 2.369, 0.709, 2.740, 2.269, PHS= 0.202,-1.514, 0.427, RAW= 156.1, 9.7, CAL= 155.9, 10.4, ROT= 354.1, -10.4
2025-08-23T22:34:19.594Z,1755988459.594 [DAT](INFO): got valid direction response:
22:34:18.2737 LVL= 21392, 25409, 20402, 32243, AGC= 55, IDX= 411, 0.01, 2.369, 0.709, 2.740, 2.269, PHS= 0.202,-1.514, 0.427, RAW= 156.1, 9.7, CAL= 155.9, 10.4, ROT= 354.1, -10.4
2025-08-23T22:34:19.596Z,1755988459.596 [DAT](INFO): DAT read: Bearing 305.0, -8.2 (Local)
2025-08-23T22:34:19.596Z,1755988459.596 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.0, -8.2 (Local)
2025-08-23T22:34:19.598Z,1755988459.598 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (Round-trip 24.9 ms) speed 0.4 m/s
2025-08-23T22:34:19.599Z,1755988459.599 [DAT](INFO): DAT read: user:1881>
2025-08-23T22:34:19.600Z,1755988459.600 [DAT](INFO): DAT read: Tx time:22:34:19.3947
2025-08-23T22:34:19.601Z,1755988459.601 [DAT](INFO): Ping request sent.
2025-08-23T22:34:19.601Z,1755988459.601 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:19.605Z,1755988459.605 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-23T22:34:19.606Z,1755988459.606 [DAT](INFO): direction in FSK: [0.978361,-0.101104,0.180519]
2025-08-23T22:34:19.607Z,1755988459.607 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:19.607Z,1755988459.607 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:19.614Z,1755988459.614 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:19.614Z,1755988459.614 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:19.619Z,1755988459.619 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.017675
2025-08-23T22:34:19.836Z,1755988459.836 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.235412
2025-08-23T22:34:19.960Z,1755988459.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 3.528479 s,
deltaX: -1.699999 m,
approachRate: -0.481794 m/s,
rangeRepo size: 4
2025-08-23T22:34:19.969Z,1755988459.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.483728 m,
bearing: 126.345378 deg,
lat: 36.779420 deg,
lon: -121.859532 deg,
deltaT: 3.528479 s,
deltaX: -1.689411 m,
approachRate: -0.478793 m/s,
posRepo size: 4
2025-08-23T22:34:19.974Z,1755988459.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:34:19.991Z,1755988459.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.483728 m,
nav range: 18.419312 m,
bearing: 125.513070 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001409 deg/s,
cmd heading: 131.019148 deg,
new cmd heading: 131.020535 deg.
2025-08-23T22:34:19.994Z,1755988459.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286740 target range: 18.483728 and range: 18.60 m.
2025-08-23T22:34:20.087Z,1755988460.087 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.486255
2025-08-23T22:34:20.339Z,1755988460.339 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.737672
2025-08-23T22:34:20.355Z,1755988460.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:20.358Z,1755988460.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:34:20.360Z,1755988460.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.483728 m,
nav range: 18.226112 m,
bearing: 125.509468 deg,
approach rate: -0.477776 m/s,
LOS rate: -0.009002 deg/s,
cmd heading: 131.020541 deg,
new cmd heading: 131.013261 deg.
2025-08-23T22:34:20.362Z,1755988460.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286613 target range: 18.483728 and range: 18.60 m.
2025-08-23T22:34:20.591Z,1755988460.591 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.989634
2025-08-23T22:34:20.788Z,1755988460.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:34:20.830Z,1755988460.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.483728 m,
nav range: 18.033598 m,
bearing: 125.505802 deg,
approach rate: -0.448367 m/s,
LOS rate: -0.008629 deg/s,
cmd heading: 131.013260 deg,
new cmd heading: 131.005850 deg.
2025-08-23T22:34:20.838Z,1755988460.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286484 target range: 18.483728 and range: 18.60 m.
2025-08-23T22:34:20.843Z,1755988460.843 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.241713
2025-08-23T22:34:21.096Z,1755988461.096 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.494838
2025-08-23T22:34:21.234Z,1755988461.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:34:21.236Z,1755988461.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.483728 m,
nav range: 17.816502 m,
bearing: 125.488234 deg,
approach rate: -0.486239 m/s,
LOS rate: -0.039827 deg/s,
cmd heading: 131.005856 deg,
new cmd heading: 130.970292 deg.
2025-08-23T22:34:21.237Z,1755988461.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285863 target range: 18.483728 and range: 18.60 m.
2025-08-23T22:34:21.347Z,1755988461.347 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.745617
2025-08-23T22:34:21.592Z,1755988461.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:34:21.599Z,1755988461.599 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.997781
2025-08-23T22:34:21.603Z,1755988461.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.483728 m,
nav range: 17.653536 m,
bearing: 125.474952 deg,
approach rate: -0.454825 m/s,
LOS rate: -0.037412 deg/s,
cmd heading: 130.970298 deg,
new cmd heading: 130.943488 deg.
2025-08-23T22:34:21.604Z,1755988461.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285395 target range: 18.483728 and range: 18.60 m.
2025-08-23T22:34:21.856Z,1755988461.856 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.254409
2025-08-23T22:34:22.022Z,1755988462.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:34:22.025Z,1755988462.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.483728 m,
nav range: 17.455324 m,
bearing: 125.454708 deg,
approach rate: -0.460320 m/s,
LOS rate: -0.047548 deg/s,
cmd heading: 130.943483 deg,
new cmd heading: 130.902535 deg.
2025-08-23T22:34:22.026Z,1755988462.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284680 target range: 18.483728 and range: 18.60 m.
2025-08-23T22:34:22.104Z,1755988462.104 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.502622
2025-08-23T22:34:22.358Z,1755988462.358 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.756820
2025-08-23T22:34:22.405Z,1755988462.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:22.409Z,1755988462.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:34:22.412Z,1755988462.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.483728 m,
nav range: 17.280031 m,
bearing: 125.436586 deg,
approach rate: -0.453390 m/s,
LOS rate: -0.047348 deg/s,
cmd heading: 130.902529 deg,
new cmd heading: 130.865917 deg.
2025-08-23T22:34:22.413Z,1755988462.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284041 target range: 18.483728 and range: 18.60 m.
2025-08-23T22:34:22.606Z,1755988462.606 [DAT](INFO): DAT read: Rx Time:22:34:21.8215
2025-08-23T22:34:22.607Z,1755988462.607 [DAT](INFO): Rx dataTimestamp_ set to:1755988462.606640
2025-08-23T22:34:22.607Z,1755988462.607 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.006562
2025-08-23T22:34:22.796Z,1755988462.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-23T22:34:22.800Z,1755988462.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.483728 m,
nav range: 17.103960 m,
bearing: 125.418118 deg,
approach rate: -0.455024 m/s,
LOS rate: -0.048216 deg/s,
cmd heading: 130.865919 deg,
new cmd heading: 130.828604 deg.
2025-08-23T22:34:22.803Z,1755988462.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283390 target range: 18.483728 and range: 18.60 m.
2025-08-23T22:34:22.863Z,1755988462.863 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.261646
2025-08-23T22:34:23.116Z,1755988463.116 [DAT](INFO): DAT read: 22:34:21.8215 LVL= 22848, 24545, 22450, 28899, AGC= 53, IDX= 421, 0.18, 0.783,-0.911, 1.149, 0.688, PHS= 0.197,-1.554, 0.418, RAW= 155.9, 10.1, CAL= 155.7, 10.9, ROT= 354.3, -10.9
2025-08-23T22:34:23.117Z,1755988463.117 [DAT](INFO): got valid direction response:
22:34:21.8215 LVL= 22848, 24545, 22450, 28899, AGC= 53, IDX= 421, 0.18, 0.783,-0.911, 1.149, 0.688, PHS= 0.197,-1.554, 0.418, RAW= 155.9, 10.1, CAL= 155.7, 10.9, ROT= 354.3, -10.9
2025-08-23T22:34:23.118Z,1755988463.118 [DAT](INFO): DAT read: Bearing 305.9, -8.2 (Local)
2025-08-23T22:34:23.119Z,1755988463.119 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.9, -8.2 (Local)
2025-08-23T22:34:23.120Z,1755988463.120 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (Round-trip 22.7 ms) speed 0.4 m/s
2025-08-23T22:34:23.121Z,1755988463.121 [DAT](INFO): DAT read: user:1882>
2025-08-23T22:34:23.122Z,1755988463.122 [DAT](INFO): DAT read: Tx time:22:34:22.9447
2025-08-23T22:34:23.124Z,1755988463.124 [DAT](INFO): Ping request sent.
2025-08-23T22:34:23.124Z,1755988463.124 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:23.142Z,1755988463.142 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-23T22:34:23.143Z,1755988463.143 [DAT](INFO): direction in FSK: [0.977103,-0.097528,0.189095]
2025-08-23T22:34:23.143Z,1755988463.143 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:23.143Z,1755988463.143 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:23.171Z,1755988463.171 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:23.171Z,1755988463.171 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:23.185Z,1755988463.185 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.061353
2025-08-23T22:34:23.334Z,1755988463.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.000000 m,
deltaT: 3.527581 s,
deltaX: -1.600000 m,
approachRate: -0.453569 m/s,
rangeRepo size: 4
2025-08-23T22:34:23.336Z,1755988463.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.893702 m,
bearing: 126.438643 deg,
lat: 36.779419 deg,
lon: -121.859534 deg,
deltaT: 3.527581 s,
deltaX: -1.590027 m,
approachRate: -0.450741 m/s,
posRepo size: 4
2025-08-23T22:34:23.337Z,1755988463.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:34:23.344Z,1755988463.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.893702 m,
nav range: 16.829174 m,
bearing: 125.915663 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.048216 deg/s,
cmd heading: 130.828599 deg,
new cmd heading: 130.777558 deg.
2025-08-23T22:34:23.345Z,1755988463.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282499 target range: 16.893702 and range: 17.00 m.
2025-08-23T22:34:23.363Z,1755988463.363 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.239013
2025-08-23T22:34:23.615Z,1755988463.615 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.491625
2025-08-23T22:34:23.693Z,1755988463.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:34:23.696Z,1755988463.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.893702 m,
nav range: 16.650442 m,
bearing: 125.901742 deg,
approach rate: -0.485847 m/s,
LOS rate: -0.038246 deg/s,
cmd heading: 130.777564 deg,
new cmd heading: 130.749424 deg.
2025-08-23T22:34:23.697Z,1755988463.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282008 target range: 16.893702 and range: 17.00 m.
2025-08-23T22:34:23.870Z,1755988463.870 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.745458
2025-08-23T22:34:24.119Z,1755988464.119 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.995004
2025-08-23T22:34:24.154Z,1755988464.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:34:24.157Z,1755988464.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.893702 m,
nav range: 16.444492 m,
bearing: 125.898245 deg,
approach rate: -0.446342 m/s,
LOS rate: -0.007675 deg/s,
cmd heading: 130.749423 deg,
new cmd heading: 130.742341 deg.
2025-08-23T22:34:24.180Z,1755988464.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281884 target range: 16.893702 and range: 17.00 m.
2025-08-23T22:34:24.371Z,1755988464.371 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.247113
2025-08-23T22:34:24.518Z,1755988464.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:24.520Z,1755988464.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:34:24.539Z,1755988464.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.893702 m,
nav range: 16.281244 m,
bearing: 125.895553 deg,
approach rate: -0.446361 m/s,
LOS rate: -0.007435 deg/s,
cmd heading: 130.742347 deg,
new cmd heading: 130.736909 deg.
2025-08-23T22:34:24.540Z,1755988464.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281790 target range: 16.893702 and range: 17.00 m.
2025-08-23T22:34:24.624Z,1755988464.624 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.500442
2025-08-23T22:34:24.877Z,1755988464.877 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.752964
2025-08-23T22:34:25.045Z,1755988465.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:34:25.065Z,1755988465.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.893702 m,
nav range: 16.046051 m,
bearing: 125.893689 deg,
approach rate: -0.448077 m/s,
LOS rate: -0.003603 deg/s,
cmd heading: 130.736910 deg,
new cmd heading: 130.733128 deg.
2025-08-23T22:34:25.070Z,1755988465.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281723 target range: 16.893702 and range: 17.00 m.
2025-08-23T22:34:25.128Z,1755988465.128 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.003840
2025-08-23T22:34:25.366Z,1755988465.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:34:25.369Z,1755988465.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.893702 m,
nav range: 15.902400 m,
bearing: 125.892597 deg,
approach rate: -0.447583 m/s,
LOS rate: -0.003432 deg/s,
cmd heading: 130.733127 deg,
new cmd heading: 130.730924 deg.
2025-08-23T22:34:25.374Z,1755988465.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281685 target range: 16.893702 and range: 17.00 m.
2025-08-23T22:34:25.379Z,1755988465.379 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.255660
2025-08-23T22:34:25.631Z,1755988465.631 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.506989
2025-08-23T22:34:25.773Z,1755988465.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:34:25.775Z,1755988465.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.893702 m,
nav range: 15.720392 m,
bearing: 125.891215 deg,
approach rate: -0.447704 m/s,
LOS rate: -0.003440 deg/s,
cmd heading: 130.730927 deg,
new cmd heading: 130.728130 deg.
2025-08-23T22:34:25.776Z,1755988465.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281636 target range: 16.893702 and range: 17.00 m.
2025-08-23T22:34:25.885Z,1755988465.885 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.761426
2025-08-23T22:34:26.135Z,1755988466.135 [DAT](INFO): DAT read: Rx Time:22:34:25.3694
2025-08-23T22:34:26.135Z,1755988466.135 [DAT](INFO): Rx dataTimestamp_ set to:1755988466.134800
2025-08-23T22:34:26.136Z,1755988466.136 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.012142
2025-08-23T22:34:26.236Z,1755988466.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:34:26.239Z,1755988466.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.893702 m,
nav range: 15.520355 m,
bearing: 125.882285 deg,
approach rate: -0.433940 m/s,
LOS rate: -0.019622 deg/s,
cmd heading: 130.728127 deg,
new cmd heading: 130.710036 deg.
2025-08-23T22:34:26.240Z,1755988466.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281321 target range: 16.893702 and range: 17.00 m.
2025-08-23T22:34:26.387Z,1755988466.387 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.263227
2025-08-23T22:34:26.566Z,1755988466.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:26.576Z,1755988466.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-23T22:34:26.611Z,1755988466.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.893702 m,
nav range: 15.361007 m,
bearing: 125.875267 deg,
approach rate: -0.468303 m/s,
LOS rate: -0.020837 deg/s,
cmd heading: 130.710040 deg,
new cmd heading: 130.695860 deg.
2025-08-23T22:34:26.620Z,1755988466.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281073 target range: 16.893702 and range: 17.00 m.
2025-08-23T22:34:26.647Z,1755988466.647 [DAT](INFO): DAT read: 22:34:25.3694 LVL= 21280, 23201, 22706, 28563, AGC= 53, IDX= 415, 0.35,-1.306,-2.966,-0.964,-1.354, PHS= 0.150,-1.567, 0.346, RAW= 155.3, 11.7, CAL= 155.4, 13.0, ROT= 354.6, -13.0
2025-08-23T22:34:26.648Z,1755988466.648 [DAT](INFO): got valid direction response:
22:34:25.3694 LVL= 21280, 23201, 22706, 28563, AGC= 53, IDX= 415, 0.35,-1.306,-2.966,-0.964,-1.354, PHS= 0.150,-1.567, 0.346, RAW= 155.3, 11.7, CAL= 155.4, 13.0, ROT= 354.6, -13.0
2025-08-23T22:34:26.649Z,1755988466.649 [DAT](INFO): DAT read: Bearing 308.1, -8.0 (Local)
2025-08-23T22:34:26.650Z,1755988466.650 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.1, -8.0 (Local)
2025-08-23T22:34:26.651Z,1755988466.651 [DAT](INFO): DAT read: Range 11 to 50 : 15.4 m (Round-trip 20.6 ms) speed 0.4 m/s
2025-08-23T22:34:26.652Z,1755988466.652 [DAT](INFO): DAT read: user:1883>
2025-08-23T22:34:26.652Z,1755988466.652 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-23T22:34:26.658Z,1755988466.658 [DAT](INFO): direction in FSK: [0.970046,-0.091696,0.224951]
2025-08-23T22:34:26.658Z,1755988466.658 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:26.669Z,1755988466.669 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.537712
2025-08-23T22:34:26.894Z,1755988466.894 [DAT](INFO): DAT read: Tx time:22:34:26.4947
2025-08-23T22:34:26.895Z,1755988466.895 [DAT](INFO): Ping request sent.
2025-08-23T22:34:26.895Z,1755988466.895 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:26.896Z,1755988466.896 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:26.899Z,1755988466.899 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.003487
2025-08-23T22:34:27.050Z,1755988467.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.400000 m,
deltaT: 3.528069 s,
deltaX: -1.600000 m,
approachRate: -0.453506 m/s,
rangeRepo size: 4
2025-08-23T22:34:27.052Z,1755988467.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.303703 m,
bearing: 126.609734 deg,
lat: 36.779419 deg,
lon: -121.859535 deg,
deltaT: 3.528069 s,
deltaX: -1.589998 m,
approachRate: -0.450671 m/s,
posRepo size: 4
2025-08-23T22:34:27.052Z,1755988467.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-23T22:34:27.059Z,1755988467.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.303703 m,
nav range: 15.117964 m,
bearing: 126.296249 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.020837 deg/s,
cmd heading: 130.695861 deg,
new cmd heading: 130.676225 deg.
2025-08-23T22:34:27.060Z,1755988467.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280730 target range: 15.303703 and range: 15.40 m.
2025-08-23T22:34:27.143Z,1755988467.143 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.248398
2025-08-23T22:34:27.395Z,1755988467.395 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.499582
2025-08-23T22:34:27.433Z,1755988467.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-23T22:34:27.436Z,1755988467.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.303703 m,
nav range: 14.936128 m,
bearing: 126.294874 deg,
approach rate: -0.469032 m/s,
LOS rate: -0.003592 deg/s,
cmd heading: 130.676231 deg,
new cmd heading: 130.673446 deg.
2025-08-23T22:34:27.437Z,1755988467.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280682 target range: 15.303703 and range: 15.40 m.
2025-08-23T22:34:27.647Z,1755988467.647 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.751570
2025-08-23T22:34:27.831Z,1755988467.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-23T22:34:27.833Z,1755988467.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.303703 m,
nav range: 14.766011 m,
bearing: 126.293818 deg,
approach rate: -0.427486 m/s,
LOS rate: -0.002682 deg/s,
cmd heading: 130.673444 deg,
new cmd heading: 130.671310 deg.
2025-08-23T22:34:27.838Z,1755988467.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280645 target range: 15.303703 and range: 15.40 m.
2025-08-23T22:34:27.903Z,1755988467.903 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.007304
2025-08-23T22:34:28.151Z,1755988468.151 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.255981
2025-08-23T22:34:28.223Z,1755988468.223 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,32768,V
2025-08-23T22:34:28.255Z,1755988468.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-23T22:34:28.261Z,1755988468.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.303703 m,
nav range: 14.573128 m,
bearing: 126.293060 deg,
approach rate: -0.454434 m/s,
LOS rate: -0.001810 deg/s,
cmd heading: 130.671313 deg,
new cmd heading: 130.669777 deg.
2025-08-23T22:34:28.262Z,1755988468.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280618 target range: 15.303703 and range: 15.40 m.
2025-08-23T22:34:28.403Z,1755988468.403 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.507574
2025-08-23T22:34:28.629Z,1755988468.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:28.631Z,1755988468.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-23T22:34:28.634Z,1755988468.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.303703 m,
nav range: 14.407292 m,
bearing: 126.292533 deg,
approach rate: -0.440972 m/s,
LOS rate: -0.001417 deg/s,
cmd heading: 130.669783 deg,
new cmd heading: 130.668718 deg.
2025-08-23T22:34:28.635Z,1755988468.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280599 target range: 15.303703 and range: 15.40 m.
2025-08-23T22:34:28.655Z,1755988468.655 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.759612
2025-08-23T22:34:28.910Z,1755988468.910 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.014988
2025-08-23T22:34:29.069Z,1755988469.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-23T22:34:29.072Z,1755988469.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.303703 m,
nav range: 14.204926 m,
bearing: 126.287680 deg,
approach rate: -0.462390 m/s,
LOS rate: -0.011247 deg/s,
cmd heading: 130.668718 deg,
new cmd heading: 130.658873 deg.
2025-08-23T22:34:29.073Z,1755988469.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280427 target range: 15.303703 and range: 15.40 m.
2025-08-23T22:34:29.163Z,1755988469.163 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.267860
2025-08-23T22:34:29.411Z,1755988469.411 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.515571
2025-08-23T22:34:29.482Z,1755988469.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-23T22:34:29.485Z,1755988469.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.303703 m,
nav range: 14.019545 m,
bearing: 126.283247 deg,
approach rate: -0.453294 m/s,
LOS rate: -0.010985 deg/s,
cmd heading: 130.658869 deg,
new cmd heading: 130.649884 deg.
2025-08-23T22:34:29.486Z,1755988469.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280271 target range: 15.303703 and range: 15.40 m.
2025-08-23T22:34:29.666Z,1755988469.666 [DAT](INFO): DAT read: Rx Time:22:34:28.9172
2025-08-23T22:34:29.666Z,1755988469.666 [DAT](INFO): Rx dataTimestamp_ set to:1755988469.665834
2025-08-23T22:34:29.667Z,1755988469.667 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.771775
2025-08-23T22:34:29.850Z,1755988469.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-23T22:34:29.853Z,1755988469.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.303703 m,
nav range: 13.844507 m,
bearing: 126.279422 deg,
approach rate: -0.469714 m/s,
LOS rate: -0.010393 deg/s,
cmd heading: 130.649880 deg,
new cmd heading: 130.642134 deg.
2025-08-23T22:34:29.858Z,1755988469.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280135 target range: 15.303703 and range: 15.40 m.
2025-08-23T22:34:29.916Z,1755988469.916 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.020649
2025-08-23T22:34:30.181Z,1755988470.181 [DAT](INFO): DAT read: 22:34:28.9172 LVL= 20976, 24881, 23538, 32099, AGC= 51, IDX= 426,-0.33, 1.847, 0.163, 2.097, 1.773, PHS= 0.177,-1.565, 0.280, RAW= 152.9, 12.3, CAL= 152.9, 13.7, ROT= 357.1, -13.7
2025-08-23T22:34:30.200Z,1755988470.200 [DAT](INFO): got valid direction response:
22:34:28.9172 LVL= 20976, 24881, 23538, 32099, AGC= 51, IDX= 426,-0.33, 1.847, 0.163, 2.097, 1.773, PHS= 0.177,-1.565, 0.280, RAW= 152.9, 12.3, CAL= 152.9, 13.7, ROT= 357.1, -13.7
2025-08-23T22:34:30.201Z,1755988470.201 [DAT](INFO): DAT read: Bearing 308.6, -5.5 (Local)
2025-08-23T22:34:30.202Z,1755988470.202 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.6, -5.5 (Local)
2025-08-23T22:34:30.204Z,1755988470.204 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (Round-trip 18.4 ms) speed 0.4 m/s
2025-08-23T22:34:30.205Z,1755988470.205 [DAT](INFO): DAT read: user:1884>
2025-08-23T22:34:30.207Z,1755988470.207 [DAT](INFO): DAT read: Tx time:22:34:30.0447
2025-08-23T22:34:30.207Z,1755988470.207 [DAT](INFO): Ping request sent.
2025-08-23T22:34:30.208Z,1755988470.208 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:30.208Z,1755988470.208 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-23T22:34:30.225Z,1755988470.225 [DAT](INFO): direction in FSK: [0.970305,-0.049154,0.236838]
2025-08-23T22:34:30.226Z,1755988470.226 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:30.226Z,1755988470.226 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:30.229Z,1755988470.229 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:30.229Z,1755988470.229 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:30.233Z,1755988470.233 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.025110
2025-08-23T22:34:30.358Z,1755988470.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 3.529503 s,
deltaX: -1.599999 m,
approachRate: -0.453321 m/s,
rangeRepo size: 4
2025-08-23T22:34:30.367Z,1755988470.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.713747 m,
bearing: 128.885172 deg,
lat: 36.779419 deg,
lon: -121.859535 deg,
deltaT: 3.529503 s,
deltaX: -1.589956 m,
approachRate: -0.450476 m/s,
posRepo size: 4
2025-08-23T22:34:30.368Z,1755988470.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:34:30.374Z,1755988470.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.713747 m,
nav range: 13.582383 m,
bearing: 126.440717 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010393 deg/s,
cmd heading: 130.642135 deg,
new cmd heading: 130.631676 deg.
2025-08-23T22:34:30.375Z,1755988470.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279953 target range: 13.713747 and range: 13.80 m.
2025-08-23T22:34:30.419Z,1755988470.419 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.211138
2025-08-23T22:34:30.671Z,1755988470.671 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.463151
2025-08-23T22:34:30.703Z,1755988470.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:30.705Z,1755988470.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:34:30.708Z,1755988470.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.713747 m,
nav range: 13.409402 m,
bearing: 126.436663 deg,
approach rate: -0.491745 m/s,
LOS rate: -0.011675 deg/s,
cmd heading: 130.631671 deg,
new cmd heading: 130.623457 deg.
2025-08-23T22:34:30.709Z,1755988470.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279809 target range: 13.713747 and range: 13.80 m.
2025-08-23T22:34:30.926Z,1755988470.926 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.717306
2025-08-23T22:34:31.132Z,1755988471.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:34:31.139Z,1755988471.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.713747 m,
nav range: 13.218347 m,
bearing: 126.430235 deg,
approach rate: -0.447505 m/s,
LOS rate: -0.015274 deg/s,
cmd heading: 130.623461 deg,
new cmd heading: 130.610419 deg.
2025-08-23T22:34:31.140Z,1755988471.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279582 target range: 13.713747 and range: 13.80 m.
2025-08-23T22:34:31.175Z,1755988471.175 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.967110
2025-08-23T22:34:31.438Z,1755988471.438 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.229904
2025-08-23T22:34:31.510Z,1755988471.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:34:31.513Z,1755988471.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.713747 m,
nav range: 13.035257 m,
bearing: 126.423819 deg,
approach rate: -0.484370 m/s,
LOS rate: -0.017212 deg/s,
cmd heading: 130.610415 deg,
new cmd heading: 130.597403 deg.
2025-08-23T22:34:31.514Z,1755988471.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279355 target range: 13.713747 and range: 13.80 m.
2025-08-23T22:34:31.686Z,1755988471.686 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.478993
2025-08-23T22:34:31.940Z,1755988471.940 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.732670
2025-08-23T22:34:31.942Z,1755988471.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:34:31.947Z,1755988471.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.713747 m,
nav range: 12.840394 m,
bearing: 126.416789 deg,
approach rate: -0.457721 m/s,
LOS rate: -0.016763 deg/s,
cmd heading: 130.597397 deg,
new cmd heading: 130.583124 deg.
2025-08-23T22:34:31.949Z,1755988471.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279105 target range: 13.713747 and range: 13.80 m.
2025-08-23T22:34:32.191Z,1755988472.191 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.983870
2025-08-23T22:34:32.368Z,1755988472.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:34:32.371Z,1755988472.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.713747 m,
nav range: 12.644538 m,
bearing: 126.406382 deg,
approach rate: -0.453109 m/s,
LOS rate: -0.024451 deg/s,
cmd heading: 130.583122 deg,
new cmd heading: 130.561984 deg.
2025-08-23T22:34:32.372Z,1755988472.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278737 target range: 13.713747 and range: 13.80 m.
2025-08-23T22:34:32.445Z,1755988472.445 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.236805
2025-08-23T22:34:32.695Z,1755988472.695 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.487064
2025-08-23T22:34:32.749Z,1755988472.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:32.751Z,1755988472.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:34:32.758Z,1755988472.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.713747 m,
nav range: 12.477217 m,
bearing: 126.397428 deg,
approach rate: -0.436590 m/s,
LOS rate: -0.023675 deg/s,
cmd heading: 130.561989 deg,
new cmd heading: 130.543843 deg.
2025-08-23T22:34:32.759Z,1755988472.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278420 target range: 13.713747 and range: 13.80 m.
2025-08-23T22:34:32.948Z,1755988472.948 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.740418
2025-08-23T22:34:33.186Z,1755988473.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:34:33.190Z,1755988473.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.713747 m,
nav range: 12.275044 m,
bearing: 126.405376 deg,
approach rate: -0.466057 m/s,
LOS rate: 0.018624 deg/s,
cmd heading: 130.543848 deg,
new cmd heading: 130.560006 deg.
2025-08-23T22:34:33.192Z,1755988473.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278702 target range: 13.713747 and range: 13.80 m.
2025-08-23T22:34:33.199Z,1755988473.199 [DAT](INFO): DAT read: Rx Time:22:34:32.4652
2025-08-23T22:34:33.200Z,1755988473.200 [DAT](INFO): Rx dataTimestamp_ set to:1755988473.199606
2025-08-23T22:34:33.201Z,1755988473.201 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.993330
2025-08-23T22:34:33.452Z,1755988473.452 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.243848
2025-08-23T22:34:33.560Z,1755988473.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-23T22:34:33.566Z,1755988473.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.713747 m,
nav range: 12.104533 m,
bearing: 126.412078 deg,
approach rate: -0.455295 m/s,
LOS rate: 0.018145 deg/s,
cmd heading: 130.560009 deg,
new cmd heading: 130.573600 deg.
2025-08-23T22:34:33.569Z,1755988473.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278939 target range: 13.713747 and range: 13.80 m.
2025-08-23T22:34:33.720Z,1755988473.720 [DAT](INFO): DAT read: 22:34:32.4652 LVL= 27104, 32337, 25570, 32755, AGC= 52, IDX= 420,-0.11, 0.182,-1.504, 0.430, 0.145, PHS= 0.139,-1.604, 0.241, RAW= 152.8, 13.5, CAL= 153.0, 15.2, ROT= 357.0, -15.2
2025-08-23T22:34:33.721Z,1755988473.721 [DAT](INFO): got valid direction response:
22:34:32.4652 LVL= 27104, 32337, 25570, 32755, AGC= 52, IDX= 420,-0.11, 0.182,-1.504, 0.430, 0.145, PHS= 0.139,-1.604, 0.241, RAW= 152.8, 13.5, CAL= 153.0, 15.2, ROT= 357.0, -15.2
2025-08-23T22:34:33.732Z,1755988473.732 [DAT](INFO): DAT read: Bearing 310.1, -5.5 (Local)
2025-08-23T22:34:33.733Z,1755988473.733 [DAT](INFO): Local bearing/azimuth received:
Bearing 310.1, -5.5 (Local)
2025-08-23T22:34:33.734Z,1755988473.734 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (Round-trip 16.4 ms) speed 0.4 m/s
2025-08-23T22:34:33.735Z,1755988473.735 [DAT](INFO): DAT read: user:1885>
2025-08-23T22:34:33.738Z,1755988473.738 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-23T22:34:33.740Z,1755988473.740 [DAT](INFO): direction in FSK: [0.963694,-0.050505,0.262189]
2025-08-23T22:34:33.740Z,1755988473.740 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:33.784Z,1755988473.784 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.575961
2025-08-23T22:34:33.956Z,1755988473.956 [DAT](INFO): DAT read: Tx time:22:34:33.5947
2025-08-23T22:34:33.956Z,1755988473.956 [DAT](INFO): Ping request sent.
2025-08-23T22:34:33.956Z,1755988473.956 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:33.956Z,1755988473.956 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:33.957Z,1755988473.957 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.000763
2025-08-23T22:34:34.057Z,1755988474.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 3.536020 s,
deltaX: -1.500000 m,
approachRate: -0.424206 m/s,
rangeRepo size: 4
2025-08-23T22:34:34.063Z,1755988474.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.223068 m,
bearing: 128.776689 deg,
lat: 36.779418 deg,
lon: -121.859535 deg,
deltaT: 3.536020 s,
deltaX: -1.490679 m,
approachRate: -0.421570 m/s,
posRepo size: 4
2025-08-23T22:34:34.064Z,1755988474.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:34:34.071Z,1755988474.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.223068 m,
nav range: 11.927617 m,
bearing: 126.623591 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.018145 deg/s,
cmd heading: 130.573601 deg,
new cmd heading: 130.591613 deg.
2025-08-23T22:34:34.072Z,1755988474.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279254 target range: 12.223068 and range: 12.30 m.
2025-08-23T22:34:34.208Z,1755988474.208 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.251388
2025-08-23T22:34:34.450Z,1755988474.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:34:34.459Z,1755988474.459 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.502621
2025-08-23T22:34:34.460Z,1755988474.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.223068 m,
nav range: 11.726069 m,
bearing: 126.630367 deg,
approach rate: -0.517843 m/s,
LOS rate: 0.017708 deg/s,
cmd heading: 130.591619 deg,
new cmd heading: 130.605402 deg.
2025-08-23T22:34:34.461Z,1755988474.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279494 target range: 12.223068 and range: 12.30 m.
2025-08-23T22:34:34.715Z,1755988474.715 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.758209
2025-08-23T22:34:34.819Z,1755988474.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:34.821Z,1755988474.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:34:34.824Z,1755988474.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.223068 m,
nav range: 11.556454 m,
bearing: 126.636286 deg,
approach rate: -0.451495 m/s,
LOS rate: 0.015987 deg/s,
cmd heading: 130.605402 deg,
new cmd heading: 130.617414 deg.
2025-08-23T22:34:34.825Z,1755988474.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279704 target range: 12.223068 and range: 12.30 m.
2025-08-23T22:34:34.963Z,1755988474.963 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.006445
2025-08-23T22:34:35.215Z,1755988475.215 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.258778
2025-08-23T22:34:35.245Z,1755988475.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:34:35.248Z,1755988475.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.223068 m,
nav range: 11.350182 m,
bearing: 126.643026 deg,
approach rate: -0.486252 m/s,
LOS rate: 0.016176 deg/s,
cmd heading: 130.617409 deg,
new cmd heading: 130.631134 deg.
2025-08-23T22:34:35.249Z,1755988475.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279943 target range: 12.223068 and range: 12.30 m.
2025-08-23T22:34:35.466Z,1755988475.466 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.510419
2025-08-23T22:34:35.614Z,1755988475.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:34:35.616Z,1755988475.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.223068 m,
nav range: 11.179536 m,
bearing: 126.648752 deg,
approach rate: -0.463340 m/s,
LOS rate: 0.015785 deg/s,
cmd heading: 130.631138 deg,
new cmd heading: 130.642765 deg.
2025-08-23T22:34:35.618Z,1755988475.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280146 target range: 12.223068 and range: 12.30 m.
2025-08-23T22:34:35.718Z,1755988475.718 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.762400
2025-08-23T22:34:35.971Z,1755988475.971 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.015307
2025-08-23T22:34:36.078Z,1755988476.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:34:36.081Z,1755988476.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.223068 m,
nav range: 10.993562 m,
bearing: 126.654819 deg,
approach rate: -0.400129 m/s,
LOS rate: 0.013275 deg/s,
cmd heading: 130.642763 deg,
new cmd heading: 130.655103 deg.
2025-08-23T22:34:36.086Z,1755988476.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280362 target range: 12.223068 and range: 12.30 m.
2025-08-23T22:34:36.222Z,1755988476.222 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.266415
2025-08-23T22:34:36.475Z,1755988476.475 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.518603
2025-08-23T22:34:36.492Z,1755988476.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:34:36.502Z,1755988476.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.223068 m,
nav range: 10.789623 m,
bearing: 126.661664 deg,
approach rate: -0.492336 m/s,
LOS rate: 0.016836 deg/s,
cmd heading: 130.655098 deg,
new cmd heading: 130.669046 deg.
2025-08-23T22:34:36.503Z,1755988476.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280605 target range: 12.223068 and range: 12.30 m.
2025-08-23T22:34:36.727Z,1755988476.727 [DAT](INFO): DAT read: Rx Time:22:34:36.0130
2025-08-23T22:34:36.728Z,1755988476.728 [DAT](INFO): Rx dataTimestamp_ set to:1755988476.727709
2025-08-23T22:34:36.729Z,1755988476.729 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.772586
2025-08-23T22:34:36.858Z,1755988476.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:36.860Z,1755988476.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:34:36.863Z,1755988476.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.223068 m,
nav range: 10.610046 m,
bearing: 126.667471 deg,
approach rate: -0.488879 m/s,
LOS rate: 0.016077 deg/s,
cmd heading: 130.669046 deg,
new cmd heading: 130.680856 deg.
2025-08-23T22:34:36.864Z,1755988476.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280811 target range: 12.223068 and range: 12.30 m.
2025-08-23T22:34:36.979Z,1755988476.979 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.022438
2025-08-23T22:34:37.234Z,1755988477.234 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.277515
2025-08-23T22:34:37.404Z,1755988477.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-23T22:34:37.416Z,1755988477.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.223068 m,
nav range: 10.372666 m,
bearing: 126.671664 deg,
approach rate: -0.435854 m/s,
LOS rate: 0.007875 deg/s,
cmd heading: 130.680862 deg,
new cmd heading: 130.689440 deg.
2025-08-23T22:34:37.433Z,1755988477.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280961 target range: 12.223068 and range: 12.30 m.
2025-08-23T22:34:37.488Z,1755988477.488 [DAT](INFO): DAT read: 22:34:36.0130 LVL= 27888, 32753, 28514, 32755, AGC= 52, IDX= 414, 0.03, 0.048,-1.659, 0.332, 0.052, PHS= 0.098,-1.667, 0.236, RAW= 153.7, 14.4, CAL= 154.1, 16.2, ROT= 355.9, -16.2
2025-08-23T22:34:37.490Z,1755988477.490 [DAT](INFO): got valid direction response:
22:34:36.0130 LVL= 27888, 32753, 28514, 32755, AGC= 52, IDX= 414, 0.03, 0.048,-1.659, 0.332, 0.052, PHS= 0.098,-1.667, 0.236, RAW= 153.7, 14.4, CAL= 154.1, 16.2, ROT= 355.9, -16.2
2025-08-23T22:34:37.490Z,1755988477.490 [DAT](INFO): DAT read: Bearing 311.3, -6.6 (Local)
2025-08-23T22:34:37.491Z,1755988477.491 [DAT](INFO): Local bearing/azimuth received:
Bearing 311.3, -6.6 (Local)
2025-08-23T22:34:37.492Z,1755988477.492 [DAT](INFO): DAT read: Range 11 to 50 : 10.6 m (Round-trip 14.2 ms) speed 0.4 m/s
2025-08-23T22:34:37.493Z,1755988477.493 [DAT](INFO): DAT read: user:1886>
2025-08-23T22:34:37.494Z,1755988477.494 [DAT](INFO): DAT read: Tx time:22:34:37.0947
2025-08-23T22:34:37.494Z,1755988477.494 [DAT](INFO): Ping request sent.
2025-08-23T22:34:37.494Z,1755988477.494 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:37.494Z,1755988477.494 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-23T22:34:37.495Z,1755988477.495 [DAT](INFO): direction in FSK: [0.957836,-0.068659,0.278991]
2025-08-23T22:34:37.496Z,1755988477.496 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:37.496Z,1755988477.496 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:37.500Z,1755988477.500 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:37.500Z,1755988477.500 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:37.516Z,1755988477.516 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.022255
2025-08-23T22:34:37.736Z,1755988477.736 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.241582
2025-08-23T22:34:37.852Z,1755988477.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.600000 m,
deltaT: 3.778495 s,
deltaX: -1.700000 m,
approachRate: -0.449915 m/s,
rangeRepo size: 4
2025-08-23T22:34:37.859Z,1755988477.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.533671 m,
bearing: 127.840625 deg,
lat: 36.779416 deg,
lon: -121.859536 deg,
deltaT: 3.778495 s,
deltaX: -1.689397 m,
approachRate: -0.447108 m/s,
posRepo size: 4
2025-08-23T22:34:37.859Z,1755988477.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.53 m.
2025-08-23T22:34:37.866Z,1755988477.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.533671 m,
nav range: 10.279187 m,
bearing: 127.840586 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007875 deg/s,
cmd heading: 130.689441 deg,
new cmd heading: 130.696487 deg.
2025-08-23T22:34:37.867Z,1755988477.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281084 target range: 10.533671 and range: 10.60 m.
2025-08-23T22:34:37.987Z,1755988477.987 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.493003
2025-08-23T22:34:38.239Z,1755988478.239 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.744586
2025-08-23T22:34:38.257Z,1755988478.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.53 m.
2025-08-23T22:34:38.260Z,1755988478.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.533671 m,
nav range: 10.076667 m,
bearing: 127.856432 deg,
approach rate: -0.499966 m/s,
LOS rate: 0.039906 deg/s,
cmd heading: 130.696489 deg,
new cmd heading: 130.728819 deg.
2025-08-23T22:34:38.261Z,1755988478.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281648 target range: 10.533671 and range: 10.60 m.
2025-08-23T22:34:38.491Z,1755988478.491 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.996783
2025-08-23T22:34:38.638Z,1755988478.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.53 m.
2025-08-23T22:34:38.640Z,1755988478.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.533671 m,
nav range: 9.901277 m,
bearing: 127.870679 deg,
approach rate: -0.460690 m/s,
LOS rate: 0.038086 deg/s,
cmd heading: 130.728824 deg,
new cmd heading: 130.757823 deg.
2025-08-23T22:34:38.642Z,1755988478.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282155 target range: 10.533671 and range: 10.60 m.
2025-08-23T22:34:38.744Z,1755988478.744 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.249840
2025-08-23T22:34:38.995Z,1755988478.995 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.500493
2025-08-23T22:34:39.012Z,1755988479.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:39.015Z,1755988479.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.53 m.
2025-08-23T22:34:39.018Z,1755988479.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.533671 m,
nav range: 9.728059 m,
bearing: 127.885087 deg,
approach rate: -0.459237 m/s,
LOS rate: 0.038878 deg/s,
cmd heading: 130.757824 deg,
new cmd heading: 130.787153 deg.
2025-08-23T22:34:39.019Z,1755988479.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282666 target range: 10.533671 and range: 10.60 m.
2025-08-23T22:34:39.246Z,1755988479.246 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.752385
2025-08-23T22:34:39.499Z,1755988479.499 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.004535
2025-08-23T22:34:39.544Z,1755988479.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.53 m.
2025-08-23T22:34:39.547Z,1755988479.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.533671 m,
nav range: 9.479929 m,
bearing: 127.903292 deg,
approach rate: -0.468785 m/s,
LOS rate: 0.035294 deg/s,
cmd heading: 130.787153 deg,
new cmd heading: 130.824516 deg.
2025-08-23T22:34:39.548Z,1755988479.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283319 target range: 10.533671 and range: 10.60 m.
2025-08-23T22:34:39.751Z,1755988479.751 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.256494
2025-08-23T22:34:39.829Z,1755988479.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.53 m.
2025-08-23T22:34:39.832Z,1755988479.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.533671 m,
nav range: 9.346350 m,
bearing: 127.913295 deg,
approach rate: -0.469203 m/s,
LOS rate: 0.035639 deg/s,
cmd heading: 130.824514 deg,
new cmd heading: 130.844807 deg.
2025-08-23T22:34:39.833Z,1755988479.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283673 target range: 10.533671 and range: 10.60 m.
2025-08-23T22:34:40.002Z,1755988480.002 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.508443
2025-08-23T22:34:40.255Z,1755988480.255 [DAT](INFO): DAT read: Rx Time:22:34:39.5109
2025-08-23T22:34:40.255Z,1755988480.255 [DAT](INFO): Rx dataTimestamp_ set to:1755988480.254767
2025-08-23T22:34:40.256Z,1755988480.256 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.761570
2025-08-23T22:34:40.298Z,1755988480.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.53 m.
2025-08-23T22:34:40.301Z,1755988480.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.533671 m,
nav range: 9.134210 m,
bearing: 127.922202 deg,
approach rate: -0.452300 m/s,
LOS rate: 0.019432 deg/s,
cmd heading: 130.844800 deg,
new cmd heading: 130.863028 deg.
2025-08-23T22:34:40.302Z,1755988480.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283991 target range: 10.533671 and range: 10.60 m.
2025-08-23T22:34:40.507Z,1755988480.507 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.012546
2025-08-23T22:34:40.646Z,1755988480.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.53 m.
2025-08-23T22:34:40.649Z,1755988480.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.533671 m,
nav range: 8.976947 m,
bearing: 127.929247 deg,
approach rate: -0.452475 m/s,
LOS rate: 0.020625 deg/s,
cmd heading: 130.863023 deg,
new cmd heading: 130.877360 deg.
2025-08-23T22:34:40.650Z,1755988480.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284241 target range: 10.533671 and range: 10.60 m.
2025-08-23T22:34:40.777Z,1755988480.777 [DAT](INFO): DAT read: 22:34:39.5108 LVL= 25968, 32753, 27570, 32755, AGC= 52, IDX= 425,-0.46, 2.648, 0.940, 2.978, 2.682, PHS= 0.068,-1.696, 0.253, RAW= 154.9, 14.6, CAL= 155.4, 16.6, ROT= 354.6, -16.6
2025-08-23T22:34:40.779Z,1755988480.779 [DAT](INFO): got valid direction response:
22:34:39.5108 LVL= 25968, 32753, 27570, 32755, AGC= 52, IDX= 425,-0.46, 2.648, 0.940, 2.978, 2.682, PHS= 0.068,-1.696, 0.253, RAW= 154.9, 14.6, CAL= 155.4, 16.6, ROT= 354.6, -16.6
2025-08-23T22:34:40.780Z,1755988480.780 [DAT](INFO): DAT read: Bearing 311.8, -7.9 (Local)
2025-08-23T22:34:40.781Z,1755988480.781 [DAT](INFO): Local bearing/azimuth received:
Bearing 311.8, -7.9 (Local)
2025-08-23T22:34:40.790Z,1755988480.790 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (Round-trip 12.1 ms) speed 0.4 m/s
2025-08-23T22:34:40.791Z,1755988480.791 [DAT](INFO): DAT read: user:1887>
2025-08-23T22:34:40.792Z,1755988480.792 [DAT](INFO): DAT read: Tx time:22:34:40.5946
2025-08-23T22:34:40.792Z,1755988480.792 [DAT](INFO): Ping request sent.
2025-08-23T22:34:40.792Z,1755988480.792 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:40.793Z,1755988480.793 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-23T22:34:40.798Z,1755988480.798 [DAT](INFO): direction in FSK: [0.954070,-0.090186,0.285688]
2025-08-23T22:34:40.798Z,1755988480.798 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:40.798Z,1755988480.798 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:40.806Z,1755988480.806 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:40.806Z,1755988480.806 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:40.809Z,1755988480.809 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.016801
2025-08-23T22:34:41.011Z,1755988481.011 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.218257
2025-08-23T22:34:41.139Z,1755988481.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.000000 m,
deltaT: 3.277561 s,
deltaX: -1.600000 m,
approachRate: -0.488168 m/s,
rangeRepo size: 4
2025-08-23T22:34:41.141Z,1755988481.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.943604 m,
bearing: 126.559488 deg,
lat: 36.779416 deg,
lon: -121.859536 deg,
deltaT: 3.277561 s,
deltaX: -1.590067 m,
approachRate: -0.485137 m/s,
posRepo size: 4
2025-08-23T22:34:41.146Z,1755988481.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.94 m.
2025-08-23T22:34:41.146Z,1755988481.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.00 m.
2025-08-23T22:34:41.146Z,1755988481.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-23T22:34:41.149Z,1755988481.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 8.784929 m,
bearing: 127.938308 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.020625 deg/s,
cmd heading: 130.877366 deg,
new cmd heading: 130.897457 deg.
2025-08-23T22:34:41.154Z,1755988481.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284592 target range: 8.943604 and range: 9.00 m.
2025-08-23T22:34:41.263Z,1755988481.263 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.471075
2025-08-23T22:34:41.515Z,1755988481.515 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.722307
2025-08-23T22:34:41.557Z,1755988481.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:41.559Z,1755988481.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:41.562Z,1755988481.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 8.572796 m,
bearing: 127.928465 deg,
approach rate: -0.497171 m/s,
LOS rate: -0.023640 deg/s,
cmd heading: 130.897461 deg,
new cmd heading: 130.877288 deg.
2025-08-23T22:34:41.563Z,1755988481.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284240 target range: 8.943604 and range: 9.00 m.
2025-08-23T22:34:41.767Z,1755988481.767 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.974273
2025-08-23T22:34:41.976Z,1755988481.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:41.984Z,1755988481.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 8.399093 m,
bearing: 127.920019 deg,
approach rate: -0.420537 m/s,
LOS rate: -0.020871 deg/s,
cmd heading: 130.877284 deg,
new cmd heading: 130.860043 deg.
2025-08-23T22:34:41.985Z,1755988481.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283939 target range: 8.943604 and range: 9.00 m.
2025-08-23T22:34:42.019Z,1755988482.019 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.226391
2025-08-23T22:34:42.270Z,1755988482.270 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.478233
2025-08-23T22:34:42.366Z,1755988482.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:42.368Z,1755988482.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 8.221589 m,
bearing: 127.919078 deg,
approach rate: -0.451417 m/s,
LOS rate: -0.002446 deg/s,
cmd heading: 130.860045 deg,
new cmd heading: 130.858122 deg.
2025-08-23T22:34:42.377Z,1755988482.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283905 target range: 8.943604 and range: 9.00 m.
2025-08-23T22:34:42.523Z,1755988482.523 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.730598
2025-08-23T22:34:42.756Z,1755988482.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:42.759Z,1755988482.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 8.058146 m,
bearing: 127.918185 deg,
approach rate: -0.418242 m/s,
LOS rate: -0.002329 deg/s,
cmd heading: 130.858119 deg,
new cmd heading: 130.856299 deg.
2025-08-23T22:34:42.760Z,1755988482.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283873 target range: 8.943604 and range: 9.00 m.
2025-08-23T22:34:42.777Z,1755988482.777 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.984816
2025-08-23T22:34:43.027Z,1755988483.027 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.234318
2025-08-23T22:34:43.231Z,1755988483.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:43.233Z,1755988483.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 7.841588 m,
bearing: 127.935684 deg,
approach rate: -0.456778 m/s,
LOS rate: 0.037929 deg/s,
cmd heading: 130.856302 deg,
new cmd heading: 130.892266 deg.
2025-08-23T22:34:43.234Z,1755988483.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284501 target range: 8.943604 and range: 9.00 m.
2025-08-23T22:34:43.279Z,1755988483.279 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.486968
2025-08-23T22:34:43.531Z,1755988483.531 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.738372
2025-08-23T22:34:43.553Z,1755988483.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:43.556Z,1755988483.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 7.699423 m,
bearing: 127.947912 deg,
approach rate: -0.441019 m/s,
LOS rate: 0.038633 deg/s,
cmd heading: 130.892270 deg,
new cmd heading: 130.917177 deg.
2025-08-23T22:34:43.557Z,1755988483.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284936 target range: 8.943604 and range: 9.00 m.
2025-08-23T22:34:43.783Z,1755988483.783 [DAT](INFO): DAT read: Rx Time:22:34:43.0089
2025-08-23T22:34:43.784Z,1755988483.784 [DAT](INFO): Rx dataTimestamp_ set to:1755988483.783641
2025-08-23T22:34:43.785Z,1755988483.785 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.992608
2025-08-23T22:34:43.957Z,1755988483.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:43.972Z,1755988483.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:43.980Z,1755988483.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 7.520301 m,
bearing: 127.963586 deg,
approach rate: -0.427601 m/s,
LOS rate: 0.038308 deg/s,
cmd heading: 130.917173 deg,
new cmd heading: 130.949267 deg.
2025-08-23T22:34:43.981Z,1755988483.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285496 target range: 8.943604 and range: 9.00 m.
2025-08-23T22:34:44.035Z,1755988484.035 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.242463
2025-08-23T22:34:44.292Z,1755988484.292 [DAT](INFO): DAT read: 22:34:43.0089 LVL= 26864, 27505, 27618, 32755, AGC= 47, IDX= 421,-0.26, 2.846, 1.433,-2.900, 3.093, PHS=-0.145,-1.614, 0.246, RAW= 161.5, 17.5, CAL= 162.7, 21.6, ROT= 347.3, -21.6
2025-08-23T22:34:44.293Z,1755988484.293 [DAT](INFO): got valid direction response:
22:34:43.0089 LVL= 26864, 27505, 27618, 32755, AGC= 47, IDX= 421,-0.26, 2.846, 1.433,-2.900, 3.093, PHS=-0.145,-1.614, 0.246, RAW= 161.5, 17.5, CAL= 162.7, 21.6, ROT= 347.3, -21.6
2025-08-23T22:34:44.294Z,1755988484.294 [DAT](INFO): DAT read: Bearing 317.5, -14.2 (Local)
2025-08-23T22:34:44.294Z,1755988484.294 [DAT](INFO): Local bearing/azimuth received:
Bearing 317.5, -14.2 (Local)
2025-08-23T22:34:44.296Z,1755988484.296 [DAT](INFO): DAT read: Range 11 to 50 : 7.6 m (Round-trip 10.2 ms) speed 0.4 m/s
2025-08-23T22:34:44.296Z,1755988484.296 [DAT](INFO): DAT read: user:1888>
2025-08-23T22:34:44.297Z,1755988484.297 [DAT](INFO): DAT read: Tx time:22:34:44.0946
2025-08-23T22:34:44.297Z,1755988484.297 [DAT](INFO): Ping request sent.
2025-08-23T22:34:44.298Z,1755988484.298 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:44.298Z,1755988484.298 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-23T22:34:44.299Z,1755988484.299 [DAT](INFO): direction in FSK: [0.907029,-0.204408,0.368125]
2025-08-23T22:34:44.299Z,1755988484.299 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:44.299Z,1755988484.299 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:44.307Z,1755988484.307 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:44.308Z,1755988484.308 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:44.312Z,1755988484.312 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.014464
2025-08-23T22:34:44.506Z,1755988484.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.600000 m,
deltaT: 3.526284 s,
deltaX: -1.400000 m,
approachRate: -0.397019 m/s,
rangeRepo size: 4
2025-08-23T22:34:44.508Z,1755988484.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.552335 m,
bearing: 119.219344 deg,
lat: 36.779416 deg,
lon: -121.859536 deg,
deltaT: 3.526284 s,
deltaX: -1.391269 m,
approachRate: -0.394543 m/s,
posRepo size: 4
2025-08-23T22:34:44.509Z,1755988484.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.55 m. 8.94 m.
2025-08-23T22:34:44.516Z,1755988484.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 7.288494 m,
bearing: 127.996411 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.020625 deg/s,
cmd heading: 130.949261 deg,
new cmd heading: 130.971116 deg.
2025-08-23T22:34:44.517Z,1755988484.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285877 target range: 8.943604 and range: 7.60 m.
2025-08-23T22:34:44.539Z,1755988484.539 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.240963
2025-08-23T22:34:44.791Z,1755988484.791 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.492956
2025-08-23T22:34:44.852Z,1755988484.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:44.855Z,1755988484.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 7.123959 m,
bearing: 128.021976 deg,
approach rate: -0.469563 m/s,
LOS rate: 0.074644 deg/s,
cmd heading: 130.971118 deg,
new cmd heading: 131.023428 deg.
2025-08-23T22:34:44.856Z,1755988484.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286790 target range: 8.943604 and range: 7.60 m.
2025-08-23T22:34:45.043Z,1755988485.043 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.744903
2025-08-23T22:34:45.295Z,1755988485.295 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.996980
2025-08-23T22:34:45.295Z,1755988485.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:45.298Z,1755988485.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 6.935306 m,
bearing: 128.023521 deg,
approach rate: -0.430728 m/s,
LOS rate: 0.003624 deg/s,
cmd heading: 131.023423 deg,
new cmd heading: 131.026598 deg.
2025-08-23T22:34:45.299Z,1755988485.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286845 target range: 8.943604 and range: 7.60 m.
2025-08-23T22:34:45.547Z,1755988485.547 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.249308
2025-08-23T22:34:45.657Z,1755988485.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:45.660Z,1755988485.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 6.760428 m,
bearing: 128.024498 deg,
approach rate: -0.476248 m/s,
LOS rate: 0.002729 deg/s,
cmd heading: 131.026592 deg,
new cmd heading: 131.028597 deg.
2025-08-23T22:34:45.661Z,1755988485.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286880 target range: 8.943604 and range: 7.60 m.
2025-08-23T22:34:45.799Z,1755988485.799 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.500921
2025-08-23T22:34:46.051Z,1755988486.051 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.752975
2025-08-23T22:34:46.080Z,1755988486.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:46.083Z,1755988486.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:46.086Z,1755988486.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 6.578026 m,
bearing: 128.025952 deg,
approach rate: -0.428296 m/s,
LOS rate: 0.003508 deg/s,
cmd heading: 131.028601 deg,
new cmd heading: 131.031589 deg.
2025-08-23T22:34:46.087Z,1755988486.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286933 target range: 8.943604 and range: 7.60 m.
2025-08-23T22:34:46.303Z,1755988486.303 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.005621
2025-08-23T22:34:46.520Z,1755988486.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:46.523Z,1755988486.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 6.358276 m,
bearing: 128.051641 deg,
approach rate: -0.502459 m/s,
LOS rate: 0.060768 deg/s,
cmd heading: 131.031592 deg,
new cmd heading: 131.084745 deg.
2025-08-23T22:34:46.524Z,1755988486.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287860 target range: 8.943604 and range: 7.60 m.
2025-08-23T22:34:46.555Z,1755988486.555 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.257282
2025-08-23T22:34:46.806Z,1755988486.806 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.508825
2025-08-23T22:34:46.867Z,1755988486.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:46.870Z,1755988486.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 6.192394 m,
bearing: 128.072075 deg,
approach rate: -0.478588 m/s,
LOS rate: 0.060534 deg/s,
cmd heading: 131.084745 deg,
new cmd heading: 131.126708 deg.
2025-08-23T22:34:46.871Z,1755988486.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288593 target range: 8.943604 and range: 7.60 m.
2025-08-23T22:34:47.058Z,1755988487.058 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.760851
2025-08-23T22:34:47.254Z,1755988487.254 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:34:47.311Z,1755988487.311 [DAT](INFO): DAT read: Rx Time:22:34:46.5072
2025-08-23T22:34:47.311Z,1755988487.311 [DAT](INFO): Rx dataTimestamp_ set to:1755988487.311001
2025-08-23T22:34:47.312Z,1755988487.312 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.014245
2025-08-23T22:34:47.315Z,1755988487.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:47.318Z,1755988487.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 5.987064 m,
bearing: 128.088803 deg,
approach rate: -0.458508 m/s,
LOS rate: 0.038636 deg/s,
cmd heading: 131.126709 deg,
new cmd heading: 131.161313 deg.
2025-08-23T22:34:47.318Z,1755988487.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289197 target range: 8.943604 and range: 7.60 m.
2025-08-23T22:34:47.563Z,1755988487.563 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.265459
2025-08-23T22:34:47.683Z,1755988487.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:47.686Z,1755988487.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 5.815726 m,
bearing: 128.103263 deg,
approach rate: -0.464822 m/s,
LOS rate: 0.040385 deg/s,
cmd heading: 131.161311 deg,
new cmd heading: 131.191084 deg.
2025-08-23T22:34:47.687Z,1755988487.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289716 target range: 8.943604 and range: 7.60 m.
2025-08-23T22:34:47.815Z,1755988487.815 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (Round-trip 8.4 ms) speed 0.4 m/s
2025-08-23T22:34:47.816Z,1755988487.816 [DAT](INFO): DAT read: user:1889>
2025-08-23T22:34:47.817Z,1755988487.817 [DAT](INFO): DAT read: Tx time:22:34:47.5946
2025-08-23T22:34:47.817Z,1755988487.817 [DAT](INFO): Ping request sent.
2025-08-23T22:34:47.817Z,1755988487.817 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:47.818Z,1755988487.818 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-08-23T22:34:47.818Z,1755988487.818 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:47.818Z,1755988487.818 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:47.819Z,1755988487.819 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.001997
2025-08-23T22:34:48.067Z,1755988488.067 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.249300
2025-08-23T22:34:48.093Z,1755988488.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:48.096Z,1755988488.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.300000 m,
deltaT: 3.528029 s,
deltaX: -1.300000 m,
approachRate: -0.368478 m/s,
rangeRepo size: 4
2025-08-23T22:34:48.097Z,1755988488.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:48.100Z,1755988488.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 5.625453 m,
bearing: 128.119857 deg,
approach rate: -0.461555 m/s,
LOS rate: 0.041615 deg/s,
cmd heading: 131.191091 deg,
new cmd heading: 131.225401 deg.
2025-08-23T22:34:48.101Z,1755988488.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290315 target range: 8.943604 and range: 6.30 m.
2025-08-23T22:34:48.258Z,1755988488.258 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:34:48.320Z,1755988488.320 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.502598
2025-08-23T22:34:48.532Z,1755988488.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:48.539Z,1755988488.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 5.427496 m,
bearing: 128.250806 deg,
approach rate: -0.453618 m/s,
LOS rate: 0.311011 deg/s,
cmd heading: 131.225406 deg,
new cmd heading: 131.496852 deg.
2025-08-23T22:34:48.540Z,1755988488.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295053 target range: 8.943604 and range: 6.30 m.
2025-08-23T22:34:48.571Z,1755988488.571 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.753505
2025-08-23T22:34:48.823Z,1755988488.823 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.006044
2025-08-23T22:34:48.904Z,1755988488.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:48.923Z,1755988488.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 5.256783 m,
bearing: 128.371695 deg,
approach rate: -0.462039 m/s,
LOS rate: 0.337814 deg/s,
cmd heading: 131.496851 deg,
new cmd heading: 131.746479 deg.
2025-08-23T22:34:48.924Z,1755988488.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299410 target range: 8.943604 and range: 6.30 m.
2025-08-23T22:34:49.075Z,1755988489.075 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.257288
2025-08-23T22:34:49.328Z,1755988489.328 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.510524
2025-08-23T22:34:49.457Z,1755988489.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:49.476Z,1755988489.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 4.994269 m,
bearing: 128.470848 deg,
approach rate: -0.472686 m/s,
LOS rate: 0.187922 deg/s,
cmd heading: 131.746481 deg,
new cmd heading: 131.955211 deg.
2025-08-23T22:34:49.476Z,1755988489.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303053 target range: 8.943604 and range: 6.30 m.
2025-08-23T22:34:49.583Z,1755988489.583 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.764674
2025-08-23T22:34:49.834Z,1755988489.834 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.016743
2025-08-23T22:34:50.007Z,1755988490.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:50.010Z,1755988490.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 4.743370 m,
bearing: 128.575879 deg,
approach rate: -0.456048 m/s,
LOS rate: 0.201008 deg/s,
cmd heading: 131.955211 deg,
new cmd heading: 132.176383 deg.
2025-08-23T22:34:50.011Z,1755988490.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306913 target range: 8.943604 and range: 6.30 m.
2025-08-23T22:34:50.083Z,1755988490.083 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.265364
2025-08-23T22:34:50.335Z,1755988490.335 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.517732
2025-08-23T22:34:50.540Z,1755988490.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:50.542Z,1755988490.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:50.545Z,1755988490.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 4.490891 m,
bearing: 128.675097 deg,
approach rate: -0.472065 m/s,
LOS rate: 0.195939 deg/s,
cmd heading: 132.176386 deg,
new cmd heading: 132.385978 deg.
2025-08-23T22:34:50.546Z,1755988490.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310571 target range: 8.943604 and range: 6.30 m.
2025-08-23T22:34:50.587Z,1755988490.587 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.769830
2025-08-23T22:34:50.839Z,1755988490.839 [DAT](INFO): DAT read: Rx Time:22:34:50.0053
2025-08-23T22:34:50.839Z,1755988490.839 [DAT](INFO): Rx dataTimestamp_ set to:1755988490.838829
2025-08-23T22:34:50.840Z,1755988490.840 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.022415
2025-08-23T22:34:50.882Z,1755988490.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:50.887Z,1755988490.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 4.333400 m,
bearing: 128.742215 deg,
approach rate: -0.464054 m/s,
LOS rate: 0.204952 deg/s,
cmd heading: 132.385978 deg,
new cmd heading: 132.525090 deg.
2025-08-23T22:34:50.889Z,1755988490.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312999 target range: 8.943604 and range: 6.30 m.
2025-08-23T22:34:51.091Z,1755988491.091 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.273263
2025-08-23T22:34:51.348Z,1755988491.348 [DAT](INFO): DAT read: 22:34:50.0053 LVL= 24368, 28641, 32754, 32755, AGC= 51, IDX= 416,-0.20, 3.048,-1.310,-2.128,-0.822, PHS=-2.311,-0.443,-1.349, RAW= 299.0, 41.9, CAL= 301.4, 46.7, ROT= 208.6, -46.7
2025-08-23T22:34:51.349Z,1755988491.349 [DAT](INFO): got valid direction response:
22:34:50.0053 LVL= 24368, 28641, 32754, 32755, AGC= 51, IDX= 416,-0.20, 3.048,-1.310,-2.128,-0.822, PHS=-2.311,-0.443,-1.349, RAW= 299.0, 41.9, CAL= 301.4, 46.7, ROT= 208.6, -46.7
2025-08-23T22:34:51.351Z,1755988491.351 [DAT](INFO): DAT read: Bearing 64.7, -15.7 (Local)
2025-08-23T22:34:51.351Z,1755988491.351 [DAT](INFO): Local bearing/azimuth received:
Bearing 64.7, -15.7 (Local)
2025-08-23T22:34:51.352Z,1755988491.352 [DAT](INFO): DAT read: Range 11 to 50 : 4.9 m (Round-trip 6.6 ms) speed 0.4 m/s
2025-08-23T22:34:51.353Z,1755988491.353 [DAT](INFO): DAT read: user:1890>
2025-08-23T22:34:51.354Z,1755988491.354 [DAT](INFO): DAT read: Tx time:22:34:51.0946
2025-08-23T22:34:51.354Z,1755988491.354 [DAT](INFO): Ping request sent.
2025-08-23T22:34:51.354Z,1755988491.354 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:51.355Z,1755988491.355 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-23T22:34:51.356Z,1755988491.356 [DAT](INFO): direction in FSK: [-0.602137,-0.328296,0.727773]
2025-08-23T22:34:51.356Z,1755988491.356 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:51.356Z,1755988491.356 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:51.383Z,1755988491.383 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:51.384Z,1755988491.384 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:51.419Z,1755988491.419 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.065152
2025-08-23T22:34:51.425Z,1755988491.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.900000 m,
deltaT: 3.528080 s,
deltaX: -1.400000 m,
approachRate: -0.396816 m/s,
rangeRepo size: 4
2025-08-23T22:34:51.435Z,1755988491.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.869253 m,
bearing: 344.884196 deg,
lat: 36.779418 deg,
lon: -121.859536 deg,
deltaT: 10.582393 s,
deltaX: -4.074352 m,
approachRate: -0.385012 m/s,
posRepo size: 4
2025-08-23T22:34:51.436Z,1755988491.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.87 m. 8.94 m.
2025-08-23T22:34:51.443Z,1755988491.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 4.124897 m,
bearing: 128.821985 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.020625 deg/s,
cmd heading: 132.525095 deg,
new cmd heading: 132.547493 deg.
2025-08-23T22:34:51.444Z,1755988491.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313390 target range: 8.943604 and range: 4.90 m.
2025-08-23T22:34:51.595Z,1755988491.595 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.240265
2025-08-23T22:34:51.826Z,1755988491.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:51.828Z,1755988491.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 3.920230 m,
bearing: 128.908337 deg,
approach rate: -0.510347 m/s,
LOS rate: 0.226566 deg/s,
cmd heading: 132.547498 deg,
new cmd heading: 132.729218 deg.
2025-08-23T22:34:51.829Z,1755988491.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.316562 target range: 8.943604 and range: 4.90 m.
2025-08-23T22:34:51.848Z,1755988491.848 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.493399
2025-08-23T22:34:52.099Z,1755988492.099 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.744175
2025-08-23T22:34:52.212Z,1755988492.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:52.215Z,1755988492.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 3.741717 m,
bearing: 128.990454 deg,
approach rate: -0.462582 m/s,
LOS rate: 0.222943 deg/s,
cmd heading: 132.729222 deg,
new cmd heading: 132.901291 deg.
2025-08-23T22:34:52.216Z,1755988492.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319565 target range: 8.943604 and range: 4.90 m.
2025-08-23T22:34:52.351Z,1755988492.351 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.996334
2025-08-23T22:34:52.603Z,1755988492.603 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.248318
2025-08-23T22:34:52.640Z,1755988492.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:52.646Z,1755988492.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:52.649Z,1755988492.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 3.557652 m,
bearing: 129.053522 deg,
approach rate: -0.427314 m/s,
LOS rate: 0.153988 deg/s,
cmd heading: 132.901288 deg,
new cmd heading: 133.033949 deg.
2025-08-23T22:34:52.666Z,1755988492.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321880 target range: 8.943604 and range: 4.90 m.
2025-08-23T22:34:52.854Z,1755988492.854 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.500120
2025-08-23T22:34:53.033Z,1755988493.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:53.036Z,1755988493.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 3.376651 m,
bearing: 129.119938 deg,
approach rate: -0.477169 m/s,
LOS rate: 0.184477 deg/s,
cmd heading: 133.033944 deg,
new cmd heading: 133.173897 deg.
2025-08-23T22:34:53.037Z,1755988493.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324323 target range: 8.943604 and range: 4.90 m.
2025-08-23T22:34:53.108Z,1755988493.108 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.753321
2025-08-23T22:34:53.359Z,1755988493.359 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.004190
2025-08-23T22:34:53.475Z,1755988493.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:53.486Z,1755988493.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 3.185335 m,
bearing: 129.157321 deg,
approach rate: -0.421801 m/s,
LOS rate: 0.087370 deg/s,
cmd heading: 133.173895 deg,
new cmd heading: 133.253152 deg.
2025-08-23T22:34:53.487Z,1755988493.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325706 target range: 8.943604 and range: 4.90 m.
2025-08-23T22:34:53.611Z,1755988493.611 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.256188
2025-08-23T22:34:53.839Z,1755988493.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:53.843Z,1755988493.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 3.022633 m,
bearing: 129.191889 deg,
approach rate: -0.446290 m/s,
LOS rate: 0.099923 deg/s,
cmd heading: 133.253152 deg,
new cmd heading: 133.326010 deg.
2025-08-23T22:34:53.843Z,1755988493.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.326978 target range: 8.943604 and range: 4.90 m.
2025-08-23T22:34:53.863Z,1755988493.863 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.508376
2025-08-23T22:34:54.115Z,1755988494.115 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.760257
2025-08-23T22:34:54.364Z,1755988494.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:54.367Z,1755988494.367 [DAT](INFO): DAT read: Rx Time:22:34:53.5035
2025-08-23T22:34:54.367Z,1755988494.367 [DAT](INFO): Rx dataTimestamp_ set to:1755988494.366985
2025-08-23T22:34:54.368Z,1755988494.368 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.013516
2025-08-23T22:34:54.369Z,1755988494.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 2.794183 m,
bearing: 129.245216 deg,
approach rate: -0.435800 m/s,
LOS rate: 0.110045 deg/s,
cmd heading: 133.326003 deg,
new cmd heading: 133.441376 deg.
2025-08-23T22:34:54.370Z,1755988494.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328991 target range: 8.943604 and range: 4.90 m.
2025-08-23T22:34:54.619Z,1755988494.619 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.264480
2025-08-23T22:34:54.814Z,1755988494.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:54.816Z,1755988494.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:54.819Z,1755988494.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 2.588677 m,
bearing: 129.211263 deg,
approach rate: -0.454410 m/s,
LOS rate: -0.081034 deg/s,
cmd heading: 133.441378 deg,
new cmd heading: 133.368083 deg.
2025-08-23T22:34:54.820Z,1755988494.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327712 target range: 8.943604 and range: 4.90 m.
2025-08-23T22:34:54.883Z,1755988494.883 [DAT](INFO): DAT read: 22:34:53.5035 LVL= 14256, 10529, 16178, 21555, AGC= 45, IDX= 429, 0.10,-1.765,-0.627,-1.793,-0.346, PHS=-1.317,-0.236,-1.492, RAW= 337.4, 42.4, CAL= 336.4, 47.0, ROT= 173.6, -47.0
2025-08-23T22:34:54.884Z,1755988494.884 [DAT](INFO): got valid direction response:
22:34:53.5035 LVL= 14256, 10529, 16178, 21555, AGC= 45, IDX= 429, 0.10,-1.765,-0.627,-1.793,-0.346, PHS=-1.317,-0.236,-1.492, RAW= 337.4, 42.4, CAL= 336.4, 47.0, ROT= 173.6, -47.0
2025-08-23T22:34:54.887Z,1755988494.887 [DAT](INFO): DAT read: Bearing 68.1, 8.1 (Local)
2025-08-23T22:34:54.887Z,1755988494.887 [DAT](INFO): Local bearing/azimuth received:
Bearing 68.1, 8.1 (Local)
2025-08-23T22:34:54.889Z,1755988494.889 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (Round-trip 4.7 ms) speed 0.2 m/s
2025-08-23T22:34:54.891Z,1755988494.891 [DAT](INFO): DAT read: user:1891>
2025-08-23T22:34:54.891Z,1755988494.891 [DAT](INFO): DAT read: Tx time:22:34:54.5946
2025-08-23T22:34:54.892Z,1755988494.892 [DAT](INFO): Ping request sent.
2025-08-23T22:34:54.892Z,1755988494.892 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:54.893Z,1755988494.893 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-23T22:34:54.906Z,1755988494.906 [DAT](INFO): direction in FSK: [-0.677748,0.076022,0.731354]
2025-08-23T22:34:54.907Z,1755988494.907 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:54.907Z,1755988494.907 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:54.915Z,1755988494.915 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:54.916Z,1755988494.916 [DAT](INFO): publishing direction and range info
2025-08-23T22:34:54.924Z,1755988494.924 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.032114
2025-08-23T22:34:55.123Z,1755988495.123 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.230478
2025-08-23T22:34:55.215Z,1755988495.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 3.528891 s,
deltaX: -1.400000 m,
approachRate: -0.396725 m/s,
rangeRepo size: 4
2025-08-23T22:34:55.217Z,1755988495.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.478036 m,
bearing: 308.996662 deg,
lat: 36.779425 deg,
lon: -121.859536 deg,
deltaT: 14.111284 s,
deltaX: -5.465569 m,
approachRate: -0.387319 m/s,
posRepo size: 4
2025-08-23T22:34:55.222Z,1755988495.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 8.94 m.
2025-08-23T22:34:55.225Z,1755988495.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 2.431597 m,
bearing: 129.178948 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.020625 deg/s,
cmd heading: 133.368077 deg,
new cmd heading: 133.384515 deg.
2025-08-23T22:34:55.230Z,1755988495.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327999 target range: 8.943604 and range: 3.50 m.
2025-08-23T22:34:55.380Z,1755988495.380 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.484892
2025-08-23T22:34:55.627Z,1755988495.627 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.734493
2025-08-23T22:34:55.641Z,1755988495.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:55.644Z,1755988495.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 2.235444 m,
bearing: 129.253645 deg,
approach rate: -0.460239 m/s,
LOS rate: 0.190642 deg/s,
cmd heading: 133.384510 deg,
new cmd heading: 133.547012 deg.
2025-08-23T22:34:55.645Z,1755988495.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330835 target range: 8.943604 and range: 3.50 m.
2025-08-23T22:34:55.880Z,1755988495.880 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.987663
2025-08-23T22:34:55.993Z,1755988495.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:56.012Z,1755988496.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 2.083517 m,
bearing: 129.313415 deg,
approach rate: -0.431213 m/s,
LOS rate: 0.182016 deg/s,
cmd heading: 133.547014 deg,
new cmd heading: 133.675272 deg.
2025-08-23T22:34:56.012Z,1755988496.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333074 target range: 8.943604 and range: 3.50 m.
2025-08-23T22:34:56.131Z,1755988496.131 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.239109
2025-08-23T22:34:56.384Z,1755988496.384 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.491653
2025-08-23T22:34:56.457Z,1755988496.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:56.460Z,1755988496.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 1.861456 m,
bearing: 129.411285 deg,
approach rate: -0.478629 m/s,
LOS rate: 0.236113 deg/s,
cmd heading: 133.675271 deg,
new cmd heading: 133.894360 deg.
2025-08-23T22:34:56.460Z,1755988496.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336897 target range: 8.943604 and range: 3.50 m.
2025-08-23T22:34:56.634Z,1755988496.634 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.742309
2025-08-23T22:34:56.816Z,1755988496.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:56.818Z,1755988496.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:56.821Z,1755988496.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 1.693080 m,
bearing: 129.502609 deg,
approach rate: -0.465649 m/s,
LOS rate: 0.277678 deg/s,
cmd heading: 133.894357 deg,
new cmd heading: 134.095170 deg.
2025-08-23T22:34:56.822Z,1755988496.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340402 target range: 8.943604 and range: 3.50 m.
2025-08-23T22:34:56.888Z,1755988496.888 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.995500
2025-08-23T22:34:57.139Z,1755988497.139 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.246435
2025-08-23T22:34:57.236Z,1755988497.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:57.239Z,1755988497.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 1.497778 m,
bearing: 129.634263 deg,
approach rate: -0.467988 m/s,
LOS rate: 0.356609 deg/s,
cmd heading: 134.095164 deg,
new cmd heading: 134.392803 deg.
2025-08-23T22:34:57.239Z,1755988497.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.345597 target range: 8.943604 and range: 3.50 m.
2025-08-23T22:34:57.392Z,1755988497.392 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.499575
2025-08-23T22:34:57.643Z,1755988497.643 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.750424
2025-08-23T22:34:57.672Z,1755988497.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:57.679Z,1755988497.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 1.312755 m,
bearing: 129.886893 deg,
approach rate: -0.423929 m/s,
LOS rate: 0.660412 deg/s,
cmd heading: 134.392797 deg,
new cmd heading: 134.969247 deg.
2025-08-23T22:34:57.680Z,1755988497.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.355658 target range: 8.943604 and range: 3.50 m.
2025-08-23T22:34:57.897Z,1755988497.897 [DAT](INFO): DAT read: Rx Time:22:34:57.0020
2025-08-23T22:34:57.897Z,1755988497.897 [DAT](INFO): Rx dataTimestamp_ set to:1755988497.896712
2025-08-23T22:34:57.898Z,1755988497.898 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.005914
2025-08-23T22:34:58.052Z,1755988498.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 8.94 m.
2025-08-23T22:34:58.055Z,1755988498.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.943604 m,
nav range: 1.145011 m,
bearing: 130.268738 deg,
approach rate: -0.441391 m/s,
LOS rate: 1.151953 deg/s,
cmd heading: 134.969251 deg,
new cmd heading: 135.844748 deg.
2025-08-23T22:34:58.056Z,1755988498.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.370938 target range: 8.943604 and range: 3.50 m.
2025-08-23T22:34:58.147Z,1755988498.147 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.254446
2025-08-23T22:34:58.404Z,1755988498.404 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s
2025-08-23T22:34:58.406Z,1755988498.406 [DAT](INFO): DAT read: user:1892>
2025-08-23T22:34:58.407Z,1755988498.407 [DAT](INFO): DAT read: Tx time:22:34:58.0945
2025-08-23T22:34:58.407Z,1755988498.407 [DAT](INFO): Ping request sent.
2025-08-23T22:34:58.407Z,1755988498.407 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:34:58.408Z,1755988498.408 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-08-23T22:34:58.408Z,1755988498.408 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:58.408Z,1755988498.408 [DAT](INFO): publishing transmit ping time
2025-08-23T22:34:58.409Z,1755988498.409 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.001868
2025-08-23T22:34:58.520Z,1755988498.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.500000 m,
deltaT: 3.528740 s,
deltaX: -1.000000 m,
approachRate: -0.283387 m/s,
rangeRepo size: 4
2025-08-23T22:34:58.521Z,1755988498.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.50 m.
2025-08-23T22:34:58.521Z,1755988498.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-23T22:34:58.651Z,1755988498.651 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.243239
2025-08-23T22:34:58.846Z,1755988498.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:34:58.904Z,1755988498.904 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.496046
2025-08-23T22:34:59.154Z,1755988499.154 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.747231
2025-08-23T22:34:59.408Z,1755988499.408 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.000473
2025-08-23T22:34:59.659Z,1755988499.659 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.251423
2025-08-23T22:34:59.914Z,1755988499.914 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.507113
2025-08-23T22:35:00.163Z,1755988500.163 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.755373
2025-08-23T22:35:00.417Z,1755988500.417 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.009493
2025-08-23T22:35:00.667Z,1755988500.667 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.259527
2025-08-23T22:35:00.873Z,1755988500.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:00.919Z,1755988500.919 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.511430
2025-08-23T22:35:01.170Z,1755988501.170 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.763215
2025-08-23T22:35:01.426Z,1755988501.426 [DAT](INFO): DAT read: Rx Time:22:35:00.5018
2025-08-23T22:35:01.427Z,1755988501.427 [DAT](INFO): Rx dataTimestamp_ set to:1755988501.426099
2025-08-23T22:35:01.429Z,1755988501.429 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.021315
2025-08-23T22:35:01.674Z,1755988501.674 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.267160
2025-08-23T22:35:01.927Z,1755988501.927 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:01.928Z,1755988501.928 [DAT](INFO): DAT read: user:1893>
2025-08-23T22:35:01.929Z,1755988501.929 [DAT](INFO): DAT read: Tx time:22:35:01.5945
2025-08-23T22:35:01.929Z,1755988501.929 [DAT](INFO): Ping request sent.
2025-08-23T22:35:01.929Z,1755988501.929 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:01.930Z,1755988501.930 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-08-23T22:35:01.930Z,1755988501.930 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:01.930Z,1755988501.930 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:01.931Z,1755988501.931 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.001992
2025-08-23T22:35:02.101Z,1755988502.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.526273 s,
deltaX: -0.100000 m,
approachRate: -0.028359 m/s,
rangeRepo size: 4
2025-08-23T22:35:02.180Z,1755988502.180 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.250590
2025-08-23T22:35:02.434Z,1755988502.434 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.503725
2025-08-23T22:35:02.683Z,1755988502.683 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.753290
2025-08-23T22:35:02.899Z,1755988502.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:02.937Z,1755988502.937 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.007526
2025-08-23T22:35:03.187Z,1755988503.187 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.258007
2025-08-23T22:35:03.445Z,1755988503.445 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.515305
2025-08-23T22:35:03.694Z,1755988503.694 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.765288
2025-08-23T22:35:03.947Z,1755988503.947 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.017331
2025-08-23T22:35:04.199Z,1755988504.199 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.269723
2025-08-23T22:35:04.453Z,1755988504.453 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.523594
2025-08-23T22:35:04.703Z,1755988504.703 [DAT](INFO): DAT read: Rx Time:22:35:04.0018
2025-08-23T22:35:04.703Z,1755988504.703 [DAT](INFO): Rx dataTimestamp_ set to:1755988504.702727
2025-08-23T22:35:04.704Z,1755988504.704 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.774368
2025-08-23T22:35:04.932Z,1755988504.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:04.955Z,1755988504.955 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.025319
2025-08-23T22:35:05.209Z,1755988505.209 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.279479
2025-08-23T22:35:05.485Z,1755988505.485 [DAT](INFO): DAT read: 22:35:04.0018 LVL= 27760, 17041, 20882, 23411, AGC= 45, IDX= 445, 0.29, 2.620, 2.696, 1.351,-2.521, PHS=-1.041,-1.021,-2.455, RAW= 29.3, 48.3, CAL= 27.7, 52.9, ROT= 122.3, -52.9
2025-08-23T22:35:05.493Z,1755988505.493 [DAT](INFO): got valid direction response:
22:35:04.0018 LVL= 27760, 17041, 20882, 23411, AGC= 45, IDX= 445, 0.29, 2.620, 2.696, 1.351,-2.521, PHS=-1.041,-1.021,-2.455, RAW= 29.3, 48.3, CAL= 27.7, 52.9, ROT= 122.3, -52.9
2025-08-23T22:35:05.496Z,1755988505.496 [DAT](INFO): DAT read: Bearing 58.2, 36.9 (Local)
2025-08-23T22:35:05.496Z,1755988505.496 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.2, 36.9 (Local)
2025-08-23T22:35:05.498Z,1755988505.498 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:05.499Z,1755988505.499 [DAT](INFO): DAT read: user:1894>
2025-08-23T22:35:05.499Z,1755988505.499 [DAT](INFO): DAT read: Tx time:22:35:05.0945
2025-08-23T22:35:05.500Z,1755988505.500 [DAT](INFO): Ping request sent.
2025-08-23T22:35:05.500Z,1755988505.500 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:05.500Z,1755988505.500 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-23T22:35:05.501Z,1755988505.501 [DAT](INFO): direction in FSK: [-0.322326,0.509869,0.797584]
2025-08-23T22:35:05.501Z,1755988505.501 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:05.502Z,1755988505.502 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:05.505Z,1755988505.505 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:05.505Z,1755988505.505 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:05.509Z,1755988505.509 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.009020
2025-08-23T22:35:05.711Z,1755988505.711 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.210886
2025-08-23T22:35:05.758Z,1755988505.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.534207 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:05.760Z,1755988505.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384931 m,
bearing: 270.072152 deg,
lat: 36.779425 deg,
lon: -121.859549 deg,
deltaT: 24.700504 s,
deltaX: -6.558674 m,
approachRate: -0.265528 m/s,
posRepo size: 4
2025-08-23T22:35:05.761Z,1755988505.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.40 m.
2025-08-23T22:35:05.963Z,1755988505.963 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.462850
2025-08-23T22:35:06.218Z,1755988506.218 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.718493
2025-08-23T22:35:06.470Z,1755988506.470 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.968950
2025-08-23T22:35:06.719Z,1755988506.719 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.219140
2025-08-23T22:35:06.971Z,1755988506.971 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.470989
2025-08-23T22:35:07.222Z,1755988507.222 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.722764
2025-08-23T22:35:07.332Z,1755988507.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:07.477Z,1755988507.477 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.977155
2025-08-23T22:35:07.727Z,1755988507.727 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.226966
2025-08-23T22:35:07.978Z,1755988507.978 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.478817
2025-08-23T22:35:08.231Z,1755988508.231 [DAT](INFO): DAT read: Rx Time:22:35:07.5018
2025-08-23T22:35:08.232Z,1755988508.232 [DAT](INFO): Rx dataTimestamp_ set to:1755988508.231341
2025-08-23T22:35:08.233Z,1755988508.233 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.732872
2025-08-23T22:35:08.483Z,1755988508.483 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.983012
2025-08-23T22:35:08.737Z,1755988508.737 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.237100
2025-08-23T22:35:08.992Z,1755988508.992 [DAT](INFO): DAT read: 22:35:07.5018 LVL= 29504, 16769, 22642, 32755, AGC= 46, IDX= 445, 0.47,-0.238,-0.226,-1.400, 0.848, PHS=-0.984,-1.030,-2.292, RAW= 31.8, 49.8, CAL= 30.1, 54.3, ROT= 119.9, -54.3
2025-08-23T22:35:08.993Z,1755988508.993 [DAT](INFO): got valid direction response:
22:35:07.5018 LVL= 29504, 16769, 22642, 32755, AGC= 46, IDX= 445, 0.47,-0.238,-0.226,-1.400, 0.848, PHS=-0.984,-1.030,-2.292, RAW= 31.8, 49.8, CAL= 30.1, 54.3, ROT= 119.9, -54.3
2025-08-23T22:35:08.994Z,1755988508.994 [DAT](INFO): DAT read: Bearing 65.6, 35.7 (Local)
2025-08-23T22:35:08.995Z,1755988508.995 [DAT](INFO): Local bearing/azimuth received:
Bearing 65.6, 35.7 (Local)
2025-08-23T22:35:08.996Z,1755988508.996 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:08.997Z,1755988508.997 [DAT](INFO): DAT read: user:1895>
2025-08-23T22:35:08.997Z,1755988508.997 [DAT](INFO): DAT read: Tx time:22:35:08.5945
2025-08-23T22:35:08.998Z,1755988508.998 [DAT](INFO): Ping request sent.
2025-08-23T22:35:08.998Z,1755988508.998 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:08.998Z,1755988508.998 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-23T22:35:08.999Z,1755988508.999 [DAT](INFO): direction in FSK: [-0.290888,0.505870,0.812084]
2025-08-23T22:35:08.999Z,1755988508.999 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:08.000Z,1755988509.000 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:09.007Z,1755988509.007 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:09.007Z,1755988509.007 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:09.014Z,1755988509.014 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.016650
2025-08-23T22:35:09.170Z,1755988509.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.525801 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:09.172Z,1755988509.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384933 m,
bearing: 275.760755 deg,
lat: 36.779425 deg,
lon: -121.859551 deg,
deltaT: 3.525801 s,
deltaX: 0.000002 m,
approachRate: 0.000001 m/s,
posRepo size: 4
2025-08-23T22:35:09.239Z,1755988509.239 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.241583
2025-08-23T22:35:09.425Z,1755988509.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:09.502Z,1755988509.502 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.503005
2025-08-23T22:35:09.750Z,1755988509.750 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.752731
2025-08-23T22:35:10.004Z,1755988510.004 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.006495
2025-08-23T22:35:10.255Z,1755988510.255 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.256829
2025-08-23T22:35:10.508Z,1755988510.508 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.510567
2025-08-23T22:35:10.759Z,1755988510.759 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.761484
2025-08-23T22:35:11.011Z,1755988511.011 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.012794
2025-08-23T22:35:11.263Z,1755988511.263 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.264873
2025-08-23T22:35:11.437Z,1755988511.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:11.515Z,1755988511.515 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.517351
2025-08-23T22:35:11.766Z,1755988511.766 [DAT](INFO): DAT read: Rx Time:22:35:11.0018
2025-08-23T22:35:11.767Z,1755988511.767 [DAT](INFO): Rx dataTimestamp_ set to:1755988511.766679
2025-08-23T22:35:11.767Z,1755988511.767 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.769764
2025-08-23T22:35:12.019Z,1755988512.019 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.020760
2025-08-23T22:35:12.276Z,1755988512.276 [DAT](INFO): DAT read: 22:35:11.0018 LVL= 29648, 16241, 20322, 32611, AGC= 45, IDX= 446,-0.43,-2.227,-2.212, 3.007,-1.136, PHS=-0.989,-1.031,-2.184, RAW= 31.8, 51.7, CAL= 30.2, 55.9, ROT= 119.8, -55.9
2025-08-23T22:35:12.277Z,1755988512.277 [DAT](INFO): got valid direction response:
22:35:11.0018 LVL= 29648, 16241, 20322, 32611, AGC= 45, IDX= 446,-0.43,-2.227,-2.212, 3.007,-1.136, PHS=-0.989,-1.031,-2.184, RAW= 31.8, 51.7, CAL= 30.2, 55.9, ROT= 119.8, -55.9
2025-08-23T22:35:12.289Z,1755988512.289 [DAT](INFO): DAT read: Bearing 68.1, 34.3 (Local)
2025-08-23T22:35:12.290Z,1755988512.290 [DAT](INFO): Local bearing/azimuth received:
Bearing 68.1, 34.3 (Local)
2025-08-23T22:35:12.291Z,1755988512.291 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:12.292Z,1755988512.292 [DAT](INFO): DAT read: user:1896>
2025-08-23T22:35:12.293Z,1755988512.293 [DAT](INFO): DAT read: Tx time:22:35:12.0945
2025-08-23T22:35:12.293Z,1755988512.293 [DAT](INFO): Ping request sent.
2025-08-23T22:35:12.293Z,1755988512.293 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:12.301Z,1755988512.301 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-23T22:35:12.303Z,1755988512.303 [DAT](INFO): direction in FSK: [-0.278623,0.486503,0.828060]
2025-08-23T22:35:12.303Z,1755988512.303 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:12.303Z,1755988512.303 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:12.310Z,1755988512.310 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:12.311Z,1755988512.311 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:12.318Z,1755988512.318 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.025115
2025-08-23T22:35:12.323Z,1755988512.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.284140 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:12.325Z,1755988512.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384934 m,
bearing: 277.380052 deg,
lat: 36.779418 deg,
lon: -121.859553 deg,
deltaT: 3.284140 s,
deltaX: 0.000001 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:35:12.523Z,1755988512.523 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.229795
2025-08-23T22:35:12.774Z,1755988512.774 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.481494
2025-08-23T22:35:13.027Z,1755988513.027 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.733597
2025-08-23T22:35:13.278Z,1755988513.278 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.985522
2025-08-23T22:35:13.530Z,1755988513.530 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.237492
2025-08-23T22:35:13.603Z,1755988513.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:13.783Z,1755988513.783 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.489606
2025-08-23T22:35:14.035Z,1755988514.035 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.741837
2025-08-23T22:35:14.286Z,1755988514.286 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.993526
2025-08-23T22:35:14.539Z,1755988514.539 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.245541
2025-08-23T22:35:14.791Z,1755988514.791 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.497646
2025-08-23T22:35:15.042Z,1755988515.042 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.749526
2025-08-23T22:35:15.295Z,1755988515.295 [DAT](INFO): DAT read: Rx Time:22:35:14.5018
2025-08-23T22:35:15.295Z,1755988515.295 [DAT](INFO): Rx dataTimestamp_ set to:1755988515.294758
2025-08-23T22:35:15.296Z,1755988515.296 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.002646
2025-08-23T22:35:15.547Z,1755988515.547 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.253635
2025-08-23T22:35:15.804Z,1755988515.804 [DAT](INFO): DAT read: 22:35:14.5018 LVL= 29632, 15969, 19378, 32755, AGC= 46, IDX= 446,-0.30, 2.542, 2.554, 1.516,-2.657, PHS=-0.983,-1.027,-2.154, RAW= 31.9, 52.0, CAL= 30.4, 56.2, ROT= 119.6, -56.2
2025-08-23T22:35:15.805Z,1755988515.805 [DAT](INFO): got valid direction response:
22:35:14.5018 LVL= 29632, 15969, 19378, 32755, AGC= 46, IDX= 446,-0.30, 2.542, 2.554, 1.516,-2.657, PHS=-0.983,-1.027,-2.154, RAW= 31.9, 52.0, CAL= 30.4, 56.2, ROT= 119.6, -56.2
2025-08-23T22:35:15.806Z,1755988515.806 [DAT](INFO): DAT read: Bearing 62.9, 32.8 (Local)
2025-08-23T22:35:15.807Z,1755988515.807 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.9, 32.8 (Local)
2025-08-23T22:35:15.808Z,1755988515.808 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:15.809Z,1755988515.809 [DAT](INFO): DAT read: user:1897>
2025-08-23T22:35:15.810Z,1755988515.810 [DAT](INFO): DAT read: Tx time:22:35:15.5945
2025-08-23T22:35:15.811Z,1755988515.811 [DAT](INFO): Ping request sent.
2025-08-23T22:35:15.811Z,1755988515.811 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:15.811Z,1755988515.811 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-23T22:35:15.812Z,1755988515.812 [DAT](INFO): direction in FSK: [-0.274778,0.483696,0.830984]
2025-08-23T22:35:15.812Z,1755988515.812 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:15.812Z,1755988515.812 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:15.819Z,1755988515.819 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:15.819Z,1755988515.819 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:15.885Z,1755988515.885 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.057862
2025-08-23T22:35:16.051Z,1755988516.051 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.240073
2025-08-23T22:35:16.064Z,1755988516.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.527873 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:16.070Z,1755988516.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384939 m,
bearing: 271.840925 deg,
lat: 36.779418 deg,
lon: -121.859552 deg,
deltaT: 3.527873 s,
deltaX: 0.000005 m,
approachRate: 0.000001 m/s,
posRepo size: 4
2025-08-23T22:35:16.303Z,1755988516.303 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.491849
2025-08-23T22:35:16.385Z,1755988516.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:16.555Z,1755988516.555 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.743880
2025-08-23T22:35:16.810Z,1755988516.810 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.999080
2025-08-23T22:35:17.058Z,1755988517.058 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.247800
2025-08-23T22:35:17.311Z,1755988517.311 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.500746
2025-08-23T22:35:17.563Z,1755988517.563 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.751967
2025-08-23T22:35:17.815Z,1755988517.815 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.003899
2025-08-23T22:35:18.067Z,1755988518.067 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.255980
2025-08-23T22:35:18.319Z,1755988518.319 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.508250
2025-08-23T22:35:18.397Z,1755988518.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:18.436Z,1755988518.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:35:18.571Z,1755988518.571 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.760484
2025-08-23T22:35:18.827Z,1755988518.827 [DAT](INFO): DAT read: Rx Time:22:35:18.0019
2025-08-23T22:35:18.827Z,1755988518.827 [DAT](INFO): Rx dataTimestamp_ set to:1755988518.826916
2025-08-23T22:35:18.829Z,1755988518.829 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.018035
2025-08-23T22:35:19.075Z,1755988519.075 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.263907
2025-08-23T22:35:19.337Z,1755988519.337 [DAT](INFO): DAT read: 22:35:18.0019 LVL= 28640, 15345, 18050, 31347, AGC= 45, IDX= 446,-0.18, 1.281, 1.284, 0.132, 2.374, PHS=-0.992,-1.045,-2.287, RAW= 32.1, 50.3, CAL= 30.5, 54.7, ROT= 119.5, -54.7
2025-08-23T22:35:19.344Z,1755988519.344 [DAT](INFO): got valid direction response:
22:35:18.0019 LVL= 28640, 15345, 18050, 31347, AGC= 45, IDX= 446,-0.18, 1.281, 1.284, 0.132, 2.374, PHS=-0.992,-1.045,-2.287, RAW= 32.1, 50.3, CAL= 30.5, 54.7, ROT= 119.5, -54.7
2025-08-23T22:35:19.346Z,1755988519.346 [DAT](INFO): DAT read: Bearing 60.7, 34.4 (Local)
2025-08-23T22:35:19.346Z,1755988519.346 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.7, 34.4 (Local)
2025-08-23T22:35:19.349Z,1755988519.349 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s
2025-08-23T22:35:19.362Z,1755988519.362 [DAT](INFO): DAT read: user:1898>
2025-08-23T22:35:19.363Z,1755988519.363 [DAT](INFO): DAT read: Tx time:22:35:19.0945
2025-08-23T22:35:19.363Z,1755988519.363 [DAT](INFO): Ping request sent.
2025-08-23T22:35:19.363Z,1755988519.363 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:19.363Z,1755988519.363 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-23T22:35:19.364Z,1755988519.364 [DAT](INFO): direction in FSK: [-0.284551,0.502942,0.816138]
2025-08-23T22:35:19.364Z,1755988519.364 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:19.365Z,1755988519.365 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:19.388Z,1755988519.388 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:19.389Z,1755988519.389 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:19.396Z,1755988519.396 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.033317
2025-08-23T22:35:19.438Z,1755988519.438 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:35:19.578Z,1755988519.578 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.215457
2025-08-23T22:35:19.692Z,1755988519.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.528883 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:19.706Z,1755988519.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384934 m,
bearing: 269.689276 deg,
lat: 36.779418 deg,
lon: -121.859551 deg,
deltaT: 3.528883 s,
deltaX: -0.000005 m,
approachRate: -0.000001 m/s,
posRepo size: 4
2025-08-23T22:35:19.831Z,1755988519.831 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.468355
2025-08-23T22:35:20.083Z,1755988520.083 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.719587
2025-08-23T22:35:20.335Z,1755988520.335 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.972085
2025-08-23T22:35:20.432Z,1755988520.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:20.586Z,1755988520.586 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.223490
2025-08-23T22:35:20.839Z,1755988520.839 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.476217
2025-08-23T22:35:21.095Z,1755988521.095 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.731501
2025-08-23T22:35:21.344Z,1755988521.344 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.981016
2025-08-23T22:35:21.595Z,1755988521.595 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.231613
2025-08-23T22:35:21.847Z,1755988521.847 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.484000
2025-08-23T22:35:22.099Z,1755988522.099 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.735640
2025-08-23T22:35:22.351Z,1755988522.351 [DAT](INFO): DAT read: Rx Time:22:35:21.5018
2025-08-23T22:35:22.351Z,1755988522.351 [DAT](INFO): Rx dataTimestamp_ set to:1755988522.350688
2025-08-23T22:35:22.352Z,1755988522.352 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.988544
2025-08-23T22:35:22.462Z,1755988522.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:22.603Z,1755988522.603 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.239537
2025-08-23T22:35:22.860Z,1755988522.860 [DAT](INFO): DAT read: 22:35:21.5018 LVL= 32752, 16833, 22130, 32755, AGC= 46, IDX= 446,-0.12, 0.084, 0.100,-1.018, 1.176, PHS=-0.991,-1.032,-2.238, RAW= 31.7, 50.8, CAL= 30.1, 55.2, ROT= 119.9, -55.2
2025-08-23T22:35:22.861Z,1755988522.861 [DAT](INFO): got valid direction response:
22:35:21.5018 LVL= 32752, 16833, 22130, 32755, AGC= 46, IDX= 446,-0.12, 0.084, 0.100,-1.018, 1.176, PHS=-0.991,-1.032,-2.238, RAW= 31.7, 50.8, CAL= 30.1, 55.2, ROT= 119.9, -55.2
2025-08-23T22:35:22.866Z,1755988522.866 [DAT](INFO): DAT read: Bearing 62.2, 34.2 (Local)
2025-08-23T22:35:22.867Z,1755988522.867 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.2, 34.2 (Local)
2025-08-23T22:35:22.868Z,1755988522.868 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s
2025-08-23T22:35:22.869Z,1755988522.869 [DAT](INFO): DAT read: user:1899>
2025-08-23T22:35:22.870Z,1755988522.870 [DAT](INFO): DAT read: Tx time:22:35:22.5944
2025-08-23T22:35:22.870Z,1755988522.870 [DAT](INFO): Ping request sent.
2025-08-23T22:35:22.870Z,1755988522.870 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:22.870Z,1755988522.870 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-23T22:35:22.871Z,1755988522.871 [DAT](INFO): direction in FSK: [-0.284494,0.494750,0.821149]
2025-08-23T22:35:22.871Z,1755988522.871 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:22.872Z,1755988522.872 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:22.907Z,1755988522.907 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:22.907Z,1755988522.907 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:22.919Z,1755988522.919 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.048913
2025-08-23T22:35:23.000Z,1755988523.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.527169 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:23.007Z,1755988523.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384932 m,
bearing: 273.220000 deg,
lat: 36.779418 deg,
lon: -121.859551 deg,
deltaT: 3.527169 s,
deltaX: -0.000002 m,
approachRate: -0.000000 m/s,
posRepo size: 4
2025-08-23T22:35:23.107Z,1755988523.107 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.236614
2025-08-23T22:35:23.359Z,1755988523.359 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.488654
2025-08-23T22:35:23.612Z,1755988523.612 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.740932
2025-08-23T22:35:23.863Z,1755988523.863 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.993430
2025-08-23T22:35:24.115Z,1755988524.115 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.244693
2025-08-23T22:35:24.370Z,1755988524.370 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.500260
2025-08-23T22:35:24.501Z,1755988524.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:24.618Z,1755988524.618 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.748524
2025-08-23T22:35:24.871Z,1755988524.871 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.000722
2025-08-23T22:35:25.124Z,1755988525.124 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.253924
2025-08-23T22:35:25.375Z,1755988525.375 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.504967
2025-08-23T22:35:25.626Z,1755988525.626 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.756534
2025-08-23T22:35:25.879Z,1755988525.879 [DAT](INFO): DAT read: Rx Time:22:35:25.0018
2025-08-23T22:35:25.879Z,1755988525.879 [DAT](INFO): Rx dataTimestamp_ set to:1755988525.878766
2025-08-23T22:35:25.880Z,1755988525.880 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.009689
2025-08-23T22:35:26.131Z,1755988526.131 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.260650
2025-08-23T22:35:26.388Z,1755988526.388 [DAT](INFO): DAT read: 22:35:25.0018 LVL= 28016, 16801, 17538, 32755, AGC= 45, IDX= 446,-0.05,-0.696,-0.703,-1.805, 0.364, PHS=-0.957,-1.021,-2.213, RAW= 32.6, 50.4, CAL= 31.0, 54.8, ROT= 119.0, -54.8
2025-08-23T22:35:26.389Z,1755988526.389 [DAT](INFO): got valid direction response:
22:35:25.0018 LVL= 28016, 16801, 17538, 32755, AGC= 45, IDX= 446,-0.05,-0.696,-0.703,-1.805, 0.364, PHS=-0.957,-1.021,-2.213, RAW= 32.6, 50.4, CAL= 31.0, 54.8, ROT= 119.0, -54.8
2025-08-23T22:35:26.390Z,1755988526.390 [DAT](INFO): DAT read: Bearing 63.9, 34.7 (Local)
2025-08-23T22:35:26.390Z,1755988526.390 [DAT](INFO): Local bearing/azimuth received:
Bearing 63.9, 34.7 (Local)
2025-08-23T22:35:26.392Z,1755988526.392 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s
2025-08-23T22:35:26.392Z,1755988526.392 [DAT](INFO): DAT read: user:1900>
2025-08-23T22:35:26.393Z,1755988526.393 [DAT](INFO): DAT read: Tx time:22:35:26.0944
2025-08-23T22:35:26.399Z,1755988526.399 [DAT](INFO): Ping request sent.
2025-08-23T22:35:26.400Z,1755988526.400 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:26.400Z,1755988526.400 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-23T22:35:26.401Z,1755988526.401 [DAT](INFO): direction in FSK: [-0.279460,0.504159,0.817145]
2025-08-23T22:35:26.401Z,1755988526.401 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:26.401Z,1755988526.401 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:26.405Z,1755988526.405 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:26.405Z,1755988526.405 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:26.432Z,1755988526.432 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.032732
2025-08-23T22:35:26.543Z,1755988526.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.527993 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:26.549Z,1755988526.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384935 m,
bearing: 274.145014 deg,
lat: 36.779418 deg,
lon: -121.859552 deg,
deltaT: 3.527993 s,
deltaX: 0.000003 m,
approachRate: 0.000001 m/s,
posRepo size: 4
2025-08-23T22:35:26.635Z,1755988526.635 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.235155
2025-08-23T22:35:26.887Z,1755988526.887 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.486976
2025-08-23T22:35:26.931Z,1755988526.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:27.139Z,1755988527.139 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.739676
2025-08-23T22:35:27.392Z,1755988527.392 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.992020
2025-08-23T22:35:27.642Z,1755988527.642 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.242900
2025-08-23T22:35:27.895Z,1755988527.895 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.494963
2025-08-23T22:35:28.147Z,1755988528.147 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.747056
2025-08-23T22:35:28.399Z,1755988528.399 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.999794
2025-08-23T22:35:28.650Z,1755988528.650 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.250873
2025-08-23T22:35:28.903Z,1755988528.903 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.502983
2025-08-23T22:35:28.961Z,1755988528.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:29.155Z,1755988529.155 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.755682
2025-08-23T22:35:29.407Z,1755988529.407 [DAT](INFO): DAT read: Rx Time:22:35:28.5017
2025-08-23T22:35:29.408Z,1755988529.408 [DAT](INFO): Rx dataTimestamp_ set to:1755988529.407518
2025-08-23T22:35:29.409Z,1755988529.409 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.009155
2025-08-23T22:35:29.659Z,1755988529.659 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.258965
2025-08-23T22:35:29.918Z,1755988529.918 [DAT](INFO): DAT read: 22:35:28.5017 LVL= 27216, 14753, 20850, 32755, AGC= 45, IDX= 445, 0.01,-1.958,-1.970,-3.064,-0.907, PHS=-0.948,-1.017,-2.200, RAW= 32.8, 50.4, CAL= 31.2, 54.8, ROT= 118.8, -54.8
2025-08-23T22:35:29.920Z,1755988529.920 [DAT](INFO): got valid direction response:
22:35:28.5017 LVL= 27216, 14753, 20850, 32755, AGC= 45, IDX= 445, 0.01,-1.958,-1.970,-3.064,-0.907, PHS=-0.948,-1.017,-2.200, RAW= 32.8, 50.4, CAL= 31.2, 54.8, ROT= 118.8, -54.8
2025-08-23T22:35:29.921Z,1755988529.921 [DAT](INFO): DAT read: Bearing 63.2, 34.2 (Local)
2025-08-23T22:35:29.923Z,1755988529.923 [DAT](INFO): Local bearing/azimuth received:
Bearing 63.2, 34.2 (Local)
2025-08-23T22:35:29.925Z,1755988529.925 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:29.926Z,1755988529.926 [DAT](INFO): DAT read: user:1901>
2025-08-23T22:35:29.927Z,1755988529.927 [DAT](INFO): DAT read: Tx time:22:35:29.5944
2025-08-23T22:35:29.927Z,1755988529.927 [DAT](INFO): Ping request sent.
2025-08-23T22:35:29.928Z,1755988529.928 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:29.928Z,1755988529.928 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-23T22:35:29.930Z,1755988529.930 [DAT](INFO): direction in FSK: [-0.277698,0.505131,0.817145]
2025-08-23T22:35:29.930Z,1755988529.930 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:29.930Z,1755988529.930 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:29.934Z,1755988529.934 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:29.934Z,1755988529.934 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:29.946Z,1755988529.946 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.018359
2025-08-23T22:35:30.163Z,1755988530.163 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.235231
2025-08-23T22:35:30.224Z,1755988530.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.527799 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:30.230Z,1755988530.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384935 m,
bearing: 273.062326 deg,
lat: 36.779418 deg,
lon: -121.859552 deg,
deltaT: 3.527799 s,
deltaX: -0.000000 m,
approachRate: -0.000000 m/s,
posRepo size: 4
2025-08-23T22:35:30.415Z,1755988530.415 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.487163
2025-08-23T22:35:30.667Z,1755988530.667 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.739133
2025-08-23T22:35:30.919Z,1755988530.919 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.991142
2025-08-23T22:35:30.967Z,1755988530.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:31.171Z,1755988531.171 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.243170
2025-08-23T22:35:31.423Z,1755988531.423 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.495230
2025-08-23T22:35:31.674Z,1755988531.674 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.747124
2025-08-23T22:35:31.928Z,1755988531.928 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.000415
2025-08-23T22:35:32.179Z,1755988532.179 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.251858
2025-08-23T22:35:32.432Z,1755988532.432 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.504409
2025-08-23T22:35:32.684Z,1755988532.684 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.756269
2025-08-23T22:35:32.935Z,1755988532.935 [DAT](INFO): DAT read: Rx Time:22:35:32.0017
2025-08-23T22:35:32.935Z,1755988532.935 [DAT](INFO): Rx dataTimestamp_ set to:1755988532.934703
2025-08-23T22:35:32.936Z,1755988532.936 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.008196
2025-08-23T22:35:33.043Z,1755988533.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:33.187Z,1755988533.187 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.259759
2025-08-23T22:35:33.448Z,1755988533.448 [DAT](INFO): DAT read: 22:35:32.0017 LVL= 29808, 14913, 19858, 32755, AGC= 44, IDX= 445, 0.12,-2.311,-2.311, 2.897,-1.246, PHS=-0.963,-1.020,-2.184, RAW= 32.4, 51.0, CAL= 30.8, 55.3, ROT= 119.2, -55.3
2025-08-23T22:35:33.449Z,1755988533.449 [DAT](INFO): got valid direction response:
22:35:32.0017 LVL= 29808, 14913, 19858, 32755, AGC= 44, IDX= 445, 0.12,-2.311,-2.311, 2.897,-1.246, PHS=-0.963,-1.020,-2.184, RAW= 32.4, 51.0, CAL= 30.8, 55.3, ROT= 119.2, -55.3
2025-08-23T22:35:33.450Z,1755988533.450 [DAT](INFO): DAT read: Bearing 61.8, 33.7 (Local)
2025-08-23T22:35:33.451Z,1755988533.451 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.8, 33.7 (Local)
2025-08-23T22:35:33.452Z,1755988533.452 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:33.453Z,1755988533.453 [DAT](INFO): DAT read: user:1902>
2025-08-23T22:35:33.454Z,1755988533.454 [DAT](INFO): DAT read: Tx time:22:35:33.0944
2025-08-23T22:35:33.454Z,1755988533.454 [DAT](INFO): Ping request sent.
2025-08-23T22:35:33.454Z,1755988533.454 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:33.454Z,1755988533.454 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-23T22:35:33.455Z,1755988533.455 [DAT](INFO): direction in FSK: [-0.277729,0.496937,0.822144]
2025-08-23T22:35:33.455Z,1755988533.455 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:33.456Z,1755988533.456 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:33.465Z,1755988533.465 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:33.466Z,1755988533.466 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:33.471Z,1755988533.471 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.016826
2025-08-23T22:35:33.690Z,1755988533.690 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.236536
2025-08-23T22:35:33.810Z,1755988533.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.529028 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:33.814Z,1755988533.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384934 m,
bearing: 272.938489 deg,
lat: 36.779418 deg,
lon: -121.859552 deg,
deltaT: 3.529028 s,
deltaX: -0.000001 m,
approachRate: -0.000000 m/s,
posRepo size: 4
2025-08-23T22:35:33.943Z,1755988533.943 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.489459
2025-08-23T22:35:34.195Z,1755988534.195 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.741098
2025-08-23T22:35:34.448Z,1755988534.448 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.993767
2025-08-23T22:35:34.698Z,1755988534.698 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.244521
2025-08-23T22:35:34.951Z,1755988534.951 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.496648
2025-08-23T22:35:35.203Z,1755988535.203 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.749124
2025-08-23T22:35:35.391Z,1755988535.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:35.455Z,1755988535.455 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.001301
2025-08-23T22:35:35.707Z,1755988535.707 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.252661
2025-08-23T22:35:35.959Z,1755988535.959 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.504615
2025-08-23T22:35:36.211Z,1755988536.211 [DAT](INFO): DAT read: Rx Time:22:35:35.5017
2025-08-23T22:35:36.212Z,1755988536.212 [DAT](INFO): Rx dataTimestamp_ set to:1755988536.211430
2025-08-23T22:35:36.213Z,1755988536.213 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.758658
2025-08-23T22:35:36.463Z,1755988536.463 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.009449
2025-08-23T22:35:36.717Z,1755988536.717 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.262842
2025-08-23T22:35:36.981Z,1755988536.981 [DAT](INFO): DAT read: 22:35:35.5017 LVL= 27120, 15713, 19666, 32755, AGC= 44, IDX= 445, 0.24, 3.009, 2.986, 1.897,-2.217, PHS=-0.956,-1.035,-2.214, RAW= 33.2, 50.6, CAL= 31.6, 55.0, ROT= 118.4, -55.0
2025-08-23T22:35:36.983Z,1755988536.983 [DAT](INFO): got valid direction response:
22:35:35.5017 LVL= 27120, 15713, 19666, 32755, AGC= 44, IDX= 445, 0.24, 3.009, 2.986, 1.897,-2.217, PHS=-0.956,-1.035,-2.214, RAW= 33.2, 50.6, CAL= 31.6, 55.0, ROT= 118.4, -55.0
2025-08-23T22:35:36.984Z,1755988536.984 [DAT](INFO): DAT read: Bearing 61.8, 34.5 (Local)
2025-08-23T22:35:36.984Z,1755988536.984 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.8, 34.5 (Local)
2025-08-23T22:35:36.985Z,1755988536.985 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:36.986Z,1755988536.986 [DAT](INFO): DAT read: user:1903>
2025-08-23T22:35:36.987Z,1755988536.987 [DAT](INFO): DAT read: Tx time:22:35:36.5944
2025-08-23T22:35:36.987Z,1755988536.987 [DAT](INFO): Ping request sent.
2025-08-23T22:35:36.987Z,1755988536.987 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:36.987Z,1755988536.987 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-23T22:35:36.988Z,1755988536.988 [DAT](INFO): direction in FSK: [-0.272807,0.504546,0.819152]
2025-08-23T22:35:36.989Z,1755988536.989 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:36.989Z,1755988536.989 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:37.001Z,1755988537.001 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:37.001Z,1755988537.001 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:37.037Z,1755988537.037 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.049667
2025-08-23T22:35:37.149Z,1755988537.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.528583 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:37.156Z,1755988537.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384932 m,
bearing: 272.595650 deg,
lat: 36.779418 deg,
lon: -121.859552 deg,
deltaT: 3.528583 s,
deltaX: -0.000002 m,
approachRate: -0.000001 m/s,
posRepo size: 4
2025-08-23T22:35:37.220Z,1755988537.220 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.232735
2025-08-23T22:35:37.470Z,1755988537.470 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.483280
2025-08-23T22:35:37.583Z,1755988537.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:37.727Z,1755988537.727 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.739501
2025-08-23T22:35:37.976Z,1755988537.976 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.989065
2025-08-23T22:35:38.227Z,1755988538.227 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.239476
2025-08-23T22:35:38.479Z,1755988538.479 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.492121
2025-08-23T22:35:38.731Z,1755988538.731 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.743498
2025-08-23T22:35:38.985Z,1755988538.985 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.997954
2025-08-23T22:35:39.236Z,1755988539.236 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.249048
2025-08-23T22:35:39.487Z,1755988539.487 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.499459
2025-08-23T22:35:39.742Z,1755988539.742 [DAT](INFO): DAT read: Rx Time:22:35:39.0017
2025-08-23T22:35:39.743Z,1755988539.743 [DAT](INFO): Rx dataTimestamp_ set to:1755988539.742633
2025-08-23T22:35:39.743Z,1755988539.743 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.756418
2025-08-23T22:35:39.986Z,1755988539.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:39.994Z,1755988539.994 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.006001
2025-08-23T22:35:40.245Z,1755988540.245 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.257605
2025-08-23T22:35:40.501Z,1755988540.501 [DAT](INFO): DAT read: 22:35:39.0017 LVL= 26352, 13249, 20466, 32755, AGC= 45, IDX= 445, 0.36, 1.799, 1.747, 0.658, 2.838, PHS=-0.937,-1.046,-2.223, RAW= 34.4, 50.3, CAL= 32.7, 54.7, ROT= 117.3, -54.7
2025-08-23T22:35:40.502Z,1755988540.502 [DAT](INFO): got valid direction response:
22:35:39.0017 LVL= 26352, 13249, 20466, 32755, AGC= 45, IDX= 445, 0.36, 1.799, 1.747, 0.658, 2.838, PHS=-0.937,-1.046,-2.223, RAW= 34.4, 50.3, CAL= 32.7, 54.7, ROT= 117.3, -54.7
2025-08-23T22:35:40.503Z,1755988540.503 [DAT](INFO): DAT read: Bearing 61.0, 34.9 (Local)
2025-08-23T22:35:40.503Z,1755988540.503 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.0, 34.9 (Local)
2025-08-23T22:35:40.505Z,1755988540.505 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:40.505Z,1755988540.505 [DAT](INFO): DAT read: user:1904>
2025-08-23T22:35:40.506Z,1755988540.506 [DAT](INFO): DAT read: Tx time:22:35:40.0944
2025-08-23T22:35:40.506Z,1755988540.506 [DAT](INFO): Ping request sent.
2025-08-23T22:35:40.507Z,1755988540.507 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:40.507Z,1755988540.507 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-23T22:35:40.508Z,1755988540.508 [DAT](INFO): direction in FSK: [-0.265034,0.513494,0.816138]
2025-08-23T22:35:40.508Z,1755988540.508 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:40.508Z,1755988540.508 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:40.512Z,1755988540.512 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:40.512Z,1755988540.512 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:40.515Z,1755988540.515 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.008911
2025-08-23T22:35:40.746Z,1755988540.746 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.239800
2025-08-23T22:35:40.793Z,1755988540.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.526641 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:40.797Z,1755988540.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384937 m,
bearing: 270.689495 deg,
lat: 36.779418 deg,
lon: -121.859552 deg,
deltaT: 3.526641 s,
deltaX: 0.000005 m,
approachRate: 0.000002 m/s,
posRepo size: 4
2025-08-23T22:35:41.002Z,1755988541.002 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.494741
2025-08-23T22:35:41.251Z,1755988541.251 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.744701
2025-08-23T22:35:41.503Z,1755988541.503 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.995955
2025-08-23T22:35:41.758Z,1755988541.758 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.251375
2025-08-23T22:35:42.010Z,1755988542.010 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.502503
2025-08-23T22:35:42.260Z,1755988542.260 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.753086
2025-08-23T22:35:42.412Z,1755988542.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:42.511Z,1755988542.511 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.004806
2025-08-23T22:35:42.763Z,1755988542.763 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.255963
2025-08-23T22:35:43.022Z,1755988543.022 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.514200
2025-08-23T22:35:43.268Z,1755988543.268 [DAT](INFO): DAT read: Rx Time:22:35:42.5016
2025-08-23T22:35:43.269Z,1755988543.269 [DAT](INFO): Rx dataTimestamp_ set to:1755988543.268333
2025-08-23T22:35:43.271Z,1755988543.271 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.764238
2025-08-23T22:35:43.519Z,1755988543.519 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.012236
2025-08-23T22:35:43.781Z,1755988543.781 [DAT](INFO): DAT read: 22:35:42.5016 LVL= 27216, 13041, 20450, 32755, AGC= 45, IDX= 446,-0.43,-1.480,-1.503,-2.587,-0.458, PHS=-0.920,-1.000,-2.173, RAW= 33.3, 50.0, CAL= 31.6, 54.5, ROT= 118.4, -54.5
2025-08-23T22:35:43.783Z,1755988543.783 [DAT](INFO): got valid direction response:
22:35:42.5016 LVL= 27216, 13041, 20450, 32755, AGC= 45, IDX= 446,-0.43,-1.480,-1.503,-2.587,-0.458, PHS=-0.920,-1.000,-2.173, RAW= 33.3, 50.0, CAL= 31.6, 54.5, ROT= 118.4, -54.5
2025-08-23T22:35:43.785Z,1755988543.785 [DAT](INFO): DAT read: Bearing 60.4, 34.5 (Local)
2025-08-23T22:35:43.787Z,1755988543.787 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.4, 34.5 (Local)
2025-08-23T22:35:43.789Z,1755988543.789 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:43.791Z,1755988543.791 [DAT](INFO): DAT read: user:1905>
2025-08-23T22:35:43.792Z,1755988543.792 [DAT](INFO): DAT read: Tx time:22:35:43.5943
2025-08-23T22:35:43.792Z,1755988543.792 [DAT](INFO): Ping request sent.
2025-08-23T22:35:43.792Z,1755988543.792 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:43.793Z,1755988543.793 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-23T22:35:43.798Z,1755988543.798 [DAT](INFO): direction in FSK: [-0.276196,0.510815,0.814116]
2025-08-23T22:35:43.799Z,1755988543.799 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:43.799Z,1755988543.799 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:43.815Z,1755988543.815 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:43.816Z,1755988543.816 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:43.828Z,1755988543.828 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.035492
2025-08-23T22:35:44.025Z,1755988544.025 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.232406
2025-08-23T22:35:44.045Z,1755988544.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.277433 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:44.071Z,1755988544.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384937 m,
bearing: 270.844579 deg,
lat: 36.779418 deg,
lon: -121.859552 deg,
deltaT: 3.277433 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-23T22:35:44.278Z,1755988544.278 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.485712
2025-08-23T22:35:44.439Z,1755988544.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:44.527Z,1755988544.527 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.734374
2025-08-23T22:35:44.780Z,1755988544.780 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.987443
2025-08-23T22:35:45.034Z,1755988545.034 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.240700
2025-08-23T22:35:45.283Z,1755988545.283 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.490973
2025-08-23T22:35:45.535Z,1755988545.535 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.742283
2025-08-23T22:35:45.787Z,1755988545.787 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.995193
2025-08-23T22:35:46.042Z,1755988546.042 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.248816
2025-08-23T22:35:46.291Z,1755988546.291 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.498454
2025-08-23T22:35:46.442Z,1755988546.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:46.543Z,1755988546.543 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.750251
2025-08-23T22:35:46.795Z,1755988546.795 [DAT](INFO): DAT read: Rx Time:22:35:46.0016
2025-08-23T22:35:46.795Z,1755988546.795 [DAT](INFO): Rx dataTimestamp_ set to:1755988546.794920
2025-08-23T22:35:46.796Z,1755988546.796 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.003524
2025-08-23T22:35:47.048Z,1755988547.048 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.256174
2025-08-23T22:35:47.304Z,1755988547.304 [DAT](INFO): DAT read: 22:35:46.0016 LVL= 26704, 14273, 20418, 32755, AGC= 45, IDX= 446,-0.30,-2.883,-2.903, 2.284,-1.858, PHS=-0.923,-1.000,-2.185, RAW= 33.1, 49.8, CAL= 31.4, 54.3, ROT= 118.6, -54.3
2025-08-23T22:35:47.305Z,1755988547.305 [DAT](INFO): got valid direction response:
22:35:46.0016 LVL= 26704, 14273, 20418, 32755, AGC= 45, IDX= 446,-0.30,-2.883,-2.903, 2.284,-1.858, PHS=-0.923,-1.000,-2.185, RAW= 33.1, 49.8, CAL= 31.4, 54.3, ROT= 118.6, -54.3
2025-08-23T22:35:47.306Z,1755988547.306 [DAT](INFO): DAT read: Bearing 61.3, 34.7 (Local)
2025-08-23T22:35:47.307Z,1755988547.307 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.3, 34.7 (Local)
2025-08-23T22:35:47.308Z,1755988547.308 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:47.309Z,1755988547.309 [DAT](INFO): DAT read: user:1906>
2025-08-23T22:35:47.309Z,1755988547.309 [DAT](INFO): DAT read: Tx time:22:35:47.0943
2025-08-23T22:35:47.310Z,1755988547.310 [DAT](INFO): Ping request sent.
2025-08-23T22:35:47.310Z,1755988547.310 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:47.310Z,1755988547.310 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-23T22:35:47.311Z,1755988547.311 [DAT](INFO): direction in FSK: [-0.279336,0.512339,0.812084]
2025-08-23T22:35:47.311Z,1755988547.311 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:47.312Z,1755988547.312 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:47.316Z,1755988547.316 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:47.316Z,1755988547.316 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:47.331Z,1755988547.331 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.020972
2025-08-23T22:35:47.333Z,1755988547.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.526533 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:47.335Z,1755988547.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384939 m,
bearing: 271.813525 deg,
lat: 36.779418 deg,
lon: -121.859552 deg,
deltaT: 3.526533 s,
deltaX: 0.000002 m,
approachRate: 0.000001 m/s,
posRepo size: 4
2025-08-23T22:35:47.551Z,1755988547.551 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.240796
2025-08-23T22:35:47.803Z,1755988547.803 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.492801
2025-08-23T22:35:48.054Z,1755988548.054 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.744627
2025-08-23T22:35:48.307Z,1755988548.307 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.997300
2025-08-23T22:35:48.498Z,1755988548.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:48.560Z,1755988548.560 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.250075
2025-08-23T22:35:48.811Z,1755988548.811 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.500796
2025-08-23T22:35:49.063Z,1755988549.063 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.753079
2025-08-23T22:35:49.314Z,1755988549.314 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.004637
2025-08-23T22:35:49.567Z,1755988549.567 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.256939
2025-08-23T22:35:49.568Z,1755988549.568 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:35:49.819Z,1755988549.819 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.508693
2025-08-23T22:35:50.071Z,1755988550.071 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.760713
2025-08-23T22:35:50.323Z,1755988550.323 [DAT](INFO): DAT read: Rx Time:22:35:49.5016
2025-08-23T22:35:50.323Z,1755988550.323 [DAT](INFO): Rx dataTimestamp_ set to:1755988550.322697
2025-08-23T22:35:50.324Z,1755988550.324 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.013700
2025-08-23T22:35:50.526Z,1755988550.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:50.570Z,1755988550.570 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:35:50.575Z,1755988550.575 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.264904
2025-08-23T22:35:50.832Z,1755988550.832 [DAT](INFO): DAT read: 22:35:49.5016 LVL= 27552, 13521, 20146, 32755, AGC= 45, IDX= 446,-0.19, 2.654, 2.633, 1.556,-2.591, PHS=-0.936,-1.014,-2.180, RAW= 33.2, 50.4, CAL= 31.6, 54.9, ROT= 118.4, -54.9
2025-08-23T22:35:50.833Z,1755988550.833 [DAT](INFO): got valid direction response:
22:35:49.5016 LVL= 27552, 13521, 20146, 32755, AGC= 45, IDX= 446,-0.19, 2.654, 2.633, 1.556,-2.591, PHS=-0.936,-1.014,-2.180, RAW= 33.2, 50.4, CAL= 31.6, 54.9, ROT= 118.4, -54.9
2025-08-23T22:35:50.834Z,1755988550.834 [DAT](INFO): DAT read: Bearing 62.7, 34.7 (Local)
2025-08-23T22:35:50.834Z,1755988550.834 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.7, 34.7 (Local)
2025-08-23T22:35:50.836Z,1755988550.836 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:50.850Z,1755988550.850 [DAT](INFO): DAT read: user:1907>
2025-08-23T22:35:50.851Z,1755988550.851 [DAT](INFO): DAT read: Tx time:22:35:50.5943
2025-08-23T22:35:50.851Z,1755988550.851 [DAT](INFO): Ping request sent.
2025-08-23T22:35:50.851Z,1755988550.851 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:50.851Z,1755988550.851 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-23T22:35:50.852Z,1755988550.852 [DAT](INFO): direction in FSK: [-0.273486,0.505803,0.818150]
2025-08-23T22:35:50.853Z,1755988550.853 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:50.853Z,1755988550.853 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:50.856Z,1755988550.856 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:50.856Z,1755988550.856 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:50.880Z,1755988550.880 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.028764
2025-08-23T22:35:50.970Z,1755988550.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.528020 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:50.972Z,1755988550.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384936 m,
bearing: 274.088370 deg,
lat: 36.779418 deg,
lon: -121.859552 deg,
deltaT: 3.528020 s,
deltaX: -0.000003 m,
approachRate: -0.000001 m/s,
posRepo size: 4
2025-08-23T22:35:50.999Z,1755988550.999 [DockingStepper](INFO): Changing to mode: 1
2025-08-23T22:35:51.079Z,1755988551.079 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.227825
2025-08-23T22:35:51.331Z,1755988551.331 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.479480
2025-08-23T22:35:51.583Z,1755988551.583 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.731479
2025-08-23T22:35:51.835Z,1755988551.835 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.983464
2025-08-23T22:35:52.086Z,1755988552.086 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.235340
2025-08-23T22:35:52.344Z,1755988552.344 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.492361
2025-08-23T22:35:52.594Z,1755988552.594 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.743264
2025-08-23T22:35:52.627Z,1755988552.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:52.847Z,1755988552.847 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.995745
2025-08-23T22:35:53.099Z,1755988553.099 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.248212
2025-08-23T22:35:53.351Z,1755988553.351 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.499394
2025-08-23T22:35:53.603Z,1755988553.603 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.751366
2025-08-23T22:35:53.826Z,1755988553.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.40 m.
2025-08-23T22:35:53.826Z,1755988553.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-08-23T22:35:53.855Z,1755988553.855 [DAT](INFO): DAT read: Rx Time:22:35:53.0015
2025-08-23T22:35:53.855Z,1755988553.855 [DAT](INFO): Rx dataTimestamp_ set to:1755988553.854973
2025-08-23T22:35:53.856Z,1755988553.856 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.004688
2025-08-23T22:35:54.106Z,1755988554.106 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.255337
2025-08-23T22:35:54.366Z,1755988554.366 [DAT](INFO): DAT read: 22:35:53.0015 LVL= 28752, 14385, 21234, 32755, AGC= 44, IDX= 446,-0.12, 1.118, 1.203, 0.256, 2.187, PHS=-0.966,-0.939,-1.975, RAW= 28.6, 53.3, CAL= 27.2, 57.4, ROT= 122.8, -57.4
2025-08-23T22:35:54.367Z,1755988554.367 [DAT](INFO): got valid direction response:
22:35:53.0015 LVL= 28752, 14385, 21234, 32755, AGC= 44, IDX= 446,-0.12, 1.118, 1.203, 0.256, 2.187, PHS=-0.966,-0.939,-1.975, RAW= 28.6, 53.3, CAL= 27.2, 57.4, ROT= 122.8, -57.4
2025-08-23T22:35:54.368Z,1755988554.368 [DAT](INFO): DAT read: Bearing 62.1, 29.2 (Local)
2025-08-23T22:35:54.368Z,1755988554.368 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.1, 29.2 (Local)
2025-08-23T22:35:54.370Z,1755988554.370 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:54.370Z,1755988554.370 [DAT](INFO): DAT read: user:1908>
2025-08-23T22:35:54.371Z,1755988554.371 [DAT](INFO): DAT read: Tx time:22:35:54.0942
2025-08-23T22:35:54.371Z,1755988554.371 [DAT](INFO): Ping request sent.
2025-08-23T22:35:54.371Z,1755988554.371 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:54.372Z,1755988554.372 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-23T22:35:54.373Z,1755988554.373 [DAT](INFO): direction in FSK: [-0.291857,0.452873,0.842452]
2025-08-23T22:35:54.373Z,1755988554.373 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:54.377Z,1755988554.377 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:54.382Z,1755988554.382 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:54.383Z,1755988554.383 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:54.398Z,1755988554.398 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.026949
2025-08-23T22:35:54.611Z,1755988554.611 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.239174
2025-08-23T22:35:54.643Z,1755988554.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.532540 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-23T22:35:54.645Z,1755988554.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.384933 m,
bearing: 276.489956 deg,
lat: 36.779418 deg,
lon: -121.859552 deg,
deltaT: 3.532540 s,
deltaX: -0.000003 m,
approachRate: -0.000001 m/s,
posRepo size: 4
2025-08-23T22:35:54.862Z,1755988554.862 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.490931
2025-08-23T22:35:55.029Z,1755988555.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:55.115Z,1755988555.115 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.743713
2025-08-23T22:35:55.368Z,1755988555.368 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.996591
2025-08-23T22:35:55.618Z,1755988555.618 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.246924
2025-08-23T22:35:55.872Z,1755988555.872 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.500478
2025-08-23T22:35:56.123Z,1755988556.123 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.751050
2025-08-23T22:35:56.375Z,1755988556.375 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.003967
2025-08-23T22:35:56.626Z,1755988556.626 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.254972
2025-08-23T22:35:56.679Z,1755988556.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 2.40 m. Lat: 36.779418 Lon: -121.859552 Cable present. Reached intercept timeout.
2025-08-23T22:35:56.679Z,1755988556.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-08-23T22:35:56.679Z,1755988556.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-23T22:35:56.679Z,1755988556.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-08-23T22:35:56.879Z,1755988556.879 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.507614
2025-08-23T22:35:57.051Z,1755988557.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:57.052Z,1755988557.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-08-23T22:35:57.052Z,1755988557.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-08-23T22:35:57.053Z,1755988557.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-08-23T22:35:57.131Z,1755988557.131 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.759060
2025-08-23T22:35:57.383Z,1755988557.383 [DAT](INFO): DAT read: Rx Time:22:35:56.5015
2025-08-23T22:35:57.383Z,1755988557.383 [DAT](INFO): Rx dataTimestamp_ set to:1755988557.382904
2025-08-23T22:35:57.384Z,1755988557.384 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.012250
2025-08-23T22:35:57.474Z,1755988557.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-08-23T22:35:57.475Z,1755988557.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-23T22:35:57.476Z,1755988557.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-23T22:35:57.476Z,1755988557.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-23T22:35:57.476Z,1755988557.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-23T22:35:57.476Z,1755988557.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-23T22:35:57.476Z,1755988557.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-23T22:35:57.476Z,1755988557.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-23T22:35:57.476Z,1755988557.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-23T22:35:57.476Z,1755988557.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-23T22:35:57.476Z,1755988557.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-23T22:35:57.635Z,1755988557.635 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.263061
2025-08-23T22:35:57.859Z,1755988557.859 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-23T22:35:57.859Z,1755988557.859 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-23T22:35:57.859Z,1755988557.859 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-23T22:35:57.859Z,1755988557.859 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-23T22:35:57.859Z,1755988557.859 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-23T22:35:57.859Z,1755988557.859 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-23T22:35:57.860Z,1755988557.860 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2025-08-23T22:35:57.860Z,1755988557.860 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-23T22:35:57.860Z,1755988557.860 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-08-23T22:35:57.861Z,1755988557.861 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-08-23T22:35:57.861Z,1755988557.861 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-23T22:35:57.861Z,1755988557.861 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-08-23T22:35:57.862Z,1755988557.862 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-23T22:35:57.862Z,1755988557.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-23T22:35:57.862Z,1755988557.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-23T22:35:57.862Z,1755988557.862 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-08-23T22:35:57.863Z,1755988557.863 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-08-23T22:35:57.892Z,1755988557.892 [DAT](INFO): DAT read: 22:35:56.5015 LVL= 28704, 10945, 21234, 32755, AGC= 46, IDX= 445,-0.03,-0.778,-0.770,-1.799, 0.250, PHS=-0.927,-0.975,-2.093, RAW= 32.1, 51.0, CAL= 30.5, 55.3, ROT= 119.5, -55.3
2025-08-23T22:35:57.893Z,1755988557.893 [DAT](INFO): got valid direction response:
22:35:56.5015 LVL= 28704, 10945, 21234, 32755, AGC= 46, IDX= 445,-0.03,-0.778,-0.770,-1.799, 0.250, PHS=-0.927,-0.975,-2.093, RAW= 32.1, 51.0, CAL= 30.5, 55.3, ROT= 119.5, -55.3
2025-08-23T22:35:57.894Z,1755988557.894 [DAT](INFO): DAT read: Bearing 59.8, 32.1 (Local)
2025-08-23T22:35:57.895Z,1755988557.895 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.8, 32.1 (Local)
2025-08-23T22:35:57.896Z,1755988557.896 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:35:57.897Z,1755988557.897 [DAT](INFO): DAT read: user:1909>
2025-08-23T22:35:57.897Z,1755988557.897 [DAT](INFO): DAT read: Tx time:22:35:57.5942
2025-08-23T22:35:57.898Z,1755988557.898 [DAT](INFO): Ping request sent.
2025-08-23T22:35:57.898Z,1755988557.898 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:35:57.898Z,1755988557.898 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-23T22:35:57.899Z,1755988557.899 [DAT](INFO): direction in FSK: [-0.280327,0.495476,0.822144]
2025-08-23T22:35:57.899Z,1755988557.899 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:57.900Z,1755988557.900 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:57.907Z,1755988557.907 [DAT](INFO): publishing transmit ping time
2025-08-23T22:35:57.907Z,1755988557.907 [DAT](INFO): publishing direction and range info
2025-08-23T22:35:57.916Z,1755988557.916 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.017859
2025-08-23T22:35:58.139Z,1755988558.139 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.240670
2025-08-23T22:35:58.359Z,1755988558.359 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-08-23T22:35:58.360Z,1755988558.360 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-08-23T22:35:58.391Z,1755988558.391 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.492780
2025-08-23T22:35:58.643Z,1755988558.643 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.744729
2025-08-23T22:35:58.653Z,1755988558.653 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-23T22:35:58.653Z,1755988558.653 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-23T22:35:58.654Z,1755988558.654 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-08-23T22:35:58.894Z,1755988558.894 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.996600
2025-08-23T22:35:59.077Z,1755988559.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:35:59.147Z,1755988559.147 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.248699
2025-08-23T22:35:59.399Z,1755988559.399 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.500653
2025-08-23T22:35:59.652Z,1755988559.652 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.753899
2025-08-23T22:35:59.903Z,1755988559.903 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.004779
2025-08-23T22:36:00.154Z,1755988560.154 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.256631
2025-08-23T22:36:00.407Z,1755988560.407 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.508654
2025-08-23T22:36:00.659Z,1755988560.659 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.760684
2025-08-23T22:36:00.911Z,1755988560.911 [DAT](INFO): DAT read: Rx Time:22:36:00.0015
2025-08-23T22:36:00.911Z,1755988560.911 [DAT](INFO): Rx dataTimestamp_ set to:1755988560.910712
2025-08-23T22:36:00.912Z,1755988560.912 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.013705
2025-08-23T22:36:01.094Z,1755988561.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:36:01.163Z,1755988561.163 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.264655
2025-08-23T22:36:01.420Z,1755988561.420 [DAT](INFO): DAT read: 22:36:00.0015 LVL= 31920, 11297, 22674, 32755, AGC= 45, IDX= 445, 0.03,-0.614,-0.671,-1.746, 0.375, PHS=-0.888,-1.002,-2.165, RAW= 34.6, 49.5, CAL= 32.9, 54.1, ROT= 117.1, -54.1
2025-08-23T22:36:01.421Z,1755988561.421 [DAT](INFO): got valid direction response:
22:36:00.0015 LVL= 31920, 11297, 22674, 32755, AGC= 45, IDX= 445, 0.03,-0.614,-0.671,-1.746, 0.375, PHS=-0.888,-1.002,-2.165, RAW= 34.6, 49.5, CAL= 32.9, 54.1, ROT= 117.1, -54.1
2025-08-23T22:36:01.422Z,1755988561.422 [DAT](INFO): DAT read: Bearing 59.3, 34.9 (Local)
2025-08-23T22:36:01.422Z,1755988561.422 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.3, 34.9 (Local)
2025-08-23T22:36:01.424Z,1755988561.424 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:36:01.424Z,1755988561.424 [DAT](INFO): DAT read: user:1910>
2025-08-23T22:36:01.425Z,1755988561.425 [DAT](INFO): DAT read: Tx time:22:36:01.0942
2025-08-23T22:36:01.432Z,1755988561.432 [DAT](INFO): Ping request sent.
2025-08-23T22:36:01.432Z,1755988561.432 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:01.432Z,1755988561.432 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-23T22:36:01.433Z,1755988561.433 [DAT](INFO): direction in FSK: [-0.267119,0.521996,0.810042]
2025-08-23T22:36:01.434Z,1755988561.434 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:01.434Z,1755988561.434 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:01.437Z,1755988561.437 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:01.437Z,1755988561.437 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:01.473Z,1755988561.473 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.040714
2025-08-23T22:36:01.584Z,1755988561.584 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-08-23T22:36:01.584Z,1755988561.584 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-08-23T22:36:01.584Z,1755988561.584 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-08-23T22:36:01.584Z,1755988561.584 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-08-23T22:36:01.667Z,1755988561.667 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.234553
2025-08-23T22:36:01.897Z,1755988561.897 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count
2025-08-23T22:36:01.897Z,1755988561.897 [lineCaptureHoming:LineCapture:M] Stopped
2025-08-23T22:36:01.899Z,1755988561.899 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-08-23T22:36:01.899Z,1755988561.899 [lineCaptureHoming:LineCapture] Stopped
2025-08-23T22:36:01.899Z,1755988561.899 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-08-23T22:36:01.899Z,1755988561.899 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-08-23T22:36:01.899Z,1755988561.899 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:G] Stopped
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:H] Stopped
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-08-23T22:36:01.900Z,1755988561.900 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-23T22:36:01.900Z,1755988561.901 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-23T22:36:01.901Z,1755988561.901 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-23T22:36:01.901Z,1755988561.901 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-23T22:36:01.918Z,1755988561.918 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.486442
2025-08-23T22:36:02.171Z,1755988562.171 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.738526
2025-08-23T22:36:02.349Z,1755988562.349 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-08-23T22:36:02.349Z,1755988562.349 [lineCaptureHoming:Lap:B] Stopped
2025-08-23T22:36:02.349Z,1755988562.349 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-08-23T22:36:02.350Z,1755988562.350 [lineCaptureHoming:Lap:C] Running Loop=1
2025-08-23T22:36:02.422Z,1755988562.422 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.990495
2025-08-23T22:36:02.679Z,1755988562.679 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.247066
2025-08-23T22:36:02.735Z,1755988562.735 [lineCaptureHoming:Lap:C] Stopped
2025-08-23T22:36:02.735Z,1755988562.735 [lineCaptureHoming:Lap:D] Running Loop=1
2025-08-23T22:36:02.931Z,1755988562.931 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.498570
2025-08-23T22:36:03.104Z,1755988563.104 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count
2025-08-23T22:36:03.105Z,1755988563.105 [lineCaptureHoming:Lap:D] Stopped
2025-08-23T22:36:03.105Z,1755988563.105 [lineCaptureHoming:Lap:E] Running Loop=1
2025-08-23T22:36:03.105Z,1755988563.105 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-08-23T22:36:03.106Z,1755988563.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:36:03.183Z,1755988563.183 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.751023
2025-08-23T22:36:03.434Z,1755988563.434 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.002477
2025-08-23T22:36:03.552Z,1755988563.552 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-08-23T22:36:03.552Z,1755988563.552 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-08-23T22:36:03.552Z,1755988563.552 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-08-23T22:36:03.552Z,1755988563.552 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-08-23T22:36:03.552Z,1755988563.552 [lineCaptureHoming:restartDHCP:A] Stopped
2025-08-23T22:36:03.552Z,1755988563.552 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-08-23T22:36:03.687Z,1755988563.687 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.254573
2025-08-23T22:36:03.915Z,1755988563.915 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-23T22:36:03.916Z,1755988563.916 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-08-23T22:36:03.916Z,1755988563.916 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-08-23T22:36:03.916Z,1755988563.916 [lineCaptureHoming:restartDHCP] Stopped
2025-08-23T22:36:03.916Z,1755988563.916 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-08-23T22:36:03.930Z,1755988563.930 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-23T22:36:03.987Z,1755988563.987 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.554507
2025-08-23T22:36:04.195Z,1755988564.195 [DAT](INFO): DAT read: Rx Time:22:36:03.5015
2025-08-23T22:36:04.196Z,1755988564.196 [DAT](INFO): Rx dataTimestamp_ set to:1755988564.195682
2025-08-23T22:36:04.197Z,1755988564.197 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.764883
2025-08-23T22:36:04.360Z,1755988564.360 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-08-23UTC223604_sh
2025-08-23T22:36:04.447Z,1755988564.447 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.014856
2025-08-23T22:36:04.473Z,1755988564.473 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-08-23T22:36:04.473Z,1755988564.473 [lineCaptureHoming:Lap:E] Stopped
2025-08-23T22:36:04.473Z,1755988564.473 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-08-23T22:36:04.498Z,1755988564.498 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-08-23T22:36:04.498Z,1755988564.498 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-08-23T22:36:04.499Z,1755988564.499 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-08-23T22:36:04.700Z,1755988564.700 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.267883
2025-08-23T22:36:04.789Z,1755988564.789 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 15.000000 min
2025-08-23T22:36:04.789Z,1755988564.789 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-08-23T22:36:04.789Z,1755988564.789 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-08-23T22:36:04.956Z,1755988564.956 [DAT](INFO): DAT read: 22:36:03.5015 LVL= 29168, 13377, 25826, 32371, AGC= 45, IDX= 445, 0.08,-0.934,-1.145,-2.261,-0.074, PHS=-0.758,-1.026,-2.231, RAW= 39.8, 46.2, CAL= 37.8, 51.4, ROT= 112.2, -51.4
2025-08-23T22:36:04.958Z,1755988564.958 [DAT](INFO): got valid direction response:
22:36:03.5015 LVL= 29168, 13377, 25826, 32371, AGC= 45, IDX= 445, 0.08,-0.934,-1.145,-2.261,-0.074, PHS=-0.758,-1.026,-2.231, RAW= 39.8, 46.2, CAL= 37.8, 51.4, ROT= 112.2, -51.4
2025-08-23T22:36:04.959Z,1755988564.959 [DAT](INFO): DAT read: Bearing 61.1, 42.5 (Local)
2025-08-23T22:36:04.959Z,1755988564.959 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.1, 42.5 (Local)
2025-08-23T22:36:04.960Z,1755988564.960 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:36:04.961Z,1755988564.961 [DAT](INFO): DAT read: user:1911>
2025-08-23T22:36:04.962Z,1755988564.962 [DAT](INFO): DAT read: Tx time:22:36:04.5942
2025-08-23T22:36:04.962Z,1755988564.962 [DAT](INFO): Ping request sent.
2025-08-23T22:36:04.962Z,1755988564.962 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:04.963Z,1755988564.963 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-23T22:36:04.964Z,1755988564.964 [DAT](INFO): direction in FSK: [-0.235727,0.577632,0.781520]
2025-08-23T22:36:04.964Z,1755988564.964 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:04.964Z,1755988564.964 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:04.969Z,1755988564.969 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:04.969Z,1755988564.969 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:04.973Z,1755988564.973 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.010596
2025-08-23T22:36:05.140Z,1755988565.140 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-08-23T22:36:05.141Z,1755988565.141 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-08-23T22:36:05.203Z,1755988565.203 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.240885
2025-08-23T22:36:05.455Z,1755988565.455 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.492447
2025-08-23T22:36:05.558Z,1755988565.558 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-08-23T22:36:05.558Z,1755988565.558 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-08-23T22:36:05.558Z,1755988565.558 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-08-23T22:36:05.559Z,1755988565.559 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-23T22:36:05.707Z,1755988565.707 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.744303
2025-08-23T22:36:05.938Z,1755988565.938 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-08-23T22:36:05.939Z,1755988565.939 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-08-23T22:36:05.959Z,1755988565.959 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.996411
2025-08-23T22:36:06.212Z,1755988566.212 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.249122
2025-08-23T22:36:06.463Z,1755988566.463 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.500442
2025-08-23T22:36:06.716Z,1755988566.716 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.753147
2025-08-23T22:36:06.716Z,1755988566.716 [DAT](INFO): Requesting device enable set for address 50.
2025-08-23T22:36:06.800Z,1755988566.800 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-23T22:36:06.923Z,1755988566.923 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-23T22:36:06.966Z,1755988566.966 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.004284
2025-08-23T22:36:06.967Z,1755988566.967 [DAT](INFO): Requesting device enable set for address 50.
2025-08-23T22:36:07.219Z,1755988567.219 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.256638
2025-08-23T22:36:07.220Z,1755988567.220 [DAT](INFO): Requesting device enable set for address 50.
2025-08-23T22:36:07.471Z,1755988567.471 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.508712
2025-08-23T22:36:07.723Z,1755988567.723 [DAT](INFO): DAT read: Rx Time:22:36:07.0015
2025-08-23T22:36:07.724Z,1755988567.724 [DAT](INFO): Rx dataTimestamp_ set to:1755988567.723331
2025-08-23T22:36:07.725Z,1755988567.725 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.762568
2025-08-23T22:36:07.975Z,1755988567.975 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.013272
2025-08-23T22:36:08.230Z,1755988568.230 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.266940
2025-08-23T22:36:08.484Z,1755988568.484 [DAT](INFO): DAT read: 22:36:07.0015 LVL= 26560, 12497, 20818, 31811, AGC= 45, IDX= 445, 0.17,-1.841,-1.998,-3.064,-0.899, PHS=-0.839,-1.053,-2.209, RAW= 38.3, 48.7, CAL= 36.5, 53.4, ROT= 113.5, -53.4
2025-08-23T22:36:08.485Z,1755988568.485 [DAT](INFO): got valid direction response:
22:36:07.0015 LVL= 26560, 12497, 20818, 31811, AGC= 45, IDX= 445, 0.17,-1.841,-1.998,-3.064,-0.899, PHS=-0.839,-1.053,-2.209, RAW= 38.3, 48.7, CAL= 36.5, 53.4, ROT= 113.5, -53.4
2025-08-23T22:36:08.486Z,1755988568.486 [DAT](INFO): DAT read: Bearing 59.3, 38.3 (Local)
2025-08-23T22:36:08.487Z,1755988568.487 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.3, 38.3 (Local)
2025-08-23T22:36:08.488Z,1755988568.488 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:36:08.489Z,1755988568.489 [DAT](INFO): DAT read: user:1912>
2025-08-23T22:36:08.490Z,1755988568.490 [DAT](INFO): DAT read: Tx time:22:36:08.0942
2025-08-23T22:36:08.490Z,1755988568.490 [DAT](INFO): Ping request sent.
2025-08-23T22:36:08.490Z,1755988568.490 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:08.490Z,1755988568.490 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-23T22:36:08.491Z,1755988568.491 [DAT](INFO): direction in FSK: [-0.237744,0.546774,0.802817]
2025-08-23T22:36:08.492Z,1755988568.492 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:08.492Z,1755988568.492 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:08.495Z,1755988568.495 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:08.496Z,1755988568.496 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:08.499Z,1755988568.499 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.009371
2025-08-23T22:36:08.732Z,1755988568.732 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.241737
2025-08-23T22:36:08.983Z,1755988568.983 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.492511
2025-08-23T22:36:09.236Z,1755988569.236 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.746224
2025-08-23T22:36:09.487Z,1755988569.487 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.996528
2025-08-23T22:36:09.739Z,1755988569.739 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.248626
2025-08-23T22:36:09.991Z,1755988569.991 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.500619
2025-08-23T22:36:10.242Z,1755988570.242 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.752510
2025-08-23T22:36:10.443Z,1755988570.443 [DockingStepper](INFO): Changing to mode: 1
2025-08-23T22:36:10.499Z,1755988570.499 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.008985
2025-08-23T22:36:10.751Z,1755988570.751 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.260572
2025-08-23T22:36:11.002Z,1755988571.002 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.512513
2025-08-23T22:36:11.256Z,1755988571.256 [DAT](INFO): DAT read: Rx Time:22:36:10.5015
2025-08-23T22:36:11.257Z,1755988571.257 [DAT](INFO): Rx dataTimestamp_ set to:1755988571.256142
2025-08-23T22:36:11.260Z,1755988571.260 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.769292
2025-08-23T22:36:11.506Z,1755988571.506 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.016501
2025-08-23T22:36:11.769Z,1755988571.769 [DAT](INFO): DAT read: 22:36:10.5014 LVL= 25584, 11841, 26770, 31187, AGC= 45, IDX= 445, 0.37, 2.386, 2.205, 1.067,-2.993, PHS=-0.802,-1.040,-2.268, RAW= 38.7, 46.9, CAL= 36.7, 51.9, ROT= 113.3, -51.9
2025-08-23T22:36:11.770Z,1755988571.770 [DAT](INFO): got valid direction response:
22:36:10.5014 LVL= 25584, 11841, 26770, 31187, AGC= 45, IDX= 445, 0.37, 2.386, 2.205, 1.067,-2.993, PHS=-0.802,-1.040,-2.268, RAW= 38.7, 46.9, CAL= 36.7, 51.9, ROT= 113.3, -51.9
2025-08-23T22:36:11.771Z,1755988571.771 [DAT](INFO): DAT read: Bearing 57.9, 41.0 (Local)
2025-08-23T22:36:11.772Z,1755988571.772 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.9, 41.0 (Local)
2025-08-23T22:36:11.773Z,1755988571.773 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:36:11.775Z,1755988571.775 [DAT](INFO): DAT read: user:1913>
2025-08-23T22:36:11.775Z,1755988571.775 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-23T22:36:11.776Z,1755988571.776 [DAT](INFO): direction in FSK: [-0.244066,0.566714,0.786935]
2025-08-23T22:36:11.776Z,1755988571.776 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:11.780Z,1755988571.780 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.290049
2025-08-23T22:36:12.015Z,1755988572.015 [DAT](INFO): DAT read: Tx time:22:36:11.5941
2025-08-23T22:36:12.015Z,1755988572.015 [DAT](INFO): Ping request sent.
2025-08-23T22:36:12.015Z,1755988572.015 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:12.015Z,1755988572.015 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:12.016Z,1755988572.016 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.000760
2025-08-23T22:36:12.266Z,1755988572.266 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.251353
2025-08-23T22:36:12.519Z,1755988572.519 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.503440
2025-08-23T22:36:12.771Z,1755988572.771 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.755650
2025-08-23T22:36:13.023Z,1755988573.023 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.007360
2025-08-23T22:36:13.275Z,1755988573.275 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.259912
2025-08-23T22:36:13.527Z,1755988573.527 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.511426
2025-08-23T22:36:13.781Z,1755988573.781 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.766065
2025-08-23T22:36:14.033Z,1755988574.033 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.017748
2025-08-23T22:36:14.283Z,1755988574.283 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.267385
2025-08-23T22:36:14.535Z,1755988574.535 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.519389
2025-08-23T22:36:14.787Z,1755988574.787 [DAT](INFO): DAT read: Rx Time:22:36:14.0014
2025-08-23T22:36:14.787Z,1755988574.787 [DAT](INFO): Rx dataTimestamp_ set to:1755988574.786707
2025-08-23T22:36:14.788Z,1755988574.788 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.772441
2025-08-23T22:36:15.039Z,1755988575.039 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.023407
2025-08-23T22:36:15.296Z,1755988575.296 [DAT](INFO): DAT read: 22:36:14.0014 LVL= 27376, 13425, 25554, 31219, AGC= 45, IDX= 446,-0.43,-0.990,-1.099,-2.240,-0.041, PHS=-0.847,-1.013,-2.243, RAW= 36.3, 47.7, CAL= 34.4, 52.5, ROT= 115.6, -52.5
2025-08-23T22:36:15.297Z,1755988575.297 [DAT](INFO): got valid direction response:
22:36:14.0014 LVL= 27376, 13425, 25554, 31219, AGC= 45, IDX= 446,-0.43,-0.990,-1.099,-2.240,-0.041, PHS=-0.847,-1.013,-2.243, RAW= 36.3, 47.7, CAL= 34.4, 52.5, ROT= 115.6, -52.5
2025-08-23T22:36:15.298Z,1755988575.298 [DAT](INFO): DAT read: Bearing 59.4, 39.8 (Local)
2025-08-23T22:36:15.299Z,1755988575.299 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.4, 39.8 (Local)
2025-08-23T22:36:15.300Z,1755988575.300 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:36:15.301Z,1755988575.301 [DAT](INFO): DAT read: user:1914>
2025-08-23T22:36:15.302Z,1755988575.302 [DAT](INFO): DAT read: Tx time:22:36:15.0941
2025-08-23T22:36:15.302Z,1755988575.302 [DAT](INFO): Ping request sent.
2025-08-23T22:36:15.302Z,1755988575.302 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:15.302Z,1755988575.302 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-23T22:36:15.303Z,1755988575.303 [DAT](INFO): direction in FSK: [-0.263037,0.549001,0.793353]
2025-08-23T22:36:15.304Z,1755988575.304 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:15.304Z,1755988575.304 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:15.323Z,1755988575.323 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:15.323Z,1755988575.323 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:15.331Z,1755988575.331 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.029071
2025-08-23T22:36:15.545Z,1755988575.545 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.242450
2025-08-23T22:36:15.794Z,1755988575.794 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.492505
2025-08-23T22:36:16.047Z,1755988576.047 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.744583
2025-08-23T22:36:16.299Z,1755988576.299 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.996552
2025-08-23T22:36:16.551Z,1755988576.551 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.248586
2025-08-23T22:36:16.802Z,1755988576.802 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.500504
2025-08-23T22:36:17.055Z,1755988577.055 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.752537
2025-08-23T22:36:17.307Z,1755988577.307 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.005101
2025-08-23T22:36:17.561Z,1755988577.561 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.258551
2025-08-23T22:36:17.810Z,1755988577.810 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.508491
2025-08-23T22:36:18.063Z,1755988578.063 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.760633
2025-08-23T22:36:18.314Z,1755988578.314 [DAT](INFO): DAT read: Rx Time:22:36:17.5015
2025-08-23T22:36:18.315Z,1755988578.315 [DAT](INFO): Rx dataTimestamp_ set to:1755988578.314679
2025-08-23T22:36:18.316Z,1755988578.316 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.013554
2025-08-23T22:36:18.570Z,1755988578.570 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.266901
2025-08-23T22:36:18.824Z,1755988578.824 [DAT](INFO): DAT read: 22:36:17.5015 LVL= 30160, 17633, 24818, 31555, AGC= 45, IDX= 446,-0.28,-2.562,-2.640, 2.464,-1.563, PHS=-0.897,-1.033,-2.301, RAW= 35.0, 48.1, CAL= 33.2, 52.9, ROT= 116.8, -52.9
2025-08-23T22:36:18.825Z,1755988578.825 [DAT](INFO): got valid direction response:
22:36:17.5015 LVL= 30160, 17633, 24818, 31555, AGC= 45, IDX= 446,-0.28,-2.562,-2.640, 2.464,-1.563, PHS=-0.897,-1.033,-2.301, RAW= 35.0, 48.1, CAL= 33.2, 52.9, ROT= 116.8, -52.9
2025-08-23T22:36:18.838Z,1755988578.838 [DAT](INFO): DAT read: Bearing 60.6, 39.9 (Local)
2025-08-23T22:36:18.838Z,1755988578.838 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.6, 39.9 (Local)
2025-08-23T22:36:18.840Z,1755988578.840 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s
2025-08-23T22:36:18.841Z,1755988578.841 [DAT](INFO): DAT read: user:1915>
2025-08-23T22:36:18.849Z,1755988578.849 [DAT](INFO): DAT read: Tx time:22:36:18.5941
2025-08-23T22:36:18.850Z,1755988578.850 [DAT](INFO): Ping request sent.
2025-08-23T22:36:18.850Z,1755988578.850 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:18.850Z,1755988578.850 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-23T22:36:18.851Z,1755988578.851 [DAT](INFO): direction in FSK: [-0.271973,0.538415,0.797584]
2025-08-23T22:36:18.852Z,1755988578.852 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:18.852Z,1755988578.852 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:18.855Z,1755988578.855 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:18.855Z,1755988578.855 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:18.879Z,1755988578.879 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.029048
2025-08-23T22:36:19.071Z,1755988579.071 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.221006
2025-08-23T22:36:19.324Z,1755988579.324 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.474073
2025-08-23T22:36:19.578Z,1755988579.578 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.726978
2025-08-23T22:36:19.827Z,1755988579.827 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.977244
2025-08-23T22:36:20.079Z,1755988580.079 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.228642
2025-08-23T22:36:20.331Z,1755988580.331 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.481359
2025-08-23T22:36:20.585Z,1755988580.585 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.734653
2025-08-23T22:36:20.695Z,1755988580.695 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T22:36:20.835Z,1755988580.835 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.984865
2025-08-23T22:36:21.087Z,1755988581.087 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.236611
2025-08-23T22:36:21.339Z,1755988581.339 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.488655
2025-08-23T22:36:21.593Z,1755988581.593 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.742429
2025-08-23T22:36:21.699Z,1755988581.699 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-23T22:36:21.843Z,1755988581.843 [DAT](INFO): DAT read: Rx Time:22:36:21.0015
2025-08-23T22:36:21.844Z,1755988581.844 [DAT](INFO): Rx dataTimestamp_ set to:1755988581.843416
2025-08-23T22:36:21.844Z,1755988581.844 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.994337
2025-08-23T22:36:22.094Z,1755988582.094 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.244500
2025-08-23T22:36:22.352Z,1755988582.352 [DAT](INFO): DAT read: 22:36:21.0015 LVL= 27760, 18129, 21074, 31379, AGC= 45, IDX= 446,-0.21, 2.665, 2.630, 1.460,-2.560, PHS=-0.955,-1.048,-2.307, RAW= 33.5, 49.4, CAL= 31.8, 53.9, ROT= 118.2, -53.9
2025-08-23T22:36:22.353Z,1755988582.353 [DAT](INFO): got valid direction response:
22:36:21.0015 LVL= 27760, 18129, 21074, 31379, AGC= 45, IDX= 446,-0.21, 2.665, 2.630, 1.460,-2.560, PHS=-0.955,-1.048,-2.307, RAW= 33.5, 49.4, CAL= 31.8, 53.9, ROT= 118.2, -53.9
2025-08-23T22:36:22.354Z,1755988582.354 [DAT](INFO): DAT read: Bearing 58.8, 38.4 (Local)
2025-08-23T22:36:22.354Z,1755988582.354 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.8, 38.4 (Local)
2025-08-23T22:36:22.356Z,1755988582.356 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s
2025-08-23T22:36:22.356Z,1755988582.356 [DAT](INFO): DAT read: user:1916>
2025-08-23T22:36:22.357Z,1755988582.357 [DAT](INFO): DAT read: Tx time:22:36:22.0941
2025-08-23T22:36:22.358Z,1755988582.358 [DAT](INFO): Ping request sent.
2025-08-23T22:36:22.358Z,1755988582.358 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:22.358Z,1755988582.358 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-23T22:36:22.359Z,1755988582.359 [DAT](INFO): direction in FSK: [-0.278425,0.519261,0.807990]
2025-08-23T22:36:22.359Z,1755988582.359 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:22.359Z,1755988582.359 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:22.363Z,1755988582.363 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:22.363Z,1755988582.363 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:22.367Z,1755988582.367 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.008789
2025-08-23T22:36:22.602Z,1755988582.602 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.243484
2025-08-23T22:36:22.851Z,1755988582.851 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.492777
2025-08-23T22:36:23.103Z,1755988583.103 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.744776
2025-08-23T22:36:23.355Z,1755988583.355 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.997402
2025-08-23T22:36:23.609Z,1755988583.609 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.250862
2025-08-23T22:36:23.859Z,1755988583.859 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.501233
2025-08-23T22:36:24.111Z,1755988584.111 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.752823
2025-08-23T22:36:24.362Z,1755988584.362 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.004709
2025-08-23T22:36:24.617Z,1755988584.617 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.258896
2025-08-23T22:36:24.874Z,1755988584.874 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.515910
2025-08-23T22:36:25.123Z,1755988585.123 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.764765
2025-08-23T22:36:25.375Z,1755988585.375 [DAT](INFO): DAT read: Rx Time:22:36:24.5015
2025-08-23T22:36:25.376Z,1755988585.376 [DAT](INFO): Rx dataTimestamp_ set to:1755988585.375354
2025-08-23T22:36:25.377Z,1755988585.377 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.018789
2025-08-23T22:36:25.627Z,1755988585.627 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.268764
2025-08-23T22:36:25.889Z,1755988585.889 [DAT](INFO): DAT read: 22:36:24.5015 LVL= 32048, 18705, 24098, 32755, AGC= 45, IDX= 446,-0.14, 1.691, 1.657, 0.493, 2.756, PHS=-0.963,-1.054,-2.307, RAW= 33.4, 49.6, CAL= 31.8, 54.1, ROT= 118.2, -54.1
2025-08-23T22:36:25.890Z,1755988585.890 [DAT](INFO): got valid direction response:
22:36:24.5015 LVL= 32048, 18705, 24098, 32755, AGC= 45, IDX= 446,-0.14, 1.691, 1.657, 0.493, 2.756, PHS=-0.963,-1.054,-2.307, RAW= 33.4, 49.6, CAL= 31.8, 54.1, ROT= 118.2, -54.1
2025-08-23T22:36:25.891Z,1755988585.891 [DAT](INFO): DAT read: Bearing 55.6, 37.7 (Local)
2025-08-23T22:36:25.891Z,1755988585.891 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.6, 37.7 (Local)
2025-08-23T22:36:25.893Z,1755988585.893 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s
2025-08-23T22:36:25.895Z,1755988585.895 [DAT](INFO): DAT read: user:1917>
2025-08-23T22:36:25.896Z,1755988585.896 [DAT](INFO): DAT read: Tx time:22:36:25.5941
2025-08-23T22:36:25.896Z,1755988585.896 [DAT](INFO): Ping request sent.
2025-08-23T22:36:25.897Z,1755988585.897 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:25.897Z,1755988585.897 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-23T22:36:25.899Z,1755988585.899 [DAT](INFO): direction in FSK: [-0.277091,0.516772,0.810042]
2025-08-23T22:36:25.899Z,1755988585.899 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:25.899Z,1755988585.899 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:25.916Z,1755988585.916 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:25.916Z,1755988585.916 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:25.924Z,1755988585.924 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.027496
2025-08-23T22:36:26.134Z,1755988586.134 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.237986
2025-08-23T22:36:26.387Z,1755988586.387 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.490325
2025-08-23T22:36:26.641Z,1755988586.641 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.744171
2025-08-23T22:36:26.890Z,1755988586.890 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.993989
2025-08-23T22:36:27.143Z,1755988587.143 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.246168
2025-08-23T22:36:27.395Z,1755988587.395 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.498149
2025-08-23T22:36:27.648Z,1755988587.648 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.751277
2025-08-23T22:36:27.902Z,1755988587.902 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.005241
2025-08-23T22:36:28.151Z,1755988588.151 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.254122
2025-08-23T22:36:28.403Z,1755988588.403 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.506242
2025-08-23T22:36:28.655Z,1755988588.655 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.758565
2025-08-23T22:36:28.907Z,1755988588.907 [DAT](INFO): DAT read: Rx Time:22:36:28.0015
2025-08-23T22:36:28.907Z,1755988588.907 [DAT](INFO): Rx dataTimestamp_ set to:1755988588.907048
2025-08-23T22:36:28.908Z,1755988588.908 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.011514
2025-08-23T22:36:29.160Z,1755988589.160 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.263275
2025-08-23T22:36:29.419Z,1755988589.419 [DAT](INFO): DAT read: 22:36:28.0015 LVL= 26352, 14033, 21730, 32755, AGC= 45, IDX= 446,-0.04, 0.280, 0.224,-0.952, 1.299, PHS=-0.917,-1.029,-2.295, RAW= 34.2, 48.5, CAL= 32.5, 53.2, ROT= 117.5, -53.2
2025-08-23T22:36:29.420Z,1755988589.420 [DAT](INFO): got valid direction response:
22:36:28.0015 LVL= 26352, 14033, 21730, 32755, AGC= 45, IDX= 446,-0.04, 0.280, 0.224,-0.952, 1.299, PHS=-0.917,-1.029,-2.295, RAW= 34.2, 48.5, CAL= 32.5, 53.2, ROT= 117.5, -53.2
2025-08-23T22:36:29.422Z,1755988589.422 [DAT](INFO): DAT read: Bearing 56.1, 37.8 (Local)
2025-08-23T22:36:29.423Z,1755988589.423 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.1, 37.8 (Local)
2025-08-23T22:36:29.424Z,1755988589.424 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s
2025-08-23T22:36:29.426Z,1755988589.426 [DAT](INFO): DAT read: user:1918>
2025-08-23T22:36:29.427Z,1755988589.427 [DAT](INFO): DAT read: Tx time:22:36:29.0941
2025-08-23T22:36:29.427Z,1755988589.427 [DAT](INFO): Ping request sent.
2025-08-23T22:36:29.427Z,1755988589.427 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:29.428Z,1755988589.428 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-23T22:36:29.429Z,1755988589.429 [DAT](INFO): direction in FSK: [-0.276598,0.531340,0.800731]
2025-08-23T22:36:29.434Z,1755988589.434 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:29.434Z,1755988589.434 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:29.437Z,1755988589.437 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:29.437Z,1755988589.437 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:29.452Z,1755988589.452 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.025476
2025-08-23T22:36:29.664Z,1755988589.664 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.236649
2025-08-23T22:36:29.915Z,1755988589.915 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.488242
2025-08-23T22:36:30.168Z,1755988590.168 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.740585
2025-08-23T22:36:30.418Z,1755988590.418 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.991434
2025-08-23T22:36:30.672Z,1755988590.672 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.244450
2025-08-23T22:36:30.923Z,1755988590.923 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.495506
2025-08-23T22:36:31.176Z,1755988591.176 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.748544
2025-08-23T22:36:31.427Z,1755988591.427 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.999645
2025-08-23T22:36:31.682Z,1755988591.682 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.255142
2025-08-23T22:36:31.931Z,1755988591.931 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.504139
2025-08-23T22:36:32.183Z,1755988592.183 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.756341
2025-08-23T22:36:32.435Z,1755988592.435 [DAT](INFO): DAT read: Rx Time:22:36:31.5013
2025-08-23T22:36:32.435Z,1755988592.435 [DAT](INFO): Rx dataTimestamp_ set to:1755988592.434702
2025-08-23T22:36:32.436Z,1755988592.436 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=3.008564
2025-08-23T22:36:32.688Z,1755988592.688 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=3.260710
2025-08-23T22:36:32.951Z,1755988592.951 [DAT](INFO): DAT read: 22:36:31.5013 LVL= 29728, 12033, 25634, 32755, AGC= 45, IDX= 445,-0.06,-1.320,-1.413,-2.514,-0.366, PHS=-0.852,-1.002,-2.192, RAW= 35.9, 48.4, CAL= 34.1, 53.1, ROT= 115.9, -53.1
2025-08-23T22:36:32.952Z,1755988592.952 [DAT](INFO): got valid direction response:
22:36:31.5013 LVL= 29728, 12033, 25634, 32755, AGC= 45, IDX= 445,-0.06,-1.320,-1.413,-2.514,-0.366, PHS=-0.852,-1.002,-2.192, RAW= 35.9, 48.4, CAL= 34.1, 53.1, ROT= 115.9, -53.1
2025-08-23T22:36:32.953Z,1755988592.953 [DAT](INFO): DAT read: Bearing 58.3, 37.6 (Local)
2025-08-23T22:36:32.953Z,1755988592.953 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.3, 37.6 (Local)
2025-08-23T22:36:32.955Z,1755988592.955 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:36:32.955Z,1755988592.955 [DAT](INFO): DAT read: user:1919>
2025-08-23T22:36:32.956Z,1755988592.956 [DAT](INFO): DAT read: Tx time:22:36:32.5940
2025-08-23T22:36:32.956Z,1755988592.956 [DAT](INFO): Ping request sent.
2025-08-23T22:36:32.957Z,1755988592.957 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:32.957Z,1755988592.957 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-23T22:36:32.958Z,1755988592.958 [DAT](INFO): direction in FSK: [-0.262265,0.540113,0.799685]
2025-08-23T22:36:32.958Z,1755988592.958 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:32.959Z,1755988592.959 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:32.962Z,1755988592.962 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:32.963Z,1755988592.963 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:32.966Z,1755988592.966 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.009590
2025-08-23T22:36:33.191Z,1755988593.191 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.234788
2025-08-23T22:36:33.443Z,1755988593.443 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.486001
2025-08-23T22:36:33.695Z,1755988593.695 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.738053
2025-08-23T22:36:33.947Z,1755988593.947 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.990080
2025-08-23T22:36:34.201Z,1755988594.201 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.243706
2025-08-23T22:36:34.451Z,1755988594.451 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.494004
2025-08-23T22:36:34.703Z,1755988594.703 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.746049
2025-08-23T22:36:34.954Z,1755988594.954 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.997823
2025-08-23T22:36:35.207Z,1755988595.207 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.250478
2025-08-23T22:36:35.458Z,1755988595.458 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.501896
2025-08-23T22:36:35.710Z,1755988595.710 [DAT](INFO): DAT read: Rx Time:22:36:35.0012
2025-08-23T22:36:35.711Z,1755988595.711 [DAT](INFO): Rx dataTimestamp_ set to:1755988595.710686
2025-08-23T22:36:35.712Z,1755988595.712 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.754943
2025-08-23T22:36:35.964Z,1755988595.964 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=3.006704
2025-08-23T22:36:36.218Z,1755988596.218 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=3.260463
2025-08-23T22:36:36.475Z,1755988596.475 [DAT](INFO): DAT read: 22:36:35.0012 LVL= 22640, 10065, 18898, 26387, AGC= 41, IDX= 445,-0.18,-1.294,-1.004,-2.382,-0.345, PHS=-0.847,-0.614,-2.081, RAW= 21.5, 42.5, CAL= 20.0, 47.8, ROT= 130.0, -47.8
2025-08-23T22:36:36.476Z,1755988596.476 [DAT](INFO): got valid direction response:
22:36:35.0012 LVL= 22640, 10065, 18898, 26387, AGC= 41, IDX= 445,-0.18,-1.294,-1.004,-2.382,-0.345, PHS=-0.847,-0.614,-2.081, RAW= 21.5, 42.5, CAL= 20.0, 47.8, ROT= 130.0, -47.8
2025-08-23T22:36:36.478Z,1755988596.478 [DAT](INFO): DAT read: Bearing 72.2, 33.0 (Local)
2025-08-23T22:36:36.478Z,1755988596.478 [DAT](INFO): Local bearing/azimuth received:
Bearing 72.2, 33.0 (Local)
2025-08-23T22:36:36.480Z,1755988596.480 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s
2025-08-23T22:36:36.486Z,1755988596.486 [DAT](INFO): DAT read: user:1920>
2025-08-23T22:36:36.487Z,1755988596.487 [DAT](INFO): DAT read: Tx time:22:36:36.0940
2025-08-23T22:36:36.487Z,1755988596.487 [DAT](INFO): Ping request sent.
2025-08-23T22:36:36.488Z,1755988596.488 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:36.488Z,1755988596.488 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-23T22:36:36.489Z,1755988596.489 [DAT](INFO): direction in FSK: [-0.431774,0.514568,0.740805]
2025-08-23T22:36:36.489Z,1755988596.489 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:36.490Z,1755988596.490 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:36.494Z,1755988596.494 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:36.494Z,1755988596.494 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:36.497Z,1755988596.497 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.009324
2025-08-23T22:36:36.719Z,1755988596.719 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.230995
2025-08-23T22:36:36.971Z,1755988596.971 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.482985
2025-08-23T22:36:37.223Z,1755988597.223 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.735000
2025-08-23T22:36:37.474Z,1755988597.474 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.986856
2025-08-23T22:36:37.727Z,1755988597.727 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.238942
2025-08-23T22:36:37.979Z,1755988597.979 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.491504
2025-08-23T22:36:38.231Z,1755988598.231 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.742939
2025-08-23T22:36:38.483Z,1755988598.483 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.994949
2025-08-23T22:36:38.735Z,1755988598.735 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.247020
2025-08-23T22:36:38.987Z,1755988598.987 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.498935
2025-08-23T22:36:39.239Z,1755988599.239 [DAT](INFO): DAT read: Rx Time:22:36:38.5012
2025-08-23T22:36:39.239Z,1755988599.239 [DAT](INFO): Rx dataTimestamp_ set to:1755988599.238700
2025-08-23T22:36:39.240Z,1755988599.240 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.751991
2025-08-23T22:36:39.490Z,1755988599.490 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=3.002825
2025-08-23T22:36:39.760Z,1755988599.760 [DAT](INFO): DAT read: 22:36:38.5012 LVL= 24928, 14785, 20978, 26867, AGC= 42, IDX= 445,-0.14,-2.842,-2.226, 2.162,-2.064, PHS=-0.676,-0.118,-2.102, RAW= 14.2, 30.0, CAL= 12.6, 35.5, ROT= 137.4, -35.5
2025-08-23T22:36:39.762Z,1755988599.762 [DAT](INFO): got valid direction response:
22:36:38.5012 LVL= 24928, 14785, 20978, 26867, AGC= 42, IDX= 445,-0.14,-2.842,-2.226, 2.162,-2.064, PHS=-0.676,-0.118,-2.102, RAW= 14.2, 30.0, CAL= 12.6, 35.5, ROT= 137.4, -35.5
2025-08-23T22:36:39.763Z,1755988599.763 [DAT](INFO): DAT read: Bearing 87.8, 33.2 (Local)
2025-08-23T22:36:39.763Z,1755988599.763 [DAT](INFO): Local bearing/azimuth received:
Bearing 87.8, 33.2 (Local)
2025-08-23T22:36:39.764Z,1755988599.764 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s
2025-08-23T22:36:39.765Z,1755988599.765 [DAT](INFO): DAT read: user:1921>
2025-08-23T22:36:39.766Z,1755988599.766 [DAT](INFO): DAT read: Tx time:22:36:39.5940
2025-08-23T22:36:39.766Z,1755988599.766 [DAT](INFO): Ping request sent.
2025-08-23T22:36:39.766Z,1755988599.766 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:39.767Z,1755988599.767 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-23T22:36:39.767Z,1755988599.767 [DAT](INFO): direction in FSK: [-0.599268,0.551055,0.580703]
2025-08-23T22:36:39.768Z,1755988599.768 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:39.768Z,1755988599.768 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:39.804Z,1755988599.804 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:39.804Z,1755988599.804 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:39.831Z,1755988599.831 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.065108
2025-08-23T22:36:39.995Z,1755988599.995 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.228391
2025-08-23T22:36:40.247Z,1755988600.247 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.480258
2025-08-23T22:36:40.499Z,1755988600.499 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.732828
2025-08-23T22:36:40.751Z,1755988600.751 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.984412
2025-08-23T22:36:41.002Z,1755988601.002 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.236247
2025-08-23T22:36:41.254Z,1755988601.254 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.488218
2025-08-23T22:36:41.507Z,1755988601.507 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.740344
2025-08-23T22:36:41.758Z,1755988601.758 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.992208
2025-08-23T22:36:42.011Z,1755988602.011 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.244318
2025-08-23T22:36:42.263Z,1755988602.263 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.496318
2025-08-23T22:36:42.514Z,1755988602.514 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.748242
2025-08-23T22:36:42.767Z,1755988602.767 [DAT](INFO): DAT read: Rx Time:22:36:42.0012
2025-08-23T22:36:42.768Z,1755988602.768 [DAT](INFO): Rx dataTimestamp_ set to:1755988602.767546
2025-08-23T22:36:42.768Z,1755988602.768 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=3.002153
2025-08-23T22:36:43.020Z,1755988603.020 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=3.253573
2025-08-23T22:36:43.276Z,1755988603.276 [DAT](INFO): DAT read: 22:36:42.0012 LVL= 21984, 9249, 22290, 22771, AGC= 44, IDX= 445,-0.01, 2.000, 1.784, 0.651, 2.648, PHS=-0.546,-0.819,-2.041, RAW= 39.9, 41.1, CAL= 37.6, 46.8, ROT= 112.4, -46.8
2025-08-23T22:36:43.277Z,1755988603.277 [DAT](INFO): got valid direction response:
22:36:42.0012 LVL= 21984, 9249, 22290, 22771, AGC= 44, IDX= 445,-0.01, 2.000, 1.784, 0.651, 2.648, PHS=-0.546,-0.819,-2.041, RAW= 39.9, 41.1, CAL= 37.6, 46.8, ROT= 112.4, -46.8
2025-08-23T22:36:43.278Z,1755988603.278 [DAT](INFO): DAT read: Bearing 62.2, 42.5 (Local)
2025-08-23T22:36:43.279Z,1755988603.279 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.2, 42.5 (Local)
2025-08-23T22:36:43.280Z,1755988603.280 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s
2025-08-23T22:36:43.281Z,1755988603.281 [DAT](INFO): DAT read: user:1922>
2025-08-23T22:36:43.281Z,1755988603.281 [DAT](INFO): DAT read: Tx time:22:36:43.0940
2025-08-23T22:36:43.282Z,1755988603.282 [DAT](INFO): Ping request sent.
2025-08-23T22:36:43.282Z,1755988603.282 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:43.282Z,1755988603.282 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-23T22:36:43.283Z,1755988603.283 [DAT](INFO): direction in FSK: [-0.260861,0.632895,0.728969]
2025-08-23T22:36:43.283Z,1755988603.283 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:43.284Z,1755988603.284 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:43.292Z,1755988603.292 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:43.293Z,1755988603.293 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:43.300Z,1755988603.300 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.018521
2025-08-23T22:36:43.523Z,1755988603.523 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.240700
2025-08-23T22:36:43.775Z,1755988603.775 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.492664
2025-08-23T22:36:44.027Z,1755988604.027 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.744703
2025-08-23T22:36:44.278Z,1755988604.278 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.996604
2025-08-23T22:36:44.531Z,1755988604.531 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.248713
2025-08-23T22:36:44.782Z,1755988604.782 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.500612
2025-08-23T22:36:45.034Z,1755988605.034 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.752619
2025-08-23T22:36:45.288Z,1755988605.288 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.005719
2025-08-23T22:36:45.538Z,1755988605.538 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.256580
2025-08-23T22:36:45.791Z,1755988605.791 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.508637
2025-08-23T22:36:46.043Z,1755988606.043 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.760808
2025-08-23T22:36:46.294Z,1755988606.294 [DAT](INFO): DAT read: Rx Time:22:36:45.5013
2025-08-23T22:36:46.295Z,1755988606.295 [DAT](INFO): Rx dataTimestamp_ set to:1755988606.294669
2025-08-23T22:36:46.295Z,1755988606.295 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=3.013657
2025-08-23T22:36:46.546Z,1755988606.546 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=3.264613
2025-08-23T22:36:46.804Z,1755988606.804 [DAT](INFO): DAT read: 22:36:45.5013 LVL= 22320, 10065, 21922, 23027, AGC= 44, IDX= 445, 0.01, 1.711, 1.203, 0.367, 2.406, PHS=-0.593,-1.157,-2.082, RAW= 52.0, 46.1, CAL= 49.2, 51.1, ROT= 100.8, -51.1
2025-08-23T22:36:46.805Z,1755988606.805 [DAT](INFO): got valid direction response:
22:36:45.5013 LVL= 22320, 10065, 21922, 23027, AGC= 44, IDX= 445, 0.01, 1.711, 1.203, 0.367, 2.406, PHS=-0.593,-1.157,-2.082, RAW= 52.0, 46.1, CAL= 49.2, 51.1, ROT= 100.8, -51.1
2025-08-23T22:36:46.806Z,1755988606.806 [DAT](INFO): DAT read: Bearing 50.7, 42.9 (Local)
2025-08-23T22:36:46.807Z,1755988606.807 [DAT](INFO): Local bearing/azimuth received:
Bearing 50.7, 42.9 (Local)
2025-08-23T22:36:46.808Z,1755988606.808 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:36:46.809Z,1755988606.809 [DAT](INFO): DAT read: user:1923>
2025-08-23T22:36:46.810Z,1755988606.810 [DAT](INFO): DAT read: Tx time:22:36:46.5940
2025-08-23T22:36:46.811Z,1755988606.811 [DAT](INFO): Ping request sent.
2025-08-23T22:36:46.811Z,1755988606.811 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:46.811Z,1755988606.811 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-23T22:36:46.812Z,1755988606.812 [DAT](INFO): direction in FSK: [-0.117669,0.616840,0.778243]
2025-08-23T22:36:46.812Z,1755988606.812 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:46.813Z,1755988606.813 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:46.816Z,1755988606.816 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:46.816Z,1755988606.816 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:46.821Z,1755988606.821 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.009858
2025-08-23T22:36:47.051Z,1755988607.051 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.239796
2025-08-23T22:36:47.303Z,1755988607.303 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.492499
2025-08-23T22:36:47.555Z,1755988607.555 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.743763
2025-08-23T22:36:47.806Z,1755988607.806 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.995650
2025-08-23T22:36:48.059Z,1755988608.059 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.247886
2025-08-23T22:36:48.311Z,1755988608.311 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.499761
2025-08-23T22:36:48.563Z,1755988608.563 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.751739
2025-08-23T22:36:48.817Z,1755988608.817 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.005946
2025-08-23T22:36:49.067Z,1755988609.067 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.255718
2025-08-23T22:36:49.319Z,1755988609.319 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.507723
2025-08-23T22:36:49.570Z,1755988609.570 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.759714
2025-08-23T22:36:49.823Z,1755988609.823 [DAT](INFO): DAT read: Rx Time:22:36:49.0011
2025-08-23T22:36:49.823Z,1755988609.823 [DAT](INFO): Rx dataTimestamp_ set to:1755988609.822743
2025-08-23T22:36:49.824Z,1755988609.824 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=3.012824
2025-08-23T22:36:50.074Z,1755988610.074 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=3.263704
2025-08-23T22:36:50.332Z,1755988610.332 [DAT](INFO): DAT read: 22:36:49.0011 LVL= 27184, 12497, 23026, 27411, AGC= 43, IDX= 444,-0.05, 0.258,-0.077,-1.117, 1.012, PHS=-0.652,-1.044,-2.173, RAW= 44.4, 45.0, CAL= 42.1, 50.3, ROT= 107.9, -50.3
2025-08-23T22:36:50.333Z,1755988610.333 [DAT](INFO): got valid direction response:
22:36:49.0011 LVL= 27184, 12497, 23026, 27411, AGC= 43, IDX= 444,-0.05, 0.258,-0.077,-1.117, 1.012, PHS=-0.652,-1.044,-2.173, RAW= 44.4, 45.0, CAL= 42.1, 50.3, ROT= 107.9, -50.3
2025-08-23T22:36:50.334Z,1755988610.334 [DAT](INFO): DAT read: Bearing 56.7, 43.0 (Local)
2025-08-23T22:36:50.334Z,1755988610.334 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.7, 43.0 (Local)
2025-08-23T22:36:50.336Z,1755988610.336 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s
2025-08-23T22:36:50.336Z,1755988610.336 [DAT](INFO): DAT read: user:1924>
2025-08-23T22:36:50.337Z,1755988610.337 [DAT](INFO): DAT read: Tx time:22:36:50.0939
2025-08-23T22:36:50.338Z,1755988610.338 [DAT](INFO): Ping request sent.
2025-08-23T22:36:50.338Z,1755988610.338 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:50.338Z,1755988610.338 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-23T22:36:50.339Z,1755988610.339 [DAT](INFO): direction in FSK: [-0.196330,0.607848,0.769400]
2025-08-23T22:36:50.339Z,1755988610.339 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:50.340Z,1755988610.340 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:50.356Z,1755988610.356 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:50.356Z,1755988610.356 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:50.360Z,1755988610.360 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.022121
2025-08-23T22:36:50.579Z,1755988610.579 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.240853
2025-08-23T22:36:50.830Z,1755988610.830 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.492756
2025-08-23T22:36:51.083Z,1755988611.083 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.745257
2025-08-23T22:36:51.336Z,1755988611.336 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.997854
2025-08-23T22:36:51.587Z,1755988611.587 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.248770
2025-08-23T22:36:51.839Z,1755988611.839 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.500768
2025-08-23T22:36:52.091Z,1755988612.091 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.752926
2025-08-23T22:36:52.342Z,1755988612.342 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.004628
2025-08-23T22:36:52.595Z,1755988612.595 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.257041
2025-08-23T22:36:52.847Z,1755988612.847 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.508826
2025-08-23T22:36:53.099Z,1755988613.099 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.760923
2025-08-23T22:36:53.244Z,1755988613.244 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022902241403,35.0, +10.3, 0.0,1491.1, , 0.00, 82.50, 92.00, 89.63, 85.55
2025-08-23T22:36:53.351Z,1755988613.351 [DAT](INFO): DAT read: Rx Time:22:36:52.5011
2025-08-23T22:36:53.352Z,1755988613.352 [DAT](INFO): Rx dataTimestamp_ set to:1755988613.351322
2025-08-23T22:36:53.353Z,1755988613.353 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=3.014815
2025-08-23T22:36:53.604Z,1755988613.604 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=3.266396
2025-08-23T22:36:53.862Z,1755988613.862 [DAT](INFO): DAT read: 22:36:52.5011 LVL= 27360, 14161, 25378, 30675, AGC= 45, IDX= 444, 0.08,-0.575,-0.766,-1.867, 0.310, PHS=-0.783,-1.031,-2.222, RAW= 39.3, 47.0, CAL= 37.3, 52.0, ROT= 112.7, -52.0
2025-08-23T22:36:53.863Z,1755988613.863 [DAT](INFO): got valid direction response:
22:36:52.5011 LVL= 27360, 14161, 25378, 30675, AGC= 45, IDX= 444, 0.08,-0.575,-0.766,-1.867, 0.310, PHS=-0.783,-1.031,-2.222, RAW= 39.3, 47.0, CAL= 37.3, 52.0, ROT= 112.7, -52.0
2025-08-23T22:36:53.864Z,1755988613.864 [DAT](INFO): DAT read: Bearing 57.4, 41.2 (Local)
2025-08-23T22:36:53.864Z,1755988613.864 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.4, 41.2 (Local)
2025-08-23T22:36:53.865Z,1755988613.865 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s
2025-08-23T22:36:53.866Z,1755988613.866 [DAT](INFO): DAT read: user:1925>
2025-08-23T22:36:53.867Z,1755988613.867 [DAT](INFO): DAT read: Tx time:22:36:53.5939
2025-08-23T22:36:53.867Z,1755988613.867 [DAT](INFO): Ping request sent.
2025-08-23T22:36:53.867Z,1755988613.867 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:53.868Z,1755988613.868 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-23T22:36:53.869Z,1755988613.869 [DAT](INFO): direction in FSK: [-0.237587,0.567971,0.788011]
2025-08-23T22:36:53.869Z,1755988613.869 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:53.869Z,1755988613.869 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:53.873Z,1755988613.873 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:53.873Z,1755988613.873 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:53.883Z,1755988613.883 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.015197
2025-08-23T22:36:54.110Z,1755988614.110 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.242326
2025-08-23T22:36:54.360Z,1755988614.360 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.492402
2025-08-23T22:36:54.611Z,1755988614.611 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.743765
2025-08-23T22:36:54.862Z,1755988614.862 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.995106
2025-08-23T22:36:55.116Z,1755988615.116 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.248436
2025-08-23T22:36:55.367Z,1755988615.367 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.499914
2025-08-23T22:36:55.619Z,1755988615.619 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.751842
2025-08-23T22:36:55.872Z,1755988615.872 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.004259
2025-08-23T22:36:56.126Z,1755988616.126 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.258106
2025-08-23T22:36:56.374Z,1755988616.374 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.507152
2025-08-23T22:36:56.627Z,1755988616.627 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.759875
2025-08-23T22:36:56.879Z,1755988616.879 [DAT](INFO): DAT read: Rx Time:22:36:56.0012
2025-08-23T22:36:56.880Z,1755988616.880 [DAT](INFO): Rx dataTimestamp_ set to:1755988616.879046
2025-08-23T22:36:56.880Z,1755988616.880 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=3.012953
2025-08-23T22:36:57.133Z,1755988617.133 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=3.265291
2025-08-23T22:36:57.388Z,1755988617.388 [DAT](INFO): DAT read: 22:36:56.0012 LVL= 25456, 14113, 22626, 31139, AGC= 45, IDX= 445, 0.29,-2.021,-2.146, 2.972,-1.044, PHS=-0.875,-1.057,-2.311, RAW= 36.7, 47.9, CAL= 34.8, 52.7, ROT= 115.2, -52.7
2025-08-23T22:36:57.389Z,1755988617.389 [DAT](INFO): got valid direction response:
22:36:56.0012 LVL= 25456, 14113, 22626, 31139, AGC= 45, IDX= 445, 0.29,-2.021,-2.146, 2.972,-1.044, PHS=-0.875,-1.057,-2.311, RAW= 36.7, 47.9, CAL= 34.8, 52.7, ROT= 115.2, -52.7
2025-08-23T22:36:57.391Z,1755988617.391 [DAT](INFO): DAT read: Bearing 55.6, 40.7 (Local)
2025-08-23T22:36:57.391Z,1755988617.391 [DAT](INFO): Local bearing/azimuth received:
Bearing 55.6, 40.7 (Local)
2025-08-23T22:36:57.393Z,1755988617.393 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:36:57.393Z,1755988617.393 [DAT](INFO): DAT read: user:1926>
2025-08-23T22:36:57.394Z,1755988617.394 [DAT](INFO): DAT read: Tx time:22:36:57.0939
2025-08-23T22:36:57.394Z,1755988617.394 [DAT](INFO): Ping request sent.
2025-08-23T22:36:57.395Z,1755988617.395 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:36:57.395Z,1755988617.395 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-23T22:36:57.396Z,1755988617.396 [DAT](INFO): direction in FSK: [-0.258017,0.548315,0.795473]
2025-08-23T22:36:57.396Z,1755988617.396 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:57.396Z,1755988617.396 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:57.412Z,1755988617.412 [DAT](INFO): publishing transmit ping time
2025-08-23T22:36:57.412Z,1755988617.412 [DAT](INFO): publishing direction and range info
2025-08-23T22:36:57.427Z,1755988617.427 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.032184
2025-08-23T22:36:57.635Z,1755988617.635 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.240058
2025-08-23T22:36:57.887Z,1755988617.887 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.492002
2025-08-23T22:36:58.152Z,1755988618.152 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.746431
2025-08-23T22:36:58.391Z,1755988618.391 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.996525
2025-08-23T22:36:58.643Z,1755988618.643 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.248624
2025-08-23T22:36:58.895Z,1755988618.895 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.499954
2025-08-23T22:36:59.149Z,1755988619.149 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.754220
2025-08-23T22:36:59.399Z,1755988619.399 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.004069
2025-08-23T22:36:59.651Z,1755988619.651 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.255976
2025-08-23T22:36:59.903Z,1755988619.903 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.507957
2025-08-23T22:37:00.157Z,1755988620.157 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.762114
2025-08-23T22:37:00.407Z,1755988620.407 [DAT](INFO): DAT read: Rx Time:22:36:59.5012
2025-08-23T22:37:00.407Z,1755988620.407 [DAT](INFO): Rx dataTimestamp_ set to:1755988620.406763
2025-08-23T22:37:00.408Z,1755988620.408 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=3.013055
2025-08-23T22:37:00.660Z,1755988620.660 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=3.265046
2025-08-23T22:37:00.917Z,1755988620.917 [DAT](INFO): DAT read: 22:36:59.5012 LVL= 26608, 25073, 21122, 24915, AGC= 46, IDX= 445, 0.36,-3.080,-3.060, 1.867,-1.948, PHS=-1.030,-1.067,-2.513, RAW= 31.3, 48.1, CAL= 29.6, 52.7, ROT= 120.4, -52.7
2025-08-23T22:37:00.918Z,1755988620.918 [DAT](INFO): got valid direction response:
22:36:59.5012 LVL= 26608, 25073, 21122, 24915, AGC= 46, IDX= 445, 0.36,-3.080,-3.060, 1.867,-1.948, PHS=-1.030,-1.067,-2.513, RAW= 31.3, 48.1, CAL= 29.6, 52.7, ROT= 120.4, -52.7
2025-08-23T22:37:00.919Z,1755988620.919 [DAT](INFO): DAT read: Bearing 56.5, 40.1 (Local)
2025-08-23T22:37:00.919Z,1755988620.919 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.5, 40.1 (Local)
2025-08-23T22:37:00.921Z,1755988620.921 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:37:00.921Z,1755988620.921 [DAT](INFO): DAT read: user:1927>
2025-08-23T22:37:00.922Z,1755988620.922 [DAT](INFO): DAT read: Tx time:22:37:00.5939
2025-08-23T22:37:00.922Z,1755988620.922 [DAT](INFO): Ping request sent.
2025-08-23T22:37:00.922Z,1755988620.922 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:00.923Z,1755988620.923 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-23T22:37:00.924Z,1755988620.924 [DAT](INFO): direction in FSK: [-0.306651,0.522673,0.795473]
2025-08-23T22:37:00.924Z,1755988620.924 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:00.924Z,1755988620.924 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:00.944Z,1755988620.944 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:00.945Z,1755988620.945 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:00.952Z,1755988620.952 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.029653
2025-08-23T22:37:01.171Z,1755988621.171 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.247696
2025-08-23T22:37:01.415Z,1755988621.415 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.492039
2025-08-23T22:37:01.667Z,1755988621.667 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.744357
2025-08-23T22:37:01.919Z,1755988621.919 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.995985
2025-08-23T22:37:02.173Z,1755988622.173 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.250092
2025-08-23T22:37:02.423Z,1755988622.423 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.500129
2025-08-23T22:37:02.675Z,1755988622.675 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.752217
2025-08-23T22:37:02.927Z,1755988622.927 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.003993
2025-08-23T22:37:03.182Z,1755988623.182 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.259245
2025-08-23T22:37:03.431Z,1755988623.431 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.508057
2025-08-23T22:37:03.683Z,1755988623.683 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.760045
2025-08-23T22:37:03.935Z,1755988623.935 [DAT](INFO): DAT read: Rx Time:22:37:03.0011
2025-08-23T22:37:03.936Z,1755988623.936 [DAT](INFO): Rx dataTimestamp_ set to:1755988623.935455
2025-08-23T22:37:03.937Z,1755988623.937 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=3.014148
2025-08-23T22:37:04.188Z,1755988624.188 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=3.265123
2025-08-23T22:37:04.439Z,1755988624.439 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s
2025-08-23T22:37:04.440Z,1755988624.440 [DAT](INFO): DAT read: user:1928>
2025-08-23T22:37:04.441Z,1755988624.441 [DAT](INFO): DAT read: Tx time:22:37:04.0939
2025-08-23T22:37:04.441Z,1755988624.441 [DAT](INFO): Ping request sent.
2025-08-23T22:37:04.441Z,1755988624.441 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:04.442Z,1755988624.442 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-08-23T22:37:04.442Z,1755988624.442 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:04.442Z,1755988624.442 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:04.443Z,1755988624.443 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.001972
2025-08-23T22:37:04.691Z,1755988624.691 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.249353
2025-08-23T22:37:04.943Z,1755988624.943 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.501528
2025-08-23T22:37:05.195Z,1755988625.195 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.753800
2025-08-23T22:37:05.447Z,1755988625.447 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.005331
2025-08-23T22:37:05.698Z,1755988625.698 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.257262
2025-08-23T22:37:05.951Z,1755988625.951 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.509833
2025-08-23T22:37:06.203Z,1755988626.203 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.761751
2025-08-23T22:37:06.353Z,1755988626.353 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-23T22:37:06.353Z,1755988626.353 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-23T22:37:06.379Z,1755988626.379 [DockingStepper](INFO): Changing to mode: 4
2025-08-23T22:37:06.455Z,1755988626.455 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.013412
2025-08-23T22:37:06.707Z,1755988626.707 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.265970
2025-08-23T22:37:06.959Z,1755988626.958 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.517260
2025-08-23T22:37:07.212Z,1755988627.212 [DAT](INFO): DAT read: Rx Time:22:37:06.5011
2025-08-23T22:37:07.214Z,1755988627.214 [DAT](INFO): Rx dataTimestamp_ set to:1755988627.212493
2025-08-23T22:37:07.216Z,1755988627.216 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.773960
2025-08-23T22:37:07.463Z,1755988627.463 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=3.021378
2025-08-23T22:37:07.718Z,1755988627.718 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=3.276157
2025-08-23T22:37:07.967Z,1755988627.967 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s
2025-08-23T22:37:07.968Z,1755988627.968 [DAT](INFO): DAT read: user:1929>
2025-08-23T22:37:07.969Z,1755988627.969 [DAT](INFO): DAT read: Tx time:22:37:07.5939
2025-08-23T22:37:07.969Z,1755988627.969 [DAT](INFO): Ping request sent.
2025-08-23T22:37:07.969Z,1755988627.969 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:07.970Z,1755988627.970 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-08-23T22:37:07.970Z,1755988627.970 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:07.970Z,1755988627.970 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:07.971Z,1755988627.971 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.001950
2025-08-23T22:37:08.219Z,1755988628.219 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.249428
2025-08-23T22:37:08.470Z,1755988628.470 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.501278
2025-08-23T22:37:08.723Z,1755988628.723 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.753507
2025-08-23T22:37:08.975Z,1755988628.975 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.005384
2025-08-23T22:37:09.227Z,1755988629.227 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.257986
2025-08-23T22:37:09.479Z,1755988629.479 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.509415
2025-08-23T22:37:09.731Z,1755988629.731 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.761417
2025-08-23T22:37:09.982Z,1755988629.982 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.013335
2025-08-23T22:37:10.235Z,1755988630.235 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.265833
2025-08-23T22:37:10.487Z,1755988630.487 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.517382
2025-08-23T22:37:10.739Z,1755988630.739 [DAT](INFO): DAT read: Rx Time:22:37:10.0010
2025-08-23T22:37:10.739Z,1755988630.739 [DAT](INFO): Rx dataTimestamp_ set to:1755988630.738715
2025-08-23T22:37:10.740Z,1755988630.740 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.770418
2025-08-23T22:37:10.990Z,1755988630.990 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=3.021344
2025-08-23T22:37:11.260Z,1755988631.260 [DAT](INFO): DAT read: 22:37:10.0010 LVL= 28720, 22465, 19618, 25939, AGC= 46, IDX= 445,-0.34, 2.604, 2.762, 1.318,-2.451, PHS=-1.126,-1.025,-2.558, RAW= 26.6, 48.3, CAL= 25.1, 52.9, ROT= 124.9, -52.9
2025-08-23T22:37:11.261Z,1755988631.261 [DAT](INFO): got valid direction response:
22:37:10.0010 LVL= 28720, 22465, 19618, 25939, AGC= 46, IDX= 445,-0.34, 2.604, 2.762, 1.318,-2.451, PHS=-1.126,-1.025,-2.558, RAW= 26.6, 48.3, CAL= 25.1, 52.9, ROT= 124.9, -52.9
2025-08-23T22:37:11.262Z,1755988631.262 [DAT](INFO): DAT read: Bearing 60.3, 37.8 (Local)
2025-08-23T22:37:11.263Z,1755988631.263 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.3, 37.8 (Local)
2025-08-23T22:37:11.264Z,1755988631.264 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s
2025-08-23T22:37:11.265Z,1755988631.265 [DAT](INFO): DAT read: user:1930>
2025-08-23T22:37:11.265Z,1755988631.265 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-23T22:37:11.269Z,1755988631.269 [DAT](INFO): direction in FSK: [-0.345123,0.494722,0.797584]
2025-08-23T22:37:11.269Z,1755988631.269 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:11.277Z,1755988631.277 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=3.307496
2025-08-23T22:37:11.494Z,1755988631.494 [DAT](INFO): DAT read: Tx time:22:37:11.0938
2025-08-23T22:37:11.495Z,1755988631.495 [DAT](INFO): Ping request sent.
2025-08-23T22:37:11.495Z,1755988631.495 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:11.495Z,1755988631.495 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:11.496Z,1755988631.496 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.000762
2025-08-23T22:37:11.747Z,1755988631.747 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.252207
2025-08-23T22:37:11.000Z,1755988632.000 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.505044
2025-08-23T22:37:12.251Z,1755988632.251 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.755857
2025-08-23T22:37:12.503Z,1755988632.503 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.008254
2025-08-23T22:37:12.755Z,1755988632.755 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.260148
2025-08-23T22:37:13.006Z,1755988633.006 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.511629
2025-08-23T22:37:13.259Z,1755988633.259 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.764067
2025-08-23T22:37:13.511Z,1755988633.511 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.015763
2025-08-23T22:37:13.762Z,1755988633.762 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.267642
2025-08-23T22:37:14.015Z,1755988634.015 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.519663
2025-08-23T22:37:14.267Z,1755988634.267 [DAT](INFO): DAT read: Rx Time:22:37:13.5010
2025-08-23T22:37:14.267Z,1755988634.267 [DAT](INFO): Rx dataTimestamp_ set to:1755988634.266741
2025-08-23T22:37:14.268Z,1755988634.268 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.772749
2025-08-23T22:37:14.522Z,1755988634.522 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=3.026495
2025-08-23T22:37:14.776Z,1755988634.776 [DAT](INFO): DAT read: 22:37:13.5010 LVL= 26544, 15409, 21362, 24563, AGC= 44, IDX= 444, 0.44,-2.659,-2.636, 2.387,-1.556, PHS=-1.001,-1.036,-2.384, RAW= 31.3, 48.8, CAL= 29.6, 53.4, ROT= 120.4, -53.4
2025-08-23T22:37:14.777Z,1755988634.777 [DAT](INFO): got valid direction response:
22:37:13.5010 LVL= 26544, 15409, 21362, 24563, AGC= 44, IDX= 444, 0.44,-2.659,-2.636, 2.387,-1.556, PHS=-1.001,-1.036,-2.384, RAW= 31.3, 48.8, CAL= 29.6, 53.4, ROT= 120.4, -53.4
2025-08-23T22:37:14.778Z,1755988634.778 [DAT](INFO): DAT read: Bearing 54.9, 38.6 (Local)
2025-08-23T22:37:14.779Z,1755988634.779 [DAT](INFO): Local bearing/azimuth received:
Bearing 54.9, 38.6 (Local)
2025-08-23T22:37:14.780Z,1755988634.780 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s
2025-08-23T22:37:14.781Z,1755988634.781 [DAT](INFO): DAT read: user:1931>
2025-08-23T22:37:14.794Z,1755988634.794 [DAT](INFO): DAT read: Tx time:22:37:14.5938
2025-08-23T22:37:14.794Z,1755988634.794 [DAT](INFO): Ping request sent.
2025-08-23T22:37:14.794Z,1755988634.794 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:14.794Z,1755988634.794 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-23T22:37:14.795Z,1755988634.795 [DAT](INFO): direction in FSK: [-0.301710,0.514252,0.802817]
2025-08-23T22:37:14.796Z,1755988634.796 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:14.796Z,1755988634.796 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:14.807Z,1755988634.807 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:14.807Z,1755988634.807 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:14.819Z,1755988634.819 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.024977
2025-08-23T22:37:15.023Z,1755988635.023 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.229262
2025-08-23T22:37:15.275Z,1755988635.275 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.481117
2025-08-23T22:37:15.527Z,1755988635.527 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.732576
2025-08-23T22:37:15.779Z,1755988635.779 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.984558
2025-08-23T22:37:16.031Z,1755988636.031 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.237400
2025-08-23T22:37:16.283Z,1755988636.283 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.488531
2025-08-23T22:37:16.535Z,1755988636.535 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.740926
2025-08-23T22:37:16.786Z,1755988636.786 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.992475
2025-08-23T22:37:17.039Z,1755988637.039 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.244754
2025-08-23T22:37:17.291Z,1755988637.291 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.497063
2025-08-23T22:37:17.542Z,1755988637.542 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.748474
2025-08-23T22:37:17.795Z,1755988637.795 [DAT](INFO): DAT read: Rx Time:22:37:17.0010
2025-08-23T22:37:17.795Z,1755988637.795 [DAT](INFO): Rx dataTimestamp_ set to:1755988637.794762
2025-08-23T22:37:17.796Z,1755988637.796 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=3.001607
2025-08-23T22:37:18.048Z,1755988638.048 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=3.253902
2025-08-23T22:37:18.304Z,1755988638.304 [DAT](INFO): DAT read: 22:37:17.0010 LVL= 22960, 14673, 25650, 24147, AGC= 44, IDX= 444,-0.10,-2.113,-2.116, 2.867,-1.303, PHS=-0.708,-0.768,-2.158, RAW= 32.1, 42.1, CAL= 30.2, 47.4, ROT= 119.8, -47.4
2025-08-23T22:37:18.305Z,1755988638.305 [DAT](INFO): got valid direction response:
22:37:17.0010 LVL= 22960, 14673, 25650, 24147, AGC= 44, IDX= 444,-0.10,-2.113,-2.116, 2.867,-1.303, PHS=-0.708,-0.768,-2.158, RAW= 32.1, 42.1, CAL= 30.2, 47.4, ROT= 119.8, -47.4
2025-08-23T22:37:18.306Z,1755988638.306 [DAT](INFO): DAT read: Bearing 61.9, 41.7 (Local)
2025-08-23T22:37:18.306Z,1755988638.306 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.9, 41.7 (Local)
2025-08-23T22:37:18.308Z,1755988638.308 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s
2025-08-23T22:37:18.308Z,1755988638.308 [DAT](INFO): DAT read: user:1932>
2025-08-23T22:37:18.309Z,1755988638.309 [DAT](INFO): DAT read: Tx time:22:37:18.0938
2025-08-23T22:37:18.310Z,1755988638.310 [DAT](INFO): Ping request sent.
2025-08-23T22:37:18.310Z,1755988638.310 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:18.310Z,1755988638.310 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-23T22:37:18.311Z,1755988638.311 [DAT](INFO): direction in FSK: [-0.336390,0.587370,0.736097]
2025-08-23T22:37:18.311Z,1755988638.311 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:18.311Z,1755988638.311 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:18.315Z,1755988638.315 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:18.315Z,1755988638.315 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:18.318Z,1755988638.318 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.008726
2025-08-23T22:37:18.552Z,1755988638.552 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.242046
2025-08-23T22:37:18.803Z,1755988638.803 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.492889
2025-08-23T22:37:19.055Z,1755988639.055 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.745491
2025-08-23T22:37:19.307Z,1755988639.307 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.997481
2025-08-23T22:37:19.559Z,1755988639.559 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.249482
2025-08-23T22:37:19.810Z,1755988639.810 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.500746
2025-08-23T22:37:20.064Z,1755988640.064 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.754065
2025-08-23T22:37:20.315Z,1755988640.315 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.004866
2025-08-23T22:37:20.567Z,1755988640.567 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.257558
2025-08-23T22:37:20.819Z,1755988640.819 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.508890
2025-08-23T22:37:21.072Z,1755988641.072 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.761964
2025-08-23T22:37:21.323Z,1755988641.323 [DAT](INFO): DAT read: Rx Time:22:37:20.5008
2025-08-23T22:37:21.325Z,1755988641.325 [DAT](INFO): Rx dataTimestamp_ set to:1755988641.323334
2025-08-23T22:37:21.327Z,1755988641.327 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=3.016893
2025-08-23T22:37:21.575Z,1755988641.575 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=3.264916
2025-08-23T22:37:21.844Z,1755988641.844 [DAT](INFO): DAT read: 22:37:20.5008 LVL= 19664, 7393, 19746, 20067, AGC= 44, IDX= 443,-0.37,-2.176,-2.450, 2.847,-1.668, PHS=-0.406,-0.737,-1.812, RAW= 43.0, 39.4, CAL= 40.6, 45.4, ROT= 109.4, -45.4
2025-08-23T22:37:21.845Z,1755988641.845 [DAT](INFO): got valid direction response:
22:37:20.5008 LVL= 19664, 7393, 19746, 20067, AGC= 44, IDX= 443,-0.37,-2.176,-2.450, 2.847,-1.668, PHS=-0.406,-0.737,-1.812, RAW= 43.0, 39.4, CAL= 40.6, 45.4, ROT= 109.4, -45.4
2025-08-23T22:37:21.846Z,1755988641.846 [DAT](INFO): DAT read: Bearing 59.6, 46.5 (Local)
2025-08-23T22:37:21.846Z,1755988641.846 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.6, 46.5 (Local)
2025-08-23T22:37:21.848Z,1755988641.848 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (Round-trip 2.9 ms) speed 0.0 m/s
2025-08-23T22:37:21.848Z,1755988641.848 [DAT](INFO): DAT read: user:1933>
2025-08-23T22:37:21.849Z,1755988641.849 [DAT](INFO): DAT read: Tx time:22:37:21.5938
2025-08-23T22:37:21.871Z,1755988641.871 [DAT](INFO): Ping request sent.
2025-08-23T22:37:21.872Z,1755988641.872 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:21.872Z,1755988641.872 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-23T22:37:21.873Z,1755988641.873 [DAT](INFO): direction in FSK: [-0.233228,0.662287,0.712026]
2025-08-23T22:37:21.873Z,1755988641.873 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:21.873Z,1755988641.873 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:21.876Z,1755988641.876 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:21.877Z,1755988641.877 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:21.900Z,1755988641.900 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.050901
2025-08-23T22:37:22.079Z,1755988642.079 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.229557
2025-08-23T22:37:22.330Z,1755988642.330 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.481081
2025-08-23T22:37:22.583Z,1755988642.583 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.733213
2025-08-23T22:37:22.835Z,1755988642.835 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.985175
2025-08-23T22:37:23.087Z,1755988643.087 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.237186
2025-08-23T22:37:23.339Z,1755988643.339 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.489716
2025-08-23T22:37:23.591Z,1755988643.591 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.741145
2025-08-23T22:37:23.842Z,1755988643.842 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.993111
2025-08-23T22:37:24.096Z,1755988644.096 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.246546
2025-08-23T22:37:24.346Z,1755988644.346 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.497111
2025-08-23T22:37:24.599Z,1755988644.599 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.749174
2025-08-23T22:37:24.851Z,1755988644.851 [DAT](INFO): DAT read: Rx Time:22:37:24.0006
2025-08-23T22:37:24.851Z,1755988644.851 [DAT](INFO): Rx dataTimestamp_ set to:1755988644.850701
2025-08-23T22:37:24.852Z,1755988644.852 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=3.002192
2025-08-23T22:37:25.103Z,1755988645.103 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=3.253137
2025-08-23T22:37:25.356Z,1755988645.356 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (Round-trip 2.7 ms) speed 0.0 m/s
2025-08-23T22:37:25.357Z,1755988645.357 [DAT](INFO): DAT read: user:1934>
2025-08-23T22:37:25.359Z,1755988645.359 [DAT](INFO): DAT read: Tx time:22:37:25.0938
2025-08-23T22:37:25.359Z,1755988645.359 [DAT](INFO): Ping request sent.
2025-08-23T22:37:25.359Z,1755988645.359 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:25.360Z,1755988645.360 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-08-23T22:37:25.360Z,1755988645.360 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:25.361Z,1755988645.361 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:25.367Z,1755988645.367 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.007622
2025-08-23T22:37:25.607Z,1755988645.607 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.247573
2025-08-23T22:37:25.858Z,1755988645.858 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.499513
2025-08-23T22:37:26.111Z,1755988646.111 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.751967
2025-08-23T22:37:26.363Z,1755988646.363 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=1.003746
2025-08-23T22:37:26.615Z,1755988646.615 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=1.255885
2025-08-23T22:37:26.867Z,1755988646.867 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=1.507778
2025-08-23T22:37:27.118Z,1755988647.118 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=1.759530
2025-08-23T22:37:27.372Z,1755988647.372 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.012738
2025-08-23T22:37:27.622Z,1755988647.622 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.263535
2025-08-23T22:37:27.875Z,1755988647.875 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.515657
2025-08-23T22:37:28.127Z,1755988648.127 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.768416
2025-08-23T22:37:28.379Z,1755988648.379 [DAT](INFO): DAT read: Rx Time:22:37:27.5005
2025-08-23T22:37:28.379Z,1755988648.379 [DAT](INFO): Rx dataTimestamp_ set to:1755988648.379204
2025-08-23T22:37:28.380Z,1755988648.380 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=3.021097
2025-08-23T22:37:28.631Z,1755988648.631 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=3.271687
2025-08-23T22:37:28.883Z,1755988648.883 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m (Round-trip 2.6 ms) speed 0.0 m/s
2025-08-23T22:37:28.884Z,1755988648.884 [DAT](INFO): DAT read: user:1935>
2025-08-23T22:37:28.885Z,1755988648.885 [DAT](INFO): DAT read: Tx time:22:37:28.5938
2025-08-23T22:37:28.885Z,1755988648.885 [DAT](INFO): Ping request sent.
2025-08-23T22:37:28.885Z,1755988648.885 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:28.885Z,1755988648.885 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-08-23T22:37:28.886Z,1755988648.886 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:28.886Z,1755988648.886 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:28.887Z,1755988648.887 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.001983
2025-08-23T22:37:29.135Z,1755988649.135 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.249732
2025-08-23T22:37:29.388Z,1755988649.388 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.502999
2025-08-23T22:37:29.638Z,1755988649.638 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.753430
2025-08-23T22:37:29.891Z,1755988649.891 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=1.005445
2025-08-23T22:37:30.143Z,1755988650.143 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=1.257665
2025-08-23T22:37:30.395Z,1755988650.395 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=1.509565
2025-08-23T22:37:30.649Z,1755988650.649 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=1.763688
2025-08-23T22:37:30.899Z,1755988650.899 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=2.013602
2025-08-23T22:37:31.151Z,1755988651.151 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=2.265444
2025-08-23T22:37:31.403Z,1755988651.403 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=2.517543
2025-08-23T22:37:31.655Z,1755988651.655 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=2.770077
2025-08-23T22:37:31.907Z,1755988651.907 [DAT](INFO): DAT read: Rx Time:22:37:31.0004
2025-08-23T22:37:31.907Z,1755988651.907 [DAT](INFO): Rx dataTimestamp_ set to:1755988651.907205
2025-08-23T22:37:31.908Z,1755988651.908 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=3.022987
2025-08-23T22:37:32.159Z,1755988652.159 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=3.273497
2025-08-23T22:37:32.411Z,1755988652.411 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m (Round-trip 2.6 ms) speed 0.0 m/s
2025-08-23T22:37:32.412Z,1755988652.412 [DAT](INFO): DAT read: user:1936>
2025-08-23T22:37:32.413Z,1755988652.413 [DAT](INFO): DAT read: Tx time:22:37:32.0937
2025-08-23T22:37:32.413Z,1755988652.413 [DAT](INFO): Ping request sent.
2025-08-23T22:37:32.413Z,1755988652.413 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:32.414Z,1755988652.414 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-08-23T22:37:32.414Z,1755988652.414 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:32.414Z,1755988652.414 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:32.415Z,1755988652.415 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.001954
2025-08-23T22:37:32.666Z,1755988652.666 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.252031
2025-08-23T22:37:32.915Z,1755988652.915 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.501247
2025-08-23T22:37:33.167Z,1755988653.167 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.753251
2025-08-23T22:37:33.419Z,1755988653.419 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=1.005258
2025-08-23T22:37:33.673Z,1755988653.673 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=1.259149
2025-08-23T22:37:33.923Z,1755988653.923 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=1.509275
2025-08-23T22:37:34.174Z,1755988654.174 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=1.761144
2025-08-23T22:37:34.427Z,1755988654.427 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=2.013201
2025-08-23T22:37:34.682Z,1755988654.682 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=2.268365
2025-08-23T22:37:34.931Z,1755988654.931 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=2.517266
2025-08-23T22:37:35.184Z,1755988655.184 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=2.770159
2025-08-23T22:37:35.439Z,1755988655.439 [DAT](INFO): DAT read: Rx Time:22:37:34.5012
2025-08-23T22:37:35.439Z,1755988655.439 [DAT](INFO): Rx dataTimestamp_ set to:1755988655.438949
2025-08-23T22:37:35.440Z,1755988655.440 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=3.026514
2025-08-23T22:37:35.689Z,1755988655.689 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=3.275072
2025-08-23T22:37:35.944Z,1755988655.944 [DAT](INFO): DAT read: 22:37:34.5012 LVL= 17376, 21953, 20242, 19875, AGC= 48, IDX= 446, 0.17, 1.040,-0.052, 2.056, 2.115, PHS=-0.973,-2.122,-0.103, RAW= 175.4, 32.8, CAL= 175.8, 45.0, ROT= 334.2, -45.0
2025-08-23T22:37:35.945Z,1755988655.945 [DAT](INFO): got valid direction response:
22:37:34.5012 LVL= 17376, 21953, 20242, 19875, AGC= 48, IDX= 446, 0.17, 1.040,-0.052, 2.056, 2.115, PHS=-0.973,-2.122,-0.103, RAW= 175.4, 32.8, CAL= 175.8, 45.0, ROT= 334.2, -45.0
2025-08-23T22:37:35.946Z,1755988655.946 [DAT](INFO): DAT read: Bearing 359.1, -19.5 (Local)
2025-08-23T22:37:35.946Z,1755988655.946 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.1, -19.5 (Local)
2025-08-23T22:37:35.948Z,1755988655.948 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s
2025-08-23T22:37:35.948Z,1755988655.948 [DAT](INFO): DAT read: user:1937>
2025-08-23T22:37:35.949Z,1755988655.949 [DAT](INFO): DAT read: Tx time:22:37:35.5937
2025-08-23T22:37:35.950Z,1755988655.950 [DAT](INFO): Ping request sent.
2025-08-23T22:37:35.950Z,1755988655.950 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:35.950Z,1755988655.950 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-23T22:37:35.951Z,1755988655.951 [DAT](INFO): direction in FSK: [0.636622,-0.307755,0.707107]
2025-08-23T22:37:35.951Z,1755988655.951 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:35.951Z,1755988655.951 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:35.955Z,1755988655.955 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:35.955Z,1755988655.955 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:35.958Z,1755988655.958 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.008747
2025-08-23T22:37:36.191Z,1755988656.191 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.241242
2025-08-23T22:37:36.443Z,1755988656.443 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.492890
2025-08-23T22:37:36.697Z,1755988656.697 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.746974
2025-08-23T22:37:36.951Z,1755988656.951 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=1.000946
2025-08-23T22:37:37.203Z,1755988657.203 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=1.253453
2025-08-23T22:37:37.455Z,1755988657.455 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=1.505130
2025-08-23T22:37:37.709Z,1755988657.709 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=1.758949
2025-08-23T22:37:37.959Z,1755988657.959 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=2.008926
2025-08-23T22:37:38.211Z,1755988658.211 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=2.261563
2025-08-23T22:37:38.463Z,1755988658.463 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=2.512853
2025-08-23T22:37:38.717Z,1755988658.717 [DAT](INFO): DAT read: Rx Time:22:37:38.0022
2025-08-23T22:37:38.718Z,1755988658.718 [DAT](INFO): Rx dataTimestamp_ set to:1755988658.717585
2025-08-23T22:37:38.720Z,1755988658.720 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=2.770181
2025-08-23T22:37:38.970Z,1755988658.970 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=3.020815
2025-08-23T22:37:39.223Z,1755988659.223 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (Round-trip 4.3 ms) speed -0.1 m/s
2025-08-23T22:37:39.224Z,1755988659.224 [DAT](INFO): DAT read: user:1938>
2025-08-23T22:37:39.224Z,1755988659.224 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-08-23T22:37:39.225Z,1755988659.225 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=3.275659
2025-08-23T22:37:39.476Z,1755988659.476 [DAT](INFO): DAT read: Tx time:22:37:39.0937
2025-08-23T22:37:39.476Z,1755988659.476 [DAT](INFO): Ping request sent.
2025-08-23T22:37:39.476Z,1755988659.476 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:39.477Z,1755988659.477 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:39.478Z,1755988659.478 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.001079
2025-08-23T22:37:39.728Z,1755988659.728 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.251825
2025-08-23T22:37:39.979Z,1755988659.979 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.502552
2025-08-23T22:37:40.231Z,1755988660.231 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.754466
2025-08-23T22:37:40.482Z,1755988660.482 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=1.006260
2025-08-23T22:37:40.735Z,1755988660.735 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=1.258349
2025-08-23T22:37:40.990Z,1755988660.990 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=1.514250
2025-08-23T22:37:41.242Z,1755988661.242 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=1.766158
2025-08-23T22:37:41.496Z,1755988661.496 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=2.019617
2025-08-23T22:37:41.750Z,1755988661.750 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=2.273769
2025-08-23T22:37:42.000Z,1755988662.000 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=2.524001
2025-08-23T22:37:42.251Z,1755988662.251 [DAT](INFO): DAT read: Rx Time:22:37:41.5010
2025-08-23T22:37:42.251Z,1755988662.251 [DAT](INFO): Rx dataTimestamp_ set to:1755988662.250833
2025-08-23T22:37:42.252Z,1755988662.252 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=2.775508
2025-08-23T22:37:42.503Z,1755988662.503 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=3.027259
2025-08-23T22:37:42.789Z,1755988662.789 [DAT](INFO): DAT read: 22:37:41.5010 LVL= 23024, 13953, 22690, 26259, AGC= 44, IDX= 429, 0.00,-0.447, 0.774,-1.235, 0.835, PHS=-1.180,-0.016,-2.114, RAW= 356.4, 32.7, CAL= 354.9, 38.0, ROT= 155.1, -38.0
2025-08-23T22:37:42.801Z,1755988662.801 [DAT](INFO): got valid direction response:
22:37:41.5010 LVL= 23024, 13953, 22690, 26259, AGC= 44, IDX= 429, 0.00,-0.447, 0.774,-1.235, 0.835, PHS=-1.180,-0.016,-2.114, RAW= 356.4, 32.7, CAL= 354.9, 38.0, ROT= 155.1, -38.0
2025-08-23T22:37:42.812Z,1755988662.812 [DAT](INFO): DAT read: Bearing 83.8, 35.3 (Local)
2025-08-23T22:37:42.813Z,1755988662.813 [DAT](INFO): Local bearing/azimuth received:
Bearing 83.8, 35.3 (Local)
2025-08-23T22:37:42.863Z,1755988662.863 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s
2025-08-23T22:37:42.864Z,1755988662.864 [DAT](INFO): DAT read: user:1939>
2025-08-23T22:37:42.865Z,1755988662.865 [DAT](INFO): DAT read: Tx time:22:37:42.5937
2025-08-23T22:37:42.865Z,1755988662.865 [DAT](INFO): Ping request sent.
2025-08-23T22:37:42.865Z,1755988662.865 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:42.865Z,1755988662.865 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-23T22:37:42.870Z,1755988662.870 [DAT](INFO): direction in FSK: [-0.714760,0.331781,0.615661]
2025-08-23T22:37:42.871Z,1755988662.871 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:42.871Z,1755988662.871 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:42.890Z,1755988662.890 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:42.891Z,1755988662.891 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:42.905Z,1755988662.905 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.040186
2025-08-23T22:37:43.011Z,1755988663.011 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.146153
2025-08-23T22:37:43.263Z,1755988663.263 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.397586
2025-08-23T22:37:43.516Z,1755988663.516 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.650536
2025-08-23T22:37:43.768Z,1755988663.768 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.902803
2025-08-23T22:37:44.019Z,1755988664.019 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=1.154178
2025-08-23T22:37:44.271Z,1755988664.271 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=1.405674
2025-08-23T22:37:44.523Z,1755988664.523 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=1.657648
2025-08-23T22:37:44.775Z,1755988664.775 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=1.909606
2025-08-23T22:37:45.027Z,1755988665.027 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=2.161601
2025-08-23T22:37:45.278Z,1755988665.278 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=2.413446
2025-08-23T22:37:45.531Z,1755988665.531 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=2.665682
2025-08-23T22:37:45.785Z,1755988665.785 [DAT](INFO): DAT read: Rx Time:22:37:45.0014
2025-08-23T22:37:45.786Z,1755988665.786 [DAT](INFO): Rx dataTimestamp_ set to:1755988665.785901
2025-08-23T22:37:45.787Z,1755988665.787 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=2.921978
2025-08-23T22:37:46.035Z,1755988666.035 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=3.170400
2025-08-23T22:37:46.295Z,1755988666.295 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (Round-trip 3.6 ms) speed -0.1 m/s
2025-08-23T22:37:46.296Z,1755988666.296 [DAT](INFO): DAT read: user:1940>
2025-08-23T22:37:46.297Z,1755988666.297 [DAT](INFO): DAT read: Tx time:22:37:46.0937
2025-08-23T22:37:46.297Z,1755988666.297 [DAT](INFO): Ping request sent.
2025-08-23T22:37:46.297Z,1755988666.297 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:46.298Z,1755988666.298 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-08-23T22:37:46.298Z,1755988666.298 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:46.298Z,1755988666.298 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:46.299Z,1755988666.299 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.001992
2025-08-23T22:37:46.546Z,1755988666.546 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.249167
2025-08-23T22:37:46.798Z,1755988666.798 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.501177
2025-08-23T22:37:47.051Z,1755988667.051 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.753332
2025-08-23T22:37:47.302Z,1755988667.302 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.005168
2025-08-23T22:37:47.555Z,1755988667.555 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.257566
2025-08-23T22:37:47.807Z,1755988667.807 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.510064
2025-08-23T22:37:48.059Z,1755988668.059 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.761310
2025-08-23T22:37:48.313Z,1755988668.313 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.015550
2025-08-23T22:37:48.563Z,1755988668.563 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.265240
2025-08-23T22:37:48.814Z,1755988668.814 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.517164
2025-08-23T22:37:49.069Z,1755988669.069 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.771225
2025-08-23T22:37:49.323Z,1755988669.323 [DAT](INFO): DAT read: Rx Time:22:37:48.5018
2025-08-23T22:37:49.323Z,1755988669.323 [DAT](INFO): Rx dataTimestamp_ set to:1755988669.322769
2025-08-23T22:37:49.324Z,1755988669.324 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=3.026320
2025-08-23T22:37:49.576Z,1755988669.576 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=3.278321
2025-08-23T22:37:49.832Z,1755988669.832 [DAT](INFO): DAT read: 22:37:48.5018 LVL= 28336, 24817, 28594, 32755, AGC= 50, IDX= 437,-0.21, 2.506, 2.857, 2.933,-2.325, PHS=-1.350,-1.057,-1.069, RAW= 272.2, 76.8, CAL= 272.8, 78.8, ROT= 237.2, -78.8
2025-08-23T22:37:49.833Z,1755988669.833 [DAT](INFO): got valid direction response:
22:37:48.5018 LVL= 28336, 24817, 28594, 32755, AGC= 50, IDX= 437,-0.21, 2.506, 2.857, 2.933,-2.325, PHS=-1.350,-1.057,-1.069, RAW= 272.2, 76.8, CAL= 272.8, 78.8, ROT= 237.2, -78.8
2025-08-23T22:37:49.854Z,1755988669.854 [DAT](INFO): DAT read: Bearing 44.5, -1.8 (Local)
2025-08-23T22:37:49.854Z,1755988669.854 [DAT](INFO): Local bearing/azimuth received:
Bearing 44.5, -1.8 (Local)
2025-08-23T22:37:49.856Z,1755988669.856 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (Round-trip 4.0 ms) speed -0.1 m/s
2025-08-23T22:37:49.867Z,1755988669.867 [DAT](INFO): DAT read: user:1941>
2025-08-23T22:37:49.895Z,1755988669.895 [DAT](INFO): DAT read: Tx time:22:37:49.5937
2025-08-23T22:37:49.895Z,1755988669.895 [DAT](INFO): Ping request sent.
2025-08-23T22:37:49.896Z,1755988669.896 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:49.897Z,1755988669.897 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-23T22:37:49.900Z,1755988669.900 [DAT](INFO): direction in FSK: [-0.105218,-0.163267,0.980955]
2025-08-23T22:37:49.926Z,1755988669.926 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:49.926Z,1755988669.926 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:49.929Z,1755988669.929 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:49.929Z,1755988669.929 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:49.941Z,1755988669.941 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.045263
2025-08-23T22:37:50.079Z,1755988670.079 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.183239
2025-08-23T22:37:50.330Z,1755988670.330 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.434998
2025-08-23T22:37:50.582Z,1755988670.582 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.687093
2025-08-23T22:37:50.835Z,1755988670.835 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.939142
2025-08-23T22:37:51.089Z,1755988671.089 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.193135
2025-08-23T22:37:51.343Z,1755988671.343 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.447515
2025-08-23T22:37:51.596Z,1755988671.596 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.700159
2025-08-23T22:37:51.847Z,1755988671.847 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.951130
2025-08-23T22:37:52.099Z,1755988672.099 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.203875
2025-08-23T22:37:52.351Z,1755988672.351 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.455251
2025-08-23T22:37:52.602Z,1755988672.602 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.707069
2025-08-23T22:37:52.855Z,1755988672.855 [DAT](INFO): DAT read: Rx Time:22:37:52.0023
2025-08-23T22:37:52.855Z,1755988672.855 [DAT](INFO): Rx dataTimestamp_ set to:1755988672.854694
2025-08-23T22:37:52.856Z,1755988672.856 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.960157
2025-08-23T22:37:53.107Z,1755988673.107 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=3.211156
2025-08-23T22:37:53.367Z,1755988673.367 [DAT](INFO): DAT read: 22:37:52.0023 LVL= 24784, 28433, 32754, 32755, AGC= 44, IDX= 425, 0.50,-0.233,-1.885, 0.396,-0.119, PHS=-0.013,-1.721, 0.471, RAW= 162.1, 12.6, CAL= 162.5, 14.5, ROT= 347.5, -14.5
2025-08-23T22:37:53.368Z,1755988673.368 [DAT](INFO): got valid direction response:
22:37:52.0023 LVL= 24784, 28433, 32754, 32755, AGC= 44, IDX= 425, 0.50,-0.233,-1.885, 0.396,-0.119, PHS=-0.013,-1.721, 0.471, RAW= 162.1, 12.6, CAL= 162.5, 14.5, ROT= 347.5, -14.5
2025-08-23T22:37:53.369Z,1755988673.369 [DAT](INFO): DAT read: Bearing 324.5, -12.5 (Local)
2025-08-23T22:37:53.369Z,1755988673.369 [DAT](INFO): Local bearing/azimuth received:
Bearing 324.5, -12.5 (Local)
2025-08-23T22:37:53.371Z,1755988673.371 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (Round-trip 4.5 ms) speed -0.1 m/s
2025-08-23T22:37:53.371Z,1755988673.371 [DAT](INFO): DAT read: user:1942>
2025-08-23T22:37:53.372Z,1755988673.372 [DAT](INFO): DAT read: Tx time:22:37:53.0936
2025-08-23T22:37:53.372Z,1755988673.372 [DAT](INFO): Ping request sent.
2025-08-23T22:37:53.372Z,1755988673.372 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:53.373Z,1755988673.373 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-23T22:37:53.374Z,1755988673.374 [DAT](INFO): direction in FSK: [0.945199,-0.209546,0.250380]
2025-08-23T22:37:53.374Z,1755988673.374 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:53.374Z,1755988673.374 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:53.384Z,1755988673.384 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:53.385Z,1755988673.385 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:53.388Z,1755988673.388 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.015719
2025-08-23T22:37:53.611Z,1755988673.611 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.238378
2025-08-23T22:37:53.863Z,1755988673.863 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.490134
2025-08-23T22:37:54.114Z,1755988674.114 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.741886
2025-08-23T22:37:54.367Z,1755988674.367 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.994098
2025-08-23T22:37:54.619Z,1755988674.619 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.246030
2025-08-23T22:37:54.870Z,1755988674.870 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.497950
2025-08-23T22:37:55.122Z,1755988675.122 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.749937
2025-08-23T22:37:55.375Z,1755988675.375 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.002032
2025-08-23T22:37:55.627Z,1755988675.627 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.254064
2025-08-23T22:37:55.879Z,1755988675.879 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.505967
2025-08-23T22:37:56.131Z,1755988676.131 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.758020
2025-08-23T22:37:56.383Z,1755988676.383 [DAT](INFO): DAT read: Rx Time:22:37:55.5024
2025-08-23T22:37:56.383Z,1755988676.383 [DAT](INFO): Rx dataTimestamp_ set to:1755988676.382822
2025-08-23T22:37:56.384Z,1755988676.384 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=3.011136
2025-08-23T22:37:56.634Z,1755988676.634 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=3.261919
2025-08-23T22:37:56.780Z,1755988676.780 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-08-23T22:37:56.897Z,1755988676.897 [DAT](INFO): DAT read: 22:37:55.5024 LVL= 22320, 32753, 21234, 32755, AGC= 39, IDX= 428, 0.18,-2.007, 2.653,-1.678,-2.137, PHS= 0.232,-1.448, 0.415, RAW= 155.1, 9.0, CAL= 154.8, 9.7, ROT= 355.2, -9.7
2025-08-23T22:37:56.899Z,1755988676.899 [DAT](INFO): got valid direction response:
22:37:55.5024 LVL= 22320, 32753, 21234, 32755, AGC= 39, IDX= 428, 0.18,-2.007, 2.653,-1.678,-2.137, PHS= 0.232,-1.448, 0.415, RAW= 155.1, 9.0, CAL= 154.8, 9.7, ROT= 355.2, -9.7
2025-08-23T22:37:56.900Z,1755988676.900 [DAT](INFO): DAT read: Bearing 318.6, -1.3 (Local)
2025-08-23T22:37:56.900Z,1755988676.900 [DAT](INFO): Local bearing/azimuth received:
Bearing 318.6, -1.3 (Local)
2025-08-23T22:37:56.902Z,1755988676.902 [DAT](INFO): DAT read: Range 11 to 50 : 3.4 m (Round-trip 4.6 ms) speed -0.1 m/s
2025-08-23T22:37:56.903Z,1755988676.903 [DAT](INFO): DAT read: user:1943>
2025-08-23T22:37:56.904Z,1755988676.904 [DAT](INFO): DAT read: Tx time:22:37:56.5936
2025-08-23T22:37:56.905Z,1755988676.905 [DAT](INFO): Ping request sent.
2025-08-23T22:37:56.905Z,1755988676.905 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:37:56.905Z,1755988676.905 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-23T22:37:56.913Z,1755988676.913 [DAT](INFO): direction in FSK: [0.982246,-0.082482,0.168489]
2025-08-23T22:37:56.914Z,1755988676.914 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:56.914Z,1755988676.914 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:56.917Z,1755988676.917 [DAT](INFO): publishing transmit ping time
2025-08-23T22:37:56.917Z,1755988676.917 [DAT](INFO): publishing direction and range info
2025-08-23T22:37:56.921Z,1755988676.921 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.015716
2025-08-23T22:37:57.171Z,1755988677.171 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.265876
2025-08-23T22:37:57.423Z,1755988677.423 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.517629
2025-08-23T22:37:57.675Z,1755988677.675 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.769660
2025-08-23T22:37:57.926Z,1755988677.926 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.021606
2025-08-23T22:37:58.180Z,1755988678.180 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.274556
2025-08-23T22:37:58.431Z,1755988678.431 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.525751
2025-08-23T22:37:58.682Z,1755988678.682 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.777621
2025-08-23T22:37:58.935Z,1755988678.935 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.029652
2025-08-23T22:37:59.187Z,1755988679.187 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.282358
2025-08-23T22:37:59.438Z,1755988679.438 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.533609
2025-08-23T22:37:59.694Z,1755988679.694 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.788241
2025-08-23T22:37:59.943Z,1755988679.943 [DAT](INFO): DAT read: Rx Time:22:37:59.0030
2025-08-23T22:37:59.943Z,1755988679.943 [DAT](INFO): Rx dataTimestamp_ set to:1755988679.942754
2025-08-23T22:37:59.944Z,1755988679.944 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=3.038746
2025-08-23T22:38:00.195Z,1755988680.195 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=3.290116
2025-08-23T22:38:00.452Z,1755988680.452 [DAT](INFO): DAT read: 22:37:59.0030 LVL= 28080, 30129, 23858, 32755, AGC= 38, IDX= 434, 0.25, 2.653, 0.963, 2.940, 2.468, PHS= 0.287,-1.460, 0.428, RAW= 153.9, 8.2, CAL= 153.4, 8.7, ROT= 356.6, -8.7
2025-08-23T22:38:00.453Z,1755988680.453 [DAT](INFO): got valid direction response:
22:37:59.0030 LVL= 28080, 30129, 23858, 32755, AGC= 38, IDX= 434, 0.25, 2.653, 0.963, 2.940, 2.468, PHS= 0.287,-1.460, 0.428, RAW= 153.9, 8.2, CAL= 153.4, 8.7, ROT= 356.6, -8.7
2025-08-23T22:38:00.454Z,1755988680.454 [DAT](INFO): DAT read: Bearing 317.3, 3.3 (Local)
2025-08-23T22:38:00.455Z,1755988680.455 [DAT](INFO): Local bearing/azimuth received:
Bearing 317.3, 3.3 (Local)
2025-08-23T22:38:00.456Z,1755988680.456 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (Round-trip 5.2 ms) speed -0.1 m/s
2025-08-23T22:38:00.457Z,1755988680.457 [DAT](INFO): DAT read: user:1944>
2025-08-23T22:38:00.459Z,1755988680.459 [DAT](INFO): DAT read: Tx time:22:38:00.0936
2025-08-23T22:38:00.459Z,1755988680.459 [DAT](INFO): Ping request sent.
2025-08-23T22:38:00.459Z,1755988680.459 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:00.460Z,1755988680.460 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-23T22:38:00.482Z,1755988680.482 [DAT](INFO): direction in FSK: [0.986754,-0.058624,0.151261]
2025-08-23T22:38:00.483Z,1755988680.483 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:00.483Z,1755988680.483 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:00.499Z,1755988680.499 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:00.500Z,1755988680.500 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:00.503Z,1755988680.503 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.044330
2025-08-23T22:38:00.699Z,1755988680.699 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.239391
2025-08-23T22:38:00.953Z,1755988680.953 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.493812
2025-08-23T22:38:01.208Z,1755988681.208 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.748346
2025-08-23T22:38:01.460Z,1755988681.460 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.000610
2025-08-23T22:38:01.712Z,1755988681.712 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.253084
2025-08-23T22:38:01.964Z,1755988681.964 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.504549
2025-08-23T22:38:02.215Z,1755988682.215 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.755524
2025-08-23T22:38:02.476Z,1755988682.476 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.017272
2025-08-23T22:38:02.726Z,1755988682.726 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.267338
2025-08-23T22:38:02.979Z,1755988682.979 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.519852
2025-08-23T22:38:03.230Z,1755988683.230 [DAT](INFO): DAT read: Rx Time:22:38:02.5037
2025-08-23T22:38:03.231Z,1755988683.231 [DAT](INFO): Rx dataTimestamp_ set to:1755988683.230686
2025-08-23T22:38:03.232Z,1755988683.232 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.772421
2025-08-23T22:38:03.267Z,1755988683.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-23T22:38:03.484Z,1755988683.484 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=3.025224
2025-08-23T22:38:03.738Z,1755988683.738 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=3.277821
2025-08-23T22:38:03.992Z,1755988683.992 [DAT](INFO): DAT read: 22:38:02.5037 LVL= 25456, 27937, 24178, 32755, AGC= 35, IDX= 425, 0.06, 2.606, 1.003, 2.945, 2.394, PHS= 0.314,-1.346, 0.507, RAW= 155.4, 6.0, CAL= 154.7, 5.9, ROT= 355.3, -5.9
2025-08-23T22:38:03.993Z,1755988683.993 [DAT](INFO): got valid direction response:
22:38:02.5037 LVL= 25456, 27937, 24178, 32755, AGC= 35, IDX= 425, 0.06, 2.606, 1.003, 2.945, 2.394, PHS= 0.314,-1.346, 0.507, RAW= 155.4, 6.0, CAL= 154.7, 5.9, ROT= 355.3, -5.9
2025-08-23T22:38:03.994Z,1755988683.994 [DAT](INFO): DAT read: Bearing 314.4, 2.3 (Local)
2025-08-23T22:38:03.995Z,1755988683.995 [DAT](INFO): Local bearing/azimuth received:
Bearing 314.4, 2.3 (Local)
2025-08-23T22:38:03.996Z,1755988683.996 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (Round-trip 5.9 ms) speed -0.1 m/s
2025-08-23T22:38:03.997Z,1755988683.997 [DAT](INFO): DAT read: user:1945>
2025-08-23T22:38:03.998Z,1755988683.998 [DAT](INFO): DAT read: Tx time:22:38:03.5936
2025-08-23T22:38:03.998Z,1755988683.998 [DAT](INFO): Ping request sent.
2025-08-23T22:38:03.998Z,1755988683.998 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:03.999Z,1755988683.999 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-23T22:38:03.000Z,1755988684.000 [DAT](INFO): direction in FSK: [0.991358,-0.081505,0.102793]
2025-08-23T22:38:03.000Z,1755988684.000 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:04.000Z,1755988684.000 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:04.003Z,1755988684.003 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:04.003Z,1755988684.003 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:04.044Z,1755988684.044 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.045310
2025-08-23T22:38:04.239Z,1755988684.239 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.240667
2025-08-23T22:38:04.491Z,1755988684.491 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.492398
2025-08-23T22:38:04.742Z,1755988684.742 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.744232
2025-08-23T22:38:04.995Z,1755988684.995 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.996258
2025-08-23T22:38:05.246Z,1755988685.246 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.248224
2025-08-23T22:38:05.498Z,1755988685.498 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.500237
2025-08-23T22:38:05.751Z,1755988685.751 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.752764
2025-08-23T22:38:06.003Z,1755988686.003 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.004305
2025-08-23T22:38:06.254Z,1755988686.254 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.256179
2025-08-23T22:38:06.506Z,1755988686.506 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.508223
2025-08-23T22:38:06.759Z,1755988686.759 [DAT](INFO): DAT read: Rx Time:22:38:06.0044
2025-08-23T22:38:06.759Z,1755988686.759 [DAT](INFO): Rx dataTimestamp_ set to:1755988686.758697
2025-08-23T22:38:06.760Z,1755988686.760 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.761297
2025-08-23T22:38:07.010Z,1755988687.010 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=3.012219
2025-08-23T22:38:07.275Z,1755988687.275 [DAT](INFO): DAT read: 22:38:06.0044 LVL= 24816, 30801, 26610, 32755, AGC= 36, IDX= 433,-0.08,-1.095,-2.701,-0.747,-1.302, PHS= 0.309,-1.354, 0.511, RAW= 155.7, 6.1, CAL= 154.9, 6.0, ROT= 355.1, -6.0
2025-08-23T22:38:07.276Z,1755988687.276 [DAT](INFO): got valid direction response:
22:38:06.0044 LVL= 24816, 30801, 26610, 32755, AGC= 36, IDX= 433,-0.08,-1.095,-2.701,-0.747,-1.302, PHS= 0.309,-1.354, 0.511, RAW= 155.7, 6.1, CAL= 154.9, 6.0, ROT= 355.1, -6.0
2025-08-23T22:38:07.277Z,1755988687.277 [DAT](INFO): DAT read: Bearing 314.2, -0.2 (Local)
2025-08-23T22:38:07.277Z,1755988687.277 [DAT](INFO): Local bearing/azimuth received:
Bearing 314.2, -0.2 (Local)
2025-08-23T22:38:07.278Z,1755988687.278 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (Round-trip 6.7 ms) speed -0.2 m/s
2025-08-23T22:38:07.279Z,1755988687.279 [DAT](INFO): DAT read: user:1946>
2025-08-23T22:38:07.280Z,1755988687.280 [DAT](INFO): DAT read: Tx time:22:38:07.0936
2025-08-23T22:38:07.280Z,1755988687.280 [DAT](INFO): Ping request sent.
2025-08-23T22:38:07.280Z,1755988687.280 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:07.280Z,1755988687.280 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-23T22:38:07.335Z,1755988687.335 [DAT](INFO): direction in FSK: [0.990887,-0.084949,0.104528]
2025-08-23T22:38:07.336Z,1755988687.336 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:07.336Z,1755988687.336 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:07.343Z,1755988687.343 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:07.343Z,1755988687.343 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:07.355Z,1755988687.355 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.074822
2025-08-23T22:38:07.515Z,1755988687.515 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.234919
2025-08-23T22:38:07.767Z,1755988687.767 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.486862
2025-08-23T22:38:08.019Z,1755988688.019 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.739186
2025-08-23T22:38:08.271Z,1755988688.271 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.991045
2025-08-23T22:38:08.523Z,1755988688.523 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.242422
2025-08-23T22:38:08.775Z,1755988688.775 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.494317
2025-08-23T22:38:09.027Z,1755988689.027 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.746376
2025-08-23T22:38:09.279Z,1755988689.279 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.998395
2025-08-23T22:38:09.531Z,1755988689.531 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.250391
2025-08-23T22:38:09.783Z,1755988689.783 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.502392
2025-08-23T22:38:10.034Z,1755988690.034 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.754295
2025-08-23T22:38:10.287Z,1755988690.287 [DAT](INFO): DAT read: Rx Time:22:38:09.5051
2025-08-23T22:38:10.287Z,1755988690.287 [DAT](INFO): Rx dataTimestamp_ set to:1755988690.287043
2025-08-23T22:38:10.288Z,1755988690.288 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=3.007748
2025-08-23T22:38:10.539Z,1755988690.539 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=3.258529
2025-08-23T22:38:10.796Z,1755988690.796 [DAT](INFO): DAT read: 22:38:09.5051 LVL= 25008, 28225, 23330, 32755, AGC= 38, IDX= 440,-0.21, 1.649, 0.006, 1.975, 1.462, PHS= 0.289,-1.411, 0.469, RAW= 155.0, 7.3, CAL= 154.4, 7.6, ROT= 355.6, -7.6
2025-08-23T22:38:10.797Z,1755988690.797 [DAT](INFO): got valid direction response:
22:38:09.5051 LVL= 25008, 28225, 23330, 32755, AGC= 38, IDX= 440,-0.21, 1.649, 0.006, 1.975, 1.462, PHS= 0.289,-1.411, 0.469, RAW= 155.0, 7.3, CAL= 154.4, 7.6, ROT= 355.6, -7.6
2025-08-23T22:38:10.798Z,1755988690.798 [DAT](INFO): DAT read: Bearing 315.5, -3.8 (Local)
2025-08-23T22:38:10.798Z,1755988690.798 [DAT](INFO): Local bearing/azimuth received:
Bearing 315.5, -3.8 (Local)
2025-08-23T22:38:10.800Z,1755988690.800 [DAT](INFO): DAT read: Range 11 to 50 : 5.5 m (Round-trip 7.4 ms) speed -0.2 m/s
2025-08-23T22:38:10.800Z,1755988690.800 [DAT](INFO): DAT read: user:1947>
2025-08-23T22:38:10.801Z,1755988690.801 [DAT](INFO): DAT read: Tx time:22:38:10.5952
2025-08-23T22:38:10.802Z,1755988690.802 [DAT](INFO): Ping request sent.
2025-08-23T22:38:10.802Z,1755988690.802 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:10.802Z,1755988690.802 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-23T22:38:10.803Z,1755988690.803 [DAT](INFO): direction in FSK: [0.988294,-0.076045,0.132256]
2025-08-23T22:38:10.803Z,1755988690.803 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:10.804Z,1755988690.804 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:10.807Z,1755988690.807 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:10.807Z,1755988690.807 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:10.811Z,1755988690.811 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.008875
2025-08-23T22:38:11.043Z,1755988691.043 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.241537
2025-08-23T22:38:11.294Z,1755988691.294 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.492808
2025-08-23T22:38:11.547Z,1755988691.547 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.745373
2025-08-23T22:38:11.799Z,1755988691.799 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.996920
2025-08-23T22:38:12.051Z,1755988692.051 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.248887
2025-08-23T22:38:12.302Z,1755988692.302 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.500824
2025-08-23T22:38:12.555Z,1755988692.555 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.752981
2025-08-23T22:38:12.807Z,1755988692.807 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.004908
2025-08-23T22:38:13.060Z,1755988693.060 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.257874
2025-08-23T22:38:13.311Z,1755988693.311 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.508851
2025-08-23T22:38:13.563Z,1755988693.563 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.760940
2025-08-23T22:38:13.815Z,1755988693.815 [DAT](INFO): DAT read: Rx Time:22:38:13.0074
2025-08-23T22:38:13.816Z,1755988693.816 [DAT](INFO): Rx dataTimestamp_ set to:1755988693.815167
2025-08-23T22:38:13.816Z,1755988693.816 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=3.014672
2025-08-23T22:38:14.067Z,1755988694.067 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=3.264865
2025-08-23T22:38:14.324Z,1755988694.324 [DAT](INFO): DAT read: 22:38:13.0074 LVL= 27120, 30337, 25074, 32755, AGC= 40, IDX= 432,-0.21,-0.721,-2.367,-0.361,-0.844, PHS= 0.225,-1.478, 0.439, RAW= 155.8, 9.0, CAL= 155.5, 9.6, ROT= 354.5, -9.6
2025-08-23T22:38:14.325Z,1755988694.325 [DAT](INFO): got valid direction response:
22:38:13.0074 LVL= 27120, 30337, 25074, 32755, AGC= 40, IDX= 432,-0.21,-0.721,-2.367,-0.361,-0.844, PHS= 0.225,-1.478, 0.439, RAW= 155.8, 9.0, CAL= 155.5, 9.6, ROT= 354.5, -9.6
2025-08-23T22:38:14.326Z,1755988694.326 [DAT](INFO): DAT read: Bearing 318.4, -9.0 (Local)
2025-08-23T22:38:14.326Z,1755988694.326 [DAT](INFO): Local bearing/azimuth received:
Bearing 318.4, -9.0 (Local)
2025-08-23T22:38:14.328Z,1755988694.328 [DAT](INFO): DAT read: Range 11 to 50 : 6.1 m (Round-trip 8.2 ms) speed -0.2 m/s
2025-08-23T22:38:14.329Z,1755988694.329 [DAT](INFO): DAT read: user:1948>
2025-08-23T22:38:14.329Z,1755988694.329 [DAT](INFO): DAT read: Tx time:22:38:14.0935
2025-08-23T22:38:14.330Z,1755988694.330 [DAT](INFO): Ping request sent.
2025-08-23T22:38:14.330Z,1755988694.330 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:14.330Z,1755988694.330 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-23T22:38:14.331Z,1755988694.331 [DAT](INFO): direction in FSK: [0.981457,-0.094504,0.166769]
2025-08-23T22:38:14.331Z,1755988694.331 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:14.331Z,1755988694.331 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:14.335Z,1755988694.335 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:14.335Z,1755988694.335 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:14.338Z,1755988694.338 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.008712
2025-08-23T22:38:14.571Z,1755988694.571 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.240888
2025-08-23T22:38:14.823Z,1755988694.823 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.492778
2025-08-23T22:38:15.075Z,1755988695.075 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.745488
2025-08-23T22:38:15.330Z,1755988695.330 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.000664
2025-08-23T22:38:15.583Z,1755988695.583 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.252789
2025-08-23T22:38:15.835Z,1755988695.835 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.504917
2025-08-23T22:38:16.086Z,1755988696.086 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.756713
2025-08-23T22:38:16.339Z,1755988696.339 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.009040
2025-08-23T22:38:16.591Z,1755988696.591 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.260926
2025-08-23T22:38:16.842Z,1755988696.842 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.512780
2025-08-23T22:38:17.094Z,1755988697.094 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.764781
2025-08-23T22:38:17.350Z,1755988697.350 [DAT](INFO): DAT read: Rx Time:22:38:16.5066
2025-08-23T22:38:17.351Z,1755988697.351 [DAT](INFO): Rx dataTimestamp_ set to:1755988697.350562
2025-08-23T22:38:17.351Z,1755988697.351 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=3.021695
2025-08-23T22:38:17.602Z,1755988697.602 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=3.272657
2025-08-23T22:38:17.864Z,1755988697.864 [DAT](INFO): DAT read: 22:38:16.5066 LVL= 28848, 29793, 26258, 32755, AGC= 40, IDX= 440, 0.01,-2.886, 1.791,-2.445,-2.943, PHS= 0.158,-1.504, 0.453, RAW= 158.0, 9.8, CAL= 157.9, 10.5, ROT= 352.1, -10.5
2025-08-23T22:38:17.865Z,1755988697.865 [DAT](INFO): got valid direction response:
22:38:16.5066 LVL= 28848, 29793, 26258, 32755, AGC= 40, IDX= 440, 0.01,-2.886, 1.791,-2.445,-2.943, PHS= 0.158,-1.504, 0.453, RAW= 158.0, 9.8, CAL= 157.9, 10.5, ROT= 352.1, -10.5
2025-08-23T22:38:17.871Z,1755988697.871 [DAT](INFO): DAT read: Bearing 322.1, -13.7 (Local)
2025-08-23T22:38:17.872Z,1755988697.872 [DAT](INFO): Local bearing/azimuth received:
Bearing 322.1, -13.7 (Local)
2025-08-23T22:38:17.873Z,1755988697.873 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (Round-trip 8.9 ms) speed -0.2 m/s
2025-08-23T22:38:17.878Z,1755988697.878 [DAT](INFO): DAT read: user:1949>
2025-08-23T22:38:17.879Z,1755988697.879 [DAT](INFO): DAT read: Tx time:22:38:17.5935
2025-08-23T22:38:17.879Z,1755988697.879 [DAT](INFO): Ping request sent.
2025-08-23T22:38:17.879Z,1755988697.879 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:17.880Z,1755988697.880 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-23T22:38:17.886Z,1755988697.886 [DAT](INFO): direction in FSK: [0.973923,-0.135143,0.182236]
2025-08-23T22:38:17.886Z,1755988697.886 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:17.886Z,1755988697.886 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:17.895Z,1755988697.895 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:17.895Z,1755988697.895 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:17.898Z,1755988697.898 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.019014
2025-08-23T22:38:18.107Z,1755988698.107 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.227838
2025-08-23T22:38:18.358Z,1755988698.358 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.479044
2025-08-23T22:38:18.611Z,1755988698.611 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.731145
2025-08-23T22:38:18.863Z,1755988698.863 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.983125
2025-08-23T22:38:19.114Z,1755988699.114 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.234993
2025-08-23T22:38:19.369Z,1755988699.369 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.489299
2025-08-23T22:38:19.619Z,1755988699.619 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.739150
2025-08-23T22:38:19.875Z,1755988699.875 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.995723
2025-08-23T22:38:20.127Z,1755988700.127 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.247077
2025-08-23T22:38:20.379Z,1755988700.379 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.499617
2025-08-23T22:38:20.631Z,1755988700.631 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.751143
2025-08-23T22:38:20.883Z,1755988700.883 [DAT](INFO): DAT read: Rx Time:22:38:20.0075
2025-08-23T22:38:20.883Z,1755988700.883 [DAT](INFO): Rx dataTimestamp_ set to:1755988700.882700
2025-08-23T22:38:20.884Z,1755988700.884 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=3.004125
2025-08-23T22:38:21.135Z,1755988701.135 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=3.255157
2025-08-23T22:38:21.427Z,1755988701.427 [DAT](INFO): DAT read: 22:38:20.0075 LVL= 23792, 26705, 21218, 32755, AGC= 39, IDX= 433,-0.29,-0.453,-1.932, 0.086,-0.465, PHS= 0.113,-1.422, 0.507, RAW= 161.1, 9.1, CAL= 160.9, 9.6, ROT= 349.1, -9.6
2025-08-23T22:38:21.428Z,1755988701.428 [DAT](INFO): got valid direction response:
22:38:20.0075 LVL= 23792, 26705, 21218, 32755, AGC= 39, IDX= 433,-0.29,-0.453,-1.932, 0.086,-0.465, PHS= 0.113,-1.422, 0.507, RAW= 161.1, 9.1, CAL= 160.9, 9.6, ROT= 349.1, -9.6
2025-08-23T22:38:21.434Z,1755988701.434 [DAT](INFO): DAT read: Bearing 324.4, -16.4 (Local)
2025-08-23T22:38:21.434Z,1755988701.434 [DAT](INFO): Local bearing/azimuth received:
Bearing 324.4, -16.4 (Local)
2025-08-23T22:38:21.436Z,1755988701.436 [DAT](INFO): DAT read: Range 11 to 50 : 7.3 m (Round-trip 9.8 ms) speed -0.2 m/s
2025-08-23T22:38:21.437Z,1755988701.437 [DAT](INFO): DAT read: user:1950>
2025-08-23T22:38:21.443Z,1755988701.443 [DAT](INFO): DAT read: Tx time:22:38:21.0935
2025-08-23T22:38:21.444Z,1755988701.444 [DAT](INFO): Ping request sent.
2025-08-23T22:38:21.444Z,1755988701.444 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:21.444Z,1755988701.444 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-23T22:38:21.450Z,1755988701.450 [DAT](INFO): direction in FSK: [0.968207,-0.186447,0.166769]
2025-08-23T22:38:21.451Z,1755988701.451 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:21.451Z,1755988701.451 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:21.471Z,1755988701.471 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:21.471Z,1755988701.471 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:21.495Z,1755988701.495 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.051147
2025-08-23T22:38:21.643Z,1755988701.643 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.199560
2025-08-23T22:38:21.895Z,1755988701.895 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.451156
2025-08-23T22:38:22.147Z,1755988702.147 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.703636
2025-08-23T22:38:22.404Z,1755988702.404 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.960549
2025-08-23T22:38:22.655Z,1755988702.655 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.210987
2025-08-23T22:38:22.906Z,1755988702.906 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.462832
2025-08-23T22:38:23.159Z,1755988703.159 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.714941
2025-08-23T22:38:23.413Z,1755988703.413 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.968611
2025-08-23T22:38:23.663Z,1755988703.663 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.218866
2025-08-23T22:38:23.916Z,1755988703.916 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.472239
2025-08-23T22:38:24.167Z,1755988704.167 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.722903
2025-08-23T22:38:24.422Z,1755988704.422 [DAT](INFO): DAT read: Rx Time:22:38:23.5084
2025-08-23T22:38:24.423Z,1755988704.423 [DAT](INFO): Rx dataTimestamp_ set to:1755988704.422031
2025-08-23T22:38:24.425Z,1755988704.425 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.981166
2025-08-23T22:38:24.671Z,1755988704.671 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=3.226877
2025-08-23T22:38:24.932Z,1755988704.931 [DAT](INFO): DAT read: 22:38:23.5084 LVL= 19824, 21745, 17202, 25539, AGC= 39, IDX= 442, 0.44,-0.845,-2.162,-0.106,-0.858, PHS= 0.115,-1.259, 0.708, RAW= 167.1, 5.0, CAL= 166.3, 4.0, ROT= 343.7, -4.0
2025-08-23T22:38:24.938Z,1755988704.938 [DAT](INFO): got valid direction response:
22:38:23.5084 LVL= 19824, 21745, 17202, 25539, AGC= 39, IDX= 442, 0.44,-0.845,-2.162,-0.106,-0.858, PHS= 0.115,-1.259, 0.708, RAW= 167.1, 5.0, CAL= 166.3, 4.0, ROT= 343.7, -4.0
2025-08-23T22:38:24.940Z,1755988704.940 [DAT](INFO): DAT read: Bearing 322.0, -18.9 (Local)
2025-08-23T22:38:24.940Z,1755988704.940 [DAT](INFO): Local bearing/azimuth received:
Bearing 322.0, -18.9 (Local)
2025-08-23T22:38:24.943Z,1755988704.943 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (Round-trip 10.8 ms) speed -0.2 m/s
2025-08-23T22:38:24.944Z,1755988704.944 [DAT](INFO): DAT read: user:1951>
2025-08-23T22:38:24.945Z,1755988704.945 [DAT](INFO): DAT read: Tx time:22:38:24.6435
2025-08-23T22:38:24.945Z,1755988704.945 [DAT](INFO): Ping request sent.
2025-08-23T22:38:24.945Z,1755988704.945 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:24.970Z,1755988704.970 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-23T22:38:24.971Z,1755988704.971 [DAT](INFO): direction in FSK: [0.957467,-0.279983,0.069756]
2025-08-23T22:38:24.971Z,1755988704.971 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:24.971Z,1755988704.971 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:24.978Z,1755988704.978 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:24.979Z,1755988704.979 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:24.994Z,1755988704.994 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.043920
2025-08-23T22:38:25.102Z,1755988705.102 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Off dock, range to dock 8.100000 exceeded threshold.
2025-08-23T22:38:25.102Z,1755988705.102 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-08-23T22:38:25.175Z,1755988705.175 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.229653
2025-08-23T22:38:25.431Z,1755988705.431 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.485131
2025-08-23T22:38:25.679Z,1755988705.679 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.733608
2025-08-23T22:38:25.932Z,1755988705.932 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.986497
2025-08-23T22:38:26.183Z,1755988706.183 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.238083
2025-08-23T22:38:26.438Z,1755988706.438 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.492938
2025-08-23T22:38:26.686Z,1755988706.686 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.741343
2025-08-23T22:38:26.940Z,1755988706.940 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.994653
2025-08-23T22:38:27.191Z,1755988707.191 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.246131
2025-08-23T22:38:27.445Z,1755988707.445 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.499349
2025-08-23T22:38:27.695Z,1755988707.695 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.749491
2025-08-23T22:38:27.947Z,1755988707.947 [DAT](INFO): DAT read: Rx Time:22:38:27.0592
2025-08-23T22:38:27.947Z,1755988707.947 [DAT](INFO): Rx dataTimestamp_ set to:1755988707.946857
2025-08-23T22:38:27.948Z,1755988707.948 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=3.002708
2025-08-23T22:38:28.199Z,1755988708.199 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=3.254024
2025-08-23T22:38:28.485Z,1755988708.485 [DAT](INFO): DAT read: 22:38:27.0592 LVL= 21360, 18721, 15602, 25811, AGC= 38, IDX= 435, 0.15,-1.607,-2.784,-0.774,-1.759, PHS= 0.254,-0.980, 0.941, RAW= 170.7, -2.6, CAL= 170.5, -4.7, ROT= 339.5, 4.7
2025-08-23T22:38:28.502Z,1755988708.502 [DAT](INFO): got valid direction response:
22:38:27.0592 LVL= 21360, 18721, 15602, 25811, AGC= 38, IDX= 435, 0.15,-1.607,-2.784,-0.774,-1.759, PHS= 0.254,-0.980, 0.941, RAW= 170.7, -2.6, CAL= 170.5, -4.7, ROT= 339.5, 4.7
2025-08-23T22:38:28.503Z,1755988708.503 [DAT](INFO): DAT read: Bearing 314.6, -19.4 (Local)
2025-08-23T22:38:28.504Z,1755988708.504 [DAT](INFO): Local bearing/azimuth received:
Bearing 314.6, -19.4 (Local)
2025-08-23T22:38:28.505Z,1755988708.505 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (Round-trip 11.6 ms) speed -0.2 m/s
2025-08-23T22:38:28.514Z,1755988708.514 [DAT](INFO): DAT read: user:1952>
2025-08-23T22:38:28.515Z,1755988708.515 [DAT](INFO): DAT read: Tx time:22:38:28.1935
2025-08-23T22:38:28.515Z,1755988708.515 [DAT](INFO): Ping request sent.
2025-08-23T22:38:28.515Z,1755988708.515 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:28.515Z,1755988708.515 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-23T22:38:28.516Z,1755988708.516 [DAT](INFO): direction in FSK: [0.933522,-0.349030,-0.081939]
2025-08-23T22:38:28.517Z,1755988708.517 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:28.517Z,1755988708.517 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:28.536Z,1755988708.536 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:28.536Z,1755988708.536 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:28.544Z,1755988708.544 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.028935
2025-08-23T22:38:28.703Z,1755988708.703 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.187425
2025-08-23T22:38:28.954Z,1755988708.954 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.439366
2025-08-23T22:38:29.207Z,1755988709.207 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.692015
2025-08-23T22:38:29.462Z,1755988709.462 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.945996
2025-08-23T22:38:29.711Z,1755988709.711 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.195588
2025-08-23T22:38:29.965Z,1755988709.965 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.450120
2025-08-23T22:38:30.215Z,1755988710.215 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.699512
2025-08-23T22:38:30.469Z,1755988710.469 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.953218
2025-08-23T22:38:30.718Z,1755988710.718 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.203289
2025-08-23T22:38:30.971Z,1755988710.971 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.455443
2025-08-23T22:38:31.223Z,1755988711.223 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.708079
2025-08-23T22:38:31.477Z,1755988711.477 [DAT](INFO): DAT read: Rx Time:22:38:30.6102
2025-08-23T22:38:31.477Z,1755988711.477 [DAT](INFO): Rx dataTimestamp_ set to:1755988711.476830
2025-08-23T22:38:31.478Z,1755988711.478 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.962665
2025-08-23T22:38:31.727Z,1755988711.727 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=3.211530
2025-08-23T22:38:31.984Z,1755988711.984 [DAT](INFO): DAT read: 22:38:30.6101 LVL= 28656, 22769, 20658, 32755, AGC= 43, IDX= 429, 0.16, 2.857, 1.629,-2.604, 2.706, PHS= 0.253,-1.032, 0.929, RAW= 169.8, -1.8, CAL= 169.5, -3.9, ROT= 340.5, 3.9
2025-08-23T22:38:31.985Z,1755988711.985 [DAT](INFO): got valid direction response:
22:38:30.6101 LVL= 28656, 22769, 20658, 32755, AGC= 43, IDX= 429, 0.16, 2.857, 1.629,-2.604, 2.706, PHS= 0.253,-1.032, 0.929, RAW= 169.8, -1.8, CAL= 169.5, -3.9, ROT= 340.5, 3.9
2025-08-23T22:38:31.986Z,1755988711.986 [DAT](INFO): DAT read: Bearing 315.9, -14.8 (Local)
2025-08-23T22:38:31.987Z,1755988711.987 [DAT](INFO): Local bearing/azimuth received:
Bearing 315.9, -14.8 (Local)
2025-08-23T22:38:31.988Z,1755988711.988 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (Round-trip 12.5 ms) speed -0.2 m/s
2025-08-23T22:38:31.989Z,1755988711.989 [DAT](INFO): DAT read: user:1953>
2025-08-23T22:38:31.989Z,1755988711.989 [DAT](INFO): DAT read: Tx time:22:38:31.7434
2025-08-23T22:38:31.990Z,1755988711.990 [DAT](INFO): Ping request sent.
2025-08-23T22:38:31.990Z,1755988711.990 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:31.990Z,1755988711.990 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-23T22:38:31.991Z,1755988711.991 [DAT](INFO): direction in FSK: [0.940459,-0.333034,-0.068015]
2025-08-23T22:38:31.991Z,1755988711.991 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:31.992Z,1755988711.992 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:31.995Z,1755988711.995 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:31.995Z,1755988711.995 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:31.999Z,1755988711.999 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.008938
2025-08-23T22:38:32.231Z,1755988712.231 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.241039
2025-08-23T22:38:32.483Z,1755988712.483 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.492712
2025-08-23T22:38:32.739Z,1755988712.739 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.748675
2025-08-23T22:38:32.990Z,1755988712.990 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.000650
2025-08-23T22:38:33.244Z,1755988713.244 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.253709
2025-08-23T22:38:33.495Z,1755988713.495 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.504660
2025-08-23T22:38:33.747Z,1755988713.747 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.757395
2025-08-23T22:38:33.000Z,1755988714.000 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.009870
2025-08-23T22:38:34.251Z,1755988714.251 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.260679
2025-08-23T22:38:34.506Z,1755988714.506 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.516008
2025-08-23T22:38:34.755Z,1755988714.755 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.764773
2025-08-23T22:38:35.006Z,1755988715.006 [DAT](INFO): DAT read: Rx Time:22:38:34.1611
2025-08-23T22:38:35.007Z,1755988715.007 [DAT](INFO): Rx dataTimestamp_ set to:1755988715.006683
2025-08-23T22:38:35.007Z,1755988715.007 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=3.017683
2025-08-23T22:38:35.259Z,1755988715.259 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=3.269060
2025-08-23T22:38:35.516Z,1755988715.516 [DAT](INFO): DAT read: 22:38:34.1611 LVL= 31216, 28001, 22130, 32755, AGC= 44, IDX= 439, 0.04, 0.337,-0.897, 1.149, 0.214, PHS= 0.225,-1.065, 0.892, RAW= 169.6, -0.6, CAL= 169.0, -2.8, ROT= 341.0, 2.8
2025-08-23T22:38:35.517Z,1755988715.517 [DAT](INFO): got valid direction response:
22:38:34.1611 LVL= 31216, 28001, 22130, 32755, AGC= 44, IDX= 439, 0.04, 0.337,-0.897, 1.149, 0.214, PHS= 0.225,-1.065, 0.892, RAW= 169.6, -0.6, CAL= 169.0, -2.8, ROT= 341.0, 2.8
2025-08-23T22:38:35.518Z,1755988715.518 [DAT](INFO): DAT read: Bearing 317.1, -13.7 (Local)
2025-08-23T22:38:35.519Z,1755988715.519 [DAT](INFO): Local bearing/azimuth received:
Bearing 317.1, -13.7 (Local)
2025-08-23T22:38:35.520Z,1755988715.520 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (Round-trip 13.5 ms) speed -0.2 m/s
2025-08-23T22:38:35.521Z,1755988715.521 [DAT](INFO): DAT read: user:1954>
2025-08-23T22:38:35.521Z,1755988715.521 [DAT](INFO): DAT read: Tx time:22:38:35.2934
2025-08-23T22:38:35.522Z,1755988715.522 [DAT](INFO): Ping request sent.
2025-08-23T22:38:35.522Z,1755988715.522 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:35.522Z,1755988715.522 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-23T22:38:35.523Z,1755988715.523 [DAT](INFO): direction in FSK: [0.944390,-0.325179,-0.048850]
2025-08-23T22:38:35.523Z,1755988715.523 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:35.524Z,1755988715.524 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:35.596Z,1755988715.596 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:35.597Z,1755988715.597 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:35.624Z,1755988715.624 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.102067
2025-08-23T22:38:35.763Z,1755988715.763 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.240778
2025-08-23T22:38:36.015Z,1755988716.015 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.492762
2025-08-23T22:38:36.267Z,1755988716.267 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.744705
2025-08-23T22:38:36.430Z,1755988716.430 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-23T22:38:36.431Z,1755988716.431 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-23T22:38:36.448Z,1755988716.448 [DockingStepper](INFO): Changing to mode: 1
2025-08-23T22:38:36.522Z,1755988716.522 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.000156
2025-08-23T22:38:36.770Z,1755988716.770 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.248552
2025-08-23T22:38:37.023Z,1755988717.023 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.500707
2025-08-23T22:38:37.023Z,1755988717.023 [DAT](INFO): Requesting device enable set for address 50.
2025-08-23T22:38:37.275Z,1755988717.275 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.752666
2025-08-23T22:38:37.275Z,1755988717.275 [DAT](INFO): Requesting device enable set for address 50.
2025-08-23T22:38:37.527Z,1755988717.527 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.004671
2025-08-23T22:38:37.527Z,1755988717.527 [DAT](INFO): Requesting device enable set for address 50.
2025-08-23T22:38:37.779Z,1755988717.779 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.256792
2025-08-23T22:38:38.031Z,1755988718.031 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.508730
2025-08-23T22:38:38.283Z,1755988718.283 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.760679
2025-08-23T22:38:38.536Z,1755988718.536 [DAT](INFO): DAT read: Rx Time:22:38:37.7120
2025-08-23T22:38:38.537Z,1755988718.537 [DAT](INFO): Rx dataTimestamp_ set to:1755988718.535953
2025-08-23T22:38:38.537Z,1755988718.537 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=3.015311
2025-08-23T22:38:38.786Z,1755988718.786 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=3.264617
2025-08-23T22:38:39.047Z,1755988719.047 [DAT](INFO): DAT read: 22:38:37.7120 LVL= 28496, 23073, 20034, 32755, AGC= 43, IDX= 432,-0.34,-2.688, 2.382,-1.883,-2.857, PHS= 0.271,-0.999, 0.930, RAW= 169.6, -2.4, CAL= 169.4, -4.5, ROT= 340.6, 4.5
2025-08-23T22:38:39.048Z,1755988719.048 [DAT](INFO): got valid direction response:
22:38:37.7120 LVL= 28496, 23073, 20034, 32755, AGC= 43, IDX= 432,-0.34,-2.688, 2.382,-1.883,-2.857, PHS= 0.271,-0.999, 0.930, RAW= 169.6, -2.4, CAL= 169.4, -4.5, ROT= 340.6, 4.5
2025-08-23T22:38:39.049Z,1755988719.049 [DAT](INFO): DAT read: Bearing 315.0, -16.6 (Local)
2025-08-23T22:38:39.050Z,1755988719.050 [DAT](INFO): Local bearing/azimuth received:
Bearing 315.0, -16.6 (Local)
2025-08-23T22:38:39.052Z,1755988719.052 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (Round-trip 14.4 ms) speed -0.2 m/s
2025-08-23T22:38:39.053Z,1755988719.053 [DAT](INFO): DAT read: user:1955>
2025-08-23T22:38:39.055Z,1755988719.055 [DAT](INFO): DAT read: Tx time:22:38:38.8434
2025-08-23T22:38:39.055Z,1755988719.055 [DAT](INFO): Ping request sent.
2025-08-23T22:38:39.055Z,1755988719.055 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:39.056Z,1755988719.056 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-23T22:38:39.057Z,1755988719.057 [DAT](INFO): direction in FSK: [0.940315,-0.331137,-0.078459]
2025-08-23T22:38:39.058Z,1755988719.058 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:39.059Z,1755988719.059 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:39.063Z,1755988719.063 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:39.063Z,1755988719.063 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:39.083Z,1755988719.083 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.027747
2025-08-23T22:38:39.293Z,1755988719.293 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.237274
2025-08-23T22:38:39.542Z,1755988719.542 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.487055
2025-08-23T22:38:39.794Z,1755988719.794 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.739143
2025-08-23T22:38:40.047Z,1755988720.047 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.991328
2025-08-23T22:38:40.298Z,1755988720.298 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.243169
2025-08-23T22:38:40.551Z,1755988720.551 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.495262
2025-08-23T22:38:40.803Z,1755988720.803 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.747194
2025-08-23T22:38:40.898Z,1755988720.898 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.960000m. At depth:69.959549m.
2025-08-23T22:38:41.054Z,1755988721.054 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.999166
2025-08-23T22:38:41.307Z,1755988721.307 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.251188
2025-08-23T22:38:41.558Z,1755988721.558 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.503176
2025-08-23T22:38:41.812Z,1755988721.812 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.756511
2025-08-23T22:38:42.063Z,1755988722.063 [DAT](INFO): DAT read: Rx Time:22:38:41.2628
2025-08-23T22:38:42.063Z,1755988722.063 [DAT](INFO): Rx dataTimestamp_ set to:1755988722.063018
2025-08-23T22:38:42.064Z,1755988722.064 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=3.008547
2025-08-23T22:38:42.315Z,1755988722.315 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=3.259212
2025-08-23T22:38:42.574Z,1755988722.574 [DAT](INFO): DAT read: 22:38:41.2628 LVL= 20592, 22001, 15090, 26035, AGC= 43, IDX= 440, 0.31,-2.903, 2.175,-2.105,-3.090, PHS= 0.288,-0.973, 0.941, RAW= 169.6, -3.1, CAL= 169.4, -5.1, ROT= 340.6, 5.1
2025-08-23T22:38:42.575Z,1755988722.575 [DAT](INFO): got valid direction response:
22:38:41.2628 LVL= 20592, 22001, 15090, 26035, AGC= 43, IDX= 440, 0.31,-2.903, 2.175,-2.105,-3.090, PHS= 0.288,-0.973, 0.941, RAW= 169.6, -3.1, CAL= 169.4, -5.1, ROT= 340.6, 5.1
2025-08-23T22:38:42.576Z,1755988722.576 [DAT](INFO): DAT read: Bearing 314.2, -20.5 (Local)
2025-08-23T22:38:42.576Z,1755988722.576 [DAT](INFO): Local bearing/azimuth received:
Bearing 314.2, -20.5 (Local)
2025-08-23T22:38:42.577Z,1755988722.578 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (Round-trip 15.3 ms) speed -0.2 m/s
2025-08-23T22:38:42.579Z,1755988722.579 [DAT](INFO): DAT read: user:1956>
2025-08-23T22:38:42.580Z,1755988722.580 [DAT](INFO): DAT read: Tx time:22:38:42.3934
2025-08-23T22:38:42.580Z,1755988722.580 [DAT](INFO): Ping request sent.
2025-08-23T22:38:42.580Z,1755988722.580 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:42.581Z,1755988722.581 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-23T22:38:42.583Z,1755988722.583 [DAT](INFO): direction in FSK: [0.939489,-0.330846,-0.088894]
2025-08-23T22:38:42.584Z,1755988722.584 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:42.584Z,1755988722.584 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:42.589Z,1755988722.589 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:42.589Z,1755988722.589 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:42.610Z,1755988722.610 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.024312
2025-08-23T22:38:42.818Z,1755988722.818 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.238197
2025-08-23T22:38:43.071Z,1755988723.071 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.490251
2025-08-23T22:38:43.324Z,1755988723.324 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.743120
2025-08-23T22:38:43.575Z,1755988723.575 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.994339
2025-08-23T22:38:43.827Z,1755988723.827 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.246325
2025-08-23T22:38:44.079Z,1755988724.079 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.498279
2025-08-23T22:38:44.331Z,1755988724.331 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.750201
2025-08-23T22:38:44.583Z,1755988724.583 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.002320
2025-08-23T22:38:44.834Z,1755988724.834 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.254177
2025-08-23T22:38:45.087Z,1755988725.087 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.506244
2025-08-23T22:38:45.340Z,1755988725.340 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.759637
2025-08-23T22:38:45.591Z,1755988725.591 [DAT](INFO): DAT read: Rx Time:22:38:44.8137
2025-08-23T22:38:45.591Z,1755988725.591 [DAT](INFO): Rx dataTimestamp_ set to:1755988725.590704
2025-08-23T22:38:45.592Z,1755988725.592 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=3.011269
2025-08-23T22:38:45.842Z,1755988725.842 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=3.262203
2025-08-23T22:38:46.102Z,1755988726.102 [DAT](INFO): DAT read: 22:38:44.8137 LVL= 19424, 20081, 16754, 24355, AGC= 42, IDX= 434, 0.29, 0.464,-0.800, 1.220, 0.380, PHS= 0.186,-1.136, 0.795, RAW= 168.0, 1.8, CAL= 166.9, -0.5, ROT= 343.1, 0.5
2025-08-23T22:38:46.103Z,1755988726.103 [DAT](INFO): got valid direction response:
22:38:44.8137 LVL= 19424, 20081, 16754, 24355, AGC= 42, IDX= 434, 0.29, 0.464,-0.800, 1.220, 0.380, PHS= 0.186,-1.136, 0.795, RAW= 168.0, 1.8, CAL= 166.9, -0.5, ROT= 343.1, 0.5
2025-08-23T22:38:46.104Z,1755988726.104 [DAT](INFO): DAT read: Bearing 318.3, -21.3 (Local)
2025-08-23T22:38:46.104Z,1755988726.104 [DAT](INFO): Local bearing/azimuth received:
Bearing 318.3, -21.3 (Local)
2025-08-23T22:38:46.105Z,1755988726.105 [DAT](INFO): DAT read: Range 11 to 50 : 12.1 m (Round-trip 16.2 ms) speed -0.2 m/s
2025-08-23T22:38:46.106Z,1755988726.106 [DAT](INFO): DAT read: user:1957>
2025-08-23T22:38:46.107Z,1755988726.107 [DAT](INFO): DAT read: Tx time:22:38:45.9434
2025-08-23T22:38:46.107Z,1755988726.107 [DAT](INFO): Ping request sent.
2025-08-23T22:38:46.107Z,1755988726.107 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:46.107Z,1755988726.107 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-23T22:38:46.109Z,1755988726.109 [DAT](INFO): direction in FSK: [0.956777,-0.290691,-0.008727]
2025-08-23T22:38:46.109Z,1755988726.109 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:46.109Z,1755988726.109 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:46.153Z,1755988726.153 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:46.162Z,1755988726.162 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:46.165Z,1755988726.165 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.057736
2025-08-23T22:38:46.347Z,1755988726.347 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.239314
2025-08-23T22:38:46.599Z,1755988726.599 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.492052
2025-08-23T22:38:46.851Z,1755988726.851 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.743262
2025-08-23T22:38:47.103Z,1755988727.103 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.996180
2025-08-23T22:38:47.355Z,1755988727.355 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.247400
2025-08-23T22:38:47.608Z,1755988727.608 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.500451
2025-08-23T22:38:47.859Z,1755988727.859 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.751375
2025-08-23T22:38:48.110Z,1755988728.110 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.003224
2025-08-23T22:38:48.363Z,1755988728.363 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.255267
2025-08-23T22:38:48.615Z,1755988728.615 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.508045
2025-08-23T22:38:48.867Z,1755988728.867 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.759924
2025-08-23T22:38:49.119Z,1755988729.119 [DAT](INFO): DAT read: Rx Time:22:38:48.3647
2025-08-23T22:38:49.120Z,1755988729.120 [DAT](INFO): Rx dataTimestamp_ set to:1755988729.119441
2025-08-23T22:38:49.121Z,1755988729.121 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=3.013401
2025-08-23T22:38:49.372Z,1755988729.372 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=3.264498
2025-08-23T22:38:49.633Z,1755988729.633 [DAT](INFO): DAT read: 22:38:48.3647 LVL= 22336, 22817, 18274, 26867, AGC= 45, IDX= 429,-0.39, 2.977, 1.633,-2.644, 2.920, PHS= 0.159,-1.242, 0.675, RAW= 165.1, 4.8, CAL= 164.2, 3.7, ROT= 345.8, -3.7
2025-08-23T22:38:49.635Z,1755988729.635 [DAT](INFO): got valid direction response:
22:38:48.3647 LVL= 22336, 22817, 18274, 26867, AGC= 45, IDX= 429,-0.39, 2.977, 1.633,-2.644, 2.920, PHS= 0.159,-1.242, 0.675, RAW= 165.1, 4.8, CAL= 164.2, 3.7, ROT= 345.8, -3.7
2025-08-23T22:38:49.636Z,1755988729.636 [DAT](INFO): DAT read: Bearing 321.3, -20.2 (Local)
2025-08-23T22:38:49.636Z,1755988729.636 [DAT](INFO): Local bearing/azimuth received:
Bearing 321.3, -20.2 (Local)
2025-08-23T22:38:49.639Z,1755988729.639 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (Round-trip 17.2 ms) speed -0.2 m/s
2025-08-23T22:38:49.640Z,1755988729.640 [DAT](INFO): DAT read: user:1958>
2025-08-23T22:38:49.641Z,1755988729.641 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-23T22:38:49.644Z,1755988729.644 [DAT](INFO): direction in FSK: [0.967425,-0.244796,0.064532]
2025-08-23T22:38:49.645Z,1755988729.645 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:49.654Z,1755988729.654 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=3.545303
2025-08-23T22:38:49.875Z,1755988729.875 [DAT](INFO): DAT read: Tx time:22:38:49.4933
2025-08-23T22:38:49.876Z,1755988729.876 [DAT](INFO): Ping request sent.
2025-08-23T22:38:49.876Z,1755988729.876 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:49.877Z,1755988729.877 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:49.877Z,1755988729.877 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.001263
2025-08-23T22:38:50.127Z,1755988730.127 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.250614
2025-08-23T22:38:50.380Z,1755988730.380 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.504228
2025-08-23T22:38:50.631Z,1755988730.631 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.754640
2025-08-23T22:38:50.885Z,1755988730.885 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.008677
2025-08-23T22:38:51.135Z,1755988731.135 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.258957
2025-08-23T22:38:51.388Z,1755988731.388 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.511773
2025-08-23T22:38:51.638Z,1755988731.638 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.762570
2025-08-23T22:38:51.892Z,1755988731.892 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.015325
2025-08-23T22:38:52.143Z,1755988732.143 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.266611
2025-08-23T22:38:52.395Z,1755988732.395 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.518795
2025-08-23T22:38:52.647Z,1755988732.647 [DAT](INFO): DAT read: Rx Time:22:38:51.9157
2025-08-23T22:38:52.647Z,1755988732.647 [DAT](INFO): Rx dataTimestamp_ set to:1755988732.647086
2025-08-23T22:38:52.648Z,1755988732.648 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.772016
2025-08-23T22:38:52.899Z,1755988732.899 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=3.022793
2025-08-23T22:38:53.154Z,1755988733.154 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=3.277425
2025-08-23T22:38:53.408Z,1755988733.408 [DAT](INFO): DAT read: 22:38:51.9157 LVL= 21024, 22257, 18962, 27475, AGC= 44, IDX= 439, 0.01, 2.140, 0.780, 2.754, 2.022, PHS= 0.220,-1.197, 0.688, RAW= 163.8, 3.4, CAL= 162.7, 1.9, ROT= 347.3, -1.9
2025-08-23T22:38:53.409Z,1755988733.409 [DAT](INFO): got valid direction response:
22:38:51.9157 LVL= 21024, 22257, 18962, 27475, AGC= 44, IDX= 439, 0.01, 2.140, 0.780, 2.754, 2.022, PHS= 0.220,-1.197, 0.688, RAW= 163.8, 3.4, CAL= 162.7, 1.9, ROT= 347.3, -1.9
2025-08-23T22:38:53.410Z,1755988733.410 [DAT](INFO): DAT read: Bearing 317.4, -17.9 (Local)
2025-08-23T22:38:53.411Z,1755988733.411 [DAT](INFO): Local bearing/azimuth received:
Bearing 317.4, -17.9 (Local)
2025-08-23T22:38:53.412Z,1755988733.412 [DAT](INFO): DAT read: Range 11 to 50 : 13.6 m (Round-trip 18.2 ms) speed -0.2 m/s
2025-08-23T22:38:53.414Z,1755988733.414 [DAT](INFO): DAT read: user:1959>
2025-08-23T22:38:53.417Z,1755988733.417 [DAT](INFO): DAT read: Tx time:22:38:53.0433
2025-08-23T22:38:53.442Z,1755988733.442 [DAT](INFO): Ping request sent.
2025-08-23T22:38:53.442Z,1755988733.442 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:53.442Z,1755988733.442 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-23T22:38:53.443Z,1755988733.443 [DAT](INFO): direction in FSK: [0.974998,-0.219726,0.033155]
2025-08-23T22:38:53.443Z,1755988733.443 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:53.444Z,1755988733.444 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:53.447Z,1755988733.447 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:53.448Z,1755988733.448 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:53.451Z,1755988733.451 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.009349
2025-08-23T22:38:53.654Z,1755988733.654 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.212717
2025-08-23T22:38:53.907Z,1755988733.907 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.465321
2025-08-23T22:38:54.159Z,1755988734.159 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.716796
2025-08-23T22:38:54.414Z,1755988734.414 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.972691
2025-08-23T22:38:54.663Z,1755988734.663 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.220782
2025-08-23T22:38:54.915Z,1755988734.915 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.472825
2025-08-23T22:38:55.167Z,1755988735.167 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.725058
2025-08-23T22:38:55.421Z,1755988735.421 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.979132
2025-08-23T22:38:55.465Z,1755988735.465 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-08-23T22:38:55.470Z,1755988735.470 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-08-23T22:38:55.470Z,1755988735.470 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-08-23T22:38:55.471Z,1755988735.471 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-23T22:38:55.471Z,1755988735.471 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-08-23T22:38:55.623Z,1755988735.623 [DockingStepper](INFO): Changing to mode: 2
2025-08-23T22:38:55.671Z,1755988735.671 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.229093
2025-08-23T22:38:55.923Z,1755988735.923 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.480862
2025-08-23T22:38:55.962Z,1755988735.962 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-08-23T22:38:55.963Z,1755988735.963 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-23T22:38:55.963Z,1755988735.963 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-08-23T22:38:55.963Z,1755988735.963 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-08-23T22:38:55.963Z,1755988735.963 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-08-23T22:38:55.963Z,1755988735.963 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-08-23T22:38:56.175Z,1755988736.175 [DAT](INFO): DAT read: Rx Time:22:38:55.4667
2025-08-23T22:38:56.176Z,1755988736.176 [DAT](INFO): Rx dataTimestamp_ set to:1755988736.175540
2025-08-23T22:38:56.177Z,1755988736.177 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.734991
2025-08-23T22:38:56.403Z,1755988736.403 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-08-23T22:38:56.403Z,1755988736.403 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-08-23T22:38:56.403Z,1755988736.403 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-08-23T22:38:56.403Z,1755988736.403 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-08-23T22:38:56.404Z,1755988736.404 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-23T22:38:56.404Z,1755988736.404 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-08-23T22:38:56.404Z,1755988736.404 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-08-23T22:38:56.404Z,1755988736.404 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-08-23T22:38:56.404Z,1755988736.404 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-08-23T22:38:56.404Z,1755988736.404 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-08-23T22:38:56.427Z,1755988736.427 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.984887
2025-08-23T22:38:56.681Z,1755988736.681 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=3.238884
2025-08-23T22:38:56.781Z,1755988736.781 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-08-23T22:38:56.781Z,1755988736.781 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-23T22:38:56.781Z,1755988736.781 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-08-23T22:38:56.781Z,1755988736.781 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-08-23T22:38:56.781Z,1755988736.781 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-08-23T22:38:56.781Z,1755988736.781 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-08-23T22:38:56.781Z,1755988736.781 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-08-23T22:38:56.781Z,1755988736.781 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-08-23T22:38:56.783Z,1755988736.783 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-08-23T22:38:56.783Z,1755988736.783 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-23T22:38:56.783Z,1755988736.783 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-08-23T22:38:56.784Z,1755988736.784 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-08-23T22:38:56.784Z,1755988736.784 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-08-23T22:38:56.784Z,1755988736.784 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-08-23T22:38:56.784Z,1755988736.784 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-08-23T22:38:56.784Z,1755988736.784 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-08-23T22:38:56.784Z,1755988736.784 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-08-23T22:38:56.937Z,1755988736.937 [DAT](INFO): DAT read: 22:38:55.4667 LVL= 22800, 21153, 19794, 26659, AGC= 46, IDX= 433, 0.37, 2.886, 1.566,-2.740, 2.642, PHS= 0.346,-1.031, 0.857, RAW= 165.2, -2.1, CAL= 164.6, -4.0, ROT= 345.4, 4.0
2025-08-23T22:38:56.938Z,1755988736.938 [DAT](INFO): got valid direction response:
22:38:55.4667 LVL= 22800, 21153, 19794, 26659, AGC= 46, IDX= 433, 0.37, 2.886, 1.566,-2.740, 2.642, PHS= 0.346,-1.031, 0.857, RAW= 165.2, -2.1, CAL= 164.6, -4.0, ROT= 345.4, 4.0
2025-08-23T22:38:56.939Z,1755988736.939 [DAT](INFO): DAT read: Bearing 310.3, -16.3 (Local)
2025-08-23T22:38:56.940Z,1755988736.940 [DAT](INFO): Local bearing/azimuth received:
Bearing 310.3, -16.3 (Local)
2025-08-23T22:38:56.941Z,1755988736.941 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (Round-trip 19.3 ms) speed -0.2 m/s
2025-08-23T22:38:56.946Z,1755988736.946 [DAT](INFO): DAT read: user:1960>
2025-08-23T22:38:56.948Z,1755988736.948 [DAT](INFO): DAT read: Tx time:22:38:56.5933
2025-08-23T22:38:56.948Z,1755988736.948 [DAT](INFO): Ping request sent.
2025-08-23T22:38:56.948Z,1755988736.948 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:38:56.949Z,1755988736.949 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-23T22:38:56.950Z,1755988736.950 [DAT](INFO): direction in FSK: [0.965352,-0.251456,-0.069756]
2025-08-23T22:38:56.950Z,1755988736.950 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:56.950Z,1755988736.950 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:56.954Z,1755988736.954 [DAT](INFO): publishing transmit ping time
2025-08-23T22:38:56.954Z,1755988736.954 [DAT](INFO): publishing direction and range info
2025-08-23T22:38:56.985Z,1755988736.985 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.008869
2025-08-23T22:38:57.183Z,1755988737.183 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.234774
2025-08-23T22:38:57.236Z,1755988737.236 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-08-23T22:38:57.237Z,1755988737.237 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-08-23T22:38:57.237Z,1755988737.237 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-08-23T22:38:57.237Z,1755988737.237 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-08-23T22:38:57.237Z,1755988737.237 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-23T22:38:57.237Z,1755988737.237 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-08-23T22:38:57.237Z,1755988737.237 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-08-23T22:38:57.237Z,1755988737.237 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-08-23T22:38:57.237Z,1755988737.237 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-08-23T22:38:57.237Z,1755988737.237 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-08-23T22:38:57.237Z,1755988737.237 [lineCaptureHoming:Lap:Docked] Stopped
2025-08-23T22:38:57.238Z,1755988737.238 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-08-23T22:38:57.238Z,1755988737.238 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-08-23T22:38:57.238Z,1755988737.238 [lineCaptureHoming:Lap] Stopped
2025-08-23T22:38:57.238Z,1755988737.238 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-08-23T22:38:57.248Z,1755988737.248 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-08-23T22:38:57.248Z,1755988737.248 [MissionManager](INFO): lineCaptureHoming is completed.
2025-08-23T22:38:57.248Z,1755988737.248 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-08-23T22:38:57.248Z,1755988737.248 [lineCaptureHoming] Stopped
2025-08-23T22:38:57.248Z,1755988737.248 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-08-23T22:38:57.248Z,1755988737.248 [lineCaptureHoming:Science] Stopped
2025-08-23T22:38:57.248Z,1755988737.248 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-08-23T22:38:57.248Z,1755988737.248 [lineCaptureHoming:Science:B] Stopped
2025-08-23T22:38:57.248Z,1755988737.248 [lineCaptureHoming:Science:C] Stopped
2025-08-23T22:38:57.249Z,1755988737.249 [lineCaptureHoming:Science:E] Stopped
2025-08-23T22:38:57.249Z,1755988737.249 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-08-23T22:38:57.249Z,1755988737.249 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-08-23T22:38:57.249Z,1755988737.249 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-08-23T22:38:57.249Z,1755988737.249 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-08-23T22:38:57.249Z,1755988737.249 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-08-23T22:38:57.249Z,1755988737.249 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-23T22:38:57.249Z,1755988737.249 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-23T22:38:57.250Z,1755988737.250 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-23T22:38:57.250Z,1755988737.250 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-23T22:38:57.250Z,1755988737.250 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-23T22:38:57.250Z,1755988737.250 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-23T22:38:57.250Z,1755988737.250 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-23T22:38:57.250Z,1755988737.250 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-23T22:38:57.250Z,1755988737.250 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-23T22:38:57.250Z,1755988737.250 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-23T22:38:57.250Z,1755988737.250 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-23T22:38:57.250Z,1755988737.250 [lineCaptureHoming:TrackAC.] Stopped
2025-08-23T22:38:57.251Z,1755988737.251 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-23T22:38:57.332Z,1755988737.332 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-08-23T22:38:57.435Z,1755988737.435 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.486332
2025-08-23T22:38:57.550Z,1755988737.550 [WetLabsBB2FL](INFO): Powering down
2025-08-23T22:38:57.582Z,1755988737.582 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-08-23T22:38:57.583Z,1755988737.583 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-08-23T22:38:57.600Z,1755988737.600 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-08-23T22:38:57.692Z,1755988737.692 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.743935
2025-08-23T22:38:57.944Z,1755988737.944 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.995712
2025-08-23T22:38:58.195Z,1755988738.195 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.246643
2025-08-23T22:38:58.447Z,1755988738.447 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.498217
2025-08-23T22:38:58.699Z,1755988738.699 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.750489
2025-08-23T22:38:58.951Z,1755988738.951 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.002260
2025-08-23T22:38:59.203Z,1755988739.203 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.254275
2025-08-23T22:38:59.455Z,1755988739.455 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.506322
2025-08-23T22:38:59.707Z,1755988739.707 [DAT](INFO): DAT read: Rx Time:22:38:59.0177
2025-08-23T22:38:59.707Z,1755988739.707 [DAT](INFO): Rx dataTimestamp_ set to:1755988739.706814
2025-08-23T22:38:59.708Z,1755988739.708 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.759292
2025-08-23T22:38:59.961Z,1755988739.961 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=3.012357
2025-08-23T22:39:00.211Z,1755988740.211 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=3.262214
2025-08-23T22:39:00.468Z,1755988740.468 [DAT](INFO): DAT read: 22:38:59.0177 LVL= 29040, 26497, 20290, 32755, AGC= 46, IDX= 428, 0.04, 0.169,-1.178, 0.840,-0.116, PHS= 0.386,-1.017, 0.911, RAW= 165.3, -3.3, CAL= 165.0, -5.2, ROT= 345.0, 5.2
2025-08-23T22:39:00.469Z,1755988740.469 [DAT](INFO): got valid direction response:
22:38:59.0177 LVL= 29040, 26497, 20290, 32755, AGC= 46, IDX= 428, 0.04, 0.169,-1.178, 0.840,-0.116, PHS= 0.386,-1.017, 0.911, RAW= 165.3, -3.3, CAL= 165.0, -5.2, ROT= 345.0, 5.2
2025-08-23T22:39:00.470Z,1755988740.470 [DAT](INFO): DAT read: Bearing 308.5, -11.0 (Local)
2025-08-23T22:39:00.471Z,1755988740.471 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.5, -11.0 (Local)
2025-08-23T22:39:00.472Z,1755988740.472 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (Round-trip 20.3 ms) speed -0.2 m/s
2025-08-23T22:39:00.473Z,1755988740.473 [DAT](INFO): DAT read: user:1961>
2025-08-23T22:39:00.474Z,1755988740.474 [DAT](INFO): DAT read: Tx time:22:39:00.1433
2025-08-23T22:39:00.474Z,1755988740.474 [DAT](INFO): Ping request sent.
2025-08-23T22:39:00.474Z,1755988740.474 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:39:00.474Z,1755988740.474 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-23T22:39:00.475Z,1755988740.475 [DAT](INFO): direction in FSK: [0.961951,-0.257754,-0.090633]
2025-08-23T22:39:00.475Z,1755988740.475 [DAT](INFO): publishing transmit ping time
2025-08-23T22:39:00.476Z,1755988740.476 [DAT](INFO): publishing direction and range info
2025-08-23T22:39:00.483Z,1755988740.483 [DAT](INFO): publishing transmit ping time
2025-08-23T22:39:00.483Z,1755988740.483 [DAT](INFO): publishing direction and range info
2025-08-23T22:39:00.491Z,1755988740.491 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.016690
2025-08-23T22:39:00.715Z,1755988740.715 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.240634
2025-08-23T22:39:00.970Z,1755988740.970 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.494915
2025-08-23T22:39:01.219Z,1755988741.219 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.744630
2025-08-23T22:39:01.471Z,1755988741.471 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.996651
2025-08-23T22:39:01.723Z,1755988741.723 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.248591
2025-08-23T22:39:01.978Z,1755988741.978 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.503008
2025-08-23T22:39:02.227Z,1755988742.227 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.753464
2025-08-23T22:39:02.479Z,1755988742.479 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.004571
2025-08-23T22:39:02.731Z,1755988742.731 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.256650
2025-08-23T22:39:02.985Z,1755988742.985 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.510898
2025-08-23T22:39:03.235Z,1755988743.235 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.760591
2025-08-23T22:39:03.476Z,1755988743.476 [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:
.
2025-08-23T22:39:03.488Z,1755988743.488 [DAT](INFO): DAT read: Rx Time:22:39:02.5687
2025-08-23T22:39:03.488Z,1755988743.488 [DAT](INFO): Rx dataTimestamp_ set to:1755988743.487866
2025-08-23T22:39:03.489Z,1755988743.489 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=3.015044
2025-08-23T22:39:03.514Z,1755988743.514 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-08-23T22:39:03.534Z,1755988743.534 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-08-23T22:39:03.536Z,1755988743.536 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-08-23T22:39:03.551Z,1755988743.551 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-08-23T22:39:03.558Z,1755988743.558 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-08-23T22:39:03.561Z,1755988743.561 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-08-23T22:39:03.568Z,1755988743.568 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-08-23T22:39:03.574Z,1755988743.574 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-08-23T22:39:03.576Z,1755988743.576 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-08-23T22:39:03.581Z,1755988743.581 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-08-23T22:39:03.595Z,1755988743.595 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-08-23T22:39:03.597Z,1755988743.597 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-08-23T22:39:03.604Z,1755988743.604 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-08-23T22:39:03.604Z,1755988743.604 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-23T22:39:03.604Z,1755988743.604 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-23T22:39:03.618Z,1755988743.618 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-23T22:39:03.712Z,1755988743.712 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-08-23T22:39:03.716Z,1755988743.716 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-23T22:39:03.718Z,1755988743.718 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-23T22:39:03.721Z,1755988743.721 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-23T22:39:03.723Z,1755988743.723 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-23T22:39:03.724Z,1755988743.724 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-23T22:39:03.730Z,1755988743.730 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-23T22:39:03.737Z,1755988743.737 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-23T22:39:03.739Z,1755988743.739 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=3.264740
2025-08-23T22:39:03.856Z,1755988743.856 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-08-23T22:39:03.856Z,1755988743.856 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-08-23T22:39:03.862Z,1755988743.862 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-08-23T22:39:03.933Z,1755988743.933 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-08-23T22:39:03.947Z,1755988743.947 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-08-23T22:39:03.956Z,1755988743.956 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-08-23T22:39:03.968Z,1755988743.968 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-08-23T22:39:03.969Z,1755988743.969 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-08-23T22:39:03.977Z,1755988743.977 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-08-23T22:39:04.026Z,1755988744.026 [DAT](INFO): DAT read: 22:39:02.5687 LVL= 32752, 32753, 28658, 32755, AGC= 49, IDX= 439,-0.38, 2.942, 1.694,-2.684, 2.726, PHS= 0.318,-0.987, 0.830, RAW= 165.8, -2.0, CAL= 165.4, -4.0, ROT= 344.6, 4.0
2025-08-23T22:39:04.037Z,1755988744.037 [DAT](INFO): got valid direction response:
22:39:02.5687 LVL= 32752, 32753, 28658, 32755, AGC= 49, IDX= 439,-0.38, 2.942, 1.694,-2.684, 2.726, PHS= 0.318,-0.987, 0.830, RAW= 165.8, -2.0, CAL= 165.4, -4.0, ROT= 344.6, 4.0
2025-08-23T22:39:04.038Z,1755988744.038 [DAT](INFO): DAT read: Bearing 310.0, -6.5 (Local)
2025-08-23T22:39:04.039Z,1755988744.039 [DAT](INFO): Local bearing/azimuth received:
Bearing 310.0, -6.5 (Local)
2025-08-23T22:39:04.040Z,1755988744.040 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (Round-trip 21.2 ms) speed -0.2 m/s
2025-08-23T22:39:04.041Z,1755988744.041 [DAT](INFO): DAT read: user:1962>
2025-08-23T22:39:04.050Z,1755988744.050 [DAT](INFO): DAT read: Tx time:22:39:03.6933
2025-08-23T22:39:04.050Z,1755988744.050 [DAT](INFO): Ping request sent.
2025-08-23T22:39:04.050Z,1755988744.050 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:39:04.050Z,1755988744.050 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-23T22:39:04.051Z,1755988744.051 [DAT](INFO): direction in FSK: [0.961747,-0.264909,-0.069756]
2025-08-23T22:39:04.052Z,1755988744.052 [DAT](INFO): publishing transmit ping time
2025-08-23T22:39:04.052Z,1755988744.052 [DAT](INFO): publishing direction and range info
2025-08-23T22:39:04.063Z,1755988744.063 [DAT](INFO): publishing transmit ping time
2025-08-23T22:39:04.063Z,1755988744.063 [DAT](INFO): publishing direction and range info
2025-08-23T22:39:04.071Z,1755988744.071 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.020866
2025-08-23T22:39:04.243Z,1755988744.243 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.192413
2025-08-23T22:39:04.386Z,1755988744.386 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-08-23T22:39:04.394Z,1755988744.394 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-08-23T22:39:04.396Z,1755988744.396 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-08-23T22:39:04.403Z,1755988744.403 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-08-23T22:39:04.405Z,1755988744.405 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-08-23T22:39:04.412Z,1755988744.412 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-08-23T22:39:04.423Z,1755988744.423 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-08-23T22:39:04.431Z,1755988744.431 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-08-23T22:39:04.433Z,1755988744.433 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-23T22:39:04.433Z,1755988744.433 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-23T22:39:04.446Z,1755988744.446 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-23T22:39:04.495Z,1755988744.495 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.444400
2025-08-23T22:39:04.747Z,1755988744.747 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.696633
2025-08-23T22:39:05.002Z,1755988745.002 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.950679
2025-08-23T22:39:05.251Z,1755988745.251 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.200353
2025-08-23T22:39:05.503Z,1755988745.503 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.452966
2025-08-23T22:39:05.755Z,1755988745.755 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.704413
2025-08-23T22:39:06.009Z,1755988746.009 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.958790
2025-08-23T22:39:06.259Z,1755988746.259 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.208298
2025-08-23T22:39:06.511Z,1755988746.511 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.460415
2025-08-23T22:39:06.767Z,1755988746.767 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.717239
2025-08-23T22:39:07.021Z,1755988747.021 [DAT](INFO): DAT read: Rx Time:22:39:06.1197
2025-08-23T22:39:07.023Z,1755988747.023 [DAT](INFO): Rx dataTimestamp_ set to:1755988747.022071
2025-08-23T22:39:07.024Z,1755988747.024 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.973879
2025-08-23T22:39:07.271Z,1755988747.271 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=3.220449
2025-08-23T22:39:07.533Z,1755988747.533 [DAT](INFO): DAT read: 22:39:06.1197 LVL= 32752, 32753, 30514, 32755, AGC= 50, IDX= 433,-0.15, 1.462, 0.281, 2.149, 1.272, PHS= 0.292,-0.946, 0.833, RAW= 167.2, -2.3, CAL= 166.9, -4.3, ROT= 343.1, 4.3
2025-08-23T22:39:07.534Z,1755988747.534 [DAT](INFO): got valid direction response:
22:39:06.1197 LVL= 32752, 32753, 30514, 32755, AGC= 50, IDX= 433,-0.15, 1.462, 0.281, 2.149, 1.272, PHS= 0.292,-0.946, 0.833, RAW= 167.2, -2.3, CAL= 166.9, -4.3, ROT= 343.1, 4.3
2025-08-23T22:39:07.535Z,1755988747.535 [DAT](INFO): DAT read: Bearing 310.8, -7.1 (Local)
2025-08-23T22:39:07.536Z,1755988747.536 [DAT](INFO): Local bearing/azimuth received:
Bearing 310.8, -7.1 (Local)
2025-08-23T22:39:07.538Z,1755988747.538 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (Round-trip 22.3 ms) speed -0.2 m/s
2025-08-23T22:39:07.539Z,1755988747.539 [DAT](INFO): DAT read: user:1963>
2025-08-23T22:39:07.540Z,1755988747.540 [DAT](INFO): DAT read: Tx time:22:39:07.2432
2025-08-23T22:39:07.541Z,1755988747.541 [DAT](INFO): Ping request sent.
2025-08-23T22:39:07.541Z,1755988747.541 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:39:07.546Z,1755988747.546 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-23T22:39:07.547Z,1755988747.547 [DAT](INFO): direction in FSK: [0.954120,-0.289884,-0.074979]
2025-08-23T22:39:07.547Z,1755988747.547 [DAT](INFO): publishing transmit ping time
2025-08-23T22:39:07.548Z,1755988747.548 [DAT](INFO): publishing direction and range info
2025-08-23T22:39:07.579Z,1755988747.579 [DAT](INFO): publishing transmit ping time
2025-08-23T22:39:07.580Z,1755988747.580 [DAT](INFO): publishing direction and range info
2025-08-23T22:39:07.595Z,1755988747.595 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.054385
2025-08-23T22:39:07.779Z,1755988747.779 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.237811
2025-08-23T22:39:08.033Z,1755988748.033 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.491765
2025-08-23T22:39:08.283Z,1755988748.283 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.741787
2025-08-23T22:39:08.535Z,1755988748.535 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.993791
2025-08-23T22:39:08.787Z,1755988748.787 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.246010
2025-08-23T22:39:09.041Z,1755988749.041 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.499705
2025-08-23T22:39:09.291Z,1755988749.291 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.750063
2025-08-23T22:39:09.437Z,1755988749.437 [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).
2025-08-23T22:39:09.531Z,1755988749.531 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-08-23T22:39:09.533Z,1755988749.533 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-08-23T22:39:09.540Z,1755988749.540 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-08-23T22:39:09.543Z,1755988749.543 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.002375
2025-08-23T22:39:09.547Z,1755988749.547 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-08-23T22:39:09.554Z,1755988749.554 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-08-23T22:39:09.556Z,1755988749.556 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-08-23T22:39:09.563Z,1755988749.563 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-08-23T22:39:09.570Z,1755988749.570 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-08-23T22:39:09.572Z,1755988749.572 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-23T22:39:09.585Z,1755988749.585 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-23T22:39:09.597Z,1755988749.597 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-08-23T22:39:09.615Z,1755988749.615 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-08-23T22:39:09.617Z,1755988749.617 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-08-23T22:39:09.624Z,1755988749.624 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-08-23T22:39:09.635Z,1755988749.635 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-23T22:39:09.637Z,1755988749.637 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-23T22:39:09.662Z,1755988749.662 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-23T22:39:09.664Z,1755988749.664 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-23T22:39:09.669Z,1755988749.669 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-23T22:39:09.694Z,1755988749.694 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-23T22:39:09.696Z,1755988749.696 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-23T22:39:09.702Z,1755988749.702 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-23T22:39:09.704Z,1755988749.704 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-23T22:39:09.719Z,1755988749.719 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-08-23T22:39:09.721Z,1755988749.721 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-08-23T22:39:09.728Z,1755988749.728 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-08-23T22:39:09.731Z,1755988749.731 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-08-23T22:39:09.738Z,1755988749.738 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-23T22:39:09.740Z,1755988749.740 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-23T22:39:09.751Z,1755988749.751 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-08-23T22:39:09.758Z,1755988749.758 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-08-23T22:39:09.760Z,1755988749.760 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-08-23T22:39:09.767Z,1755988749.767 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-08-23T22:39:09.769Z,1755988749.769 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-08-23T22:39:09.779Z,1755988749.779 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-23T22:39:09.786Z,1755988749.786 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-08-23T22:39:09.788Z,1755988749.788 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-08-23T22:39:09.795Z,1755988749.795 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.253843
2025-08-23T22:39:09.802Z,1755988749.802 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-23T22:39:09.805Z,1755988749.805 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-08-23T22:39:09.811Z,1755988749.811 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-08-23T22:39:09.813Z,1755988749.813 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-08-23T22:39:09.856Z,1755988749.856 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-08-23T22:39:09.866Z,1755988749.866 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-08-23T22:39:09.868Z,1755988749.868 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-23T22:39:09.883Z,1755988749.883 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-23T22:39:09.885Z,1755988749.885 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-23T22:39:09.896Z,1755988749.896 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-23T22:39:09.898Z,1755988749.898 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-08-23T22:39:09.901Z,1755988749.901 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-08-23T22:39:09.912Z,1755988749.912 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-08-23T22:39:09.916Z,1755988749.916 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-08-23T22:39:09.926Z,1755988749.926 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-08-23T22:39:09.929Z,1755988749.929 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-08-23T22:39:09.936Z,1755988749.936 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-08-23T22:39:09.948Z,1755988749.948 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-08-23T22:39:09.960Z,1755988749.960 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-08-23T22:39:09.982Z,1755988749.982 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-08-23T22:39:09.991Z,1755988749.991 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-08-23T22:39:10.002Z,1755988750.002 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-08-23T22:39:10.004Z,1755988750.004 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-08-23T22:39:10.011Z,1755988750.011 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-08-23T22:39:10.022Z,1755988750.022 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-08-23T22:39:10.024Z,1755988750.024 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-08-23T22:39:10.031Z,1755988750.031 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-08-23T22:39:10.033Z,1755988750.033 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-08-23T22:39:10.040Z,1755988750.040 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-08-23T22:39:10.047Z,1755988750.047 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.506283
2025-08-23T22:39:10.049Z,1755988750.049 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-08-23T22:39:10.056Z,1755988750.056 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-08-23T22:39:10.071Z,1755988750.071 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-08-23T22:39:10.095Z,1755988750.095 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-08-23T22:39:10.111Z,1755988750.111 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-08-23T22:39:10.131Z,1755988750.131 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-08-23T22:39:10.146Z,1755988750.146 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-08-23T22:39:10.148Z,1755988750.148 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-08-23T22:39:10.155Z,1755988750.155 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-08-23T22:39:10.157Z,1755988750.157 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-08-23T22:39:10.164Z,1755988750.164 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-23T22:39:10.170Z,1755988750.170 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-23T22:39:10.173Z,1755988750.173 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-23T22:39:10.179Z,1755988750.179 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-23T22:39:10.186Z,1755988750.186 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-23T22:39:10.188Z,1755988750.188 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-23T22:39:10.199Z,1755988750.199 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-23T22:39:10.206Z,1755988750.206 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-23T22:39:10.211Z,1755988750.211 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-23T22:39:10.213Z,1755988750.213 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-23T22:39:10.216Z,1755988750.216 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-23T22:39:10.240Z,1755988750.240 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-23T22:39:10.263Z,1755988750.263 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-23T22:39:10.274Z,1755988750.274 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-23T22:39:10.276Z,1755988750.276 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-23T22:39:10.299Z,1755988750.299 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.757792
2025-08-23T22:39:10.302Z,1755988750.302 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-23T22:39:10.304Z,1755988750.304 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-23T22:39:10.319Z,1755988750.319 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-23T22:39:10.330Z,1755988750.330 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-23T22:39:10.332Z,1755988750.332 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-23T22:39:10.354Z,1755988750.354 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-23T22:39:10.356Z,1755988750.356 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-23T22:39:10.359Z,1755988750.359 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-23T22:39:10.370Z,1755988750.370 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-23T22:39:10.373Z,1755988750.373 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-23T22:39:10.383Z,1755988750.383 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-23T22:39:10.402Z,1755988750.402 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-23T22:39:10.410Z,1755988750.410 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-23T22:39:10.419Z,1755988750.419 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-23T22:39:10.434Z,1755988750.434 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-23T22:39:10.437Z,1755988750.437 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-23T22:39:10.445Z,1755988750.445 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-23T22:39:10.460Z,1755988750.460 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-23T22:39:10.466Z,1755988750.466 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-23T22:39:10.469Z,1755988750.469 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-23T22:39:10.483Z,1755988750.483 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-23T22:39:10.490Z,1755988750.490 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-23T22:39:10.493Z,1755988750.493 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-23T22:39:10.499Z,1755988750.499 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-23T22:39:10.506Z,1755988750.506 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-23T22:39:10.508Z,1755988750.508 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-08-23T22:39:10.521Z,1755988750.521 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-08-23T22:39:10.528Z,1755988750.528 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-08-23T22:39:10.534Z,1755988750.534 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-08-23T22:39:10.537Z,1755988750.537 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-08-23T22:39:10.543Z,1755988750.543 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-08-23T22:39:10.551Z,1755988750.551 [DAT](INFO): DAT read: Rx Time:22:39:09.6707
2025-08-23T22:39:10.551Z,1755988750.551 [DAT](INFO): Rx dataTimestamp_ set to:1755988750.550822
2025-08-23T22:39:10.552Z,1755988750.552 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=3.010903
2025-08-23T22:39:10.558Z,1755988750.558 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-08-23T22:39:10.560Z,1755988750.560 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-08-23T22:39:10.563Z,1755988750.563 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-08-23T22:39:10.570Z,1755988750.570 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-08-23T22:39:10.572Z,1755988750.572 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-08-23T22:39:10.577Z,1755988750.577 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-08-23T22:39:10.592Z,1755988750.592 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-08-23T22:39:10.599Z,1755988750.599 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-08-23T22:39:10.601Z,1755988750.601 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-08-23T22:39:10.607Z,1755988750.607 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-08-23T22:39:10.618Z,1755988750.618 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-08-23T22:39:10.713Z,1755988750.713 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T22:39:10.767Z,1755988750.767 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-23T22:39:10.803Z,1755988750.803 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=3.262503
2025-08-23T22:39:10.836Z,1755988750.836 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-23T22:39:10.861Z,1755988750.861 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T22:39:10.915Z,1755988750.915 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T22:39:10.957Z,1755988750.957 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-23T22:39:10.990Z,1755988750.990 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T22:39:11.019Z,1755988751.019 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T22:39:11.067Z,1755988751.067 [DAT](INFO): DAT read: 22:39:09.6707 LVL= 32752, 32753, 26354, 32755, AGC= 49, IDX= 443,-0.05,-0.665,-1.860, 0.085,-0.796, PHS= 0.233,-1.019, 0.836, RAW= 168.6, -0.6, CAL= 168.0, -2.8, ROT= 342.0, 2.8
2025-08-23T22:39:11.071Z,1755988751.071 [DAT](INFO): got valid direction response:
22:39:09.6707 LVL= 32752, 32753, 26354, 32755, AGC= 49, IDX= 443,-0.05,-0.665,-1.860, 0.085,-0.796, PHS= 0.233,-1.019, 0.836, RAW= 168.6, -0.6, CAL= 168.0, -2.8, ROT= 342.0, 2.8
2025-08-23T22:39:11.074Z,1755988751.074 [DAT](INFO): DAT read: Bearing 313.8, -10.7 (Local)
2025-08-23T22:39:11.075Z,1755988751.075 [DAT](INFO): Local bearing/azimuth received:
Bearing 313.8, -10.7 (Local)
2025-08-23T22:39:11.079Z,1755988751.079 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (Round-trip 23.3 ms) speed -0.2 m/s
2025-08-23T22:39:11.081Z,1755988751.081 [DAT](INFO): DAT read: user:1964>
2025-08-23T22:39:11.084Z,1755988751.084 [DAT](INFO): DAT read: Tx time:22:39:10.7932
2025-08-23T22:39:11.084Z,1755988751.084 [DAT](INFO): Ping request sent.
2025-08-23T22:39:11.085Z,1755988751.085 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:39:11.086Z,1755988751.086 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-23T22:39:11.088Z,1755988751.088 [DAT](INFO): direction in FSK: [0.949921,-0.308648,-0.048850]
2025-08-23T22:39:11.122Z,1755988751.122 [DAT](INFO): publishing transmit ping time
2025-08-23T22:39:11.123Z,1755988751.123 [DAT](INFO): publishing direction and range info
2025-08-23T22:39:11.146Z,1755988751.146 [DAT](INFO): publishing transmit ping time
2025-08-23T22:39:11.147Z,1755988751.147 [DAT](INFO): publishing direction and range info
2025-08-23T22:39:11.162Z,1755988751.162 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.077733
2025-08-23T22:39:11.166Z,1755988751.166 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-23T22:39:11.215Z,1755988751.215 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T22:39:11.264Z,1755988751.264 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-23T22:39:11.307Z,1755988751.307 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.222280
2025-08-23T22:39:11.316Z,1755988751.316 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T22:39:11.369Z,1755988751.369 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-23T22:39:11.424Z,1755988751.424 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T22:39:11.508Z,1755988751.508 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-23T22:39:11.559Z,1755988751.559 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.474152
2025-08-23T22:39:11.583Z,1755988751.583 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T22:39:11.628Z,1755988751.628 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-23T22:39:11.710Z,1755988751.710 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-23T22:39:11.759Z,1755988751.759 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-08-23T22:39:11.762Z,1755988751.762 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-08-23T22:39:11.764Z,1755988751.764 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-08-23T22:39:11.772Z,1755988751.772 [OnDock:N.Docked](DEBUG): Construct.
2025-08-23T22:39:11.772Z,1755988751.772 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-23T22:39:11.802Z,1755988751.802 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-08-23T22:39:11.802Z,1755988751.802 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-23T22:39:11.811Z,1755988751.811 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.726330
2025-08-23T22:39:11.999Z,1755988751.999 [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
}
}
}
2025-08-23T22:39:11.999Z,1755988751.999 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-08-23T22:39:12.063Z,1755988752.063 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.978215
2025-08-23T22:39:12.315Z,1755988752.315 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.230153
2025-08-23T22:39:12.360Z,1755988752.360 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-08-23T22:39:12.360Z,1755988752.360 [DefaultWithUndock] Running Loop=1
2025-08-23T22:39:12.360Z,1755988752.360 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-08-23T22:39:12.360Z,1755988752.360 [DefaultWithUndock:A.Wait] Running Loop=1
2025-08-23T22:39:12.360Z,1755988752.360 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-08-23T22:39:12.567Z,1755988752.567 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.482214
2025-08-23T22:39:12.825Z,1755988752.825 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.740329
2025-08-23T22:39:13.078Z,1755988753.078 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.994136
2025-08-23T22:39:13.331Z,1755988753.331 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.246206
2025-08-23T22:39:13.502Z,1755988753.502 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -20.22, +706. 1.85, 0.00
2025-08-23T22:39:13.583Z,1755988753.583 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.498721
2025-08-23T22:39:13.838Z,1755988753.838 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.753301
2025-08-23T22:39:14.087Z,1755988754.087 [DAT](INFO): DAT read: Rx Time:22:39:13.2216
2025-08-23T22:39:14.087Z,1755988754.087 [DAT](INFO): Rx dataTimestamp_ set to:1755988754.086760
2025-08-23T22:39:14.088Z,1755988754.088 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=3.003239
2025-08-23T22:39:14.339Z,1755988754.339 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=3.254230
2025-08-23T22:39:14.596Z,1755988754.596 [DAT](INFO): DAT read: 22:39:13.2216 LVL= 31856, 24929, 23266, 32755, AGC= 49, IDX= 437, 0.04,-0.359,-1.602, 0.438,-0.523, PHS= 0.266,-1.034, 0.917, RAW= 169.1, -1.8, CAL= 168.7, -3.9, ROT= 341.3, 3.9
2025-08-23T22:39:14.597Z,1755988754.597 [DAT](INFO): got valid direction response:
22:39:13.2216 LVL= 31856, 24929, 23266, 32755, AGC= 49, IDX= 437, 0.04,-0.359,-1.602, 0.438,-0.523, PHS= 0.266,-1.034, 0.917, RAW= 169.1, -1.8, CAL= 168.7, -3.9, ROT= 341.3, 3.9
2025-08-23T22:39:14.598Z,1755988754.598 [DAT](INFO): DAT read: Bearing 313.9, -16.3 (Local)
2025-08-23T22:39:14.599Z,1755988754.599 [DAT](INFO): Local bearing/azimuth received:
Bearing 313.9, -16.3 (Local)
2025-08-23T22:39:14.600Z,1755988754.600 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (Round-trip 24.3 ms) speed -0.2 m/s
2025-08-23T22:39:14.601Z,1755988754.601 [DAT](INFO): DAT read: user:1965>
2025-08-23T22:39:14.602Z,1755988754.602 [DAT](INFO): DAT read: Tx time:22:39:14.3432
2025-08-23T22:39:14.602Z,1755988754.602 [DAT](INFO): Ping request sent.
2025-08-23T22:39:14.602Z,1755988754.602 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:39:14.602Z,1755988754.602 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-23T22:39:14.603Z,1755988754.603 [DAT](INFO): direction in FSK: [0.945017,-0.319871,-0.068015]
2025-08-23T22:39:14.604Z,1755988754.604 [DAT](INFO): publishing transmit ping time
2025-08-23T22:39:14.604Z,1755988754.604 [DAT](INFO): publishing direction and range info
2025-08-23T22:39:14.608Z,1755988754.608 [DAT](INFO): publishing transmit ping time
2025-08-23T22:39:14.608Z,1755988754.608 [DAT](INFO): publishing direction and range info
2025-08-23T22:39:14.655Z,1755988754.655 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.053319
2025-08-23T22:39:14.844Z,1755988754.844 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.241800
2025-08-23T22:39:15.095Z,1755988755.095 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.492669
2025-08-23T22:39:15.347Z,1755988755.347 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.744718
2025-08-23T22:39:15.599Z,1755988755.599 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.996820
2025-08-23T22:39:15.851Z,1755988755.851 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.248441
2025-08-23T22:39:16.103Z,1755988756.103 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.500457
2025-08-23T22:39:16.355Z,1755988756.355 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.752566
2025-08-23T22:39:16.607Z,1755988756.607 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.004433
2025-08-23T22:39:16.859Z,1755988756.859 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.256492
2025-08-23T22:39:17.110Z,1755988757.110 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.508315
2025-08-23T22:39:17.363Z,1755988757.363 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.760458
2025-08-23T22:39:17.364Z,1755988757.364 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 24 hour
2025-08-23T22:39:17.365Z,1755988757.365 [CommandExec](IMPORTANT): got command run
2025-08-23T22:39:17.367Z,1755988757.367 [CommandExec](IMPORTANT): Running
2025-08-23T22:39:17.540Z,1755988757.540 [DefaultWithUndock] Stopped
2025-08-23T22:39:17.540Z,1755988757.540 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-08-23T22:39:17.540Z,1755988757.540 [DefaultWithUndock:A.Wait] Stopped
2025-08-23T22:39:17.540Z,1755988757.540 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-08-23T22:39:17.540Z,1755988757.540 [MissionManager](IMPORTANT): Started mission OnDock
2025-08-23T22:39:17.540Z,1755988757.540 [OnDock] Running Loop=1
2025-08-23T22:39:17.540Z,1755988757.540 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-08-23T22:39:17.541Z,1755988757.541 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-23T22:39:17.541Z,1755988757.541 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-08-23T22:39:17.541Z,1755988757.541 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-23T22:39:17.541Z,1755988757.541 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-23T22:39:17.541Z,1755988757.541 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-23T22:39:17.541Z,1755988757.541 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-23T22:39:17.541Z,1755988757.541 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-23T22:39:17.542Z,1755988757.542 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-23T22:39:17.542Z,1755988757.542 [OnDock:BackseatDriver] Running Loop=1
2025-08-23T22:39:17.542Z,1755988757.542 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-08-23T22:39:17.542Z,1755988757.542 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-08-23T22:39:17.542Z,1755988757.542 [OnDock:PowerOnly] Running Loop=1
2025-08-23T22:39:17.542Z,1755988757.542 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-08-23T22:39:17.542Z,1755988757.542 [OnDock:PowerOnly:A] Running Loop=1
2025-08-23T22:39:17.542Z,1755988757.542 [OnDock:PowerOnly:B] Running Loop=1
2025-08-23T22:39:17.542Z,1755988757.542 [OnDock:PowerOnly:C] Running Loop=1
2025-08-23T22:39:17.542Z,1755988757.542 [OnDock:PowerOnly:D] Running Loop=1
2025-08-23T22:39:17.542Z,1755988757.542 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-08-23T22:39:17.543Z,1755988757.543 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-08-23T22:39:17.543Z,1755988757.543 [OnDock:dataRead] Running Loop=1
2025-08-23T22:39:17.543Z,1755988757.543 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-08-23T22:39:17.543Z,1755988757.543 [OnDock:dataRead:A] Running Loop=1
2025-08-23T22:39:17.543Z,1755988757.543 [OnDock:science] Running Loop=1
2025-08-23T22:39:17.543Z,1755988757.543 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-08-23T22:39:17.543Z,1755988757.543 [OnDock:science:Science] Running Loop=1
2025-08-23T22:39:17.543Z,1755988757.543 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-08-23T22:39:17.543Z,1755988757.543 [OnDock:science:Science:A] Running Loop=1
2025-08-23T22:39:17.543Z,1755988757.543 [OnDock:science:Science:B] Running Loop=1
2025-08-23T22:39:17.543Z,1755988757.543 [OnDock:science:Science:C] Running Loop=1
2025-08-23T22:39:17.543Z,1755988757.543 [OnDock:science:Science:D] Running Loop=1
2025-08-23T22:39:17.544Z,1755988757.544 [OnDock:science:Science:E] Running Loop=1
2025-08-23T22:39:17.544Z,1755988757.544 [OnDock:science:Science:F] Running Loop=1
2025-08-23T22:39:17.544Z,1755988757.544 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-08-23T22:39:17.544Z,1755988757.544 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-08-23T22:39:17.544Z,1755988757.544 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-08-23T22:39:17.544Z,1755988757.544 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-08-23T22:39:17.544Z,1755988757.544 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-08-23T22:39:17.544Z,1755988757.544 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-08-23T22:39:17.544Z,1755988757.544 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-08-23T22:39:17.544Z,1755988757.544 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-08-23T22:39:17.544Z,1755988757.544 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-08-23T22:39:17.545Z,1755988757.545 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-23T22:39:17.545Z,1755988757.545 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-23T22:39:17.545Z,1755988757.545 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-08-23T22:39:17.545Z,1755988757.545 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-08-23T22:39:17.546Z,1755988757.546 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-08-23T22:39:17.546Z,1755988757.546 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-08-23T22:39:17.546Z,1755988757.546 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-08-23T22:39:17.546Z,1755988757.546 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-08-23T22:39:17.546Z,1755988757.546 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-08-23T22:39:17.546Z,1755988757.546 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-08-23T22:39:17.546Z,1755988757.546 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-23T22:39:17.546Z,1755988757.546 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-23T22:39:17.547Z,1755988757.547 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-08-23T22:39:17.547Z,1755988757.547 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-08-23T22:39:17.547Z,1755988757.547 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-23T22:39:17.547Z,1755988757.547 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-08-23T22:39:17.547Z,1755988757.547 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-08-23T22:39:17.547Z,1755988757.547 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-23T22:39:17.547Z,1755988757.547 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-08-23T22:39:17.547Z,1755988757.547 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-08-23T22:39:17.547Z,1755988757.547 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-23T22:39:17.548Z,1755988757.548 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-23T22:39:17.548Z,1755988757.548 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-23T22:39:17.548Z,1755988757.548 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-23T22:39:17.548Z,1755988757.548 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-23T22:39:17.548Z,1755988757.548 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-23T22:39:17.548Z,1755988757.548 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-23T22:39:17.548Z,1755988757.548 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-23T22:39:17.549Z,1755988757.549 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-23T22:39:17.549Z,1755988757.549 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-23T22:39:17.549Z,1755988757.549 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-23T22:39:17.549Z,1755988757.549 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-23T22:39:17.549Z,1755988757.549 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-23T22:39:17.549Z,1755988757.549 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-23T22:39:17.549Z,1755988757.549 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-23T22:39:17.549Z,1755988757.549 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-23T22:39:17.550Z,1755988757.550 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-23T22:39:17.550Z,1755988757.550 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-23T22:39:17.550Z,1755988757.550 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-23T22:39:17.550Z,1755988757.550 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-23T22:39:17.550Z,1755988757.550 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-23T22:39:17.550Z,1755988757.550 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-23T22:39:17.551Z,1755988757.551 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-23T22:39:17.551Z,1755988757.551 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-23T22:39:17.551Z,1755988757.551 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-23T22:39:17.551Z,1755988757.551 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-23T22:39:17.551Z,1755988757.551 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-08-23T22:39:17.551Z,1755988757.551 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-08-23T22:39:17.551Z,1755988757.551 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-23T22:39:17.551Z,1755988757.551 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-23T22:39:17.552Z,1755988757.552 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-08-23T22:39:17.552Z,1755988757.552 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-08-23T22:39:17.552Z,1755988757.552 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-08-23T22:39:17.552Z,1755988757.552 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-23T22:39:17.552Z,1755988757.552 [OnDock:J.] Running Loop=1
2025-08-23T22:39:17.552Z,1755988757.552 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-08-23T22:39:17.552Z,1755988757.552 [OnDock:PeriodicCheck] Running Loop=1
2025-08-23T22:39:17.552Z,1755988757.552 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-08-23T22:39:17.553Z,1755988757.553 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-08-23T22:39:17.553Z,1755988757.553 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-08-23T22:39:17.553Z,1755988757.553 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-08-23T22:39:17.553Z,1755988757.553 [OnDock:B] Running Loop=1
2025-08-23T22:39:17.554Z,1755988757.554 [OnDock:PeriodicCheck] Running Loop=1
2025-08-23T22:39:17.554Z,1755988757.554 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-08-23T22:39:17.554Z,1755988757.554 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-08-23T22:39:17.554Z,1755988757.554 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-08-23T22:39:17.554Z,1755988757.554 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-08-23T22:39:17.554Z,1755988757.554 [OnDock:J.] Running Loop=1
2025-08-23T22:39:17.555Z,1755988757.555 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-23T22:39:17.555Z,1755988757.555 [OnDock:science] Stopped
2025-08-23T22:39:17.555Z,1755988757.555 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-08-23T22:39:17.555Z,1755988757.555 [OnDock:science:Science] Stopped
2025-08-23T22:39:17.555Z,1755988757.555 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-08-23T22:39:17.555Z,1755988757.555 [OnDock:science:Science:A] Stopped
2025-08-23T22:39:17.555Z,1755988757.555 [OnDock:science:Science:B] Stopped
2025-08-23T22:39:17.555Z,1755988757.555 [OnDock:science:Science:C] Stopped
2025-08-23T22:39:17.555Z,1755988757.555 [OnDock:science:Science:D] Stopped
2025-08-23T22:39:17.555Z,1755988757.555 [OnDock:science:Science:E] Stopped
2025-08-23T22:39:17.555Z,1755988757.555 [OnDock:science:Science:F] Stopped
2025-08-23T22:39:17.555Z,1755988757.555 [OnDock:science:Science:Read_Oil] Stopped
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:OceanCurrent] Stopped
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:PeakDetectChl] Stopped
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-23T22:39:17.556Z,1755988757.556 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-23T22:39:17.557Z,1755988757.557 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-08-23T22:39:17.557Z,1755988757.557 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-08-23T22:39:17.557Z,1755988757.557 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-08-23T22:39:17.557Z,1755988757.557 [OnDock:science:Science:PeakDetectOil] Stopped
2025-08-23T22:39:17.557Z,1755988757.557 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-08-23T22:39:17.557Z,1755988757.557 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-08-23T22:39:17.557Z,1755988757.557 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-08-23T22:39:17.557Z,1755988757.557 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-08-23T22:39:17.557Z,1755988757.557 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-23T22:39:17.575Z,1755988757.575 [CommandExec](IMPORTANT): got command ! ifconfig
2025-08-23T22:39:17.557Z,1755988757.557 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-23T22:39:17.595Z,1755988757.595 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-08-23T22:39:17.596Z,1755988757.596 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-08-23T22:39:17.596Z,1755988757.596 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-08-23T22:39:17.596Z,1755988757.596 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-08-23T22:39:17.597Z,1755988757.597 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-08-23T22:39:17.597Z,1755988757.597 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-08-23T22:39:17.597Z,1755988757.597 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-08-23T22:39:17.598Z,1755988757.598 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-08-23T22:39:17.598Z,1755988757.598 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-23T22:39:17.598Z,1755988757.598 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-23T22:39:17.598Z,1755988757.598 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-23T22:39:17.599Z,1755988757.599 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-23T22:39:17.599Z,1755988757.599 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-23T22:39:17.599Z,1755988757.599 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-23T22:39:17.599Z,1755988757.599 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-23T22:39:17.600Z,1755988757.600 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-23T22:39:17.600Z,1755988757.600 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-23T22:39:17.600Z,1755988757.600 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-23T22:39:17.600Z,1755988757.600 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-23T22:39:17.601Z,1755988757.601 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-23T22:39:17.601Z,1755988757.601 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-23T22:39:17.606Z,1755988757.606 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-23T22:39:17.606Z,1755988757.606 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-23T22:39:17.607Z,1755988757.607 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-23T22:39:17.607Z,1755988757.607 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-23T22:39:17.607Z,1755988757.607 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-23T22:39:17.607Z,1755988757.607 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-23T22:39:17.608Z,1755988757.608 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-23T22:39:17.608Z,1755988757.608 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-23T22:39:17.608Z,1755988757.608 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-23T22:39:17.608Z,1755988757.608 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-23T22:39:17.609Z,1755988757.609 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-23T22:39:17.609Z,1755988757.609 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-23T22:39:17.612Z,1755988757.612 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-23T22:39:17.612Z,1755988757.612 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-08-23T22:39:17.612Z,1755988757.612 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-08-23T22:39:17.612Z,1755988757.612 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-23T22:39:17.613Z,1755988757.613 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-23T22:39:17.616Z,1755988757.616 [DAT](INFO): DAT read: Rx Time:22:39:16.7727
2025-08-23T22:39:17.617Z,1755988757.617 [DAT](INFO): Rx dataTimestamp_ set to:1755988757.616127
2025-08-23T22:39:17.618Z,1755988757.618 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=3.015671
2025-08-23T22:39:17.626Z,1755988757.626 [OnDock:dataRead] Running Loop=1
2025-08-23T22:39:17.627Z,1755988757.627 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-23T22:39:17.627Z,1755988757.627 [OnDock:PowerOnly] Running Loop=1
2025-08-23T22:39:17.628Z,1755988757.628 [OnDock:PowerOnly:D] Stopped
2025-08-23T22:39:17.628Z,1755988757.628 [OnDock:PowerOnly:C] Stopped
2025-08-23T22:39:17.628Z,1755988757.628 [OnDock:PowerOnly:B] Stopped
2025-08-23T22:39:17.629Z,1755988757.629 [OnDock:PowerOnly:A] Stopped
2025-08-23T22:39:17.629Z,1755988757.629 [OnDock:BackseatDriver] Running Loop=1
2025-08-23T22:39:17.638Z,1755988757.638 [OnDock:B] Stopped
2025-08-23T22:39:17.639Z,1755988757.639 [OnDock:C] Running Loop=1
2025-08-23T22:39:17.639Z,1755988757.639 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-23T22:39:17.639Z,1755988757.639 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-23T22:39:17.640Z,1755988757.640 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-23T22:39:17.641Z,1755988757.641 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-23T22:39:17.650Z,1755988757.650 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:1.760000m. At depth:72.353905m.
2025-08-23T22:39:17.757Z,1755988757.757 [CommandExec](IMPORTANT): eth0 Link encap:Ethernet HWaddr 50:2D:F4:07:45:37
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:29098 errors:0 dropped:0 overruns:0 frame:0
TX packets:42760 errors:0 dropped:0 overruns:0 carrier:0
collisions:148 txqueuelen:1000
RX bytes:12490097 (11.9 Mb) TX bytes:9572590 (9.1 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:4015 errors:0 dropped:0 overruns:0 frame:0
TX packets:4015 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:0
RX bytes:364279 (355.7 Kb) TX bytes:364279 (355.7 Kb)
2025-08-23T22:39:17.868Z,1755988757.868 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=3.265688
2025-08-23T22:39:18.124Z,1755988758.124 [DAT](INFO): DAT read: 22:39:16.7727 LVL= 19952, 22353, 16946, 25891, AGC= 47, IDX= 431, 0.28,-0.670,-1.865, 0.151,-0.824, PHS= 0.256,-0.996, 0.931, RAW= 170.2, -2.3, CAL= 169.9, -4.4, ROT= 340.1, 4.4
2025-08-23T22:39:18.125Z,1755988758.125 [DAT](INFO): got valid direction response:
22:39:16.7727 LVL= 19952, 22353, 16946, 25891, AGC= 47, IDX= 431, 0.28,-0.670,-1.865, 0.151,-0.824, PHS= 0.256,-0.996, 0.931, RAW= 170.2, -2.3, CAL= 169.9, -4.4, ROT= 340.1, 4.4
2025-08-23T22:39:18.126Z,1755988758.126 [DAT](INFO): DAT read: Bearing 314.2, -22.4 (Local)
2025-08-23T22:39:18.127Z,1755988758.127 [DAT](INFO): Local bearing/azimuth received:
Bearing 314.2, -22.4 (Local)
2025-08-23T22:39:18.128Z,1755988758.128 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (Round-trip 25.3 ms) speed -0.2 m/s
2025-08-23T22:39:18.129Z,1755988758.129 [DAT](INFO): DAT read: user:1966>
2025-08-23T22:39:18.130Z,1755988758.130 [DAT](INFO): DAT read: Tx time:22:39:17.8932
2025-08-23T22:39:18.130Z,1755988758.130 [DAT](INFO): Ping request sent.
2025-08-23T22:39:18.130Z,1755988758.130 [DAT](INFO): transmitted an acoustic signal
2025-08-23T22:39:18.131Z,1755988758.131 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-23T22:39:18.132Z,1755988758.132 [DAT](INFO): direction in FSK: [0.937517,-0.339376,-0.076719]
2025-08-23T22:39:18.132Z,1755988758.132 [DAT](INFO): publishing transmit ping time
2025-08-23T22:39:18.132Z,1755988758.132 [DAT](INFO): publishing direction and range info
2025-08-23T22:39:18.140Z,1755988758.140 [DAT](INFO): publishing transmit ping time
2025-08-23T22:39:18.141Z,1755988758.141 [DAT](INFO): publishing direction and range info
2025-08-23T22:39:18.234Z,1755988758.234 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.103914
2025-08-23T22:39:18.371Z,1755988758.371 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.240580
2025-08-23T22:39:18.623Z,1755988758.623 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.492507
2025-08-23T22:39:18.714Z,1755988758.714 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-23T22:39:18.715Z,1755988758.715 [OnDock:C] Stopped
2025-08-23T22:39:18.716Z,1755988758.716 [OnDock:D] Running Loop=1
2025-08-23T22:39:18.874Z,1755988758.874 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.744308
2025-08-23T22:39:19.103Z,1755988759.103 [OnDock:D] Stopped
2025-08-23T22:39:19.103Z,1755988759.103 [OnDock:E] Running Loop=1
2025-08-23T22:39:19.127Z,1755988759.127 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.996719
2025-08-23T22:39:19.379Z,1755988759.379 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.248830
2025-08-23T22:39:19.523Z,1755988759.523 [OnDock:E] Stopped
2025-08-23T22:39:19.523Z,1755988759.523 [OnDock:K] Running Loop=1
2025-08-23T22:39:19.630Z,1755988759.630 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.500321
2025-08-23T22:39:19.883Z,1755988759.883 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.752441
2025-08-23T22:39:19.920Z,1755988759.920 [OnDock:K](IMPORTANT): Restarting logs
2025-08-23T22:39:19.920Z,1755988759.920 [OnDock:K] Stopped
2025-08-23T22:39:19.921Z,1755988759.921 [OnDock:L.Execute] Running Loop=1
2025-08-23T22:39:20.135Z,1755988760.135 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=2.004405